From 0fab14bd3b70cdb16f134eaeeaac7d0947f2078f Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期三, 25 十一月 2020 19:36:16 +0800
Subject: [PATCH] 增加速度滤波阈值
---
源码/核心板/Src/OnChipDevices/Usart.c | 461 +++++++++++++++++++++++++++++++++++++++++++++++++++++---
1 files changed, 430 insertions(+), 31 deletions(-)
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/OnChipDevices/Usart.c" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/OnChipDevices/Usart.c"
index d410b56..a79d9b1 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/OnChipDevices/Usart.c"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/OnChipDevices/Usart.c"
@@ -1,46 +1,445 @@
#include "Usart.h"
+#include <string.h>
+#include <stdio.h>
+#include "modbus.h"
+#include "Rcc_Nvic_Systick.h"
-void Usart_Init(void)
+//数据发送队列变量
+EUART_Frame m_EUART_TxFrames[EUART_TX_FRM_SIZE]; //数据发送帧队列
+volatile int8_t m_EUART_TxFrm_Tail = 0; //数据发送帧队列尾指针
+volatile int8_t m_EUART_TxFrm_Head = 0; //数据发送帧队列头指针
+volatile int8_t m_EUART_TxFrm_FreeFrmLen = 0; //数据发送帧队列剩余帧数
+//DMA数据接收缓存
+uint8_t m_EUART_DMA_RXBuf[EUART_RX_BUF_SIZE]; //DMA数据接收缓存
+volatile int32_t m_EUART_DMA_RXPtr = 0; //当前数据地址
+int16_t DMA_rxtemp = 0,DMA_rxtemp2 = 0; //当前数据地址缓存
+u16 datadelaycount = 0; //剩余1位数据延时等待处理
+//标志变量
+volatile uint8_t m_bEUARTPushingFrms = 0; //正在往发送队列存数据
+volatile uint8_t m_bEUARTCheckingSend = 0; //正在确认数据发送
+volatile uint8_t m_bEUARTCheckingRec = 0; //正在确认接收数据
+volatile uint8_t m_bEUARTTxEn = 0; //使能发送
+
+void (*Usart1ParseDataCallback)(uint8_t);
+void Usart1InitVariables(void)
+{
+ m_EUART_TxFrm_FreeFrmLen = EUART_TX_FRM_SIZE-1;
+}
+
+//UART DMA的配置
+void UART_DMAConfiguration(void)
{
+ DMA_InitTypeDef DMA_InitStructure;
+
+ RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA1, ENABLE);
+
+ //UART的DMA数据接收初始化
+ DMA_DeInit(EUART_RX_DMA_CH);
+ DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)( &(EXT_UART->DR)); //外设数据寄存器
+ DMA_InitStructure.DMA_MemoryBaseAddr = (uint32_t)m_EUART_DMA_RXBuf; //数据Buf
+ DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralSRC; //外设作源头
+ DMA_InitStructure.DMA_BufferSize = EUART_RX_BUF_SIZE; //Buf大小
+ DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable; //外设地址不增加
+ DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable; //内存地址增加
+ DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte; //字节
+ DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte; //字节（注意与上一个变量名称不同！！）
+ DMA_InitStructure.DMA_Mode = DMA_Mode_Circular; //循环模式
+ DMA_InitStructure.DMA_Priority = DMA_Priority_VeryHigh; //优先级
+ DMA_InitStructure.DMA_M2M = DMA_M2M_Disable; //非内存到内存
+ DMA_Init(EUART_RX_DMA_CH, &DMA_InitStructure);
+ USART_DMACmd(EXT_UART, USART_DMAReq_Rx, ENABLE);
+ DMA_Cmd(EUART_RX_DMA_CH, ENABLE);
+
+#ifdef EXUART_USE_TXDMA
+ //UART的DMA数据发送初始化
+ DMA_DeInit(EUART_TX_DMA_CH);
+ DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)(&(EXT_UART->DR)); //外设数据寄存器
+ DMA_InitStructure.DMA_MemoryBaseAddr = 0; //数据Buf
+ DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralDST; //外设作目标
