From 5ea061ba105842af0bc72c4ff024a0b8f9a36f85 Mon Sep 17 00:00:00 2001
From: jd3096-mpy <1091329318@qq.com>
Date: Thu, 25 Nov 2021 14:46:45 +0800
Subject: [PATCH] merge

---
 code/ble.py                                   |  2 +-
 code/car.py                                   | 81 +++++++++---------
 code/examples/IR_control&screen.py            | 85 -------------------
 code/examples/IR_control.py                   | 58 -------------
 .../{bleremote.py => ble&IRremote.py}         |  9 +-
 code/ir_receive.py                            | 67 +++++++++++++++
 6 files changed, 111 insertions(+), 191 deletions(-)
 delete mode 100644 code/examples/IR_control&screen.py
 delete mode 100644 code/examples/IR_control.py
 rename code/examples/{bleremote.py => ble&IRremote.py} (91%)
 create mode 100644 code/ir_receive.py

diff --git a/code/ble.py b/code/ble.py
index 99dbd5a..d72a608 100644
--- a/code/ble.py
+++ b/code/ble.py
@@ -105,7 +105,7 @@ def notify(self, data):
     def is_connected(self):
         return len(self._connections) > 0
 
-    def _advertise(self, interval_us=500000):
+    def _advertise(self, interval_us=100000):
         print("Starting advertising")
         self._ble.gap_advertise(interval_us, adv_data=self._payload)
 
diff --git a/code/car.py b/code/car.py
index 40d74f7..768bd4b 100644
--- a/code/car.py
+++ b/code/car.py
@@ -6,10 +6,19 @@
 from ssd1306 import SSD1306_I2C     #从ssd1306模块中导入SSD1306_I2C子模块
 import framebuf
 import time
-
+from ir_receive import IRrec
 #编码盘计数
 count1 = 0
 count2 = 0
+#遥控器指令表
+IR_FORWARD=48
+IR_BACKWARD=164
+IR_LEFT=16
+IR_RIGHT=180
+IR_STOP=56
+IR_LIGHT_ON=44
+IR_LIGHT_OFF=26
+
 
 class CAR():
     
@@ -53,7 +62,8 @@ def __init__(self):
         self.t5 = Pin(39, Pin.IN, Pin.PULL_UP)
         
         #红外接收头
-        self.IR = Pin(32, Pin.IN)
+        self.IR = IRrec(32)
+        self.IR.callback(self.getIR)
         
         #屏幕
         self.i2c=SoftI2C(sda=Pin(25), scl=Pin(23))
@@ -308,44 +318,29 @@ def T5(self):
         return self.t5.value()
 
