From a1bb1bb40f31b1ca6cc43d88bad0b3236c2b0fe5 Mon Sep 17 00:00:00 2001 From: xu Date: Thu, 30 May 2024 17:33:53 +0800 Subject: [PATCH] =?UTF-8?q?=E3=80=90=E7=B1=BB=09=E5=9E=8B=E3=80=91?= =?UTF-8?q?=EF=BC=9Afeat=20=E3=80=90=E4=B8=BB=09=E9=A2=98=E3=80=91?= =?UTF-8?q?=EF=BC=9A=E6=92=AD=E6=94=BE=E5=A3=B0=E9=9F=B3=E4=BF=AE=E6=94=B9?= =?UTF-8?q?=EF=BC=8C=20=20=20=20=20=20=20=20=20=20=20=20=20=20=20=E5=85=BC?= =?UTF-8?q?=E5=AE=B9=E7=AC=AC=E4=BA=8C=E7=89=88=E7=A1=AC=E4=BB=B6=20?= =?UTF-8?q?=E3=80=90=E6=8F=8F=09=E8=BF=B0=E3=80=91=EF=BC=9A=20=09[?= =?UTF-8?q?=E5=8E=9F=E5=9B=A0]=EF=BC=9A=E9=9C=80=E8=A6=81=E6=92=AD?= =?UTF-8?q?=E6=94=BE=E5=A3=B0=E9=9F=B3=E6=B5=8B=E8=AF=95=20=20=20=20=20=20?= =?UTF-8?q?=20=20=20=20=20=20=20=20=20=20=20=20=E9=9F=B3=E9=87=8F=E5=A4=AA?= =?UTF-8?q?=E5=A4=A7=20=20=20=20=20=20=20=20=20=20=20=20=20=20=20=20=20=20?= =?UTF-8?q?=E6=96=B0=E7=A1=AC=E4=BB=B6=E5=9B=9E=E6=9D=A5=20=09[=E8=BF=87?= =?UTF-8?q?=E7=A8=8B]=EF=BC=9A=20=20=20=20=20=20=20=20=20=20=20=20=20=20?= =?UTF-8?q?=20=20=E5=A2=9E=E5=8A=A0=E7=BC=96=E8=AF=91=E9=80=89=E9=A1=B9?= =?UTF-8?q?=E5=AF=B9=E4=B8=8D=E5=90=8C=E7=9A=84=E7=A1=AC=E4=BB=B6=20=20=20?= =?UTF-8?q?=20=20=20=20=20=20=20=20=20=20=20=20=20=E5=A3=B0=E9=9F=B3?= =?UTF-8?q?=E6=B5=8B=E8=AF=95=E4=BB=A3=E7=A0=81=20=20=20=20=20=20=20=20=20?= =?UTF-8?q?=20=20=20=20=20=20=20=E5=A2=9E=E5=8A=A0=E9=9F=B3=E9=87=8F?= =?UTF-8?q?=E8=B0=83=E8=8A=82=E5=87=BD=E6=95=B0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit [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 --- README.md | 17 ++++++++++ platformio.ini | 2 +- src/FoodDeliveryBase.cpp | 45 +++++++++++++++++--------- src/FoodDeliveryBase.h | 3 +- src/config.h | 24 ++++++++++---- src/main.cpp | 68 +++++++++++++++++++++++----------------- 6 files changed, 108 insertions(+), 51 deletions(-) create mode 100644 README.md diff --git a/README.md b/README.md new file mode 100644 index 0000000..a4a4b8e --- /dev/null +++ b/README.md @@ -0,0 +1,17 @@ +机载控制端esp32程序 +主要功能： + 控制钩子自动收放 + 和飞控通讯发送航线，转发飞控控制和状态 + 控制喇叭 + 根据mqtt指令直接控制摄像头 +物理连接： + wifi连接4G模块 + TTL连接飞控 + 模拟输出连接喇叭 + 内网udp连接摄像头推流服务器 + CAN连接收放控制电机 + PWM连接锁定舵机 + 模拟连接称重传感器 + IO连接开关控制 + IO连接LED灯控制 + \ No newline at end of file diff --git a/platformio.ini b/platformio.ini index 04cf9f1..e0fe503 100644 --- a/platformio.ini +++ b/platformio.ini @@ -12,7 +12,7 @@ platform = espressif32 board = esp32doit-devkit-v1 framework = arduino -build_flags = -DCORE_DEBUG_LEVEL=5 +build_flags = -DCORE_DEBUG_LEVEL=4 monitor_speed = 115200 upload-port = COM[14] lib_deps = diff --git a/src/FoodDeliveryBase.cpp b/src/FoodDeliveryBase.cpp index 8127473..7f2b066 100644 --- a/src/FoodDeliveryBase.cpp +++ b/src/FoodDeliveryBase.cpp @@ -44,6 +44,7 @@ FoodCube::FoodCube(char* userSsid, char* userPassword, char* userMqttServer, int } /*初始化 连接mqtt对象 赋予mqttClient指针*/ mqttClient = new PubSubClient(mqttServer, mqttPort, wifiClient); + SetplayvolMax(); } /** * @description: 日志打印 @@ -107,9 +108,9 @@ IPAddress secondaryDNS(8, 8, 4, 4); //optional void FoodCube::connectWifi() { - if (!WiFi.config(local_IP, gateway, subnet, primaryDNS, secondaryDNS)) { - ESP_LOGD(MOUDLENAME,"STA