FAMSL-beta-v1.3源码

applenana · Aug 20, 2024 · 45ff7b0 · 45ff7b0
1 parent 8ae7952
commit 45ff7b0
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Showing 10 changed files with 179 additions and 93 deletions.
diff --git a/Arduino/.pio/build/esp12e/src/dataPacket.cpp.o b/Arduino/.pio/build/esp12e/src/dataPacket.cpp.o
diff --git a/Arduino/.pio/build/esp12e/src/led.cpp.o b/Arduino/.pio/build/esp12e/src/led.cpp.o
diff --git a/Arduino/.pio/build/esp12e/src/main.cpp.o b/Arduino/.pio/build/esp12e/src/main.cpp.o
diff --git a/Arduino/.pio/build/esp12e/src/processData.cpp.o b/Arduino/.pio/build/esp12e/src/processData.cpp.o
diff --git a/Arduino/include/dataPacket.h b/Arduino/include/dataPacket.h
@@ -1,6 +1,7 @@
 #include "CRC.h"
 #include "Motor.h"
 #include "ServoMotor.h"
+#include "led.h"
 #pragma once
 
 class DataPacket {
@@ -9,11 +10,11 @@ class DataPacket {
     CRC16 crc16;
 public:
     uint8_t index;             // 索引
-    uint8_t sequenceNumber;    // 序号
-    uint8_t address;           // 地址
+    int8_t sequenceNumber;     // 序号
+    int8_t address;            // 地址
     uint8_t length;            // 长度
     uint8_t commandType;       // 命令号
-    uint8_t content;           // 内容(一字节)
+    byte content[512];         // 内容(至多512字节)
     uint8_t headCRC;           // 头检验
     uint8_t totalLowCRC;       // 总低检验
     uint8_t totalHighCRC;      // 总高检验
@@ -22,5 +23,5 @@ class DataPacket {
     DataPacket();  // 构造函数声明
     bool headCheck();
     bool totalCheck();
-    void sendPacket(); 
+    void sendPacket(bool ISIO2OUT = false); 
 };
diff --git a/Arduino/include/led.h b/Arduino/include/led.h
@@ -1,9 +1,6 @@
-#include <Adafruit_NeoPixel.h>
 #pragma once
+#include <Adafruit_NeoPixel.h>
 
-class Led{
-public:
-    Led(int ledPixels,int ledPin);
-    Adafruit_NeoPixel leds;
-    void All(unsigned int r, unsigned int g, unsigned int b);
-};
+extern Adafruit_NeoPixel leds;
+void ledAll(unsigned int r,unsigned int g,unsigned int b);
+void ledPC(uint pixels,uint r,uint g,uint b);
diff --git a/Arduino/src/dataPacket.cpp b/Arduino/src/dataPacket.cpp
@@ -4,7 +4,6 @@ DataPacket::DataPacket()
     : crc8(0x39, 0x66, 0x00, false, false), 
       crc16(0x1021, 0x913D, 0x0000, false, false) 
 {
-    // 可以在这里初始化其他成员变量
 }
 
 bool DataPacket::headCheck(){
@@ -16,26 +15,55 @@ bool DataPacket::headCheck(){
 }
 
 bool DataPacket::totalCheck(){
-    byte packet[] = {0x3D,sequenceNumber,address,length,headCRC,commandType,content};
+    byte* packet = new byte[length - 2];
+    packet[0] = 0x3D;
+    packet[1] = sequenceNumber;
+    packet[2] = address;
+    packet[3] = length;
+    packet[4] = headCRC;
+    packet[5] = commandType;
+    memcpy(packet + 6,content,length - 8);
     crc16.restart();
-    crc16.add(packet, sizeof(packet)); // 计算前 12 个字节的 CRC16 校验
+    crc16.add(packet, length - 2);
     uint16_t totalCRC = crc16.calc();
     uint8_t lowCRC = totalCRC & 0xFF; // 低字节
     uint8_t highCRC = (totalCRC >> 8) & 0xFF; // 高字节
+    delete[] packet;
     return (lowCRC == totalLowCRC and highCRC == totalHighCRC);
 }
 
