Revision 6:7db9b13ece76, committed 2019-11-03

Comitter:

brainliang

Date:

Sun Nov 03 08:26:46 2019 +0000

Parent:

5:fdacb4ef6709

Commit message:

encoder+pid+pca9685+nrf24l01

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/converters.h	Sun Nov 03 08:26:46 2019 +0000
@@ -0,0 +1,45 @@
+#pragma once
+
+#include <cstdlib>
+#include <string>
+
+namespace std{
+static inline int stoi(const string &s) {
+    return atoi(s.c_str());
+}
+static inline long stol(const string &s) {
+    return atol(s.c_str());
+}
+static inline float stof(const string &s) {
+    return float(atof(s.c_str()));
+}
+#define _c_to_string(fmt,val) { \
+    char buf[16];\
+    snprintf(buf, sizeof(buf), fmt, val);\
+    return string(buf);\
+}
+static inline string to_string(bool v) {
+    _c_to_string("%d", (int)v);
+}
+static inline string to_string(char v) {
+    _c_to_string("%c", v);
+}
+static inline string to_string(int v) {
+    _c_to_string("%d", v);
+}
+static inline string to_string(long v) {
+    _c_to_string("%ld", v);
+}
+static inline string to_string(float v) {
+    _c_to_string("%f", v);
+}
+}
+
+inline bool  _p(bool x) { return x; }
+inline char  _p(char x) { return x; }
+inline int   _p(int x) { return x; }
+inline long  _p(long x) { return x; }
+inline float _p(float x) { return x; }
+inline void* _p(void* x) { return x; }
+inline const char* _p(const std::string &x) { return x.c_str(); }
+