+ DMA_InitStructure.DMA_BufferSize = 0; //Buf大小
+ DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable; //外设地址寄存器不递增
+ DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable; //内存地址递增
+ DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte; //外设字节为单位
+ DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte; //内存字节为单位（注意与上一个变量名称不同！！）
+ DMA_InitStructure.DMA_Mode = DMA_Mode_Normal; //普通模式
+ DMA_InitStructure.DMA_Priority = DMA_Priority_High; //优先级
+ DMA_InitStructure.DMA_M2M = DMA_M2M_Disable; //非内存到内存
+ DMA_Init(EUART_TX_DMA_CH, &DMA_InitStructure);
+
+// DMA_ITConfig(EUART_TX_DMA_CH, DMA_IT_TC, ENABLE); //DMA传输完成中断
+ USART_DMACmd(EXT_UART,USART_DMAReq_Tx,ENABLE); //外设使能DMA // */
+#endif
+}
+
+void Uart1_Init(void)
+{
+ GPIO_InitTypeDef GPIO_InitStructure;
USART_InitTypeDef USART_InitStructure;
- GPIO_InitTypeDef GPIO_InitStructure;
+ USART_ClockInitTypeDef USART_ClockInitStructure;
/* Enable GPIO clock */
- RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_AFIO, ENABLE);
+ RCC_APB2PeriphClockCmd(EU_RCC_GPIO | RCC_APB2Periph_AFIO, ENABLE);
/* Enable USART clock */
- RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1, ENABLE);
+ RCC_APB2PeriphClockCmd(EXT_UART_RCC, ENABLE);
- /* Configure USART Tx as alternate function push-pull */
- GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
- GPIO_InitStructure.GPIO_Pin = USART_TX_pin;
- GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
- GPIO_Init(USART_GPIO, &GPIO_InitStructure);
+ Usart1InitVariables();
+
+ //初始化管脚
+ GPIO_InitStructure.GPIO_Pin = EU_RX_PIN;
+ GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU; //Rx上拉输入
+ GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
+ GPIO_Init(EU_RX_GPIO, &GPIO_InitStructure);
+
+ GPIO_InitStructure.GPIO_Pin = EU_TX_PIN;
+ GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; //Tx推挽复用输出 GPIO_Mode_AF_PP
+ GPIO_Init(EU_TX_GPIO, &GPIO_InitStructure);
+
+ GPIO_InitStructure.GPIO_Pin = EU_485_PIN;
+ GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; //Tx推挽复用输出 GPIO_Mode_AF_PP
+ GPIO_Init(EU_485_GPIO, &GPIO_InitStructure);
+ OUT485_DISABLE;
+#ifdef UART_GPIO_REMAP_ENABLE
+ GPIO_PinRemapConfig(UART_GPIO_REMAP, ENABLE);
+#endif
+
+ USART_DeInit(EXT_UART);
+ USART_InitStructure.USART_BaudRate = EXUART_BAUD_RADE;
+ USART_InitStructure.USART_WordLength = USART_WordLength_8b;
+ USART_InitStructure.USART_StopBits = USART_StopBits_1;
+ USART_InitStructure.USART_Parity = USART_Parity_No;
+ USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
+ USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;
+
+ USART_ClockInitStructure.USART_Clock = USART_Clock_Disable;
+ USART_ClockInitStructure.USART_CPOL = USART_CPOL_Low;
+ USART_ClockInitStructure.USART_CPHA = USART_CPHA_2Edge;
+ USART_ClockInitStructure.USART_LastBit = USART_LastBit_Disable;
+
+ USART_ClockInit(EXT_UART, &USART_ClockInitStructure);
+ USART_Init(EXT_UART, &USART_InitStructure);
+// USART_ITConfig(EXT_UART, USART_IT_RXNE, ENABLE);//??????,????? ??????????
