From fc89f1e7e828ce2045d9744ab4816b30d72e4c22 Mon Sep 17 00:00:00 2001
From: zhangbo <zhangbo@qq.com>
Date: 星期三, 07 五月 2025 10:25:44 +0800
Subject: [PATCH] 1.12添加无测距休眠30秒开一次测距
---
keil/include/drivers/Usart1.c | 290 +++++++++++++++++++++++++++++-----------------------------
1 files changed, 145 insertions(+), 145 deletions(-)
diff --git a/keil/include/drivers/Usart1.c b/keil/include/drivers/Usart1.c
index 9c2333c..4d24aec 100644
--- a/keil/include/drivers/Usart1.c
+++ b/keil/include/drivers/Usart1.c
@@ -8,7 +8,7 @@
//#include "Rcc_Nvic_Systick.h"
//数据发送队列变量
-EUART1_Frame m_EUART1_TxFrames[EUART1_TX_FRM_SIZE]; //数据发送帧队列
+EUART1_Frame m_EUART1_TxFrames[EUART1_TX_FRM_SIZE]; //数据发送帧队列
volatile int8_t m_EUART1_TxFrm_Tail = 0; //数据发送帧队列尾指针
volatile int8_t m_EUART1_TxFrm_Head = 0; //数据发送帧队列头指针
volatile int8_t m_EUART1_TxFrm_FreeFrmLen = 0; //数据发送帧队列剩余帧数
@@ -25,8 +25,8 @@
void (*Usart2ParseDataCallback)(uint8_t);
void Usart2InitVariables(void)
-{
- m_EUART1_TxFrm_FreeFrmLen = EUART1_TX_FRM_SIZE-1;
+{
+ m_EUART1_TxFrm_FreeFrmLen = EUART1_TX_FRM_SIZE-1;
}
@@ -42,145 +42,145 @@
void UART1_CheckReceive(void)
{
- int32_t DMACnt2 = 0;
- int32_t MaxDataLen2 = EUART1_RX_BUF_SIZE;
-
- //如果正在往发送队列中添加数据，退出
- if(m_bEUART1PushingFrms)
- return;
- //判断是否正在Check
- if(m_bEUART1CheckingRec)
- return;
- m_bEUART1CheckingRec = 1;
- //if(EUART1_RX_DMA_CH->CNDTR == 0)MK8000修改
- {
- m_bEUART1CheckingRec = 0;
- return;
- }
- //DMACnt2 = EUART1_RX_BUF_SIZE - (EUART1_RX_DMA_CH->CNDTR);
+ int32_t DMACnt2 = 0;
+ int32_t MaxDataLen2 = EUART1_RX_BUF_SIZE;
- while( m_EUART1_DMA_RXPtr != DMACnt2 && MaxDataLen2 > 0)
- {
- Usart2ParseDataCallback(m_EUART1_DMA_RXBuf[m_EUART1_DMA_RXPtr]);//USART2搬运的数据缓存
- m_EUART1_DMA_RXPtr++;
- if( m_EUART1_DMA_RXPtr >= EUART1_RX_BUF_SIZE )
- {
- m_EUART1_DMA_RXPtr = 0;
- }
- //DMACnt2 = EUART1_RX_BUF_SIZE - (EUART1_RX_DMA_CH->CNDTR);MK8000修改
- MaxDataLen2--;
- }
- m_bEUART1CheckingRec = 0;
+ //如果正在往发送队列中添加数据，退出
+ if(m_bEUART1PushingFrms)
+ return;
+ //判断是否正在Check
+ if(m_bEUART1CheckingRec)
+ return;
+ m_bEUART1CheckingRec = 1;
+ //if(EUART1_RX_DMA_CH->CNDTR == 0)MK8000修改
+ {
+ m_bEUART1CheckingRec = 0;
+ return;
+ }
+ //DMACnt2 = EUART1_RX_BUF_SIZE - (EUART1_RX_DMA_CH->CNDTR);
+
+ while( m_EUART1_DMA_RXPtr != DMACnt2 && MaxDataLen2 > 0)
+ {
+ Usart2ParseDataCallback(m_EUART1_DMA_RXBuf[m_EUART1_DMA_RXPtr]);//USART2搬运的数据缓存
+ m_EUART1_DMA_RXPtr++;
