背篼酥课堂 第三课-软串口控制舵机 nodemcu

nodemcu 的软串口使用
具体安装库，见下面代码；

• 控制舵机例程

/*
 * 第三课
 * nodemcu 控制舵机
 */
#include 
#include //nodemcu 的软串口
#include 
SoftwareSerial swSer(14, 12, false, 256);//rx,tx,nodemcu 软串口
LobotServoController myse(swSer);//舵机控制库
int led4 = D4;//定义led引脚
void setup() { //myse.moveServo(6, 150, 1000);
  swSer.begin(9600);//舵机控制 串口初始化
  Serial.begin(115200);//串口 初始化
  pinMode(led4, OUTPUT);//控制一个灯
  digitalWrite(led4, LOW);
  Serial.print("init success");
}
void loop() {
  Serial.println("GPIO 4 off");
  digitalWrite(led4, LOW);
  myse.moveServo(6, 150, 1000);//初始化头部 头部编号 舵机位置，运行时间
  delay(1000);
  digitalWrite(led4, HIGH);
  myse.moveServo(6, 60, 1000);//初始化头部 头部编号 舵机位置，运行时间
  delay(1000);

}

nodemcu 软串口库 使用一个cpp 文件；一个h文件；
SoftwareSerial.cpp

• SoftwareSerial.cpp

/*

SoftwareSerial.cpp - Implementation of the Arduino software serial for ESP8266.
Copyright (c) 2015-2016 Peter Lerup. All rights reserved.

This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.

This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

*/

#include 

// The Arduino standard GPIO routines are not enough,
// must use some from the Espressif SDK as well
extern "C" {
#include "gpio.h"
}

#include 

#define MAX_PIN 15

// As the Arduino attachInterrupt has no parameter, lists of objects
// and callbacks corresponding to each possible GPIO pins have to be defined
SoftwareSerial *ObjList[MAX_PIN+1];

void ICACHE_RAM_ATTR sws_isr_0() { ObjList[0]->rxRead(); };
void ICACHE_RAM_ATTR sws_isr_1() { ObjList[1]->rxRead(); };
void ICACHE_RAM_ATTR sws_isr_2() { ObjList[2]->rxRead(); };
void ICACHE_RAM_ATTR sws_isr_3() { ObjList[3]->rxRead(); };
void ICACHE_RAM_ATTR sws_isr_4() { ObjList[4]->rxRead(); };
void ICACHE_RAM_ATTR sws_isr_5() { ObjList[5]->rxRead(); };
// Pin 6 to 11 can not be used
void ICACHE_RAM_ATTR sws_isr_12() { ObjList[12]->rxRead(); };
void ICACHE_RAM_ATTR sws_isr_13() { ObjList[13]->rxRead(); };
void ICACHE_RAM_ATTR sws_isr_14() { ObjList[14]->rxRead(); };
void ICACHE_RAM_ATTR sws_isr_15() { ObjList[15]->rxRead(); };

static void (*ISRList[MAX_PIN+1])() = {
      sws_isr_0,
      sws_isr_1,
      sws_isr_2,
      sws_isr_3,
      sws_isr_4,
      sws_isr_5,
      NULL,
      NULL,
      NULL,
      NULL,
      NULL,
      NULL,
      sws_isr_12,
      sws_isr_13,
      sws_isr_14,
      sws_isr_15
};

