/*******************************************************************************
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* File Name : bluetooth.h
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* Description : Bluetooth Communication Protocol (New V2)
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* Created on : 2025-12-04
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* Author : HIDO
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*******************************************************************************/
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#ifndef FML_BLUETOOTH_H_
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#define FML_BLUETOOTH_H_
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/*******************************************************************************
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* Include Files *
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*******************************************************************************/
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#include "HIDO_TypeDef.h"
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#include "stm32h7xx_hal.h"
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/*******************************************************************************
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* Macro *
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*******************************************************************************/
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#define BT_UART_RX_BUF_SIZE 1024
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#define UART6_DMA_RX_BUF_SIZE BT_UART_RX_BUF_SIZE
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#define BT_UART_TX_BUF_SIZE 1024
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#define BT_UART_TX_QUEUE_MEMBER_CNT 16
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// Protocol Constants
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#define BT_FRAME_HEADER1 0xAA
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#define BT_FRAME_HEADER2 0x55
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#define BT_FRAME_TAIL 0x0D
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// Command Types
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#define BT_CMD_PATH_COORDS 0x01
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#define BT_CMD_REF_POINT 0x02
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#define BT_CMD_CONTROL 0x03
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/*******************************************************************************
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* Type Definition *
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*******************************************************************************/
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#pragma pack(push, 1)
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typedef struct
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{
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HIDO_UINT8 m_u8Header1;
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HIDO_UINT8 m_u8Header2;
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HIDO_UINT8 m_u8CmdType;
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HIDO_UINT16 m_u16DataLen;
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HIDO_UINT16 m_u16SeqNum;
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} ST_BT_FrameHeader;
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typedef struct
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{
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HIDO_DOUBLE m_dX;
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HIDO_DOUBLE m_dY;
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} ST_BT_PathPoint;
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typedef struct
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{
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HIDO_DOUBLE m_dLat;
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HIDO_DOUBLE m_dLon;
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HIDO_CHAR m_cLatDir;
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HIDO_CHAR m_cLonDir;
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HIDO_UINT8 m_au8Reserved[14];
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} ST_BT_RefPointData;
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typedef struct
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{
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HIDO_INT8 m_i8SteerSpeed; // -100 to 100 (Negative Left)
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HIDO_INT8 m_i8TravelSpeed; // -100 to 100 (Negative Reverse)
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HIDO_UINT8 m_au8Reserved[2];
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} ST_BT_ControlData;
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#pragma pack(pop)
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/*******************************************************************************
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* Global Function *
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*******************************************************************************/
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HIDO_VOID BT_Init(void);
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HIDO_VOID BT_Poll(void);
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HIDO_VOID UART6_StartReceive(void);
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// Exposed for ISR
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extern HIDO_UINT8 uart6_dma_rxbuf[BT_UART_RX_BUF_SIZE];
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extern HIDO_UINT8 uart6_dma_recv_end_flag;
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extern HIDO_UINT16 uart6_dma_recv_len;
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extern volatile HIDO_UINT32 g_u32BtIdleIntCount;
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#endif /* FML_BLUETOOTH_H_ */
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