802 lines
21 KiB
C
802 lines
21 KiB
C
#include "BLE.h"
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#include <string.h>
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#include <stdint.h>
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#define BLE_DBG_EN 0 // 1=开启调试输出，0=关闭
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#if (BLE_DBG_EN)
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#define DEBUG(format, ...) printf("[BLE] " format, ##__VA_ARGS__)
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#else
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#define DEBUG(format, ...) // 关闭时，宏替换为空，不产生任何代码
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#endif
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char ble_rx_buffer[256];
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BLE_STATE curr_state;
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static size_t current_cmd_index = 0;
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static uint32_t cmd_start_time;
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static uint8_t current_try_count = 0;
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static CmdExecutor_t init_executor;
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static CmdExecutor_t first_connect_executor;
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static CmdExecutor_t connect_executor;
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static CmdExecutor_t set_executor;
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static uint8_t recovery_level = 0; // 放在文件开头
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const char* ble_state_names[] = {
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"BLE_INIT",
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"BLE_FIRST_CONECT",
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"BLE_CONNECTED",
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"BLE_READY",
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"BLE_ERROR",
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"BLE_SET",
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"BLE_WAITTING"
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};
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const char* ble_sub_state_names[] = {
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"BLE_SUB_STATE_IDLE",
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"BLE_SUB_STATE_SEND_WAIT",
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"BLE_SUB_STATE_PROCESS_RESP"
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};
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void BLE_Init(void)
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{
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curr_state = BLE_INIT;
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ble_cmd_rec_done = 0;
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}
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BLE_STATE BLE_GetState(void)
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{
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return curr_state;
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}
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void BLE_StateMachine_Handler(void)
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{
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switch(curr_state)
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{
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case BLE_INIT :
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{
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if(init_executor.sequence == NULL)
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{
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init_executor.sequence = ble_init_sequence;
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init_executor.cmd_index = 0;
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init_executor.retry_cnt = 0;
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init_executor.state = EXEC_STATE_IDLE;
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}
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ExecutorResult_t res = CmdExecutor_Process(&init_executor);
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if(res == EXECUTOR_DONE)
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{
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/*
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尝试读取保存在本地的数据，如果没有则进入first connect
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如果有则进入connected
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*/
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memset(&init_executor, 0, sizeof(init_executor));
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}
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else if(res == EXECUTOR_ERROR)
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{
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g_ble_error.cmd_index = init_executor.cmd_index;
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g_ble_error.error_code =init_executor.error_code;
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g_ble_error.main_state = curr_state;
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g_ble_error.timestamp = HAL_GetTick();
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g_ble_error.origin_state = BLE_INIT;
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curr_state = BLE_ERROR;
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memset(&init_executor, 0, sizeof(init_executor));
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}
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}
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break;
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case BLE_FIRST_CONECT :
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{
