/*******************************************************************************
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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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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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/*******************************************************************************
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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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/**
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* @brief Æô¶¯ UART6 ½ÓÊÕ£¨ÆôÓà IDLE ÖÐ¶Ï + DMA£©
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*/
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void UART6_StartReceive(void)
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{
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// Çå³ý±ê־룬·ÀÖ¹ÉϵçÎó´¥·¢
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__HAL_UART_CLEAR_IDLEFLAG(&huart6);
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// ʹÄÜ IDLE ÖжÏ
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__HAL_UART_ENABLE_IT(&huart6, UART_IT_IDLE);
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// Æô¶¯ DMA ½ÓÊÕ£¨Ñ»·Ä£Ê½£©
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HAL_UART_Receive_DMA(&huart6, uart6_dma_rxbuf, UART6_DMA_RX_BUF_SIZE);
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}
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/**
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* @brief ·¢ËÍ×Ö·û´®
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*/
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void UART6_SendString(const char *str)
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{
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HAL_UART_Transmit_DMA(&huart6, (uint8_t *)str, strlen(str));
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}
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/**
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* @brief ·¢ËÍÊý¾ÝÊý×é
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*/
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void UART6_SendArray(uint8_t *data, uint16_t len)
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{
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HAL_UART_Transmit_DMA(&huart6, data, len);
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}
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void Joystick_Process(Joystick_t *joy)
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{
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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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{
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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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static HIDO_UINT8 l_uart6_dma_rxbuf[100];
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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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HIDO_UtilSnprintf((HIDO_CHAR *)l_uart6_dma_rxbuf, sizeof(l_uart6_dma_rxbuf), "buff=%s\r\n", uart6_dma_rxbuf);
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Uart_Send(UART_ID_DBG, (HIDO_UINT8 *)l_uart6_dma_rxbuf, strlen(l_uart6_dma_rxbuf));
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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_CLEAR_IDLEFLAG(&huart6);
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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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}
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