喵喵蓝牙热敏打印机（下）

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前言

喵喵蓝牙热敏打印机（上）
内容有点多，就分为了上下两篇。

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一、电量、温度、缺纸检测

先启动一下串口通信，方便后续操作。

 Serial.begin(115200); 

1.电量检测

原理图：


逻辑分析：电池电量检测可以通过检测POWER_ADC的分压值来转换。
这个里的分压值是个模拟变化量，所以我们要用到ADC模数转换。
代码如下：

#include <adc.h>
#define POWER_ADC 34//Arduino IDE中为ESP32 配置的ADC默认环境就能//用，所以直接定义一个引脚即可，不用初始化。int battery;
int batt_all;int get_battery_adc()
{int data = 0;//获取IO口电压值data = analogReadMilliVolts(POWER_ADC);//直接通过内置函数获取电压值return data;
}void Deal_battery_adc()
{battery = map(get_battery_adc(),1650,2100,0,100);for (int i = 0; i < 10; i++)//为了使获取的电压值比较稳定，就先获取10个，然后取平均值。{batt_all+=battery;delay(1000);}battery_fina=batt_all/10;batt_all=0;printf("电量：%d\r\n",batt_all/10);
}

重点解析：map(get_battery_adc(),1650,2100,0,100);
map函数主要就是作为一个映射功能。
由于该硬件使用的是18650电池，该电池满电4.2v,终止电压2.75v。但由于该硬件的步进电机到3.3v就驱动不了了，所以ADC获取的电压模拟量会在1650和2100之间（实际上是3300和4200之间，但两个10k电阻分压一半）。

2.针头温度检测

uint8_t head_temp = 23;                 //打印头温度
uint16_t temp_adc;
void HeatTemp() {temp_adc = analogRead(PIN_TEMP);Serial.print("打印头温度ADC："); Serial.println(temp_adc);head_temp = 23;
}

直接读即可

3.缺纸检测

电路看着很复杂，但其实原理很简单，直接读35引脚，为1就是缺纸，为0就是有纸。

int NO_Paper;
void read_paper_statue()
{if(digitalRead(PRINT) == 1){Serial.printf("缺纸1111\n");NO_Paper=1;}else{Serial.printf("有纸0000\n");NO_Paper=0;}
}

二、蓝牙APP通信打印

1.蓝牙初始化

这部分主要就是设置个波特率顺便初始化一下SPI

#include <BluetoothSerial.h>void init_Blue()
{Serial.begin(115200);print_Blue_Data = (uint8_t*)malloc(50 * 1024); printerSPI.begin(PIN_CLK, -1, PIN_DI, -1);printerSPI.setFrequency(2000000);//print_Blue_Data = (uint8_t *)malloc(3 * 1024 * 1024);}

2.APP通信打印

这一部分就是全力依靠樱猫大佬的代码了
上位机和设备建立链接时需要发送的指令和顺序如下：
1.上位机发送 24 指令，设置 CRC 校验的密钥，固定四字节 crcKey = 0x35769521
2.发送 10 指令获取设备的 SN 码，需要蓝牙返回指定的 SN 码：“P1001705253855”
3.上位机发送 66 指令，设备返回固定字符串信息：”BK3432”，蓝牙设备型号
4.上位机发送 127 指令，设备返回固定信息：{0x76, 0x33, 0x2e, 0x33, 0x38, 0x2e, 0x31, 0x39,
0, 0, 0, 0};
5.上位机发送 25 指令，设定打印机加热时间（热密度）
6.上位机发送 48 指令，请求设备名称，设备返回自己设定的名字
7.上位机发送 16 指令，请求设备电池信息，设备返回当前电压
8.上位机发送 31 指令，请求关机时间，设备返回设定的关机时间默认 3600 分钟
9.上位机发送 4 指令，获取打印机版本信息，默认版本 2.0.1，设备返回{0x01, 0x00, 0x02}；
10.上位机发送 44 指令，设定纸张类型，设备纸张固定，不需要修改。
  上述流程中，需要注意设备返回的数据，在开发蓝牙打印机的功能时，需要正确返回数据，否则会导致设备连接失败，并且每条指令在接受完成之后，设备都需要进行回复，回复内容固定为 00，类型根据接收到的类型来定。如果指令没有正确回应，软件会重复发送直至超时。
上位机和设备之间传输打印数据发送的指令和数据流程如下：
1.打印时会先发送两次 25 指令用以设置打印热密度，也就是打印加热时间。
2.发送 26（进料线）指令，也就是开始打印指令
3.然后发送 0 指令，开始传输数据，分包发送打印的数据，一包最大 1920
4.数据发送完毕之后，会再次发送 26 指令，收到之后，打印机开始打印数据。

