Add AP+STA WiFi manager and stabilize balancing
- Replace wifi.cpp/wifi.h with wifi_manager.cpp/wifi_manager.h: AP and STA run together, external WiFi credentials are stored in NVS and editable at /wifi, with optional static IP, 15s auto-reconnect, disconnect reason reporting, and build/version diagnostics - Fix MPU6050 I2C port to I2C0 to match the board wiring - Initialize distance_zeropoint at startup and on Robot Go! rising edge - Clamp angle_zeropoint to +/-10 degrees to prevent balance-point drift - Add DEBUG_DISABLE_YAW switch and periodic balance debug output - Update WiFi setup instructions in README.md and README_CN.md
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@@ -280,6 +280,9 @@ const char basic_web[] PROGMEM = R"=====(
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<!-- onload 事件在页面载入完成后立即触发 -->
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<body onload="javascript:socket_init()">
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<h2>WL-PRO WiFi遥控模式</h2>
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<div style="text-align:center;margin:-4px 0 10px;">
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<a href="/wifi" style="color:#6495ed;font-size:15px;">WiFi 设置 / WiFi Settings</a>
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</div>
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<div class="view2">
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<input type="checkbox" id="stable" class="switch" onclick="is_stable()" style="vertical-align:middle">Robot Go!</input>
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</div>
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@@ -334,7 +337,7 @@ const char basic_web[] PROGMEM = R"=====(
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function socket_init() {
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// 初始化websocket客户端
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//socket = new WebSocket('ws://' + '192.168.4.1' + ':81/'); // AP模式
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socket = new WebSocket('ws://' + window.location.hostname + ':81/'); // sta模式
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socket = new WebSocket('ws://' + window.location.hostname + ':81/'); // AP/STA通用
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}
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function setroll() {
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@@ -1,66 +0,0 @@
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// -----------------------------------------------------------------------------
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// Copyright (c) 2024 Mu Shibo
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//
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// Permission is hereby granted, free of charge, to any person obtaining a copy
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// of this software and associated documentation files (the "Software"), to deal
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// in the Software without restriction, including without limitation the rights
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// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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// copies of the Software, and to permit persons to whom the Software is
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// furnished to do so, subject to the following conditions:
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//
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// The above copyright notice and this permission notice shall be included in
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// all copies or substantial portions of the Software.
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//
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// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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// THE SOFTWARE.
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// -----------------------------------------------------------------------------
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#include "wifi.h"
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// 配置AP（热点）模式相关参数
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const char *AP_SSID = "WLROBOT";
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const char *AP_PSW = "12345678";
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IPAddress AP_IP(192, 168, 1, 11);
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IPAddress AP_GATEWAY(192, 168, 1, 11);
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IPAddress AP_SUBNET(255, 255, 255, 0);
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// 配置STA模式相关参数
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char *sta_ssid = "MUJITECH";
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char *sta_password = "mujitech";
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void WiFi_SetAP(void)
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{
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WiFi.mode(WIFI_AP);
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WiFi.softAPConfig(AP_IP, AP_GATEWAY, AP_SUBNET);
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WiFi.softAP(AP_SSID, AP_PSW);
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// Serial.println();
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// Serial.print("AP IP address = ");
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// Serial.println(WiFi.softAPIP());
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}
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// ESP-01S AP模式接入WiFi网络
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void set_sta_wifi()
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{
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WiFi.begin(sta_ssid, sta_password);
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// 等待连接
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while(WiFi.status()!=WL_CONNECTED)
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{
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//Serial.print(".");
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delay(500);
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}
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// 打印ESP-01S的IP地址
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Serial.println("");
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Serial.print("IP Address: ");
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Serial.println(WiFi.localIP());
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}
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@@ -0,0 +1,638 @@
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// -----------------------------------------------------------------------------
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// Copyright (c) 2024 Mu Shibo
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//
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// Permission is hereby granted, free of charge, to any person obtaining a copy
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// of this software and associated documentation files (the "Software"), to deal
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// in the Software without restriction, including without limitation the rights
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// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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// copies of the Software, and to permit persons to whom the Software is
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// furnished to do so, subject to the following conditions:
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//
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// The above copyright notice and this permission notice shall be included in
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// all copies or substantial portions of the Software.
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//
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// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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// THE SOFTWARE.
