/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file    usart.c
  * @brief   This file provides code for the configuration
  *          of the USART instances.
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2026 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "usart.h"

/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

UART_HandleTypeDef huart4;
UART_HandleTypeDef huart5;
UART_HandleTypeDef huart1;
UART_HandleTypeDef huart2;
UART_HandleTypeDef huart3;
DMA_HandleTypeDef hdma_usart1_tx;
DMA_HandleTypeDef hdma_usart1_rx;

/* UART4 init function */
void MX_UART4_Init(void)
{

  /* USER CODE BEGIN UART4_Init 0 */

  /* USER CODE END UART4_Init 0 */

  /* USER CODE BEGIN UART4_Init 1 */

  /* USER CODE END UART4_Init 1 */
  huart4.Instance = UART4;
  huart4.Init.BaudRate = 115200;
  huart4.Init.WordLength = UART_WORDLENGTH_8B;
  huart4.Init.StopBits = UART_STOPBITS_1;
  huart4.Init.Parity = UART_PARITY_NONE;
  huart4.Init.Mode = UART_MODE_TX_RX;
  huart4.Init.HwFlowCtl = UART_HWCONTROL_NONE;
  huart4.Init.OverSampling = UART_OVERSAMPLING_16;
  if (HAL_UART_Init(&huart4) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN UART4_Init 2 */

  /* USER CODE END UART4_Init 2 */

}
/* UART5 init function */
void MX_UART5_Init(void)
{

  /* USER CODE BEGIN UART5_Init 0 */

  /* USER CODE END UART5_Init 0 */

  /* USER CODE BEGIN UART5_Init 1 */

  /* USER CODE END UART5_Init 1 */
  huart5.Instance = UART5;
  huart5.Init.BaudRate = 115200;
  huart5.Init.WordLength = UART_WORDLENGTH_8B;
  huart5.Init.StopBits = UART_STOPBITS_1;
  huart5.Init.Parity = UART_PARITY_NONE;
  huart5.Init.Mode = UART_MODE_TX_RX;
  huart5.Init.HwFlowCtl = UART_HWCONTROL_NONE;
  huart5.Init.OverSampling = UART_OVERSAMPLING_16;
  if (HAL_UART_Init(&huart5) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN UART5_Init 2 */

  /* USER CODE END UART5_Init 2 */

}
/* USART1 init function */

void MX_USART1_UART_Init(void)
{

  /* USER CODE BEGIN USART1_Init 0 */

  /* USER CODE END USART1_Init 0 */

  /* USER CODE BEGIN USART1_Init 1 */

  /* USER CODE END USART1_Init 1 */
  huart1.Instance = USART1;
  huart1.Init.BaudRate = 115200;
  huart1.Init.WordLength = UART_WORDLENGTH_8B;
  huart1.Init.StopBits = UART_STOPBITS_1;
  huart1.Init.Parity = UART_PARITY_NONE;
  huart1.Init.Mode = UART_MODE_TX_RX;
  huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
  huart1.Init.OverSampling = UART_OVERSAMPLING_16;
  if (HAL_UART_Init(&huart1) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN USART1_Init 2 */

  /* USER CODE END USART1_Init 2 */

}
/* USART2 init function */

void MX_USART2_UART_Init(void)
{

  /* USER CODE BEGIN USART2_Init 0 */

  /* USER CODE END USART2_Init 0 */

  /* USER CODE BEGIN USART2_Init 1 */

  /* USER CODE END USART2_Init 1 */
  huart2.Instance = USART2;
  huart2.Init.BaudRate = 115200;
  huart2.Init.WordLength = UART_WORDLENGTH_8B;
  huart2.Init.StopBits = UART_STOPBITS_1;
  huart2.Init.Parity = UART_PARITY_NONE;
  huart2.Init.Mode = UART_MODE_TX_RX;
  huart2.Init.HwFlowCtl = UART_HWCONTROL_NONE;
  huart2.Init.OverSampling = UART_OVERSAMPLING_16;
  if (HAL_UART_Init(&huart2) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN USART2_Init 2 */

