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使用串口DMA方式解决回显瓶颈问题

master
Lizongdi 2 weeks ago
parent
ff6c0ef08c
commit
5bb7aa1d58
8 changed files with 174 additions and 52 deletions
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  1. 78
      32g431.ioc
  2. 1
      CMakePresets.json
  3. 4
      Core/Inc/stm32g4xx_it.h
  4. 12
      Core/Src/dma.c
  5. 4
      Core/Src/main.c
  6. 54
      Core/Src/stm32g4xx_it.c
  7. 71
      Core/Src/usart.c
  8. 2
      robot

78
32g431.ioc
View File

@ -2,25 +2,61 @@
CAD.formats= CAD.formats=
CAD.pinconfig= CAD.pinconfig=
CAD.provider= CAD.provider=
Dma.Request0=USART1_TX Dma.Request0=USART1_RX
Dma.RequestsNb=1 Dma.Request1=USART3_RX
Dma.USART1_TX.0.Direction=DMA_MEMORY_TO_PERIPH Dma.Request2=USART2_RX
Dma.USART1_TX.0.EventEnable=DISABLE Dma.RequestsNb=3
Dma.USART1_TX.0.Instance=DMA1_Channel1 Dma.USART1_RX.0.Direction=DMA_PERIPH_TO_MEMORY
Dma.USART1_TX.0.MemDataAlignment=DMA_MDATAALIGN_BYTE Dma.USART1_RX.0.EventEnable=DISABLE
Dma.USART1_TX.0.MemInc=DMA_MINC_ENABLE Dma.USART1_RX.0.Instance=DMA1_Channel2
Dma.USART1_TX.0.Mode=DMA_NORMAL Dma.USART1_RX.0.MemDataAlignment=DMA_MDATAALIGN_BYTE
Dma.USART1_TX.0.PeriphDataAlignment=DMA_PDATAALIGN_BYTE Dma.USART1_RX.0.MemInc=DMA_MINC_ENABLE
Dma.USART1_TX.0.PeriphInc=DMA_PINC_DISABLE Dma.USART1_RX.0.Mode=DMA_CIRCULAR
Dma.USART1_TX.0.Polarity=HAL_DMAMUX_REQ_GEN_RISING Dma.USART1_RX.0.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
Dma.USART1_TX.0.Priority=DMA_PRIORITY_LOW Dma.USART1_RX.0.PeriphInc=DMA_PINC_DISABLE
Dma.USART1_TX.0.RequestNumber=1 Dma.USART1_RX.0.Polarity=HAL_DMAMUX_REQ_GEN_RISING
Dma.USART1_TX.0.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,SignalID,Polarity,RequestNumber,SyncSignalID,SyncPolarity,SyncEnable,EventEnable,SyncRequestNumber Dma.USART1_RX.0.Priority=DMA_PRIORITY_LOW
Dma.USART1_TX.0.SignalID=NONE Dma.USART1_RX.0.RequestNumber=1
Dma.USART1_TX.0.SyncEnable=DISABLE Dma.USART1_RX.0.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,SignalID,Polarity,RequestNumber,SyncSignalID,SyncPolarity,SyncEnable,EventEnable,SyncRequestNumber
Dma.USART1_TX.0.SyncPolarity=HAL_DMAMUX_SYNC_NO_EVENT Dma.USART1_RX.0.SignalID=NONE
Dma.USART1_TX.0.SyncRequestNumber=1 Dma.USART1_RX.0.SyncEnable=DISABLE
Dma.USART1_TX.0.SyncSignalID=NONE Dma.USART1_RX.0.SyncPolarity=HAL_DMAMUX_SYNC_NO_EVENT
Dma.USART1_RX.0.SyncRequestNumber=1
Dma.USART1_RX.0.SyncSignalID=NONE
Dma.USART2_RX.2.Direction=DMA_PERIPH_TO_MEMORY
Dma.USART2_RX.2.EventEnable=DISABLE
Dma.USART2_RX.2.Instance=DMA1_Channel4
Dma.USART2_RX.2.MemDataAlignment=DMA_MDATAALIGN_BYTE
Dma.USART2_RX.2.MemInc=DMA_MINC_ENABLE
Dma.USART2_RX.2.Mode=DMA_CIRCULAR
Dma.USART2_RX.2.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
Dma.USART2_RX.2.PeriphInc=DMA_PINC_DISABLE
Dma.USART2_RX.2.Polarity=HAL_DMAMUX_REQ_GEN_RISING
Dma.USART2_RX.2.Priority=DMA_PRIORITY_LOW
Dma.USART2_RX.2.RequestNumber=1
Dma.USART2_RX.2.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,SignalID,Polarity,RequestNumber,SyncSignalID,SyncPolarity,SyncEnable,EventEnable,SyncRequestNumber
Dma.USART2_RX.2.SignalID=NONE
Dma.USART2_RX.2.SyncEnable=DISABLE
Dma.USART2_RX.2.SyncPolarity=HAL_DMAMUX_SYNC_NO_EVENT
Dma.USART2_RX.2.SyncRequestNumber=1
Dma.USART2_RX.2.SyncSignalID=NONE
Dma.USART3_RX.1.Direction=DMA_PERIPH_TO_MEMORY
Dma.USART3_RX.1.EventEnable=DISABLE
Dma.USART3_RX.1.Instance=DMA1_Channel3
Dma.USART3_RX.1.MemDataAlignment=DMA_MDATAALIGN_BYTE
Dma.USART3_RX.1.MemInc=DMA_MINC_ENABLE
Dma.USART3_RX.1.Mode=DMA_CIRCULAR
Dma.USART3_RX.1.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
Dma.USART3_RX.1.PeriphInc=DMA_PINC_DISABLE
Dma.USART3_RX.1.Polarity=HAL_DMAMUX_REQ_GEN_RISING
Dma.USART3_RX.1.Priority=DMA_PRIORITY_LOW
Dma.USART3_RX.1.RequestNumber=1
Dma.USART3_RX.1.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,SignalID,Polarity,RequestNumber,SyncSignalID,SyncPolarity,SyncEnable,EventEnable,SyncRequestNumber
Dma.USART3_RX.1.SignalID=NONE
Dma.USART3_RX.1.SyncEnable=DISABLE
Dma.USART3_RX.1.SyncPolarity=HAL_DMAMUX_SYNC_NO_EVENT
Dma.USART3_RX.1.SyncRequestNumber=1
Dma.USART3_RX.1.SyncSignalID=NONE
FDCAN1.CalculateBaudRateNominal=500000 FDCAN1.CalculateBaudRateNominal=500000
FDCAN1.CalculateTimeBitNominal=2000 FDCAN1.CalculateTimeBitNominal=2000
FDCAN1.CalculateTimeQuantumNominal=100.0 FDCAN1.CalculateTimeQuantumNominal=100.0
@ -85,7 +121,9 @@ Mcu.UserName=STM32G431CBUx
MxCube.Version=6.17.0 MxCube.Version=6.17.0
MxDb.Version=DB.6.0.170 MxDb.Version=DB.6.0.170
NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
NVIC.DMA1_Channel1_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true NVIC.DMA1_Channel2_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true
NVIC.DMA1_Channel3_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true
NVIC.DMA1_Channel4_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true
NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
NVIC.FDCAN1_IT0_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true NVIC.FDCAN1_IT0_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
NVIC.ForceEnableDMAVector=true NVIC.ForceEnableDMAVector=true

