#include "Usart.h" #include #include #include #include "modbus.h" #include "Rcc_Nvic_Systick.h" #include "global_param.h" //Êý¾Ý·¢ËͶÓÁбäÁ¿ EUART_Frame m_EUART_TxFrames[EUART_TX_FRM_SIZE]; //Êý¾Ý·¢ËÍÖ¡¶ÓÁÐ volatile int8_t m_EUART_TxFrm_Tail = 0; //Êý¾Ý·¢ËÍÖ¡¶ÓÁÐβָÕë volatile int8_t m_EUART_TxFrm_Head = 0; //Êý¾Ý·¢ËÍÖ¡¶ÓÁÐÍ·Ö¸Õë volatile int8_t m_EUART_TxFrm_FreeFrmLen = 0; //Êý¾Ý·¢ËÍÖ¡¶ÓÁÐÊ£ÓàÖ¡Êý //DMAÊý¾Ý½ÓÊÕ»º´æ uint8_t m_EUART_DMA_RXBuf[EUART_RX_BUF_SIZE]; //DMAÊý¾Ý½ÓÊÕ»º´æ volatile int32_t m_EUART_DMA_RXPtr = 0; //µ±Ç°Êý¾ÝµØÖ· int16_t DMA_rxtemp = 0,DMA_rxtemp2 = 0; //µ±Ç°Êý¾ÝµØÖ·»º´æ u16 datadelaycount = 0; //Ê£Óà1λÊý¾ÝÑÓʱµÈ´ý´¦Àí //±êÖ¾±äÁ¿ volatile uint8_t m_bEUARTPushingFrms = 0; //ÕýÔÚÍù·¢ËͶÓÁдæÊý¾Ý volatile uint8_t m_bEUARTCheckingSend = 0; //ÕýÔÚÈ·ÈÏÊý¾Ý·¢ËÍ volatile uint8_t m_bEUARTCheckingRec = 0; //ÕýÔÚÈ·ÈϽÓÊÕÊý¾Ý volatile uint8_t m_bEUARTTxEn = 0; //ʹÄÜ·¢ËÍ 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 DMAµÄÅäÖà void UART_DMAConfiguration(void) { DMA_InitTypeDef DMA_InitStructure; RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA1, ENABLE); //UARTµÄDMAÊý¾Ý½ÓÊÕ³õʼ»¯ DMA_DeInit(EUART_RX_DMA_CH); DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)( &(EXT_UART->DR)); //ÍâÉèÊý¾Ý¼Ä´æÆ÷ DMA_InitStructure.DMA_MemoryBaseAddr = (uint32_t)m_EUART_DMA_RXBuf; //Êý¾ÝBuf DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralSRC; //ÍâÉè×÷Ô´Í· DMA_InitStructure.DMA_BufferSize = EUART_RX_BUF_SIZE; //Buf´óС DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable; //ÍâÉèµØÖ·²»Ôö¼Ó DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable; //ÄÚ´æµØÖ·Ôö¼Ó DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte; //×Ö½Ú DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte; //×Ö½Ú£¨×¢ÒâÓëÉÏÒ»¸ö±äÁ¿Ãû³Æ²»Í¬£¡£¡£© DMA_InitStructure.DMA_Mode = DMA_Mode_Circular; //Ñ­»·Ä£Ê½ DMA_InitStructure.DMA_Priority = DMA_Priority_VeryHigh; //ÓÅÏȼ¶ DMA_InitStructure.DMA_M2M = DMA_M2M_Disable; //·ÇÄÚ´æµ½ÄÚ´æ 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 //UARTµÄDMAÊý¾Ý·¢Ëͳõʼ»¯ DMA_DeInit(EUART_TX_DMA_CH); DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)(&(EXT_UART->DR)); //ÍâÉèÊý¾Ý¼Ä´æÆ÷ DMA_InitStructure.DMA_MemoryBaseAddr = 0; //Êý¾ÝBuf DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralDST; //ÍâÉè×÷Ä¿±ê DMA_InitStructure.DMA_BufferSize = 0; //Buf´óС DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable; //ÍâÉèµØÖ·¼Ä´æÆ÷²»µÝÔö DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable; //ÄÚ´æµØÖ·µÝÔö DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte; //ÍâÉè×Ö½ÚΪµ¥Î» DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte; //ÄÚ´æ×Ö½ÚΪµ¥Î»£¨×¢ÒâÓëÉÏÒ»¸ö±äÁ¿Ãû³Æ²»Í¬£¡£¡£© DMA_InitStructure.DMA_Mode = DMA_Mode_Normal; //ÆÕͨģʽ DMA_InitStructure.DMA_Priority = DMA_Priority_High; //ÓÅÏȼ¶ DMA_InitStructure.DMA_M2M = DMA_M2M_Disable; //·ÇÄÚ´æµ½ÄÚ´æ DMA_Init(EUART_TX_DMA_CH, &DMA_InitStructure); // DMA_ITConfig(EUART_TX_DMA_CH, DMA_IT_TC, ENABLE); //DMA´«ÊäÍê³ÉÖÐ¶Ï USART_DMACmd(EXT_UART,USART_DMAReq_Tx,ENABLE); //ÍâÉèʹÄÜDMA // */ #endif } void