#include "McuTaskBlueTooth.h" #include "McuE104BT52Drv.h" #include "ZthyToolCheck.h" #include "McuBspUart.h" #include "McuBspGpio.h" #include "McuTaskFlash.h" #include "McuTaskImu.h" #include "McuTaskInPara.h" #include "McuTaskManyPara.h" #include "McuTaskPosition.h" #include "McuBspRtc.h" #include "McuBspTimer.h" #include "McuSelfDestructionDrv.h" #include "McuTaskLowPower.h" #include "BeiDouHtyDrv.h" #include #include #include /* 控制引脚配置 */ #define MCU_TASK_BLUETOOTH_ONOFF_GPIO_PORT GPIOD #define MCU_TASK_BLUETOOTH_ONOFF_GPIO_PIN GPIO_PIN_7 #define MCU_TASK_BLUETOOTH_ONOFF_GPIO_MODE GPIO_MODE_OUTPUT_PP #define MCU_TASK_BLUETOOTH_ONOFF_GPIO_SPEED GPIO_SPEED_FREQ_LOW #define MCU_TASK_BLUETOOTH_ONOFF_GPIO_PULL GPIO_PULLDOWN /* DATA引脚配置 */ #define MCU_TASK_BLUETOOTH_DATA_GPIO_PORT GPIOD #define MCU_TASK_BLUETOOTH_DATA_GPIO_PIN GPIO_PIN_3 #define MCU_TASK_BLUETOOTH_DATA_GPIO_MODE GPIO_MODE_ANALOG #define MCU_TASK_BLUETOOTH_DATA_GPIO_SPEED GPIO_SPEED_FREQ_LOW #define MCU_TASK_BLUETOOTH_DATA_GPIO_PULL GPIO_PULLDOWN /* LINK引脚配置 */ #define MCU_TASK_BLUETOOTH_LINK_GPIO_PORT GPIOD #define MCU_TASK_BLUETOOTH_LINK_GPIO_PIN GPIO_PIN_4 #define MCU_TASK_BLUETOOTH_LINK_GPIO_MODE GPIO_MODE_IT_RISING #define MCU_TASK_BLUETOOTH_LINK_GPIO_SPEED GPIO_SPEED_FREQ_HIGH #define MCU_TASK_BLUETOOTH_LINK_GPIO_PULL GPIO_PULLDOWN /* WKP引脚配置 */ #define MCU_TASK_BLUETOOTH_WKP_GPIO_PORT GPIOD #define MCU_TASK_BLUETOOTH_WKP_GPIO_PIN GPIO_PIN_5 #define MCU_TASK_BLUETOOTH_WKP_GPIO_MODE GPIO_MODE_OUTPUT_PP #define MCU_TASK_BLUETOOTH_WKP_GPIO_SPEED GPIO_SPEED_FREQ_LOW #define MCU_TASK_BLUETOOTH_WKP_GPIO_PULL GPIO_PULLUP /* E_RST引脚配置 */ #define MCU_TASK_BLUETOOTH_RST_GPIO_PORT GPIOD #define MCU_TASK_BLUETOOTH_RST_GPIO_PIN GPIO_PIN_6 #define MCU_TASK_BLUETOOTH_RST_GPIO_MODE GPIO_MODE_OUTPUT_PP #define MCU_TASK_BLUETOOTH_RST_GPIO_SPEED GPIO_SPEED_FREQ_LOW #define MCU_TASK_BLUETOOTH_RST_GPIO_PULL GPIO_PULLUP /* 蓝牙的通讯模式 */ #define MCU_TASK_BLUETOOTH_MODE_AT 0 #define MCU_TASK_BLUETOOTH_MODE_TRANS 1 /* 透传模式下的蓝牙接收缓存大小定义 */ #define TASK_BLUETOOTH_RECV_BUF_NUM 30 #define TASK_BLUETOOTH_RECV_BUF_LEN_MAX 220 #define TASK_BLUETOOTH_SEND_BUF_LEN_MAX 220 /* 蓝牙接收buf的状态宏定义 */ #define TASK_BLUETOOTH_RECV_BUF_IDLE_STATE 0 #define TASK_BLUETOOTH_RECV_BUF_SATRT_STATE 1 #define TASK_BLUETOOTH_RECV_BUF_END_STATE 2 #define MCU_TASK_BLUETOOTH_UART_ID MCU_BSP_UART5_ID static uint32_t gDeviceType = 0; // 设备类型 static uint32_t gDeviceId = 4; // 设备ID static uint8_t gBlueToothMode = MCU_TASK_BLUETOOTH_MODE_AT; // 蓝牙默认处在的模式 /* AT模式下的蓝牙接收buf */ static uint8_t gAtBufBlueTooth[32] = {0}; static uint8_t gAtBlueToothCount = 0; /* 透传模式下的蓝牙buf */ static uint8_t gTransRBufBlueTooth[TASK_BLUETOOTH_RECV_BUF_NUM][TASK_BLUETOOTH_RECV_BUF_LEN_MAX] = {{0}}; static uint16_t gTransRBlueToothCount[TASK_BLUETOOTH_RECV_BUF_NUM] = {0}; static uint8_t gTransBlueToothState[TASK_BLUETOOTH_RECV_BUF_NUM] = {0}; static uint8_t gTransTBufBlueTooth[TASK_BLUETOOTH_RECV_BUF_LEN_MAX] = {0}; /* 工作模式 */ static uint8_t gAppWorkMode = 0; // 0表示工作模式 static uint8_t gBlueToothWorkMode = 0; // 0表示蓝牙工作模式 static E104BT52_OBJ TaskBlueToothObj = {0}; // 蓝牙对象 