軟硬體的天空: ESP32應用

顯示具有 ESP32應用 標籤的文章。顯示所有文章

2026年1月14日星期三

C# 實作ESP32-CAM的網路監視系統

在前一篇文章 ESP32-CAM 實作 RTSP 多人連接中實現了ESP32-CAM的RTSP FW設定
接續後是用c#撰寫一個前台利用RTSP影像監視系統.

主體架構為:輸入RTSP位址進行RTSP Stream到 PictureBox上

在MDI多重視窗中可以增加多台的RTSP ESP32-CAM Device

在個別的WebCAM視窗中, 可以針對個別的影像進行

Record Video 或是擷取圖片

也可以使用VLC軟體來進行監看主要是在同一個網域內!!

2024年7月1日星期一

CAN Bus Sniffer by PeakCAN windows software GUI

Purpose:
經由這篇文章PeakCAN windows software for CAN Bus message後, 再次利用PeakCAN的 PCANBasic API for C#的sample修改為自己的CAN Bus Sniffer擷取在CAN BUS介面上的資料!

特點

1. 增加monitor功能

所有的CAN Bus上的資料 Tx and Rx 都可以即時監控.

2. 增加可同時多個Tx 傳送的CAN Bus資料依據個別定義的時序傳送

After reading this article PeakCAN windows software for CAN Bus message, I once again used the sample of PeakCAN's PCANBasic API for C# to modify it into my own CAN Bus Sniffer to capture the data on the CAN BUS interface!

Features

1. Add monitor function

All data Tx and Rx on the CAN Bus can be monitored in real time.

2. Added CAN Bus data that can be transmitted by multiple Tx at the same time according to individually defined timings.

利用自己製作的ESP32 CAN module搭配CAN Hacker software去做驗證!

YouTubeDemo:

2024年4月29日星期一

PeakCAN windows software for CAN Bus message

Purpose:

利用PeakCAN提供的PCANBasic API for C#的sample去修改成自己適用的專案程式.

PCAN-Basic API

PCAN DB9 Connector

PCAN-Basic API for C#

Architectures:

利用ESP32_MCP2515 module 去驗證 PCAN_Basic API

YouTube Demo:

2024年1月3日星期三

ESP32 Grbl Controller

Purpose:
利用在網路上分享的Git連結 Grbl_ESP32 code upload 到自己的ESP32, 來進行將G 代碼從配備 USB 連接埠的電腦傳輸到數控機床（例如3D 列印機或雷射切割機）的步進馬達控制器.

Use the Git link shared on the Internet to upload the Grbl_ESP32 code to your own ESP32 to transfer the G-code from a computer equipped with a USB port to the stepper motor controller of a CNC machine tool (such as a 3D printer or laser cutting machine) .

Circuit:

Y axis set and Z axis set are the same method

#define MACHINE_NAME            "ESP32_V4"

#define X_STEP_PIN              GPIO_NUM_12
#define X_DIRECTION_PIN         GPIO_NUM_14
#define Y_STEP_PIN              GPIO_NUM_26
#define Y_DIRECTION_PIN         GPIO_NUM_15
#define Z_STEP_PIN              GPIO_NUM_27
#define Z_DIRECTION_PIN         GPIO_NUM_33

#define X_LIMIT_PIN             GPIO_NUM_17
#define Y_LIMIT_PIN             GPIO_NUM_4
#define Z_LIMIT_PIN             GPIO_NUM_16


// OK to comment out to use pin for other features
#define STEPPERS_DISABLE_PIN    GPIO_NUM_13

#define SPINDLE_TYPE            SpindleType::PWM
#define SPINDLE_OUTPUT_PIN      GPIO_NUM_2   // labeled SpinPWM
#define SPINDLE_ENABLE_PIN      GPIO_NUM_22  // labeled SpinEnbl

#define COOLANT_MIST_PIN        GPIO_NUM_21  // labeled Mist
#define COOLANT_FLOOD_PIN       GPIO_NUM_25  // labeled Flood
#define PROBE_PIN               GPIO_NUM_32  // labeled Probe

