增加操控端遥控

boards/e3_176_ref/app_demo/eth-xip/sf/app/app_rc.c

@@ -5,6 +5,7 @@
  */
 
 #include "app_rc.h"
+#include <stdio.h>
 
 /** 定时器 */
 static Timer rc_timer;
@@ -163,11 +164,13 @@ void rcInputHandler(void *signal_id)
             // CRC校验通过，更新序列号和使能状态
             rc_app_state.rc_16ch_current_seq = remote_control_16ch_output.frame.SEQ;
             rc_app_state.rc_16ch_enable = 1;
+            printf("RC: 16ch CRC OK, SEQ=%d, Enable=1\n", rc_app_state.rc_16ch_current_seq);
         }
         else
         {
             // CRC校验失败，不更新数据
             rc_app_state.rc_16ch_enable = 0;
+            printf("RC: 16ch CRC FAILED, Enable=0\n");
         }
     }
     else if (signal_id == &un_remote_control_input_can)
@@ -175,6 +178,9 @@ void rcInputHandler(void *signal_id)
         // 传统遥控器数据更新
         rc_app_state.rc_traditional_current_seq++;
         rc_app_state.rc_traditional_enable = un_remote_control_input_can.bit_data.enable;
+        printf("RC: Traditional SEQ=%d, Enable=%d\n", 
+               rc_app_state.rc_traditional_current_seq, 
+               rc_app_state.rc_traditional_enable);
     }
     
     // 节点在线判断和数据输出
@@ -259,11 +265,19 @@ void rcInputHandler(void *signal_id)
         
         un_remote_control_input.bit_data.switch_a = 0;
         un_remote_control_input.bit_data.enable = 1;
+        
+        printf("RC: 16ch data processed - Speed=%d, Curvature=%d, Switch_D=%d, Switch_B=%d, Switch_C=%d\n",
+               un_remote_control_input.bit_data.speed,
+               un_remote_control_input.bit_data.curvature,
+               un_remote_control_input.bit_data.switch_d,
+               un_remote_control_input.bit_data.switch_b,
+               un_remote_control_input.bit_data.switch_c);
     }
     else
     {
         // 都离线，清空使能
         un_remote_control_input.bit_data.enable = 0;
+        printf("RC: Both nodes offline, enable=0\n");
     }
     
     publishMessage(&un_remote_control_input, 1); // 优先级为1，这里只传递数据指针    
@@ -292,4 +306,6 @@ void rcAppInit(void)
     
     // 启动定时器，500ms周期
     timerStart(&rc_timer, 500, 1);
+    
+    printf("RC: Application initialized successfully\n");
 }

boards/e3_176_ref/app_demo/eth-xip/sf/configs/eth_cfg.c

@@ -64,7 +64,7 @@ static dwc_eth_config_t g_eth1_cfg = {
     .dma_bus_width = 64,
     .phy_intf_mode = ETH_PHY_INTF_SEL_RMII,
     .set_phy_intf = set_phyif_mode,
-    .ip = {192, 168, 17, 20},
+    .ip = {192, 168, 17, 21},
     .mask = {255, 255, 255, 0},
 
     .phy = g_phy_arr1

boards/e3_176_ref/app_demo/eth-xip/sf/main.c

@@ -31,6 +31,7 @@
 #include <app/app_light.h>
 #include "app/app_request.h"
 #include "app/app_ultrasonic.h"
+#include "app/app_rc.h"
 
 void testAppInit(void);
 
@@ -129,6 +130,7 @@ int main(void)
     requestAppInit();
     canInterfaceInit();
     bootInterfaceInit();
+    rcAppInit();  
 //    ultrasonicAppInit();
     
     printf("All init OK ------ %d\n",getCurrentTime());