generated from Template/H563ZI-HAL-CMake-Template
221 lines
5.7 KiB
C
221 lines
5.7 KiB
C
#include "HCBle.h"
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/**
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接收任务 未处理好
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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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BleMessage current_location = {0};
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float imu_angle = 0.0f;
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TX_EVENT_FLAGS_GROUP ble_event_flags;
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#define BLE_EVENT_DATA_READY 0x01
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void HCBle_InitEventFlags(void)
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{ tx_event_flags_create(&ble_event_flags, "BLE Events");
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tx_event_flags_create(&system_events,"gps Events");
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// tx_event_flags_create(&sensor_events,"Sensor Events");
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}
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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_IT(&huart4, uart_dma_rx_buf, UART_DMA_RX_BUF_SIZE);
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// HAL_UART_Receive_DMA(&huart4, uart_dma_rx_buf, UART_DMA_RX_BUF_SIZE);
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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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// 我发现的问题 --- \n 被分开解析了 ，所以就一直进不了这个任务解析
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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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for (uint16_t i = 0; i < Size; i++)
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{
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uint8_t ch = uart_dma_rx_buf[i];
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uint16_t next_head = (ble_rx_ring.head + 1) % RING_BUFFER_SIZE;
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if(next_head != ble_rx_ring.tail)
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{
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ble_rx_ring.buffer[ble_rx_ring.head] = ch;
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ble_rx_ring.head = next_head;
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}
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}
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tx_event_flags_set(&ble_event_flags, BLE_EVENT_DATA_READY, TX_OR);
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HAL_UARTEx_ReceiveToIdle_IT(&huart4, uart_dma_rx_buf, UART_DMA_RX_BUF_SIZE);
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}
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else if(huart->Instance == USART2) // gps的接收任务
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{
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// // 根据 Size 拷贝接收到的数据
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memcpy(GPS.GPS_Buffer,GPS_DMA_RX_BUF,Size);
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GPS.GPS_Buffer[Size] = '\0';
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GPS.isGetData = 1; //数据接收标志位置为1
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tx_event_flags_set(&system_events, EVENT_GPS_DATA_READY, TX_OR);
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//重新开启接收
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HAL_UARTEx_ReceiveToIdle_IT(&huart2,GPS_DMA_RX_BUF,GPS_DMA_RX_BUF_LEN);
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// HAL_UARTEx_ReceiveToIdle_DMA(&huart2,GPS_DMA_RX_BUF,GPS_DMA_RX_BUF_LEN);
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}
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}
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// 已成功实现 Ble数值接收
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void HCBle_ParseAndHandleFrame(const char *frame)
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{
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int left, right;
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float lat, lon, angle;
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if (sscanf(frame, "#{\"leftSpeed\":%d,\"rightSpeed\":%d}$", &left, &right) == 2) {
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cmd.LeftSpeed = left;
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cmd.RightSpeed = right;
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// 这里先加入
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target_rpm_L = map_speed_to_rpm(cmd.LeftSpeed);
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target_rpm_R = map_speed_to_rpm(cmd.RightSpeed);
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HCBle_SendData("left=%d, right=%d\r\n", cmd.LeftSpeed, cmd.RightSpeed);
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// HCBle_SendData("left=%d, right=%d\r\n", left, right);
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DriveBOTH(cmd.LeftSpeed,cmd.RightSpeed); //驱动电机
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// DriveBOTH(cmd.LeftSpeed,cmd.RightSpeed);
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return;
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}
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HCBle_SendData("? 解析失败: %s\r\n", frame);
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}
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//为啥一直使用不了，就是一直再等待TX传输过来
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// 在后台运行的一个线程；负责等待UART收到BLE数据后触发的事件，然后解析这些数据
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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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ULONG actual_flags;
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static char json_buf[128];
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static int idx = 0;
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static int parsing = 0;
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while (1)
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{
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tx_event_flags_get(&ble_event_flags, BLE_EVENT_DATA_READY, TX_OR_CLEAR, &actual_flags, TX_WAIT_FOREVER);
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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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if (!parsing) {
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if (c == '#') {
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parsing = 1;
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idx = 0;
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json_buf[idx++] = c;
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}
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continue;
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}
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if (idx < sizeof(json_buf) - 1) {
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json_buf[idx++] = c;
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if (c == '$') {
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json_buf[idx] = '\0';
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HCBle_ParseAndHandleFrame(json_buf);
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parsing = 0;
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idx = 0;
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}
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} else {
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parsing = 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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// "#{\"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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BleMessage msg;
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while(1) {
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// HCBle_SendData("#{\"lat\":%.6f,\"lon\":%.6f,\"angle\":%.2f}\n",23.123456, 113.654321, 95.0);
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// tx_thread_sleep(500);
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if(tx_queue_receive(&ble_tx_queue,&msg,TX_WAIT_FOREVER) == TX_SUCCESS)
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{
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HCBle_SendData("#{\"lat\":%.6f,\"lon\":%.6f,\"angle\":%.1f}\n",
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msg.lat, msg.lon,msg.angle);
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}
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tx_thread_sleep(100);
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}
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}
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