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ExecutorResult_t res = CmdExecutor_Process(&first_connect_executor);
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if(res == EXECUTOR_DONE)
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{
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/*
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保存参数到本地
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*/
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curr_state = BLE_CONNECTED;
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}
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else if(res == EXECUTOR_ERROR)
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{
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g_ble_error.cmd_index = init_executor.cmd_index;
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g_ble_error.error_code =init_executor.error_code;
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g_ble_error.main_state = curr_state;
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g_ble_error.timestamp = HAL_GetTick();
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g_ble_error.origin_state = BLE_FIRST_CONECT;
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curr_state = BLE_ERROR;
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memset(&init_executor, 0, sizeof(first_connect_executor));
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}
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}
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break;
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case BLE_CONNECTED :
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{
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ExecutorResult_t res = CmdExecutor_Process(&connect_executor);
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if(res == EXECUTOR_DONE)
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{
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/*
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保存参数到本地
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*/
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curr_state = BLE_READY;
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}
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else if(res == EXECUTOR_ERROR)
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{
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g_ble_error.cmd_index = init_executor.cmd_index;
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g_ble_error.error_code =init_executor.error_code;
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g_ble_error.main_state = curr_state;
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g_ble_error.timestamp = HAL_GetTick();
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g_ble_error.origin_state = BLE_CONNECTED;
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curr_state = BLE_ERROR;
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memset(&init_executor, 0, sizeof(connect_executor));
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}
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}
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break;
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case BLE_READY :
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{
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/*
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在已经开启透传的情况下周期性发送消息，一般情况不进行跳转其他状态
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如果超时则返回连接状态，多次出问题则进error
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*/
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}
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break;
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case BLE_ERROR :
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{
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const uint8_t MAX_RECOVERY_LEVEL = 3;
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recovery_level++;
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if (recovery_level > MAX_RECOVERY_LEVEL) {
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DEBUG("恢复尝试已达上限（%d次），进入等待", MAX_RECOVERY_LEVEL);
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curr_state = BLE_WAITTING;
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break;
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}
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switch(g_ble_error.type)
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{
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case ERR_TYPE_NONE:
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curr_state = g_ble_error.origin_state;
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break;
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case ERR_TYPE_PREPARE_FAILED:
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{
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g_ble_error.recovery_target = RECOVERY_TARGET_RECONFIG_UART;
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//curr_state = BLE_WAITTING;
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}
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break;
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case ERR_TYPE_TIMEOUT_EXCEEDED:
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g_ble_error.recovery_target = RECOVERY_TARGET_RESTART_SEQ;
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//curr_state = BLE_SET;
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//重新配置串口信息
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break;
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case ERR_TYPE_PARSE_FAILED:
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// DEBUG("error message ,main state:%s, sub state:%s, cmd_index:%d, timestamp:%d",
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// ble_state_names[g_ble_error.main_state], ble_sub_state_names[g_ble_error.sub_state], g_ble_error.cmd_index, g_ble_error.timestamp);
