From 68c43c5adef03f00836d83b37cb83a294d8b0354 Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期四, 13 十一月 2025 17:04:28 +0800
Subject: [PATCH] 晚上SBUS信号解析，成功控制车走
---
STM32H743/FML/bluetooth.c | 247 +++++++++---------------------------------------
1 files changed, 48 insertions(+), 199 deletions(-)
diff --git a/STM32H743/FML/bluetooth.c b/STM32H743/FML/bluetooth.c
index bc63738..b805acd 100644
--- a/STM32H743/FML/bluetooth.c
+++ b/STM32H743/FML/bluetooth.c
@@ -25,13 +25,7 @@
* Macro *
*******************************************************************************/
// 全局状态标志
-volatile uint8_t g_bt_configured = 0; // 配置完成标志
-volatile uint8_t g_bt_paired = 0; // 配对完成标志
-volatile uint8_t g_bt_at_moded = 0; // AT_MODE
-static BT_RevState bt_state = BT_STATE_IDLE;
-static char bt_buffer[50]; // 接收缓冲区
-static u8 bt_index = 0; // 当前接收位置
static HIDO_UINT8 l_au8BTUartRxBuf[BT_UART_RX_BUF_SIZE];
static HIDO_UINT8 l_au8BTUartTxBuf[BT_UART_TX_BUF_SIZE];
@@ -42,25 +36,6 @@
/*******************************************************************************
* Local Variable *
*******************************************************************************/
-// 配置函数声明
-static HIDO_UINT8 ConfigBluetoothMasterSlave(void);
-static void Bluetooth_Config_Slave(void);
-
-// 映射函数：将 [-100,100] 映射到 [1000,2000]
-static uint32_t Map(int16_t input, int16_t in_min, int16_t in_max, uint32_t out_min, uint32_t out_max) {
- return (input - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
-}
-// 设置电机 PWM（前进/后退）
-static void Set_Motor_PWM(int16_t speed) {
- uint32_t pulse = Map(speed, -100, 100, 1000, 2000); // -100~100 → 1000~2000
- __HAL_TIM_SetCompare(&MOTOR_TIM, MOTOR_CHANNEL, pulse);
-}
-
-// 设置转向 PWM（左转/右转）
-static void Set_Steering_PWM(int16_t steer) {
- uint32_t pulse = Map(steer, -100, 100, 1000, 2000); // -100~100 → 1000~2000
- __HAL_TIM_SetCompare(&STEERING_TIM, STEERING_CHANNEL, pulse);
-}
/*******************************************************************************
@@ -89,170 +64,39 @@
}
-static void BTUsartParseDataHandler(uint8_t data)
+/**
+ * @brief 启动 UART6 接收（启用 IDLE 中断 + DMA）
+ */
+void UART6_StartReceive(void)
{
- switch (bt_state)
- {
- case BT_STATE_IDLE:
- if(data!=NULL)
- {
- bt_state=BT_STATE_RECEIVING;
- }
- break;
- case BT_STATE_RECEIVING:
- bt_buffer[bt_index++] = data;
- if (bt_index >2 && bt_buffer[bt_index-2] == '\r' && bt_buffer[bt_index-1] == '\n') {
- // 检测到完整结束符 "\r\n"
- bt_buffer[bt_index] = '\0'; // 添加字符串终止符
- bt_index = 0; // 重置缓冲区
- bt_state = BT_STATE_COMPLETE;
- }
- break;
+ // 清除标志位，防止上电误触发
+ __HAL_UART_CLEAR_IDLEFLAG(&huart6);
- case BT_STATE_COMPLETE:
- // 状态机错误，重置状态
- bt_state = BT_STATE_IDLE;