  /* USER CODE END USART2_Init 2 */

}
/* USART3 init function */

void MX_USART3_UART_Init(void)
{

  /* USER CODE BEGIN USART3_Init 0 */

  /* USER CODE END USART3_Init 0 */

  /* USER CODE BEGIN USART3_Init 1 */

  /* USER CODE END USART3_Init 1 */
  huart3.Instance = USART3;
  huart3.Init.BaudRate = 115200;
  huart3.Init.WordLength = UART_WORDLENGTH_8B;
  huart3.Init.StopBits = UART_STOPBITS_1;
  huart3.Init.Parity = UART_PARITY_NONE;
  huart3.Init.Mode = UART_MODE_TX_RX;
  huart3.Init.HwFlowCtl = UART_HWCONTROL_NONE;
  huart3.Init.OverSampling = UART_OVERSAMPLING_16;
  if (HAL_UART_Init(&huart3) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN USART3_Init 2 */

  /* USER CODE END USART3_Init 2 */

}

void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
{

  GPIO_InitTypeDef GPIO_InitStruct = {0};
  if(uartHandle->Instance==UART4)
  {
  /* USER CODE BEGIN UART4_MspInit 0 */

  /* USER CODE END UART4_MspInit 0 */
    /* UART4 clock enable */
    __HAL_RCC_UART4_CLK_ENABLE();

    __HAL_RCC_GPIOC_CLK_ENABLE();
    /**UART4 GPIO Configuration
    PC10     ------> UART4_TX
    PC11     ------> UART4_RX
    */
    GPIO_InitStruct.Pin = ST_TX4_Pin|ST_RX4_Pin;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
    GPIO_InitStruct.Alternate = GPIO_AF8_UART4;
    HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);

    /* UART4 interrupt Init */
    HAL_NVIC_SetPriority(UART4_IRQn, 5, 0);
    HAL_NVIC_EnableIRQ(UART4_IRQn);
  /* USER CODE BEGIN UART4_MspInit 1 */

  /* USER CODE END UART4_MspInit 1 */
  }
  else if(uartHandle->Instance==UART5)
  {
  /* USER CODE BEGIN UART5_MspInit 0 */

  /* USER CODE END UART5_MspInit 0 */
    /* UART5 clock enable */
    __HAL_RCC_UART5_CLK_ENABLE();

    __HAL_RCC_GPIOC_CLK_ENABLE();
    __HAL_RCC_GPIOD_CLK_ENABLE();
    /**UART5 GPIO Configuration
    PC12     ------> UART5_TX
    PD2     ------> UART5_RX
    */
    GPIO_InitStruct.Pin = ST_TX1_Pin;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
    GPIO_InitStruct.Alternate = GPIO_AF8_UART5;
    HAL_GPIO_Init(ST_TX1_GPIO_Port, &GPIO_InitStruct);

    GPIO_InitStruct.Pin = ST_RX1_Pin;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
    GPIO_InitStruct.Alternate = GPIO_AF8_UART5;
    HAL_GPIO_Init(ST_RX1_GPIO_Port, &GPIO_InitStruct);

    /* UART5 interrupt Init */
    HAL_NVIC_SetPriority(UART5_IRQn, 5, 0);
    HAL_NVIC_EnableIRQ(UART5_IRQn);
  /* USER CODE BEGIN UART5_MspInit 1 */

  /* USER CODE END UART5_MspInit 1 */
  }
  else if(uartHandle->Instance==USART1)
  {
  /* USER CODE BEGIN USART1_MspInit 0 */

  /* USER CODE END USART1_MspInit 0 */
    /* USART1 clock enable */
    __HAL_RCC_USART1_CLK_ENABLE();

    __HAL_RCC_GPIOA_CLK_ENABLE();
    /**USART1 GPIO Configuration
    PA9     ------> USART1_TX
    PA10     ------> USART1_RX
    */
    GPIO_InitStruct.Pin = GPIO_PIN_9|GPIO_PIN_10;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
    GPIO_InitStruct.Alternate = GPIO_AF7_USART1;
    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

    /* USART1 DMA Init */
    /* USART1_TX Init */
    hdma_usart1_tx.Instance = DMA2_Stream7;
    hdma_usart1_tx.Init.Channel = DMA_CHANNEL_4;
    hdma_usart1_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;
    hdma_usart1_tx.Init.PeriphInc = DMA_PINC_DISABLE;
    hdma_usart1_tx.Init.MemInc = DMA_MINC_ENABLE;
    hdma_usart1_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
    hdma_usart1_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
    hdma_usart1_tx.Init.Mode = DMA_NORMAL;
    hdma_usart1_tx.Init.Priority = DMA_PRIORITY_LOW;
    hdma_usart1_tx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
    if (HAL_DMA_Init(&hdma_usart1_tx) != HAL_OK)
    {
      Error_Handler();
    }