指令定义：

#define PRINT_DATA 0            // 打印数据
#define PRINT_DATA_COMPRESS 1   // 打印数据压缩
#define FIRMWARE_DATA 2         // 固件数据
#define USB_UPDATE_FIRMWARE 3   // USB更新固件
#define GET_VERSION 4           // 获取版本
#define SENT_VERSION 5          // 发送版本
#define GET_MODEL 6             // 获取模式
#define SENT_MODEL 7            // 发送模式
#define GET_BT_MAC 8            // 获取蓝牙MAC
#define SENT_BT_MAC 9           // 发送蓝牙MAC
#define GET_SN 10               // 获取SN码
#define SENT_SN 11              // 发送SN码
#define GET_STATUS 12           // 获取状态
#define SENT_STATUS 13          // 发送状态
#define GET_VOLTAGE 14          // 获取电压
#define SENT_VOLTAGE 15         // 发送电压
#define GET_BAT_STATUS 16       // 获取蓝牙状态
#define SENT_BAT_STATUS 17      // 发送蓝牙状态
#define GET_TEMP 18             // 获取打印头温度
#define SENT_TEMP 19            // 发送打印头温度
#define SET_FACTORY_STATUS 20   // 设置出厂状态
#define GET_FACTORY_STATUS 21   // 获取出厂状态
#define SENT_FACTORY_STATUS 22  // 发送出厂状态
#define SENT_BT_STATUS 23       // 发送蓝牙状态
#define SET_CRC_KEY 24          // 设置CRC密钥
#define SET_HEAT_DENSITY 25     // 设定热密度
#define FEED_LINE 26            // 进料线
#define PRINT_TEST_PAGE 27      // 打印测试页
#define GET_HEAT_DENSITY 28     // 获取热密度
#define SENT_HEAT_DENSITY 29    // 发送热密度
#define SET_POWER_DOWN_TIME 30  // 设定关机时间
#define GET_POWER_DOWN_TIME 31  // 获取断电时间
#define SENT_POWER_DOWN_TIME 32 // 发送断电时间
#define FEED_TO_HEAD_LINE 33    // 送至标题行
#define PRINT_DEFAULT_PARA 34   // 打印默认参数
#define GET_BOARD_VERSION 35    // 获取板子版本
#define SENT_BOARD_VERSION 36   // 发送板子版本
#define GET_HW_INFO 37          // 获取硬件信息
#define SENT_HW_INFO 38         // 发送硬件信息
#define SET_MAX_GAP_LENGTH 39   // 设定最大间隙长度
#define GET_MAX_GAP_LENGTH 40   // 获取最大间隙长度
#define SENT_MAX_GAP_LENGTH 41  // 发送最大间隙长度
#define GET_PAPER_TYPE 42       // 获取纸张类型
#define SENT_PAPER_TYPE 43      // 发送纸张类型
#define SET_PAPER_TYPE 44       // 设置纸张类型
#define GET_COUNTRY_NAME 45     // 获取国家名称
#define SENT_COUNTRY_NAME 46    // 发送国家名称
#define DISCONNECT_BT 47        // 断开蓝牙
#define GET_DEV_NAME 48         // 获取设备名称
#define SENT_DEV_NAME 49        // 发送设备名称
#define CMD_39 57
#define CMD_40 64
#define CMD_41 65
#define CMD_42 66
#define CMD_43 67
#define CMD_7F 127
#define CMD_80 128
#define CMD_81 129
#define CMD_82 130