1
CMakePresets.json
View File

@ -33,6 +33,7 @@
"MEM_POOL_TOTAL_SIZE": "8*1024", "MEM_POOL_TOTAL_SIZE": "8*1024",
"CONFIG_CAN_NEW_VERSION": "1", "CONFIG_CAN_NEW_VERSION": "1",
"USE_UART": true, "USE_UART": true,
"CONFIG_UART_IT_IDLEDMA": true,
"USE_PRINT": true, "USE_PRINT": true,
"PRINT_ID": "1", "PRINT_ID": "1",
"USE_CAN": true "USE_CAN": true

4
Core/Inc/stm32g4xx_it.h
View File

@ -55,7 +55,9 @@ void SVC_Handler(void);
void DebugMon_Handler(void); void DebugMon_Handler(void);
void PendSV_Handler(void); void PendSV_Handler(void);
void SysTick_Handler(void); void SysTick_Handler(void);
void DMA1_Channel1_IRQHandler(void); void DMA1_Channel2_IRQHandler(void);
void DMA1_Channel3_IRQHandler(void);
void DMA1_Channel4_IRQHandler(void);
void FDCAN1_IT0_IRQHandler(void); void FDCAN1_IT0_IRQHandler(void);
void USART1_IRQHandler(void); void USART1_IRQHandler(void);
void USART3_IRQHandler(void); void USART3_IRQHandler(void);