    __HAL_LINKDMA(uartHandle,hdmatx,hdma_usart1_tx);

    /* USART1_RX Init */
    hdma_usart1_rx.Instance = DMA2_Stream2;
    hdma_usart1_rx.Init.Channel = DMA_CHANNEL_4;
    hdma_usart1_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
    hdma_usart1_rx.Init.PeriphInc = DMA_PINC_DISABLE;
    hdma_usart1_rx.Init.MemInc = DMA_MINC_ENABLE;
    hdma_usart1_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
    hdma_usart1_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
    hdma_usart1_rx.Init.Mode = DMA_CIRCULAR;
    hdma_usart1_rx.Init.Priority = DMA_PRIORITY_LOW;
    hdma_usart1_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
    if (HAL_DMA_Init(&hdma_usart1_rx) != HAL_OK)
    {
      Error_Handler();
    }

    __HAL_LINKDMA(uartHandle,hdmarx,hdma_usart1_rx);

    /* USART1 interrupt Init */
    HAL_NVIC_SetPriority(USART1_IRQn, 5, 0);
    HAL_NVIC_EnableIRQ(USART1_IRQn);
  /* USER CODE BEGIN USART1_MspInit 1 */

  /* USER CODE END USART1_MspInit 1 */
  }
  else if(uartHandle->Instance==USART2)
  {
  /* USER CODE BEGIN USART2_MspInit 0 */

  /* USER CODE END USART2_MspInit 0 */
    /* USART2 clock enable */
    __HAL_RCC_USART2_CLK_ENABLE();

    __HAL_RCC_GPIOD_CLK_ENABLE();
    /**USART2 GPIO Configuration
    PD5     ------> USART2_TX
    PD6     ------> USART2_RX
    */
    GPIO_InitStruct.Pin = ST_TX3_Pin|ST_RX3_Pin;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
    GPIO_InitStruct.Alternate = GPIO_AF7_USART2;
    HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);

    /* USART2 interrupt Init */
    HAL_NVIC_SetPriority(USART2_IRQn, 5, 0);
    HAL_NVIC_EnableIRQ(USART2_IRQn);
  /* USER CODE BEGIN USART2_MspInit 1 */

  /* USER CODE END USART2_MspInit 1 */
  }
  else if(uartHandle->Instance==USART3)
  {
  /* USER CODE BEGIN USART3_MspInit 0 */

  /* USER CODE END USART3_MspInit 0 */
    /* USART3 clock enable */
    __HAL_RCC_USART3_CLK_ENABLE();

    __HAL_RCC_GPIOB_CLK_ENABLE();
    /**USART3 GPIO Configuration
    PB10     ------> USART3_TX
    PB11     ------> USART3_RX
    */
    GPIO_InitStruct.Pin = ST_TX2_Pin|ST_RX2_Pin;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
    GPIO_InitStruct.Alternate = GPIO_AF7_USART3;
    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

    /* USART3 interrupt Init */
    HAL_NVIC_SetPriority(USART3_IRQn, 5, 0);
    HAL_NVIC_EnableIRQ(USART3_IRQn);
  /* USER CODE BEGIN USART3_MspInit 1 */

  /* USER CODE END USART3_MspInit 1 */
  }
}

void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
{

  if(uartHandle->Instance==UART4)
  {
  /* USER CODE BEGIN UART4_MspDeInit 0 */

  /* USER CODE END UART4_MspDeInit 0 */
    /* Peripheral clock disable */
    __HAL_RCC_UART4_CLK_DISABLE();

    /**UART4 GPIO Configuration
    PC10     ------> UART4_TX
    PC11     ------> UART4_RX
    */
    HAL_GPIO_DeInit(GPIOC, ST_TX4_Pin|ST_RX4_Pin);

    /* UART4 interrupt Deinit */
    HAL_NVIC_DisableIRQ(UART4_IRQn);
  /* USER CODE BEGIN UART4_MspDeInit 1 */

  /* USER CODE END UART4_MspDeInit 1 */
  }
  else if(uartHandle->Instance==UART5)
  {
  /* USER CODE BEGIN UART5_MspDeInit 0 */