Fundamental:

在之前的文章中Arduino應用之3D印表機改裝成繪圖機是利用 Arduino Mega2560自己去寫控制步進馬達的部分, 最近看網路文章發現有神人把Grbl(Grbl是一款針對Arduino/AVR328晶片的嵌入式G代碼編譯和運動控制器。)放進ESP32裡面, 所以就來試試!! 網路Git連結Grbl_ESP32, 詳細說明如下連結Grbl_Esp32 Wiki介紹得很清楚!!

圖一:運作流程圖

Inkscape

Inkscape is professional quality vector graphics software which runs on Linux, Mac OS X and Windows desktop computers.

Universal Gcode Sender

A free and full featured gcode platform used for interfacing with advanced CNC controllers like GRBL , TinyG, g2core and Smoothieware. Universal Gcode Sender is a self-contained Java application which includes all external dependencies and can be used on most computers running Windows, MacOSX or Linux.

圖二:UGS 操作畫面

Reference the previous article link on blog:
ESP32 control stepper motor

ESP32 3-axis controller
三軸辨識系統-馬達篇

ESP32 Code:
https://github.com/bdring/Grbl_Esp32

YouTube Demo:

2023年12月27日星期三

ESP32 3-axis controller

Purpose:
我利用手上沒在使用的三個滑軌和三個57步進馬達架構一個XYZ三軸方向的移動平台, 並使用ESP32作為3Axis controller控制移動方向. 有單軸指令, 例如 :X10 :Y10 :Z10跟三軸連動指令:P10,10,10

I used three unused slide rails and three 57 stepper motors to construct a mobile platform in the XYZ three-axis direction, and used ESP32 as the 3Axis controller to control the movement direction. There are single-axis instructions, for example: X10:Y10: Z10 and three-axis linkage command: P10,10,10

Architectures:

Circuit:

Y axis set and Z axis set are the same method.

#define MACHINE_NAME            "ESP32_V4"

#define X_STEP_PIN              GPIO_NUM_12
#define X_DIRECTION_PIN         GPIO_NUM_14
#define Y_STEP_PIN              GPIO_NUM_26
#define Y_DIRECTION_PIN         GPIO_NUM_15
#define Z_STEP_PIN              GPIO_NUM_27
#define Z_DIRECTION_PIN         GPIO_NUM_33

#define X_LIMIT_PIN             GPIO_NUM_17
#define Y_LIMIT_PIN             GPIO_NUM_4
#define Z_LIMIT_PIN             GPIO_NUM_16


// OK to comment out to use pin for other features
#define STEPPERS_DISABLE_PIN    GPIO_NUM_13

#define SPINDLE_TYPE            SpindleType::PWM
#define SPINDLE_OUTPUT_PIN      GPIO_NUM_2   // labeled SpinPWM
#define SPINDLE_ENABLE_PIN      GPIO_NUM_22  // labeled SpinEnbl

#define COOLANT_MIST_PIN        GPIO_NUM_21  // labeled Mist
#define COOLANT_FLOOD_PIN       GPIO_NUM_25  // labeled Flood
#define PROBE_PIN               GPIO_NUM_32  // labeled Probe

Fundamental:

AccelStepper庫教程頁面連結

DM542 microstep driver

The DM542 is a new generation microstep stepper motor driver. Due to the adoption of the advanced bipolar constant-current chopper driver technology, it shows stable operation, provides excellent high torque. Moreover, it significantly reduces the noises and vibration of the operating motor. The DM542 has the feature of low-noise, low-vibration and low-heating. The DM542is DC18-50V power supply. It applies to 2-phase hybrid stepper motor under 4.2Acurrent The DM542 has 15 kinds of microsteps. The maximum step number is 25600 steps/rev (microstep is 1/128). The peak operating current ranges from 1.0A to 4.2A., and the output current has 8 stalls. The DM542 has automatic semi-flow, motor misconnected ， over-voltage, under-voltage, andover-current protection functions.

