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 | 723 +++++++++++++++++++++++++++++++++---------------------
1 files changed, 440 insertions(+), 283 deletions(-)
diff --git a/STM32H743/FML/bluetooth.c b/STM32H743/FML/bluetooth.c
index bc63738..dfab994 100644
--- a/STM32H743/FML/bluetooth.c
+++ b/STM32H743/FML/bluetooth.c
@@ -1,77 +1,83 @@
/*******************************************************************************
- * 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
-volatile uint8_t g_bt_configured = 0; // 配置完成标志
-volatile uint8_t g_bt_paired = 0; // 配对完成标志
-volatile uint8_t g_bt_at_moded = 0; // AT_MODE
-
-static BT_RevState bt_state = BT_STATE_IDLE;
-static char bt_buffer[50]; // 接收缓冲区
-static u8 bt_index = 0; // 当前接收位置
-
-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
+#define BT_RX_BUF_SIZE 128 // Internal parsing buffer size
+#define ENABLE_BT_DEBUG_LOG 0 // Set to 1 to enable debug logs
/*******************************************************************************
* Local Variable *
*******************************************************************************/
-// 配置函数声明
-static HIDO_UINT8 ConfigBluetoothMasterSlave(void);
-static void Bluetooth_Config_Slave(void);
+static HIDO_UINT8 l_au8BTUartRxBuf[BT_UART_RX_BUF_SIZE];
+static HIDO_UINT8 l_au8BTUartTxBuf[BT_UART_TX_BUF_SIZE];
-// 映射函数：将 [-100,100] 映射到 [1000,2000]
-static uint32_t Map(int16_t input, int16_t in_min, int16_t in_max, uint32_t out_min, uint32_t out_max) {
- return (input - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
-}
-// 设置电机 PWM（前进/后退）
-static void Set_Motor_PWM(int16_t speed) {
- uint32_t pulse = Map(speed, -100, 100, 1000, 2000); // -100~100 → 1000~2000
- __HAL_TIM_SetCompare(&MOTOR_TIM, MOTOR_CHANNEL, pulse);
-}
+// DMA Buffer for UART6 (aligned for D-Cache operations)
+__attribute__((aligned(32))) 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;
+volatile HIDO_UINT32 g_u32BtIdleIntCount = 0;
-// 设置转向 PWM（左转/右转）
-static void Set_Steering_PWM(int16_t steer) {
- uint32_t pulse = Map(steer, -100, 100, 1000, 2000); // -100~100 → 1000~2000
- __HAL_TIM_SetCompare(&STEERING_TIM, STEERING_CHANNEL, pulse);
-}
+extern UART_HandleTypeDef huart6;
+extern DMA_HandleTypeDef hdma_usart6_rx;
+// Receive State Machine
+typedef enum
+{
+ BT_FSM_IDLE = 0,
+ BT_FSM_HEADER2,
+ BT_FSM_CMD,
+ BT_FSM_LEN_LOW,
+ BT_FSM_LEN_HIGH,
+ BT_FSM_DATA,
+ BT_FSM_TAIL
+} E_BT_FSM_State;
+
+typedef struct
+{
+ E_BT_FSM_State state;
+ HIDO_UINT8 cmd_type;
+ HIDO_UINT16 data_len;
+ HIDO_UINT16 data_idx;
+ HIDO_UINT8 rx_buf[BT_RX_BUF_SIZE];
+} ST_BT_RecvFSM;
+
+static ST_BT_RecvFSM s_bt_fsm;
