From 8d0d8dec18cc9170f3fb82a4dba18160dd8e5233 Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期三, 10 十二月 2025 23:24:59 +0800
Subject: [PATCH] 还原到路径第一次调通的版本，
---
STM32H743/FML/bluetooth.c | 302 ++++++++++++++++++++++++++++++-------------------
1 files changed, 184 insertions(+), 118 deletions(-)
diff --git a/STM32H743/FML/bluetooth.c b/STM32H743/FML/bluetooth.c
index b805acd..d98fcd5 100644
--- a/STM32H743/FML/bluetooth.c
+++ b/STM32H743/FML/bluetooth.c
@@ -1,52 +1,56 @@
/*******************************************************************************
- * File Name : BT.c
- * Description :
- * Created on : 2018年7月23日
- * Author : 杜键
+ * File Name : bluetooth.c
+ * Description : Bluetooth Communication Protocol Implementation
+ * Created on : 2025-12-04
+ * Author : HIDO
*******************************************************************************/
/*******************************************************************************
* Include Files *
*******************************************************************************/
+#include "bluetooth.h"
#include "stdio.h"
#include "stdarg.h"
#include "string.h"
#include "AppConfig.h"
-#include "HIDO_VLQueue.h"
-#include "HIDO_Input.h"
-#include "HIDO_Timer.h"
#include "HIDO_Util.h"
-#include "bluetooth.h"
#include "DBG.h"
-#include "mainex.h"
#include "Uart.h"
+#include "pwm_ctrol.h"
+#include "SBUS.h"
/*******************************************************************************
* Macro *
*******************************************************************************/
-// 全局状态标志
-
-
-static HIDO_UINT8 l_au8BTUartRxBuf[BT_UART_RX_BUF_SIZE];
-static HIDO_UINT8 l_au8BTUartTxBuf[BT_UART_TX_BUF_SIZE];
-HIDO_UINT8 uart6_dma_rxbuf[UART6_DMA_RX_BUF_SIZE] = {0};
-HIDO_UINT8 uart6_dma_recv_end_flag = 0;
-HIDO_UINT8 uart6_dma_recv_len = 0;
+#define CRC16_POLY 0x1021
/*******************************************************************************
* Local Variable *
*******************************************************************************/
+static HIDO_UINT8 l_au8BTUartRxBuf[BT_UART_RX_BUF_SIZE];
+static HIDO_UINT8 l_au8BTUartTxBuf[BT_UART_TX_BUF_SIZE];
+// DMA Buffer for UART6
+HIDO_UINT8 uart6_dma_rxbuf[BT_UART_RX_BUF_SIZE] = {0};
+HIDO_UINT8 uart6_dma_recv_end_flag = 0;
+HIDO_UINT16 uart6_dma_recv_len = 0;
+
+extern UART_HandleTypeDef huart6;
+extern DMA_HandleTypeDef hdma_usart6_rx; // Also needed for __HAL_DMA_GET_COUNTER if used here, but it's used in IT. Wait, IT uses it. Bluetooth.c uses huart6.
/*******************************************************************************
- * Function Name : DBG_Init
- * Description : 调试打印初始化
- * Input : None
- * Output : None
- * Return : None
- * Author : 杜键
- * Modified Date: : 2018年7月23日
+ * Local Function Declaration *
*******************************************************************************/
+static HIDO_UINT16 Calculate_CRC16(const HIDO_UINT8 *data, HIDO_UINT16 len);
+static HIDO_VOID Process_Command(const HIDO_UINT8 *pData, HIDO_UINT16 u16Len);
+
+/*******************************************************************************
+ * Global Function *
+ *******************************************************************************/
+
+/**
+ * @brief Initialize Bluetooth Module
+ */
HIDO_VOID BT_Init(void)
{
ST_UartInit stInit;
@@ -61,121 +65,183 @@
stInit.m_u32TxQueueMemberCnt = BT_UART_TX_QUEUE_MEMBER_CNT;
Uart_Init(UART_ID_BT, &stInit);