Reference the previous article link on blog:

ESP32 control stepper motor

Arduino 控制三顆馬達

YouTube Demo:

ESP32 Code:

#include <AccelStepper.h>
#include <MultiStepper.h>
//--------- Flag structure --------------------------------------
typedef struct _vFlag
{
  uint8_t BTFlag = 0;
  uint8_t initial_Flag = 0;
} vFlag;
vFlag *flag_Ptr;
vFlag flag;

//------LED------------------
#define LED_BUILTIN 2
char ctemp[20];
//--------- uart structure --------------------------------------
//----------uart--------------
#define LINE_BUFFER_LENGTH 64
typedef struct _vUart
{
  char c;
  int lineIndex = 0;
  int line1Index = 0;
  int BTlineIndex = 0;
  bool lineIsComment; 
  bool lineSemiColon;
  char line[128];
  char BTline[20];
  String inputString;
  String BTinputString;
  int V[16];
  char ctemp[30];
  char I2C_Data[80];
  float Voltage[16];
  int Buffer[128];
} vUart;
vUart *Uart_Ptr;
vUart Uart;
//--------- motor structure --------------------------------------
typedef struct _axis_state_t
{
  uint8_t pulPin[6]; //--X,Y,Z,A,B,C
  uint8_t dirPin[6];
  uint8_t enaPin[6];
  uint8_t HomePin[6];
  long RotatorAngle[6];
  boolean AXISFlag[6];
  uint8_t HomeFlag[6];
  uint8_t RotatorFlag[6];
  float FeedRate[6];
  float MaxSpeed[6];
  float Acceleration[6];
  int AXISNumber[2];
  int DC_Speed[6];
} axis_state_t;
axis_state_t *gc_Ptr;
axis_state_t gc;
//----------multi motor ---------------------------------------
MultiStepper steppers;
long positions[3];  
#define Stepper_ENABLE 13  
#define X_LIMIT_PIN    17
#define Y_LIMIT_PIN    4
#define Z_LIMIT_PIN    16
AccelStepper stepperX (1,12,14); // name of stepper motor (1 = driver, pin 2 = pulse, pin 3 = direction)   
AccelStepper stepperY (1,26,15); // name of stepper motor (1 = driver, pin 4 = step, pin 5 = direction)
AccelStepper stepperZ (1,27,33); // name of stepper motor (1 = driver, pin 6 = step, pin 7 = direction)
//------------------------------------------------------------------------------
//-------------------------------------
TaskHandle_t huart;
TaskHandle_t hfunction;
TaskHandle_t hmultimotor;  //TaskHandler

void MultiMotorTask(void *pvParameters);
void vUARTTask(void *pvParameters);
void vFunctionTask(void *pvParameters);
//------------------------------------------------------------------------------
void initial()
{
  Serial.println(F("Create Task"));
  //----------------------------------------------------------------------
  xTaskCreatePinnedToCore(
    vUARTTask, "UARTTask" // A name just for humans
    ,
    1024 // This stack size can be checked & adjusted by reading the Stack Highwater
    ,
    NULL, 3 // Priority, with 3 (configMAX_PRIORITIES - 1) being the highest, and 0 being the lowest.
    ,
    &huart //handle
    ,
    0);

  //----------------------------------------------------------------------
  initMultiMotorTask();
  //----------------------------------------------------------------------
}
void initMultiMotorTask(void)
{
  // Create the task
  xTaskCreatePinnedToCore(MultiMotorTask, "MultiMotorTask", 1024, NULL, 3, &hmultimotor, 1);
  // Check the results
  if (hmultimotor == NULL)
  { 
    Serial.println("Create MultiMotor task failed");
  }
  else
  {
    Serial.println("MultiMotor task up and running");
    vTaskSuspend(hmultimotor);
  }
}
//------------------------------------------------------------------------------
void MultiMotorTask(void *pvParameters)
{
  (void)pvParameters;

