加入和上层控制器协议解析，可收命令和发送命令返回

.vscode/settings.json

@@ -0,0 +1,6 @@
+{
+    "files.associations": {
+        "cstddef": "cpp",
+        "algorithm": "cpp"
+    }
+}

platformio.ini

@@ -13,7 +13,7 @@ platform = espressif32
 board = esp32doit-devkit-v1
 framework = arduino
 monitor_speed = 115200
---upload-port = COM[14]
+upload-port = COM[14]
 lib_deps = 
 	bogde/HX711@^0.7.5
 	mathertel/OneButton@^2.0.3

src/Serialcommand.cpp

@@ -0,0 +1,178 @@
+#include "Serialcommand.h"
+#include "Arduino.h"
+
+Serialcommand::Serialcommand()
+{
+  // 连接控制器
+  Serial2.begin(115200);
+  // clear serialport
+  while (Serial2.read() >= 0)
+  {
+  }
+  CmdState = 0;
+  bufferIndex = 0;
+  recv_flag = false;
+  outBuffer[0] = 0xff;
+  outBuffer[1] = 0xff;
+}
+Serialcommand::~Serialcommand()
+{
+}
+
+void Serialcommand::Uart_Command_Rev(void)
+{
+  while (Serial2.available() > 0)
+  {
+    ch = Serial2.read();
+    // printf("rev:%d\n", ch);
+    switch (CmdState)
+    {
+      // 开始标志1
+    case 0:
+    {
+      if (0xFF == ch)
+      {
+        CmdState = 1;
+        // printf("st:%d\n", CmdState);
+      }
+    }
+    break;
+    // 开始标志2
+    case 1:
+    {
+      if (0xFF == ch)
+      {
+        bufferIndex = 0;
+        CmdState = 2;
+        // printf("st:%d\n", CmdState);
+      }
+      else
+        CmdState = 0;
+    }
+    break;
+    // 取长度，准备收数据
+    case 2:
+    {
+      datalen = ch;
+      // printf("datalen:%d\n", datalen);
+      if (datalen <= inbuffersize)
+      {
+        CmdState = 3;
+        bufferIndex = 0;
+        inBuffer[bufferIndex] = ch;
+        // printf("buf:%d:%d\n", bufferIndex, inBuffer[bufferIndex]);
+      }
+      else // 超长
+      {
+        CmdState = 0;
+      }
+    }
+    break;
+    // 收数据直到结束
+    case 3:
+    {
+      // printf("st3:%d:%d\n", bufferIndex, datalen);
+
+      if (bufferIndex <= datalen)
+      {
+        bufferIndex++;
+        inBuffer[bufferIndex] = ch;
+        // printf("buf:%d:%d\n", bufferIndex, inBuffer[bufferIndex]);
+        if (bufferIndex == datalen) // 收完了
+        {
+          CmdState = 0;
+          recv_flag = true;
+          bufferIndex = 0;
+          return; // 不收数据了，先出去解析
+        }
+      }
+    }
+    break;
+    }
+  }
+}
+uint8_t Serialcommand::getsum(const uint8_t *buffer, size_t size)
+{
+  uint16_t usum = 0;
+  uint8_t chksum = 0;
+  for (uint8_t i = 0; i < size; i++)
+  {
+    usum += buffer[i];
+  }
+  chksum = (uint8_t)usum & 0xff; // 取低8位
+  return chksum;
+}
+bool Serialcommand::checksum()
+{
+  uint8_t bufsum = inBuffer[datalen];             // 校验和
+  uint8_t chksum = getsum(inBuffer, datalen - 1); // 不算sum字节
+  if (chksum != bufsum)
+  {
+    printf("sum fault :data_sum:0x%02X,add_sum:0x%02X\n", bufsum, chksum);
+  }
+  return bufsum == chksum;
+}
+
+void Serialcommand::sendcmdret(uint8_t cmdret)
+{
+  // 长度
+  outBuffer[2] = 0x02;
+  // 标识命令返回
+  outBuffer[3] = 0x01;
+  // 返回数据
+  outBuffer[4] = cmdret;
+  outBuffer[5] = getsum(outBuffer + 2, 3);
+  Serial2.write(outBuffer, 6);
+}
+void Serialcommand::getcommand()
+{
+  Uart_Command_Rev();
+  // 收到有效数据
+  if (recv_flag)
+  {
+    // printf("rev end len:%d\n", datalen);
+    recv_flag = false;
+    // 处理数据
+    if (checksum())
+    {
+      uint8_t commandid = inBuffer[1];
+      printf("rev ok cid:0x%02X\n", commandid);
+      switch (commandid)
+      {
+      // 放钩
+      case 0x01:
+      {
+        sendcmdret(0); // 成功
+      }
+      break;
+      // 收钩
+      case 0x02:
+      {
+        sendcmdret(0); // 成功
+      }
+      break;
+      // 停止
+      case 0x03:
+      {
+        sendcmdret(0); // 成功
+      }
+      break;
+      // 查询当前状态
+      case 0x04:
+      {
+        sendcmdret(0); //  发送状态
+      }
+      break;
+      // 设置速度
+      case 0x05:
+      {
+        sendcmdret(0); // 成功
+      }
+      break;
+      default:
+        sendcmdret(100); // 失败，未知命令
+      }
+    }
+    memset(inBuffer, 0x00, sizeof(inBuffer));
+  }
+}

