68 lines
1.8 KiB
C
68 lines
1.8 KiB
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();
|
|
}
|
|
}
|