上述通信需要用到CRC数据校验
crc.c

/*** \file* Functions and types for CRC checks.** Generated on Tue Jan  7 07:33:25 2020* by pycrc v0.9.2, https://pycrc.org* using the configuration:*  - Width         = 32*  - Poly          = 0x04c11db7*  - XorIn         = 0xffffffff*  - ReflectIn     = True*  - XorOut        = 0xffffffff*  - ReflectOut    = True*  - Algorithm     = table-driven*/
#include "crc.h"     /* include the header file generated with pycrc */
#include <stdlib.h>
#include <stdint.h>/*** Static table used for the table_driven implementation.*/
static const crc_t crc_table[256] = {0x00000000, 0x77073096, 0xee0e612c, 0x990951ba, 0x076dc419, 0x706af48f, 0xe963a535, 0x9e6495a3,0x0edb8832, 0x79dcb8a4, 0xe0d5e91e, 0x97d2d988, 0x09b64c2b, 0x7eb17cbd, 0xe7b82d07, 0x90bf1d91,0x1db71064, 0x6ab020f2, 0xf3b97148, 0x84be41de, 0x1adad47d, 0x6ddde4eb, 0xf4d4b551, 0x83d385c7,0x136c9856, 0x646ba8c0, 0xfd62f97a, 0x8a65c9ec, 0x14015c4f, 0x63066cd9, 0xfa0f3d63, 0x8d080df5,0x3b6e20c8, 0x4c69105e, 0xd56041e4, 0xa2677172, 0x3c03e4d1, 0x4b04d447, 0xd20d85fd, 0xa50ab56b,0x35b5a8fa, 0x42b2986c, 0xdbbbc9d6, 0xacbcf940, 0x32d86ce3, 0x45df5c75, 0xdcd60dcf, 0xabd13d59,0x26d930ac, 0x51de003a, 0xc8d75180, 0xbfd06116, 0x21b4f4b5, 0x56b3c423, 0xcfba9599, 0xb8bda50f,0x2802b89e, 0x5f058808, 0xc60cd9b2, 0xb10be924, 0x2f6f7c87, 0x58684c11, 0xc1611dab, 0xb6662d3d,0x76dc4190, 0x01db7106, 0x98d220bc, 0xefd5102a, 0x71b18589, 0x06b6b51f, 0x9fbfe4a5, 0xe8b8d433,0x7807c9a2, 0x0f00f934, 0x9609a88e, 0xe10e9818, 0x7f6a0dbb, 0x086d3d2d, 0x91646c97, 0xe6635c01,0x6b6b51f4, 0x1c6c6162, 0x856530d8, 0xf262004e, 0x6c0695ed, 0x1b01a57b, 0x8208f4c1, 0xf50fc457,0x65b0d9c6, 0x12b7e950, 0x8bbeb8ea, 0xfcb9887c, 0x62dd1ddf, 0x15da2d49, 0x8cd37cf3, 0xfbd44c65,0x4db26158, 0x3ab551ce, 0xa3bc0074, 0xd4bb30e2, 0x4adfa541, 0x3dd895d7, 0xa4d1c46d, 0xd3d6f4fb,0x4369e96a, 0x346ed9fc, 0xad678846, 0xda60b8d0, 0x44042d73, 0x33031de5, 0xaa0a4c5f, 0xdd0d7cc9,0x5005713c, 0x270241aa, 0xbe0b1010, 