/*******************************************************************************
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* File Name : bluetooth.c
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* Description : Bluetooth Communication Protocol Implementation
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* Created on : 2025-12-04
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* Author : HIDO
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*******************************************************************************/
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/*******************************************************************************
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* Include Files *
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*******************************************************************************/
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#include "bluetooth.h"
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#include "stdio.h"
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#include "stdarg.h"
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#include "string.h"
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#include "AppConfig.h"
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#include "HIDO_Util.h"
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#include "DBG.h"
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#include "Uart.h"
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#include "pwm_ctrol.h"
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#include "SBUS.h"
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/*******************************************************************************
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* Macro *
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*******************************************************************************/
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#define CRC16_POLY 0x1021
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#define BT_RX_BUF_SIZE 128 // Internal parsing buffer size
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#define ENABLE_BT_DEBUG_LOG 0 // Set to 1 to enable debug logs
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/*******************************************************************************
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* Local Variable *
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*******************************************************************************/
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static HIDO_UINT8 l_au8BTUartRxBuf[BT_UART_RX_BUF_SIZE];
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static HIDO_UINT8 l_au8BTUartTxBuf[BT_UART_TX_BUF_SIZE];
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// DMA Buffer for UART6 (aligned for D-Cache operations)
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__attribute__((aligned(32))) HIDO_UINT8 uart6_dma_rxbuf[BT_UART_RX_BUF_SIZE] = {0};
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HIDO_UINT8 uart6_dma_recv_end_flag = 0;
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HIDO_UINT16 uart6_dma_recv_len = 0;
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volatile HIDO_UINT32 g_u32BtIdleIntCount = 0;
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extern UART_HandleTypeDef huart6;
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extern DMA_HandleTypeDef hdma_usart6_rx;
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// Receive State Machine
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typedef enum
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{
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BT_FSM_IDLE = 0,
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BT_FSM_HEADER2,
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BT_FSM_CMD,
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BT_FSM_LEN_LOW,
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BT_FSM_LEN_HIGH,
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BT_FSM_DATA,
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BT_FSM_TAIL
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} E_BT_FSM_State;
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typedef struct
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{
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E_BT_FSM_State state;
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HIDO_UINT8 cmd_type;
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HIDO_UINT16 data_len;
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HIDO_UINT16 data_idx;
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HIDO_UINT8 rx_buf[BT_RX_BUF_SIZE];
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} ST_BT_RecvFSM;
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static ST_BT_RecvFSM s_bt_fsm;
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/*******************************************************************************
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* Local Function Declaration *
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*******************************************************************************/
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static HIDO_UINT16 Calculate_CRC16(const HIDO_UINT8 *data, HIDO_UINT16 len);
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static HIDO_VOID BT_RecvFSM(HIDO_UINT8 byte);
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static HIDO_VOID BT_ProcessFrame(void);
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/*******************************************************************************
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* Global Function *
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*******************************************************************************/
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/**
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* @brief Initialize Bluetooth Module
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*/
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HIDO_VOID BT_Init(void)
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{
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ST_UartInit stInit;
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memset(&stInit, 0, sizeof(stInit));
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stInit.m_eRxMode = UART_RX_MODE_DMA;
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stInit.m_eTxMode = UART_TX_MODE_DMA;
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stInit.m_pu8RxBuf = l_au8BTUartRxBuf;
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stInit.m_u32RxBufSize = BT_UART_RX_BUF_SIZE;
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stInit.m_pu8TxBuf = l_au8BTUartTxBuf;
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stInit.m_u32TxBufSize = BT_UART_TX_BUF_SIZE;
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stInit.m_u32TxQueueMemberCnt = BT_UART_TX_QUEUE_MEMBER_CNT;