/*******************************************************************************
- * 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 BT_RecvFSM(HIDO_UINT8 byte);
+static HIDO_VOID BT_ProcessFrame(void);
+
+/*******************************************************************************
+ * Global Function *
+ *******************************************************************************/
+
+/**
+ * @brief Initialize Bluetooth Module
+ */
HIDO_VOID BT_Init(void)
{
ST_UartInit stInit;
@@ -85,248 +91,399 @@
stInit.m_u32TxBufSize = BT_UART_TX_BUF_SIZE;
stInit.m_u32TxQueueMemberCnt = BT_UART_TX_QUEUE_MEMBER_CNT;
Uart_Init(UART_ID_BT, &stInit);
-
-
+ Uart_ReConfigBaudRate(UART_ID_BT, 115200);
+ UART6_StartReceive();
}
-static void BTUsartParseDataHandler(uint8_t data)
+/**
+ * @brief Start UART6 Receive with Circular DMA
+ */
+void UART6_StartReceive(void)
{
- switch (bt_state)
- {
- case BT_STATE_IDLE:
- if(data!=NULL)
- {
- bt_state=BT_STATE_RECEIVING;
- }
- break;
- case BT_STATE_RECEIVING:
- bt_buffer[bt_index++] = data;
- if (bt_index >2 && bt_buffer[bt_index-2] == '\r' && bt_buffer[bt_index-1] == '\n') {
- // 检测到完整结束符 "\r\n"
- bt_buffer[bt_index] = '\0'; // 添加字符串终止符
- bt_index = 0; // 重置缓冲区
- bt_state = BT_STATE_COMPLETE;
- }
- break;
+ // Clear IDLE flag
+ __HAL_UART_CLEAR_IDLEFLAG(&huart6);
- case BT_STATE_COMPLETE:
- // 状态机错误，重置状态
- bt_state = BT_STATE_IDLE;
- break;
- }
+ // IDLE interrupt is optional for Circular DMA with GetChar polling
+ // Uncomment if you want IDLE interrupt as a hint (not required for functionality)
+ // __HAL_UART_ENABLE_IT(&huart6, UART_IT_IDLE);
+
+ // Start DMA Receive (Circular Mode configured in HAL_MSP)
+ HAL_UART_Receive_DMA(&huart6, uart6_dma_rxbuf, BT_UART_RX_BUF_SIZE);
}
-
-// 蓝牙配置函数实现
-static HIDO_UINT8 BT_Enter_ATmode(void)
-
-{
- HIDO_UINT8 u8RecvChar = 0;
- //DBG_SerialPutString("AT+ENAT\r\n");
- Uart_Send(UART_ID_BT, (HIDO_UINT8 *) "AT+ENAT\r\n", strlen("AT+ENAT\r\n"));
- while (Uart_GetChar(UART_ID_BT, &u8RecvChar) == HIDO_OK)
- {
- BTUsartParseDataHandler(u8RecvChar);
-
- // 如果数据接收完成，处理数据帧
- if (bt_state == BT_STATE_COMPLETE)
- {
- if(0==strcmp(bt_buffer,"\r\nOK\r\n"))
- {
- memset(bt_buffer, 0, 50);
- bt_state = BT_STATE_IDLE;
- g_bt_at_moded=1;
- return BT_CONFIG_SUCCESS;
- }
- }
- }
- return BT_CONFIG_FAIL;
-}
-
-// 蓝牙断开连接
-void BT_DisConnect(void)
-
-{
- HIDO_UINT8 u8RecvChar = 0;
- //DBG_SerialPutString("AT+ENAT\r\n");
- Uart_Send(UART_ID_BT, (HIDO_UINT8 *) "AT+ENAT\r\n", strlen("AT+ENAT\r\n"));
-// delay_ms(10);
- Uart_Send(UART_ID_BT, (HIDO_UINT8 *) "AT+LENC\r\n", strlen("AT+LENC\r\n"));
-// delay_ms(10);
- Uart_Send(UART_ID_BT, (HIDO_UINT8 *) "AT+EXAT\r\n", strlen("AT+EXAT\r\n"));