  /* USER CODE END UART5_MspDeInit 0 */
    /* Peripheral clock disable */
    __HAL_RCC_UART5_CLK_DISABLE();

    /**UART5 GPIO Configuration
    PC12     ------> UART5_TX
    PD2     ------> UART5_RX
    */
    HAL_GPIO_DeInit(ST_TX1_GPIO_Port, ST_TX1_Pin);

    HAL_GPIO_DeInit(ST_RX1_GPIO_Port, ST_RX1_Pin);

    /* UART5 interrupt Deinit */
    HAL_NVIC_DisableIRQ(UART5_IRQn);
  /* USER CODE BEGIN UART5_MspDeInit 1 */

  /* USER CODE END UART5_MspDeInit 1 */
  }
  else if(uartHandle->Instance==USART1)
  {
  /* USER CODE BEGIN USART1_MspDeInit 0 */

  /* USER CODE END USART1_MspDeInit 0 */
    /* Peripheral clock disable */
    __HAL_RCC_USART1_CLK_DISABLE();

    /**USART1 GPIO Configuration
    PA9     ------> USART1_TX
    PA10     ------> USART1_RX
    */
    HAL_GPIO_DeInit(GPIOA, GPIO_PIN_9|GPIO_PIN_10);

    /* USART1 DMA DeInit */
    HAL_DMA_DeInit(uartHandle->hdmatx);
    HAL_DMA_DeInit(uartHandle->hdmarx);

    /* USART1 interrupt Deinit */
    HAL_NVIC_DisableIRQ(USART1_IRQn);
  /* USER CODE BEGIN USART1_MspDeInit 1 */

  /* USER CODE END USART1_MspDeInit 1 */
  }
  else if(uartHandle->Instance==USART2)
  {
  /* USER CODE BEGIN USART2_MspDeInit 0 */

  /* USER CODE END USART2_MspDeInit 0 */
    /* Peripheral clock disable */
    __HAL_RCC_USART2_CLK_DISABLE();

    /**USART2 GPIO Configuration
    PD5     ------> USART2_TX
    PD6     ------> USART2_RX
    */
    HAL_GPIO_DeInit(GPIOD, ST_TX3_Pin|ST_RX3_Pin);

    /* USART2 interrupt Deinit */
    HAL_NVIC_DisableIRQ(USART2_IRQn);
  /* USER CODE BEGIN USART2_MspDeInit 1 */

  /* USER CODE END USART2_MspDeInit 1 */
  }
  else if(uartHandle->Instance==USART3)
  {
  /* USER CODE BEGIN USART3_MspDeInit 0 */

  /* USER CODE END USART3_MspDeInit 0 */
    /* Peripheral clock disable */
    __HAL_RCC_USART3_CLK_DISABLE();

    /**USART3 GPIO Configuration
    PB10     ------> USART3_TX
    PB11     ------> USART3_RX
    */
    HAL_GPIO_DeInit(GPIOB, ST_TX2_Pin|ST_RX2_Pin);

    /* USART3 interrupt Deinit */
    HAL_NVIC_DisableIRQ(USART3_IRQn);
  /* USER CODE BEGIN USART3_MspDeInit 1 */

  /* USER CODE END USART3_MspDeInit 1 */
  }
}

/* USER CODE BEGIN 1 */
#include <stdio.h>
#include "FreeRTOS.h"
#include "task.h"
#include "cmsis_os.h"
#include "sys_events.h"

