76 lines
1.7 KiB
C
76 lines
1.7 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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#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 uint8_t rxBuffer[BUFFER_SIZE], rxSize;
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static uint8_t txBuffer[BUFFER_SIZE], txSize;
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static uint8_t cmdIndex;
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void BLUETOOTH_Init(void)
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{
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rxSize = 0;
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HAL_UART_Receive_IT(&huart2, rxBuffer, 1);
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}
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void receiveCmd()
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{
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// 通用协议
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if (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]);
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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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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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// 模式选择
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case 'M':
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sscanf(rxBuffer + 5, "%*4s%lc%lc", num, num + 1);
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CONTROL_Mode(num[0] - '0', num[1] - '0');
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break;
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}
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}
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HAL_UART_Transmit(&huart1, rxBuffer, rxSize, 1000);
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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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if (rxSize && rxBuffer[rxSize] == '#')
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{
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if (++rxSize > 10)
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receiveCmd();
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BLUETOOTH_Init();
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}
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else if (rxSize++ == 0 && rxBuffer[0] == '$')
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HAL_UART_Receive_IT(&huart2, rxBuffer + rxSize, 1);
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}
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}
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