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g_ble_error.recovery_target = RECOVERY_TARGET_RESTART_SEQ;
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//重新配置串口信息
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break;
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case ERR_TYPE_MODULE_ERROR:
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{
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uint8_t table_size = sizeof(g_ble_error_table) / sizeof(g_ble_error_table[0]);
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uint8_t i;
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for(i = 0; i < table_size; i++)
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{
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if(g_ble_error.error_code == g_ble_error_table[i].code)
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{
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g_ble_error.recovery_target = g_ble_error_table[i].recovery_target;
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DEBUG("error message ,main state:%s, sub state:%s, cmd_index:%d, timestamp:%d",
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ble_state_names[g_ble_error.main_state], ble_sub_state_names[g_ble_error.sub_state], g_ble_error.cmd_index, g_ble_error.timestamp);
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//curr_state = BLE_SET;
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break;
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}
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}
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if(i == table_size)
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{
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g_ble_error.recovery_target = RECOVERY_TARGET_RESTART_SEQ;
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}
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break;
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}
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default:
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g_ble_error.recovery_target = RECOVERY_TARGET_PANIC;
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break;
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}
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// 3. 执行恢复动作
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switch(g_ble_error.recovery_target)
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{
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case RECOVERY_TARGET_RESTART_SEQ:
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// 重启当前流程阶段：根据 origin_state 重置对应的执行器
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switch(g_ble_error.origin_state)
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{
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case BLE_INIT:
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memset(&init_executor, 0, sizeof(init_executor));
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break;
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case BLE_FIRST_CONECT:
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memset(&first_connect_executor, 0, sizeof(first_connect_executor));
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break;
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case BLE_CONNECTED:
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memset(&connect_executor, 0, sizeof(connect_executor));
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break;
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default:
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break;
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}
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// 返回原状态，重新开始执行序列
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recovery_level = 0;
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curr_state = g_ble_error.origin_state;
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break;
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case RECOVERY_TARGET_RECONFIG_UART:
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// 重新配置 MCU 串口（调用你的串口初始化函数）
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// 例如： MX_USART1_UART_Init();
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// 然后重置对应执行器
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switch(g_ble_error.origin_state)
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{
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case BLE_INIT:
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memset(&init_executor, 0, sizeof(init_executor));
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break;
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case BLE_FIRST_CONECT:
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memset(&first_connect_executor, 0, sizeof(first_connect_executor));
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break;
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case BLE_CONNECTED:
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memset(&connect_executor, 0, sizeof(connect_executor));
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break;
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default:
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break;
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}
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recovery_level = 0;
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curr_state = g_ble_error.origin_state;
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break;
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case RECOVERY_TARGET_SW_RESET_MODULE:
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case RECOVERY_TARGET_FACTORY_RESET:
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// 需要通过 AT 命令执行，进入 BLE_SET 状态