- break;
- }
+ // 使能 IDLE 中断
+ __HAL_UART_ENABLE_IT(&huart6, UART_IT_IDLE);
+
+ // 启动 DMA 接收（循环模式）
+ HAL_UART_Receive_DMA(&huart6, uart6_dma_rxbuf, UART6_DMA_RX_BUF_SIZE);
}
-
-// 蓝牙配置函数实现
-static HIDO_UINT8 BT_Enter_ATmode(void)
-
+/**
+ * @brief 发送字符串
+ */
+void UART6_SendString(const char *str)
{
- HIDO_UINT8 u8RecvChar = 0;
- //DBG_SerialPutString("AT+ENAT\r\n");
- Uart_Send(UART_ID_BT, (HIDO_UINT8 *) "AT+ENAT\r\n", strlen("AT+ENAT\r\n"));
- while (Uart_GetChar(UART_ID_BT, &u8RecvChar) == HIDO_OK)
- {
- BTUsartParseDataHandler(u8RecvChar);
-
- // 如果数据接收完成，处理数据帧
- if (bt_state == BT_STATE_COMPLETE)
- {
- if(0==strcmp(bt_buffer,"\r\nOK\r\n"))
- {
- memset(bt_buffer, 0, 50);
- bt_state = BT_STATE_IDLE;
- g_bt_at_moded=1;
- return BT_CONFIG_SUCCESS;
- }
- }
- }
- return BT_CONFIG_FAIL;
+ HAL_UART_Transmit_DMA(&huart6, (uint8_t *)str, strlen(str));
}
-// 蓝牙断开连接
-void BT_DisConnect(void)
-
+/**
+ * @brief 发送数据数组
+ */
+void UART6_SendArray(uint8_t *data, uint16_t len)
{
- HIDO_UINT8 u8RecvChar = 0;
- //DBG_SerialPutString("AT+ENAT\r\n");
- Uart_Send(UART_ID_BT, (HIDO_UINT8 *) "AT+ENAT\r\n", strlen("AT+ENAT\r\n"));
-// delay_ms(10);
- Uart_Send(UART_ID_BT, (HIDO_UINT8 *) "AT+LENC\r\n", strlen("AT+LENC\r\n"));
-// delay_ms(10);
- Uart_Send(UART_ID_BT, (HIDO_UINT8 *) "AT+EXAT\r\n", strlen("AT+EXAT\r\n"));
+ HAL_UART_Transmit_DMA(&huart6, data, len);
}
-// 蓝牙配置函数实现
-static HIDO_UINT8 BT_Get_SLaveMode(void)
-
+void Joystick_Process(Joystick_t *joy)
{
- HIDO_UINT8 u8RecvChar = 0;
- DBG_SerialPutString("AT+ROLE\r\n");
- while (Uart_GetChar(UART_ID_BT, &u8RecvChar) == HIDO_OK)
- {
- BTUsartParseDataHandler(u8RecvChar);
-
- // 如果数据接收完成，处理数据帧
- if (bt_state == BT_STATE_COMPLETE)
- {
- if(0==strcmp(bt_buffer,"LAVE\r\n"))
- {
- memset(bt_buffer, 0, 50);
- bt_state = BT_STATE_IDLE;
- g_bt_configured=1;
- DBG_SerialPutString(" AT+REST\r\n");//退出指令并进入透传模式
- return BT_CONFIG_SUCCESS;
- }
- }
- }
- return BT_CONFIG_FAIL;
-}
-
-// 蓝牙配置函数实现
-static HIDO_UINT8 BT_wait_PairMode(void)
-
-{
- HIDO_UINT8 u8RecvChar = 0;
- while (Uart_GetChar(UART_ID_BT, &u8RecvChar) == HIDO_OK)
- {
- BTUsartParseDataHandler(u8RecvChar);
-
- // 如果数据接收完成，处理数据帧
- if (bt_state == BT_STATE_COMPLETE)
- {
- if(0==strcmp(bt_buffer,"AT+LED1\r\n"))
- {
- memset(bt_buffer, 0, 50);
- bt_state = BT_STATE_IDLE;
- g_bt_paired = 1;
- return BT_CONFIG_SUCCESS;
- }
- }
- }
- return BT_CONFIG_FAIL;
-}
-
-// 蓝牙配置函数实现
-static HIDO_UINT8 BT_connect_status(void)
-
-{
- HIDO_UINT8 u8RecvChar = 0;
- DBG_SerialPutString("AT+CONN\r\n");
- while (Uart_GetChar(UART_ID_BT, &u8RecvChar) == HIDO_OK)
- {
- BTUsartParseDataHandler(u8RecvChar);
-
- // 如果数据接收完成，处理数据帧
