【类 型】：feat
【主 题】：播放声音修改，
兼容第二版硬件
【描 述】：
[原因]：需要播放声音测试
音量太大
新硬件回来
[过程]：
增加编译选项对不同的硬件
声音测试代码
增加音量调节函数
[影响]：还未完全测试
【结 束】
# 类型 包含:
# feat：新功能（feature）
# fix：修补bug
# docs：文档（documentation）
# style： 格式（不影响代码运行的变动）
# refactor：重构（即不是新增功能，也不是修改bug的代码变动）
# test：增加测试
# chore：构建过程或辅助工具的变动
This commit is contained in:
parent
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17
README.md
Normal file
17
README.md
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@ -0,0 +1,17 @@
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机载控制端esp32程序
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主要功能：
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控制钩子自动收放
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和飞控通讯发送航线，转发飞控控制和状态
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控制喇叭
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根据mqtt指令直接控制摄像头
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物理连接：
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wifi连接4G模块
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TTL连接飞控
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模拟输出连接喇叭
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内网udp连接摄像头推流服务器
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CAN连接收放控制电机
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PWM连接锁定舵机
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模拟连接称重传感器
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IO连接开关控制
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IO连接LED灯控制
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@ -12,7 +12,7 @@
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platform = espressif32
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board = esp32doit-devkit-v1
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framework = arduino
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build_flags = -DCORE_DEBUG_LEVEL=5
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build_flags = -DCORE_DEBUG_LEVEL=4
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monitor_speed = 115200
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upload-port = COM[14]
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lib_deps =
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@ -44,6 +44,7 @@ FoodCube::FoodCube(char* userSsid, char* userPassword, char* userMqttServer, int
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}
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/*初始化 连接mqtt对象 赋予mqttClient指针*/
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mqttClient = new PubSubClient(mqttServer, mqttPort, wifiClient);
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SetplayvolMax();
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}
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/**
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* @description: 日志打印
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@ -107,9 +108,9 @@ IPAddress secondaryDNS(8, 8, 4, 4); //optional
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void FoodCube::connectWifi() {
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if (!WiFi.config(local_IP, gateway, subnet, primaryDNS, secondaryDNS)) {
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ESP_LOGD(MOUDLENAME,"STA Failed to configure");
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}
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//if (!WiFi.config(local_IP, gateway, subnet, primaryDNS, secondaryDNS)) {
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// ESP_LOGD(MOUDLENAME,"STA Failed to configure");
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//}
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//设置wifi帐号密码
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WiFi.begin(ssid, password);
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@ -132,7 +133,7 @@ void FoodCube::connectWifi() {
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macAdd.replace(":", ""); //板子的物理地址 并且去除冒号
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log("macAdd: ");
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logln(macAdd);
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playText("[v1]网络连接成功");
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playText("网络连接成功");
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delay(500);
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*/
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}
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@ -154,7 +155,7 @@ bool FoodCube::checkWiFiStatus()
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macAdd.replace(":", ""); //板子的物理地址 并且去除冒号
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log("macAdd: ");
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logln(macAdd);
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playText("[v1]网络连接成功");
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playText("网络连接成功");
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}
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return wificonnected;
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}
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@ -177,11 +178,9 @@ void FoodCube::connectMqtt(String topicSub[], int topicSubCount) {
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logln(macAdd);
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/*连接成功 订阅主题*/
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//订阅主题 PS:连接上mqtt服务器 订阅主题 收到信息触发回调函数 receiveCallback
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for (int i = 0; i < topicSubCount; i++) { //遍历 订阅主题
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subscribeTopic(topicSub[i], 1);
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}
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subscribeTopic("cmd", 1);
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delay(500);
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playText("[v1]服务器已连接");