     #红外接收解码
-    def getIR(self):
-
-        if (self.IR.value() == 0):
-            count = 0
-            while ((self.IR.value() == 0) and (count < 100)): #9ms
-                count += 1
-                time.sleep_us(100)
-            if(count < 10):
-                return None
-            count = 0
-            while ((self.IR.value() == 1) and (count < 50)): #4.5ms
-                count += 1
-                time.sleep_us(100)
-                
-            idx = 0
-            cnt = 0
-            data = [0,0,0,0]
-            for i in range(0,32):
-                count = 0
-                while ((self.IR.value() == 0) and (count < 10)):    #0.56ms
-                    count += 1
-                    time.sleep_us(100)
-
-                count = 0
-                while ((self.IR.value() == 1) and (count < 20)):   #0: 0.56mx
-                    count += 1                                #1: 1.69ms
-                    time.sleep_us(100)
-
-                if count > 7:
-                    data[idx] |= 1<<cnt
-                if cnt == 7:
-                    cnt = 0
-                    idx += 1
-                else:
-                    cnt += 1
-
-            if data[0]+data[1] == 0xFF and data[2]+data[3] == 0xFF:  #check
-                return data[2]
-            else:
-                return("REPEAT")
-
+    def getIR(self,nec,add,cmd):
+        self.s_red=1
+        if cmd==IR_FORWARD:
+            self.forward()
+            self.screen()
+        elif cmd==IR_BACKWARD:
+            self.backward()
+            self.screen()
+        elif cmd==IR_LEFT:
+            self.turn_left(1)
+            self.screen()
+        elif cmd==IR_RIGHT:
+            self.turn_right(1)
+            self.screen()
+        elif cmd==IR_STOP:
+            self.stop()
+            self.screen()
+        elif cmd==IR_LIGHT_ON:
+            self.light_on()
+            self.screen()
+        elif cmd==IR_LIGHT_OFF:
+            self.light_off()
+            self.screen()
+        time.sleep_ms(50)
+        self.s_red=0
+        self.screen()
diff --git a/code/examples/IR_control&screen.py b/code/examples/IR_control&screen.py
deleted file mode 100644
index ffc4a27..0000000
--- a/code/examples/IR_control&screen.py
+++ /dev/null
@@ -1,85 +0,0 @@
-import car
-import utime
-import _thread
-from machine import Pin,Timer
-
-global irremote
-irremote=0
-
-#----------IR REMOTE------------
-IR_FORWARD=24
-IR_BACKWARD=82
-IR_LEFT=8
-IR_RIGHT=90
-IR_STOP=28
-IR_LIGHT_ON=22
-IR_LIGHT_OFF=13
-IR_QUIT=25
-IR_SHOW=69
-
-pycar=car.CAR()
-#----------test-----------
-# #screen
-# pycar.screen(0,0,0,0,0,0,0,0,0,0)
-# #light
-# pycar.light_off()
-# #distance
-# print(pycar.getDistance())
-# #move
-# pycar.turn_left(1)
-# #count
-# print(pycar.getJourney())
-#pycar.forward()
-utime.sleep(1)
-
-def fun(tim):
-    pycar.getDistance()
-    pycar.getJourney()
-    pycar.screen()
-
-tim = Timer(-1)
-#tim.init(period=10000, mode=Timer.PERIODIC,callback=fun)    #周期为10s,当前红外与其他进程会发生冲突  当前是按1就刷新一次
-while 1:
-    result=pycar.getIR()
-    if result!=None:
-        print(result)
-        if result==IR_FORWARD:
-            print('f')
-            pycar.forward()
-            pycar.screen()
-        elif result==IR_BACKWARD:
-            print('b')
-            pycar.backward()
-            pycar.screen()
-        elif result==IR_LEFT:
-            pycar.turn_left(1)
-            pycar.screen()
-            print('l')
-        elif result==IR_RIGHT:
-            pycar.turn_right(1)
-            pycar.screen()
-            print('r')
-        elif result==IR_STOP:
-            pycar.stop()
-            pycar.screen()
-            print('s')
-        elif result==IR_LIGHT_ON:
-            print('o')
-            pycar.light_on()
-            pycar.screen()
-        elif result==IR_LIGHT_OFF:
-            print('f')
-            pycar.light_off()
-            pycar.screen()
-        elif result==IR_QUIT:
-            print('Q')
-            break
-        elif result==IR_SHOW:
-            print('S')
-            pycar.getDistance()
-            pycar.getJourney()
-            pycar.screen()
-        print(result)
-
-
-
diff --git a/code/examples/IR_control.py b/code/examples/IR_control.py
deleted file mode 100644
index 08ca581..0000000
--- a/code/examples/IR_control.py
+++ /dev/null
@@ -1,58 +0,0 @@
-'''
-实验名称：使用红外遥控器控制pyCar
-版本：v1.0
-日期：2021-11
-作者：CaptainJackey
-说明：将文件改成main.py发送到pyCar可离线运行
-'''
-
-#导入相关模块
-from car import CAR
-import time
-
-#初始化pyCar
-Car = CAR()
-time.sleep_ms(300) #等待稳定
-
-#车灯状态
-light_state = 0 
-
-while True:
-    
-    key = Car.getIR() #读取红外传感器
-
-    if key != None: #有按键按下
-        
-        #按键上，前进
-        if key == 24:
-            
-            Car.forward()
-            time.sleep(1)
-            Car.stop()
-        
-        #按键下，后退
-        if key == 82:
-            
-            Car.backward()
-            time.sleep(1)
-            Car.stop()
-
-        #按键左，左转
-        if key == 8:
-            
-            Car.turn_left(mode=1)
-            time.sleep_ms(250)
-            Car.stop()
-
-        #按键右，右转
-        if key == 90:
-            
-            Car.turn_right(mode=1)
-            time.sleep_ms(250)
-            Car.stop()                                            
-        
-        #按键OK，车灯开关
-        if key == 28: 
-            
-            light_state = not light_state
-            Car.light(light_state)
diff --git a/code/examples/bleremote.py b/code/examples/ble&IRremote.py
similarity index 91%
rename from code/examples/bleremote.py
rename to code/examples/ble&IRremote.py
index 5d1d960..d453e08 100644
--- a/code/examples/bleremote.py
+++ b/code/examples/ble&IRremote.py
@@ -50,14 +50,15 @@ def fun(tim):
 