-}
-
-// 蓝牙配置函数实现
-static HIDO_UINT8 BT_Get_SLaveMode(void)
-
-{
- HIDO_UINT8 u8RecvChar = 0;
- DBG_SerialPutString("AT+ROLE\r\n");
- while (Uart_GetChar(UART_ID_BT, &u8RecvChar) == HIDO_OK)
- {
- BTUsartParseDataHandler(u8RecvChar);
-
- // 如果数据接收完成，处理数据帧
- if (bt_state == BT_STATE_COMPLETE)
- {
- if(0==strcmp(bt_buffer,"LAVE\r\n"))
- {
- memset(bt_buffer, 0, 50);
- bt_state = BT_STATE_IDLE;
- g_bt_configured=1;
- DBG_SerialPutString(" AT+REST\r\n");//退出指令并进入透传模式
- return BT_CONFIG_SUCCESS;
- }
- }
- }
- return BT_CONFIG_FAIL;
-}
-
-// 蓝牙配置函数实现
-static HIDO_UINT8 BT_wait_PairMode(void)
-
-{
- HIDO_UINT8 u8RecvChar = 0;
- while (Uart_GetChar(UART_ID_BT, &u8RecvChar) == HIDO_OK)
- {
- BTUsartParseDataHandler(u8RecvChar);
-
- // 如果数据接收完成，处理数据帧
- if (bt_state == BT_STATE_COMPLETE)
- {
- if(0==strcmp(bt_buffer,"AT+LED1\r\n"))
- {
- memset(bt_buffer, 0, 50);
- bt_state = BT_STATE_IDLE;
- g_bt_paired = 1;
- return BT_CONFIG_SUCCESS;
- }
- }
- }
- return BT_CONFIG_FAIL;
-}
-
-// 蓝牙配置函数实现
-static HIDO_UINT8 BT_connect_status(void)
-
-{
- HIDO_UINT8 u8RecvChar = 0;
- DBG_SerialPutString("AT+CONN\r\n");
- while (Uart_GetChar(UART_ID_BT, &u8RecvChar) == HIDO_OK)
- {
- BTUsartParseDataHandler(u8RecvChar);
-
- // 如果数据接收完成，处理数据帧
- if (bt_state == BT_STATE_COMPLETE)
- {
- if(0==strcmp(bt_buffer,"1\r\n"))
- {
- memset(bt_buffer, 0, 50);
- bt_state = BT_STATE_IDLE;
- g_bt_paired = 1;
- return BT_CONFIG_SUCCESS;
- }
- }
- }
- return BT_CONFIG_FAIL;
-}
-
-
-// 蓝牙任务处理函数//DBG_SerialPutString("AT+SLAV\r\n");//配置从机
-static void Bluetooth_Config_Slave(void)
-{
- if(g_bt_configured==0)
- {
- if(g_bt_at_moded==0)
- {
- BT_Enter_ATmode();
- }
- else
- {
- if(BT_Get_SLaveMode())
- {
- g_bt_configured=1;
- }
- }
- }
-}
-
-// 主处理函数
-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
- *******************************************************************************/
+/**
+ * @brief Bluetooth Poll Function (Circular DMA Mode with GetChar)
+ */
HIDO_VOID BT_Poll(void)
{
- if (uart6_dma_recv_len>0)//HAL_GPIO_ReadPin(GPIOE, GPIO_PIN_13) == GPIO_PIN_RESET
- {
- if (uart6_dma_recv_end_flag == 1) //接收完成标志
- {
- Uart_Send(UART_ID_DBG, (HIDO_UINT8 *)uart6_dma_rxbuf,uart6_dma_recv_len);
- // 解析数据
- Parse_Joystick_Data(uart6_dma_rxbuf);
- }
- 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);
- HAL_UART_Receive_DMA(&huart6, uart6_dma_rxbuf, UART6_DMA_RX_BUF_SIZE); //重新打开DMA接收
- }
- #if 0
- else if(0==g_com_map[BT_SLAVE_STATUS])
- {
- DBG_SerialPutString("AT+ENAT\r\n");
- //delay_ms(10);
- DBG_SerialPutString("AT+SLAV\r\n");
- g_com_map[BT_SLAVE_STATUS]=1;
- save_com_map_to_flash();
- }
- #endif
- }