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// -----------------------------------------------------------------------------
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#include "wifi_manager.h"
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#include <Arduino.h>
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#include <Esp.h>
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#include <Preferences.h>
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// ---------------------------------------------------------------------------
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// 热点（AP）参数：作为外部 WiFi 连不上时的备用入口
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// ---------------------------------------------------------------------------
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const char *AP_SSID = "WLROBOT";
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const char *AP_PSW = "12345678";
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// 注意：192.168.4.x 是 ESP32 的常用热点网段，避免和多数家用路由器的
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// 192.168.1.x 冲突。如果你的路由器本身就是 192.168.4.x，请改这里。
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IPAddress AP_IP(192, 168, 4, 1);
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IPAddress AP_GATEWAY(192, 168, 4, 1);
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IPAddress AP_SUBNET(255, 255, 255, 0);
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// 首次烧录、Flash 里还没有保存过配置时，沿用原代码里的外部 WiFi。
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// 如果不希望自动连它，在 /wifi 页面清空 SSID 保存即可。
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static const char *DEFAULT_STA_SSID = "MUJITECH";
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static const char *DEFAULT_STA_PASS = "mujitech";
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// ---------------------------------------------------------------------------
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// 配置存储
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// ---------------------------------------------------------------------------
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struct WiFiConfig {
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String ssid;
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String password;
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bool use_static = false;
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String ip;
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String gateway;
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String subnet;
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String dns;
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};
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static const char *NVS_NAMESPACE = "wifi_cfg";
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// 编译时间：打开 http://192.168.4.1/wifi/version 可确认板子里跑的是不是这份代码
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static const char *WIFI_CFG_BUILD = __DATE__ " " __TIME__;
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static WiFiConfig wifi_cfg;
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static bool wifi_cfg_active = false; // SSID 非空，表示需要连接外部 WiFi
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static WebServer *wifi_server = nullptr;
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static uint32_t restart_at_ms = 0;
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static uint32_t last_retry_ms = 0;
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static bool sta_was_connected = false;
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static int last_disconnect_reason = -1; // 最近一次 STA 断开/连接失败的 reason
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static const char *wifiReasonText(uint8_t reason) {
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switch (reason) {
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case 2: return "AUTH_EXPIRE";
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case 3: return "AUTH_LEAVE";
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case 4: return "ASSOC_EXPIRE";
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case 5: return "ASSOC_TOOMANY";
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case 6: return "NOT_AUTHED";
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case 7: return "NOT_ASSOCED";
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case 8: return "ASSOC_LEAVE";
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case 9: return "ASSOC_NOT_AUTHED";
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case 15: return "4WAY_HANDSHAKE_TIMEOUT（密码错误/加密不兼容）";
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case 16: return "GROUP_KEY_UPDATE_TIMEOUT";
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case 17: return "IE_IN_4WAY_DIFFERS";
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case 18: return "GROUP_CIPHER_INVALID";
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case 19: return "PAIRWISE_CIPHER_INVALID";
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case 20: return "AKMP_INVALID";
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case 23: return "802_1X_AUTH_FAILED（企业级加密）";
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case 24: return "CIPHER_SUITE_REJECTED（加密方式不支持）";
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case 200: return "BEACON_TIMEOUT";
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case 201: return "NO_AP_FOUND（SSID/2.4GHz/信号）";