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playText("服务器已连接");
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} else {
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//失败返回状态码
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log("MQTT Server Connect Failed. Client State:");
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@ -258,16 +257,32 @@ void FoodCube::SWrite(uint8_t buf[], int len, uint8_t swSerial) {
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}
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}
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void FoodCube::SetplayvolMax()
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{
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//输出音量开到最大
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uint8_t volcommand[10]={0xFD,0x00,0x07,0x01,0x01,0x5B,0x76,0x31,0x30,0x5D};
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SWrite(volcommand, sizeof(volcommand), voiceSerial);
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}
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/**
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* @description: 声音播放
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* @param {String} str 播放内容
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*/
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void FoodCube::playText(String str) {
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// str="[v10]"+str;
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void FoodCube::playText(String str,bool flying) {
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String vstr;
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//输出音量开到最大
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// uint8_t volcommand[10]={0xFD,0x00,0x07,0x01,0x01,0x5B,0x76,0x31,0x30,0x5D};
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// SWrite(volcommand, sizeof(volcommand), voiceSerial);
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//字符串里面的音量
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//空中音量开到最大，地面防止刺耳开到小
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if (flying)
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vstr="[v9]"+str;
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else
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vstr="[v1]"+str;
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//return ;
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/*消息长度*/
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int len = str.length(); //修改信息长度 消息长度
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int len = vstr.length(); //修改信息长度 消息长度
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// if (len >= 3996) { //限制信息长度 超长的不播放
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// return;
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// }
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@ -285,8 +300,8 @@ void FoodCube::playText(String str) {
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command[index++] = 0x01;
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command[index++] = 0x04;
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/*帧命令 消息段*/
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for (int i = 0; i < str.length(); i++) {
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command[index++] = (int)str[i];
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for (int i = 0; i < vstr.length(); i++) {
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command[index++] = (int)vstr[i];
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}
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logln("playText");
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/*
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@ -55,7 +55,8 @@ public:
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/*串口输出*/
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void SWrite(uint8_t buf[], int len, uint8_t swSerial);
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/*声音模块控制*/
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void playText(String str);
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void playText(String str,bool flying=false);
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void SetplayvolMax();
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uint8_t chekVoiceMcu();
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void stopVoice();
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/*mavlink*/
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24
src/config.h
24
src/config.h
@ -3,7 +3,8 @@
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// 定义公共结构，变量，硬件接口等
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///
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//
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#define VERSION "0.90" //版本
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#define VERSION "0.90" //软件版本
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#define VERSION_HW 1 //硬件版本1:第一块硬件 2:目前版本
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// 硬件接口定义////////////////////////////
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// 按钮
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#define BTN_UP 23 // 收线开关 接线：BTN_UP---GND
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@ -17,20 +18,31 @@
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#define SERVO_PIN 14 // 锁定舵机PWM控制脚
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////LED
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#define LED_DATA_PIN 25
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// Moto-CAN
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#define MOTO_CAN_RX 26 //1号机 26 后面 27
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#define MOTO_CAN_TX 27 //1号机 27 后面 26
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#if (VERSION_HW == 1)
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// Moto-CAN //第一版本硬件参数---1号机使用