static MCU_BSP_UART_CONF gMcuTaskBlueToothUartConf = {0};// 串口通信配置对象 static MCU_BSP_TIMER_TASK gMcuTaskBlueToothTaskTimer = {0}; static int gMcuTaskBlueToothTimerId = -1; static uint16_t gMcuTaskBlueToothJoinLowPowerSerial = 0; static uint16_t gMcuTaskBlueToothNotice = 0; static void McuTaskBlueToothRead(uint8_t Data); static int McuTaskBlueToolUartWrite(unsigned char *Buf, unsigned int BufLen); static int McuTaskBlueToolUartRead(unsigned char *Buf, unsigned int BufLen); /* 清除接收buf */ static void TaskBlueToothClearRecvState(uint8_t Num); static void TaskBlueToothNormalAck(uint16_t PlatNum, uint16_t PlatId, uint8_t Result); static void TaskBlueToothModeDisable(void); static void TaskBlueToothRestart(void); int McuTaskBlueToothInit(void) { int rt = -1; /* 初始化通信口 */ gMcuTaskBlueToothUartConf.BaudRate = 115200; gMcuTaskBlueToothUartConf.WordLength = UART_WORDLENGTH_8B; gMcuTaskBlueToothUartConf.StopBits = UART_STOPBITS_1; gMcuTaskBlueToothUartConf.Parity = UART_PARITY_NONE; gMcuTaskBlueToothUartConf.Mode = UART_MODE_TX_RX; rt = McuBspUartInit(MCU_TASK_BLUETOOTH_UART_ID, &gMcuTaskBlueToothUartConf, NULL, McuTaskBlueToothRead); /* 初始化电源管理口 */ McuBspGpioInit(MCU_TASK_BLUETOOTH_ONOFF_GPIO_PORT, MCU_TASK_BLUETOOTH_ONOFF_GPIO_PIN, MCU_TASK_BLUETOOTH_ONOFF_GPIO_MODE, MCU_TASK_BLUETOOTH_ONOFF_GPIO_SPEED, MCU_TASK_BLUETOOTH_ONOFF_GPIO_PULL, 0, NULL); McuBspGpioSetLevel(MCU_TASK_BLUETOOTH_ONOFF_GPIO_PORT, MCU_TASK_BLUETOOTH_ONOFF_GPIO_PIN, MCU_BSP_GPIO_OUT_HIGH); /* 初始化唤醒引脚 */ McuBspGpioInit(MCU_TASK_BLUETOOTH_WKP_GPIO_PORT, MCU_TASK_BLUETOOTH_WKP_GPIO_PIN, MCU_TASK_BLUETOOTH_WKP_GPIO_MODE, MCU_TASK_BLUETOOTH_WKP_GPIO_SPEED, MCU_TASK_BLUETOOTH_WKP_GPIO_PULL, 0, NULL); /* 初始化连接引脚 */ McuBspGpioInit(MCU_TASK_BLUETOOTH_LINK_GPIO_PORT, MCU_TASK_BLUETOOTH_LINK_GPIO_PIN, MCU_TASK_BLUETOOTH_LINK_GPIO_MODE, MCU_TASK_BLUETOOTH_LINK_GPIO_SPEED, MCU_TASK_BLUETOOTH_LINK_GPIO_PULL, MCU_BSP_GPIO_EXTI4, McuTaskLowPowerSetGpioCallback); /* 初始化数据引脚 */ McuBspGpioInit(MCU_TASK_BLUETOOTH_DATA_GPIO_PORT, MCU_TASK_BLUETOOTH_DATA_GPIO_PIN, MCU_TASK_BLUETOOTH_DATA_GPIO_MODE, MCU_TASK_BLUETOOTH_DATA_GPIO_SPEED, MCU_TASK_BLUETOOTH_DATA_GPIO_PULL, 0, NULL); /* 初始化RST引脚 */ McuBspGpioInit(MCU_TASK_BLUETOOTH_RST_GPIO_PORT, MCU_TASK_BLUETOOTH_RST_GPIO_PIN, MCU_TASK_BLUETOOTH_RST_GPIO_MODE, MCU_TASK_BLUETOOTH_RST_GPIO_SPEED, MCU_TASK_BLUETOOTH_RST_GPIO_PULL, 0, NULL); McuBspGpioSetLevel(MCU_TASK_BLUETOOTH_RST_GPIO_PORT, MCU_TASK_BLUETOOTH_RST_GPIO_PIN, MCU_BSP_GPIO_OUT_HIGH); McuBspUartStartRecv(MCU_TASK_BLUETOOTH_UART_ID); McuTaskBlueToothSleep(); McuTaskBlueToothWakeUp(); TaskBlueToothObj.BlueToothId = gDeviceId - 1; TaskBlueToothObj.BluetoothRecv = McuTaskBlueToolUartRead; TaskBlueToothObj.BluetoothSend = McuTaskBlueToolUartWrite; TaskBlueToothObj.DelayMs = HAL_Delay; while (1) { rt = McuE104BT52DrvInit(&TaskBlueToothObj); if (rt == 0) { gBlueToothMode = MCU_TASK_BLUETOOTH_MODE_TRANS; break; } } /* 对蓝牙模块进行重新上电，因为不这么做无法找到该蓝牙 */ TaskBlueToothRestart(); /* 获取工作模式 */ gAppWorkMode = McuTaskFlashGetAppMode(); McuTaskFlashWriteOpt("BlueTh Init Success\r\n", strlen("BlueTh Init Success\r\n")); return 