/* ===== 控制台单写者日志（2026-09-24 加固，HardFault 定位结论驱动）=====
 * 背景：旧路径 DBG_* → printf → fputc **每字符一次** HAL_UART_Transmit。HAL 的锁只保证
 *       "单字节"原子，任务切换发生在字符之间 → 两行日志逐字符交错（2026-09-24 崩溃前
 *       实测："[2026-[2026-0909-24 15:2-24 15:27:37:39]…"）；更严重的是字符串指针一旦
 *       被破坏，脏指针会直接进入 UART 缓冲遍历（同日 HardFault：BFAR=0x10010000 恰为
 *       CCM 末尾+1，PC 落在 HAL_UART_Transmit 的缓冲读取处）。
 * 架构：**defaultTask 是唯一串口发送者**；其余任务/上下文只把文本写入环形缓冲。
 *       ① 行级原子：整行在一次临界区内拷入环形缓冲，写者按块一次 HAL_UART_Transmit
 *          发出 → 行与行不可能再交错（UART 只有这一个调用点）；
 *       ② 指针可控：进 UART 的缓冲恒为本文件的环形缓冲，调用方脏指针再也到不了 UART；
 *       ③ 写者未注册（内核启动早期/裸机）或中断上下文：回退直接阻塞发送（无并发或必须裸发）。
 * 约束：不新增任务、不动态分配；环形缓冲为 BSS（SRAM1，非 CCM），无 DMA 可达性冲突。
 */
#define DBG_CON_LINE_MAX   192U     /* 单行文本上限（含结尾 '\0'，超出截断） */
#define DBG_CON_RING_SIZE  4096U    /* 环形缓冲字节数（必须为 2 的幂） */
#define DBG_CON_CHUNK_MAX  256U     /* 写者单次 HAL_UART_Transmit 字节上限 */
#define DBG_CON_WAIT_MS    200U     /* 缓冲满时生产者最长等待（ms），仍满则丢弃并计数 */

static uint8_t  s_con_ring[DBG_CON_RING_SIZE];
static volatile uint16_t s_con_head;        /* 生产者写入位置 */
static volatile uint16_t s_con_tail;        /* 写者读取位置 */
static volatile uint32_t s_con_drop;        /* 因缓冲满丢弃的行数 */
static volatile uint8_t  s_con_writer_up;   /* 1 = 写者已注册（此后走环形缓冲） */
static TaskHandle_t      s_con_writer_task; /* 写者任务句柄（自等保护用） */

void dbg_console_write_raw(const char *buf, unsigned len);
void dbg_console_writer_attach(void);
void dbg_console_drain(void);
int  dbg_console_write_line(const char *line, unsigned len);
uint32_t dbg_console_dropped(void);

static uint16_t con_used(void)
{
    return (uint16_t)((uint16_t)(s_con_head - s_con_tail) & (DBG_CON_RING_SIZE - 1U));
}

/*
 * 函数功能：控制台裸发送（异常/早期路径专用：有界、单次、不加锁）
 * 入口参数：buf - 文本缓冲；len - 字节数（超上限截断）
 * 限定条件：串口已初始化；仅用于写者未注册、中断/异常上下文、崩溃上报
 */
void dbg_console_write_raw(const char *buf, unsigned len)
{
    if ((buf == NULL) || (len == 0U)) {
        return;
    }
    if (len > DBG_CON_CHUNK_MAX) {
        len = DBG_CON_CHUNK_MAX;
    }
    (void)HAL_UART_Transmit(&huart1, (uint8_t *)buf, (uint16_t)len, 0xFFFFu);
}

/*
 * 函数功能：注册控制台写者（defaultTask 在进入主循环前调用一次）
 * 函数说明：注册后生产者改走环形缓冲；未注册时直接阻塞发送（内核启动早期）
 */
void dbg_console_writer_attach(void)
{
    s_con_writer_task = xTaskGetCurrentTaskHandle();
    s_con_writer_up = 1U;
}

/*
 * 函数功能：排空环形缓冲（仅写者任务调用）
 * 函数说明：按块一次 HAL_UART_Transmit 发出；每块完成后再推进读指针（临界区保护）
 */
void dbg_console_drain(void)
{
    uint16_t used;

    if (s_con_writer_up == 0U) {
        return;
    }

    while ((used = con_used()) != 0U) {
        uint16_t tail = s_con_tail;
        uint16_t contig = (uint16_t)(DBG_CON_RING_SIZE - tail);   /* 到环尾的连续段 */
        uint16_t n = (used < contig) ? used : contig;

        if (n > DBG_CON_CHUNK_MAX) {
            n = DBG_CON_CHUNK_MAX;
        }
        (void)HAL_UART_Transmit(&huart1, &s_con_ring[tail], n, 0xFFFFu);
        taskENTER_CRITICAL();
        s_con_tail = (uint16_t)((uint16_t)(s_con_tail + n) & (DBG_CON_RING_SIZE - 1U));
        taskEXIT_CRITICAL();
    }

