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2025年度版ESP Racer（ESP32S3対応）ソースコード
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‎ESP_Racer_2025.ino‎

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// update: 2025/04/30 v3 コア完全対応 + タイマー再設計 + 広告名明示
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#include <BLEDevice.h>
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#include <BLEUtils.h>
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#include <BLEServer.h>
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#include <BLE2902.h>
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/*========== BLE UUID ==========*/
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#define SERVICE_UUID "389CAAF0-843F-4D3B-959D-C954CCE14655"
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#define GET_BATTERY_VOLTAGE "389CAAF1-843F-4D3B-959D-C954CCE14655"
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#define SET_MOTOR_PWM "389CAAF2-843F-4D3B-959D-C954CCE14655"
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#define SET_PORT_OUT "389CAAF3-843F-4D3B-959D-C954CCE14655"
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#define SET_SERVO_POSITION "389CAAF4-843F-4D3B-959D-C954CCE14655"
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#define BURST_COMMAND "389CAAF5-843F-4D3B-959D-C954CCE14655"
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#define GET_FUNCTIONS "389CAAFF-843F-4D3B-959D-C954CCE14655"
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/*========== I/O (Seeed Xiao ESP32-S3) ==========*/
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#define power_led 1
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#define servo_pin 2
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#define motor0_pin 3
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#define motor1_pin 4
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#define port0_led 5
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#define port1_led 6
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/*========== globals ==========*/
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BLECharacteristic *pCharacteristic1;
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BLECharacteristic *pCharacteristic2;
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BLECharacteristic *pCharacteristic3;
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BLECharacteristic *pCharacteristic4;
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BLECharacteristic *pCharacteristic5;
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BLECharacteristic *pCharacteristic6;
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BLEAdvertising *pAdvertising;
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unsigned char motor_power = 127;
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unsigned char servo_power = 127;
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volatile uint32_t interruptCounter = 0; // 割り込みカウンタ
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hw_timer_t *timer = nullptr;
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portMUX_TYPE timerMux = portMUX_INITIALIZER_UNLOCKED;
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static int light = LOW; // LED トグル用
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/*========== timer ISR ==========*/
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void IRAM_ATTR onTimer() {
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portENTER_CRITICAL_ISR(&timerMux);
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++interruptCounter;
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portEXIT_CRITICAL_ISR(&timerMux);
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}
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/*========== BLE Callbacks ==========*/
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class MyCallbacks : public BLECharacteristicCallbacks {
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void onWrite(BLECharacteristic *pCharacteristic) override {
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String value = pCharacteristic->getValue();
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if (value.length() < 4) return; // データ不足時は無視
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motor_power = value[1]; // DC モータ
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if (value[2] == 3) { // ポート LED
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digitalWrite(port0_led, HIGH);
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digitalWrite(port1_led, HIGH);
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} else {
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digitalWrite(port0_led, LOW);
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digitalWrite(port1_led, LOW);
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}
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servo_power = value[3]; // サーボ
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}
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};
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class ServerCallbacks : public BLEServerCallbacks {
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void onConnect(BLEServer*) override {
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Serial.println("connect.");
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motor_power = servo_power = 127;
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timerAlarm(timer, 100'000, true, 0); // LED：0.1 s 周期
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}
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void onDisconnect(BLEServer*) override {
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Serial.println("disconnect.");
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motor_power = servo_power = 127;
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timerAlarm(timer, 500'000, true, 0); // LED：0.5 s 周期
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}
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};
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/*========== SETUP ==========*/
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void setup() {
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Serial.begin(115200);
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Serial.print("starting...");
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pinMode(servo_pin, OUTPUT);
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pinMode(motor0_pin, OUTPUT);
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pinMode(motor1_pin, OUTPUT);
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pinMode(power_led, OUTPUT);
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pinMode(port0_led, OUTPUT);
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pinMode(port1_led, OUTPUT);
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/*----- ハードウェアタイマー -----*/
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timer = timerBegin(1'000'000); // 1 MHz (1 µs 分解能)
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timerAttachInterrupt(timer, &onTimer);
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timerAlarm(timer, 500'000, true, 0); // 初期：0.5 s 周期
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/*----- BLE 初期化 -----*/
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BLEDevice::init("ESP Racer");
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BLEServer *pServer = BLEDevice::createServer();
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BLEService *pService = pServer->createService(SERVICE_UUID);
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pCharacteristic1 = pService->createCharacteristic(GET_BATTERY_VOLTAGE, BLECharacteristic::PROPERTY_READ);
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pCharacteristic2 = pService->createCharacteristic(SET_MOTOR_PWM, BLECharacteristic::PROPERTY_WRITE_NR);
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pCharacteristic3 = pService->createCharacteristic(SET_PORT_OUT, BLECharacteristic::PROPERTY_WRITE_NR);
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pCharacteristic4 = pService->createCharacteristic(SET_SERVO_POSITION, BLECharacteristic::PROPERTY_WRITE_NR);
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pCharacteristic5 = pService->createCharacteristic(BURST_COMMAND, BLECharacteristic::PROPERTY_WRITE_NR);
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pCharacteristic6 = pService->createCharacteristic(GET_FUNCTIONS, BLECharacteristic::PROPERTY_READ);
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pCharacteristic5->setCallbacks(new MyCallbacks());
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pServer->setCallbacks(new ServerCallbacks());
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pService->start();
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/*----- 広告データに名前を明示 -----*/
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pAdvertising = pServer->getAdvertising();
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pAdvertising->addServiceUUID(SERVICE_UUID);
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pAdvertising->setScanResponse(true); // 名前はスキャン応答へ
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BLEAdvertisementData scanData;
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scanData.setName("ESP Racer"); // ブラウザ等に表示される名前
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pAdvertising->setScanResponseData(scanData);
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pAdvertising->start();
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Serial.println("done.");
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}
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/*========== LOOP ==========*/
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void loop() {
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constexpr unsigned int control_phase = 16'000; // 16 ms
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unsigned int servo_on = 1'500 + (servo_power - 127) * 4; // 1012–1992 µs
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unsigned int motor_on = control_phase * abs(motor_power - 127) / 200;
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/*----- 電源 LED 点滅 -----*/
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if (interruptCounter > 0) {
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portENTER_CRITICAL(&timerMux);
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--interruptCounter;
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portEXIT_CRITICAL(&timerMux);
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light ^= 1;
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digitalWrite(power_led, light);
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}
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/*----- DC モータ & サーボ制御 -----*/
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if (motor_on > servo_on) { // モータ優先
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if (motor_power > 127) { // 正転
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digitalWrite(motor0_pin, HIGH);
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digitalWrite(motor1_pin, LOW);
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motor_on += control_phase / 4;
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} else if (motor_power < 127) { // 逆転
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digitalWrite(motor0_pin, LOW);
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digitalWrite(motor1_pin, HIGH);
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motor_on += control_phase / 4;
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} else { // 停止
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digitalWrite(motor0_pin, HIGH);
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digitalWrite(motor1_pin, HIGH);
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}
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digitalWrite(servo_pin, HIGH);
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delayMicroseconds(servo_on);
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digitalWrite(servo_pin, LOW);
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delayMicroseconds(motor_on - servo_on);
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digitalWrite(motor0_pin, LOW);
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digitalWrite(motor1_pin, LOW);
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delayMicroseconds(control_phase - motor_on);
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} else { // サーボのみ
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digitalWrite(servo_pin, HIGH);
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delayMicroseconds(servo_on);
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digitalWrite(servo_pin, LOW);
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delayMicroseconds(control_phase - servo_on);
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}
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}

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