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case 202: return "AUTH_FAIL（密码）";
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case 203: return "ASSOC_FAIL";
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case 204: return "HANDSHAKE_TIMEOUT（密码）";
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case 205: return "CONNECTION_FAIL（路由器拒绝/信号）";
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default: return "UNKNOWN";
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}
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}
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static void onWiFiEvent(arduino_event_id_t event, arduino_event_info_t info) {
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if (event == ARDUINO_EVENT_WIFI_STA_CONNECTED) {
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Serial.println("[WiFi] STA associated, waiting for IP...");
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} else if (event == ARDUINO_EVENT_WIFI_STA_GOT_IP) {
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last_disconnect_reason = -1;
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Serial.printf("[WiFi] STA got IP: %s\n", WiFi.localIP().toString().c_str());
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} else if (event == ARDUINO_EVENT_WIFI_STA_DISCONNECTED) {
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last_disconnect_reason = info.wifi_sta_disconnected.reason;
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Serial.printf("[WiFi] STA disconnected/failed, reason=%d (%s)\n",
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last_disconnect_reason,
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wifiReasonText((uint8_t)last_disconnect_reason));
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}
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}
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static bool loadConfig(WiFiConfig &cfg, bool &found) {
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found = false;
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Preferences prefs;
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if (!prefs.begin(NVS_NAMESPACE, true)) {
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return false;
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}
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if (!prefs.isKey("ssid")) {
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prefs.end();
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return false;
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}
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found = true;
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cfg.ssid = prefs.getString("ssid", "");
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cfg.password = prefs.getString("pass", "");
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cfg.use_static = prefs.getBool("static", false);
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cfg.ip = prefs.getString("ip", "");
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cfg.gateway = prefs.getString("gw", "");
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cfg.subnet = prefs.getString("sn", "");
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cfg.dns = prefs.getString("dns", "");
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prefs.end();
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return true;
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}
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static bool saveConfig(const WiFiConfig &cfg) {
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Preferences prefs;
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if (!prefs.begin(NVS_NAMESPACE, false)) {
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return false;
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}
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prefs.putString("ssid", cfg.ssid);
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prefs.putString("pass", cfg.password);
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prefs.putBool("static", cfg.use_static);
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prefs.putString("ip", cfg.ip);
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prefs.putString("gw", cfg.gateway);
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prefs.putString("sn", cfg.subnet);
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prefs.putString("dns", cfg.dns);
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prefs.end();
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return true;
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}
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static bool parseIP(const String &s, IPAddress &out) {
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if (s.length() == 0 || s.length() > 15) {
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return false;
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}
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return out.fromString(s.c_str());
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}
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static bool sameSubnet(const IPAddress &ip, const IPAddress &gateway, const IPAddress &mask) {
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const uint32_t m = (uint32_t)mask;
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return (((uint32_t)ip & m) == ((uint32_t)gateway & m));
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}
