From 18f1d1afd16ae159b9f20cef640a594c848ad249 Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期五, 05 十二月 2025 14:39:02 +0800
Subject: [PATCH] 校准完成，准备修改一下运动控制算法，转向的时候有直行分量，保存一版
---
STM32H743/Core/Src/stm32h7xx_it.c | 4 ++--
1 files changed, 2 insertions(+), 2 deletions(-)
diff --git a/STM32H743/Core/Src/stm32h7xx_it.c b/STM32H743/Core/Src/stm32h7xx_it.c
index 4f7c794..143cdcd 100644
--- a/STM32H743/Core/Src/stm32h7xx_it.c
+++ b/STM32H743/Core/Src/stm32h7xx_it.c
@@ -462,9 +462,9 @@
__HAL_UART_CLEAR_IDLEFLAG(&huart6);
HAL_UART_DMAStop(&huart6); //
temp = __HAL_DMA_GET_COUNTER(&hdma_usart6_rx);
- uart6_dma_recv_len = UART6_DMA_RX_BUF_SIZE - temp;
+ uart6_dma_recv_len = BT_UART_RX_BUF_SIZE - temp;
uart6_dma_recv_end_flag = 1;
- HAL_UART_Receive_DMA(&huart6, uart6_dma_rxbuf, UART6_DMA_RX_BUF_SIZE);
+ // HAL_UART_Receive_DMA(&huart6, uart6_dma_rxbuf, UART6_DMA_RX_BUF_SIZE); // Moved to Poll to avoid race/overwrite
}
/* USER CODE END USART6_IRQn 0 */
--
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