SoftwareSerial::SoftwareSerial(int receivePin, int transmitPin, bool inverse_logic, unsigned int buffSize) {
  m_oneWire = (receivePin == transmitPin);
  m_rxValid = m_txValid = m_txEnableValid = false;
  m_buffer = NULL;
  m_invert = inverse_logic;
  m_overflow = false;
  m_rxEnabled = false;
  if (isValidGPIOpin(receivePin)) {
    m_rxPin = receivePin;
    m_buffSize = buffSize;
    m_buffer = (uint8_t*)malloc(m_buffSize);
    if (m_buffer != NULL) {
      m_rxValid = true;
      m_inPos = m_outPos = 0;
      pinMode(m_rxPin, INPUT);
      ObjList[m_rxPin] = this;
    }
  }
  if (isValidGPIOpin(transmitPin) || (!m_oneWire && (transmitPin == 16))) {
    m_txValid = true;
    m_txPin = transmitPin;
    if (!m_oneWire) {
      pinMode(m_txPin, OUTPUT);
      digitalWrite(m_txPin, !m_invert);
    }
  }
  // Default speed
  begin(9600);
}

SoftwareSerial::~SoftwareSerial() {
  enableRx(false);
  if (m_rxValid)
    ObjList[m_rxPin] = NULL;
  if (m_buffer)
    free(m_buffer);
}

bool SoftwareSerial::isValidGPIOpin(int pin) {
  return (pin >= 0 && pin <= 5) || (pin >= 12 && pin <= MAX_PIN);
}

void SoftwareSerial::begin(long speed) {
  // Use getCycleCount() loop to get as exact timing as possible
  m_bitTime = F_CPU/speed;
  // By default enable interrupt during tx only for low speed
  m_intTxEnabled = speed < 9600;

  if (!m_rxEnabled)
    enableRx(true);
}

long SoftwareSerial::baudRate() {
  return F_CPU/m_bitTime;
}

void SoftwareSerial::setTransmitEnablePin(int transmitEnablePin) {
  if (isValidGPIOpin(transmitEnablePin)) {
    m_txEnableValid = true;
    m_txEnablePin = transmitEnablePin;
    pinMode(m_txEnablePin, OUTPUT);
    digitalWrite(m_txEnablePin, LOW);
  } else {
    m_txEnableValid = false;
  }
}

void SoftwareSerial::enableIntTx(bool on) {
  m_intTxEnabled = on;
}

void SoftwareSerial::enableTx(bool on) {
  if (m_oneWire && m_txValid) {
    if (on) {
      enableRx(false);
      digitalWrite(m_txPin, !m_invert);
      pinMode(m_rxPin, OUTPUT);
    } else {
      digitalWrite(m_txPin, !m_invert);
      pinMode(m_rxPin, INPUT);
      enableRx(true);
    }
    delay(1); // it's important to have a delay after switching
  }
}

void SoftwareSerial::enableRx(bool on) {
  if (m_rxValid) {
    if (on)
      attachInterrupt(m_rxPin, ISRList[m_rxPin], m_invert ? RISING : FALLING);
    else
      detachInterrupt(m_rxPin);
    m_rxEnabled = on;
  }
}

int SoftwareSerial::read() {
  if (!m_rxValid || (m_inPos == m_outPos)) return -1;
  uint8_t ch = m_buffer[m_outPos];
  m_outPos = (m_outPos+1) % m_buffSize;
  return ch;
}

int SoftwareSerial::available() {
  if (!m_rxValid) return 0;
  int avail = m_inPos - m_outPos;
  if (avail < 0) avail += m_buffSize;
  return avail;
}

#define WAIT { while (ESP.getCycleCount()-start < wait) if (m_intTxEnabled) optimistic_yield(1); wait += m_bitTime; }

size_t SoftwareSerial::write(uint8_t b) {
  if (!m_txValid) return 0;

  if (m_invert) b = ~b;
  if (!m_intTxEnabled)
    // Disable interrupts in order to get a clean transmit
    cli();
  if (m_txEnableValid) digitalWrite(m_txEnablePin, HIGH);
  unsigned long wait = m_bitTime;
  digitalWrite(m_txPin, HIGH);
  unsigned long start = ESP.getCycleCount();
  // Start bit;
  digitalWrite(m_txPin, LOW);
  WAIT;
  for (int i = 0; i < 8; i++) {
    digitalWrite(m_txPin, (b & 1) ? HIGH : LOW);
    WAIT;
    b >>= 1;
  }
  // Stop bit
  digitalWrite(m_txPin, HIGH);
  WAIT;
  if (m_txEnableValid) digitalWrite(m_txEnablePin, LOW);
  if (!m_intTxEnabled)
    sei();
  return 1;
}