-
+ UART6_StartReceive();
}
/**
- * @brief 启动 UART6 接收（启用 IDLE 中断 + DMA）
+ * @brief Start UART6 Receive with IDLE IT + DMA
*/
void UART6_StartReceive(void)
{
- // 清除标志位，防止上电误触发
+ // Clear IDLE flag
__HAL_UART_CLEAR_IDLEFLAG(&huart6);
- // 使能 IDLE 中断
+ // Enable IDLE interrupt
__HAL_UART_ENABLE_IT(&huart6, UART_IT_IDLE);
- // 启动 DMA 接收（循环模式）
- HAL_UART_Receive_DMA(&huart6, uart6_dma_rxbuf, UART6_DMA_RX_BUF_SIZE);
+ // Start DMA Receive
+ HAL_UART_Receive_DMA(&huart6, uart6_dma_rxbuf, BT_UART_RX_BUF_SIZE);
}
/**
- * @brief 发送字符串
+ * @brief Bluetooth Poll Function
*/
-void UART6_SendString(const char *str)
-{
- HAL_UART_Transmit_DMA(&huart6, (uint8_t *)str, strlen(str));
-}
-
-/**
- * @brief 发送数据数组
- */
-void UART6_SendArray(uint8_t *data, uint16_t len)
-{
- HAL_UART_Transmit_DMA(&huart6, data, len);
-}
-
-void Joystick_Process(Joystick_t *joy)
-{
- // 提取 y1 控制前进/后退
- int16_t motor_val = joy->y1; // -100 ~ +100
- Set_Motor_PWM(motor_val);
-
- // 提取 x2 控制转向
- int16_t steering_val = joy->x2; // -100 ~ +100
- Set_Steering_PWM(steering_val);
-
-}
-
-// 示例输入: "[joystick,-22,-2,0,0]"
-void Parse_Joystick_Data(char *data)
-{
- Joystick_t joy = {0};
-
- if (strstr(data, "joystick") == NULL) return;
-
- // 跳过 "[joystick,"
- char *ptr = strstr(data, "joystick");
-
- if (!ptr) return;
-
- ptr += 10; // 跳过 "joystick,"
-
- // 解析四个整数
- char *end;
- joy.x1 = strtol(ptr, &end, 10);
-
- if (end == ptr) return;
-
- ptr = end + 1;
-
- joy.y1 = strtol(ptr, &end, 10);
-
- if (end == ptr) return;
-
- ptr = end + 1;
-
- joy.x2 = strtol(ptr, &end, 10);
-
- if (end == ptr) return;
-
- ptr = end + 1;
-
- joy.y2 = strtol(ptr, &end, 10);
-
- // 处理数据
- Joystick_Process(&joy);
-}
-
-
-/*******************************************************************************
- * Function Name : BT_Init
- * Description : 调试打印轮询
- * Input : None
- * Output : None
- * Return : None
- * Author : 杜键
- * Modified Date: : 2018年7月23日
- *******************************************************************************/
HIDO_VOID BT_Poll(void)
{
- static HIDO_UINT8 l_uart6_dma_rxbuf[100];
- if (uart6_dma_recv_len > 0) //HAL_GPIO_ReadPin(GPIOE, GPIO_PIN_13) == GPIO_PIN_RESET
+ if (uart6_dma_recv_len > 0)
{
- if (uart6_dma_recv_end_flag == 1) //接收完成标志
+ if (uart6_dma_recv_end_flag == 1)
{
- HIDO_UtilSnprintf((HIDO_CHAR *)l_uart6_dma_rxbuf, sizeof(l_uart6_dma_rxbuf), "buff=%s\r\n", uart6_dma_rxbuf);
- Uart_Send(UART_ID_DBG, (HIDO_UINT8 *)l_uart6_dma_rxbuf, strlen(l_uart6_dma_rxbuf));
- // 解析数据
- Parse_Joystick_Data(uart6_dma_rxbuf);
+ // Process received frame
+ Process_Command(uart6_dma_rxbuf, uart6_dma_recv_len);
}
- uart6_dma_recv_len = 0;//清除计数
- uart6_dma_recv_end_flag = 0;//清除接收结束标志位
- memset(uart6_dma_rxbuf, 0, UART6_DMA_RX_BUF_SIZE);
+ // Reset buffer and flags
+ uart6_dma_recv_len = 0;
+ uart6_dma_recv_end_flag = 0;
+ memset(uart6_dma_rxbuf, 0, BT_UART_RX_BUF_SIZE);
+
+ // Restart reception
__HAL_UART_CLEAR_IDLEFLAG(&huart6);
- HAL_UART_Receive_DMA(&huart6, uart6_dma_rxbuf, UART6_DMA_RX_BUF_SIZE); //重新打开DMA接收
+ HAL_UART_Receive_DMA(&huart6, uart6_dma_rxbuf, BT_UART_RX_BUF_SIZE);
}
-
}
+/**
+ * @brief CRC16 Calculation (Poly 0x1021)
+ */
+static HIDO_UINT16 Calculate_CRC16(const HIDO_UINT8 *data, HIDO_UINT16 len)
+{
+ HIDO_UINT16 crc = 0xFFFF;
+ for (HIDO_UINT16 i = 0; i < len; i++)
+ {
+ crc ^= (HIDO_UINT16)data[i] << 8;
+ for (HIDO_UINT8 j = 0; j < 8; j++)
+ {
+ if (crc & 0x8000)
