From af4710835316cb2fd8dd70db7867e23147206f31 Mon Sep 17 00:00:00 2001 From: zhyinch <zhyinch@gmail.com> Date: 星期四, 17 二月 2022 09:33:48 +0800 Subject: [PATCH] 增加跳跃时间 --- 源码/核心板/Src/OnChipDevices/Usart.c | 626 ++++++++++++++++++++++++++++++++++++++++++++++++++++---- 1 files changed, 582 insertions(+), 44 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 1ef8263..1b05619 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" @@ -1,56 +1,594 @@ #include "Usart.h" +#include <string.h> +#include <stdarg.h> +#include <stdio.h> +#include "modbus.h" +#include "Rcc_Nvic_Systick.h" +#include "global_param.h" +//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 Usart_Init(void) +void (*Usart1ParseDataCallback)(uint8_t); +void Usart1InitVariables(void) +{ + m_EUART_TxFrm_FreeFrmLen = EUART_TX_FRM_SIZE-1; +} + HIDO_DataStruct stPosState[4]; +HIDO_INT32 GPS_ParseGGA(HIDO_CHAR *_pcData, HIDO_UINT32 _u32Len) { + + if (HIDO_UtilParseFormat((HIDO_UINT8 *) _pcData, _u32Len, "$%*,%*,%p,%*,%p,%*,%p,%*,%*,%p,%*,%*,%*,%*,%**", + &stPosState[0], &stPosState[1], &stPosState[2], &stPosState[3]) != 15) + { + return HIDO_ERR; + } + + //l_u8PosState = atoi((HIDO_CHAR *)stPosState.m_pData); + + return HIDO_OK; +} +//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); - - /* 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); - - /* 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; - - /* USART configuration */ - USART_Init(EXT_USART, &USART_InitStructure); - - /* Enable USART */ - USART_Cmd(EXT_USART, ENABLE); - + 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(); + } - -uint16_t Checksum_u16(uint8_t *pdata, uint32_t len) +u8 overrun_flag=0,receiveingdata_flag,gpsdataready_flag,waitggaend_flag,ggaend_idx; +u8 RTCMdata[2000]; +u32 lastusartdata_timer; +u16 rtcm_i,gps_packlen; +u16 t1,t2,t3,t4; +extern volatile uint32_t time32_incr; +void UART_CheckReceive(void) { - uint16_t sum = 0; - uint32_t i; - for(i = 0; i < len; i++) - sum += pdata[i]; - sum = ~sum; - return sum; + int32_t DMACnt = 0; + int32_t MaxDataLen = EUART_RX_BUF_SIZE; + + //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; + } + if(time32_incr-lastusartdata_timer>300&&receiveingdata_flag) + { + gpsdataready_flag = 1; + receiveingdata_flag = 0; + gps_packlen = rtcm_i; + rtcm_i = 0; + t1++; + waitggaend_flag = 1; + if(g_com_map[DEV_ROLE]) + { + UWBSendOnePackData(RTCMdata,gps_packlen); + gpsdataready_flag = 0; + } + } + DMACnt = EUART_RX_BUF_SIZE - (EUART_RX_DMA_CH->CNDTR); + while( m_EUART_DMA_RXPtr != DMACnt && MaxDataLen > 0) + { + receiveingdata_flag = 1; + lastusartdata_timer = time32_incr; + //Usart1ParseDataCallback(m_EUART_DMA_RXBuf[m_EUART_DMA_RXPtr]); + RTCMdata[rtcm_i++] = m_EUART_DMA_RXBuf[m_EUART_DMA_RXPtr]; +// if(waitggaend_flag&&m_EUART_DMA_RXBuf[m_EUART_DMA_RXPtr]=='*') +// { +// waitggaend_flag = 0; +// ggaend_idx = rtcm_i; +// } + //delay_us(10); + 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--; + } + m_bEUARTCheckingRec = 