-void DataPacket::sendPacket(){
+void DataPacket::sendPacket(bool ISIO2OUT){
     byte head[] = {0x3D,sequenceNumber,address,length};
     crc8.restart();
     crc8.add(head,4);
     headCRC = crc8.calc();
-    byte packet[] = {0x3D,sequenceNumber,address,length,headCRC,commandType,content};
+    byte* packet = new byte[length];
+    packet[0] = 0x3D;
+    packet[1] = sequenceNumber;
+    packet[2] = address;
+    packet[3] = length;
+    packet[4] = headCRC;
+    packet[5] = commandType;
+    memcpy(packet + 6,content,length - 8);
     crc16.restart();
-    crc16.add(packet, sizeof(packet)); // 计算前 12 个字节的 CRC16 校验
+    crc16.add(packet, length - 2);
     uint16_t totalCRC = crc16.calc();
     totalLowCRC = totalCRC & 0xFF; // 低字节
     totalHighCRC = (totalCRC >> 8) & 0xFF; // 高字节
-    byte finalPacket[] = {0x3D,sequenceNumber,address,length,headCRC,commandType,content,totalLowCRC,totalHighCRC};
-    Serial.write(finalPacket, sizeof(finalPacket));
+    packet[length - 2] = totalLowCRC;
+    packet[length - 1] = totalHighCRC;
+    if (ISIO2OUT){
+        pinMode(2,SPECIAL);
+        Serial1.write(packet, length);
+        //delay(1);
+        Serial1.flush();
+        pinMode(2,INPUT);
+        ledPC(1,0,255,0);
+    }else{
+        Serial.write(packet, length);
+        ledPC(1,0,0,255);
+        }
+    delay(1);
+    delete[] packet;
+    ledPC(1,0,0,0);
 }
diff --git a/Arduino/src/led.cpp b/Arduino/src/led.cpp
@@ -1,10 +1,11 @@
 #include "led.h"
 
-Led::Led(int ledPixels,int ledPin){
-    Adafruit_NeoPixel leds(ledPixels, ledPin, NEO_GRB + NEO_KHZ800);
+void ledAll(unsigned int r,unsigned int g,unsigned int b){
+    leds.fill(leds.Color(r,g,b));
+    leds.show();
 }
 
-void Led::All(unsigned int r, unsigned int g, unsigned int b){
-    leds.fill(leds.Color(r,g,b));
+void ledPC(uint pixels,uint r,uint g,uint b){
+    leds.setPixelColor(pixels,leds.Color(r,g,b));
     leds.show();
 }
diff --git a/Arduino/src/main.cpp b/Arduino/src/main.cpp
@@ -3,83 +3,134 @@
 #include "processData.h"
 #include "ServoMotor.h"
 #include "Motor.h"
+#include <Adafruit_NeoPixel.h>
+#include "led.h"
 
 DataPacket datapacket;
 ServoMotor sv(13); //构建舵机对象(选择13引脚为pwm输出引脚)
 Motor mc(4,5); //构建电机对象(选择4和5引脚控制电机驱动)
+Adafruit_NeoPixel leds(3, 12, NEO_GRB + NEO_KHZ800);//构建leds对象(3个led,12号引脚)
 unsigned int FilamentIoPin = A0; //断料检测引脚(ADC=>A0)
 String FilamentState = "none"; //断料状态
+bool IsFPinHigh;//ADC是否高电平
 
-void FilamentChange();//断料检测中断函数
+void FilamentChange(bool ToStateIsHigh);
 
 void setup() {
-  Serial.begin(112500);
+	Serial.begin(115200,SERIAL_8E1);
+    Serial1.begin(115200,SERIAL_8E1);
+    leds.begin();
 
