69 lines
2.0 KiB
C++
69 lines
2.0 KiB
C++
#include <WiFi.h>
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#include <AsyncUDP.h> //引用以使用异步UDP
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#include<Wire.h>
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const char *ssid = "esp32";
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const char *password = "12345678";
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double kalZ;
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AsyncUDP udp; //创建UDP对象
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unsigned int localUdpPort = 2333; //本地端口号
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unsigned int broadcastPort = localUdpPort;
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//const char *broadcastData = "broadcast data";
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const uint8_t broadcastData[] = {"broadcast data"};
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void onPacketCallBack(AsyncUDPPacket packet)
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{
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Serial.print("UDP数据包来源类型: ");
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Serial.println(packet.isBroadcast() ? "广播数据" : (packet.isMulticast() ? "组播" : "单播"));
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Serial.print("远端地址及端口号: ");
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Serial.print(packet.remoteIP());
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Serial.print(":");
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Serial.println(packet.remotePort());
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Serial.print("目标地址及端口号: ");
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Serial.print(packet.localIP());
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Serial.print(":");
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Serial.println(packet.localPort());
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Serial.print("数据长度: ");
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Serial.println(packet.length());
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Serial.print("数据内容: ");
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Serial.write(packet.data(), packet.length());
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Serial.println();
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// packet.print("reply data");
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// broadcastPort = packet.remotePort();
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}
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void setup()
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{
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Serial.begin(115200);
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// kalman mpu6050 init
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kalman_init();
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//wifi初始化
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WiFi.mode(WIFI_AP);
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while(!WiFi.softAP(ssid, password)){}; //启动AP
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Serial.println("AP启动成功");
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while (!udp.listen(localUdpPort)) //等待udp监听设置成功
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{
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}
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udp.onPacket(onPacketCallBack); //注册收到数据包事件
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}
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char s[255];
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void loop()
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{
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kalZ = kalman_read();
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Serial.print(kalZ);Serial.print("\t");
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sprintf(s, "%.2f", kalZ); //将100转为16进制表示的字符串
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// Serial.println(strlen(s));
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delay(10);
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// udp.broadcastTo(broadcastData, broadcastPort); //可以使用该方法广播信息
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IPAddress broadcastAddr((~(uint32_t)WiFi.subnetMask())|((uint32_t)WiFi.localIP())); //计算广播地址
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udp.writeTo((const unsigned char*)s, strlen(s), broadcastAddr, localUdpPort); //广播数据
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}
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