generated from Template/H563ZI-HAL-CMake-Template
184 lines
4.6 KiB
C
184 lines
4.6 KiB
C
#include "HCBle.h"
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/**
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提示: 虽然 BLE 以及 GPS都是DMA+ UART接收，但是它们都有所不同
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BLE --- DMA + IDLE 中断 循环 DMA + 空闲中断触发处理 UART IDLE
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GPS --- DMA +固定长度 + TC中断 设置固定长度 DMA DMA传输完成中断
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#{
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"lat": 23.123456,
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"lon": 113.654321,
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"angle": 95.0
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}\n
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**/
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// 外部变量引入区
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extern UART_HandleTypeDef huart4;
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extern DMA_HandleTypeDef handle_GPDMA1_Channel5;
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extern DMA_HandleTypeDef handle_GPDMA1_Channel4;
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/*
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变量定义区
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*/
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char HC_Send_Data[128];
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uint8_t HC_Recevie[RX_DataSize]; // 蓝牙接收缓存
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volatile uint16_t rx_index = 0; //作为接收字符串指针
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volatile uint8_t data_received = 0; // 0 --- 未接收 1 --- 接收
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uint8_t rx_data; //接收字符
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// dma
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uint8_t uart_dma_rx_buf[UART_DMA_RX_BUF_SIZE];
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RingBuffer ble_rx_ring = {0}; //初始化
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MotorCommand cmd;
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LocationData current_location = {0};
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float imu_angle = 0.0f;
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//初始化DMA接收函数
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void HCBle_InitDMAReception(void)
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{
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HAL_UARTEx_ReceiveToIdle_DMA(&huart4, uart_dma_rx_buf, UART_DMA_RX_BUF_SIZE);
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// 只需要直接打开 串口空闲接收
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// HAL_UARTEx_RxEventCallback --- 到时候会回调
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}
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// 发送数据
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void HCBle_SendData(char *p,...)
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{
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va_list ap;
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va_start(ap,p);
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vsprintf(HC_Send_Data,p,ap);
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va_end(ap);
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// 编译控制
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#ifdef DEBUG_EN
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// 信息输出接口
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HAL_UART_Transmit(&huart4,(uint8_t *)HC_Send_Data,strlen(HC_Send_Data),100);
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// HAL_UART_Transmi(&huart1,(uint8_t *)formatBuf,strlen(formatBuf),1);
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// 对于没有使用中断的串口发送，是需要加入一个阻塞的
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#else
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HAL_UART_Transmit_DMA(&huart4, (uint8_t *)HC_Send_Data, strlen(HC_Send_Data));
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#endif
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}
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// 对于发送数据 可以加入一个DMA
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void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)
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{
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if (huart->Instance == UART4)
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{
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uint16_t data_len = UART_DMA_RX_BUF_SIZE - __HAL_DMA_GET_COUNTER(huart->hdmarx);
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for (uint16_t i = 0; i < data_len; i++)
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{
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ble_rx_ring.buffer[ble_rx_ring.head] = uart_dma_rx_buf[i];
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ble_rx_ring.head = (ble_rx_ring.head + 1) % RING_BUFFER_SIZE;
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}
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// memset(uart_dma_rx_buf, '\0', data_len);
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// 将接收到的数据 uart_rx_buf[0..Size-1] 拷贝到环形缓冲区等处理逻辑
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HAL_UARTEx_ReceiveToIdle_DMA(&huart4, uart_dma_rx_buf, UART_DMA_RX_BUF_SIZE);
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// 重新启动接收（HAL库自动做了）
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}
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}
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// 接下来就是定义 Json数据处理 以及 发送数据给手机App
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// Json数据解析 后续使用到Thread x 进行解析
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void HCBle_ExtractAndParseFrame(void)
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{
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static char json_buf[128];
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static int idx = 0;
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static int in_frame = 0;
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while (ble_rx_ring.tail != ble_rx_ring.head)
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{
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char c = ble_rx_ring.buffer[ble_rx_ring.tail];
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ble_rx_ring.tail = (ble_rx_ring.tail + 1) % RING_BUFFER_SIZE;
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// 帧开始：#
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if (c == '#') {
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idx = 0;
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in_frame = 1;
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json_buf[idx++] = c;
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}
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else if (in_frame) {
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if (idx < sizeof(json_buf) - 1) {
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json_buf[idx++] = c;
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// 帧结束：\n
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if (c == '\n') {
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json_buf[idx] = '\0';
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// ? JSON处理
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if (strstr(json_buf, "leftSpeed") && strstr(json_buf, "rightSpeed")) {
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sscanf(json_buf, "#{\"leftSpeed\":%d,\"rightSpeed\":%d}", &cmd.LeftSpeed, &cmd.RightSpeed);
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tx_event_flags_set(&system_events,EVENT_BLE_COMMAND_RECEIVED,TX_OR);
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//SetMotorSpeed(cmd.LeftSpeed, cmd.RightSpeed); 后续加入
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HCBle_SendData("左=%d, 右=%d\r\n", cmd.LeftSpeed, cmd.RightSpeed);
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}
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in_frame = 0;
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idx = 0;
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}
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} else {
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// 超出缓冲区，强制重启
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in_frame = 0;
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idx = 0;
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}
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}
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}
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}
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// BLE接收任务
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void ble_rx_task_entry(ULONG thread_input)
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{
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HCBle_InitDMAReception();
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HCBle_SendData("BLE RX 任务已启动\r\n");
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while(1)
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{
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// 处理接收到的数据
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HCBle_ExtractAndParseFrame(); //提取并解析JSON命令
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tx_thread_sleep(10); //每10ms轮询1次
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}
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}
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// "#{\"lat\":%.6f,\"lon\":%.6f,\"angle\":%.2f}\n",23.123456, 113.654321, 95.0);
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// HCBle_SendData("#{\"lat\":%.6f,\"lon\":%.6f,\"angle\":%.2f}\n",
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// current_location.lat, current_location.lon, current_location.angle);
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void ble_tx_task_entry(ULONG thread_input) {
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BLE_Message msg;
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HCBle_SendData("BLE TX 任务已启动\r\n");
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while(1) {
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HCBle_SendData("fuck");
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if (tx_queue_receive(&ble_tx_queue, &msg, TX_WAIT_FOREVER) == TX_SUCCESS) {
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switch (msg.msg_type)
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{
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case 1: // 周期性定位上报
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HCBle_SendData("#{\"lat\":%.6f,\"lon\":%.6f,\"angle\":%.2f}\n",23.123456, 113.654321, 95.0);
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break;
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case 2: // ACK 或提示类
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HCBle_SendData("%s", msg.data);
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break;
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default:
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HCBle_SendData("未知类型消息\n");
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break;
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}
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}
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}
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}
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