-  //设置断料检测
-  pinMode(FilamentIoPin, INPUT_PULLDOWN_16);
-  attachInterrupt(FilamentIoPin,FilamentChange,CHANGE);
+    IsFPinHigh = (analogRead(A0) > 1000);
+    if (IsFPinHigh){FilamentState = "exist";}
+    else{FilamentState = "inexist";}
+    leds.setBrightness(100);
+    leds.clear();
+    leds.show();
 }
 
 void loop() {
-  if (datapacket.index == 0 and Serial.read() == 0x3D){
-    datapacket.index += 1;
-  }else if (Serial.read() != -1 and datapacket.index > 0 and datapacket.index <= 4){
-    switch (datapacket.index){
-    case 1:
-      datapacket.sequenceNumber = Serial.read();
-      break;
-    case 2:
-      datapacket.address = Serial.read();
-      break;
-    case 3:
-      datapacket.length = Serial.read();
-      break;
-    case 4:
-      datapacket.headCRC = Serial.read();
-      break;
+    if ((analogRead(A0) > 1000) != IsFPinHigh){
+        FilamentChange(not IsFPinHigh);
+        IsFPinHigh = not IsFPinHigh;
     }
-    datapacket.index += 1;
-  }else if (Serial.read() != -1 and datapacket.index == 5){
-    if (datapacket.totalCheck()){
-      datapacket.content = Serial.read();
-      datapacket.contentlength += 1;
-      datapacket.index += 1;
-    }else{
-      datapacket.index = 0;
-    }
-  }else if (Serial.read() != -1 and datapacket.index >= datapacket.length - 2 and datapacket.index < datapacket.length){
-    datapacket.index += 1;
-    if (datapacket.index == datapacket.length - 2){
-      datapacket.totalLowCRC = Serial.read();
-    }else if (datapacket.index == datapacket.length -1){
-      datapacket.totalHighCRC = Serial.read();
-    }
-  }else if (datapacket.index == datapacket.length){
-    if (datapacket.totalCheck()){
-      processData(datapacket);
-      datapacket.index = 0;
-    }else{
-      datapacket.index = 0;
+
+    if (datapacket.index == 0 and Serial.read() == 0x3D){
+        //Serial.println("帧头");
+        datapacket.index += 1;
+        datapacket.contentlength = 0;
+        ledPC(0,0,255,0);
+    }else if (Serial.available() and datapacket.index > 0 and datapacket.index <= 4){
+        //Serial.println("读取序号,地址,长度,headCRC");
+        switch (datapacket.index){
+        case 1:
+            datapacket.sequenceNumber = Serial.read();
+            //Serial.println(datapacket.sequenceNumber,HEX);
+            break;
+            ledPC(0,0,0,0);
+        case 2:
+            datapacket.address = Serial.read();
+            //Serial.println(datapacket.address,HEX);
+            ledPC(0,0,255,0);
+            break;
+        case 3:
+            datapacket.length = Serial.read();
+            //Serial.println(datapacket.length,HEX);
+            ledPC(0,0,0,0);
+            break;
+        case 4:
+            datapacket.headCRC = Serial.read();
+            //Serial.println(datapacket.headCRC,HEX);
+            ledPC(0,0,255,0);
+            break;
+        }
+        datapacket.index += 1;
+    }else if (Serial.available() and datapacket.index == 5){
+        //Serial.println("检验头");
+        if (datapacket.headCheck()){
+            datapacket.commandType = Serial.read();
+            datapacket.index += 1;
+            //Serial.println("检验头success|读取命令号");
+            //Serial.println(datapacket.commandType,HEX);
+            ledPC(0,0,0,0);
+        }else{
+            datapacket.index = 0;
+            //Serial.println("检验头失败");
+            ledPC(0,255,0,0);
+        }
+    }else if (Serial.available() and datapacket.index >= 6 and datapacket.index <= datapacket.length - 3){
+        //Serial.println("读取内容");
+        ledPC(0,0,255,0);
+        datapacket.content[datapacket.contentlength] = Serial.read();
+        //Serial.println(datapacket.content[datapacket.contentlength],HEX);
+        datapacket.index += 1;
+        datapacket.contentlength += 1;
+    }else if (Serial.available() and datapacket.index >= datapacket.length - 2 and datapacket.index < datapacket.length){
+        //Serial.println("读取总CRC");
+        if (datapacket.index == datapacket.length - 2){
+            datapacket.totalLowCRC = Serial.read();
+            //Serial.println("读取低CRC");
+            //Serial.println(datapacket.totalLowCRC,HEX);
+            ledPC(0,0,0,0);
+        }else if (datapacket.index == datapacket.length -1){
+            datapacket.totalHighCRC = Serial.read();
+            //Serial.println("读取高CRC");
+            //Serial.println(datapacket.totalHighCRC,HEX);
+            ledPC(0,0,255,0);
+        }
+        datapacket.index += 1;
+    }else if (datapacket.index == datapacket.length and datapacket.index != 0){
+        //Serial.println("进入最后处理");
+        //Serial.println(FilamentState);
+        if (datapacket.totalCheck()){
+            //Serial.println("进入最后处理，success");
+            ledPC(0,0,0,0);
+            processData(datapacket);
+            datapacket.index = 0;
+        }else{
+            //Serial.println("进入最后处理，fail");
+            datapacket.index = 0;
+            ledPC(0,255,0,0);
+        }
     }
-  }
 }
 