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// 连接外部 WiFi。WiFi.begin() 本身是非阻塞的，不会卡住 setup。
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static void startSTA(void) {
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if (!wifi_cfg_active) {
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return;
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}
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if (wifi_cfg.use_static) {
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IPAddress ip, gateway, subnet, dns;
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if (parseIP(wifi_cfg.ip, ip) && parseIP(wifi_cfg.gateway, gateway) &&
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parseIP(wifi_cfg.subnet, subnet)) {
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if (!parseIP(wifi_cfg.dns, dns)) {
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dns = gateway;
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}
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if (!WiFi.config(ip, gateway, subnet, dns)) {
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Serial.println("[WiFi] Static IP config rejected, using DHCP");
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}
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} else {
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Serial.println("[WiFi] Invalid static IP in Flash, using DHCP");
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}
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}
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Serial.printf("[WiFi] Connecting to \"%s\" (%s)...\n", wifi_cfg.ssid.c_str(),
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wifi_cfg.use_static ? "static IP" : "DHCP");
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WiFi.begin(wifi_cfg.ssid.c_str(), wifi_cfg.password.c_str());
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last_retry_ms = millis();
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}
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// ---------------------------------------------------------------------------
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// 网页配置页面
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// ---------------------------------------------------------------------------
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static String htmlEscape(const String &in) {
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String out;
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out.reserve(in.length() + 16);
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for (size_t i = 0; i < in.length(); i++) {
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const char c = in[i];
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switch (c) {
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case '&': out += F("&"); break;
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case '<': out += F("<"); break;
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case '>': out += F(">"); break;
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case '"': out += F("""); break;
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case '\'': out += F("'"); break;
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default: out += c; break;
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}
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}
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return out;
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}
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static String buildConfigPage(void) {
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String page;
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page.reserve(5200);
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const bool connected = (WiFi.status() == WL_CONNECTED);
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const String ap_ip = WiFi.softAPIP().toString();
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page += F(
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"<!DOCTYPE html><html><head><meta charset=\"utf-8\">"
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"<meta name=\"viewport\" content=\"width=device-width,initial-scale=1\">"
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"<title>WL-PRO WiFi 设置</title><style>"
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"body{font-family:system-ui,-apple-system,\"Segoe UI\",\"Microsoft YaHei\",Arial,sans-serif;"
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"max-width:560px;margin:0 auto;padding:14px;background:#f4f6fb;color:#222}"
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"h2{background:#6495ed;color:#fff;border-radius:12px;padding:12px;text-align:center;margin:0 0 12px}"
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".card{background:#fff;border-radius:12px;padding:14px;margin:10px 0;"
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"box-shadow:0 1px 4px rgba(0,0,0,.08)}"
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"label{display:block;margin:9px 0 4px;font-size:14px}"
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"input[type=text],input[type=password]{width:100%;box-sizing:border-box;height:38px;"
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"padding:0 9px;border:1px solid #ccd3e0;border-radius:8px;font-size:15px}"
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".row{display:flex;gap:10px}.row>div{flex:1}"
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".note{font-size:12px;color:#666;line-height:1.6;margin:8px 0 0}"