 
 while 1:
+    ds=pycar.getDistance()
+    jo=pycar.getJourney()
     if quittt.value()==0:
         print('quit')
         break
     if p.is_connected():
         pycar.s_blue=1
-        ds=pycar.getDistance()
-        jo=pycar.getJourney()
-        pycar.screen()
         print(ds)
         p.notify(str(ds))
-    utime.sleep_ms(300)
+    pycar.screen()
+    utime.sleep_ms(1000)
+    
diff --git a/code/ir_receive.py b/code/ir_receive.py
new file mode 100644
index 0000000..30eecbd
--- /dev/null
+++ b/code/ir_receive.py
@@ -0,0 +1,67 @@
+from machine import Pin
+from time import ticks_us,ticks_diff
+
+class IRrec:
+    def __init__(self, pin=32):
+        self._ic_start = 0                                #每一个信号的开始时间
+        self._ic_last  = 0                                #每一t信号的结束时间
+        self._ic_width = 0                                #每一个信号的宽度
+        self._sr       = [0x00, 0x00, 0x00, 0x00]         #整个红外信号的结构[地址，地址反码，命令，命令反码]
+        self._address  = 0                                #红外地址
+        self._command  = 0                                #红外命令
+        self._cb       = 0                                #递归？？取出地址和命令值
+        self._ic_pin   = Pin(pin, Pin.IN)
+        self._ic_pin.irq(trigger=Pin.IRQ_RISING, handler=self._ic_cb)     #每次信号中断触发_ic_cb函数
+        self._id       = 0                                #信号个数（计数用，暂时程序里没有用到）
+        self._rst()                                       #各项数据清零
+
+    def _rst(self):
+        self._sr       = [0x00, 0x00, 0x00, 0x00]
+        self._ic_last  = ticks_us()
+        self._sc       = 0
+        self._sb       = 0
+
+    def _bit(self, v):               
+        self._sr[self._sb] = (self._sr[self._sb] >> 1)|(v << 8)
+        self._sc += 1
+        if (self._sc > 7):
+            self._sc = 0
+            self._sb += 1
+            if (self._sb > 3):
+                if ((self._sr[0] ^ self._sr[1] ^ self._sr[2] ^ self._sr[3]) == 0):#异或校验2组数据完整性 根据红外协议来讲 没问题pass 有问题清空重新来过
+                    self._address = self._sr[0]
+                    self._command = self._sr[2]
+                    if (self._cb):
+                        self._cb(self, self._address, self._command)
+                self._rst()
+
+    def _ic_cb(self, pin):
+
+        self._ic_start = ticks_us()#时间
+        icw = ticks_diff(self._ic_start, self._ic_last)
+        self._ic_last = self._ic_start
+        self._ic_width = icw
+        self._id += 1
+        if (icw > 5500):
+            pass
+        elif (icw > 4000):#一个高低信号 大于 4ms  4.5ms 是发送结束 和起始
+            self._rst()
+        elif (icw > 2500):  # Repeat command#一个高低信号 大于 2.5ms 结束码2.5ms   收到 结束信号直接结束
+            pass
+        elif (icw > 1500):#一个高低信号 大于 1.5ms     有效信号处理
+            self._bit(1)  # High bit
+        else:
+            self._bit(0)  # Low bit#低8位  小于 1.5ms的 有效信号处理
+            # print('Low bit')
+            
+        
+    def callback(self, fn):
+        self._cb = fn
+        
+
+def nec_cb(nec, a, c):
+    print(a, c)
+
+from ir_receive import IRrec
+nec = IRrec(35)
+nec.callback(nec_cb)