From b53fff11e6f0d560594834de32886239cbba90a3 Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期二, 16 十二月 2025 15:48:58 +0800
Subject: [PATCH] 外部调完，可以解析下发的MQTT数据了，但是路径文件太大准备换成http模式
---
STM32H743/FML/bluetooth.c | 54 +++++++++++++++++++++++++++---------------------------
1 files changed, 27 insertions(+), 27 deletions(-)
diff --git a/STM32H743/FML/bluetooth.c b/STM32H743/FML/bluetooth.c
index daef5e6..dfab994 100644
--- a/STM32H743/FML/bluetooth.c
+++ b/STM32H743/FML/bluetooth.c
@@ -130,7 +130,7 @@
}
HIDO_UINT32 cr1 = huart6.Instance->CR1;
HIDO_UINT32 isr = huart6.Instance->ISR;
- HIDO_Debug2("[BT] Poll: IntCnt=%u, DMA_CNDTR=%u, CR1=0x%X, ISR=0x%X\r\n",
+ HIDO_Debug("[BT] Poll: IntCnt=%u, DMA_CNDTR=%u, CR1=0x%X, ISR=0x%X\r\n",
g_u32BtIdleIntCount, dma_cnt, cr1, isr);
#endif
}
@@ -181,24 +181,24 @@
// rx_buf[13]: Tail
HIDO_UINT8 *pBuf = s_bt_fsm.rx_buf;
- HIDO_UINT16 total_len = 5 + s_bt_fsm.data_len; // Header(5) + Data(SeqNum + Payload + CRC + Tail)
+ HIDO_UINT16 total_len = 10 + s_bt_fsm.data_len; // Header(5) + Data(SeqNum + Payload + CRC + Tail)
if (total_len < 14 || total_len > BT_RX_BUF_SIZE)
{
#if ENABLE_BT_DEBUG_LOG
- HIDO_Debug2("[BT] Invalid frame length: %u\r\n", total_len);
+ HIDO_Debug("[BT] Invalid frame length: %u\r\n", total_len);
#endif
return;
}
#if ENABLE_BT_DEBUG_LOG
// Print entire frame in hex for debugging
- HIDO_Debug2("[BT] Frame (%u bytes): ", total_len);
+ HIDO_Debug("[BT] Frame (%u bytes): ", total_len);
for (HIDO_UINT16 i = 0; i < total_len; i++)
{
- HIDO_Debug2("%02X ", pBuf[i]);
+ HIDO_Debug("%02X ", pBuf[i]);
}
- HIDO_Debug2("\r\n");
+ HIDO_Debug("\r\n");
#endif
// Check CRC - Try different ranges to find the correct one
@@ -213,8 +213,8 @@
HIDO_UINT16 recv_crc_be = (HIDO_UINT16)((crc_low << 8) | crc_high); // Big Endian
#if ENABLE_BT_DEBUG_LOG
- HIDO_Debug2("[BT] CRC Test: Recv(LE)=%04X, Recv(BE)=%04X\r\n", recv_crc_le, recv_crc_be);
- HIDO_Debug2(" Calc1(Full,11B)=%04X, Calc2(FromLen,8B)=%04X, Calc3(FromSeq,6B)=%04X\r\n",
+ HIDO_Debug("[BT] CRC Test: Recv(LE)=%04X, Recv(BE)=%04X\r\n", recv_crc_le, recv_crc_be);
+ HIDO_Debug(" Calc1(Full,11B)=%04X, Calc2(FromLen,8B)=%04X, Calc3(FromSeq,6B)=%04X\r\n",
calc_crc1, calc_crc2, calc_crc3);
#endif
@@ -222,7 +222,7 @@
if (calc_crc1 != recv_crc_le && calc_crc1 != recv_crc_be)
{
#if ENABLE_BT_DEBUG_LOG
- HIDO_Debug2("[BT] CRC Fail (all methods)\r\n");
+ HIDO_Debug("[BT] CRC Fail (all methods)\r\n");
#endif
// Continue processing for debug
// return;
@@ -233,7 +233,7 @@
if (tail != BT_FRAME_TAIL)
{
#if ENABLE_BT_DEBUG_LOG
- HIDO_Debug2("[BT] Invalid Tail: %02X\r\n", tail);
+ HIDO_Debug("[BT] Invalid Tail: %02X\r\n", tail);
#endif
return;
}
@@ -250,7 +250,7 @@
if (SBUS_IsSignalValid(500) == HIDO_FALSE)
{
#if ENABLE_BT_DEBUG_LOG
- HIDO_Debug2("[BT] Control: Steer %d, Speed %d\r\n", pCtrl->m_i8SteerSpeed, pCtrl->m_i8TravelSpeed);
+ HIDO_Debug("[BT] Control: Steer %d, Speed %d\r\n", pCtrl->m_i8SteerSpeed, pCtrl->m_i8TravelSpeed);
#endif
Set_Steering_PWM(pCtrl->m_i8SteerSpeed);
@@ -258,13 +258,13 @@
}
else
{
- // HIDO_Debug2("[BT] Ignored (RC Active)\r\n");
+ // HIDO_Debug("[BT] Ignored (RC Active)\r\n");