0xc90c2086, 0x5768b525, 0x206f85b3, 0xb966d409, 0xce61e49f,0x5edef90e, 0x29d9c998, 0xb0d09822, 0xc7d7a8b4, 0x59b33d17, 0x2eb40d81, 0xb7bd5c3b, 0xc0ba6cad,0xedb88320, 0x9abfb3b6, 0x03b6e20c, 0x74b1d29a, 0xead54739, 0x9dd277af, 0x04db2615, 0x73dc1683,0xe3630b12, 0x94643b84, 0x0d6d6a3e, 0x7a6a5aa8, 0xe40ecf0b, 0x9309ff9d, 0x0a00ae27, 0x7d079eb1,0xf00f9344, 0x8708a3d2, 0x1e01f268, 0x6906c2fe, 0xf762575d, 0x806567cb, 0x196c3671, 0x6e6b06e7,0xfed41b76, 0x89d32be0, 0x10da7a5a, 0x67dd4acc, 0xf9b9df6f, 0x8ebeeff9, 0x17b7be43, 0x60b08ed5,0xd6d6a3e8, 0xa1d1937e, 0x38d8c2c4, 0x4fdff252, 0xd1bb67f1, 0xa6bc5767, 0x3fb506dd, 0x48b2364b,0xd80d2bda, 0xaf0a1b4c, 0x36034af6, 0x41047a60, 0xdf60efc3, 0xa867df55, 0x316e8eef, 0x4669be79,0xcb61b38c, 0xbc66831a, 0x256fd2a0, 0x5268e236, 0xcc0c7795, 0xbb0b4703, 0x220216b9, 0x5505262f,0xc5ba3bbe, 0xb2bd0b28, 0x2bb45a92, 0x5cb36a04, 0xc2d7ffa7, 0xb5d0cf31, 0x2cd99e8b, 0x5bdeae1d,0x9b64c2b0, 0xec63f226, 0x756aa39c, 0x026d930a, 0x9c0906a9, 0xeb0e363f, 0x72076785, 0x05005713,0x95bf4a82, 0xe2b87a14, 0x7bb12bae, 0x0cb61b38, 0x92d28e9b, 0xe5d5be0d, 0x7cdcefb7, 0x0bdbdf21,0x86d3d2d4, 0xf1d4e242, 0x68ddb3f8, 0x1fda836e, 0x81be16cd, 0xf6b9265b, 0x6fb077e1, 0x18b74777,0x88085ae6, 0xff0f6a70, 0x66063bca, 0x11010b5c, 0x8f659eff, 0xf862ae69, 0x616bffd3, 0x166ccf45,0xa00ae278, 0xd70dd2ee, 0x4e048354, 0x3903b3c2, 0xa7672661, 0xd06016f7, 0x4969474d, 0x3e6e77db,0xaed16a4a, 0xd9d65adc, 0x40df0b66, 0x37d83bf0, 0xa9bcae53, 0xdebb9ec5, 0x47b2cf7f, 0x30b5ffe9,0xbdbdf21c, 0xcabac28a, 0x53b39330, 0x24b4a3a6, 0xbad03605, 0xcdd70693, 0x54de5729, 0x23d967bf,0xb3667a2e, 0xc4614ab8, 0x5d681b02, 0x2a6f2b94, 0xb40bbe37, 0xc30c8ea1, 0x5a05df1b, 0x2d02ef8d
};crc_t crc_update(crc_t crc, const void *data, size_t data_len)
{const unsigned char *d = (const unsigned char *)data;unsigned int tbl_idx;while (data_len--) {tbl_idx = (crc ^ *d) & 0xff;crc = (crc_table[tbl_idx] ^ (crc >> 8)) & 0xffffffff;d++;}return crc & 0xffffffff;
}

