MADAO/ManGoWalk_STM32
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Ble Transmit Success

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MADAO
2025-06-25 21:34:21 +08:00
parent 18c43dbb18
commit 331d7dedb7
19 changed files with 10307 additions and 6666 deletions
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68
fun/HCBle.c
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@@ -5,9 +5,15 @@
BLE --- DMA + IDLE <20>ж<EFBFBD> ѭ<><D1AD> DMA + <20><><EFBFBD><EFBFBD><EFBFBD>жϴ<D0B6><CFB4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> UART IDLE
GPS --- DMA +<2B>̶<EFBFBD><CCB6><EFBFBD><EFBFBD><EFBFBD> + TC<54>ж<EFBFBD> <20><><EFBFBD>ù̶<C3B9><CCB6><EFBFBD><EFBFBD><EFBFBD> DMA DMA<4D><41><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD>
#{
"lat": 23.123456,
"lon": 113.654321,
"angle": 95.0
}\n
**/
// <20>ⲿ<EFBFBD><E2B2BF><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
extern UART_HandleTypeDef huart4;
extern DMA_HandleTypeDef handle_GPDMA1_Channel5;
extern DMA_HandleTypeDef handle_GPDMA1_Channel4;
@@ -49,7 +55,7 @@ void HCBle_SendData(char *p,...)
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#ifdef DEBUG_EN
// <20><>Ϣ<EFBFBD><CFA2><EFBFBD><EFBFBD><EFBFBD>ӿ<EFBFBD>
HAL_UART_Transmit(&huart1,(uint8_t *)HC_Send_Data,strlen(HC_Send_Data),100);
HAL_UART_Transmit(&huart4,(uint8_t *)HC_Send_Data,strlen(HC_Send_Data),100);
// HAL_UART_Transmi(&huart1,(uint8_t *)formatBuf,strlen(formatBuf),1);
// <20><><EFBFBD><EFBFBD>û<EFBFBD><C3BB>ʹ<EFBFBD><CAB9><EFBFBD>жϵĴ<CFB5><C4B4>ڷ<EFBFBD><DAB7>ͣ<EFBFBD><CDA3><EFBFBD><EFBFBD><EFBFBD>Ҫ<EFBFBD><D2AA><EFBFBD><EFBFBD>һ<EFBFBD><D2BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#else
@@ -62,36 +68,36 @@ void HCBle_SendData(char *p,...)
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݽ<EFBFBD><DDBD><EFBFBD>
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
{
if(huart->Instance == UART4)
{
if(rx_data == '\n')
{
if(rx_index > 0)
{
HC_Recevie[rx_index] = '\0';
data_received = 1;
rx_index = 0; //<2F><><EFBFBD><EFBFBD>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ַ<EFBFBD><D6B7><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD>ַ<EFBFBD><D6B7><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ĵ<EFBFBD><C4B4><EFBFBD><EFBFBD><EFBFBD> <20><>Ҫ<EFBFBD><D2AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ַ<EFBFBD><D6B7><EFBFBD> memset
}else if(rx_index < RX_DataSize - 1)
{
}else
{
rx_index = 0; //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
memset(HC_Recevie,'\0',RX_DataSize);
}
}
HAL_UART_Receive_IT(huart,&rx_data,1);
}
}
//// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݽ<EFBFBD><DDBD><EFBFBD>
//void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
//{
// if(huart->Instance == UART4)
// {
// if(rx_data == '\n')
// {
// if(rx_index > 0)
// {
// HC_Recevie[rx_index] = '\0';
// data_received = 1;
// rx_index = 0; //<2F><><EFBFBD><EFBFBD>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ַ<EFBFBD><D6B7><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD>ַ<EFBFBD><D6B7><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ĵ<EFBFBD><C4B4><EFBFBD><EFBFBD><EFBFBD> <20><>Ҫ<EFBFBD><D2AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ַ<EFBFBD><D6B7><EFBFBD> memset
// }else if(rx_index < RX_DataSize - 1)
// {
//
// }else
// {
// rx_index = 0; //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// memset(HC_Recevie,'\0',RX_DataSize);
// }
// }
//
// HAL_UART_Receive_IT(huart,&rx_data,1);
// }
//}
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƕ<EFBFBD><C7B6><EFBFBD> Json<6F><6E><EFBFBD>ݴ<EFBFBD><DDB4><EFBFBD> <20>Լ<EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݸ<EFBFBD><DDB8>ֻ<EFBFBD>App
uint8_t flag;
// Json<6F><6E><EFBFBD>ݽ<EFBFBD><DDBD><EFBFBD> <20><><EFBFBD><EFBFBD>ʹ<EFBFBD>õ<EFBFBD>Thread x <20><><EFBFBD>н<EFBFBD><D0BD><EFBFBD>
void HCBle_ExtractAndParseFrame(void)
@@ -124,6 +130,7 @@ void HCBle_ExtractAndParseFrame(void)
sscanf(json_buf, "#{\"leftSpeed\":%d,\"rightSpeed\":%d}", &cmd.LeftSpeed, &cmd.RightSpeed);
tx_event_flags_set(&system_events,EVENT_BLE_COMMAND_RECEIVED,TX_OR);
//SetMotorSpeed(cmd.LeftSpeed, cmd.RightSpeed); <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
HCBle_SendData("<EFBFBD><EFBFBD>=%d, <20><>=%d\r\n", cmd.LeftSpeed, cmd.RightSpeed);
}
in_frame = 0;
@@ -143,7 +150,7 @@ void HCBle_ExtractAndParseFrame(void)
void ble_rx_task_entry(ULONG thread_input)
{
HCBle_InitDMAReception();
HCBle_SendData("BLE RX <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>\r\n");
while(1)
{
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>յ<EFBFBD><D5B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
@@ -154,9 +161,12 @@ void ble_rx_task_entry(ULONG thread_input)
void ble_tx_task_entry(ULONG thread_input) {
BLE_Message msg;
HCBle_SendData("BLE TX <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>\r\n");
while(1) {
if (tx_queue_receive(&ble_tx_queue, &msg, TX_WAIT_FOREVER) == TX_SUCCESS) {
HCBle_SendData("%s", msg.data);
// HCBle_SendData("%s", msg.data);
HCBle_SendData("#{\"lat\":%.6f,\"lon\":%.6f,\"angle\":%.2f}\n",
23.123456, 113.654321, 95.0);
}
}
}