88 lines
2.4 KiB
C
88 lines
2.4 KiB
C
#include "bluetooth.h"
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#include "usart.h"
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#include "control.h"
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#include <stdio.h>
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#include <string.h>
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#include "syscalls.h"
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#define BUFFER_SIZE 100
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#define MESSAGE_SIZE 19
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#define CMD_NUM 9
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static int8_t rxBuffer[BUFFER_SIZE], txBuffer[10000];
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static uint16_t txLen;
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static uint8_t cmdIndex;
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void BLUETOOTH_Init(void)
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{
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HAL_UARTEx_ReceiveToIdle_DMA(&huart2, rxBuffer, 100);
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// HAL_UART_Receive_IT(&huart2, txBuffer + txLen, 1);
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}
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// void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
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// {
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// if (huart == &huart2)
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// {
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// ++txLen;
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// if (txLen == 10000)
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// txLen = 0;
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// }
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// }
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void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)
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{
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if (huart == &huart2 && rxBuffer[0] == '$' && rxBuffer[Size - 1] == '#')
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{
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rxBuffer[Size] = '\0';
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// 通用协议
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if (mode == MODE_REMOTE && rxBuffer[2] == ',')
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{
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cmdIndex = 0;
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for (uint8_t i = 1; i < MESSAGE_SIZE; i += 2)
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if (rxBuffer[i] == '0')
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++cmdIndex;
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else
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break;
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if (cmdIndex == CMD_NUM)
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cmdIndex = 0;
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CONTROL_CommonCmd(cmdIndex, rxBuffer[cmdIndex * 2 + 1] - '0');
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}
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else
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{
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static uint16_t num[6];
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// 模式选择
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if (rxBuffer[5] == 'M')
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{
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sscanf(rxBuffer + 5, "%*4s%c%c", num, num + 1);
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CONTROL_Mode(num[0] - '0', num[1] - '0');
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}
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else if (mode == MODE_REMOTE)
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switch (rxBuffer[5])
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{
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// 机械手
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case 'S':
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break;
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// 舵机云台
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case 'P':
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break;
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// 七彩灯
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case 'C':
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sscanf(rxBuffer + 5, "%*3s%hu,%*3s%hu,%*3s%hu", num, num + 1, num + 2);
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CONTROL_RGB(num[0], num[1], num[2]);
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break;
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}
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}
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// my_printf(&huart2, rxBuffer);
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// strcpy(txBuffer + txLen, rxBuffer);
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// if (txLen + Size >= 9999)
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// txLen = 0;
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// else
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// txLen += Size;
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// txBuffer[txLen] = '\0';
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// if (strcmp(rxBuffer, "$send#") == 0)
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// my_printf(&huart2, txBuffer);
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BLUETOOTH_Init();
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}
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}
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