    /* 丢弃可观测性：缓冲满丢行必须显式可见（否则会掩盖开机自检/测试标记的丢失） */
    if (s_con_drop != 0U) {
        char note[64];
        uint32_t d = s_con_drop;
        int n;

        s_con_drop = 0U;
        n = snprintf(note, sizeof(note), "\r\n[ERR] CONSOLE dropped %lu lines\r\n",
                     (unsigned long)d);
        if (n > 0) {
            if (n > (int)sizeof(note) - 1) {
                n = (int)sizeof(note) - 1;
            }
            dbg_console_write_raw(note, (unsigned)n);
        }
    }
}

/*
 * 函数功能：把一段文本放入控制台（写者已注册）/直接发出（未注册或中断上下文）
 * 返回值：0 - 已入缓冲或已直发；-1 - 缓冲满丢弃（计入 dbg_console_dropped）
 * 函数说明：生产者不持锁等待过久：最多 DBG_CON_WAIT_MS，仍满则丢弃该行；
 *          写者自身记录日志时先排空缓冲，避免自等。
 */
static int con_append(const char *buf, uint16_t len)
{
    uint32_t waited = 0U;

    if ((buf == NULL) || (len == 0U)) {
        return -1;
    }

    if ((s_con_writer_up == 0U) || (__get_IPSR() != 0U)) {
        dbg_console_write_raw(buf, len);
        return 0;
    }
    if (len > (DBG_CON_RING_SIZE / 2U)) {
        len = (uint16_t)(DBG_CON_RING_SIZE / 2U);   /* 超长保护（正常路径不会触发） */
    }

    if (xTaskGetCurrentTaskHandle() == s_con_writer_task) {
        dbg_console_drain();                        /* 写者自己记录：先腾空，避免自等 */
    }

    for (;;) {
        uint16_t used = con_used();
        uint16_t free_space = (uint16_t)((DBG_CON_RING_SIZE - 1U) - used);

        if (free_space >= len) {
            break;
        }
        if (waited >= DBG_CON_WAIT_MS) {
            s_con_drop++;
            return -1;
        }
        vTaskDelay(1);
        waited++;
    }

    taskENTER_CRITICAL();
    {
        uint16_t head = s_con_head;
        uint16_t first = (uint16_t)(DBG_CON_RING_SIZE - head);
        uint16_t i;

        if (first > len) {
            first = len;
        }
        for (i = 0U; i < first; i++) {
            s_con_ring[head + i] = (uint8_t)buf[i];
        }
        for (i = first; i < len; i++) {
            s_con_ring[(uint16_t)((uint16_t)(head + i) & (DBG_CON_RING_SIZE - 1U))] =
                (uint8_t)buf[i];
        }
        s_con_head = (uint16_t)((uint16_t)(head + len) & (DBG_CON_RING_SIZE - 1U));
    }
    taskEXIT_CRITICAL();

    if (sys_evtHandle != NULL) {
        (void)osEventFlagsSet(sys_evtHandle, SYS_EVT_CONSOLE_TX);   /* 唤醒写者 */
    }
    return 0;
}

/*
 * 函数功能：把一行已格式化的文本交给单写者控制台（生产者入口，**非可变参数**）
 * 入口参数：line - 整行文本（含结尾换行）；len - 字节数
 * 返回值：写入字节数；-1 - 参数非法或被丢弃
 * 函数说明：整行一次入环形缓冲 → 行级原子（不会与他行交错）；调用方缓冲随即可复用。
 *          刻意不用自研可变参数函数（规范 S12 7.6）；格式化由 DBG_PRINT 宏内
 *          库 snprintf 在调用点完成。
 */
int dbg_console_write_line(const char *line, unsigned len)
{
    if ((line == NULL) || (len == 0U)) {
        return -1;
    }
    if (len > DBG_CON_LINE_MAX) {
        len = DBG_CON_LINE_MAX;         /* 截断（丢尾，保开头的标记信息） */
    }
    if (con_append(line, (uint16_t)len) != 0) {
        return -1;
    }
    return (int)len;
}

/*
 * 函数功能：已丢弃的日志行数（诊断用）
 */
uint32_t dbg_console_dropped(void)
{
    return s_con_drop;
}

/*
 * 函数功能：MicroLIB printf 底层重定向（库内部/遗留 printf 调用）
 * 函数说明：同样只把字节交给单写者路径；未注册写者时直发（与旧行为一致）
 */
int fputc(int ch, FILE *f)
{
    uint8_t b = (uint8_t)ch;

    (void)f;
    (void)con_append((const char *)&b, 1U);
    return ch;
}
/* USER CODE END 1 */