--- a/esp8266.cpp	Wed Oct 30 10:59:58 2019 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,265 +0,0 @@
-/***************************************************************
-功能 : ESP8266物联车接口函数
-作者 : 马晓健
-邮箱 : jeasinema[at]gmail[dot]com
-声明 : 
-本程序仅供学习与交流使用,如需他用,须联系作者
-本程序可以随意更改,但须保留本信息页
-All rights reserved
-2017.6.16
-***************************************************************/
-#ifdef ENABLE_ESP8266
-
-#include "esp8266.h"
-
-#include <cstdarg>
-#include <cstring>
-#include <stdint.h>
-#include "mbed.h"
-
-extern Serial ser2usb;
-
-static int ser_baud = 9600;
-
-//定义了一个调试的宏,C语言语法
-#define ESP_CMD(format, ...)                         \
-    do                                               \
-    {                                                \
-        char cmdbuf[128], *p;                        \
-        ser2esp8266.printf("\r");                    \
-        sprintf(cmdbuf, format "\r", ##__VA_ARGS__); \
-        for (p = cmdbuf; *p; p++)                    \
-        {                                            \
-            ser2esp8266.putc(*p);                    \
-            wait(0.02);                              \
-        }                                            \
-        wait(0.3);                                   \
-    } while (0)
-
-
-
-void Esp8266::gotResponse(char *token, char *param)
-{
-    if(*token<'a' || *token>'z') return;
-    //ser2usb.printf("gotResponse %s %s\r\n", token, param);
-    if(strcmp(token, "connected") == 0)
-        mqtt_start = true;
-    else if(strcmp(token, "control") == 0){
-        if(!control_cmd){
-            strncpy(control_buf, param, sizeof(control_buf));
-            control_cmd = true;
-        }
-    }
-    else if(strcmp(token, "wifi") == 0){
-        if(*param == '5')
-            network_start = true;
-    }
-}
-
-bool Esp8266::get_control_cmd(char* actuator, char* value)
-{
-    if(!control_cmd)
-        return false;
-    
-    char* plus = strchr(control_buf, '+');
-    if(!plus){
-        control_cmd = false;
-        return false;
-    }
-    *plus = '\0';
-    strcpy(actuator, control_buf);
-    strcpy(value, plus+1);
-    control_cmd = false;
-    return true;
-}
-
-// 接收 esp8266 侧数据的回调函数, 每次仅接收一个8位字符
-// 数据格式约定: #token+data
-void Esp8266::esp8266_rxCallback() {
-    char in = ser2esp8266.getc();
-//  ser2usb.putc(in);
-    enum{STATE_WAIT, STATE_TOKEN, STATE_PARAM};
-    static uint8_t state = STATE_WAIT;
-    static int tokenLen, paramLen;
-    switch(state){
-    case STATE_WAIT:
-        if(in == '#'){
-            tokenLen = 0;
-            state = STATE_TOKEN;
-        }
-        break;
-    case STATE_TOKEN:
-        if(in == '+' || in == '\r' || in == '\n'){
-            esp_tokenBuf[tokenLen] = '\0';
-            if(in == '+'){
-                paramLen = 0;
-                state = STATE_PARAM;
-            }else{
-                gotResponse(esp_tokenBuf, NULL);
-                //memcpy(esp_token, esp_tokenBuf, tokenLen);
-                //esp_token[tokenLen] = '\0';
-                esp_buf_ready = true;
-                state = STATE_WAIT;
-            }
-        }else if(tokenLen+1 < sizeof(esp_tokenBuf)){
-            esp_tokenBuf[tokenLen++] = in;
-        }
-        break;
-    case STATE_PARAM:
-        if(in == '\r' || in == '\n'){
-            esp_paramBuf[paramLen] = '\0';
-            gotResponse(esp_tokenBuf, esp_paramBuf);
-            //memcpy(esp_token, esp_tokenBuf, tokenLen);
-            //memcpy(esp_param, esp_paramBuf, paramLen);
-            //esp_token[tokenLen] = '\0';
-            //esp_param[paramLen] = '\0';
-            //ser2usb.putc('?');
-            esp_buf_ready = true;
-            state = STATE_WAIT;
-        }else if(paramLen+1 < sizeof(esp_paramBuf)){
-            esp_paramBuf[paramLen++] = in;
-        }
-        break;
-    }
-}
-
-
-Esp8266::Esp8266(PinName TX, PinName RX, const char *wifi_ssid, const char *wifi_passwd)       //定义类的函数
-    : network_start(false), mqtt_start(false), control_cmd(false), esp_buf_ready(false), ser2esp8266(TX, RX)
-{
-    // serial to esp8266 init
-    ser2esp8266.baud(ser_baud);
-    //ser2usb.printf("connecting to wifi\r\n");
-    ser2esp8266.attach(callback(this, &Esp8266::esp8266_rxCallback), Serial::RxIrq);    
-    //if (mode == 0) {                                                            // client mode 
-        this->reset();
-        this->connect_wifi(wifi_ssid, wifi_passwd);
-        while(!is_connected()){
-            //ser2usb.printf("connecting...\r\n");
-            wait(0.5);
-        }
-        //ser2usb.printf("connected\r\n");
-        this->weblogin();
-    //} else {
-    //    
-    //}
-}
-
-bool Esp8266::reset() {                                                         //定义类的函数
-    ESP_CMD("node.restart()");
-    wait(2);                                                                    // 延迟2s
-    return true;
-}   
-
-bool Esp8266::connect_wifi(const char *wifi_ssid, const char *wifi_passwd) {                                                  //定义类的函数
-    ESP_CMD("wifi.setmode(wifi.STATION)");
-    ESP_CMD("wifi.sta.config([[%s]],[[%s]])", wifi_ssid, wifi_passwd);
-    wait(2);
-    // set auto autoconnect
-    ESP_CMD("wifi.sta.autoconnect(1)");
-    return true;
-}
-
-bool Esp8266::is_connected()
-{
-    ESP_CMD("print('\\035wifi+'..wifi.sta.status())");
-    wait(0.4);
-    return network_start;
-}
-
-bool Esp8266::weblogin() {                                                      //定义类的函数
-    // not implemented yet
-    return true;
-}
-
-void Esp8266::buildCapability(char *out, const char* infoList[][2])
-{
-    out[0] = '\0';
-    for (int i = 0; infoList[i][0]; ++i)
-    {
-        strcat(out, infoList[i][0]);
-        strcat(out, ",");
-        strcat(out, infoList[i][1]);
-        strcat(out, "\\n");
-    }
-}
-
-bool Esp8266::connect_mqtt_broker(const char *ip, const char *node_name, const char* sensors[][2], const char* actuator[][2]) 
-{  //定义类的函数
-
-    ESP_CMD("node_name = '%s'", node_name);
-    ESP_CMD("m = mqtt.Client('i_' .. node.chipid(), 120)");
-    ESP_CMD("m:connect(\"%s\",1883,0,function(conn)print (\"\\035connected\"); end)", ip);
-
-    do{    
-        wait(0.5);
-    }while(!mqtt_start);
-
-    ESP_CMD("m:on(\"message\", function(conn, topic, data)");
-    ESP_CMD("if topic:find(\"^/control/\") then");
-    ESP_CMD("local tok = topic:match(\"^/control/.+/(.+)\")");
-    ESP_CMD("if tok then print(\"\\035control+\"..tok..\"+\"..data) end");
-    ESP_CMD("end");
-    ESP_CMD("end)");
-
-    ESP_CMD("m:publish('/events/'..node_name..'/online','',1,0)");
-    wait(0.1);
-
-    char * capabilities = new char[512];
-
-    if(sensors){
-        buildCapability(capabilities, sensors);
-        ESP_CMD("m:publish('/capability/'..node_name..'/values','%s',1,1)", capabilities);
-        wait(0.1);
-    }
-    if(actuator){
-        buildCapability(capabilities, actuator);
-        ESP_CMD("m:publish('/capability/'..node_name..'/control','%s',1,1)", capabilities);
-        wait(0.1);
-        for (int i = 0; actuator[i][0]; ++i)
-            {
-                //ser2usb.printf("subscribe topic \"%s\"\r\n", actuator[i][0]);
-                subscribe_control(actuator[i][0]);
-            }
-    }
-
-    delete[ ] capabilities;
-
-    return true;
-}
-    
-bool Esp8266::publish_value(const char *topic, std::string data) {                      //定义类的函数
-    //if (mqtt_start) {
-        ESP_CMD("m:publish('/values/'..node_name..'/%s',\"%s\",0,0)", topic, data.c_str());//
-        wait(0.1);
-    //}
-    return true;
-}
-    
-bool Esp8266::publish_value(const char *topic, int data) {                      //定义类的函数
-    //if (mqtt_start) {
-        ESP_CMD("m:publish('/values/'..node_name..'/%s',\"%d\",0,0)", topic, data);//
-        wait(0.1);
-    //}
-    return true;
-}
-    
-bool Esp8266::publish_value(const char *topic, float data) {                      //定义类的函数
-    //if (mqtt_start) {
-        ESP_CMD("m:publish('/values/'..node_name..'/%s',\"%f\",0,0)", topic, data);//
-        wait(0.1);
-    //}
-    return true;
-}
-
-bool Esp8266::subscribe_control(const char *topic, const char *data) {               //定义类的函数
-    //if (mqtt_start) {
-        ESP_CMD("m:subscribe('/control/'..node_name..'/%s', 0)", topic);
-        wait(0.1);
-    //}
-
-    // ESP_CMD("m:unsubscribe(\"%s\")", topic);
-    return true;
-}
-
-#endif  // ENABLE_ESP8266

