Bluetooth(Bluetooth)

1.bsp_bluetooth.c The file is stored in the Bluetooth basic driver file

2.app_bluetooth.c The file is stored in the file of the car application Bluetooth

Global variable

Global variable	type	Annotation
g_autoup	int	Automatically report
manydisplay	char[80]	Report data string
updata	char[80]	Store the final data
lspeed	char[10]	Left motor speed string
rspeed	char[10]	Right motor speed strings
daccel	char[10]	Acceleration string
dgyro	char[10]	Gyroscope data string
csb	char[10]	Ultrasonic distance string
vi	char[10]	Electric string
newLineReceived	u8	New Line Receive Label
num	int	Input string length
startBit	u8	Agreement starting
int9num	int	9th integer value
inputString	u8[80]	Receive input string
ProtocolString	u8[80]	Protocol string
g_newcarstate	enCarState	Car status
PID_Original	float[6]	PID initial value array
piddisplay	char[50]	PID display string
charkp	char[10]	Proportional gain KP string
charkd	char[10]	Microcar gain KD string
charksp	char[10]	Speed ​​ring kp string
charksi	char[10]	Speed ​​ring Ki string
charktp	char[10]	Steering ring kp string
charktd	char[10]	Steering ring kd string

Macro definition

Macro definition	value	Annotation
run_car	'1'	Advance command
back_car	'2'	Back Command
left_car	'3'	Turn left command
right_car	'4'	Right turn command
stop_car	'0'	Stop command

method

bluetooth_init(void)

Initialize Bluetooth Module

Return value	type
none	void

bluetooth_send_char(uint8_t ch)

Send a character

parameter	type	Annotation
ch	uint8_t	The characters to be sent

Return value	type
none	void

UART5_Send_ArrayU8(uint8_t *BufferPtr, uint16_t Length)

Send a byte array

parameter	type	Annotation
BufferPtr	uint8_t*	Data pointer to be sent
Length	uint16_t	Data length

Return value	type
none	void

USART5_Send_Byte(unsigned char byte)

Send a byte

parameter	type	Annotation
byte	unsigned char	The bytes to be sent

Return value	type
none	void

bluetooth_send_string(char *s)

Send string

parameter	type	Annotation
s	char*	String to be sent

Return value	type
none	void

Init_PID(void)

Initialize PID parameters

Return value	type
none	void

ResetPID(void)

PID parameters when resumed opening

Return value	type
none	void

deal_bluetooth(uint8_t rxbuf)

Process the receiving Bluetooth data

parameter	type	Annotation
rxbuf	uint8_t	Received data

Return value	type
none	void

ProtocolCpyData(void)

Copy protocol data

Return value	type
none	void

Protocol(void)

Analysis protocol data

Return value	type
none	void

StringFind(const char *pSrc, const char *pDst)

Find sub -string

parameter	type	Annotation
pSrc	const char*	Source string
pDst	const char*	Target string

Return value	type
Find starting index	int

CalcUpData(void)

Calculate and update the report data

Return value	type
none	void

SendAutoUp(void)

Report data automatically

Return value	type
none	void

ProtocolGetPID(void)

Get PID parameters

Return value	type
none	void

Example

#include "bsp_bluetooth.h"
int main() {
    bluetooth_init();
    bluetooth_send_string("Hello Yahboom!\n");
    while(1);
}
// When Bluetooth receives the message, it will trigger the interruption
void UART5_IRQHandler(void) {
    uint8_t Rx5_Temp;
    if (USART_GetITStatus(UART5, USART_IT_RXNE) != RESET)
    {
        Rx5_Temp = USART_ReceiveData(UART5);
        bluetooth_send_char(Rx5_Temp);
    }
}