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// 注意：origin_state 保持不变，BLE_SET 执行完后会返回它
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curr_state = BLE_SET;
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break;
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case RECOVERY_TARGET_HARD_RESET_MODULE:
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// 硬件复位模块：拉低复位引脚，延时，拉高
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// 假设有 BLE_RST_PIN 控制
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// HAL_GPIO_WritePin(BLE_RST_GPIO_Port, BLE_RST_Pin, GPIO_PIN_RESET);
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// HAL_Delay(100);
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// HAL_GPIO_WritePin(BLE_RST_GPIO_Port, BLE_RST_Pin, GPIO_PIN_SET);
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// 复位后重置对应执行器
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switch(g_ble_error.origin_state)
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{
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case BLE_INIT:
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memset(&init_executor, 0, sizeof(init_executor));
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break;
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case BLE_FIRST_CONECT:
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memset(&first_connect_executor, 0, sizeof(first_connect_executor));
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break;
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case BLE_CONNECTED:
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memset(&connect_executor, 0, sizeof(connect_executor));
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break;
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default:
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break;
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}
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recovery_level = 0;
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curr_state = g_ble_error.origin_state;
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break;
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case RECOVERY_TARGET_SOFT_RESET_MCU:
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// 软件复位整个 MCU
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//NVIC_SystemReset();
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break;
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case RECOVERY_TARGET_PANIC:
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default:
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// 无法恢复，进入等待状态
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DEBUG("error message ,main state:%s, sub state:%s, cmd_index:%d, timestamp:%d",
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ble_state_names[g_ble_error.main_state], ble_sub_state_names[g_ble_error.sub_state], g_ble_error.cmd_index, g_ble_error.timestamp);
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curr_state = BLE_WAITTING;
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break;
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}
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break;
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}
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case BLE_SET :
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{
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const BleAtCmd_t* target_seq = NULL;
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switch(g_ble_error.recovery_target)
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{
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case RECOVERY_TARGET_SW_RESET_MODULE:
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{
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static const BleAtCmd_t sw_reset_sq[] = {
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{"AT+RESET\r\n", "OK", 100, 3, NULL, NULL},
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{NULL, NULL, 0, 0, NULL, NULL}
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};
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target_seq = sw_reset_sq;
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}
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break;
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case RECOVERY_TARGET_FACTORY_RESET:
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{ //回复出厂设置
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{
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static const BleAtCmd_t factory_reset_seq[] = {
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{"AT+DEFAULT\r\n", "OK", 100, 3, NULL, NULL},
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{NULL, NULL, 0, 0, NULL, NULL}
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};
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target_seq = factory_reset_seq;
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}
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break;
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}
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default:
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//没有匹配目标则返回原状态
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curr_state = g_ble_error.origin_state;
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break;
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}
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if(target_seq != NULL)
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{
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// 如果 set_executor 尚未启动，则初始化
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if(set_executor.sequence == NULL)
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{
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set_executor.sequence = target_seq;
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set_executor.cmd_index = 0;
