/*******************************************************************************
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* File Name : BT.c
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* Description :
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* Created on : 2018Äê7ÔÂ23ÈÕ
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* Author : ¶Å¼ü
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*******************************************************************************/
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/*******************************************************************************
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* Include Files *
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*******************************************************************************/
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#include "stdio.h"
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#include "stdarg.h"
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#include "string.h"
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#include "AppConfig.h"
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#include "HIDO_VLQueue.h"
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#include "HIDO_Input.h"
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#include "HIDO_Timer.h"
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#include "HIDO_Util.h"
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#include "bluetooth.h"
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#include "DBG.h"
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#include "mainex.h"
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#include "Uart.h"
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/*******************************************************************************
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* Macro *
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*******************************************************************************/
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// È«¾Ö״̬±êÖ¾
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volatile uint8_t g_bt_configured = 0; // ÅäÖÃÍê³É±êÖ¾
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volatile uint8_t g_bt_paired = 0; // Åä¶ÔÍê³É±êÖ¾
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volatile uint8_t g_bt_at_moded = 0; // AT_MODE
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static BT_RevState bt_state = BT_STATE_IDLE;
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static char bt_buffer[50]; // ½ÓÊÕ»º³åÇø
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static u8 bt_index = 0; // µ±Ç°½ÓÊÕλÖÃ
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static HIDO_UINT8 l_au8BTUartRxBuf[BT_UART_RX_BUF_SIZE];
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static HIDO_UINT8 l_au8BTUartTxBuf[BT_UART_TX_BUF_SIZE];
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HIDO_UINT8 uart6_dma_rxbuf[UART6_DMA_RX_BUF_SIZE] = {0};
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HIDO_UINT8 uart6_dma_recv_end_flag = 0;
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HIDO_UINT8 uart6_dma_recv_len = 0;
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/*******************************************************************************
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* Local Variable *
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*******************************************************************************/
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// ÅäÖú¯ÊýÉùÃ÷
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static HIDO_UINT8 ConfigBluetoothMasterSlave(void);
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static void Bluetooth_Config_Slave(void);
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// Ó³É亯Êý£º½« [-100,100] Ó³Éäµ½ [1000,2000]
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static uint32_t Map(int16_t input, int16_t in_min, int16_t in_max, uint32_t out_min, uint32_t out_max) {
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return (input - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
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}
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// ÉèÖõç»ú PWM£¨Ç°½ø/ºóÍË£©
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static void Set_Motor_PWM(int16_t speed) {
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uint32_t pulse = Map(speed, -100, 100, 1000, 2000); // -100~100 ¡ú 1000~2000
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__HAL_TIM_SetCompare(&MOTOR_TIM, MOTOR_CHANNEL, pulse);
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}
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// ÉèÖÃתÏò PWM£¨×óת/ÓÒת£©
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static void Set_Steering_PWM(int16_t steer) {
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uint32_t pulse = Map(steer, -100, 100, 1000, 2000); // -100~100 ¡ú 1000~2000
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__HAL_TIM_SetCompare(&STEERING_TIM, STEERING_CHANNEL, pulse);
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}
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/*******************************************************************************
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* Function Name : DBG_Init
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* Description : µ÷ÊÔ´òÓ¡³õʼ»¯
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* Input : None
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* Output : None
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* Return : None
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* Author : ¶Å¼ü
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* Modified Date: : 2018Äê7ÔÂ23ÈÕ
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*******************************************************************************/
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HIDO_VOID BT_Init(void)
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{
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ST_UartInit stInit;
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memset(&stInit, 0, sizeof(stInit));
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stInit.m_eRxMode = UART_RX_MODE_DMA;
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stInit.m_eTxMode = UART_TX_MODE_DMA;
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stInit.m_pu8RxBuf = l_au8BTUartRxBuf;
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stInit.m_u32RxBufSize = BT_UART_RX_BUF_SIZE;
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stInit.m_pu8TxBuf = l_au8BTUartTxBuf;
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stInit.m_u32TxBufSize = BT_UART_TX_BUF_SIZE;
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stInit.m_u32TxQueueMemberCnt = BT_UART_TX_QUEUE_MEMBER_CNT;
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Uart_Init(UART_ID_BT, &stInit);
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}
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static void BTUsartParseDataHandler(uint8_t data)
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{
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switch (bt_state)
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{
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case BT_STATE_IDLE:
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if(data!=NULL)
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{
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bt_state=BT_STATE_RECEIVING;
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}