--- a/esp8266.h	Wed Oct 30 10:59:58 2019 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,53 +0,0 @@
-/**
- * 调用本驱动库需要使能
- * 在mbed_config.h中define一下ENABLE_ESP8266即可
- **/
-#ifndef __ESP8266_H
-#define __ESP8266_H
-
-#ifdef ENABLE_ESP8266
-
-#include "mbed.h"
-#include <string>
-
-class Esp8266 {                                                                 //声明一个类
-    volatile bool network_start;
-    volatile bool mqtt_start;
-    volatile bool control_cmd;
-    char esp_tokenBuf[32], esp_paramBuf[32];   // recv from esp8266
-    char control_buf[32];
-    bool esp_buf_ready;
-    Serial ser2esp8266;
-    
-protected:
-    void esp8266_rxCallback();
-    void gotResponse(char *token, char *param);
-    void buildCapability(char *out, const char* infoList[][2]);
-public:
-    Esp8266(PinName TX, PinName RX, const char *wifi_ssid, const char *wifi_passwd);
-    
-    // 通用
-    bool reset();
-    
-    // 连接模式
-    bool connect_wifi(const char *wifi_ssid, const char *wifi_passwd);
-    bool weblogin();
-    bool connect_mqtt_broker(const char *ip, const char *node_name, const char* sensors[][2], const char* actuator[][2]);
-    bool is_connected();
-    
-    bool publish_value(const char *topic, std::string data);
-    bool publish_value(const char *topic, int data);
-    bool publish_value(const char *topic, float data);
-    bool subscribe_control(const char *topic, const char *data = NULL);
-    bool is_control_available(void) { return control_cmd; }
-    bool get_control_cmd(char* actuator, char* value);
-    // 热点模式
-};
-
-#else
-
-    #error esp8266.h is included but "ENABLE_ESP8266" is not defined, check mbed_config.h for detail
-
-#endif  // ENABLE_ESP8266
-
-#endif  // !__ESP8266_H

--- a/main.cpp	Wed Oct 30 10:59:58 2019 +0000
+++ b/main.cpp	Sun Nov 03 08:26:46 2019 +0000
@@ -5,6 +5,7 @@
 typedef bool boolean;
 typedef std::string String;
 #include "QEI.h"
+#include "converters.h"
 
 int Position;
 float Error;
@@ -20,7 +21,7 @@
 Serial Serial_2(PA_2,PA_3);
 PwmOut myServoPB_0(PB_0);
 PwmOut myServoPB_1(PB_1);
-Ticker tick561436;
+Ticker tick241376;
 
 void PID_Caculation() {
 Error = 0 - Position;
@@ -58,24 +59,26 @@
 }
 }
 
-void tick561436_handle() {
+void tick241376_handle() {
 Position = Position + qei_PA_0.getPulses();
 qei_PA_0.reset();
-Serial_2.printf("%d\n",Position);
+Serial_2.printf("%d\n",_p(Position));
 PID_Caculation();
 Set_speed();
 }
 
 
 int main() {
+
+
 Serial_2.baud(9600);
 
-tick561436.attach(&tick561436_handle,0.05);
+tick241376.attach(&tick241376_handle,0.05);
 Position = 0;
 qei_PA_0.reset();
 P = 1;
 I = 0;
-D = 10;
+D = 1;
 while (true) {
 }