crc.h

/*** \file* Functions and types for CRC checks.** Generated on Tue Jan  7 07:33:20 2020* by pycrc v0.9.2, https://pycrc.org* using the configuration:*  - Width         = 32*  - Poly          = 0x04c11db7*  - XorIn         = 0xffffffff*  - ReflectIn     = True*  - XorOut        = 0xffffffff*  - ReflectOut    = True*  - Algorithm     = table-driven** This file defines the functions crc_init(), crc_update() and crc_finalize().** The crc_init() function returns the initial \c crc value and must be called* before the first call to crc_update().* Similarly, the crc_finalize() function must be called after the last call* to crc_update(), before the \c crc is being used.* is being used.** The crc_update() function can be called any number of times (including zero* times) in between the crc_init() and crc_finalize() calls.** This pseudo-code shows an example usage of the API:* \code{.c}* crc_t crc;* unsigned char data[MAX_DATA_LEN];* size_t data_len;** crc = crc_init();* while ((data_len = read_data(data, MAX_DATA_LEN)) > 0) {*     crc = crc_update(crc, data, data_len);* }* crc = crc_finalize(crc);* \endcode*/
#ifndef CRC_H
#define CRC_H#include <stdlib.h>
#include <stdint.h>#ifdef __cplusplus
extern "C" {
#endif/*** The definition of the used algorithm.** This is not used anywhere in the generated code, but it may be used by the* application code to call algorithm-specific code, if desired.*/
#define CRC_ALGO_TABLE_DRIVEN 1/*** The type of the CRC values.** This type must be big enough to contain at least 32 bits.*/
typedef uint32_t crc_t;/*** Calculate the initial crc value.** \return     The initial crc value.*/
static inline crc_t crc_init(void)
{return 0xffffffff;
}/*** Update the crc value with new data.** \param[in] crc      The current crc value.* \param[in] data     Pointer to a buffer of \a data_len bytes.* \param[in] data_len Number of bytes in the \a data buffer.* \return             The updated crc value.*/
crc_t crc_update(crc_t crc, const void *data, size_t data_len);/*** Calculate the final crc value.** \param[in] crc  The current crc value.* \return     The final crc value.*/
static inline crc_t crc_finalize(crc_t crc)
{return crc ^ 0xffffffff;
}#ifdef __cplusplus
}           /* closing brace for extern "C" */
#endif#endif      /* CRC_H */

Arduino_CRC32.c

/*Copyright (c) 2020 Arduino.  All rights reserved.This library is free software; you can redistribute it and/ormodify it under the terms of the GNU Lesser General PublicLicense as published by the Free Software Foundation; eitherversion 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 ofMERCHANTABILITY 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 PublicLicense along with this library; if not, write to the Free SoftwareFoundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
*//*************************************************************************************** INCLUDE**************************************************************************************/#include "Arduino_CRC32.h"/*************************************************************************************** PUBLIC MEMBER FUNCTIONS**************************************************************************************/void Arduino_CRC32::init(uint32_t start)
{crc32_start = start;
}uint32_t Arduino_CRC32::calc(uint8_t const data[], uint32_t const len)
{crc_t crc32;crc32 = crc_update(crc32_start, data, len);crc32 = crc_finalize(crc32);return crc32;
}

Arduino_CRC32.h

/*Copyright (c) 2020 Arduino.  All rights reserved.This library is free software; you can redistribute it and/ormodify it under the terms of the GNU Lesser General PublicLicense as published by the Free Software Foundation; eitherversion 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 ofMERCHANTABILITY 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 PublicLicense along with this library; if not, write to the Free SoftwareFoundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
*/#ifndef ARDUINO_CRC32_H_
#define ARDUINO_CRC32_H_/*************************************************************************************** INCLUDE**************************************************************************************/#include <stdint.h>
#include "crc.h"
/*************************************************************************************** CLASS DECLARATION**************************************************************************************/class Arduino_CRC32
{public:crc_t crc32_start;void init(uint32_t start);uint32_t calc(uint8_t const data[], uint32_t const len);};#endif /* ARDUINO_CRC32_H_ */