void SoftwareSerial::flush() {
  m_inPos = m_outPos = 0;
}

bool SoftwareSerial::overflow() {
  bool res = m_overflow;
  m_overflow = false;
  return res;
}

int SoftwareSerial::peek() {
  if (!m_rxValid || (m_inPos == m_outPos)) return -1;
  return m_buffer[m_outPos];
}

void ICACHE_RAM_ATTR SoftwareSerial::rxRead() {
  // Advance the starting point for the samples but compensate for the
  // initial delay which occurs before the interrupt is delivered
  unsigned long wait = m_bitTime + m_bitTime/3 - 500;
  unsigned long start = ESP.getCycleCount();
  uint8_t rec = 0;
  for (int i = 0; i < 8; i++) {
    WAIT;
    rec >>= 1;
    if (digitalRead(m_rxPin))
      rec |= 0x80;
  }
  if (m_invert) rec = ~rec;
  // Stop bit
  WAIT;
  // Store the received value in the buffer unless we have an overflow
  int next = (m_inPos+1) % m_buffSize;
  if (next != m_outPos) {
    m_buffer[m_inPos] = rec;
    m_inPos = next;
  } else {
    m_overflow = true;
  }
  // Must clear this bit in the interrupt register,
  // it gets set even when interrupts are disabled
  GPIO_REG_WRITE(GPIO_STATUS_W1TC_ADDRESS, 1 << m_rxPin);
}

• 点h文件，SoftwareSerial.h见下面；

/*
SoftwareSerial.h

SoftwareSerial.cpp - Implementation of the Arduino software serial for ESP8266.
Copyright (c) 2015-2016 Peter Lerup. All rights reserved.

This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.

This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

*/

#ifndef SoftwareSerial_h
#define SoftwareSerial_h

#include 
#include 


// This class is compatible with the corresponding AVR one,
// the constructor however has an optional rx buffer size.
// Speed up to 115200 can be used.


class SoftwareSerial : public Stream {
public:
  SoftwareSerial(int receivePin, int transmitPin, bool inverse_logic = false, unsigned int buffSize = 64);
  virtual ~SoftwareSerial();

  void begin(long speed);
  long baudRate();
  // Transmit control pin
  void setTransmitEnablePin(int transmitEnablePin);
  // Enable or disable interrupts during tx
  void enableIntTx(bool on);

  bool overflow();
  int peek();

  virtual size_t write(uint8_t byte);
  virtual int read();
  virtual int available();
  virtual void flush();
  operator bool() {return m_rxValid || m_txValid;}

  // Disable or enable interrupts on the rx pin
  void enableRx(bool on);
  // One wire control
  void enableTx(bool on);

  void rxRead();

  // AVR compatibility methods
  bool listen() { enableRx(true); return true; }
  void end() { stopListening(); }
  bool isListening() { return m_rxEnabled; }
  bool stopListening() { enableRx(false); return true; }

  using Print::write;

private:
  bool isValidGPIOpin(int pin);

  // Member variables
  bool m_oneWire;
  int m_rxPin, m_txPin, m_txEnablePin;
  bool m_rxValid, m_rxEnabled;
  bool m_txValid, m_txEnableValid;
  bool m_invert;
  bool m_overflow;
  unsigned long m_bitTime;
  bool m_intTxEnabled;
  unsigned int m_inPos, m_outPos;
  int m_buffSize;
  uint8_t *m_buffer;

};

// If only one tx or rx wanted then use this as parameter for the unused pin
#define SW_SERIAL_UNUSED_PIN -1


#endif