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实现蓝牙协议解析

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EN 2024-07-13 15:59:44 +08:00
parent 00ee34a664
commit 5ed416bc55
1 changed files with 43 additions and 53 deletions
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96
Core/Src/bluetooth.c
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@ -1,75 +1,65 @@
#include "bluetooth.h" #include "bluetooth.h"
#include "usart.h" #include "usart.h"
#include "control.h" #include "control.h"
#include "stdio.h" #include <stdio.h>
#include <string.h>
#define BUFFER_SIZE 100 #define BUFFER_SIZE 100
#define MESSAGE_SIZE 19 #define MESSAGE_SIZE 19
#define CMD_NUM 9 #define CMD_NUM 9
static uint8_t rxBuffer[BUFFER_SIZE], rxSize; static int8_t rxBuffer[BUFFER_SIZE], txBuffer[BUFFER_SIZE];
static uint8_t txBuffer[BUFFER_SIZE], txSize;
static uint8_t cmdIndex; static uint8_t cmdIndex;
void BLUETOOTH_Init(void) void BLUETOOTH_Init(void)
{ {
rxSize = 0; HAL_UARTEx_ReceiveToIdle_DMA(&huart2, rxBuffer, 100);
HAL_UART_Receive_IT(&huart2, rxBuffer, 1);
} }
void receiveCmd() void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)
{ {
// 通用协议 if (huart == &huart2 && rxBuffer[0] == '$' && rxBuffer[Size - 1] == '#')
if (rxBuffer[2] == ',')
{ {
cmdIndex = 0; // 通用协议
for (uint8_t i = 1; i < MESSAGE_SIZE; i += 2) if (rxBuffer[2] == ',')
if (rxBuffer[i] == '0') {
++cmdIndex;
else
break;
if (cmdIndex == CMD_NUM)
cmdIndex = 0; cmdIndex = 0;
CONTROL_CommonCmd(cmdIndex, rxBuffer[cmdIndex * 2 + 1]); for (uint8_t i = 1; i < MESSAGE_SIZE; i += 2)
} if (rxBuffer[i] == '0')
else ++cmdIndex;
{ else
static uint16_t num[6]; break;
switch (rxBuffer[5]) if (cmdIndex == CMD_NUM)
{ cmdIndex = 0;
// 机械手 CONTROL_CommonCmd(cmdIndex, rxBuffer[cmdIndex * 2 + 1]);
case 'S':
break;
// 舵机云台
case 'P':
break;
// 七彩灯
case 'C':
sscanf(rxBuffer + 5, "%*3s%hu,%*3s%hu,%*3s%hu", num, num + 1, num + 2);
CONTROL_RGB(num[0], num[1], num[2]);
break;
// 模式选择
case 'M':
sscanf(rxBuffer + 5, "%*4s%lc%lc", num, num + 1);
CONTROL_Mode(num[0] - '0', num[1] - '0');
break;
} }
} else
HAL_UART_Transmit(&huart1, rxBuffer, rxSize, 1000);
}
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
{
if (huart == &huart2)
{
if (rxSize && rxBuffer[rxSize] == '#')
{ {
if (++rxSize > 10) static uint16_t num[6];
receiveCmd(); switch (rxBuffer[5])
BLUETOOTH_Init(); {
// 机械手
case 'S':
break;
// 舵机云台
case 'P':
break;
// 七彩灯
case 'C':
sscanf(rxBuffer + 5, "%*3s%hu,%*3s%hu,%*3s%hu", num, num + 1, num + 2);
CONTROL_RGB(num[0], num[1], num[2]);
break;
// 模式选择
case 'M':
sscanf(rxBuffer + 5, "%*4s%c%c", num, num + 1);
CONTROL_Mode(num[0] - '0', num[1] - '0');
break;
}
} }
else if (rxSize++ == 0 && rxBuffer[0] == '$') memcpy(txBuffer, rxBuffer, Size);
HAL_UART_Receive_IT(&huart2, rxBuffer + rxSize, 1); printf("%s", txBuffer);
HAL_UART_Transmit_IT(&huart2, txBuffer, Size);
BLUETOOTH_Init();
} }
} }