0; } +#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; + + if(m_bEUARTPushingFrms || m_bEUARTCheckingSend) + return; + m_bEUARTCheckingSend = 1; + + //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); +} + +HIDO_UINT32 HIDO_UtilParseFormat(HIDO_UINT8 *_pu8Src, HIDO_UINT32 _u32SrcLen, const HIDO_CHAR *_pcFmt, ...) +{ + va_list sArgPtr = { NULL }; + int nParseNum = 0; + HIDO_CHAR cSign = ' '; + HIDO_BOOL bReturn = HIDO_FALSE; + + if((NULL == _pu8Src) || (NULL == _pcFmt)) + { + return 0; + } + + va_start(sArgPtr, _pcFmt); + + while ((*_pcFmt) != '\0') + { + if(0 == _u32SrcLen) + { + if(!(('%' == *_pcFmt) && ('e' == *(_pcFmt + 1)))) + { + break; + } + } + + if ((*_pcFmt) == '%') + { + _pcFmt++; + cSign = *(_pcFmt++); + + switch (cSign) + { + case '*': + { + while (_u32SrcLen) + { + if (*_pu8Src != *_pcFmt) + { + _pu8Src++; + _u32SrcLen--; + } + else + { + break; + } + } + + nParseNum++; + + break; + } + case 'd': + { + HIDO_BOOL bNeg = HIDO_FALSE; + HIDO_BOOL bBeg = HIDO_FALSE; + + HIDO_UINT32 nResult = 0; + int *pInt = NULL; + HIDO_CHAR c = ' '; + + pInt = va_arg(sArgPtr, INT32_PTR); + + while (_u32SrcLen) + { + c = *_pu8Src; + + if ((HIDO_FALSE == bBeg) && c == '-') + { + bNeg = HIDO_TRUE; + bBeg = HIDO_TRUE; + } + else if ((c >= '0') && (c <= '9')) + { + bBeg = HIDO_TRUE; + nResult = nResult * 10 + (c - '0'); + } + else + { + break; + } + + _pu8Src++; + _u32SrcLen--; + } + + if (HIDO_TRUE == bNeg) + { + nResult = (~nResult) + 1; + } + + if (NULL != pInt) + { + *pInt = nResult; + } + + nParseNum++; + + break; + } + case 'x': + { + HIDO_UINT32 nResult = 0; + HIDO_UINT32 *pUint = NULL; + HIDO_CHAR c; + + pUint = va_arg(sArgPtr, UINT32_PTR); + + while (_u32SrcLen) + { + c = *_pu8Src; + + if ((c >= '0') && (c <= '9')) + { + nResult = (nResult << 4) + (c - '0'); + } + else if ((c >= 'a') && (c <= 'f')) + { + nResult = (nResult << 4) + (c - 'a' + 0x0A); + } + else if ((c >= 'A') && (c <= 'F')) + { + nResult = (nResult << 4) + (c - 'A' + 0x0A); + } + else + { + break; + } + + _pu8Src++; + _u32SrcLen--; + } + + if (NULL != pUint) + { + *pUint = nResult; + } + + nParseNum++; + + break; + } + case 'p': + { + HIDO_DataStruct *pDptr = va_arg(sArgPtr, DATA_PTR); + HIDO_UINT8 *pStart = NULL; + HIDO_UINT32 nCount = 0; + + pStart = _pu8Src; + + while (_u32SrcLen) + { + if (*_pu8Src != *_pcFmt) + { + nCount++; + } + else + { + break; + } + + _pu8Src++; + _u32SrcLen--; + } + + if(NULL != pDptr) + { + pDptr->m_pData = pStart; + pDptr->m_u32Len = nCount; + } + + nParseNum++; + + break; + } + case 'e': + { + HIDO_UINT8 **ppPtr = va_arg(sArgPtr, U8_PTR_PTR); + + if (ppPtr) + { + *ppPtr = _pu8Src; + } + + nParseNum++; + bReturn = HIDO_TRUE; + + break; + } + default: + { + bReturn = HIDO_TRUE; + nParseNum = 0; + + break; + } + } + + if(HIDO_TRUE == bReturn) + { + break; + } + } + else if (*_pu8Src == *_pcFmt) + { + _pu8Src++; + _pcFmt++; + _u32SrcLen--; + } + else + { + nParseNum = 0; + + break; + } + } + + va_end(sArgPtr); + + return nParseNum; +} -- Gitblit v1.9.3