+ // Enable the USARTx
+ USART_Cmd(EXT_UART, ENABLE);
+ //DMA配置（须放到UART初始化之后）
+ UART_DMAConfiguration();
+
+}
+u8 overrun_flag=0;
+u16 t1,t2,t3,t4;
+void UART_CheckReceive(void)
+{
+ int32_t DMACnt = 0;
+ int32_t MaxDataLen = EUART_RX_BUF_SIZE;
+ u8 rxbuf_len = 0;
+ u8 buftemp1 = 0;
+ u8 buftemp2 = 0;
+ u8 i = 0;
+ //如果正在往发送队列中添加数据，退出
+ if(m_bEUARTPushingFrms)
+ return;
+ //判断是否正在Check
+ if(m_bEUARTCheckingRec)
+ return;
+ m_bEUARTCheckingRec = 1;
+ if(EUART_RX_DMA_CH->CNDTR == 0)
+ {
+ m_bEUARTCheckingRec = 0;
+ return;
+ }
+
+ DMACnt = EUART_RX_BUF_SIZE - (EUART_RX_DMA_CH->CNDTR);//DMACnt是DMA通道接收到数据总长度,CNDTR是dma剩余未使用数量
+
+ if(DMACnt!=m_EUART_DMA_RXPtr)
+ {
+ //DMA有未处理数据
+ DMA_rxtemp=m_EUART_DMA_RXPtr+1;
+ delay_us(10);
+ overrun_flag=0;
+ if( DMA_rxtemp >= EUART_RX_BUF_SIZE )
+ {
+ DMA_rxtemp = 0;
+ }
+ DMACnt = EUART_RX_BUF_SIZE - (EUART_RX_DMA_CH->CNDTR);//DMACnt是DMA通道接收到数据总长度,CNDTR是dma剩余未使用数量
+ if(DMACnt!=DMA_rxtemp&&(cmd_mode==0))
+ {
+ //DMA有超过2位数据未处理
+ DMA_rxtemp = 0;//清空数组指针
+ datadelaycount = 0;//等待次数清零
+ buftemp1 = m_EUART_DMA_RXBuf[m_EUART_DMA_RXPtr];
+ buftemp2 = m_EUART_DMA_RXBuf[m_EUART_DMA_RXPtr+1];
+ if((buftemp1==0x55)&&(buftemp2==0xAA))
+ {
+ //私有协议
+ cmd_mode = 1;
+ }
+ else if(buftemp1==RS485_Addr)
+ {
+ if((buftemp2==03)||(buftemp2==06)||(buftemp2==16))//功能码正确
+ {
+ //modubs协议
+ t1++;
+ cmd_mode=2;
+ DMA_rxtemp2=m_EUART_DMA_RXPtr+7;
+ if( DMA_rxtemp2 >= EUART_RX_BUF_SIZE-1 )
+ {
+ DMA_rxtemp2 -= EUART_RX_BUF_SIZE;
+ overrun_flag=1;
+ }
+ }
+ else
+ {
+ m_EUART_DMA_RXPtr+=2;
+ if( m_EUART_DMA_RXPtr >= EUART_RX_BUF_SIZE )
+ {
+ m_EUART_DMA_RXPtr = 0;
+ }
+ }
+ }
+ else
+ {
+ //无效码，干扰码
+ if(cmd_mode==0)
+ {
+ m_EUART_DMA_RXPtr+=2;
+ if( m_EUART_DMA_RXPtr >= EUART_RX_BUF_SIZE )
+ {
+ m_EUART_DMA_RXPtr = 0;
+ }
+ }
+ }
+ }
+ else
+ {
+ //只有1位数据未处理
+ if(++datadelaycount > WAITDELAYCOUNT)
+ { //超出等待次数
+ datadelaycount = 0;
+ cmd_mode=0;
+ m_EUART_DMA_RXPtr++;
+ if( m_EUART_DMA_RXPtr >= EUART_RX_BUF_SIZE )
+ {
+ m_EUART_DMA_RXPtr = 0;
+ }
+ }
+ }
+ if(cmd_mode==1)
+ {
+ //私有协议
+ while( m_EUART_DMA_RXPtr != DMACnt && MaxDataLen > 0)
+ {
+ Usart1ParseDataCallback(m_EUART_DMA_RXBuf[m_EUART_DMA_RXPtr]);
+ m_EUART_DMA_RXPtr++;
+ if( m_EUART_DMA_RXPtr >= EUART_RX_BUF_SIZE )
+ {