Failed to configure"); - } + //if (!WiFi.config(local_IP, gateway, subnet, primaryDNS, secondaryDNS)) { + // ESP_LOGD(MOUDLENAME,"STA Failed to configure"); + //} //设置wifi帐号密码 WiFi.begin(ssid, password); @@ -132,7 +133,7 @@ void FoodCube::connectWifi() { macAdd.replace(":", ""); //板子的物理地址 并且去除冒号 log("macAdd: "); logln(macAdd); - playText("[v1]网络连接成功"); + playText("网络连接成功"); delay(500); */ } @@ -154,7 +155,7 @@ bool FoodCube::checkWiFiStatus() macAdd.replace(":", ""); //板子的物理地址 并且去除冒号 log("macAdd: "); logln(macAdd); - playText("[v1]网络连接成功"); + playText("网络连接成功"); } return wificonnected; } @@ -177,11 +178,9 @@ void FoodCube::connectMqtt(String topicSub[], int topicSubCount) { logln(macAdd); /*连接成功 订阅主题*/ //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 - for (int i = 0; i < topicSubCount; i++) { //遍历 订阅主题 - subscribeTopic(topicSub[i], 1); - } + subscribeTopic("cmd", 1); delay(500); - playText("[v1]服务器已连接"); + playText("服务器已连接"); } else { //失败返回状态码 log("MQTT Server Connect Failed. Client State:"); @@ -258,16 +257,32 @@ void FoodCube::SWrite(uint8_t buf[], int len, uint8_t swSerial) { } } - +void FoodCube::SetplayvolMax() +{ + //输出音量开到最大 + uint8_t volcommand[10]={0xFD,0x00,0x07,0x01,0x01,0x5B,0x76,0x31,0x30,0x5D}; + SWrite(volcommand, sizeof(volcommand), voiceSerial); +} /** * @description: 声音播放 * @param {String} str 播放内容 */ -void FoodCube::playText(String str) { - // str="[v10]"+str; +void FoodCube::playText(String str,bool flying) { + + String vstr; + //输出音量开到最大 + // uint8_t volcommand[10]={0xFD,0x00,0x07,0x01,0x01,0x5B,0x76,0x31,0x30,0x5D}; + // SWrite(volcommand, sizeof(volcommand), voiceSerial); + + //字符串里面的音量 + //空中音量开到最大，地面防止刺耳开到小 + if (flying) + vstr="[v9]"+str; + else + vstr="[v1]"+str; //return ; /*消息长度*/ - int len = str.length(); //修改信息长度 消息长度 + int len = vstr.length(); //修改信息长度 消息长度 // if (len >= 3996) { //限制信息长度 超长的不播放 // return; // } @@ -285,8 +300,8 @@ void FoodCube::playText(String str) { command[index++] = 0x01; command[index++] = 0x04; /*帧命令 消息段*/ - for (int i = 0; i < str.length(); i++) { - command[index++] = (int)str[i]; + for (int i = 0; i < vstr.length(); i++) { + command[index++] = (int)vstr[i]; } logln("playText"); /* diff --git a/src/FoodDeliveryBase.h b/src/FoodDeliveryBase.h index 6d75cec..66b555e 100644 --- a/src/FoodDeliveryBase.h +++ b/src/FoodDeliveryBase.h @@ -55,7 +55,8 @@ public: /*串口输出*/ void SWrite(uint8_t buf[], int len, uint8_t swSerial); /*声音模块控制*/ - void playText(String str); + void playText(String str,bool flying=false); + void SetplayvolMax(); uint8_t chekVoiceMcu(); void stopVoice(); /*mavlink*/ diff --git a/src/config.h b/src/config.h index 395b2aa..a4ef3db 100644 --- a/src/config.h +++ b/src/config.h @@ -3,7 +3,8 @@ // 定义公共结构，变量，硬件接口等 /// // -#define VERSION "0.90" //版本 +#define VERSION "0.90" //软件版本 +#define VERSION_HW 1 //硬件版本1:第一块硬件 2:目前版本 // 硬件接口定义//////////////////////////// // 按钮 #define BTN_UP 23 // 收线开关 接线：BTN_UP---GND @@ -17,20 +18,31 @@ #define SERVO_PIN 14 // 锁定舵机PWM控制脚 ////LED #define LED_DATA_PIN 25 -// Moto-CAN -#define MOTO_CAN_RX 