Revision 7:6f8157c58241, committed 2019-11-07

Comitter:

brainliang

Date:

Thu Nov 07 06:31:09 2019 +0000

Parent:

6:7db9b13ece76

Commit message:

V5

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/LibPN532.lib	Thu Nov 07 06:31:09 2019 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/zhangyx/code/LibPN532/#685e0bf1409d

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SYN6288.h	Thu Nov 07 06:31:09 2019 +0000
@@ -0,0 +1,45 @@
+#include <string>
+typedef bool boolean;
+typedef std::string String;
+
+void voice_play(String value_, Serial* ser) {
+    const char* value = value_.c_str();
+    int size = strlen(value);
+    int data_length = 1+2+1+1+size;
+    int* data = (int*)malloc(sizeof(int)*(data_length+1));
+    
+    int start = 0xfd;
+    int length = size + 3;
+    int length_h = length / 256;
+    int length_l = length % 256;
+    int command = 0x01;
+    int param = 0x01;
+    
+    data[0] = start;
+    data[1] = length_h;
+    data[2] = length_l;
+    data[3] = command;
+    data[4] = param;
+ 
+    for (int i=5; i<5+size; i++) {
+        data[i] = value[i-5];
+    }
+ 
+    // calculate check bit
+    int check_bit = data[0];
+    for (int i=1; i<data_length; i++) {
+        check_bit ^= data[i];
+    }   
+    data[data_length] = check_bit;
+ 
+    for (int i=0; i<=data_length; i++) {
+        ser->putc(data[i]);
+    }
+    
+    free(data);
+    
+    //int recv = ser->getc();
+    //PC.printf("%c", recv);
+    //int done = ser->getc();
+    //PC.printf("%c", done);   
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/esp8266.cpp	Thu Nov 07 06:31:09 2019 +0000
@@ -0,0 +1,236 @@
+/***************************************************************
+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
+***************************************************************/
+
+#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);
+    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()){
+            wait(0.5);
+        }
+        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(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)
+            subscribe_control(actuator[i][0]);
+    }
+
+    delete[ ] capabilities;
+
+    return true;
+}
+    
+bool Esp8266::publish_value(const char *topic, const char *data) {                      //定义类的函数
+    //if (mqtt_start) {
+        ESP_CMD("m:publish('/values/'..node_name..'/%s',\"%s\",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;
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/esp8266.h	Thu Nov 07 06:31:09 2019 +0000
@@ -0,0 +1,34 @@
+
+#include "mbed.h"
+
+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(char *ip, const char *node_name, const char* sensors[][2], const char* actuator[][2]);
+    bool is_connected();
+    
+    bool publish_value(const char *topic, const char *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
+};
\ No newline at end of file

--- a/main.cpp	Sun Nov 03 08:26:46 2019 +0000
+++ b/main.cpp	Thu Nov 07 06:31:09 2019 +0000
@@ -4,82 +4,20 @@
 #include <string>
 typedef bool boolean;
 typedef std::string String;
-#include "QEI.h"
-#include "converters.h"
-
-int Position;
-float Error;
-int Output;
-float Error_Last;
-float P;
-float Error_int;
-float I;
-float Error_diff;
-float D;
-
-QEI qei_PA_0(PA_0,PA_1,NC,13,QEI::X4_ENCODING);
-Serial Serial_2(PA_2,PA_3);
-PwmOut myServoPB_0(PB_0);
-PwmOut myServoPB_1(PB_1);
-Ticker tick241376;
+#include "SYN6288.h"
 
-void PID_Caculation() {
-Error = 0 - Position;
-Error_diff = Error - Error_Last;
-Error_Last = Error;
-Error_int = Error_int + Error;
-if (Error_int > 100) {
-Error_int = 100;
-} else if (Error_int < -100) {
-Error_int = -100;
-}
-if (Error > -10 && Error < 10) {
-Output = 0;
-} else {
-Output = P * Error + (I * Error_int + D * Error_diff);
-}
-if (Output > 100) {
-Output = 100;
-} else if (Output < -100) {
-Output = -100;
-}
-}
+String str;
 
-void Set_speed() {
-if (Output >= 0) {
-myServoPB_0.period_ms(20);
-myServoPB_0.pulsewidth_us((200 * Output));
-myServoPB_1.period_ms(20);
-myServoPB_1.pulsewidth_us(0);
-} else if (Output < 0) {
-myServoPB_0.period_ms(20);
-myServoPB_0.pulsewidth_us(0);
-myServoPB_1.period_ms(20);
-myServoPB_1.pulsewidth_us((-200 * Output));
-}
-}
-
-void tick241376_handle() {
-Position = Position + qei_PA_0.getPulses();
-qei_PA_0.reset();
-Serial_2.printf("%d\n",_p(Position));
-PID_Caculation();
-Set_speed();
-}
-
+Serial syn6288_Serial_2(PA_2,PA_3);
 
 int main() {
 
 
-Serial_2.baud(9600);
-
-tick241376.attach(&tick241376_handle,0.05);
-Position = 0;
-qei_PA_0.reset();
-P = 1;
-I = 0;
-D = 1;
-while (true) {
+for (int count = 0; count < 100; count++) {
+str = "\xc4\xe3\xba\xc3";
+str += String("\xca\xc0\xbd\xe7");
+voice_play(str,&syn6288_Serial_2);
+wait_ms(2000);
 }
 
 }
\ No newline at end of file