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#define MOTO_CAN_RX 26
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#define MOTO_CAN_TX 27
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#define WEIGHT_SCALE 165 // //A通道是165,B通道是41
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#define HX711_GAIN 128
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#else
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// Moto-CAN //第二版本硬件参数---2号机使用
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#define MOTO_CAN_RX 27 //PCB画板需要，做了调整
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#define MOTO_CAN_TX 26 //PCB画板需要，做了调整
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#define WEIGHT_SCALE 41 // 减少零点漂移用B通道是41
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#define HX711_GAIN 32 //减少零点漂移用B通道的感度
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#endif
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///serial1
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#define SERIAL_REPORT_TX 5
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#define SERIAL_REPORT_RX 18
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/////
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#define WEIGHT_SCALE 165 // 276 //这是缩放值，根据砝码实测516.f
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//#define WEIGHT_SCALE 41 // //A通道是165,B通道是41
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#define TM_INSTORE_WEIGHT_DELAY 200 //200 // 入仓动力延时关闭时间 ms
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#define TM_INSTORE_DELAY_WEIGHT 200 // 入仓动力延时关闭时间生效的重量(g)，免得空钩也延时关闭导致线拉紧 ms
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#define TM_INSTORE_NOWEIGHT_DELAY 50 // 空钩完全不延时也可能顶部按键按不下去，加一点延时 ms
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enum HookStatus
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{
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HS_UnInit, // 还未初始化
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68
src/main.cpp
68
src/main.cpp
@ -111,12 +111,12 @@ const uint16_t MAV_CMD_FC_DESCENTSTART=44; //飞开始下降，需要调整相
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/*项目对象*/
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//char* ssid = "szdot"; //wifi帐号
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//char* password = "Ttaj@#*.com"; //wifi密码
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char* ssid = (char*)"flicube"; //wifi帐号 "flicube";// "fxmf_sc01"
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char* password = (char*)"fxmf0622"; //wifi密码 "fxmf0622"; //"12345678"
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char* ssid = (char*)"fxmf_sc01"; //wifi帐号 "flicube";// "fxmf_sc01"
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char* password = (char*)"12345678"; //wifi密码 "fxmf0622"; //"12345678"
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char* mqttServer = (char*)"114.115.137.239";//"szdot.top"; //114.115.137.239 mqtt地址
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int mqttPort = 1883; //mqtt端口
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char* mqttName = (char*)"admin"; //mqtt帐号
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char* mqttPassword = (char*)"1234567"; //mqtt密码
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char* mqttPassword = (char*)"123456"; //mqtt密码
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uint8_t mavlinkSerial = 2; //飞控占用的串口号
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uint8_t voiceSerial = 1; //声音模块占用串口
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char* udpServerIP = (char*) "192.168.8.210"; //云台相机ip
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@ -136,7 +136,7 @@ String topicSub[] = { "questAss", "setPlaneState", "getPlaneState", "resetState"
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int topicSubCount = sizeof(topicSub) / sizeof(topicSub[0]); //订阅主题总数
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/*有更新主动发送 主题*/
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//0:心跳信息 1:电压信息 2:电流信息 3:电池电量 4:高度信息 5:对地速度 6:卫星数量 7:纬度 8:经度 9:定位状态 10:飞机状态 11:网速测试 12:飞机模式,13:负载重量(g),14：钩子状态,15:位置(经纬度,海拔高度)
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String topicPub[] = { "heartBeat", "voltagBattery", "currentBattery", "batteryRemaining", "positionAlt", "groundSpeed", "satCount", "latitude", "longitude", "fixType", "planeState", "pingNet", "getPlaneMode","loadweight","hookstatus","position"};
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String topicPub[] = { "heartBeat", "voltagBattery", "currentBattery", "batteryRemaining", "positionAlt", "groundSpeed", "satCount", "latitude", "longitude", "fixType", "state", "pingNet", "getPlaneMode","loadweight","hookstatus","position"};
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int topicPubCount = sizeof(topicPub) / sizeof(topicPub[0]); //发送主题总数
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String topicPubMsg[16]; //发送数据存放 对应topicPub
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String oldMsg[16]; //记录旧的数据 用来对比有没有更新
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@ -206,7 +206,7 @@ void setup()
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/////////////////////////////////MQTT_语音_MAVLINK 部分
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/*初始化*/
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Serial1.begin(115200, SERIAL_8N1, SERIAL_REPORT_RX, SERIAL_REPORT_TX); //声音模块引串口脚映射
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fc.playText("[v1]开始启动");
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fc.playText("开始启动");
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fc.connectWifi(); //连接wifi
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// fc.playText("正在连接服务器");
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// fc.connectMqtt(topicSub, topicSubCount); //连接mqtt
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@ -254,7 +254,7 @@ void checkstatus()