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break;
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case BT_STATE_RECEIVING:
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bt_buffer[bt_index++] = data;
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if (bt_index >2 && bt_buffer[bt_index-2] == '\r' && bt_buffer[bt_index-1] == '\n') {
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// ¼ì²âµ½ÍêÕû½áÊø·û "\r\n"
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bt_buffer[bt_index] = '\0'; // Ìí¼Ó×Ö·û´®ÖÕÖ¹·û
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bt_index = 0; // ÖØÖûº³åÇø
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bt_state = BT_STATE_COMPLETE;
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}
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break;
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case BT_STATE_COMPLETE:
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// ״̬»ú´íÎó£¬ÖØÖÃ״̬
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bt_state = BT_STATE_IDLE;
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break;
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}
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}
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// À¶ÑÀÅäÖú¯ÊýʵÏÖ
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static HIDO_UINT8 BT_Enter_ATmode(void)
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{
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HIDO_UINT8 u8RecvChar = 0;
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//DBG_SerialPutString("AT+ENAT\r\n");
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Uart_Send(UART_ID_BT, (HIDO_UINT8 *) "AT+ENAT\r\n", strlen("AT+ENAT\r\n"));
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while (Uart_GetChar(UART_ID_BT, &u8RecvChar) == HIDO_OK)
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{
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BTUsartParseDataHandler(u8RecvChar);
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// Èç¹ûÊý¾Ý½ÓÊÕÍê³É£¬´¦ÀíÊý¾ÝÖ¡
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if (bt_state == BT_STATE_COMPLETE)
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{
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if(0==strcmp(bt_buffer,"\r\nOK\r\n"))
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{
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memset(bt_buffer, 0, 50);
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bt_state = BT_STATE_IDLE;
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g_bt_at_moded=1;
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return BT_CONFIG_SUCCESS;
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}
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}
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}
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return BT_CONFIG_FAIL;
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}
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// À¶ÑÀ¶Ï¿ªÁ¬½Ó
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void BT_DisConnect(void)
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{
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HIDO_UINT8 u8RecvChar = 0;
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//DBG_SerialPutString("AT+ENAT\r\n");
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Uart_Send(UART_ID_BT, (HIDO_UINT8 *) "AT+ENAT\r\n", strlen("AT+ENAT\r\n"));
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// delay_ms(10);
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Uart_Send(UART_ID_BT, (HIDO_UINT8 *) "AT+LENC\r\n", strlen("AT+LENC\r\n"));
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// delay_ms(10);
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Uart_Send(UART_ID_BT, (HIDO_UINT8 *) "AT+EXAT\r\n", strlen("AT+EXAT\r\n"));
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}
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// À¶ÑÀÅäÖú¯ÊýʵÏÖ
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static HIDO_UINT8 BT_Get_SLaveMode(void)
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{
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HIDO_UINT8 u8RecvChar = 0;
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DBG_SerialPutString("AT+ROLE\r\n");
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while (Uart_GetChar(UART_ID_BT, &u8RecvChar) == HIDO_OK)
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{
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BTUsartParseDataHandler(u8RecvChar);
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// Èç¹ûÊý¾Ý½ÓÊÕÍê³É£¬´¦ÀíÊý¾ÝÖ¡
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if (bt_state == BT_STATE_COMPLETE)
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{
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if(0==strcmp(bt_buffer,"LAVE\r\n"))
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{
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memset(bt_buffer, 0, 50);
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bt_state = BT_STATE_IDLE;
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g_bt_configured=1;
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DBG_SerialPutString(" AT+REST\r\n");//Í˳öÖ¸Áî²¢½øÈë͸´«Ä£Ê½
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return BT_CONFIG_SUCCESS;
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}
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}
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}
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return BT_CONFIG_FAIL;
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}
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// À¶ÑÀÅäÖú¯ÊýʵÏÖ
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static HIDO_UINT8 BT_wait_PairMode(void)
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{
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HIDO_UINT8 u8RecvChar = 0;
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while (Uart_GetChar(UART_ID_BT, &u8RecvChar) == HIDO_OK)
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{
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BTUsartParseDataHandler(u8RecvChar);
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// Èç¹ûÊý¾Ý½ÓÊÕÍê³É£¬´¦ÀíÊý¾ÝÖ¡
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if (bt_state == BT_STATE_COMPLETE)
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{
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if(0==strcmp(bt_buffer,"AT+LED1\r\n"))
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{
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memset(bt_buffer, 0, 50);
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bt_state = BT_STATE_IDLE;
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g_bt_paired = 1;
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return BT_CONFIG_SUCCESS;
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}
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}
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}
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return BT_CONFIG_FAIL;
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}
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// À¶ÑÀÅäÖú¯ÊýʵÏÖ
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static HIDO_UINT8 BT_connect_status(void)
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{
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HIDO_UINT8 u8RecvChar = 0;
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DBG_SerialPutString("AT+CONN\r\n");
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while (Uart_GetChar(UART_ID_BT, &u8RecvChar) == HIDO_OK)