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set_executor.retry_cnt = 0;
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set_executor.state = EXEC_STATE_IDLE;
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}
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ExecutorResult_t res = CmdExecutor_Process(&set_executor);
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if(res == EXECUTOR_DONE)
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{
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// 恢复命令执行成功，将恢复级别清零，返回原状态
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// 注意：恢复级别 recovery_level 是在 BLE_ERROR 中定义的静态变量，这里无法直接访问。
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// 解决方案：可以在 BLE_ERROR 中定义一个全局或外部变量，或者通过某种方式传递。
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// 简单起见，我们可以在 BLE_ERROR 中重置 recovery_level，但这里无法做到。
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// 一个常见的做法是在 BLE_ERROR 中判断恢复成功与否，但由于这里返回原状态，我们可以在返回前设置一个标志，让 BLE_ERROR 下次进入时重置级别。
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// 但考虑到恢复级别只在 BLE_ERROR 中管理，我们可以这样处理：当 BLE_SET 成功返回原状态后，原状态会继续执行，如果再次出错会重新进入 BLE_ERROR，此时 recovery_level 仍然存在，但这是合理的（因为已经成功过，应该重置级别？）
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// 实际上，一次恢复成功意味着系统已经正常，应该重置级别。所以我们需要在 BLE_SET 成功时通知 BLE_ERROR 重置级别。
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// 由于 recovery_level 是 BLE_ERROR 内部的静态变量，无法直接从外部修改。我们可以将 recovery_level 定义为全局变量，或者通过函数接口。
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// 这里为了简单，我们假设 recovery_level 是全局变量（例如在文件顶部定义），并在 BLE_SET 成功时清零。
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// 请根据实际情况调整。下面假设有一个全局变量 uint8_t g_recovery_level; 并在 BLE_ERROR 中改为使用它。
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// 如果没有，你可以将 recovery_level 定义在文件作用域（static），然后在 BLE_SET 中包含一个 extern 声明。
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// 这里我们暂时注释掉，你需要根据你的设计实现。
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recovery_level = 0;
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memset(&set_executor, 0, sizeof(set_executor));
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curr_state = g_ble_error.origin_state;
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}
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else if(res == EXECUTOR_ERROR)
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{
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// 恢复命令也失败，将 set_executor 中的错误信息复制到 g_ble_error（保留 origin_state）
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g_ble_error.type = set_executor.error_type;
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g_ble_error.error_code = set_executor.error_code;
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g_ble_error.cmd_index = set_executor.error_cmd_index;
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g_ble_error.timestamp = HAL_GetTick();
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// 注意：不要覆盖 origin_state
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memset(&set_executor, 0, sizeof(set_executor));
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// 再次进入 BLE_ERROR，恢复级别将在那里递增
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curr_state = BLE_ERROR;
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}
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// 若返回 BUSY，则继续等待，不做状态切换
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}
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break;
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}
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break;
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case BLE_WAITTING:
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{
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static uint32_t last_time = 0;
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uint32_t time = HAL_GetTick();
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uint32_t rest = time - last_time;
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if(rest >= 500)
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{
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//输出警报
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last_time = time;
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}
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}
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break;
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default:
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break;
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}
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}
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ExecutorResult_t CmdExecutor_Process(CmdExecutor_t* ex) //发送流程执行器
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{
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switch(ex->state)
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{
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case EXEC_STATE_IDLE:
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{
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ble_cmd_rec_done= 0;
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if(ex->sequence[ex->cmd_index].cmd == NULL)
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{
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DEBUG("init success");
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return EXECUTOR_DONE;
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}
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const BleAtCmd_t *current_cmd = &ex->sequence[ex->cmd_index];
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char final_cmd[64];
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int prepare_ok = 0; // 标记准备是否成功
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if(current_cmd->prepare_cmd != NULL)
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{