+ if( m_EUART1_DMA_RXPtr >= EUART1_RX_BUF_SIZE )
+ {
+ m_EUART1_DMA_RXPtr = 0;
+ }
+ //DMACnt2 = EUART1_RX_BUF_SIZE - (EUART1_RX_DMA_CH->CNDTR);MK8000修改
+ MaxDataLen2--;
+ }
+ m_bEUART1CheckingRec = 0;
}
-#ifndef EXUART_USE_TXDMA
+#ifndef EXUART_USE_TXDMA
//查询方式发送数据
void UART2_CheckSend(void)
{
- static int32_t s_count2 = 0;
+ static int32_t s_count2 = 0;
// uint32_t temp32 = 0;
- if(m_bEUART1PushingFrms || m_bEUART1CheckingSend)//往发送队列中发数据和确认数据发送都为0时
- return;
- m_bEUART1CheckingSend = 1;
+ if(m_bEUART1PushingFrms || m_bEUART1CheckingSend)//往发送队列中发数据和确认数据发送都为0时
+ return;
+ m_bEUART1CheckingSend = 1;
- //判断队列是否为空以及DMA是否空闲
- //if ((EXT_UART2->ISR & UART_FLAG_TXE) == (uint16_t)RESET) //上次发送未完成MK8000修改
- {
- m_bEUART1CheckingSend = 0;
- return;
- }
-
- if(m_EUART1_TxFrm_Head == m_EUART1_TxFrm_Tail) //队列为空
- {
- //if((EXT_UART2->ISR & UART_FLAG_TC) != (uint16_t)RESET) //发送完毕MK8000修改
- {
- if(m_bEUART1TxEn)
- {
- m_bEUART1TxEn = 0;
- t1++;
+ //判断队列是否为空以及DMA是否空闲
+ //if ((EXT_UART2->ISR & UART_FLAG_TXE) == (uint16_t)RESET) //上次发送未完成MK8000修改
+ {
+ m_bEUART1CheckingSend = 0;
+ return;
+ }
+
+ if(m_EUART1_TxFrm_Head == m_EUART1_TxFrm_Tail) //队列为空
+ {
+ //if((EXT_UART2->ISR & UART_FLAG_TC) != (uint16_t)RESET) //发送完毕MK8000修改
+ {
+ if(m_bEUART1TxEn)
+ {
+ m_bEUART1TxEn = 0;
+ t1++;
// temp32 = GPIOC->CRH; //C10悬空输入
-// temp32 &= ~(0x00000000F<<8);
+// temp32 &= ~(0x00000000F<<8);
// temp32 |= (0x000000004<<8);
// GPIOC->CRH = temp32;// */
- }
- }
- m_bEUART1CheckingSend = 0;
- return;
- }
-
- if(!m_bEUART1TxEn)
- {
- m_bEUART1TxEn = 1;
- #ifdef BAUDRATE_19200
- delay_us(500);
- #else
- delay_us(10);
- #endif
+ }
+ }
+ m_bEUART1CheckingSend = 0;
+ return;
+ }
+
+ if(!m_bEUART1TxEn)
+ {
+ m_bEUART1TxEn = 1;
+#ifdef BAUDRATE_19200
+ delay_us(500);
+#else
+ delay_us(10);
+#endif
// temp32 = GPIOC->CRH; //C10复用推挽输出
// temp32 &= ~(0x00000000F<<8);
// temp32 |= (0x000000009<<8);
// GPIOC->CRH = temp32;// */
- }
-
- //发送一个字节数据
- //EXT_UART2->TDR = m_EUART1_TxFrames[m_EUART1_TxFrm_Tail].buf[s_count2];MK8000修改
- s_count2++;
- if(s_count2 >= m_EUART1_TxFrames[m_EUART1_TxFrm_Tail].len) //一帧数据发送完毕
- {
- s_count2 = 0;
- m_EUART1_TxFrm_Tail++;
- if(m_EUART1_TxFrm_Tail == EUART1_TX_FRM_SIZE)
- m_EUART1_TxFrm_Tail = 0;
- m_EUART1_TxFrm_FreeFrmLen++;
- }
- m_bEUART1CheckingSend = 0;
- } // */
+ }
+
+ //发送一个字节数据