-void FilamentChange(){  
-  if (digitalRead(FilamentIoPin) == HIGH){
-      //低变高-无变有
-      if (FilamentState == "none" or FilamentState == "inexist"){
-          FilamentState = "exist";
-      }else if (FilamentState == "busy"){
-          mc.stop();
-          sv.pull();
-          FilamentState = "exist";
+void FilamentChange(bool ToStateIsHigh){
+    if (ToStateIsHigh){
+        //低变高-无变有
+        if (FilamentState == "none" or FilamentState == "inexist"){
+            FilamentState = "exist";
+        }else if (FilamentState == "busy"){
+            mc.stop();
+            sv.pull();
+            FilamentState = "exist";
       }
-  }else if(digitalRead(FilamentIoPin) == LOW){
-      //高变低-有变无
-      if (FilamentState == "none" or FilamentState == "exist"){
-          FilamentState = "inexist";
-      }else if (FilamentState == "busy"){
-          mc.forward();
-      }
-  }
+    }else if(not ToStateIsHigh){
+        //高变低-有变无
+        if (FilamentState == "none" or FilamentState == "exist"){
+            FilamentState = "inexist";
+        }else if (FilamentState == "busy"){
+            mc.forward();
+        }
+    }
 }
diff --git a/Arduino/src/processData.cpp b/Arduino/src/processData.cpp
@@ -3,18 +3,22 @@
 void processData(DataPacket data){
     if (data.sequenceNumber >= data.address){
         //执行指令并回复
+        uint8_t originLength = data.length;
+        uint8_t originCommandType = data.commandType;
+        byte originContent[512];
+        memcpy(originContent, data.content, 512);// 复制内容
+
         switch (data.commandType){
             case 0x00:
                 data.length = 0x09;
                 data.commandType = 0x80;
-                if (FilamentState == "inexist"){data.content = 0x0F;}
-                else if (FilamentState == "exist"){data.content = 0xF0;}
-                else if (FilamentState == "busy"){data.content = 0xF1;}
-                data.sendPacket();
-
+                if (FilamentState == "inexist"){data.content[0] = 0x0F;}
+                else if (FilamentState == "exist"){data.content[0] = 0xF0;}
+                else if (FilamentState == "busy"){data.content[0] = 0xF1;}
+                data.sendPacket(true);
                 break;
             case 0x01:
-                switch (data.content){
+                switch (data.content[0]){
                     case 0xF0://送出
                         sv.push();
                         mc.forward();
@@ -34,14 +38,18 @@ void processData(DataPacket data){
 
                 data.length = 0x09;
                 data.commandType = 0x81;
-                data.content = 0x00;
-                data.sendPacket();
+                data.content[0] = 0x00;
+                data.sendPacket(true);
                 //发送回应数据包
 
                 break;
         }
-    }
 
+        data.length = originLength;
+        data.commandType = originCommandType;
+        memcpy(data.content, originContent, 512);
+    }
+
     if (data.sequenceNumber != data.address){
         //转发数据包
         data.sequenceNumber += 1;