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Uart_Init(UART_ID_BT, &stInit);
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Uart_ReConfigBaudRate(UART_ID_BT, 115200);
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UART6_StartReceive();
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}
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/**
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* @brief Start UART6 Receive with Circular DMA
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*/
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void UART6_StartReceive(void)
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{
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// Clear IDLE flag
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__HAL_UART_CLEAR_IDLEFLAG(&huart6);
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// IDLE interrupt is optional for Circular DMA with GetChar polling
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// Uncomment if you want IDLE interrupt as a hint (not required for functionality)
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// __HAL_UART_ENABLE_IT(&huart6, UART_IT_IDLE);
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// Start DMA Receive (Circular Mode configured in HAL_MSP)
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HAL_UART_Receive_DMA(&huart6, uart6_dma_rxbuf, BT_UART_RX_BUF_SIZE);
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}
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/**
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* @brief Bluetooth Poll Function (Circular DMA Mode with GetChar)
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*/
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HIDO_VOID BT_Poll(void)
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{
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static HIDO_UINT32 s_last_poll_tick = 0;
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// Periodic debug log
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if (HAL_GetTick() - s_last_poll_tick > 1000)
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{
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s_last_poll_tick = HAL_GetTick();
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#if ENABLE_BT_DEBUG_LOG
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HIDO_UINT32 dma_cnt = 0;
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if (huart6.hdmarx != NULL)
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{
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dma_cnt = __HAL_DMA_GET_COUNTER(huart6.hdmarx);
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}
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HIDO_UINT32 cr1 = huart6.Instance->CR1;
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HIDO_UINT32 isr = huart6.Instance->ISR;
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HIDO_Debug("[BT] Poll: IntCnt=%u, DMA_CNDTR=%u, CR1=0x%X, ISR=0x%X\r\n",
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g_u32BtIdleIntCount, dma_cnt, cr1, isr);
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#endif
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}
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// Read and process bytes from circular DMA buffer
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HIDO_UINT8 byte = 0;
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while (Uart_GetChar(UART_ID_BT, &byte) == HIDO_OK)
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{
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BT_RecvFSM(byte);
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}
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}
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/**
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* @brief CRC16 Calculation (Poly 0x1021)
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*/
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static HIDO_UINT16 Calculate_CRC16(const HIDO_UINT8 *data, HIDO_UINT16 len)
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{
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HIDO_UINT16 crc = 0xFFFF;
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for (HIDO_UINT16 i = 0; i < len; i++)
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{
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crc ^= (HIDO_UINT16)data[i] << 8;
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for (HIDO_UINT8 j = 0; j < 8; j++)
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{
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if (crc & 0x8000)
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{
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crc = (crc << 1) ^ CRC16_POLY;
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}
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else
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{
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crc <<= 1;
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}
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}
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}
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return crc;
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}
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/**
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* @brief Process a complete BT frame (called after FSM receives full frame)
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*/
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static HIDO_VOID BT_ProcessFrame(void)
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{
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// Frame is stored in s_bt_fsm.rx_buf
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// Structure: Header(5) + SeqNum(2) + Payload(4) + CRC(2) + Tail(1) = 14 bytes total
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// rx_buf[0..4]: Header (AA 55 Cmd Len_L Len_H)
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// rx_buf[5..6]: SeqNum
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// rx_buf[7..10]: Payload (Steer + Speed + Reserved)
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// rx_buf[11..12]: CRC
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// rx_buf[13]: Tail
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HIDO_UINT8 *pBuf = s_bt_fsm.rx_buf;
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HIDO_UINT16 total_len = 10 + s_bt_fsm.data_len; // Header(5) + Data(SeqNum + Payload + CRC + Tail)
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if (total_len < 14 || total_len > BT_RX_BUF_SIZE)
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{
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#if ENABLE_BT_DEBUG_LOG
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HIDO_Debug("[BT] Invalid frame length: %u\r\n", total_len);
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#endif
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return;