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".btn{display:block;width:100%;box-sizing:border-box;height:44px;line-height:44px;"
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"text-align:center;border:0;border-radius:10px;background:#6495ed;color:#fff;"
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"font-size:16px;margin-top:12px;text-decoration:none}"
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".btn.sec{background:#e9edf6;color:#334;margin-top:8px}"
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".ok{color:#137a37;font-weight:600}.bad{color:#b42318;font-weight:600}"
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".status{font-size:14px;line-height:1.8}.status b{font-weight:600}"
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"</style></head><body><h2>WiFi 设置</h2>");
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// 当前状态
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page += F("<div class=\"card status\">");
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page += F("<div>热点：<b>");
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page += AP_SSID;
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page += F("</b> / <b>");
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page += AP_PSW;
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page += F("</b></div>");
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page += F("<div>热点地址：<b>http://");
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page += ap_ip;
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page += F("</b></div>");
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page += F("<div>STA MAC：<b>");
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page += WiFi.macAddress();
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page += F("</b></div>");
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page += F("<div>外部 WiFi：<b>");
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page += (wifi_cfg.ssid.length() > 0) ? htmlEscape(wifi_cfg.ssid)
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: String("未配置（仅热点）");
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page += F("</b></div>");
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page += F("<div>连接状态：<span class=\"");
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page += connected ? F("ok") : F("bad");
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page += F("\">");
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if (connected) {
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page += F("已连接");
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} else if (wifi_cfg_active) {
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page += F("未连接（空闲时自动重试）");
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} else {
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page += F("仅热点");
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}
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page += F("</span></div>");
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if (connected) {
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page += F("<div>当前 IP：<b>");
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page += WiFi.localIP().toString();
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page += F("</b></div>");
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page += F("<div>信号强度：");
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page += String((int)WiFi.RSSI());
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page += F(" dBm</div>");
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}
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if (wifi_cfg.ssid.length() > 0) {
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page += F("<div>IP 方式：<b>");
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page += wifi_cfg.use_static ? F("静态 IP") : F("DHCP");
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page += F("</b></div>");
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}
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if (!connected && wifi_cfg_active && last_disconnect_reason >= 0) {
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page += F("<div>最近一次失败：<b>reason ");
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page += String(last_disconnect_reason);
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page += F("</b>（");
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page += wifiReasonText((uint8_t)last_disconnect_reason);
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page += F("）</div>");
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}
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page += F("</div>");
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// 表单
|
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page += F(
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"<form method=\"POST\" action=\"/wifi/save\">"
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||||
"<div class=\"card\"><label>外部 WiFi 名称（SSID）</label>"
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"<input type=\"text\" name=\"ssid\" maxlength=\"32\" value=\"");
|
||||
page += htmlEscape(wifi_cfg.ssid);
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||||
page += F(
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||||
"\" placeholder=\"留空 = 只用热点\">"
|
||||
"<label>密码</label>"
|
||||
"<input type=\"password\" name=\"pass\" maxlength=\"63\" "
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||||
"placeholder=\"留空 = 不修改已保存密码\">"
|
||||