  while(1)
  {
    digitalWrite(Stepper_ENABLE, LOW);
    if (gc.AXISFlag[0] || gc.AXISFlag[1] || gc.AXISFlag[2])
    {
      if (gc.RotatorFlag[0] == 1)
      {
        //Serial.println( "1" );
        gc.RotatorAngle[0] = gc.RotatorAngle[0] * 500;
        //gc.RotatorAngle[0] = gc.RotatorAngle[0] * 100;   //F4設定
        positions[0] = gc.RotatorAngle[0];
      }
      else
      {
        positions[0] = stepperX.currentPosition();
      }

      if (gc.RotatorFlag[1] == 1)
      {
        //Serial.println( "2" );
        gc.RotatorAngle[1]=gc.RotatorAngle[1]*500;//F4設定
        positions[1] = gc.RotatorAngle[1];
      }
      else
      {
        positions[1] = stepperY.currentPosition();
      }

      if (gc.RotatorFlag[2] == 1)
      {
        //Serial.println( "3" );
        gc.RotatorAngle[2] = gc.RotatorAngle[2] * 100;
        //gc.RotatorAngle[2] = gc.RotatorAngle[2] * 250;//F4設定
        positions[2] = gc.RotatorAngle[2];
      }
      else
      {
        positions[2] = stepperZ.currentPosition();
      }
      //----multi motor
      //positions[0]=gc.RotatorAngle[0];
      //positions[1]=gc.RotatorAngle[1];
      //vTaskSuspend(hled);
      steppers.moveTo(positions);
      steppers.runSpeedToPosition();
      //steppers.run();

      if (abs(stepperX.currentPosition()) == abs(gc.RotatorAngle[0]))
      {
        gc.AXISFlag[0] = false;
        if (gc.RotatorFlag[0] == 1)
        {
          gc.AXISNumber[0]--;
        }
        Serial.println( "X_OK" );
        //vTaskSuspend( hmultimotor );
      }
      if (abs(stepperY.currentPosition()) == abs(gc.RotatorAngle[1]))
      {
        gc.AXISFlag[1] = false;
        if (gc.RotatorFlag[1] == 1)
        {
          gc.AXISNumber[0]--;
        }
        Serial.println( "Y_OK" );
        //vTaskSuspend( hmultimotor );
      }
      if (abs(stepperZ.currentPosition()) == abs(gc.RotatorAngle[2]))
      {
        gc.AXISFlag[2] = false;
        if (gc.RotatorFlag[2] == 1)
        {
          gc.AXISNumber[0]--;
        }
        Serial.println( "Z_OK" );
        //vTaskSuspend( hmultimotor );
      }
      if (gc.AXISNumber[0] == 0)
      {
        //vTaskResume(hled);
        for (int i = 0; i < 6; i++)
        {
          gc.RotatorFlag[i] = 0;
        }
        //vTaskSuspend(hmultimotor);
      }
    }
    
    vTaskDelay(1); 
    //vTaskDelay(configTICK_RATE_HZ);
  }
}
void initMultiMotorSetup(void)
{
  gc.pulPin[0] = 26;
  gc.dirPin[0] = 25;
  //gc.HomePin[0] = 8;
  //gc.enaPin[0]=8;
  gc.pulPin[1] = 32;
  gc.dirPin[1] = 33;
  //gc.enaPin[1]=8;
  //gc.HomePin[1] = 9;
  gc.pulPin[2] = 34;
  gc.dirPin[2] = 35;
  //gc.enaPin[2]=8;
  //gc.HomePin[2] = 10;

  for (int i = 0; i < 6; i++)
  {
    //pinMode(gc.pulPin[i], OUTPUT);
    //pinMode(gc.dirPin[i], OUTPUT);
    //pinMode(gc.enaPin[i], OUTPUT);
    //digitalWrite(gc.enaPin[i], HIGH);