+ //EXT_UART2->TDR = m_EUART1_TxFrames[m_EUART1_TxFrm_Tail].buf[s_count2];MK8000修改
+ s_count2++;
+ if(s_count2 >= m_EUART1_TxFrames[m_EUART1_TxFrm_Tail].len) //一帧数据发送完毕
+ {
+ s_count2 = 0;
+ m_EUART1_TxFrm_Tail++;
+ if(m_EUART1_TxFrm_Tail == EUART1_TX_FRM_SIZE)
+ m_EUART1_TxFrm_Tail = 0;
+ m_EUART1_TxFrm_FreeFrmLen++;
+ }
+ m_bEUART1CheckingSend = 0;
+} // */
#else
- /*
+/*
//检查是否数据帧需要发送
void UART_CheckSend(void)
{
- //判断是否正在Check
- if(m_bEUARTPushingFrms || m_bEUARTCheckingSend)
- return;
- m_bEUARTCheckingSend = 1;
+//判断是否正在Check
+if(m_bEUARTPushingFrms || m_bEUARTCheckingSend)
+ return;
+m_bEUARTCheckingSend = 1;
- //判断DMA通道是否正在工作
- if((EUART_TX_DMA_CH->CCR & 0x01) != 0) //通道正在工作
- {
- if((EUART_DMA->ISR & EUART_TX_DMA_IT_TC) == (uint32_t)RESET) //传输未完成
- {
- m_bEUARTCheckingSend = 0;
- return;
- }
- else
- {
- EUART_DMA->IFCR = EUART_TX_DMA_IT_TC; //清除标志（注意寄存器和标志名称）
- EUART_TX_DMA_CH->CCR &= ~((uint32_t)0x01); //禁用DMA
- }
- }
-
- //判断队列是否为空
- if(m_EUART_TxFrm_Head == m_EUART_TxFrm_Tail)
+//判断DMA通道是否正在工作
+if((EUART_TX_DMA_CH->CCR & 0x01) != 0) //通道正在工作
+{
+ if((EUART_DMA->ISR & EUART_TX_DMA_IT_TC) == (uint32_t)RESET) //传输未完成
{
m_bEUARTCheckingSend = 0;
return;
}
-
- //开启一次数据发送
- EUART_TX_DMA_CH->CMAR = (uint32_t)m_EUART_TxFrames[m_EUART_TxFrm_Tail].buf; //要发送的内存地址
- EUART_TX_DMA_CH->CNDTR = m_EUART_TxFrames[m_EUART_TxFrm_Tail].len; //要发送的字节数
- EUART_TX_DMA_CH->CCR |= 0x01; //开启一次DMA
- m_EUART_TxFrm_Tail++;
- if(m_EUART_TxFrm_Tail == EUART_TX_FRM_SIZE)
- m_EUART_TxFrm_Tail = 0;
- m_EUART_TxFrm_FreeFrmLen++;
- m_bEUARTCheckingSend = 0;
-} // */
+ else
+ {
+ EUART_DMA->IFCR = EUART_TX_DMA_IT_TC; //清除标志（注意寄存器和标志名称）
+ EUART_TX_DMA_CH->CCR &= ~((uint32_t)0x01); //禁用DMA
+ }
+}
+
+//判断队列是否为空
+if(m_EUART_TxFrm_Head == m_EUART_TxFrm_Tail)
+{
+ m_bEUARTCheckingSend = 0;
+ return;
+}
+
+//开启一次数据发送
+EUART_TX_DMA_CH->CMAR = (uint32_t)m_EUART_TxFrames[m_EUART_TxFrm_Tail].buf; //要发送的内存地址
+EUART_TX_DMA_CH->CNDTR = m_EUART_TxFrames[m_EUART_TxFrm_Tail].len; //要发送的字节数
+EUART_TX_DMA_CH->CCR |= 0x01; //开启一次DMA
+m_EUART_TxFrm_Tail++;
+if(m_EUART_TxFrm_Tail == EUART_TX_FRM_SIZE)
+ m_EUART_TxFrm_Tail = 0;
+m_EUART_TxFrm_FreeFrmLen++;
+m_bEUARTCheckingSend = 0;
+} // */
#endif
@@ -188,37 +188,37 @@
void UART2_PushFrame(uint8_t* pdata, int32_t data_len)
{
// uint8_t temp8 = 0;
- if(m_bEUART1PushingFrms || m_bEUART1CheckingSend)
- return;
- m_bEUART1PushingFrms = 1;
-