+ m_EUART_DMA_RXPtr = 0;
+ }
+ DMACnt = EUART_RX_BUF_SIZE - (EUART_RX_DMA_CH->CNDTR);
+ MaxDataLen--;
+ }
+ }
+ else if(cmd_mode==2)
+ {
+ //modbus协议
+ delay_ms(10);//等待数据接收完成
+ DMACnt = EUART_RX_BUF_SIZE - (EUART_RX_DMA_CH->CNDTR);
+ if((overrun_flag==0&&DMACnt>DMA_rxtemp2)||(overrun_flag==1&&DMACnt<DMA_rxtemp&&DMACnt>DMA_rxtemp2))
+ { while(m_EUART_DMA_RXPtr != DMACnt && MaxDataLen > 0)
+ {
+ RS485_RX_BUFF[i] = m_EUART_DMA_RXBuf[m_EUART_DMA_RXPtr];
+ m_EUART_DMA_RXPtr++;
+ if(++i >= EUART_RX_BUF_SIZE)i = 0;
+ if( m_EUART_DMA_RXPtr >= EUART_RX_BUF_SIZE )
+ {
+ m_EUART_DMA_RXPtr = 0;
+ }
+ DMACnt = EUART_RX_BUF_SIZE - (EUART_RX_DMA_CH->CNDTR);
+ MaxDataLen--;
+ }
+// m_EUART_DMA_RXPtr++;//数据指向下一位
+// if( m_EUART_DMA_RXPtr >= EUART_RX_BUF_SIZE )
+// {
+// m_EUART_DMA_RXPtr = 0;
+// }
+ t2++;
+ RS485_Service();
+ }
+ }
+ }
- /* Configure USART Rx as input floating */
- GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
- GPIO_InitStructure.GPIO_Pin = USART_RX_pin;
- GPIO_Init(USART_GPIO, &GPIO_InitStructure);
+ m_bEUARTCheckingRec = 0;
+}
- /* USARTx configured as follow:
- - BaudRate = 115200 baud
- - Word Length = 8 Bits
- - One Stop Bit
- - No parity
- - Hardware flow control disabled (RTS and CTS signals)
- - Receive and transmit enabled
- */
- USART_InitStructure.USART_BaudRate = BAUD_RATE ;
- USART_InitStructure.USART_WordLength = USART_WordLength_8b;
- USART_InitStructure.USART_StopBits = USART_StopBits_1;
- USART_InitStructure.USART_Parity = USART_Parity_No;
- USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
- USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;
+#ifndef EXUART_USE_TXDMA
+//查询方式发送数据
+void UART_CheckSend(void)
+{
+ static int32_t s_count = 0;
+// uint32_t temp32 = 0;
- /* USART configuration */
- USART_Init(EXT_USART, &USART_InitStructure);
+ if(m_bEUARTPushingFrms || m_bEUARTCheckingSend)
+ return;
+ m_bEUARTCheckingSend = 1;
- /* Enable USART */
- USART_Cmd(EXT_USART, ENABLE);
+ //判断队列是否为空以及DMA是否空闲
+ if ((EXT_UART->SR & USART_FLAG_TXE) == (uint16_t)RESET) //上次发送未完成
+ {
+ m_bEUARTCheckingSend = 0;
+ return;
+ }
+
+ if(m_EUART_TxFrm_Head == m_EUART_TxFrm_Tail) //队列为空
+ {
+ if((EXT_UART->SR & USART_FLAG_TC) != (uint16_t)RESET) //发送完毕
+ {
+ if(m_bEUARTTxEn)
+ {