    gc.RotatorAngle[i] = 0;
    gc.AXISFlag[i] = false;
    gc.HomeFlag[i] = 0;
    gc.RotatorFlag[i] = 0;

    gc.FeedRate[i] = 1000;
    gc.MaxSpeed[i] = 4000;
    gc.Acceleration[i] = 800;
  }

  gc.AXISNumber[0] = 0;
  gc.AXISNumber[1] = 0;


  pinMode(Stepper_ENABLE, OUTPUT);
  digitalWrite(Stepper_ENABLE, HIGH);
  //pinMode(26, OUTPUT);
  stepperX.setMaxSpeed(4000);
  stepperX.setAcceleration(1000);
  stepperX.setSpeed(4000); //:f4000,4000,4000


  stepperY.setMaxSpeed(4000); //:ms8000,8000,8000
  stepperY.setAcceleration(1000);
  stepperY.setSpeed(1000);

  stepperZ.setMaxSpeed(4000);
  stepperZ.setAcceleration(800);
  stepperZ.setSpeed(2000);

  // Then give them to MultiStepper to manage
  steppers.addStepper(stepperX);
  steppers.addStepper(stepperY);
  steppers.addStepper(stepperZ);
}
//-------------------------------------------------
void setup() 
{
  Serial.begin(9600);
  Serial.println(F("init"));
  initial();
  initMultiMotorSetup();
}
//-----------------------------------------
void loop() 
{
  Serial.print(F("Main at core:"));
  Serial.println(xPortGetCoreID());
  while(1)
  {
    vTaskDelay(1);
  }
}
//----------------------------------------
void processCommand(char *data)
{
  int len, xlen, ylen, zlen, alen;
  int tempDIO;
  String stemp;

  len = Uart.inputString.length();
  //memset(ctemp, 0, sizeof(ctemp));
  //---------------------------------------
  if (strstr(data, "VER") != NULL)
  {
    Serial.println(F("ESP32_20231226"));
  }
  //-----------Motor----------------------
  if (strstr(data, ":P") != NULL)
  {
    //:p200,100,300
    for (int i = 2; i < len; i++)
    {
      ctemp[i - 2] = data[i];
      if (data[i] == ',')
      {
        xlen = i;
        ctemp[xlen] = '\0';
        gc.RotatorAngle[0] = atoi(ctemp);
        //Serial.println(xlen);
        //Serial.println(gc.RotatorAngle[0]);
        break;
      }
    }

    int j = (xlen + 1);
    for (int i = j; i < len; i++)
    {
      ctemp[i - j] = data[i];
      if (data[i] == ',')
      {
        ylen = i;
        ctemp[ylen] = '\0';
        gc.RotatorAngle[1] = atoi(ctemp);
        //Serial.print("debug- ");
        //Serial.println(gc.RotatorAngle[1]);
        break;
      }
    }
    int k = (ylen + 1);
    for (int i = k; i < len; i++)
    {
      zlen = i;
      ctemp[i - k] = data[i];
    }
    ctemp[zlen] = '\0';
    gc.RotatorAngle[2] = atoi(ctemp);
    //Serial.println(zlen);
    //Serial.println(gc.RotatorAngle[2]);

    gc.AXISFlag[0] = true;
    gc.AXISFlag[1] = true;
    gc.AXISFlag[2] = true;
    gc.RotatorFlag[0] = 1;
    gc.RotatorFlag[1] = 1;
    gc.RotatorFlag[2] = 1;
    gc.AXISNumber[0] = 3;
    vTaskResume(hmultimotor);
  }