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}
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#if ENABLE_BT_DEBUG_LOG
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// Print entire frame in hex for debugging
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HIDO_Debug("[BT] Frame (%u bytes): ", total_len);
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for (HIDO_UINT16 i = 0; i < total_len; i++)
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{
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HIDO_Debug("%02X ", pBuf[i]);
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}
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HIDO_Debug("\r\n");
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#endif
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// Check CRC - Try different ranges to find the correct one
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HIDO_UINT16 crc_calc_len = total_len - 3; // Current: Header + SeqNum + Payload (11 bytes)
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HIDO_UINT16 calc_crc1 = Calculate_CRC16(pBuf, crc_calc_len); // Full: AA 55 03 09 00 67 00 00 0A 00 00
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HIDO_UINT16 calc_crc2 = Calculate_CRC16(pBuf + 3, crc_calc_len - 3); // From DataLen: 09 00 67 00 00 0A 00 00
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HIDO_UINT16 calc_crc3 = Calculate_CRC16(pBuf + 5, crc_calc_len - 5); // From SeqNum: 67 00 00 0A 00 00
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HIDO_UINT8 crc_low = pBuf[crc_calc_len];
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HIDO_UINT8 crc_high = pBuf[crc_calc_len + 1];
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HIDO_UINT16 recv_crc_le = (HIDO_UINT16)(crc_low | (crc_high << 8)); // Little Endian
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HIDO_UINT16 recv_crc_be = (HIDO_UINT16)((crc_low << 8) | crc_high); // Big Endian
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#if ENABLE_BT_DEBUG_LOG
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HIDO_Debug("[BT] CRC Test: Recv(LE)=%04X, Recv(BE)=%04X\r\n", recv_crc_le, recv_crc_be);
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HIDO_Debug(" Calc1(Full,11B)=%04X, Calc2(FromLen,8B)=%04X, Calc3(FromSeq,6B)=%04X\r\n",
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calc_crc1, calc_crc2, calc_crc3);
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#endif
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// Use calc_crc1 for now (original logic)
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if (calc_crc1 != recv_crc_le && calc_crc1 != recv_crc_be)
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{
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#if ENABLE_BT_DEBUG_LOG
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HIDO_Debug("[BT] CRC Fail (all methods)\r\n");
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#endif
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// Continue processing for debug
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// return;
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}
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// Check Tail
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HIDO_UINT8 tail = pBuf[total_len - 1];
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if (tail != BT_FRAME_TAIL)
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{
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#if ENABLE_BT_DEBUG_LOG
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HIDO_Debug("[BT] Invalid Tail: %02X\r\n", tail);
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#endif
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return;
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}
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// Parse command based on type
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switch (s_bt_fsm.cmd_type)
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{
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case BT_CMD_CONTROL:
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{
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// Payload starts at offset 7 (after Header(5) + SeqNum(2))
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ST_BT_ControlData *pCtrl = (ST_BT_ControlData *)&pBuf[7];
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// Check RC signal status
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if (SBUS_IsSignalValid(500) == HIDO_FALSE)
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{
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#if ENABLE_BT_DEBUG_LOG
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HIDO_Debug("[BT] Control: Steer %d, Speed %d\r\n", pCtrl->m_i8SteerSpeed, pCtrl->m_i8TravelSpeed);
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#endif
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Set_Steering_PWM(pCtrl->m_i8SteerSpeed);
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Set_Motor_PWM(pCtrl->m_i8TravelSpeed);
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}
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else
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{
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// HIDO_Debug("[BT] Ignored (RC Active)\r\n");
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}
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break;
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}
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default:
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#if ENABLE_BT_DEBUG_LOG
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HIDO_Debug("[BT] Unknown Cmd: 0x%02X\r\n", s_bt_fsm.cmd_type);
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#endif
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break;
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}
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}
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/**
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* @brief Receive State Machine (called for each byte)
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*/
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static HIDO_VOID BT_RecvFSM(HIDO_UINT8 byte)
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{
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switch (s_bt_fsm.state)
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{
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case BT_FSM_IDLE:
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if (byte == BT_FRAME_HEADER1) // 0xAA
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{
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s_bt_fsm.rx_buf[0] = byte;
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s_bt_fsm.data_idx = 1;
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s_bt_fsm.state = BT_FSM_HEADER2;
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}
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break;