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int prepare_result = current_cmd->prepare_cmd(current_cmd->cmd, final_cmd, sizeof(final_cmd));
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if(prepare_result != 0)
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{
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DEBUG("命令准备失败，错误码: %d，跳过此命令", prepare_result);
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ex->error_type = ERR_TYPE_PREPARE_FAILED;
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ex->error_code = prepare_result;
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ex->error_cmd_index = ex->cmd_index;
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ex->state = EXEC_STATE_ERROR;
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return EXECUTOR_ERROR;
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}
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else
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{
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prepare_ok = 1;
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}
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}
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else
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{
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strncpy(final_cmd, current_cmd->cmd, sizeof(final_cmd));
|
||
final_cmd[sizeof(final_cmd) - 1] = '\0';
|
||
prepare_ok = 1;
|
||
|
||
}
|
||
if(prepare_ok == 1)
|
||
{
|
||
//发送命令 待添加实际代码
|
||
|
||
ex->start_tick = HAL_GetTick();
|
||
ex->state = EXEC_STATE_SEND_WAIT;
|
||
ble_cmd_rec_done = 0;
|
||
return EXECUTOR_BUSY;
|
||
|
||
}
|
||
|
||
return EXECUTOR_BUSY;
|
||
|
||
}
|
||
|
||
break;
|
||
|
||
case EXEC_STATE_SEND_WAIT:
|
||
{
|
||
const BleAtCmd_t *current_cmd = &ex->sequence[ex->cmd_index];
|
||
uint16_t out_time = current_cmd->timeout_ms;
|
||
uint8_t try_max = current_cmd->retry_max;
|
||
if(ble_cmd_rec_done == 1)
|
||
{
|
||
|
||
ex->retry_cnt = 0;
|
||
ex->state = EXEC_STATE_PROCESS_RESP;
|
||
return EXECUTOR_BUSY;
|
||
|
||
|
||
}
|
||
|
||
uint32_t time = HAL_GetTick();
|
||
if((time - ex->start_tick) > out_time)
|
||
{
|
||
ex->retry_cnt++;
|
||
if(ex->retry_cnt <= try_max)
|
||
{
|
||
ex->state = EXEC_STATE_IDLE;
|
||
ble_cmd_rec_done = 0; // 建议清零，避免旧数据影响下一次
|
||
return EXECUTOR_BUSY;
|
||
|
||
}
|
||
else
|
||
{
|
||
ex->error_type = ERR_TYPE_TIMEOUT_EXCEEDED;
|
||
ex->error_code = 0;
|
||
ex->error_cmd_index = ex->cmd_index;
|
||
ex->state = EXEC_STATE_ERROR;
|
||
return EXECUTOR_ERROR;
|
||
|
||
}
|
||
|
||
|
||
}
|
||
|
||
|
||
return EXECUTOR_BUSY;
|
||
|
||
|
||
}
|
||
|
||
|
||
break;
|
||
|
||
case EXEC_STATE_PROCESS_RESP:
|
||
{
|
||
//接受串口回传具体信息
|
||
//char process_data[] = 缓存区数据
|
||
const BleAtCmd_t *current_cmd = &ex->sequence[ex->cmd_index];
|
||
int result;
|
||
if ((current_cmd->parse_resp) != NULL)
|
||
{
|
||
result = current_cmd->parse_resp(ble_rx_buffer);
|
||
}
|
||
else
|
||
{
|
||
result = parse_general_resp(ble_rx_buffer);
|
||
|
||
|
||
}
|
||
if(result == 0) //解析正确
|
||
{
|
||
ex->cmd_index++;
|
||
ex->retry_cnt = 0;
|
||
ex->state = EXEC_STATE_IDLE;
|
||
ble_cmd_rec_done = 0;
|
||
return EXECUTOR_BUSY;
|
||
|
||
}
|
||
else if(result > 0) //模块返回错误码
|
||
{
|
||
ex->retry_cnt++;
|
||
if(ex->retry_cnt <= current_cmd->retry_max)
|
||
{
|
||
ex->state = EXEC_STATE_IDLE;
|
||
ble_cmd_rec_done = 0;
|
||
return EXECUTOR_BUSY;
|
||
|
||
}
|
||
else
|
||
{
|
||
ex->error_type = ERR_TYPE_MODULE_ERROR;
|
||
ex->error_code = result;
|
||
ex->error_cmd_index = ex->cmd_index;
|
||
ex->state = EXEC_STATE_ERROR;
|
||
return EXECUTOR_ERROR;
|
||
|
||
|
||
}
|
||
|
||
}
|
||
else //result<0
|
||
{
|
||
//解析失败的其他情况
|
||
ex->retry_cnt++;
|
||
if(ex->retry_cnt <= current_cmd->retry_max)
|
||
{
|
||
ex->state = EXEC_STATE_IDLE;
|
||
ble_cmd_rec_done = 0;
|
||
return EXECUTOR_BUSY;
|
||
|
||
}
|
||
else
|
||
{
|
||
ex->error_type = ERR_TYPE_PARSE_FAILED;
|
||
ex->error_code = result;
|
||
ex->error_cmd_index = ex->cmd_index;
|
||
ex->state = EXEC_STATE_ERROR;
|
||
return EXECUTOR_ERROR;
|
||
|
||
}
|
||
|
||
}
|
||
|
||
}
|
||
|
||
|
||
break;
|
||
|
||
default:
|
||
break;
|
||
|
||
|
||
|
||
}
|
||
|
||
|
||
|
||
|
||
}
|
||
|
||
|
||
|
||
|
||
uint8_t BLE_UART_RxCallback(void)
|
||
{
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
}
|
||
|
||
|
||
int parse_general_resp(const char* resp)
|
||
{
|
||
if(resp == NULL)
|
||
{
|
||
return -1;
|
||
|
||
}
|
||
|
||
const char *ok_result = strstr(resp, "OK");
|
||
if(ok_result != NULL)
|
||
{
|
||
return 0;
|
||
}
|
||
|
||
int err_code = 0;
|
||
int auth = sscanf(resp, "ERROR=<%d>", &err_code);
|
||
if(auth == 1)
|
||
{
|
||
uint8_t table_size = sizeof(g_ble_error_table)/sizeof(g_ble_error_table[0]);
|
||
|
||
for(uint8_t i = 0; i<table_size; i++)
|
||
{
|
||
|
||
if(err_code == g_ble_error_table[i].code)
|
||
{
|
||
DEBUG("%s", g_ble_error_table[i].desc);
|
||
return err_code;
|
||
|
||
}
|
||
|
||
}
|
||
|
||
DEBUG("未知错误码：%d", err_code);
|
||
return err_code;
|
||
|
||
}
|
||
DEBUG("无法识别的响应: %s", resp);
|
||
return -1; // 添加默认返回值
|
||
|
||
|
||
}
|
||
|
||
int prepare_diradv_cmd(const char* cmd_template, char* cmd_buf, int buf_size)
|
||
{
|
||
if(cmd_buf == NULL || buf_size <= 0)
|
||
{
|
||
return -1;
|
||
|
||
}
|
||
|
||
uint8_t para = g_ble_config.adv_param; //取出序号
|
||
uint8_t type = g_ble_config.addr_type; //取出地址类型
|
||
char* mac = g_ble_config.target_mac; //取出mac地址
|
||
|
||
int needed_len = snprintf(cmd_buf, buf_size, cmd_template, para, type, mac);
|
||
if(needed_len < 0)
|
||
{
|
||
return -1;
|
||
}
|
||
else if(needed_len >= buf_size)
|
||
{
|
||
return -2;
|
||
|
||
}
|
||
else
|
||
{
|
||
return -3;
|
||
|
||
}
|
||
|
||
}
|
||
|
||
int parse_diradv_cmd(const char* cmd_template, char* cmd_buf, int buf_size)
|
||
{
|
||
|
||
|
||
|
||
|
||
}
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|