蓝牙通信打印主要函数：

struct
{uint8_t packType;uint8_t packIndex;uint16_t dataLen;
} packHeader;
uint8_t gotStartByte = 0;
uint8_t c;
uint16_t readpos = 0;
uint8_t dataPack_read[2048];void paperang_app()
{uint16_t i = 0;// 重新设置class of deviceSerialBT.begin("MaoPaperang");esp_bt_cod_t cod;cod.major = 6;                            // 主设备类型cod.minor = 0b100000;                     // 次设备类型cod.service = 0b00000100000;              // 服务类型esp_bt_gap_set_cod(cod, ESP_BT_INIT_COD); // 设置蓝牙设备的class of devicecrc_t crc32_key = 0x35769521; // 初始化 CRC32 计算器packHeader.dataLen = 0;       // 初始化数据包头部的数据长度为 0while (1){ButtonRun();   // 执行按钮操作的函数Pin_Stb_Low(); // 关闭STAPower的函数// 监听蓝牙串口输入if (SerialBT.available()){c = SerialBT.read(); // 读取一个字节的数据//  如果读取到起始字节并且之前未找到起始字节if (c == START_BYTE && gotStartByte == 0){gotStartByte = 1;readpos = 0;}else if (readpos == 1){// 读取数据包类型、索引和数据长度packHeader.packType = c;packHeader.packIndex = SerialBT.read();packHeader.dataLen = SerialBT.read();packHeader.dataLen += SerialBT.read() << 8;}else if (readpos == 2 && packHeader.dataLen != 0 && packHeader.dataLen < 2048){// 读取数据包内容i = packHeader.dataLen - 1;if (packHeader.packType == PRINT_DATA){// 如果是打印数据包类型，则读取打印数据print_Blue_Data[printDataCount++] = c;while (i){while (SerialBT.available() == 0);print_Blue_Data[printDataCount++] = SerialBT.read();--i;}}else{// 否则，读取一般数据包dataPack_read[dataPack_read_pos++] = c;while (i){dataPack_read[dataPack_read_pos++] = SerialBT.read();--i;}}}else if (readpos < 7){// 如果读取位置小于7，则暂时不做处理;}else if (c == END_BYTE && readpos == 7){// 如果读取到结束字节且读取位置为7，则处理数据paperang_process_data(); // 处理数据的函数gotStartByte = 0;dataPack_read_pos = 0;readpos = 0;packHeader.dataLen = 0;}else{// 出现错误情况Serial.println("ERROR");gotStartByte = 0;dataPack_read_pos = 0;readpos = 0;packHeader.dataLen = 0;}if (gotStartByte == 1)++readpos; // 如果找到起始字节，则增加读取位置}else{vTaskDelay(1);digitalWrite(PIN_VHEN, 1);}}
}

收到数据的处理函数

void paperang_process_data()
{uint32_t tmp32;switch (packHeader.packType){case PRINT_DATA:return;// 设置CRC密钥case SET_CRC_KEY:{tmp32 = dataPack_read[0] << 24 + dataPack_read[1] << 16 + dataPack_read[2] << 8 + dataPack_read[3];// crc32.init(tmp32);crc_t crc32_key = tmp32;break;}// 获取版本信息并发送case GET_VERSION:paperang_send_msg(SENT_VERSION, PRINTER_VERSION, 3);break;// 获取设备名称并发送case GET_DEV_NAME:paperang_send_msg(SENT_DEV_NAME, (uint8_t *)PRINTER_NAME, 2);break;// 获取SN码并发送case GET_SN:paperang_send_msg(SENT_SN, (uint8_t *)PRINTER_SN, strlen((char *)PRINTER_SN));// 获取电池电量并发送case GET_BAT_STATUS:// BatteryPower();PRINTER_BATTERY = get_battery_adc();paperang_send_msg(SENT_BAT_STATUS, &PRINTER_BATTERY, 1);break;// 获取国家名称并发送case GET_COUNTRY_NAME:paperang_send_msg(SENT_COUNTRY_NAME, (uint8_t *)COUNTRY_NAME, 2);break;case CMD_42:paperang_send_msg(CMD_43, (uint8_t *)CMD_42_DATA, strlen(CMD_42_DATA));break;case CMD_7F:paperang_send_msg(CMD_80, CMD_7F_DATA, 12);break;case CMD_81:paperang_send_msg(CMD_82, CMD_81_DATA, 16);break;case CMD_40:paperang_send_msg(CMD_41, CMD_40_DATA, 1);break;// 设置打印密度case SET_HEAT_DENSITY:heat_density = dataPack_read[0];break;// 获取打印密度并发送case GET_HEAT_DENSITY:paperang_send_msg(SENT_HEAT_DENSITY, &heat_density, 1);break;// 获取打印头温度case GET_TEMP:head_temp = get_adc_temperatrue();paperang_send_msg(SENT_TEMP, &head_temp, 1);break;// 进料线case FEED_LINE:flag_data.printing_flag=1;if (printDataCount / 48 != 0){startPrint();motor_run_step(300); // 打印完毕出纸长度，单位：点，8点/mm。    }flag_data.printing_flag=0;printDataCount = 0;break;default:break;}paperang_send_ack(packHeader.packType);
}