"<label style=\"font-weight:normal;margin-top:10px\">"
|
||||
"<input type=\"checkbox\" name=\"clear_pass\" value=\"1\"> "
|
||||
"清除密码（连接开放网络）</label>"
|
||||
"<p class=\"note\">仅支持 2.4GHz、WPA2。密码留空会保留旧密码；"
|
||||
"换 SSID 时请重新输入密码。</p></div>");
|
||||
|
||||
page += F(
|
||||
"<div class=\"card\"><label style=\"font-weight:normal\">"
|
||||
"<input type=\"checkbox\" name=\"use_static\" value=\"1\"");
|
||||
if (wifi_cfg.use_static) {
|
||||
page += F(" checked");
|
||||
}
|
||||
page += F("> 使用静态 IP（不勾选 = DHCP）</label>");
|
||||
|
||||
page += F(
|
||||
"<div class=\"row\"><div><label>IP 地址</label>"
|
||||
"<input type=\"text\" name=\"ip\" maxlength=\"15\" value=\"");
|
||||
page += htmlEscape(wifi_cfg.ip);
|
||||
page += F("\" placeholder=\"192.168.1.50\"></div></div>");
|
||||
|
||||
page += F(
|
||||
"<div class=\"row\"><div><label>网关</label>"
|
||||
"<input type=\"text\" name=\"gw\" maxlength=\"15\" value=\"");
|
||||
page += htmlEscape(wifi_cfg.gateway);
|
||||
page += F(
|
||||
"\" placeholder=\"192.168.1.1\"></div><div><label>子网掩码</label>"
|
||||
"<input type=\"text\" name=\"sn\" maxlength=\"15\" value=\"");
|
||||
page += htmlEscape(wifi_cfg.subnet);
|
||||
page += F("\" placeholder=\"255.255.255.0\"></div></div>");
|
||||
|
||||
page += F(
|
||||
"<div class=\"row\"><div><label>DNS（留空 = 网关）</label>"
|
||||
"<input type=\"text\" name=\"dns\" maxlength=\"15\" value=\"");
|
||||
page += htmlEscape(wifi_cfg.dns);
|
||||
page += F(
|
||||
"\" placeholder=\"192.168.1.1\"></div></div>"
|
||||
"<p class=\"note\">静态 IP 必须和路由器同网段，并避开 DHCP 地址池。"
|
||||
"热点固定使用 192.168.4.1，请避免路由器也使用 192.168.4.x 网段。</p></div>");
|
||||
|
||||
page += F(
|
||||
"<button class=\"btn\" type=\"submit\">保存并重启</button>"
|
||||
"<a class=\"btn sec\" href=\"/\">返回遥控页面</a>"
|
||||
"<p class=\"note\" style=\"text-align:center\">保存后机器人会重启，"
|
||||
"请先扶稳或放在支架上。</p></form>");
|
||||
page += F("<p class=\"note\" style=\"text-align:center\">固件构建：");
|
||||
page += WIFI_CFG_BUILD;
|
||||
page += F("</p></body></html>");
|
||||
return page;
|
||||
}
|
||||
|
||||
static void sendResult(int code, const String &title, const String &message,
|
||||
bool refresh) {
|
||||
if (wifi_server == nullptr) {
|
||||
return;
|
||||
}
|
||||
|
||||
String page;
|
||||
page.reserve(900);
|
||||
page += F(
|
||||
"<!DOCTYPE html><html><head><meta charset=\"utf-8\">"
|
||||
"<meta name=\"viewport\" content=\"width=device-width,initial-scale=1\">");
|
||||
if (refresh) {
|
||||
page += F("<meta http-equiv=\"refresh\" content=\"10;url=/wifi\">");
|
||||
}
|
||||
page += F(
|
||||
"<style>body{font-family:system-ui,\"Microsoft YaHei\",Arial,sans-serif;"
|
||||
"max-width:520px;margin:40px auto;padding:0 16px;text-align:center;line-height:1.7}"
|
||||
"h2{color:#6495ed}a{color:#4169e1}</style></head><body><h2>");
|
||||
page += title;
|
||||
page += F("</h2><p>");
|
||||
page += message;
|
||||
page += F("</p><p><a href=\"/wifi\">返回 WiFi 设置</a> "
|
||||
"<a href=\"/\">遥控页面</a></p></body></html>");
|
||||
wifi_server->send(code, "text/html; charset=utf-8", page);
|
||||
}
|
||||
|
||||
static void handleConfigPage(void) {
|
||||
if (wifi_server == nullptr) {
|
||||
return;
|
||||
}
|
||||
wifi_server->send(200, "text/html; charset=utf-8", buildConfigPage());
|
||||
}
|
||||
|
||||
// 直接用浏览器打开 /wifi/save（GET）时给出提示，而不是只回一个 404
|
||||
static void handleSaveGet(void) {
|
||||
if (wifi_server == nullptr) {
|
||||
return;
|
||||
}
|
||||
sendResult(405, "请求方式不对",
|
||||
"请返回 WiFi 设置页面，填写后点击“保存并重启”按钮。", false);
|
||||
}
|
||||
|
||||
static void handleVersion(void) {
|
||||
if (wifi_server == nullptr) {
|
||||
return;
|
||||
}
|
||||
String msg = F("wifi_manager build: ");
|
||||
msg += WIFI_CFG_BUILD;
|
||||
wifi_server->send(200, "text/plain; charset=utf-8", msg);
|
||||
}
|
||||
|
||||
static void handleNotFound(void) {
|
||||
if (wifi_server == nullptr) {
|
||||
return;
|
||||
}
|
||||
const HTTPMethod m = wifi_server->method();
|
||||
const char *name = (m == HTTP_GET) ? "GET"
|
||||
: (m == HTTP_POST) ? "POST"
|
||||
: "OTHER";
|
||||
Serial.printf("[HTTP] 404 %s %s\n", name, wifi_server->uri().c_str());
|
||||
|
||||
String msg = F("Not found: ");
|
||||
msg += wifi_server->uri();
|
||||
msg += F(" (method ");
|
||||
msg += name;
|
||||
msg += F(")");
|
||||
wifi_server->send(404, "text/plain; charset=utf-8", msg);
|
||||
}
|
||||
|
||||
static void handleSave(void) {
|
||||
if (wifi_server == nullptr) {
|
||||
return;
|
||||
}
|
||||
|
||||
Serial.printf("[WiFi] /wifi/save request, method=%d, args=%d\n",
|
||||
(int)wifi_server->method(), wifi_server->args());
|
||||
|
||||
String ssid = wifi_server->arg("ssid");
|
||||
ssid.trim();
|
||||
if (ssid.length() > 32) {
|
||||
sendResult(400, "保存失败", "SSID 不能超过 32 个字节。", false);
|
||||
return;
|
||||
}
|
||||
|
||||
const bool clear_pass = wifi_server->hasArg("clear_pass");
|
||||
String pass = wifi_server->arg("pass");
|
||||
if (clear_pass) {
|
||||
pass = "";
|
||||
} else if (pass.length() == 0) {
|
||||
// 留空表示沿用 Flash 里的旧密码
|
||||
pass = wifi_cfg.password;
|
||||
}
|
||||
|
||||
if (pass.length() > 63) {
|
||||
sendResult(400, "保存失败", "WiFi 密码不能超过 63 个字符。", false);
|
||||
return;
|
||||
}
|
||||
|
||||
if (ssid.length() > 0 && !clear_pass && pass.length() == 0 &&
|
||||
ssid != wifi_cfg.ssid) {
|
||||
sendResult(400, "保存失败",
|
||||
"更换 SSID 时请重新输入密码；如果是开放网络，请勾选“清除密码”。",
|
||||
false);
|
||||
return;
|
||||
}
|
||||
|
||||
if (ssid.length() > 0 && pass.length() > 0 && pass.length() < 8) {
|
||||
sendResult(400, "保存失败",
|
||||
"WPA2 密码至少 8 位；开放网络请勾选“清除密码”。", false);
|
||||
return;
|
||||