+ OUT485_DISABLE;
+ m_bEUARTTxEn = 0;
+ t3++;
+// temp32 = GPIOC->CRH; //C10悬空输入
+// temp32 &= ~(0x00000000F<<8);
+// temp32 |= (0x000000004<<8);
+// GPIOC->CRH = temp32;// */
+ }
+ }
+ m_bEUARTCheckingSend = 0;
+ return;
+ }
+
+ if(!m_bEUARTTxEn)
+ {
+ m_bEUARTTxEn = 1;
+ OUT485_ENABLE;
+ t4++;
+ #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_UART->DR = m_EUART_TxFrames[m_EUART_TxFrm_Tail].buf[s_count];
+ s_count++;
+ if(s_count >= m_EUART_TxFrames[m_EUART_TxFrm_Tail].len) //一帧数据发送完毕
+ {
+ s_count = 0;
+ 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
+ /*
+//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)
+ {
+ 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
+
+
+//将一帧数据压入发送队列
+void UART_PushFrame(uint8_t* pdata, int32_t data_len)
+{
+// uint8_t temp8 = 0;
+ if(m_bEUARTPushingFrms || m_bEUARTCheckingSend)
+ return;
+ m_bEUARTPushingFrms = 1;
+
+ if(data_len > EUART_TX_FRMBUF_SIZE || m_EUART_TxFrm_FreeFrmLen <= 0) //帧长度超范围或缓存已满
+ {
+ m_bEUARTPushingFrms = 0;
+ return;
+ }
+
+ //将要发送的数据帧压入队列
+ m_EUART_TxFrames[m_EUART_TxFrm_Head].len = data_len;
+ memcpy((uint8_t*)m_EUART_TxFrames[m_EUART_TxFrm_Head].buf, (uint8_t*)pdata, data_len);
+ m_EUART_TxFrm_Head++;
+ if(m_EUART_TxFrm_Head == EUART_TX_FRM_SIZE)
+ m_EUART_TxFrm_Head = 0;
+ m_EUART_TxFrm_FreeFrmLen--;
+ m_bEUARTPushingFrms = 0;
+}
+
+//将最新一帧数据Pop出队列
+void UART_PopFrame(void)
+{
+ if(m_bEUARTPushingFrms || m_bEUARTCheckingSend)
+ return;
+ if(m_EUART_TxFrm_FreeFrmLen >= EUART_TX_FRM_SIZE-1)
+ return;
+ m_EUART_TxFrm_Head--;
+ if(m_EUART_TxFrm_Head < 0)
+ m_EUART_TxFrm_Head = EUART_TX_FRM_SIZE-1;
+ m_EUART_TxFrm_FreeFrmLen++;
+}
+void USART_putc(char c)
+{
+ //while(!(USART2->SR & 0x00000040));
+ //USART_SendData(USART2,c);
+ /* e.g. write a character to the USART */
+ USART_SendData(USART1, c);
+
+ /* Loop until the end of transmission */
+ while (USART_GetFlagStatus(USART1, USART_FLAG_TC) == RESET) ;
+}
+void USART_puts(uint8_t *s,uint8_t len)
+{
+ int i;
+ for(i=0; i<len; i++)
+ {
+ USART_putc(s[i]);
+ }
+}
+int fputc(int ch, FILE *f)
+{
+
+ USART_SendData(USART1, (unsigned char) ch);// USART1 ???? USART2 ?
+ while (!(USART1->SR & USART_FLAG_TXE));
+ return (ch);
}
--
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