12
Core/Src/dma.c
View File

@ -44,9 +44,15 @@ void MX_DMA_Init(void)
__HAL_RCC_DMA1_CLK_ENABLE(); __HAL_RCC_DMA1_CLK_ENABLE();
/* DMA interrupt init */ /* DMA interrupt init */
/* DMA1_Channel1_IRQn interrupt configuration */ /* DMA1_Channel2_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA1_Channel1_IRQn, 0, 0); HAL_NVIC_SetPriority(DMA1_Channel2_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(DMA1_Channel1_IRQn); HAL_NVIC_EnableIRQ(DMA1_Channel2_IRQn);
/* DMA1_Channel3_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA1_Channel3_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(DMA1_Channel3_IRQn);
/* DMA1_Channel4_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA1_Channel4_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(DMA1_Channel4_IRQn);
} }

4
Core/Src/main.c
View File

@ -96,7 +96,7 @@ int main(void)
/* Initialize all configured peripherals */ /* Initialize all configured peripherals */
MX_GPIO_Init(); MX_GPIO_Init();
MX_DMA_Init(); MX_DMA_Init();
MX_IWDG_Init(); //MX_IWDG_Init();
MX_USART1_UART_Init(); MX_USART1_UART_Init();
MX_TIM6_Init(); MX_TIM6_Init();
MX_FDCAN1_Init(); MX_FDCAN1_Init();
@ -121,7 +121,7 @@ int main(void)
/* USER CODE END WHILE */ /* USER CODE END WHILE */
/* USER CODE BEGIN 3 */ /* USER CODE BEGIN 3 */
HAL_IWDG_Refresh(&hiwdg); //HAL_IWDG_Refresh(&hiwdg);
} }
/* USER CODE END 3 */ /* USER CODE END 3 */
} }

54
Core/Src/stm32g4xx_it.c
View File

@ -22,11 +22,13 @@
#include "stm32g4xx_it.h" #include "stm32g4xx_it.h"
/* Private includes ----------------------------------------------------------*/ /* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */ /* USER CODE BEGIN Includes */
#include "bsp_uart.h"
/* USER CODE END Includes */ /* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/ /* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN TD */ /* USER CODE BEGIN TD */
extern TComCtrl *g_ptRS485_1;
extern TComCtrl *g_ptRS485_2;
/* USER CODE END TD */ /* USER CODE END TD */
/* Private define ------------------------------------------------------------*/ /* Private define ------------------------------------------------------------*/
@ -56,7 +58,9 @@
/* External variables --------------------------------------------------------*/ /* External variables --------------------------------------------------------*/
extern FDCAN_HandleTypeDef hfdcan1; extern FDCAN_HandleTypeDef hfdcan1;
extern DMA_HandleTypeDef hdma_usart1_tx; extern DMA_HandleTypeDef hdma_usart1_rx;
extern DMA_HandleTypeDef hdma_usart2_rx;
extern DMA_HandleTypeDef hdma_usart3_rx;
extern UART_HandleTypeDef hlpuart1; extern UART_HandleTypeDef hlpuart1;
extern UART_HandleTypeDef huart1; extern UART_HandleTypeDef huart1;
extern UART_HandleTypeDef huart3; extern UART_HandleTypeDef huart3;
@ -204,17 +208,45 @@ void SysTick_Handler(void)
/******************************************************************************/ /******************************************************************************/
/** /**
* @brief This function handles DMA1 channel1 global interrupt. * @brief This function handles DMA1 channel2 global interrupt.
*/ */
void DMA1_Channel1_IRQHandler(void) void DMA1_Channel2_IRQHandler(void)
{ {
/* USER CODE BEGIN DMA1_Channel1_IRQn 0 */ /* USER CODE BEGIN DMA1_Channel2_IRQn 0 */
/* USER CODE END DMA1_Channel1_IRQn 0 */ /* USER CODE END DMA1_Channel2_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_usart1_tx); HAL_DMA_IRQHandler(&hdma_usart1_rx);
/* USER CODE BEGIN DMA1_Channel1_IRQn 1 */ /* USER CODE BEGIN DMA1_Channel2_IRQn 1 */
/* USER CODE END DMA1_Channel1_IRQn 1 */ /* USER CODE END DMA1_Channel2_IRQn 1 */
}
/**
* @brief This function handles DMA1 channel3 global interrupt.
*/
void DMA1_Channel3_IRQHandler(void)
{
/* USER CODE BEGIN DMA1_Channel3_IRQn 0 */
/* USER CODE END DMA1_Channel3_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_usart3_rx);
/* USER CODE BEGIN DMA1_Channel3_IRQn 1 */
/* USER CODE END DMA1_Channel3_IRQn 1 */
}
/**
* @brief This function handles DMA1 channel4 global interrupt.
*/
void DMA1_Channel4_IRQHandler(void)
{
/* USER CODE BEGIN DMA1_Channel4_IRQn 0 */
/* USER CODE END DMA1_Channel4_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_usart2_rx);
/* USER CODE BEGIN DMA1_Channel4_IRQn 1 */
/* USER CODE END DMA1_Channel4_IRQn 1 */
} }
/** /**
@ -237,7 +269,7 @@ void FDCAN1_IT0_IRQHandler(void)
void USART1_IRQHandler(void) void USART1_IRQHandler(void)
{ {
/* USER CODE BEGIN USART1_IRQn 0 */ /* USER CODE BEGIN USART1_IRQn 0 */
UART_DMA_RX_IRQHandler(g_ptRS485_1);
/* USER CODE END USART1_IRQn 0 */ /* USER CODE END USART1_IRQn 0 */
HAL_UART_IRQHandler(&huart1); HAL_UART_IRQHandler(&huart1);
/* USER CODE BEGIN USART1_IRQn 1 */ /* USER CODE BEGIN USART1_IRQn 1 */
@ -251,7 +283,7 @@ void USART1_IRQHandler(void)
void USART3_IRQHandler(void) void USART3_IRQHandler(void)
{ {
/* USER CODE BEGIN USART3_IRQn 0 */ /* USER CODE BEGIN USART3_IRQn 0 */
UART_DMA_RX_IRQHandler(g_ptRS485_2);
/* USER CODE END USART3_IRQn 0 */ /* USER CODE END USART3_IRQn 0 */
HAL_UART_IRQHandler(&huart3); HAL_UART_IRQHandler(&huart3);
/* USER CODE BEGIN USART3_IRQn 1 */ /* USER CODE BEGIN USART3_IRQn 1 */