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case BT_FSM_HEADER2:
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if (byte == BT_FRAME_HEADER2) // 0x55
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{
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s_bt_fsm.rx_buf[1] = byte;
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s_bt_fsm.data_idx = 2;
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s_bt_fsm.state = BT_FSM_CMD;
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}
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else
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{
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s_bt_fsm.state = BT_FSM_IDLE;
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}
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break;
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case BT_FSM_CMD:
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s_bt_fsm.rx_buf[2] = byte;
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s_bt_fsm.cmd_type = byte;
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s_bt_fsm.data_idx = 3;
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s_bt_fsm.state = BT_FSM_LEN_LOW;
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break;
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case BT_FSM_LEN_LOW:
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s_bt_fsm.rx_buf[3] = byte;
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s_bt_fsm.data_len = byte; // Low byte first
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s_bt_fsm.data_idx = 4;
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s_bt_fsm.state = BT_FSM_LEN_HIGH;
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break;
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case BT_FSM_LEN_HIGH:
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s_bt_fsm.rx_buf[4] = byte;
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s_bt_fsm.data_len |= (HIDO_UINT16)byte << 8; // High byte
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s_bt_fsm.data_idx = 5;
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// Sanity check on length
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if (s_bt_fsm.data_len > (BT_RX_BUF_SIZE - 5))
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{
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#if ENABLE_BT_DEBUG_LOG
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HIDO_Debug("[BT] FSM: Length too large (%u), resetting\r\n", s_bt_fsm.data_len);
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#endif
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s_bt_fsm.state = BT_FSM_IDLE;
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}
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else
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{
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s_bt_fsm.state = BT_FSM_DATA;
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}
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break;
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case BT_FSM_DATA:
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s_bt_fsm.rx_buf[s_bt_fsm.data_idx++] = byte;
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// Check if we've received all data bytes
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// data_len includes: SeqNum(2) + Payload(N) + CRC(2) + Tail(1)
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// Total frame = Header(5) + data_len
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// We've already stored Header(5), now need data_len more bytes
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if (s_bt_fsm.data_idx >= (10 + s_bt_fsm.data_len))
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{
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// Frame complete, process it
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BT_ProcessFrame();
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s_bt_fsm.state = BT_FSM_IDLE;
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}
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// Safety check: prevent buffer overflow
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if (s_bt_fsm.data_idx >= BT_RX_BUF_SIZE)
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{
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#if ENABLE_BT_DEBUG_LOG
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HIDO_Debug("[BT] FSM: Buffer overflow, resetting\r\n");
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#endif
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s_bt_fsm.state = BT_FSM_IDLE;
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}
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break;
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default:
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s_bt_fsm.state = BT_FSM_IDLE;
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break;
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}
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}
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/**
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* @brief Process Bluetooth Command Frame (Legacy, kept for reference)
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*/
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static HIDO_VOID Process_Command(const HIDO_UINT8 *pData, HIDO_UINT16 u16Len)
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{
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// HIDO_Debug("[BT] Processing %u bytes\r\n", u16Len);
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if (u16Len < sizeof(ST_BT_FrameHeader) + 3) // Header + CRC + Tail min
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{
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return;
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}
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ST_BT_FrameHeader *pHeader = (ST_BT_FrameHeader *)pData;
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// Check Header
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if (pHeader->m_u8Header1 != BT_FRAME_HEADER1 || pHeader->m_u8Header2 != BT_FRAME_HEADER2)
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{
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HIDO_Debug("[BT] Invalid Header: %02X %02X\r\n", pHeader->m_u8Header1, pHeader->m_u8Header2);
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return;
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}
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// Check Length (Total frame size check)
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// Protocol Definition: DataLen (9) includes Seq(2) + Payload(4) + CRC(2) + Tail(1)
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// Frame Structure: Header(5) + DataLen(9) = 14 bytes
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// ST_BT_FrameHeader(7) includes SeqNum(2) at the end.
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// So HeaderBase (AA 55 Cmd Len) is 5 bytes.
