Helicopter/firmware
2
1
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

PID controllers hierarchy revision

Browse Source
This commit is contained in:
Goga Coder
2024-03-08 23:10:55 +07:00
parent 271bd845bf
commit 4a85827150
16 changed files with 389 additions and 234 deletions
Download Patch File Download Diff File Expand all files Collapse all files

18
src/RF/BluetoothDispatcher.cpp
View File

@@ -4,6 +4,7 @@
#include "BluetoothDispatcher.hpp"
static DeviceConnectedCb deviceConnectedCallback = nullptr;
static void deviceConnectedStaticCallback(esp_spp_cb_event_t event, esp_spp_cb_param_t *param);
BluetoothDispatcher::BluetoothDispatcher(BluetoothSerial *controller, const char *device_name) {
@@ -26,12 +27,11 @@ bool BluetoothDispatcher::initialize(volatile bool loop_on_fail, int readTimeout
deviceConnectedCallback = [this](BTAddress device) {
_onDeviceConnected(device);
};
_controller->setTimeout(2);
_controller->setTimeout(50);
bool success = _controller->begin(_device_name, false);
if (!success) {
ESP_LOGI(_tag, "Failed to initialize Bluetooth controller!");
while (loop_on_fail)
;
while (loop_on_fail);
return false;
} else {
ESP_LOGI(_tag, "Bluetooth host initialized");
@@ -43,12 +43,12 @@ void BluetoothDispatcher::onNewPackageReceived(NewPackageCallback newPackageRece
_newPackageReceivedCb = newPackageReceivedCb;
}
void BluetoothDispatcher::tick(const char *message_delimeter) {
void BluetoothDispatcher::tick(const char message_delimeter) {
/* Call the callback, if new package received */
while (_controller->available()) { _buffer += (char)_controller->read(); }
if (_buffer.endsWith(message_delimeter)) {
while (_controller->available()) { _buffer += (char) _controller->read(); }
if (_buffer.lastIndexOf(message_delimeter) != -1) {
char buffer[_buffer_size];
auto messageEnd = _buffer.lastIndexOf('}');
auto messageEnd = _buffer.indexOf(message_delimeter) - 1;
if (messageEnd == -1) {
_buffer.clear();
} else {
@@ -71,7 +71,7 @@ BluetoothDispatcher::~BluetoothDispatcher() {
}
void BluetoothDispatcher::_onConfirmRequest(uint16_t pin) {
ESP_LOGI(_tag, "The Bluetooth PIN is: %06lu", (long unsigned int)pin);
ESP_LOGI(_tag, "The Bluetooth PIN is: %06lu", (long unsigned int) pin);
_controller->confirmReply(true);
}
@@ -97,7 +97,7 @@ void BluetoothDispatcher::onNewDeviceConnected(DeviceConnectedCb deviceConnected
}
void BluetoothDispatcher::sendPackage(const char *package, size_t size) {
_controller->write((uint8_t *)package, size);
_controller->write((uint8_t *) package, size);
}