+ static HIDO_UINT32 s_last_poll_tick = 0;
+
+ // Periodic debug log
+ if (HAL_GetTick() - s_last_poll_tick > 1000)
+ {
+ s_last_poll_tick = HAL_GetTick();
+#if ENABLE_BT_DEBUG_LOG
+ HIDO_UINT32 dma_cnt = 0;
+ if (huart6.hdmarx != NULL)
+ {
+ dma_cnt = __HAL_DMA_GET_COUNTER(huart6.hdmarx);
+ }
+ HIDO_UINT32 cr1 = huart6.Instance->CR1;
+ HIDO_UINT32 isr = huart6.Instance->ISR;
+ HIDO_Debug("[BT] Poll: IntCnt=%u, DMA_CNDTR=%u, CR1=0x%X, ISR=0x%X\r\n",
+ g_u32BtIdleIntCount, dma_cnt, cr1, isr);
+#endif
+ }
+ // Read and process bytes from circular DMA buffer
+ HIDO_UINT8 byte = 0;
+ while (Uart_GetChar(UART_ID_BT, &byte) == HIDO_OK)
+ {
+ BT_RecvFSM(byte);
+ }
+}
+
+/**
+ * @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 a complete BT frame (called after FSM receives full frame)
+ */
+static HIDO_VOID BT_ProcessFrame(void)
+{
+ // Frame is stored in s_bt_fsm.rx_buf
+ // Structure: Header(5) + SeqNum(2) + Payload(4) + CRC(2) + Tail(1) = 14 bytes total
+ // rx_buf[0..4]: Header (AA 55 Cmd Len_L Len_H)
+ // rx_buf[5..6]: SeqNum
+ // rx_buf[7..10]: Payload (Steer + Speed + Reserved)
+ // rx_buf[11..12]: CRC
+ // rx_buf[13]: Tail
+
+ HIDO_UINT8 *pBuf = s_bt_fsm.rx_buf;
+ 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_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_Debug("[BT] Frame (%u bytes): ", total_len);
+ for (HIDO_UINT16 i = 0; i < total_len; i++)
+ {
+ HIDO_Debug("%02X ", pBuf[i]);
+ }
+ HIDO_Debug("\r\n");
+#endif
+
+ // Check CRC - Try different ranges to find the correct one
+ HIDO_UINT16 crc_calc_len = total_len - 3; // Current: Header + SeqNum + Payload (11 bytes)
+ HIDO_UINT16 calc_crc1 = Calculate_CRC16(pBuf, crc_calc_len); // Full: AA 55 03 09 00 67 00 00 0A 00 00
+ HIDO_UINT16 calc_crc2 = Calculate_CRC16(pBuf + 3, crc_calc_len - 3); // From DataLen: 09 00 67 00 00 0A 00 00
+ HIDO_UINT16 calc_crc3 = Calculate_CRC16(pBuf + 5, crc_calc_len - 5); // From SeqNum: 67 00 00 0A 00 00
+
+ HIDO_UINT8 crc_low = pBuf[crc_calc_len];
+ HIDO_UINT8 crc_high = pBuf[crc_calc_len + 1];
+ HIDO_UINT16 recv_crc_le = (HIDO_UINT16)(crc_low | (crc_high << 8)); // Little Endian
+ HIDO_UINT16 recv_crc_be = (HIDO_UINT16)((crc_low << 8) | crc_high); // Big Endian
+
+#if ENABLE_BT_DEBUG_LOG
+ 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
+
+ // Use calc_crc1 for now (original logic)
+ if (calc_crc1 != recv_crc_le && calc_crc1 != recv_crc_be)
+ {
+#if ENABLE_BT_DEBUG_LOG
+ HIDO_Debug("[BT] CRC Fail (all methods)\r\n");
+#endif
+ // Continue processing for debug
+ // return;
+ }
+
+ // Check Tail
+ HIDO_UINT8 tail = pBuf[total_len - 1];
+ if (tail != BT_FRAME_TAIL)
+ {
+#if ENABLE_BT_DEBUG_LOG