  if (strstr(data, ":F"))
  {
    //:f4000,4000,2000
    for (int i = 2; i < len; i++)
    {
      Uart.ctemp[i - 2] = data[i];
      if (data[i] == ',')
      {
        xlen = i;
        Uart.ctemp[xlen] = '\0';
        gc.FeedRate[0] = atoi(Uart.ctemp);
        //Serial.println(xlen);
        //Serial.println(gc.RotatorAngle[0]);
        break;
      }
    }
    int j = (xlen + 1);
    for (int i = j; i < len; i++)
    {
      Uart.ctemp[i - j] = data[i];
      if (data[i] == ',')
      {
        ylen = i;
        Uart.ctemp[ylen] = '\0';
        gc.FeedRate[1] = atoi(Uart.ctemp);
        //Serial.println(ylen);
        //Serial.println(gc.RotatorAngle[1]);
        break;
      }
    }
    int k = (ylen + 1);
    for (int i = k; i < len; i++)
    {
      zlen = i;
      Uart.ctemp[i - k] = data[i];
    }
    Uart.ctemp[zlen] = '\0';
    gc.FeedRate[2] = atoi(Uart.ctemp);

    stepperX.setSpeed(gc.FeedRate[0]);
    stepperY.setSpeed(gc.FeedRate[1]);
    stepperZ.setSpeed(gc.FeedRate[2]);
  }

  if (strstr(data, ":MS"))
  {
    //float MaxSpeed[6];
    //:p200,100,300
    for (int i = 2; i < len; i++)
    {
      Uart.ctemp[i - 2] = data[i];
      if (data[i] == ',')
      {
        xlen = i;
        Uart.ctemp[xlen] = '\0';
        gc.MaxSpeed[0] = atoi(Uart.ctemp);
        //Serial.println(xlen);
        //Serial.println(gc.RotatorAngle[0]);
        break;
      }
    }
    int j = (xlen + 1);
    for (int i = j; i < len; i++)
    {
      Uart.ctemp[i - j] = data[i];
      if (data[i] == ',')
      {
        ylen = i;
        Uart.ctemp[ylen] = '\0';
        gc.MaxSpeed[1] = atoi(Uart.ctemp);
        //Serial.println(ylen);
        //Serial.println(gc.RotatorAngle[1]);
        break;
      }
    }
    int k = (ylen + 1);
    for (int i = k; i < len; i++)
    {
      zlen = i;
      Uart.ctemp[i - k] = data[i];
    }
    Uart.ctemp[zlen] = '\0';
    gc.MaxSpeed[2] = atoi(Uart.ctemp);

    stepperX.setMaxSpeed(gc.MaxSpeed[0]);
    stepperY.setMaxSpeed(gc.MaxSpeed[1]);
    stepperZ.setMaxSpeed(gc.MaxSpeed[2]);
  }
  if (strstr(data, ":ACC"))
  {
    //float Acceleration[6];
    //:ACC1000,1000,1000
    for (int i = 2; i < len; i++)
    {
      Uart.ctemp[i - 2] = data[i];
      if (data[i] == ',')
      {
        xlen = i;
        Uart.ctemp[xlen] = '\0';
        gc.Acceleration[0] = atoi(Uart.ctemp);
        //Serial.println(xlen);
        //Serial.println(gc.RotatorAngle[0]);
        break;
      }
    }
    int j = (xlen + 1);
    for (int i = j; i < len; i++)
    {
      Uart.ctemp[i - j] = data[i];
      if (data[i] == ',')
      {
        ylen = i;
        Uart.ctemp[ylen] = '\0';
        gc.Acceleration[1] = atoi(Uart.ctemp);
        //Serial.println(ylen);
        //Serial.println(gc.RotatorAngle[1]);
        break;
      }
    }
    int k = (ylen + 1);
    for (int i = k; i < len; i++)
    {
      zlen = i;
      Uart.ctemp[i - k] = data[i];
    }
    Uart.ctemp[zlen] = '\0';
    gc.Acceleration[2] = atoi(Uart.ctemp);

    stepperX.setAcceleration(gc.Acceleration[0]);
    stepperY.setAcceleration(gc.Acceleration[1]);
    stepperZ.setAcceleration(gc.Acceleration[2]);
  }