}
|
||||
|
||||
const bool use_static = wifi_server->hasArg("use_static");
|
||||
String ip = wifi_server->arg("ip");
|
||||
String gateway = wifi_server->arg("gw");
|
||||
String subnet = wifi_server->arg("sn");
|
||||
String dns = wifi_server->arg("dns");
|
||||
ip.trim();
|
||||
gateway.trim();
|
||||
subnet.trim();
|
||||
dns.trim();
|
||||
|
||||
IPAddress ip_addr, gateway_addr, subnet_addr, dns_addr;
|
||||
if (use_static && ssid.length() > 0) {
|
||||
if (!parseIP(ip, ip_addr) || (uint32_t)ip_addr == 0) {
|
||||
sendResult(400, "保存失败", "静态 IP 地址无效。", false);
|
||||
return;
|
||||
}
|
||||
if (!parseIP(gateway, gateway_addr) || (uint32_t)gateway_addr == 0) {
|
||||
sendResult(400, "保存失败", "网关地址无效。", false);
|
||||
return;
|
||||
}
|
||||
if (!parseIP(subnet, subnet_addr) || (uint32_t)subnet_addr == 0) {
|
||||
sendResult(400, "保存失败", "子网掩码无效。", false);
|
||||
return;
|
||||
}
|
||||
if (dns.length() == 0) {
|
||||
dns = gateway;
|
||||
dns_addr = gateway_addr;
|
||||
} else if (!parseIP(dns, dns_addr) || (uint32_t)dns_addr == 0) {
|
||||
sendResult(400, "保存失败", "DNS 地址无效。", false);
|
||||
return;
|
||||
}
|
||||
if (!sameSubnet(ip_addr, gateway_addr, subnet_addr)) {
|
||||
sendResult(400, "保存失败",
|
||||
"静态 IP 和网关不在同一网段，请检查 IP/网关/子网掩码。", false);
|
||||
return;
|
||||
}
|
||||
if (sameSubnet(ip_addr, AP_IP, AP_SUBNET)) {
|
||||
sendResult(400, "保存失败",
|
||||
"静态 IP 不能使用热点的 192.168.4.x 网段。", false);
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
WiFiConfig cfg;
|
||||
cfg.ssid = ssid;
|
||||
cfg.password = pass;
|
||||
cfg.use_static = use_static;
|
||||
cfg.ip = ip;
|
||||
cfg.gateway = gateway;
|
||||
cfg.subnet = subnet;
|
||||
cfg.dns = dns;
|
||||
|
||||
if (!saveConfig(cfg)) {
|
||||
sendResult(500, "保存失败", "写入 Flash 失败，请重试。", false);
|
||||
return;
|
||||
}
|
||||
|
||||
// 让状态页立即反映新配置（随后会重启）
|
||||
wifi_cfg = cfg;
|
||||
wifi_cfg_active = (cfg.ssid.length() > 0);
|
||||
|
||||
String message;
|
||||
if (cfg.ssid.length() == 0) {
|
||||
message = "已保存。机器人将重启，之后只使用热点 WLROBOT。";
|
||||
} else if (cfg.use_static) {
|
||||
message = "已保存。机器人将在约 1 秒后重启，并尝试连接 \"";
|
||||
message += htmlEscape(cfg.ssid);
|
||||
message += "\"，静态 IP 为 ";
|
||||
message += cfg.ip;
|
||||
message += "。";
|
||||
} else {
|
||||
message = "已保存。机器人将在约 1 秒后重启，并尝试连接 \"";
|
||||
message += htmlEscape(cfg.ssid);
|
||||
message += "\"（DHCP）。";
|
||||
}
|
||||
message += " 如果外部 WiFi 连不上，热点 WLROBOT 仍然可用"
|
||||
"（http://192.168.4.1）。";
|
||||
|
||||
sendResult(200, "保存成功", message, true);
|
||||
restart_at_ms = millis() + 1000;
|
||||
}
|
||||
|
||||
void WiFi_RegisterWebHandlers(WebServer &server) {
|
||||
wifi_server = &server;
|
||||
server.on("/wifi", HTTP_GET, handleConfigPage);
|
||||
server.on("/wifi/", HTTP_GET, handleConfigPage);
|
||||
server.on("/wifi/version", HTTP_GET, handleVersion);
|
||||
server.on("/wifi/save", HTTP_POST, handleSave);
|
||||
server.on("/wifi/save", HTTP_GET, handleSaveGet);
|
||||
server.onNotFound(handleNotFound);
|
||||
}
|
||||
|
||||
// ---------------------------------------------------------------------------
|
||||
// 初始化与主循环
|
||||
// ---------------------------------------------------------------------------
|
||||
void WiFi_Init(void) {
|
||||
Serial.printf("[WiFi] wifi_manager build: %s\n", WIFI_CFG_BUILD);
|
||||
WiFi.mode(WIFI_AP_STA);
|
||||
WiFi.onEvent(onWiFiEvent);
|
||||
WiFi.setHostname("wlrobot");
|
||||
WiFi.setAutoReconnect(true);
|
||||
|
||||
WiFi.softAPConfig(AP_IP, AP_GATEWAY, AP_SUBNET);
|
||||
if (!WiFi.softAP(AP_SSID, AP_PSW)) {
|
||||
Serial.println("[WiFi] softAP start failed");
|
||||
}
|
||||
|
||||
Serial.printf("\n[WiFi] AP \"%s\" / \"%s\" -> http://%s/\n", AP_SSID, AP_PSW,
|
||||
WiFi.softAPIP().toString().c_str());
|
||||
Serial.printf("[WiFi] Settings page: http://%s/wifi\n",
|
||||
WiFi.softAPIP().toString().c_str());
|
||||
Serial.printf("[WiFi] STA MAC: %s, AP MAC: %s\n", WiFi.macAddress().c_str(),
|
||||
WiFi.softAPmacAddress().c_str());
|
||||
|
||||
bool found = false;
|
||||
loadConfig(wifi_cfg, found);
|
||||
if (!found) {
|
||||
// 首次烧录：沿用原代码的默认外部 WiFi，之后可在 /wifi 页面修改
|
||||
wifi_cfg.ssid = DEFAULT_STA_SSID;
|
||||
wifi_cfg.password = DEFAULT_STA_PASS;
|
||||
wifi_cfg.use_static = false;
|
||||
wifi_cfg.ip = "";
|
||||
wifi_cfg.gateway = "";
|
||||
wifi_cfg.subnet = "";
|
||||
wifi_cfg.dns = "";
|
||||
Serial.println("[WiFi] No saved config, using default STA credentials");
|
||||
}
|
||||
|
||||
wifi_cfg_active = (wifi_cfg.ssid.length() > 0);
|
||||
if (wifi_cfg_active) {
|
||||
startSTA();
|
||||
} else {
|
||||
// 清掉 WiFi 驱动里缓存的旧 AP，避免“仅热点”模式下又自动连上旧网络
|
||||
WiFi.disconnect(false, true);
|
||||
Serial.println("[WiFi] No external WiFi configured, AP only");
|
||||
}
|
||||
}
|
||||
|
||||
void WiFi_Loop(void) {
|
||||
// 配置保存后延时重启，避免在 Web 回调里阻塞平衡控制
|
||||
if (restart_at_ms != 0 && (int32_t)(millis() - restart_at_ms) >= 0) {
|
||||
Serial.println("[WiFi] Rebooting to apply settings...");
|
||||
delay(50);
|
||||
ESP.restart();
|
||||
}
|
||||
|
||||
const wl_status_t status = WiFi.status();
|
||||
|
||||
if (status == WL_CONNECTED) {
|
||||
if (!sta_was_connected) {
|
||||
sta_was_connected = true;
|
||||
Serial.printf("[WiFi] STA connected: \"%s\", IP %s\n",
|
||||
WiFi.SSID().c_str(), WiFi.localIP().toString().c_str());
|
||||
Serial.printf("[WiFi] Remote UI: http://%s/ Settings: http://%s/wifi\n",
|
||||
WiFi.localIP().toString().c_str(),
|
||||
WiFi.localIP().toString().c_str());
|
||||
}
|
||||
return;
|
||||
}
|
||||
|
||||
if (sta_was_connected) {
|
||||
sta_was_connected = false;
|
||||
