From 5ed416bc559ca0781b6ff9fde1e201b6626870d1 Mon Sep 17 00:00:00 2001
From: EN <none>
Date: Sat, 13 Jul 2024 15:59:44 +0800
Subject: [PATCH] =?UTF-8?q?=E5=AE=9E=E7=8E=B0=E8=93=9D=E7=89=99=E5=8D=8F?=
 =?UTF-8?q?=E8=AE=AE=E8=A7=A3=E6=9E=90?=
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---
 Core/Src/bluetooth.c | 96 ++++++++++++++++++++------------------------
 1 file changed, 43 insertions(+), 53 deletions(-)

diff --git a/Core/Src/bluetooth.c b/Core/Src/bluetooth.c
index e8df2cc..0cd2f27 100644
--- a/Core/Src/bluetooth.c
+++ b/Core/Src/bluetooth.c
@@ -1,75 +1,65 @@
 #include "bluetooth.h"
 #include "usart.h"
 #include "control.h"
-#include "stdio.h"
+#include <stdio.h>
+#include <string.h>
 
 #define BUFFER_SIZE 100
 #define MESSAGE_SIZE 19
 #define CMD_NUM 9
 
-static uint8_t rxBuffer[BUFFER_SIZE], rxSize;
-static uint8_t txBuffer[BUFFER_SIZE], txSize;
+static int8_t rxBuffer[BUFFER_SIZE], txBuffer[BUFFER_SIZE];
 static uint8_t cmdIndex;
 
 void BLUETOOTH_Init(void)
 {
-    rxSize = 0;
-    HAL_UART_Receive_IT(&huart2, rxBuffer, 1);
+    HAL_UARTEx_ReceiveToIdle_DMA(&huart2, rxBuffer, 100);
 }
 
-void receiveCmd()
+void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)
 {
-    // 通用协议
-    if (rxBuffer[2] == ',')
+    if (huart == &huart2 && rxBuffer[0] == '$' && rxBuffer[Size - 1] == '#')
     {
-        cmdIndex = 0;
-        for (uint8_t i = 1; i < MESSAGE_SIZE; i += 2)
-            if (rxBuffer[i] == '0')
-                ++cmdIndex;
-            else
-                break;
-        if (cmdIndex == CMD_NUM)
+        // 通用协议
+        if (rxBuffer[2] == ',')
+        {
             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%lc%lc", num, num + 1);
-            CONTROL_Mode(num[0] - '0', num[1] - '0');
-            break;
+            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]);
         }
-    }
-    HAL_UART_Transmit(&huart1, rxBuffer, rxSize, 1000);
-}
-
-void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
-{
-    if (huart == &huart2)
-    {
-        if (rxSize && rxBuffer[rxSize] == '#')
+        else
         {
-            if (++rxSize > 10)
-                receiveCmd();
-            BLUETOOTH_Init();
+            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;
+            }
         }
-        else if (rxSize++ == 0 && rxBuffer[0] == '$')
-            HAL_UART_Receive_IT(&huart2, rxBuffer + rxSize, 1);
+        memcpy(txBuffer, rxBuffer, Size);
+				printf("%s", txBuffer);
+        HAL_UART_Transmit_IT(&huart2, txBuffer, Size);
+        BLUETOOTH_Init();
     }
 }