- if (bt_state == BT_STATE_COMPLETE)
- {
- if(0==strcmp(bt_buffer,"1\r\n"))
- {
- memset(bt_buffer, 0, 50);
- bt_state = BT_STATE_IDLE;
- g_bt_paired = 1;
- return BT_CONFIG_SUCCESS;
- }
- }
- }
- return BT_CONFIG_FAIL;
-}
-
-
-// 蓝牙任务处理函数//DBG_SerialPutString("AT+SLAV\r\n");//配置从机
-static void Bluetooth_Config_Slave(void)
-{
- if(g_bt_configured==0)
- {
- if(g_bt_at_moded==0)
- {
- BT_Enter_ATmode();
- }
- else
- {
- if(BT_Get_SLaveMode())
- {
- g_bt_configured=1;
- }
- }
- }
-}
-
-// 主处理函数
-void Joystick_Process(Joystick_t *joy) {
// 提取 y1 控制前进/后退
int16_t motor_val = joy->y1; // -100 ~ +100
Set_Motor_PWM(motor_val);
@@ -260,31 +104,41 @@
// 提取 x2 控制转向
int16_t steering_val = joy->x2; // -100 ~ +100
Set_Steering_PWM(steering_val);
+
}
// 示例输入: "[joystick,-22,-2,0,0]"
-void Parse_Joystick_Data(char *data) {
+void Parse_Joystick_Data(char *data)
+{
Joystick_t joy = {0};
if (strstr(data, "joystick") == NULL) return;
// 跳过 "[joystick,"
char *ptr = strstr(data, "joystick");
+
if (!ptr) return;
+
ptr += 10; // 跳过 "joystick,"
// 解析四个整数
char *end;
joy.x1 = strtol(ptr, &end, 10);
+
if (end == ptr) return;
+
ptr = end + 1;
joy.y1 = strtol(ptr, &end, 10);
+
if (end == ptr) return;
+
ptr = end + 1;
joy.x2 = strtol(ptr, &end, 10);
+
if (end == ptr) return;
+
ptr = end + 1;
joy.y2 = strtol(ptr, &end, 10);
@@ -305,28 +159,23 @@
*******************************************************************************/
HIDO_VOID BT_Poll(void)
{
- if (uart6_dma_recv_len>0)//HAL_GPIO_ReadPin(GPIOE, GPIO_PIN_13) == GPIO_PIN_RESET
- {
- if (uart6_dma_recv_end_flag == 1) //接收完成标志
- {
- Uart_Send(UART_ID_DBG, (HIDO_UINT8 *)uart6_dma_rxbuf,uart6_dma_recv_len);
- // 解析数据
+ static HIDO_UINT8 l_uart6_dma_rxbuf[100];
+ if (uart6_dma_recv_len > 0) //HAL_GPIO_ReadPin(GPIOE, GPIO_PIN_13) == GPIO_PIN_RESET
+ {
+ if (uart6_dma_recv_end_flag == 1) //接收完成标志
+ {
+ HIDO_UtilSnprintf((HIDO_CHAR *)l_uart6_dma_rxbuf, sizeof(l_uart6_dma_rxbuf), "buff=%s\r\n", uart6_dma_rxbuf);
+ Uart_Send(UART_ID_DBG, (HIDO_UINT8 *)l_uart6_dma_rxbuf, strlen(l_uart6_dma_rxbuf));
+ // 解析数据
Parse_Joystick_Data(uart6_dma_rxbuf);
- }
- uart6_dma_recv_len = 0;//清除计数
+ }
+
+ uart6_dma_recv_len = 0;//清除计数
uart6_dma_recv_end_flag = 0;//清除接收结束标志位
memset(uart6_dma_rxbuf, 0, UART6_DMA_RX_BUF_SIZE);
+ __HAL_UART_CLEAR_IDLEFLAG(&huart6);
HAL_UART_Receive_DMA(&huart6, uart6_dma_rxbuf, UART6_DMA_RX_BUF_SIZE); //重新打开DMA接收
- }
- #if 0
- else if(0==g_com_map[BT_SLAVE_STATUS])
- {
- DBG_SerialPutString("AT+ENAT\r\n");
- //delay_ms(10);
- DBG_SerialPutString("AT+SLAV\r\n");
- g_com_map[BT_SLAVE_STATUS]=1;
- save_com_map_to_flash();
- }
- #endif
- }
+ }
+
+}
--
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