26 //1号机 26 后面 27 -#define MOTO_CAN_TX 27 //1号机 27 后面 26 + +#if (VERSION_HW == 1) + // Moto-CAN //第一版本硬件参数---1号机使用 + #define MOTO_CAN_RX 26 + #define MOTO_CAN_TX 27 + #define WEIGHT_SCALE 165 // //A通道是165,B通道是41 + #define HX711_GAIN 128 +#else + // Moto-CAN //第二版本硬件参数---2号机使用 + #define MOTO_CAN_RX 27 //PCB画板需要，做了调整 + #define MOTO_CAN_TX 26 //PCB画板需要，做了调整 + #define WEIGHT_SCALE 41 // 减少零点漂移用B通道是41 + #define HX711_GAIN 32 //减少零点漂移用B通道的感度 +#endif + ///serial1 #define SERIAL_REPORT_TX 5 #define SERIAL_REPORT_RX 18 ///// -#define WEIGHT_SCALE 165 // 276 //这是缩放值，根据砝码实测516.f +//#define WEIGHT_SCALE 41 // //A通道是165,B通道是41 #define TM_INSTORE_WEIGHT_DELAY 200 //200 // 入仓动力延时关闭时间 ms #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 #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 - enum HookStatus { HS_UnInit, // 还未初始化 diff --git a/src/main.cpp b/src/main.cpp index 7091f12..fb39600 100644 --- a/src/main.cpp +++ b/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 /*项目对象*/ //char* ssid = "szdot"; //wifi帐号 //char* password = "Ttaj@#*.com"; //wifi密码 -char* ssid = (char*)"flicube"; //wifi帐号 "flicube";// "fxmf_sc01" -char* password = (char*)"fxmf0622"; //wifi密码 "fxmf0622"; //"12345678" +char* ssid = (char*)"fxmf_sc01"; //wifi帐号 "flicube";// "fxmf_sc01" +char* password = (char*)"12345678"; //wifi密码 "fxmf0622"; //"12345678" char* mqttServer = (char*)"114.115.137.239";//"szdot.top"; //114.115.137.239 mqtt地址 int mqttPort = 1883; //mqtt端口 char* mqttName = (char*)"admin"; //mqtt帐号 -char* mqttPassword = (char*)"1234567"; //mqtt密码 +char* mqttPassword = (char*)"123456"; //mqtt密码 uint8_t mavlinkSerial = 2; //飞控占用的串口号 uint8_t voiceSerial = 1; //声音模块占用串口 char* udpServerIP = (char*) "192.168.8.210"; //云台相机ip @@ -136,7 +136,7 @@ String topicSub[] = { "questAss", "setPlaneState", "getPlaneState", "resetState" int topicSubCount = sizeof(topicSub) / sizeof(topicSub[0]); //订阅主题总数 /*有更新主动发送 主题*/ //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) -String topicPub[] = { "heartBeat", "voltagBattery", "currentBattery", "batteryRemaining", "positionAlt", "groundSpeed", "satCount", "latitude", "longitude", "fixType", "planeState", "pingNet", "getPlaneMode","loadweight","hookstatus","position"}; +String topicPub[] = { "heartBeat", "voltagBattery", "currentBattery", "batteryRemaining", "positionAlt", "groundSpeed", "satCount", "latitude", "longitude", "fixType", "state", "pingNet", "getPlaneMode","loadweight","hookstatus","position"}; int topicPubCount = sizeof(topicPub) / sizeof(topicPub[0]); //发送主题总数 String topicPubMsg[16]; //发送数据存放 对应topicPub String oldMsg[16]; //记录旧的数据 用来对比有没有更新 @@ -206,7 +206,7 @@ void setup() /////////////////////////////////MQTT_语音_MAVLINK 部分 /*初始化*/ Serial1.begin(115200, SERIAL_8N1, SERIAL_REPORT_RX, SERIAL_REPORT_TX); //声音模块引串口脚映射 - fc.playText("[v1]开始启动"); + fc.playText("开始启动"); fc.connectWifi(); //连接wifi // fc.playText("正在连接服务器"); // fc.connectMqtt(topicSub, topicSubCount); //连接mqtt @@ -254,7 +254,7 @@ void checkstatus() if (abs(pullweight) > 100) _checkweighttimes++; else _checkweighttimes=0; - ESP_LOGD(MOUDLENAME,"check