+ HIDO_Debug("[BT] Invalid Tail: %02X\r\n", tail);
+#endif
+ return;
+ }
+
+ // Parse command based on type
+ switch (s_bt_fsm.cmd_type)
+ {
+ case BT_CMD_CONTROL:
+ {
+ // Payload starts at offset 7 (after Header(5) + SeqNum(2))
+ ST_BT_ControlData *pCtrl = (ST_BT_ControlData *)&pBuf[7];
+
+ // Check RC signal status
+ if (SBUS_IsSignalValid(500) == HIDO_FALSE)
+ {
+#if ENABLE_BT_DEBUG_LOG
+ HIDO_Debug("[BT] Control: Steer %d, Speed %d\r\n", pCtrl->m_i8SteerSpeed, pCtrl->m_i8TravelSpeed);
+#endif
+
+ Set_Steering_PWM(pCtrl->m_i8SteerSpeed);
+ Set_Motor_PWM(pCtrl->m_i8TravelSpeed);
+ }
+ else
+ {
+ // HIDO_Debug("[BT] Ignored (RC Active)\r\n");
+ }
+ break;
+ }
+ default:
+#if ENABLE_BT_DEBUG_LOG
+ HIDO_Debug("[BT] Unknown Cmd: 0x%02X\r\n", s_bt_fsm.cmd_type);
+#endif
+ break;
+ }
+}
+
+/**
+ * @brief Receive State Machine (called for each byte)
+ */
+static HIDO_VOID BT_RecvFSM(HIDO_UINT8 byte)
+{
+ switch (s_bt_fsm.state)
+ {
+ case BT_FSM_IDLE:
+ if (byte == BT_FRAME_HEADER1) // 0xAA
+ {
+ s_bt_fsm.rx_buf[0] = byte;
+ s_bt_fsm.data_idx = 1;
+ s_bt_fsm.state = BT_FSM_HEADER2;
+ }
+ break;
+
+ case BT_FSM_HEADER2:
+ if (byte == BT_FRAME_HEADER2) // 0x55
+ {
+ s_bt_fsm.rx_buf[1] = byte;
+ s_bt_fsm.data_idx = 2;
+ s_bt_fsm.state = BT_FSM_CMD;
+ }
+ else
+ {
+ s_bt_fsm.state = BT_FSM_IDLE;
+ }
+ break;
+
+ case BT_FSM_CMD:
+ s_bt_fsm.rx_buf[2] = byte;
+ s_bt_fsm.cmd_type = byte;
+ s_bt_fsm.data_idx = 3;
+ s_bt_fsm.state = BT_FSM_LEN_LOW;
+ break;
+
+ case BT_FSM_LEN_LOW:
+ s_bt_fsm.rx_buf[3] = byte;
+ s_bt_fsm.data_len = byte; // Low byte first
+ s_bt_fsm.data_idx = 4;
+ s_bt_fsm.state = BT_FSM_LEN_HIGH;
+ break;
+
+ case BT_FSM_LEN_HIGH:
+ s_bt_fsm.rx_buf[4] = byte;
+ s_bt_fsm.data_len |= (HIDO_UINT16)byte << 8; // High byte
+ s_bt_fsm.data_idx = 5;
+
+ // Sanity check on length
+ if (s_bt_fsm.data_len > (BT_RX_BUF_SIZE - 5))
+ {
+#if ENABLE_BT_DEBUG_LOG
+ HIDO_Debug("[BT] FSM: Length too large (%u), resetting\r\n", s_bt_fsm.data_len);
+#endif
+ s_bt_fsm.state = BT_FSM_IDLE;
+ }
+ else
+ {
+ s_bt_fsm.state = BT_FSM_DATA;
+ }
+ break;
+
+ case BT_FSM_DATA:
+ s_bt_fsm.rx_buf[s_bt_fsm.data_idx++] = byte;
+
+ // Check if we've received all data bytes
+ // 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 >= (10 + s_bt_fsm.data_len))
+ {
+ // Frame complete, process it
+ BT_ProcessFrame();
+ s_bt_fsm.state = BT_FSM_IDLE;
+ }
+
+ // Safety check: prevent buffer overflow
+ if (s_bt_fsm.data_idx >= BT_RX_BUF_SIZE)
+ {
+#if ENABLE_BT_DEBUG_LOG
+ HIDO_Debug("[BT] FSM: Buffer overflow, resetting\r\n");
+#endif
+ s_bt_fsm.state = BT_FSM_IDLE;
+ }
+ break;
+
+ default:
+ s_bt_fsm.state = BT_FSM_IDLE;
+ break;
+ }
+}
+
+/**