数据发送接收函数

void paperang_send(void)
{SerialBT.write(dataPack, dataPack_len);
}
// 蓝牙回复指令
void paperang_send_ack(uint8_t type)
{uint8_t ackcrc = 0;dataPack[0] = START_BYTE;dataPack[1] = type;dataPack[2] = 0x00;dataPack[3] = 0x01;dataPack[4] = 0x00;dataPack[5] = 0x00;// crc32_result = crc32.calc(&ackcrc, 1);// 初始化 CRC32 计算crc_t crc32_result = 0xFFFFFFFF;crc32_result = crc_update(crc32_result, &ackcrc, 1);crc32_result ^= 0xFFFFFFFF;memcpy(dataPack + 6, (uint8_t *)&crc32_result, 4);dataPack[10] = END_BYTE;dataPack_len = 11;paperang_send();
}// 蓝牙回复信息
void paperang_send_msg(uint8_t type, const uint8_t *dat, uint16_t len)
{dataPack[0] = START_BYTE;dataPack[1] = type;dataPack[2] = 0x00;memcpy(dataPack + 3, (uint8_t *)&len, 2);memcpy(dataPack + 5, dat, len);dataPack_len = 5 + len;//   crc32_result = crc32.calc(dat, len);crc_t crc32_result = 0xFFFFFFFF;crc32_result = crc_update(crc32_result, dat, len);crc32_result ^= 0xFFFFFFFF;memcpy(dataPack + dataPack_len, (uint8_t *)&crc32_result, 4);dataPack[dataPack_len + 4] = END_BYTE;dataPack_len += 5;paperang_send();
}

打印函数

char *CMD_42_DATA PROGMEM = "BK3432";
uint8_t CMD_7F_DATA[] PROGMEM = {0x76, 0x33, 0x2e, 0x33, 0x38, 0x2e, 0x31, 0x39, 0, 0, 0, 0};
uint8_t CMD_81_DATA[] PROGMEM = {0x48, 0x4d, 0x45, 0x32, 0x33, 0x30, 0x5f, 0x50, 0x32, 0, 0, 0, 0, 0, 0, 0};
uint8_t PRINTER_VERSION[] PROGMEM = {0x01, 0x00, 0x02}; // 打印机版本2.0.1
uint8_t *CMD_40_DATA PROGMEM = {0x00};
uint8_t heat_density = 64; // 热密度
void startPrint()
{int pinnumber;int i;int cache; // 分批打印标志，避免同时开启所有打印头// onprint = 1;onprint = 1;PowerONTime = millis();read_paper_statue();if (NO_Paper == 0) {static unsigned char motor_add = 0;Serial.println("[INFO]正在打印...");Serial.printf("[INFO]共%u行\n", printDataCount / 48);digitalWrite(PIN_VHEN, 1);cache = -1;for (uint32_t pointer = 0; pointer < printDataCount; pointer += 48){cache = -1;while (cache != 0){ // 分批加热打印头if (cache == -1){cache = 0;}pinnumber = 0;for (i = cache; i < 48; i++){pinnumber = pinnumber +   shuzu16to2jingzhi[print_Blue_Data[pointer + i]]; // 这里用了excel公式做了个数组来统计0-255转换成二进制后1的个数（懒得写算法）输出当前行打印点数if (pinnumber <= printpin){ // 判断打印的数据中要加热的点数是否超过规定最大值，如果超过了就先加热指定的点printDatacache[i] = print_Blue_Data[pointer + i];if (i == 47){cache = 0;}}else{cache = i;break;}}send_Blue_Data(printDatacache);// 控制各个STB引脚for (int j = 0; j < 48; j++){printDatacache[j] = 0;}if (pinnumber != 0){run_stb(0);run_stb(1);run_stb(2);run_stb(3);run_stb(4);run_stb(5);}}motor_run_step(4);  }motor_stop();Pin_Stb_Low();clearData();printDataCount = 0;Serial.println("[INFO]打印完成");digitalWrite(PIN_VHEN, 0);PowerONTime = millis();onprint = 0;}else{startBeep();delay(500);stopBeep();delay(500);startBeep();delay(500);stopBeep();}
}

