这个模块提供了格式化发送字符串到HC05的功能,占用stm32的串口3
1.头文件
#ifndef __HC_05
#define __HC_05
/*
本模块为HC05蓝牙透传模块,只写了通信,AT指令部分
单独用串口测试
因此本模块基本就是个串口
占用串口USART3
PB10 TX 5v兼容
PB11 RX 5v兼容
*/
#include "sys.h"
#define HC05_REC_LEN 100 //定义最大接收字节数 100
#define HC05_TEC_LEN 100 //发送缓存区 100
void initHC05(void); //初始化
void sendToHC05(char* fmt ,...);//发送到HC05
static void receiveHandler(void);
static void SendCharToHC05(u8 ch);//私有
extern char HC05_RX_BUF[HC05_REC_LEN];
#endif
2.c文件
#include "hc05.h"
#include "stdarg.h"
#include "stdio.h"
#include "delay.h"
#include <string.h>
#include <stdlib.h>
#include "main.h"
//PB10 模块RX
//BB11 模块TX
//注意,读取USARTx->SR能避免莫名其妙的错误
char HC05_RX_BUF[HC05_REC_LEN]; //接收缓冲
//接收状态
//bit15, 接收完成标志
//bit14, 接收到0x0d
//bit13~0, 接收到的有效字节数目
u16 HC05_RX_STA=0; //接收状态标记
void initHC05(void){
GPIO_InitTypeDef GPIO_InitStructure;
USART_InitTypeDef USART_InittStructure;
NVIC_InitTypeDef NVIC_InitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART3, ENABLE);
USART_DeInit(USART3);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; //TX复用推挽输出
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_10MHz;
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING; //RX浮空输入
GPIO_Init(GPIOB, &GPIO_InitStructure);
USART_InittStructure.USART_BaudRate = 9600; //波特率
USART_InittStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None; //硬件流设置
USART_InittStructure.USART_Mode = USART_Mode_Rx|USART_Mode_Tx; //接收发送模式
USART_InittStructure.USART_Parity = USART_Parity_No; //奇偶校验位
USART_InittStructure.USART_StopBits = USART_StopBits_1; //停止位
USART_InittStructure.USART_WordLength = USART_WordLength_8b; //字长
USART_ITConfig(USART3, USART_IT_RXNE, ENABLE); //设置中断类型,接收中断
NVIC_InitStructure.NVIC_IRQChannel = USART3_IRQn; //串口3中断,在stm32F10x.h中有定义
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0; //抢占优先级为3
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; //响应优先级为3
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //IRQ通道使能
NVIC_Init(&NVIC_InitStructure);
USART_Init(USART3, &USART_InittStructure);
USART_Cmd(USART3, ENABLE);
}
void USART3_IRQHandler(void)
{
u8 Res;
if(USART_GetITStatus(USART3, USART_IT_RXNE) != RESET){
Res =USART_ReceiveData(USART3); //读取接收到的数据
if((HC05_RX_STA&0x8000)==0){ //接收未完成
if(HC05_RX_STA&0x4000){ //接收到了0x0d
if(Res!=0x0a){
HC05_RX_STA=0;//接收错误,重新开始
}
else {
//接收完成了
HC05_RX_STA|=0x8000;
//完成逻辑:
printf("recrived: %s",HC05_RX_BUF);
receiveHandler();
HC05_RX_STA=0;
HC05_RX_STA&=~0x8000;//清除完成标志
}
}
else {
//还没收到0X0D
if(Res==0x0d){
HC05_RX_STA|=0x4000;
}
else {
HC05_RX_BUF[HC05_RX_STA&0X3FFF]=Res ;
HC05_RX_STA++;
if(HC05_RX_STA>(HC05_REC_LEN-1))HC05_RX_STA=0;//接收数据错误,重新开始接收
}
}
}
}
}
//向蓝牙发送一个字节
void SendCharToHC05(u8 ch){
while((USART3->SR&0X40)==0)
;//等待发送完毕
USART3->DR = ch;
}
//格式化发送到蓝牙
void sendToHC05(char* fmt ,...){
unsigned char i,num;
char lcd_buf[HC05_TEC_LEN];
va_list ap;
va_start(ap,fmt);
num=vsprintf(lcd_buf,fmt,ap);
//printf("num=%d\r\n",num);
for(i=0;i<num;i++){
SendCharToHC05(lcd_buf[i]);
//printf("char=%c\r\n",lcd_buf[i]);
}
va_end(ap);
}
//接收回调,处理和解析命令
//指令格式:XXXX;arg0;arg1;arg2
void receiveHandler() {
//指令表
const char* list[] = {"setpid", "restart!", "hello","SetCapBeginFlag","restart"};
unsigned char count = 0;
double args[3] = {0};
char* token;
char* cmd;
char delim[] = ";";
int i;
int length = sizeof(list) / sizeof(char*);
//先获得命令,';'分割
cmd = strtok(HC05_RX_BUF, delim);
printf("cmd= %s\r\n", cmd);
//然后解析参数,最多3个,解析成double
token = strtok(NULL, delim);
while (token != NULL && count < 3) {
args[count] = atof(token);
count++;
token = strtok(NULL, delim);
}
for (i = 0; i < length; i++) {
if (strcmp(cmd, list[i]) == 0) break;
}
//printf("cmd N=%d\r\n",i);
//printf("length=%d\r\n",length);
//按照解析的命令查找执行
if (i < length) {
switch (i) {
case 0:
pid.Kp = args[0];
pid.Ki = args[1];
pid.Kd = args[2];
printf("setpid:p=%f i=%f d=%f\r\n",args[0],args[1],args[2]);
savePIDdata();
__set_FAULTMASK(1);// 关闭所有中断
NVIC_SystemReset();// 复位
break;
case 1:
__set_FAULTMASK(1);// 关闭所有中断
NVIC_SystemReset();// 复位
printf("cmd%d\r\n", i);
break;
case 2:
printf("cmd%d\r\n", i);
printf("hello world\r\n");
break;
case 3:
printf("cmd%d\r\n", i);
pauseFlag=0;
break;
case 4:
printf("cmd%d\r\n", i);
pauseFlag=1;
break;
default:
break;
}
}
}
IO配置:
PB10 TX 5v兼容
PB11 RX 5v兼容
初始化initHC05()
其中发送可用格式化发送函数sendToHC05,与printf的格式相同
接收需要修改receiveHandler() 函数。接受到数据后会在中断里调用此函数