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if (abs(pullweight) > 100)
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_checkweighttimes++;
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else _checkweighttimes=0;
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ESP_LOGD(MOUDLENAME,"check neet tare %d ",pullweight);
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//ESP_LOGD(MOUDLENAME,"check neet tare %d ",pullweight);
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if (_checkweighttimes>10)
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{
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_checkweightcal=false;
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@ -279,7 +279,7 @@ void showinfo()
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// moto_measure_t mf=motocontrol.getmotoinfo() ;
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// printf("total_cnt:%.3f;speed:%.2f,curr:%.2fA \n ", mf.output_round_cnt, mf.output_speed_rpm,(float)mf.real_current/1000.0f);
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// if (pullweight > 10)
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// printf("PullWeight:%d\n", pullweight);
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// printf("PullWeight:%d\n", pullweight); //发送重量到mqtt
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topicPubMsg[14]=motocontrol.gethooktatus_str() ;
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topicPubMsg[13]=pullweight;
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@ -390,7 +390,7 @@ void checkinited()
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scale.set_offset(wei_offset);
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motocontrol.weightalign(true);
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_needweightalign = false;
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fc.playText("[v1]挂钩已锁定");
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// fc.playText("挂钩已锁定");
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initstatus = IS_OK;
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}else
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{
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@ -404,7 +404,7 @@ void checkinited()
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{
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if (_weightalign_status==WAS_AlignOK)
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{
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fc.playText("[v1]挂钩已锁定");
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// fc.playText("挂钩已锁定");
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initstatus = IS_OK;
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}else
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if (_weightalign_status==WAS_Alignfault)
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@ -458,6 +458,12 @@ void checkinited()
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*/
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}
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}
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void set_locked(bool locked)
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{
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motocontrol.setlocked(locked);
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if (locked)
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fc.playText("挂钩已锁定");
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}
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// 在核心1上执行，重要的延迟低的
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void loop()
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{
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@ -485,7 +491,7 @@ void loop()
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if ((millis() - _tm_bengstop) > TM_INSTORE_WEIGHT_DELAY)
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{
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_bengstop = false;
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motocontrol.setlocked(true);
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set_locked(true);
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}
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}
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else
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@ -493,7 +499,7 @@ void loop()
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if ((millis() - _tm_bengstop) > TM_INSTORE_NOWEIGHT_DELAY)
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{
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_bengstop = false;
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motocontrol.setlocked(true);
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set_locked(true);
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}
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}
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}
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@ -511,7 +517,7 @@ void loop()
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void Task1(void *pvParameters)
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{
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// 初始化称重传感器
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scale.begin(LOADCELL_DOUT_PIN, LOADCELL_SCK_PIN);
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scale.begin(LOADCELL_DOUT_PIN, LOADCELL_SCK_PIN,HX711_GAIN); //2号机用的B通道,1号用的A通道
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scale.set_scale(WEIGHT_SCALE); // 这是缩放值，根据砝码实测516.f
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scale.tare(); // 重置为0
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@ -671,7 +677,7 @@ void ctbtn_pressstart()
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void ctbtn_pressend()
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{
