From 4adc78553c8d48ff122506195fa33641134bd7b1 Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期六, 13 十二月 2025 18:55:14 +0800
Subject: [PATCH] 路径点不重复的控制算法测试通了，但是好像不如之前路径点重复的版本好。增加了蓝牙接口部分。准备移植外包的MQTT。
---
STM32H743/Core/Src/stm32h7xx_it.c | 11 ++++-------
1 files changed, 4 insertions(+), 7 deletions(-)
diff --git a/STM32H743/Core/Src/stm32h7xx_it.c b/STM32H743/Core/Src/stm32h7xx_it.c
index 143cdcd..205126b 100644
--- a/STM32H743/Core/Src/stm32h7xx_it.c
+++ b/STM32H743/Core/Src/stm32h7xx_it.c
@@ -452,19 +452,16 @@
void USART6_IRQHandler(void)
{
/* USER CODE BEGIN USART6_IRQn 0 */
+ // Circular DMA Mode: Just set a flag, do NOT stop DMA
uint32_t tmp_flag = 0;
- uint32_t temp;
tmp_flag = __HAL_UART_GET_FLAG(&huart6, UART_FLAG_IDLE);
if ((tmp_flag != RESET))
{
-
+ g_u32BtIdleIntCount++; // Debug Counter
__HAL_UART_CLEAR_IDLEFLAG(&huart6);
- HAL_UART_DMAStop(&huart6); //
- temp = __HAL_DMA_GET_COUNTER(&hdma_usart6_rx);
- 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); // Moved to Poll to avoid race/overwrite
+ // For Circular DMA, we do NOT stop DMA. Just set a flag to notify Poll.
+ uart6_dma_recv_end_flag = 1; // Notify Poll that new data arrived
}
/* USER CODE END USART6_IRQn 0 */
--
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