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HIDO_UINT16 headerBaseSize = 5;
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HIDO_UINT16 declaredLen = pHeader->m_u16DataLen;
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HIDO_UINT16 expectedLen = headerBaseSize + declaredLen;
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if (u16Len < expectedLen)
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{
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HIDO_Debug("[BT] Incomplete Frame: Recv %d, Expected %d\r\n", u16Len, expectedLen);
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return;
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}
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// Check Tail
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if (pData[expectedLen - 1] != BT_FRAME_TAIL)
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{
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HIDO_Debug("[BT] Invalid Tail: %02X\r\n", pData[expectedLen - 1]);
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return;
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}
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// Check CRC
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// CRC is calculated over Header + Payload (excluding CRC and Tail)
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// Range: 0 to (TotalLen - CRC(2) - Tail(1)) = TotalLen - 3
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HIDO_UINT16 calcLen = expectedLen - 3;
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HIDO_UINT16 calcCRC = Calculate_CRC16(pData, calcLen);
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// CRC is at offset: expectedLen - 3 (Low byte), expectedLen - 2 (High byte) - assuming Little Endian in stream
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// User Example: ... C3 7B 0D. CRC is C3 7B. Tail 0D.
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// 7B is at -2, C3 is at -3.
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// If recvCRC is uint16, let's read it.
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HIDO_UINT8 crcLow = pData[expectedLen - 3];
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HIDO_UINT8 crcHigh = pData[expectedLen - 2];
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HIDO_UINT16 recvCRC = (HIDO_UINT16)(crcLow | (crcHigh << 8));
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if (calcCRC != recvCRC)
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{
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HIDO_Debug("[BT] CRC Fail: Calc %04X, Recv %04X\r\n", calcCRC, recvCRC);
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// Continue processing for debugging, but typically should return
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// return;
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}
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// Payload starts after SeqNum.
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// ST_BT_FrameHeader includes SeqNum. sizeof is 7.
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// So pPayload points to Data after SeqNum.
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const HIDO_UINT8 *pPayload = pData + sizeof(ST_BT_FrameHeader);
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// Payload length for Command logic (excluding Seq, CRC, Tail)
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// DataLen(9) - Seq(2) - CRC(2) - Tail(1) = 4 bytes.
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HIDO_INT16 realPayloadLen = declaredLen - 2 - 3;
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switch (pHeader->m_u8CmdType)
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{
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case BT_CMD_PATH_COORDS:
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{
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HIDO_UINT8 pathCount = pPayload[0];
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HIDO_Debug("[BT] Path Coords: Count %d\r\n", pathCount);
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ST_BT_PathPoint *pPoints = (ST_BT_PathPoint *)(pPayload + 1);
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for(int i=0; i<pathCount; i++)
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{
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HIDO_Debug(" Pt%d: %.2f, %.2f\r\n", i, pPoints[i].m_dX, pPoints[i].m_dY);
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}
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// TODO: Store path points
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break;
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}
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case BT_CMD_REF_POINT:
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{
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if (realPayloadLen >= sizeof(ST_BT_RefPointData))
|
{
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ST_BT_RefPointData *pRef = (ST_BT_RefPointData *)pPayload;
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HIDO_Debug("[BT] Ref Point: Lat %.8f %c, Lon %.8f %c\r\n",
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pRef->m_dLat, pRef->m_cLatDir, pRef->m_dLon, pRef->m_cLonDir);
|
// TODO: Store ref point
|
}
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break;
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}
|
case BT_CMD_CONTROL:
|
{
|
if (realPayloadLen >= sizeof(ST_BT_ControlData))
|
{
|
ST_BT_ControlData *pCtrl = (ST_BT_ControlData *)pPayload;
|
|
// Check RC signal status
|
// "Bluetooth control car, requirement is can only execute if remote control signal is NOT received."
|
// SBUS_IsSignalValid returns HIDO_TRUE if valid (connected)
|
if (SBUS_IsSignalValid(500) == HIDO_FALSE)
|
{
|
HIDO_Debug("[BT] Control: Steer %d, Speed %d\r\n", pCtrl->m_i8SteerSpeed, pCtrl->m_i8TravelSpeed);
|
|
Set_Steering_PWM(pCtrl->m_i8SteerSpeed);
|
Set_Motor_PWM(pCtrl->m_i8TravelSpeed);
|
}
|
else
|
{
|
// HIDO_Debug("[BT] Ignored (RC Active)\r\n");
|
}
|
}
|
break;
|
}
|
default:
|
HIDO_Debug("[BT] Unknown Cmd: 0x%02X\r\n", pHeader->m_u8CmdType);
|
break;
|
}
|
}
|