Uart1_Init(void) { GPIO_InitTypeDef GPIO_InitStructure; USART_InitTypeDef USART_InitStructure; USART_ClockInitTypeDef USART_ClockInitStructure; /* Enable GPIO clock */ RCC_APB2PeriphClockCmd(EU_RCC_GPIO | RCC_APB2Periph_AFIO, ENABLE); /* Enable USART clock */ RCC_APB2PeriphClockCmd(EXT_UART_RCC, ENABLE); Usart1InitVariables(); //³õʼ»¯¹Ü½Å GPIO_InitStructure.GPIO_Pin = EU_RX_PIN; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU; //RxÉÏÀ­ÊäÈë 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; //TxÍÆÍ츴ÓÃÊä³ö 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; //TxÍÆÍ츴ÓÃÊä³ö 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); //DMAÅäÖã¨Ðë·Åµ½UART³õʼ»¯Ö®ºó£© UART_DMAConfiguration(); } 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) { int32_t DMACnt = 0; int32_t MaxDataLen = EUART_RX_BUF_SIZE; //Èç¹ûÕýÔÚÍù·¢ËͶÓÁÐÖÐÌí¼ÓÊý¾Ý£¬Í˳ö if(m_bEUARTPushingFrms) return; //ÅжÏÊÇ·ñÕýÔÚCheck 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 //²éѯ·½Ê½·¢ËÍÊý¾Ý void UART_CheckSend(void) { static int32_t s_count = 0; // uint32_t temp32 = 0; if(m_bEUARTPushingFrms || m_bEUARTCheckingSend) return; m_bEUARTCheckingSend = 1; //Åж϶ÓÁÐÊÇ·ñΪ¿ÕÒÔ¼°DMAÊÇ·ñ¿ÕÏÐ if ((EXT_UART->SR & USART_FLAG_TXE) == (uint16_t)RESET) //Éϴη¢ËÍδÍê³É { m_bEUARTCheckingSend = 0; return; } if(m_EUART_TxFrm_Head == m_EUART_TxFrm_Tail) //¶ÓÁÐΪ¿Õ { if((EXT_UART->SR & USART_FLAG_TC) != (uint16_t)RESET) //·¢ËÍÍê±Ï { if(m_bEUARTTxEn) { OUT485_DISABLE; m_bEUARTTxEn = 0; t3++; // temp32 = GPIOC->CRH; //C10Ðü¿ÕÊäÈë // 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¸´ÓÃÍÆÍìÊä³ö // temp32 &= ~(0x00000000F<<8); // temp32 |= (0x000000009<<8); // GPIOC->CRH = temp32;// */ } //·¢ËÍÒ»¸ö×Ö½ÚÊý¾Ý 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) //Ò»Ö¡Êý¾Ý·¢ËÍÍê±Ï { 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 /* //¼ì²éÊÇ·ñÊý¾ÝÖ¡ÐèÒª·¢ËÍ void UART_CheckSend(void) { //ÅжÏÊÇ·ñÕýÔÚCheck if(m_bEUARTPushingFrms || m_bEUARTCheckingSend) return; m_bEUARTCheckingSend = 1; //ÅжÏDMAͨµÀÊÇ·ñÕýÔÚ¹¤×÷ if((EUART_TX_DMA_CH->CCR & 0x01) != 0) //ͨµÀÕýÔÚ¹¤×÷ { if((EUART_DMA->ISR & EUART_TX_DMA_IT_TC) == (uint32_t)RESET) //´«ÊäδÍê³É { m_bEUARTCheckingSend = 0; return; } else { EUART_DMA->IFCR = EUART_TX_DMA_IT_TC; //Çå³ý±êÖ¾£¨×¢Òâ¼Ä´æÆ÷ºÍ±êÖ¾Ãû³Æ£© EUART_TX_DMA_CH->CCR &= ~((uint32_t)0x01); //½ûÓÃDMA } } //Åж϶ÓÁÐÊÇ·ñΪ¿Õ if(m_EUART_TxFrm_Head == m_EUART_TxFrm_Tail) { m_bEUARTCheckingSend = 0; return; } //¿ªÆôÒ»´ÎÊý¾Ý·¢ËÍ EUART_TX_DMA_CH->CMAR = (uint32_t)m_EUART_TxFrames[m_EUART_TxFrm_Tail].buf; //Òª·¢Ë͵ÄÄÚ´æµØÖ· EUART_TX_DMA_CH->CNDTR = m_EUART_TxFrames[m_EUART_TxFrm_Tail].len; //Òª·¢Ë͵Ä×Ö½ÚÊý EUART_TX_DMA_CH->CCR |= 0x01; //¿ªÆôÒ»´ÎDMA 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 //½«Ò»Ö¡Êý¾ÝѹÈë·¢ËͶÓÁÐ 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) //Ö¡³¤¶È³¬·¶Î§»ò»º´æÒÑÂú { m_bEUARTPushingFrms = 0; return; } //½«Òª·¢Ë͵ÄÊý¾Ý֡ѹÈë¶ÓÁÐ 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; } //½«×îÐÂÒ»Ö¡Êý¾ÝPop³ö¶ÓÁÐ 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; iSR & 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; }