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{
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BTUsartParseDataHandler(u8RecvChar);
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// Èç¹ûÊý¾Ý½ÓÊÕÍê³É£¬´¦ÀíÊý¾ÝÖ¡
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if (bt_state == BT_STATE_COMPLETE)
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{
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if(0==strcmp(bt_buffer,"1\r\n"))
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{
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memset(bt_buffer, 0, 50);
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bt_state = BT_STATE_IDLE;
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g_bt_paired = 1;
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return BT_CONFIG_SUCCESS;
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}
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}
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}
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return BT_CONFIG_FAIL;
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}
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// À¶ÑÀÈÎÎñ´¦Àíº¯Êý//DBG_SerialPutString("AT+SLAV\r\n");//ÅäÖôӻú
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static void Bluetooth_Config_Slave(void)
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{
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if(g_bt_configured==0)
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{
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if(g_bt_at_moded==0)
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{
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BT_Enter_ATmode();
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}
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else
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{
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if(BT_Get_SLaveMode())
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{
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g_bt_configured=1;
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}
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}
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}
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}
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// Ö÷´¦Àíº¯Êý
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void Joystick_Process(Joystick_t *joy) {
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// ÌáÈ¡ y1 ¿ØÖÆÇ°½ø/ºóÍË
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int16_t motor_val = joy->y1; // -100 ~ +100
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Set_Motor_PWM(motor_val);
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// ÌáÈ¡ x2 ¿ØÖÆתÏò
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int16_t steering_val = joy->x2; // -100 ~ +100
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Set_Steering_PWM(steering_val);
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}
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// ʾÀýÊäÈë: "[joystick,-22,-2,0,0]"
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void Parse_Joystick_Data(char *data) {
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Joystick_t joy = {0};
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if (strstr(data, "joystick") == NULL) return;
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// Ìø¹ý "[joystick,"
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char *ptr = strstr(data, "joystick");
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if (!ptr) return;
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ptr += 10; // Ìø¹ý "joystick,"
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// ½âÎöËĸöÕûÊý
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char *end;
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joy.x1 = strtol(ptr, &end, 10);
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if (end == ptr) return;
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ptr = end + 1;
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joy.y1 = strtol(ptr, &end, 10);
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if (end == ptr) return;
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ptr = end + 1;
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joy.x2 = strtol(ptr, &end, 10);
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if (end == ptr) return;
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ptr = end + 1;
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joy.y2 = strtol(ptr, &end, 10);
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// ´¦ÀíÊý¾Ý
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Joystick_Process(&joy);
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}
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/*******************************************************************************
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* Function Name : BT_Init
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* Description : µ÷ÊÔ´òÓ¡ÂÖѯ
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* Input : None
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* Output : None
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* Return : None
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* Author : ¶Å¼ü
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* Modified Date: : 2018Äê7ÔÂ23ÈÕ
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*******************************************************************************/
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HIDO_VOID BT_Poll(void)
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{
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if (uart6_dma_recv_len>0)//HAL_GPIO_ReadPin(GPIOE, GPIO_PIN_13) == GPIO_PIN_RESET
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{
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if (uart6_dma_recv_end_flag == 1) //½ÓÊÕÍê³É±êÖ¾
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{
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Uart_Send(UART_ID_DBG, (HIDO_UINT8 *)uart6_dma_rxbuf,uart6_dma_recv_len);
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// ½âÎöÊý¾Ý
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Parse_Joystick_Data(uart6_dma_rxbuf);
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}
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uart6_dma_recv_len = 0;//Çå³ý¼ÆÊý
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uart6_dma_recv_end_flag = 0;//Çå³ý½ÓÊÕ½áÊø±ê־λ
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memset(uart6_dma_rxbuf, 0, UART6_DMA_RX_BUF_SIZE);
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HAL_UART_Receive_DMA(&huart6, uart6_dma_rxbuf, UART6_DMA_RX_BUF_SIZE); //ÖØдò¿ªDMA½ÓÊÕ
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}
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#if 0
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else if(0==g_com_map[BT_SLAVE_STATUS])
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{
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DBG_SerialPutString("AT+ENAT\r\n");
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//delay_ms(10);
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DBG_SerialPutString("AT+SLAV\r\n");
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g_com_map[BT_SLAVE_STATUS]=1;
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save_com_map_to_flash();
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}
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#endif
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}
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