0; } /* 睡眠 */ void McuTaskBlueToothSleep(void) { McuBspGpioSetLevel(MCU_TASK_BLUETOOTH_WKP_GPIO_PORT, MCU_TASK_BLUETOOTH_WKP_GPIO_PIN, MCU_BSP_GPIO_OUT_LOW); HAL_Delay(600); McuBspGpioSetLevel(MCU_TASK_BLUETOOTH_WKP_GPIO_PORT, MCU_TASK_BLUETOOTH_WKP_GPIO_PIN, MCU_BSP_GPIO_OUT_HIGH); HAL_Delay(600); } /* 唤醒 */ void McuTaskBlueToothWakeUp(void) { McuBspGpioSetLevel(MCU_TASK_BLUETOOTH_WKP_GPIO_PORT, MCU_TASK_BLUETOOTH_WKP_GPIO_PIN, MCU_BSP_GPIO_OUT_HIGH); HAL_Delay(600); McuBspGpioSetLevel(MCU_TASK_BLUETOOTH_WKP_GPIO_PORT, MCU_TASK_BLUETOOTH_WKP_GPIO_PIN, MCU_BSP_GPIO_OUT_LOW); HAL_Delay(600); } /* 通信处理任务 */ int McuTaskBlueTooth(void) { int k; int i = 0; int j = 0; uint8_t crc = 0; uint32_t TmpId; uint32_t TmpType; uint16_t MessageId; uint16_t MessageNum; uint16_t MessageLen; while (1) { for (k = 0; k < TASK_BLUETOOTH_RECV_BUF_NUM; k++) { if (gTransBlueToothState[k] == TASK_BLUETOOTH_RECV_BUF_END_STATE) { break; } } if (k >= TASK_BLUETOOTH_RECV_BUF_NUM) { break;//没有还需要处理的数据 } /* 消息处理 */ for (i = 1; i < gTransRBlueToothCount[k] - 1; i++) { if (gTransRBufBlueTooth[k][i] == 0x7f) { TaskBlueToothClearRecvState(k); break; } else if (gTransRBufBlueTooth[k][i] == 0x7e) { i++; if (gTransRBufBlueTooth[k][i] == 0x01) { gTransRBufBlueTooth[k][j] = 0x7e; } else if (gTransRBufBlueTooth[k][i] == 0x02) { gTransRBufBlueTooth[k][j] = 0x7f; } else { TaskBlueToothClearRecvState(k); break; } } else { gTransRBufBlueTooth[k][j] = gTransRBufBlueTooth[k][i]; } j++; } if (i < (gTransRBlueToothCount[k] - 1)) { continue; // 可能还存在需要处理的数据 } /* 提取消息中的终端设备类型 */ TmpType = (((uint32_t)gTransRBufBlueTooth[k][2]) << 24) | (((uint32_t)gTransRBufBlueTooth[k][3]) << 16) | (((uint32_t)gTransRBufBlueTooth[k][4]) << 8) | ((uint32_t)gTransRBufBlueTooth[k][5]); /* 提取消息中的设备ID */ TmpId = (((uint32_t)gTransRBufBlueTooth[k][6]) << 24) | (((uint32_t)gTransRBufBlueTooth[k][7]) << 16) | (((uint32_t)gTransRBufBlueTooth[k][8]) << 8) | ((uint32_t)gTransRBufBlueTooth[k][9]); /* 提取消息中的平台消息ID */ MessageId = (((uint16_t)gTransRBufBlueTooth[k][0]) << 8) | ((uint16_t)gTransRBufBlueTooth[k][1]); /* 提取消息中的平台消息流水号 */ MessageNum = (((uint16_t)gTransRBufBlueTooth[k][14]) << 8) | ((uint16_t)gTransRBufBlueTooth[k][15]); /* 消息长度 */ MessageLen = (((uint16_t)(gTransRBufBlueTooth[k][10] & 0x03)) << 8) | ((uint16_t)gTransRBufBlueTooth[k][11]); if ((TmpType != gDeviceType) || (TmpId != gDeviceId)) { TaskBlueToothClearRecvState(k); continue; } crc = 0; if ((gTransRBufBlueTooth[k][10] & 0x0c) == 0x0c) { ZthyToolCheckCrc8_0x31(gTransRBufBlueTooth[k], j - 1, &crc); if (crc != gTransRBufBlueTooth[k][j - 1]) { TaskBlueToothClearRecvState(k); continue; } } else { TaskBlueToothClearRecvState(k); continue; } if ((gTransRBufBlueTooth[k][10] & 0x20) == 0x20) { if (MessageLen != (j - 19)) { TaskBlueToothNormalAck(MessageNum, MessageId, TASK_ACK_ERR); TaskBlueToothClearRecvState(k); continue; } else { i = 18; } } else { if (MessageLen != (j - 17)) { TaskBlueToothNormalAck(MessageNum, MessageId, TASK_ACK_ERR); TaskBlueToothClearRecvState(k); continue; } else { i = 16; } } if (gAppWorkMode != 0) { if (MessageId == PLAT_ACK_MESSAGE_ID) { uint16_t