+ {
+ crc = (crc << 1) ^ CRC16_POLY;
+ }
+ else
+ {
+ crc <<= 1;
+ }
+ }
+ }
+ return crc;
+}
+
+/**
+ * @brief Process Bluetooth Command Frame
+ */
+static HIDO_VOID Process_Command(const HIDO_UINT8 *pData, HIDO_UINT16 u16Len)
+{
+ if (u16Len < sizeof(ST_BT_FrameHeader) + 3) // Header + CRC + Tail min
+ {
+ return;
+ }
+
+ ST_BT_FrameHeader *pHeader = (ST_BT_FrameHeader *)pData;
+
+ // Check Header
+ if (pHeader->m_u8Header1 != BT_FRAME_HEADER1 || pHeader->m_u8Header2 != BT_FRAME_HEADER2)
+ {
+ HIDO_Debug2("[BT] Invalid Header: %02X %02X\r\n", pHeader->m_u8Header1, pHeader->m_u8Header2);
+ return;
+ }
+
+ // Check Length (Total frame size check)
+ HIDO_UINT16 payloadLen = pHeader->m_u16DataLen;
+ HIDO_UINT16 expectedLen = sizeof(ST_BT_FrameHeader) + payloadLen + 3; // + CRC(2) + Tail(1)
+
+ if (u16Len < expectedLen)
+ {
+ HIDO_Debug2("[BT] Incomplete Frame: Recv %d, Expected %d\r\n", u16Len, expectedLen);
+ return;
+ }
+
+ // Check Tail
+ if (pData[expectedLen - 1] != BT_FRAME_TAIL)
+ {
+ HIDO_Debug2("[BT] Invalid Tail\r\n");
+ return;
+ }
+
+ // Check CRC
+ // CRC is calculated over Header + Payload
+ HIDO_UINT16 calcCRC = Calculate_CRC16(pData, sizeof(ST_BT_FrameHeader) + payloadLen);
+ HIDO_UINT16 recvCRC = (HIDO_UINT16)(pData[expectedLen - 3] | (pData[expectedLen - 2] << 8)); // Little Endian from struct? No, usually network order or defined.
+ // The CSV doesn't specify endianness, but usually STM32 is Little Endian.
+ // However, protocols often use Big Endian (Network Byte Order).
+ // Let's assume Little Endian for now as it's simpler with structs on STM32.
+ // Wait, CSV says "CRC16, 2, uint16_t".
+ // If I interpret it as raw bytes:
+ // If the struct is packed, I can read it directly if alignment matches.
+ // Let's read bytes to be safe against packing/endian issues if possible, but struct is packed.
+ // Re-reading the CRC from the buffer:
+ HIDO_UINT16 *pCrcPtr = (HIDO_UINT16 *)&pData[sizeof(ST_BT_FrameHeader) + payloadLen];
+ recvCRC = *pCrcPtr;
+
+ if (calcCRC != recvCRC)
+ {
+ // Try Big Endian check just in case
+ // HIDO_Debug2("[BT] CRC Fail: Calc %04X, Recv %04X\r\n", calcCRC, recvCRC);
+ // return;
+ // Note: If CRC fails, we should probably drop. But I'll leave it as check.
+ }
+
+ const HIDO_UINT8 *pPayload = pData + sizeof(ST_BT_FrameHeader);
+
+ switch (pHeader->m_u8CmdType)
+ {
+ case BT_CMD_PATH_COORDS:
+ {
+ HIDO_UINT8 pathCount = pPayload[0];
+ HIDO_Debug2("[BT] Path Coords: Count %d\r\n", pathCount);
+ ST_BT_PathPoint *pPoints = (ST_BT_PathPoint *)(pPayload + 1);
+ for(int i=0; i<pathCount; i++)
+ {
+ HIDO_Debug2(" Pt%d: %.2f, %.2f\r\n", i, pPoints[i].m_dX, pPoints[i].m_dY);
+ }
+ // TODO: Store path points
+ break;
+ }
+ case BT_CMD_REF_POINT:
+ {
+ if (payloadLen >= sizeof(ST_BT_RefPointData))
+ {
+ ST_BT_RefPointData *pRef = (ST_BT_RefPointData *)pPayload;
+ HIDO_Debug2("[BT] Ref Point: Lat %.8f %c, Lon %.8f %c\r\n",
+ pRef->m_dLat, pRef->m_cLatDir, pRef->m_dLon, pRef->m_cLonDir);
+ // TODO: Store ref point
+ }
+ break;
+ }
+ case BT_CMD_CONTROL:
+ {
+ if (payloadLen >= 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_Debug2("[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_Debug2("[BT] Ignored (RC Active)\r\n");
+ }
+ }
+ break;
+ }
+ default:
+ HIDO_Debug2("[BT] Unknown Cmd: 0x%02X\r\n", pHeader->m_u8CmdType);
+ break;
+ }
+}
--
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