  if (strstr(data, ":X") != NULL)
  {
    gc.HomeFlag[0] = 3;
    gc.AXISFlag[0] = true;
    for (int i = 2; i < len; i++)
    {
      ctemp[i - 2] = data[i];
    }
    ctemp[len - 2] = '\0';
    gc.RotatorAngle[0] = atoi(ctemp);
    gc.RotatorFlag[0] = 1;
    //Serial.println(gc.RotatorAngle[0]);
    gc.AXISNumber[0] = 1;
    vTaskResume(hmultimotor);
  }
  if (strstr(data, ":Y") != NULL)
  {
    gc.AXISFlag[1] = true;
    for (int i = 2; i < len; i++)
    {
      ctemp[i - 2] = data[i];
    }
    ctemp[len - 2] = '\0';
    gc.RotatorAngle[1] = atoi(ctemp);
    //Serial.println(gc.RotatorAngle[1]);
    gc.RotatorFlag[1] = 1;

    gc.AXISNumber[0] = 1;
    vTaskResume(hmultimotor);
  }

  if (strstr(data, ":Z") != NULL)
  {
    gc.AXISFlag[2] = true;
    for (int i = 2; i < len; i++)
    {
      ctemp[i - 2] = data[i];
    }
    ctemp[len - 2] = '\0';
    gc.RotatorAngle[2] = atoi(ctemp);
    //Serial.println(gc.RotatorAngle[2]);
    gc.RotatorFlag[2] = 1;

    gc.AXISNumber[0] = 1;
    vTaskResume(hmultimotor);
  }
  
}
//-----------------------------------------

//-------------------------------------------
void vUARTTask(void *pvParameters)
{
  (void)pvParameters;

  Serial.print(F("UARTTask at core:"));
  Serial.println(xPortGetCoreID());
  for (;;)
  {
    while (Serial.available() > 0)
    {
      Uart.c = Serial.read();
  
      if ((Uart.c == '\n') || (Uart.c == '\r'))
      { // End of line reached
        if (Uart.lineIndex > 0)
        { // Line is complete. Then execute!
          Uart.line[Uart.lineIndex] = '\0'; // Terminate string
          //Serial.println( F("Debug") );
          //Serial.println( Uart.inputString );
          processCommand(Uart.line); 
          Uart.lineIndex = 0;
          Uart.inputString = "";
        }
        else
        {
          // Empty or comment line. Skip block.
        }
        Uart.lineIsComment = false;
        Uart.lineSemiColon = false;
        Serial.println(F("ok>"));
      }
      else
      {
        //Serial.println( c );
        if ((Uart.lineIsComment) || (Uart.lineSemiColon))
        {
          if (Uart.c == ')')
            Uart.lineIsComment = false; // End of comment. Resume line.
        }
        else
        {
          if (Uart.c == '/')
          { // Block delete not supported. Ignore character.
          }
          else if (Uart.c == '~')
          { // Enable comments flag and ignore all characters until ')' or EOL.
            Uart.lineIsComment = true;
          }
          else if (Uart.c == ';')
          {
            Uart.lineSemiColon = true;
          }
          else if (Uart.lineIndex >= LINE_BUFFER_LENGTH - 1)
          {
            Serial.println("ERROR - lineBuffer overflow");
            Uart.lineIsComment = false;
            Uart.lineSemiColon = false;
          }
          else if (Uart.c >= 'a' && Uart.c <= 'z')
          { // Upcase lowercase
            Uart.line[Uart.lineIndex] = Uart.c - 'a' + 'A';
            Uart.lineIndex = Uart.lineIndex + 1;
            Uart.inputString += (char)(Uart.c - 'a' + 'A');
          }
          else
          {
            Uart.line[Uart.lineIndex] = Uart.c;
            Uart.lineIndex = Uart.lineIndex + 1;
            Uart.inputString += Uart.c;
          }
        }
      }
    } //while (Serial.available() > 0)
    
    vTaskDelay(1);
  }
}

訂閱：文章 (Atom)

2026年1月14日 星期三