AckSerial; uint16_t AckId; uint8_t AckResult; if (MessageLen != 5) { TaskBlueToothClearRecvState(k); continue; } AckSerial = (((uint16_t)gTransRBufBlueTooth[k][i]) << 8) | ((uint16_t)gTransRBufBlueTooth[k][i + 1]); AckId = (((uint16_t)gTransRBufBlueTooth[k][i + 2]) << 8) | ((uint16_t)gTransRBufBlueTooth[k][i + 3]); AckResult = gTransRBufBlueTooth[k][i + 4]; if (AckResult != 0) { continue; } /* 分析是哪个报文的回答 */ if (AckId == MCU_TASK_FLASH_SEND_MESSAGE_ID) { McuTaskFlashAckOk(AckSerial); } TaskBlueToothClearRecvState(k); } else if (MessageId == PLAT_ASK_TERMINAL_DATA_MESSAGE_ID) { uint16_t AskId; AskId = (((uint16_t)gTransRBufBlueTooth[k][i]) << 8) | ((uint16_t)gTransRBufBlueTooth[k][i + 1]); if (AskId == MCU_TASK_IMU_SEND_MESSAGE_ID) { McuTaskFlashWriteOpt("BlueTh Ask Imu\r\n", strlen("BlueTh Ask Imu\r\n")); McuTaskImuBlueToothAsk(); TaskBlueToothNormalAck(MessageNum, MessageId, TASK_ACK_OK); } else if (AskId == MCU_TASK_INPARA_SEND_MESSAGE_ID) { McuTaskFlashWriteOpt("BlueTh Ask Inpara\r\n", strlen("BlueTh Ask Inpara\r\n")); McuTaskInParaBlueToothAsk(); TaskBlueToothNormalAck(MessageNum, MessageId, TASK_ACK_OK); } else if (AskId == MCU_TASK_MANYPARA_SEND_MESSAGE_ID) { McuTaskFlashWriteOpt("BlueTh Ask Manypara\r\n", strlen("BlueTh Ask Manypara\r\n")); McuTaskManyParaBlueToothAsk(); TaskBlueToothNormalAck(MessageNum, MessageId, TASK_ACK_OK); } else if (AskId == MCU_TASK_POSITION_SEND_MESSAGE_ID) { McuTaskFlashWriteOpt("BlueTh Ask Position\r\n", strlen("BlueTh Ask Position\r\n")); McuTaskPositionBlueToothAsk(); TaskBlueToothNormalAck(MessageNum, MessageId, TASK_ACK_OK); } else { TaskBlueToothNormalAck(MessageNum, MessageId, TASK_ACK_ERR); } TaskBlueToothClearRecvState(k); } else if (MessageId == PLAT_ASK_TERMINAL_UPDATA_MESSAGE_ID) { McuTaskFlashWriteOpt("BlueTh Ask Update\r\n", strlen("BlueTh Ask Update\r\n")); McuTaskFlashAskUpdate(gTransRBufBlueTooth[k][i]); TaskBlueToothNormalAck(MessageNum, MessageId, TASK_ACK_OK); TaskBlueToothClearRecvState(k); } else if (MessageId == PLAT_ASK_TERMINAL_RESTART_MESSAGE_ID) { McuTaskFlashWriteOpt("BlueTh Ask Restart\r\n", strlen("BlueTh Ask Restart\r\n")); TaskBlueToothNormalAck(MessageNum, MessageId, TASK_ACK_OK); TaskBlueToothClearRecvState(k); HAL_Delay(1000); __set_FAULTMASK(1);//关闭所有中断 NVIC_SystemReset();//复位函数 } else if (MessageId == PLAT_ASK_TERMINAL_SELF_DESTROYING_MESSAGE_ID) { /* 自毁模式设置 */ char Buf[50] = {0}; sprintf(Buf, "BlueTh BeiDou SelfDesMode: %d\r\n" , gTransRBufBlueTooth[k][i]); McuTaskFlashWriteOpt(Buf, strlen(Buf)); McuTaskSetSelfStructionMode(gTransRBufBlueTooth[k][i]); TaskBlueToothNormalAck(MessageNum, MessageId, TASK_ACK_OK); TaskBlueToothClearRecvState(k); } else if (MessageId == PLAT_ASK_CHANGE_BEIDOU_SEND_MODE) { uint64_t BeiDouNum = 0; /* 设置北斗通讯的周期 */ if (gTransRBufBlueTooth[k][i] != 0xff) { char Buf[50] = {0}; sprintf(Buf, "BlueTh BeiDou Period: %d\r\n" , gTransRBufBlueTooth[k][i + 1]); McuTaskFlashWriteOpt(Buf, strlen(Buf)); if (0 > McuTaskFlashSetWakeUpPeriod(gTransRBufBlueTooth[k][i])) { TaskBlueToothNormalAck(MessageNum, MessageId, TASK_ACK_ERR); TaskBlueToothClearRecvState(k); continue; } else { McuTaskLowPowerSetPeriod(gTransRBufBlueTooth[k][i]); } } /* 设置北斗重发次数 */ if (gTransRBufBlueTooth[k][i + 1] != 0xff) { char Buf[50] = {0}; sprintf(Buf, "BlueTh BeiDou Retry: %d\r\n" , gTransRBufBlueTooth[k][i + 1]); McuTaskFlashWriteOpt(Buf, strlen(Buf)); if (0 > McuTaskFlashSetWakeUpPeriod(gTransRBufBlueTooth[k][i + 1])) { TaskBlueToothNormalAck(MessageNum, MessageId, TASK_ACK_ERR); TaskBlueToothClearRecvState(k); continue; } else { McuTaskFlashSetBeiDouRetryTime(gTransRBufBlueTooth[k][i + 1]); } } /* 设置北斗卡号 */ BeiDouNum = (((uint64_t)gTransRBufBlueTooth[k][2]) << 56) | (((uint64_t)gTransRBufBlueTooth[k][3]) << 48) | (((uint64_t)gTransRBufBlueTooth[k][4]) << 40) | (((uint64_t)gTransRBufBlueTooth[k][5]) << 32) | (((uint64_t)gTransRBufBlueTooth[k][6]) << 24) | (((uint64_t)gTransRBufBlueTooth[k][7]) << 16) | (((uint64_t)gTransRBufBlueTooth[k][8]) << 8) | ((uint64_t)gTransRBufBlueTooth[k][9]); if (BeiDouNum != 0xffffffffffffffff) { char BeiDouNumBuf[20] = {0}; char Buf[50] = {0}; sprintf(Buf, "BlueTh BeiDou Card: %lld\r\n" , BeiDouNum); McuTaskFlashWriteOpt(Buf, strlen(Buf)); sprintf(BeiDouNumBuf, "%lld", BeiDouNum); if (0 > McuDrvBeiDouHtyConfOpposite(BeiDouNumBuf, strlen(BeiDouNumBuf))) { TaskBlueToothNormalAck(MessageNum, MessageId, TASK_ACK_ERR); TaskBlueToothClearRecvState(k); continue; } } TaskBlueToothNormalAck(MessageNum, MessageId, TASK_ACK_OK); TaskBlueToothClearRecvState(k); } else if (MessageId == PLAT_ASK_CHANGE_WORK_MODE) { uint64_t Time; char ModeBuf[50] = {0}; MCU_BSP_CLOCK RtcTime; if (gTransRBufBlueTooth[k][i] > 2) { gTransRBufBlueTooth[k][i] = 0; } gAppWorkMode = gTransRBufBlueTooth[k][i]; McuTaskFlashSetAppMode(gAppWorkMode); sprintf(ModeBuf, "BlueTh CheckMode: %d\r\n" , gAppWorkMode); McuTaskFlashWriteOpt(ModeBuf, strlen(ModeBuf)); Time = (((uint64_t)gTransRBufBlueTooth[k][i + 1]) << 56) | (((uint64_t)gTransRBufBlueTooth[k][i + 2]) << 48) | (((uint64_t)gTransRBufBlueTooth[k][i + 3]) << 40) | (((uint64_t)gTransRBufBlueTooth[k][i + 4]) << 32) | (((uint64_t)gTransRBufBlueTooth[k][i + 5]) << 24) | (((uint64_t)gTransRBufBlueTooth[k][i + 6]) << 16) | (((uint64_t)gTransRBufBlueTooth[k][i + 7]) << 8) | ((uint64_t)gTransRBufBlueTooth[k][i + 8]); RtcTime.Year = Time / 10000000000; RtcTime.Month = (Time / 100000000) % 100; RtcTime.Date = (Time / 1000000) % 100; RtcTime.Hours = (Time / 10000) % 100; RtcTime.Minutes = (Time / 100) % 100; RtcTime.Seconds = Time % 100; McuBspRtcSetTime(&RtcTime); TaskBlueToothNormalAck(MessageNum, MessageId, TASK_ACK_OK); TaskBlueToothClearRecvState(k); } else if (MessageId == PLAT_ASK_ASK_FLASH_DATA) { if (0 > McuTaskFlashSetAsk(gTransRBufBlueTooth[k][i])) { TaskBlueToothNormalAck(MessageNum, MessageId, TASK_ACK_ERR); } else { TaskBlueToothNormalAck(MessageNum, MessageId, TASK_ACK_OK); } TaskBlueToothClearRecvState(k); } else if (MessageId == PLAT_ASK_UPDATE_FILE_DATA) { uint16_t buflen; uint16_t AllCount = (((uint16_t)gTransRBufBlueTooth[k][i]) << 8) | ((uint16_t)gTransRBufBlueTooth[k][i + 1]); uint16_t LocalCount = (((uint16_t)gTransRBufBlueTooth[k][i + 2]) << 8) | ((uint16_t)gTransRBufBlueTooth[k][i + 3]); buflen = MessageLen - 4; if (0 > McuTaskFlashUpdateProgram(LocalCount, AllCount, &(gTransRBufBlueTooth[k][i + 4]), buflen)) { TaskBlueToothNormalAck(MessageNum, MessageId, TASK_ACK_ERR); } else { TaskBlueToothNormalAck(MessageNum, MessageId, TASK_ACK_OK); if (AllCount == LocalCount) { HAL_Delay(1000); __set_FAULTMASK(1);//关闭所有中断 NVIC_SystemReset();//复位函数 } } TaskBlueToothClearRecvState(k); } } else { if (MessageId == PLAT_ASK_CHANGE_WORK_MODE) { uint64_t Time; char ModeBuf[50] = {0}; MCU_BSP_CLOCK RtcTime; if (gTransRBufBlueTooth[k][i] > 2) { gTransRBufBlueTooth[k][i] = 0; } gAppWorkMode = gTransRBufBlueTooth[k][i]; McuTaskFlashSetAppMode(gAppWorkMode); sprintf(ModeBuf, "BlueTh CheckMode: %d\r\n" , gAppWorkMode); McuTaskFlashWriteOpt(ModeBuf, strlen(ModeBuf)); Time = (((uint64_t)gTransRBufBlueTooth[k][i + 1]) << 56) | (((uint64_t)gTransRBufBlueTooth[k][i + 2]) << 48) | (((uint64_t)gTransRBufBlueTooth[k][i + 3]) << 40) | (((uint64_t)gTransRBufBlueTooth[k][i + 4]) << 32) | (((uint64_t)gTransRBufBlueTooth[k][i + 5]) << 24) | (((uint64_t)gTransRBufBlueTooth[k][i + 6]) << 16) | (((uint64_t)gTransRBufBlueTooth[k][i + 7]) << 8) | ((uint64_t)gTransRBufBlueTooth[k][i + 8]); RtcTime.Year = Time / 10000000000; RtcTime.Month = (Time / 100000000) % 100; RtcTime.Date = (Time / 1000000) % 100; RtcTime.Hours = (Time / 10000) % 100; RtcTime.Minutes = (Time / 100) % 100; RtcTime.Seconds = Time % 100; McuBspRtcSetTime(&RtcTime); TaskBlueToothNormalAck(MessageNum, MessageId, TASK_ACK_OK); TaskBlueToothClearRecvState(k); } else { TaskBlueToothNormalAck(MessageNum, MessageId, TASK_ACK_ERR); TaskBlueToothClearRecvState(k); } } } return 0; } /* 发送函数 */ uint32_t TaskBlueToothSendMessage(uint16_t MessageId, uint16_t *Serial, uint8_t *SendBuf, uint32_t SendBufLen) { uint32_t i = 0; uint32_t j = 0; uint32_t k = 0; uint32_t e =0; uint32_t RealSendLen = 0; uint16_t SendPiece = 0; // 发送条数，用来记录是否具有分包 uint16_t MessageProperties = 0; // 消息属性 uint8_t SendBufTmp[1050] = {0}; if (Serial == NULL) { return 0; } SendPiece = (SendBufLen / 1023) + 1; // 计算总共需要发几条信息 for (i = 0; i < SendPiece; i++) { if (SendPiece != 1) { if (i != (SendPiece - 1)) { MessageProperties = 0x2000 | 0x0c00 | 1023; } else { MessageProperties = 0x2000 | 0x0c00 | (SendBufLen % 1023); } } else { MessageProperties = 0x0000 | 0x0c00 | SendBufLen; } j = 0; /* 消息ID */ SendBufTmp[j] = (uint8_t)((MessageId & 0xff00) >> 8); j++; SendBufTmp[j] = (uint8_t)(MessageId & 0x00ff); j++; /* 设备类型 */ SendBufTmp[j] = (uint8_t)((gDeviceType & 0xff000000) >> 24); j++; SendBufTmp[j] = (uint8_t)((gDeviceType & 0x00ff0000) >> 16); j++; SendBufTmp[j] = (uint8_t)((gDeviceType & 0x0000ff00) >> 8); j++; SendBufTmp[j] = (uint8_t)(gDeviceType & 0x000000ff); j++; /* 设备ID号 */ SendBufTmp[j] = (uint8_t)((gDeviceId & 0xff000000) >> 24); j++; SendBufTmp[j] = (uint8_t)((gDeviceId & 0x00ff0000) >> 16); j++; SendBufTmp[j] = (uint8_t)((gDeviceId & 0x0000ff00) >> 8); j++; SendBufTmp[j] = (uint8_t)(gDeviceId & 0x000000ff); j++; /* 消息体属性 */ SendBufTmp[j] = (uint8_t)((MessageProperties & 0xff00) >> 8); j++; SendBufTmp[j] = (uint8_t)(MessageProperties & 0x00ff); j++; /* 协议版本号 */ SendBufTmp[j] = 0x00; j++; SendBufTmp[j] = 0x01; j++; /* 消息流水号 */ SendBufTmp[j] = (uint8_t)(((*Serial) & 0xff00) >> 8); j++; SendBufTmp[j] = (uint8_t)((*Serial) & 0x00ff); j++; /* 消息包装项 + 消息内容 */ if (SendPiece != 1) { /* 消息总包数 */ SendBufTmp[j] = (uint8_t)((SendPiece & 0xff00) >> 8); j++; SendBufTmp[j] = (uint8_t)(SendPiece & 0x00ff); j++; /* 包序号 */ SendBufTmp[j] = (uint8_t)(((i + 1) & 0xff00) >> 8); j++; SendBufTmp[j] = (uint8_t)((i + 1) & 0x00ff); j++; if (i != (SendPiece - 1)) { memcpy(&SendBufTmp[j], &(SendBuf[1023 * i]), 1023); j += 1023; } else { memcpy(&SendBufTmp[j], &(SendBuf[1023 * i]), SendBufLen % 1023); j += (SendBufLen % 1023); } } else { if ((SendBuf != NULL) && (SendBufLen != 0)) { memcpy(&SendBufTmp[j], SendBuf, SendBufLen); j += SendBufLen; } } /* 进行校验 */ SendBufTmp[j] = 0; ZthyToolCheckCrc8_0x31(SendBufTmp, j, &SendBufTmp[j]); j++; /* 进行转义 */ e = 0; gTransTBufBlueTooth[e] = 0x7f; // 标志位 e++; for (k = 0; k < j; k++) { if (SendBufTmp[k] == 0x7e) { gTransTBufBlueTooth[e] = 0x7e; e++; gTransTBufBlueTooth[e] = 0x01; e++; } else if (SendBufTmp[k] == 0x7f) { gTransTBufBlueTooth[e] = 0x7e; e++; gTransTBufBlueTooth[e] = 0x02; e++; } else { gTransTBufBlueTooth[e] = SendBufTmp[k]; e++; } } gTransTBufBlueTooth[e] = 0x7f; // 标志位 e++; /* 发送数据 */ if (gAppWorkMode != 0 && (gBlueToothWorkMode == 1 || gMcuTaskBlueToothNotice == 1)) { McuBspUartSend(MCU_TASK_BLUETOOTH_UART_ID, gTransTBufBlueTooth, e); } RealSendLen += e; } return RealSendLen; } /* 发送通知 */ void TaskBlueToothJoinLowPowerNoticePlat(void) { gMcuTaskBlueToothNotice = 1; TaskBlueToothSendMessage(DEVICE_NOTICE_PLAT_BLUETOOTH_JOIN_LOWPOWER, &gMcuTaskBlueToothJoinLowPowerSerial, NULL, 0); gMcuTaskBlueToothJoinLowPowerSerial++; gMcuTaskBlueToothNotice = 0; } unsigned char TaskBlueToothGetAppMode(void) { return gAppWorkMode; } unsigned char TaskBlueToothGetBluetoothMode(void) { return gBlueToothWorkMode; } /* 新增定时器 */ void TaskBlueToothNewTimer(void) { if (gAppWorkMode != 0) { if (gMcuTaskBlueToothTimerId < 0) { gBlueToothWorkMode = 1; gMcuTaskBlueToothTaskTimer.TaskPeriod = 60; gMcuTaskBlueToothTaskTimer.Callback = TaskBlueToothModeDisable; gMcuTaskBlueToothTimerId = McuBspTimerAddTask(&gMcuTaskBlueToothTaskTimer); } else if (gMcuTaskBlueToothTimerId >= 0) { McuBspTimerTaskRefresh(gMcuTaskBlueToothTimerId); } } } /* 删除一个定时器 */ void TaskBlueToothDelTimer(void) { if (gMcuTaskBlueToothTimerId >= 0) { gBlueToothWorkMode = 0; McuBspTimerDelTask(gMcuTaskBlueToothTimerId); gMcuTaskBlueToothTimerId = -1; } } /* 重启蓝牙模块 */ static void TaskBlueToothRestart(void) { McuBspGpioSetLevel(MCU_TASK_BLUETOOTH_ONOFF_GPIO_PORT, MCU_TASK_BLUETOOTH_ONOFF_GPIO_PIN, MCU_BSP_GPIO_OUT_LOW); McuBspGpioSetLevel(MCU_TASK_BLUETOOTH_RST_GPIO_PORT, MCU_TASK_BLUETOOTH_RST_GPIO_PIN, MCU_BSP_GPIO_OUT_LOW); HAL_Delay(4000); McuBspGpioSetLevel(MCU_TASK_BLUETOOTH_RST_GPIO_PORT, MCU_TASK_BLUETOOTH_RST_GPIO_PIN, MCU_BSP_GPIO_OUT_HIGH); McuBspGpioSetLevel(MCU_TASK_BLUETOOTH_ONOFF_GPIO_PORT, MCU_TASK_BLUETOOTH_ONOFF_GPIO_PIN, MCU_BSP_GPIO_OUT_HIGH); } /* 失能蓝牙 */ static void TaskBlueToothModeDisable(void) { gMcuTaskBlueToothTimerId = -1; if (0 == (0x02 & McuTaskImuAskStatus()) && 0 == (0x02 & McuTaskInParaAskStatus()) && 0 == (0x02 & McuTaskManyParaAskStatus()) && 0 == (0x02 & McuTaskPositionAskStatus()) && 0 == McuTaskFlashGetAsk()) { gBlueToothWorkMode = 0; } else { if (gMcuTaskBlueToothTimerId < 0) { gBlueToothWorkMode = 1; gMcuTaskBlueToothTaskTimer.TaskPeriod = 60; gMcuTaskBlueToothTaskTimer.Callback = TaskBlueToothModeDisable; gMcuTaskBlueToothTimerId = McuBspTimerAddTask(&gMcuTaskBlueToothTaskTimer); } } } static void TaskBlueToothNormalAck(uint16_t PlatNum, uint16_t PlatId, uint8_t Result) { uint8_t Ack[5] = {0}; static uint16_t Serial = 0; Ack[0] = (uint8_t)((PlatNum & 0xff00) >> 8); Ack[1] = (uint8_t)(PlatNum & 0x00ff); Ack[2] = (uint8_t)((PlatId & 0xff00) >> 8); Ack[3] = (uint8_t)(PlatId & 0x00ff); Ack[4] = Result; gMcuTaskBlueToothNotice = 1; TaskBlueToothSendMessage(0x0000, &Serial, Ack, sizeof(Ack)); gMcuTaskBlueToothNotice = 0; Serial++; } static int McuTaskBlueToolUartWrite(unsigned char *Buf, unsigned int BufLen) { if (gBlueToothMode == MCU_TASK_BLUETOOTH_MODE_AT) { gAtBlueToothCount = 0; } return McuBspUartSend(MCU_TASK_BLUETOOTH_UART_ID, Buf, BufLen); } static int McuTaskBlueToolUartRead(unsigned char *Buf, unsigned int BufLen) { int i = 0; if (BufLen >= 32) { return -1; } /* 等待接收完成 */ while (gAtBlueToothCount < BufLen) { HAL_Delay(1); i++; /* 超时 */ if (i >= 300) { break; } } for (i = 0; i < gAtBlueToothCount; i++) { Buf[i] = gAtBufBlueTooth[i]; } return i; } static void McuTaskBlueToothRead(uint8_t Data) { if (gBlueToothMode != MCU_TASK_BLUETOOTH_MODE_AT) { if (Data == 0x7f) { int i; for (i = 0; i < TASK_BLUETOOTH_RECV_BUF_NUM; i++) { if (gTransBlueToothState[i] == TASK_BLUETOOTH_RECV_BUF_SATRT_STATE) { if (gTransRBlueToothCount[i] < 18) { /* 说明接收的包不全，或者包出现问题，该0x7f不是结束标志位，是开始标志位， 所以将该接收队列清零，并跳出该循环执行0x7f是开始标志的逻辑 */ gTransBlueToothState[i] = TASK_BLUETOOTH_RECV_BUF_IDLE_STATE; gTransRBlueToothCount[i] = 0; break; } else { gTransRBufBlueTooth[i][gTransRBlueToothCount[i]] = Data; gTransRBlueToothCount[i]++; gTransRBlueToothCount[i] = gTransRBlueToothCount[i] % TASK_BLUETOOTH_RECV_BUF_LEN_MAX; gTransBlueToothState[i] = TASK_BLUETOOTH_RECV_BUF_END_STATE; return; } } } for (i = 0; i < TASK_BLUETOOTH_RECV_BUF_NUM; i++) { if (gTransBlueToothState[i] == TASK_BLUETOOTH_RECV_BUF_IDLE_STATE) { gTransRBufBlueTooth[i][gTransRBlueToothCount[i]] = Data; gTransRBlueToothCount[i]++; gTransBlueToothState[i] = TASK_BLUETOOTH_RECV_BUF_SATRT_STATE; break; } } } else { int i; for (i = 0; i < TASK_BLUETOOTH_RECV_BUF_NUM; i++) { if (gTransBlueToothState[i] == TASK_BLUETOOTH_RECV_BUF_SATRT_STATE) { gTransRBufBlueTooth[i][gTransRBlueToothCount[i]] = Data; gTransRBlueToothCount[i]++; gTransRBlueToothCount[i] = gTransRBlueToothCount[i] % TASK_BLUETOOTH_RECV_BUF_LEN_MAX; break; } } } } else { gAtBufBlueTooth[gAtBlueToothCount] = Data; gAtBlueToothCount++; gAtBlueToothCount = gAtBlueToothCount % 32; } } /* 清除接收buf */ static void TaskBlueToothClearRecvState(uint8_t Num) { gTransRBlueToothCount[Num] = 0; gTransBlueToothState[Num] = TASK_BLUETOOTH_RECV_BUF_IDLE_STATE; }