From d7f957eb56272e006de3dd404454cdf56de86655 Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期日, 25 二月 2024 18:42:52 +0800
Subject: [PATCH] 调通数据上报，测距，同步
---
Src/OnChipDevices/Usart.c | 310 +++++++++++++++++++++++++-------------------------
1 files changed, 155 insertions(+), 155 deletions(-)
diff --git a/Src/OnChipDevices/Usart.c b/Src/OnChipDevices/Usart.c
index d42fcac..04cf33b 100644
--- a/Src/OnChipDevices/Usart.c
+++ b/Src/OnChipDevices/Usart.c
@@ -5,7 +5,7 @@
#include "Rcc_Nvic_Systick.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
+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
@@ -22,8 +22,8 @@
void (*Usart1ParseDataCallback)(uint8_t);
void Usart1InitVariables(void)
-{
- m_EUART_TxFrm_FreeFrmLen = EUART_TX_FRM_SIZE-1;
+{
+ m_EUART_TxFrm_FreeFrmLen = EUART_TX_FRM_SIZE-1;
}
//UART DMA的配置
@@ -34,144 +34,144 @@
uint16_t t1,t2,t3,t4;
void UART_CheckReceive(void)
{
- 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;
- }
- DMACnt = EUART_RX_BUF_SIZE - (EUART_RX_DMA_CH->CNDTR);
- while( m_EUART_DMA_RXPtr != DMACnt && MaxDataLen > 0)
- {
- Usart1ParseDataCallback(m_EUART_DMA_RXBuf[m_EUART_DMA_RXPtr]);
- waitusart_timer = tag_frequency*USART_KEEPWAKE_TIME;
- //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;
+ 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;
+ }
+ DMACnt = EUART_RX_BUF_SIZE - (EUART_RX_DMA_CH->CNDTR);
+ while( m_EUART_DMA_RXPtr != DMACnt && MaxDataLen > 0)
+ {
+ Usart1ParseDataCallback(m_EUART_DMA_RXBuf[m_EUART_DMA_RXPtr]);
+ waitusart_timer = tag_frequency*USART_KEEPWAKE_TIME;
+ //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
+#ifndef EXUART_USE_TXDMA
//查询方式发送数据
void UART_CheckSend(void)
{
- static int32_t s_count = 0;
+ static int32_t s_count = 0;
// uint32_t temp32 = 0;
- if(m_bEUARTPushingFrms || m_bEUARTCheckingSend)
- return;
- m_bEUARTCheckingSend = 1;
+ 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->ISR & UART_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->ISR & UART_FLAG_TC) != (uint16_t)RESET) //发送完毕
- {
- if(m_bEUARTTxEn)
- {
- m_bEUARTTxEn = 0;
- t3++;
+ //判断队列是否为空以及DMA是否空闲
+ if ((EXT_UART->ISR & UART_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->ISR & UART_FLAG_TC) != (uint16_t)RESET) //发送完毕
+ {
+ if(m_bEUARTTxEn)
+ {
+ m_bEUARTTxEn = 0;
+ t3++;
// temp32 = GPIOC->CRH; //C10悬空输入
-// temp32 &= ~(0x00000000F<<8);
+// temp32 &= ~(0x00000000F<<8);
// temp32 |= (0x000000004<<8);
// GPIOC->CRH = temp32;// */
- }
- }
- m_bEUARTCheckingSend = 0;
- return;
- }
-
- if(!m_bEUARTTxEn)
- {
- m_bEUARTTxEn = 1;
- #ifdef BAUDRATE_19200
- delay_us(500);
- #else
- delay_us(10);
- #endif
+ }
+ }
+ m_bEUARTCheckingSend = 0;
+ return;
+ }
+
+ if(!m_bEUARTTxEn)
+ {
+ m_bEUARTTxEn = 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_UART->TDR = 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;
- } // */
+ }
+
+ //发送一个字节数据
+ EXT_UART->TDR = 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
@@ -179,60 +179,60 @@
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;
- }
+ if(m_bEUARTPushingFrms || m_bEUARTCheckingSend)
+ return;
+ m_bEUARTPushingFrms = 1;
- //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;
+ 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++;
+ 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 */
- HAL_UART_Transmit(&huart1,(uint8_t*)&c,1,1);
+ //while(!(USART2->SR & 0x00000040));
+ //USART_SendData(USART2,c);
+ /* e.g. write a character to the USART */
+ HAL_UART_Transmit(&huart1,(uint8_t*)&c,1,1);
- /* Loop until the end of transmission */
- while ((USART1->ISR, UART_FLAG_TC) == RESET) ;
+ /* Loop until the end of transmission */
+ while ((USART1->ISR, UART_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 i;
+ for(i=0; i<len; i++)
+ {
+ USART_putc(s[i]);
+ }
}
int fputc(int ch, FILE *f)
{
-
-HAL_UART_Transmit(&huart1,(uint8_t*)&ch,1,1);
- return (ch);
+
+ HAL_UART_Transmit(&huart1,(uint8_t*)&ch,1,1);
+ return (ch);
}
--
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