Serial.println("[WiFi] STA disconnected; reconnecting in background "
|
||||
"(AP still available)");
|
||||
}
|
||||
|
||||
// 外部 WiFi 未连接时后台重试。即使手机正连着热点也照常重试，
|
||||
// 否则用户连上 AP 查看状态时反而永远不会重连。
|
||||
if (wifi_cfg_active && (millis() - last_retry_ms > 15000)) {
|
||||
last_retry_ms = millis();
|
||||
Serial.printf("[WiFi] retrying \"%s\"...\n", wifi_cfg.ssid.c_str());
|
||||
WiFi.reconnect();
|
||||
}
|
||||
}
|
||||
@@ -1,16 +1,16 @@
|
||||
// -----------------------------------------------------------------------------
|
||||
// Copyright (c) 2024 Mu Shibo
|
||||
//
|
||||
//
|
||||
// Permission is hereby granted, free of charge, to any person obtaining a copy
|
||||
// of this software and associated documentation files (the "Software"), to deal
|
||||
// in the Software without restriction, including without limitation the rights
|
||||
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
||||
// copies of the Software, and to permit persons to whom the Software is
|
||||
// furnished to do so, subject to the following conditions:
|
||||
//
|
||||
//
|
||||
// The above copyright notice and this permission notice shall be included in
|
||||
// all copies or substantial portions of the Software.
|
||||
//
|
||||
//
|
||||
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
||||
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
||||
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
||||
@@ -23,6 +23,13 @@
|
||||
#pragma once
|
||||
|
||||
#include <WiFi.h>
|
||||
#include <WebServer.h>
|
||||
|
||||
void WiFi_SetAP(void);
|
||||
void set_sta_wifi(); //STA模式接入WiFi网络
|
||||
// 启动 AP 热点，并按 Flash 里保存的配置异步连接外部 WiFi（STA）
|
||||
void WiFi_Init(void);
|
||||
|
||||
// 在主循环里调用：处理重连、串口状态打印、延时重启
|
||||
void WiFi_Loop(void);
|
||||
|
||||
// 注册 /wifi 配置页面（需要在 webserver.begin() 之前调用）
|
||||
void WiFi_RegisterWebHandlers(WebServer &server);
|
||||
@@ -34,7 +34,7 @@
|
||||
#include <FS.h>
|
||||
#include "basic_web.h"
|
||||
#include "robot.h"
|
||||
#include "wifi.h"
|
||||
#include "wifi_manager.h"
|
||||
#include "esp_adc_cal.h"
|
||||
|
||||
/************实例定义*************/
|
||||
@@ -95,7 +95,7 @@ int joystick_value[2];
|
||||
SMS_STS sms_sts;
|
||||
|
||||
//MPU6050实例
|
||||
MPU6050 mpu6050(I2Ctwo);
|
||||
MPU6050 mpu6050(I2Cone);
|
||||
|
||||
/************参数定义*************/
|
||||
#define pi 3.1415927
|
||||
@@ -135,6 +135,9 @@ int jump_flag = 0; //跳跃时段标识
|
||||
float leg_position_add = 0; //roll轴平衡控制量
|
||||
int uncontrolable = 0; //机身倾角过大导致失控
|
||||
|
||||
//【调试】测试平衡方向时置 true，屏蔽 YAW 差速，避免转向干扰轮子转向判断；测试完成改回 false
|
||||
const bool DEBUG_DISABLE_YAW = false;
|
||||
|
||||
//电压检测
|
||||
uint16_t bat_check_num = 0;
|
||||
int BAT_PIN = 35; // select the input pin for the ADC
|
||||
@@ -151,11 +154,11 @@ void setup() {
|
||||
Serial.begin(115200);//通讯串口
|
||||
Serial2.begin(1000000);//腿部sts舵机
|
||||
|
||||
//Wifi初始化
|
||||
WiFi_SetAP();
|
||||
// set_sta_wifi(); // ESP-01S STA模式接入WiFi网络
|
||||
webserver.begin();
|
||||
//Wifi初始化：AP热点 + 外部WiFi（STA）
|
||||
WiFi_Init();
|
||||
WiFi_RegisterWebHandlers(webserver);
|
||||
webserver.on("/", HTTP_GET, basicWebCallback);
|
||||
webserver.begin();
|
||||
websocket.begin();
|
||||
websocket.onEvent(webSocketEventCallback);
|
||||
|
||||
@@ -229,10 +232,13 @@ void setup() {
|
||||
motor2.useMonitoring(Serial);
|
||||
//电机初始化
|
||||
motor1.init();
|
||||
motor1.initFOC();
|
||||
motor1.initFOC();
|
||||
motor2.init();
|
||||
motor2.initFOC();
|
||||
|
||||
//【调试】初始化位移零点，避免 distance_zeropoint=-256 造成的启动冲击
|
||||
distance_zeropoint = -0.5f * (motor1.shaft_angle + motor2.shaft_angle);
|
||||
|
||||
// 映射电机到commander
|
||||
command.add('A', StabAngle, "pid angle");
|
||||
command.add('B', StabGyro, "pid gyro");
|
||||
@@ -258,13 +264,33 @@ void loop() {
|
||||
bat_check(); //电压检测
|
||||
web_loop(); //Web数据更新
|
||||
mpu6050.update(); //IMU数据更新
|
||||
|
||||
//勾选 Robot Go! 的上升沿：以当前姿态作为新的航向/位移零点
|
||||
static bool go_last = false;
|
||||
if (wrobot.go && !go_last) {
|
||||
YAW_angle_total = 0;
|
||||
YAW_angle_last = mpu6050.getAngleZ();
|
||||
distance_zeropoint = -0.5f * (motor1.shaft_angle + motor2.shaft_angle);
|
||||
}
|
||||
go_last = wrobot.go;
|
||||
|
||||
lqr_balance_loop(); //lqr自平衡控制
|
||||
|
||||
//【调试】每100ms输出一次平衡状态
|
||||
static uint32_t t_dbg = 0;
|
||||
if (millis() - t_dbg > 100) {
|
||||
t_dbg = millis();
|
||||
Serial.printf("ang=%.2f gyro=%.2f zp=%.2f dist=%.2f u=%.2f spd=%.2f unc=%d\n",
|
||||
LQR_angle, LQR_gyro, angle_zeropoint, distance_control, LQR_u, LQR_speed, uncontrolable);
|
||||
}
|
||||
|
||||
yaw_loop(); //yaw轴转向控制
|
||||
leg_loop(); //腿部动作控制
|
||||
|
||||
//将自平衡计算输出转矩赋给电机
|
||||
motor1.target = (-0.5)*(LQR_u + YAW_output);
|
||||
motor2.target = (-0.5)*(LQR_u - YAW_output);
|
||||
const float yaw_out = DEBUG_DISABLE_YAW ? 0.0f : YAW_output;
|
||||
motor1.target = (-0.5)*(LQR_u + yaw_out);
|
||||
motor2.target = (-0.5)*(LQR_u - yaw_out);
|
||||
|
||||
//倒地失控后关闭输出
|
||||
if( abs(LQR_angle) > 25.0f )
|
||||
@@ -370,7 +396,8 @@ void lqr_balance_loop(){
|
||||
LQR_u = pid_lqr_u(LQR_u);//补偿小转矩非线性
|
||||
//Serial.println(LQR_u);
|
||||
angle_zeropoint -= pid_zeropoint(lpf_zeropoint(distance_control));//重心自适应
|
||||
}
|
||||
angle_zeropoint = constrain(angle_zeropoint, -10.0f, 10.0f); //限幅，防止平衡点跑飞
|
||||
}
|
||||
else
|
||||
{
|
||||
pid_lqr_u.error_prev = 0; //输出积分清零
|
||||
@@ -467,6 +494,7 @@ void yaw_loop(){
|
||||
|
||||
//Web数据更新
|
||||
void web_loop(){
|
||||
WiFi_Loop(); //WiFi状态维护/后台重连
|
||||
webserver.handleClient();
|
||||
websocket.loop();
|
||||
rp.spinOnce();//更新web端回传的控制信息
|
||||
|
||||
Reference in new issue
Block a user