Car/User/Src/bluetooth.c

#include "bluetooth.h"

#include <stdio.h>
#include <string.h>

#include "control.h"
#include "usart.h"

#define BUFFER_SIZE 100
#define MESSAGE_SIZE 19
#define CMD_NUM 9

static int8_t rxBuffer[BUFFER_SIZE], txBuffer[BUFFER_SIZE];
static uint8_t cmdIndex;

void BLUETOOTH_Init(void)
{
    HAL_UARTEx_ReceiveToIdle_DMA(&huart2, rxBuffer, 100);
}

void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)
{
    if (huart == &huart2 && rxBuffer[0] == '$' && rxBuffer[Size - 1] == '#')
    {
        // 通用协议
        if (rxBuffer[2] == ',')
        {
            cmdIndex = 0;
            for (uint8_t i = 1; i < MESSAGE_SIZE; i += 2)
                if (rxBuffer[i] == '0')
                    ++cmdIndex;
                else
                    break;
            if (cmdIndex == CMD_NUM)
                cmdIndex = 0;
            CONTROL_CommonCmd(cmdIndex, rxBuffer[cmdIndex * 2 + 1]);
        }
        else
        {
            static uint16_t num[6];
            switch (rxBuffer[5])
            {
                    // 机械手
                case 'S':
                    break;
                    // 舵机云台
                case 'P':
                    break;
                    // 七彩灯
                case 'C':
                    sscanf(rxBuffer + 5, "%*3s%hu,%*3s%hu,%*3s%hu", num, num + 1, num + 2);
                    CONTROL_RGB(num[0], num[1], num[2]);
                    break;

                    // 模式选择
                case 'M':
                    sscanf(rxBuffer + 5, "%*4s%c%c", num, num + 1);
                    CONTROL_Mode(num[0] - '0', num[1] - '0');
                    break;
            }
        }
        memcpy(txBuffer, rxBuffer, Size);
        printf("%s", txBuffer);
        HAL_UART_Transmit_IT(&huart2, txBuffer, Size);
        BLUETOOTH_Init();
    }
}