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ESP_LOGD(MOUDLENAME,"Top_pressend");
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motocontrol.setlocked(false);
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set_locked(false);
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_bengstop = false;
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}
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@ -693,7 +699,7 @@ void down_action(float motospeed,float length = 0.0f)
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{
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motocontrol.setspeed(motospeed);
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motocontrol.moto_run(MotoStatus::MS_Down,length);
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fc.playText("[v1]放线");
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fc.playText("放线");
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}
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}
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}
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@ -707,7 +713,7 @@ void up_action(float motospeed)
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motocontrol.stopautodown(); //终止自动放线
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motocontrol.setspeed(motospeed);
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motocontrol.moto_run(MotoStatus::MS_Up);
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fc.playText("[v1]收线");
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fc.playText("收线");
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}else
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motocontrol.stoprun();
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}
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@ -768,7 +774,7 @@ void btn_presssatonce()
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{
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ESP_LOGD(MOUDLENAME,"UP_presssatonce");
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led_show(255,255, 255); // 高亮一下
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fc.playText("[v1]发送对频信息");
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fc.playText("发送对频信息");
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fc.pubMQTTmsg(topicHandle[0], fc.getMacAdd());
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}
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// 收线按钮-长按
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@ -1126,7 +1132,7 @@ void mavlink_receiveCallback(uint8_t c) {
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// 通过msgid来判断 数据流的类别
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char buf[10];
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//printf("mav_id:%d\n",msg.msgid);
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// printf("mav_id:%d\n",msg.msgid);
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switch (msg.msgid) {
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case MAVLINK_MSG_ID_HEARTBEAT: // #0: Heartbeat 心跳
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@ -1140,7 +1146,7 @@ void mavlink_receiveCallback(uint8_t c) {
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if (!curr_armed)
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{
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ESP_LOGD(MOUDLENAME,"armed");
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fc.playText("[v1]已解锁");
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fc.playText("已解锁");
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}
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curr_armed=true;
|
||||
topicPubMsg[10] = fc.setNBit(topicPubMsg[10], 4, 1); //设置飞机状态为已解锁状态 1xxxx 第四位为1 代表已解锁
|
||||
@ -1148,7 +1154,7 @@ void mavlink_receiveCallback(uint8_t c) {
|
||||
if (curr_armed)
|
||||
{
|
||||
ESP_LOGD(MOUDLENAME,"disarm");
|
||||
fc.playText("[v1]已加锁");
|
||||
fc.playText("已加锁");
|
||||
}
|
||||
curr_armed=false; //心跳里面 判断没有解锁
|
||||
topicPubMsg[10] = fc.setNBit(topicPubMsg[10], 4, 0); //设置飞机状态为已解锁状态 0xxxx 第四位为0 代表未解锁
|
||||
@ -1210,7 +1216,7 @@ void mavlink_receiveCallback(uint8_t c) {
|
||||
}
|
||||
break;
|
||||
}
|
||||
fc.playText(topicPubMsg[12]);
|
||||
fc.playText(topicPubMsg[12],true);
|
||||
}
|
||||
}
|
||||
break;
|
||||
@ -1405,7 +1411,7 @@ void mavlink_receiveCallback(uint8_t c) {
|
||||
Hook_autodown(rngalt_cm);
|
||||
//最大音量语音播报1次
|
||||
if (fc.questVoiceStr!="")
|
||||
fc.playText("[v10]"+fc.questVoiceStr);
|
||||
fc.playText(fc.questVoiceStr,true);
|
||||
}
|
||||
else
|
||||
{
|
||||
@ -1457,8 +1463,11 @@ void mavlink_receiveCallback(uint8_t c) {
|
||||
* @description: 发送主题线程
|
||||
*/
|
||||
void pubThread() {
|
||||
/*解析mavlink 数据流等 此函数内会把解析的数据按信息类型 发布到对应主题*/
|
||||
for (int i = 0; i < topicPubCount; i++) { //遍历向订阅主题 有数据更新时 发送信息
|
||||
/*解析mavlink 数据流等 此函数内会把解析的数据按信息类型 发布到mqtt服务器 planeState/macadd主题 */
|
||||
// 创建一个JSON对象
|
||||
DynamicJsonDocument doc(2000); // 2000字节 缓冲区
|
||||
//遍历 有更新的数据 组成一个json对象
|
||||
for (int i = 0; i < topicPubCount; i++) {
|
||||
if (topicPubMsg[i] != oldMsg[i]) {
|
||||
if (i == 0) { //心跳包 每每向心跳主题发布信息
|
||||
//启动飞控 第一次心跳 ps:防止飞控 滞后启动 拿不到数据
|
||||
@ -1466,15 +1475,18 @@ void pubThread() {
|
||||
fc.setIsInit(false);
|
||||
fc.mav_request_data(); //再向飞控请求一次 设定飞控输出数据流内容
|
||||
}
|
||||
//发送心跳包
|
||||
fc.pubMQTTmsg(topicPub[0], topicPubMsg[0]);
|
||||
// printf("pub%s:%s\n",topicPub[0],topicPubMsg[0]);
|
||||
} else { //非心跳包 有更新才向对应主题发布信息
|
||||
fc.pubMQTTmsg(topicPub[i], topicPubMsg[i]);
|
||||
//设置对象成员 ps:心跳
|
||||
doc[topicPub[0]] = topicPubMsg[0];
|
||||
} else { //非心跳 有更新 录入成员
|
||||
doc[topicPub[i]] = topicPubMsg[i];
|
||||
oldMsg[i] = topicPubMsg[i];
|
||||
}
|
||||
}
|
||||
}
|
||||
// 将JSON对象序列化为JSON字符串
|
||||
String jsonString;
|
||||
serializeJson(doc, jsonString);
|
||||
fc.pubMQTTmsg("planeState", jsonString);
|
||||
/*更新4G网络测速ping值*/
|
||||
//pingNetTest();
|
||||
}
|
||||
|
||||
Loading…
Reference in New Issue
Block a user