+ * @brief Process Bluetooth Command Frame (Legacy, kept for reference)
+ */
+static HIDO_VOID Process_Command(const HIDO_UINT8 *pData, HIDO_UINT16 u16Len)
+{
+ // HIDO_Debug("[BT] Processing %u bytes\r\n", 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_Debug("[BT] Invalid Header: %02X %02X\r\n", pHeader->m_u8Header1, pHeader->m_u8Header2);
+ return;
+ }
+
+ // Check Length (Total frame size check)
+ // Protocol Definition: DataLen (9) includes Seq(2) + Payload(4) + CRC(2) + Tail(1)
+ // Frame Structure: Header(5) + DataLen(9) = 14 bytes
+ // ST_BT_FrameHeader(7) includes SeqNum(2) at the end.
+ // So HeaderBase (AA 55 Cmd Len) is 5 bytes.
+ HIDO_UINT16 headerBaseSize = 5;
+ HIDO_UINT16 declaredLen = pHeader->m_u16DataLen;
+ HIDO_UINT16 expectedLen = headerBaseSize + declaredLen;
+
+ if (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_Debug("[BT] Invalid Tail: %02X\r\n", pData[expectedLen - 1]);
+ return;
+ }
+
+ // Check CRC
+ // CRC is calculated over Header + Payload (excluding CRC and Tail)
+ // Range: 0 to (TotalLen - CRC(2) - Tail(1)) = TotalLen - 3
+ HIDO_UINT16 calcLen = expectedLen - 3;
+ HIDO_UINT16 calcCRC = Calculate_CRC16(pData, calcLen);
+
+ // CRC is at offset: expectedLen - 3 (Low byte), expectedLen - 2 (High byte) - assuming Little Endian in stream
+ // User Example: ... C3 7B 0D. CRC is C3 7B. Tail 0D.
+ // 7B is at -2, C3 is at -3.
+ // If recvCRC is uint16, let's read it.
+ HIDO_UINT8 crcLow = pData[expectedLen - 3];
+ HIDO_UINT8 crcHigh = pData[expectedLen - 2];
+ HIDO_UINT16 recvCRC = (HIDO_UINT16)(crcLow | (crcHigh << 8));
+
+ if (calcCRC != recvCRC)
+ {
+ HIDO_Debug("[BT] CRC Fail: Calc %04X, Recv %04X\r\n", calcCRC, recvCRC);
+ // Continue processing for debugging, but typically should return
+ // return;
+ }
+
+ // Payload starts after SeqNum.
+ // ST_BT_FrameHeader includes SeqNum. sizeof is 7.
+ // So pPayload points to Data after SeqNum.
+ const HIDO_UINT8 *pPayload = pData + sizeof(ST_BT_FrameHeader);
+
+ // Payload length for Command logic (excluding Seq, CRC, Tail)
+ // DataLen(9) - Seq(2) - CRC(2) - Tail(1) = 4 bytes.
+ HIDO_INT16 realPayloadLen = declaredLen - 2 - 3;
+
+ switch (pHeader->m_u8CmdType)
+ {
+ case BT_CMD_PATH_COORDS:
+ {
+ HIDO_UINT8 pathCount = pPayload[0];
+ 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_Debug(" 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 (realPayloadLen >= sizeof(ST_BT_RefPointData))
+ {
+ ST_BT_RefPointData *pRef = (ST_BT_RefPointData *)pPayload;
+ 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
+ }
+ break;
+ }
+ 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;
+ }
+}
--
Gitblit v1.10.0