src/Serialcommand.h

@@ -0,0 +1,24 @@
+#include "Arduino.h"
+
+class Serialcommand
+{
+private:
+     static const int inbuffersize = 20;
+     int CmdState; // 指令接收状态
+     uint8_t ch;   // 临时单个字符存储
+     int datalen;
+     bool recv_flag;                 // 指令接收成功标志
+     uint8_t inBuffer[inbuffersize]; // 接收指令缓冲区
+     uint8_t bufferIndex;
+     static const int outbuffersize = 20;
+     uint8_t outBuffer[outbuffersize];
+     void Uart_Command_Rev(void);
+     uint8_t getsum(const uint8_t *buffer, size_t size);
+     bool checksum();
+     void sendcmdret(uint8_t cmdret);
+
+public:
+     Serialcommand();  // 构造函数
+     ~Serialcommand(); // 析构函数
+     void getcommand();
+};

src/config.h

@@ -0,0 +1,11 @@
+//硬件接口定义文件
+
+// 按钮
+#define BTN_UP 23   // 收线开关   接线：BTN_UP---GND
+#define BTN_DOWN 22 // 放线开关
+#define BTN_CT 21   // 到顶检测开关
+// LED
+#define LED_TIP 19 // 指示灯     接线：LED_TIP---3.3V
+// 称重传感器- HX711
+#define LOADCELL_DOUT_PIN 2
+#define LOADCELL_SCK_PIN 4

src/main.cpp

@@ -1,16 +1,9 @@
 #include "HX711.h"
 #include "OneButton.h"
+#include "Serialcommand.h"
+#include "config.h"
+
 
-// 硬件引脚定义--------------------------
-// 按钮
-#define BTN_UP 23   // 收线开关   接线：BTN_UP---GND
-#define BTN_DOWN 22 // 放线开关
-#define BTN_CT 21   // 到顶检测开关
-// LED
-#define LED_TIP 19 // 指示灯     接线：LED_TIP---3.3V
-// 称重传感器- HX711
-#define LOADCELL_DOUT_PIN 2
-#define LOADCELL_SCK_PIN 4
 
 // 角度传感器
 // 收放线电机控制
@@ -21,6 +14,7 @@ OneButton button_up(BTN_UP, true);
 OneButton button_down(BTN_DOWN, true);
 OneButton button_checktop(BTN_CT, true);
 HX711 scale;
+Serialcommand sercomm;
 
 void upbtn_click();
 void downbtn_click();
@@ -33,12 +27,7 @@ void setup()
   // 调试串口
   Serial.begin(115200);
   Serial.println("Starting PullupDevice...");
-  // 连接控制器
+ 
-  Serial2.begin(115200);
-  // clear serialport
-  while (Serial2.read() >= 0)
-  {
-  }
 
   // 初始化按钮
   button_up.attachClick(upbtn_click);
@@ -85,6 +74,8 @@ void loop()
   button_checktop.tick();
   button_down.tick();
   button_up.tick();
+  sercomm.getcommand();
+  
   delay(10);
 
   // Serial.print("PullUnits:\t");
@@ -109,70 +100,3 @@ void upbtn_click()
 {
   Serial.println("upbtn_click");
 }
-
-const int bufnum = 20;
-char buffer[bufnum];
-const int sendbufnum = 5;
-char sendbuffer[sendbufnum] = {(char)0xFF, (char)0xFF, (char)0x00, (char)0x00, (char)0x00};
-int datareadpos = 0; // 数据读取位置
-void getcommand()
-{
-  datareadpos = 0;
-  int headpos = 0;
-
-  // 是否有数据，有就读bufnum个
-  //数据头2个字节FF FF
-  while (Serial2.available() > 0)
-  {
-    buffer[datareadpos] = Serial2.read();
-
-    if ((datareadpos > 1) && (buffer[datareadpos] == 0xFF) && (buffer[datareadpos - 1] == 0xFF))
-      headpos = datareadpos - 1;
-    datareadpos++;
-    delay(20);
-    // 读超过buff长度退出
-    if (datareadpos >= bufnum)
-      break;
-  }
-  if (datareadpos > 0)
-  {
-    printf("rev[%d]:", datareadpos);
-    for (int i = 0; i < datareadpos; i++)
-    {
-      printf("0x%02X,", (byte)buffer[i]);
-    }
-  }
-  // 是否读了bufnum个数据
-  if (((byte)buffer[headpos] == 0xFF) && ((byte)buffer[headpos + 1] == 0xFF))
-  {
-    byte sumbyte = (byte)(buffer[headpos + 2] + buffer[headpos + 3] + buffer[headpos + 4]) & 0xFF;
-    if ((byte)buffer[headpos + 5] == sumbyte)
-    {
-      int cmd_type = buffer[headpos + 2];
-      switch (cmd_type)
-      {
-      case 0x01: // 收线
-        /* code */
-        break;
-      case 0x02: // 放线
-        /* code */
-        break;
-
-      default:
-        break;
-      }
-    }
-  }
-  // clear serial buffer
-
-  while (Serial2.available() > 0)
-  {
-    Serial2.read();
-    delay(5);
-  }
-
-  for (int i = 0; i < bufnum; i++)
-  {
-    buffer[i] = '\0';
-  }
-}