neet tare %d ",pullweight); + //ESP_LOGD(MOUDLENAME,"check neet tare %d ",pullweight); if (_checkweighttimes>10) { _checkweightcal=false; @@ -279,7 +279,7 @@ void showinfo() // moto_measure_t mf=motocontrol.getmotoinfo() ; // printf("total_cnt:%.3f;speed:%.2f,curr:%.2fA \n ", mf.output_round_cnt, mf.output_speed_rpm,(float)mf.real_current/1000.0f); // if (pullweight > 10) - // printf("PullWeight:%d\n", pullweight); + // printf("PullWeight:%d\n", pullweight); //发送重量到mqtt topicPubMsg[14]=motocontrol.gethooktatus_str() ; topicPubMsg[13]=pullweight; @@ -390,7 +390,7 @@ void checkinited() scale.set_offset(wei_offset); motocontrol.weightalign(true); _needweightalign = false; - fc.playText("[v1]挂钩已锁定"); + // fc.playText("挂钩已锁定"); initstatus = IS_OK; }else { @@ -404,7 +404,7 @@ void checkinited() { if (_weightalign_status==WAS_AlignOK) { - fc.playText("[v1]挂钩已锁定"); + // fc.playText("挂钩已锁定"); initstatus = IS_OK; }else if (_weightalign_status==WAS_Alignfault) @@ -458,6 +458,12 @@ void checkinited() */ } } +void set_locked(bool locked) +{ + motocontrol.setlocked(locked); + if (locked) + fc.playText("挂钩已锁定"); +} // 在核心1上执行，重要的延迟低的 void loop() { @@ -485,7 +491,7 @@ void loop() if ((millis() - _tm_bengstop) > TM_INSTORE_WEIGHT_DELAY) { _bengstop = false; - motocontrol.setlocked(true); + set_locked(true); } } else @@ -493,7 +499,7 @@ void loop() if ((millis() - _tm_bengstop) > TM_INSTORE_NOWEIGHT_DELAY) { _bengstop = false; - motocontrol.setlocked(true); + set_locked(true); } } } @@ -511,7 +517,7 @@ void loop() void Task1(void *pvParameters) { // 初始化称重传感器 - scale.begin(LOADCELL_DOUT_PIN, LOADCELL_SCK_PIN); + 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 scale.set_scale(WEIGHT_SCALE); // 这是缩放值，根据砝码实测516.f scale.tare(); // 重置为0 @@ -671,7 +677,7 @@ void ctbtn_pressstart() void ctbtn_pressend() { ESP_LOGD(MOUDLENAME,"Top_pressend"); - motocontrol.setlocked(false); + set_locked(false); _bengstop = false; } @@ -693,7 +699,7 @@ void down_action(float motospeed,float length = 0.0f) { motocontrol.setspeed(motospeed); motocontrol.moto_run(MotoStatus::MS_Down,length); - fc.playText("[v1]放线"); + fc.playText("放线"); } } } @@ -707,7 +713,7 @@ void up_action(float motospeed) motocontrol.stopautodown(); //终止自动放线 motocontrol.setspeed(motospeed); motocontrol.moto_run(MotoStatus::MS_Up); - fc.playText("[v1]收线"); + fc.playText("收线"); }else motocontrol.stoprun(); } @@ -768,7 +774,7 @@ void btn_presssatonce() { ESP_LOGD(MOUDLENAME,"UP_presssatonce"); led_show(255,255, 255); // 高亮一下 - fc.playText("[v1]发送对频信息"); + fc.playText("发送对频信息"); fc.pubMQTTmsg(topicHandle[0], fc.getMacAdd()); } // 收线按钮-长按 @@ -1126,7 +1132,7 @@ void mavlink_receiveCallback(uint8_t c) { // 通过msgid来判断 数据流的类别 char buf[10]; - //printf("mav_id:%d\n",msg.msgid); + // printf("mav_id:%d\n",msg.msgid); switch (msg.msgid) { case MAVLINK_MSG_ID_HEARTBEAT: // #0: Heartbeat 心跳 @@ -1140,7 +1146,7 @@ void mavlink_receiveCallback(uint8_t c) { if (!curr_armed) { ESP_LOGD(MOUDLENAME,"armed"); - fc.playText("[v1]已解锁"); + fc.playText("已解锁"); } 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(); }