三、FreeRTOS任务整合

在 Arduino IDE 的 ESP32 环境里有内置的FreeRTOS系统，直接使用即可。
使用说明详见STM32第十九课:FreeRTOS移植和使用
我这里使用了两个任务，一个用来执行主要任务蓝牙通信打印，一个用来实时监测报警提示用户。

#include <Arduino.h>
#include <BluetoothSerial.h>
#include <SPI.h> 
#include <LED.h>
#include <motor.h>
#include <adc.h>
#include <print.h>
#include <img.h>
#include <bmiao.h>void task_print(void *pvParameters)//打印任务
{for (;;) {paperang_app();}
}void task_LED(void *pvParameters)//温度，打印检测
{for (;;) {read_paper_statue();//vTaskDelay(500);if(flag_data.printing_flag==0){Led_Status(2);}if(flag_data.printing_flag==1){Led_Status(3);}if(NO_Paper == 1){digitalWrite(PIN_VHEN, 0);//电机警告startBeep();vTaskDelay(500);stopBeep();vTaskDelay(500);startBeep();vTaskDelay(500);stopBeep();}else{stopBeep();digitalWrite(PIN_VHEN, 1);}}}
void init_task()//初始化任务
{BaseType_t task = NULL;task = xTaskCreate(task_print,  // 任务函数"task_print", // 任务名1024*6,      // 任务栈NULL,         // 任务参数1,            // 任务优先级NULL          // 任务句柄);if(task == NULL){Serial.printf("printf err\n");}task = xTaskCreate(task_LED,  // 任务函数"task_LED", // 任务名1024*4,         // 任务栈NULL,         // 任务参数2,            // 任务优先级NULL          // 任务句柄);if(task == NULL){Serial.printf("led err\n");}
}void setup()
{init_Blue();Led_Config();     //初始化LEDinit_motor();     //初始化电机Init_Print();     //初始化打印头init_printer();pinMode(PIN_VHEN, OUTPUT);digitalWrite(PIN_VHEN, LOW);//缺纸IO初始化pinMode(PRINT, INPUT);pinMode(PIN_VHEN, OUTPUT);digitalWrite(PIN_VHEN, LOW);analogReadResolution(TEMPERATRUE_ADC_BIT);init_task();//启动任务Serial.print("init_task OK\r\n");
}
void loop()
{
}

其中电机警告是使用电机微动来实现的，通过电机的的微动来发声。

void startBeep(void)//微动
{// 设定总的转动时间为 1 秒（1000000 微秒）unsigned long totalTime = 1000000; unsigned long stepTime = 100;     // 每步延时 2000 微秒unsigned long steps = totalTime / stepTime;for (unsigned long i = 0; i < steps; ++i) {goFront1(stepTime);}
}
void stopBeep(void)//停止
{digitalWrite(PIN_MOTOR_AP,LOW);digitalWrite(PIN_MOTOR_AM,LOW);digitalWrite(PIN_MOTOR_BP,LOW);digitalWrite(PIN_MOTOR_BM,LOW);
}

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