- if(data_len > EUART1_TX_FRMBUF_SIZE || m_EUART1_TxFrm_FreeFrmLen <= 0) //帧长度超范围或缓存已满
- {
- m_bEUART1PushingFrms = 0;
- return;
- }
+ if(m_bEUART1PushingFrms || m_bEUART1CheckingSend)
+ return;
+ m_bEUART1PushingFrms = 1;
- //将要发送的数据帧压入队列
- m_EUART1_TxFrames[m_EUART1_TxFrm_Head].len = data_len;
- memcpy((uint8_t*)m_EUART1_TxFrames[m_EUART1_TxFrm_Head].buf, (uint8_t*)pdata, data_len);
- m_EUART1_TxFrm_Head++;
- if(m_EUART1_TxFrm_Head == EUART1_TX_FRM_SIZE)
- m_EUART1_TxFrm_Head = 0;
- m_EUART1_TxFrm_FreeFrmLen--;
- m_bEUART1PushingFrms = 0;
+ if(data_len > EUART1_TX_FRMBUF_SIZE || m_EUART1_TxFrm_FreeFrmLen <= 0) //帧长度超范围或缓存已满
+ {
+ m_bEUART1PushingFrms = 0;
+ return;
+ }
+
+ //将要发送的数据帧压入队列
+ m_EUART1_TxFrames[m_EUART1_TxFrm_Head].len = data_len;
+ memcpy((uint8_t*)m_EUART1_TxFrames[m_EUART1_TxFrm_Head].buf, (uint8_t*)pdata, data_len);
+ m_EUART1_TxFrm_Head++;
+ if(m_EUART1_TxFrm_Head == EUART1_TX_FRM_SIZE)
+ m_EUART1_TxFrm_Head = 0;
+ m_EUART1_TxFrm_FreeFrmLen--;
+ m_bEUART1PushingFrms = 0;
}
//将最新一帧数据Pop出队列
void UART2_PopFrame(void)
{
- if(m_bEUART1PushingFrms || m_bEUART1CheckingSend)
- return;
- if(m_EUART1_TxFrm_FreeFrmLen >= EUART1_TX_FRM_SIZE-1)
- return;
- m_EUART1_TxFrm_Head--;
- if(m_EUART1_TxFrm_Head < 0)
- m_EUART1_TxFrm_Head = EUART1_TX_FRM_SIZE-1;
- m_EUART1_TxFrm_FreeFrmLen++;
+ if(m_bEUART1PushingFrms || m_bEUART1CheckingSend)
+ return;
+ if(m_EUART1_TxFrm_FreeFrmLen >= EUART1_TX_FRM_SIZE-1)
+ return;
+ m_EUART1_TxFrm_Head--;
+ if(m_EUART1_TxFrm_Head < 0)
+ m_EUART1_TxFrm_Head = EUART1_TX_FRM_SIZE-1;
+ m_EUART1_TxFrm_FreeFrmLen++;
}
//void USART_putc(char c)
//{
@@ -240,7 +240,7 @@
//}
//int fputc(int ch, FILE *f)
//{
-//
+//
//HAL_UART_Transmit(&huart1,(uint8_t*)&ch,1,1);
// return (ch);
//}
@@ -250,14 +250,14 @@
/***************** UART发送一个字符 **********************/
void Uart1_SendByte( uint8_t ch )
{
- /* 发送一个字节数据到USART2 */
+ /* 发送一个字节数据到USART2 */
uart_send(UART_ID1, &ch, 1, NULL);
}
/***************** 发送指定长度的字符串 **********************/
void Uart2_SendStr_length( uint8_t *str,uint32_t strlen )
{
- unsigned int k=0;
- do
+ unsigned int k=0;
+ do
{
Uart1_SendByte( *(str + k) );
k++;
@@ -267,9 +267,9 @@
/***************** 发送字符串 **********************/
void Uart2_SendString( uint8_t *str)
{
- unsigned int k=0;
+ unsigned int k=0;
- do
+ do
{
Uart1_SendByte( *(str + k) );
k++;
--
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