}
break;
}
default:
#if ENABLE_BT_DEBUG_LOG
- HIDO_Debug2("[BT] Unknown Cmd: 0x%02X\r\n", s_bt_fsm.cmd_type);
+ HIDO_Debug("[BT] Unknown Cmd: 0x%02X\r\n", s_bt_fsm.cmd_type);
#endif
break;
}
@@ -322,7 +322,7 @@
if (s_bt_fsm.data_len > (BT_RX_BUF_SIZE - 5))
{
#if ENABLE_BT_DEBUG_LOG
- HIDO_Debug2("[BT] FSM: Length too large (%u), resetting\r\n", s_bt_fsm.data_len);
+ HIDO_Debug("[BT] FSM: Length too large (%u), resetting\r\n", s_bt_fsm.data_len);
#endif
s_bt_fsm.state = BT_FSM_IDLE;
}
@@ -339,7 +339,7 @@
// data_len includes: SeqNum(2) + Payload(N) + CRC(2) + Tail(1)
// Total frame = Header(5) + data_len
// We've already stored Header(5), now need data_len more bytes
- if (s_bt_fsm.data_idx >= (5 + s_bt_fsm.data_len))
+ if (s_bt_fsm.data_idx >= (10 + s_bt_fsm.data_len))
{
// Frame complete, process it
BT_ProcessFrame();
@@ -350,7 +350,7 @@
if (s_bt_fsm.data_idx >= BT_RX_BUF_SIZE)
{
#if ENABLE_BT_DEBUG_LOG
- HIDO_Debug2("[BT] FSM: Buffer overflow, resetting\r\n");
+ HIDO_Debug("[BT] FSM: Buffer overflow, resetting\r\n");
#endif
s_bt_fsm.state = BT_FSM_IDLE;
}
@@ -367,7 +367,7 @@
*/
static HIDO_VOID Process_Command(const HIDO_UINT8 *pData, HIDO_UINT16 u16Len)
{
- // HIDO_Debug2("[BT] Processing %u bytes\r\n", u16Len);
+ // HIDO_Debug("[BT] Processing %u bytes\r\n", u16Len);
if (u16Len < sizeof(ST_BT_FrameHeader) + 3) // Header + CRC + Tail min
{
return;
@@ -378,7 +378,7 @@
// 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);
+ HIDO_Debug("[BT] Invalid Header: %02X %02X\r\n", pHeader->m_u8Header1, pHeader->m_u8Header2);
return;
}
@@ -393,14 +393,14 @@
if (u16Len < expectedLen)
{
- HIDO_Debug2("[BT] Incomplete Frame: Recv %d, Expected %d\r\n", u16Len, expectedLen);
+ HIDO_Debug("[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: %02X\r\n", pData[expectedLen - 1]);
+ HIDO_Debug("[BT] Invalid Tail: %02X\r\n", pData[expectedLen - 1]);
return;
}
@@ -420,7 +420,7 @@
if (calcCRC != recvCRC)
{
- HIDO_Debug2("[BT] CRC Fail: Calc %04X, Recv %04X\r\n", calcCRC, recvCRC);
+ HIDO_Debug("[BT] CRC Fail: Calc %04X, Recv %04X\r\n", calcCRC, recvCRC);
// Continue processing for debugging, but typically should return
// return;
}
@@ -439,11 +439,11 @@
case BT_CMD_PATH_COORDS:
{
HIDO_UINT8 pathCount = pPayload[0];
- HIDO_Debug2("[BT] Path Coords: Count %d\r\n", pathCount);
+ HIDO_Debug("[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);
+ HIDO_Debug(" Pt%d: %.2f, %.2f\r\n", i, pPoints[i].m_dX, pPoints[i].m_dY);
}
// TODO: Store path points
break;
@@ -453,7 +453,7 @@
if (realPayloadLen >= 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",
+ HIDO_Debug("[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
}
@@ -470,20 +470,20 @@
// 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);
+ 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_Debug2("[BT] Ignored (RC Active)\r\n");
+ // HIDO_Debug("[BT] Ignored (RC Active)\r\n");
}
}
break;
}
default:
- HIDO_Debug2("[BT] Unknown Cmd: 0x%02X\r\n", pHeader->m_u8CmdType);
+ HIDO_Debug("[BT] Unknown Cmd: 0x%02X\r\n", pHeader->m_u8CmdType);
break;
}
}
--
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