71
Core/Src/usart.c
View File

@ -28,7 +28,9 @@ UART_HandleTypeDef hlpuart1;
UART_HandleTypeDef huart1; UART_HandleTypeDef huart1;
UART_HandleTypeDef huart2; UART_HandleTypeDef huart2;
UART_HandleTypeDef huart3; UART_HandleTypeDef huart3;
DMA_HandleTypeDef hdma_usart1_tx; DMA_HandleTypeDef hdma_usart1_rx;
DMA_HandleTypeDef hdma_usart2_rx;
DMA_HandleTypeDef hdma_usart3_rx;
/* LPUART1 init function */ /* LPUART1 init function */
@ -279,22 +281,22 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* USART1 DMA Init */ /* USART1 DMA Init */
/* USART1_TX Init */ /* USART1_RX Init */
hdma_usart1_tx.Instance = DMA1_Channel1; hdma_usart1_rx.Instance = DMA1_Channel2;
hdma_usart1_tx.Init.Request = DMA_REQUEST_USART1_TX; hdma_usart1_rx.Init.Request = DMA_REQUEST_USART1_RX;
hdma_usart1_tx.Init.Direction = DMA_MEMORY_TO_PERIPH; hdma_usart1_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
hdma_usart1_tx.Init.PeriphInc = DMA_PINC_DISABLE; hdma_usart1_rx.Init.PeriphInc = DMA_PINC_DISABLE;
hdma_usart1_tx.Init.MemInc = DMA_MINC_ENABLE; hdma_usart1_rx.Init.MemInc = DMA_MINC_ENABLE;
hdma_usart1_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE; hdma_usart1_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
hdma_usart1_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE; hdma_usart1_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
hdma_usart1_tx.Init.Mode = DMA_NORMAL; hdma_usart1_rx.Init.Mode = DMA_CIRCULAR;
hdma_usart1_tx.Init.Priority = DMA_PRIORITY_LOW; hdma_usart1_rx.Init.Priority = DMA_PRIORITY_LOW;
if (HAL_DMA_Init(&hdma_usart1_tx) != HAL_OK) if (HAL_DMA_Init(&hdma_usart1_rx) != HAL_OK)
{ {
Error_Handler(); Error_Handler();
} }
__HAL_LINKDMA(uartHandle,hdmatx,hdma_usart1_tx); __HAL_LINKDMA(uartHandle,hdmarx,hdma_usart1_rx);
/* USART1 interrupt Init */ /* USART1 interrupt Init */
HAL_NVIC_SetPriority(USART1_IRQn, 0, 0); HAL_NVIC_SetPriority(USART1_IRQn, 0, 0);
@ -333,6 +335,24 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
GPIO_InitStruct.Alternate = GPIO_AF7_USART2; GPIO_InitStruct.Alternate = GPIO_AF7_USART2;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* USART2 DMA Init */
/* USART2_RX Init */
hdma_usart2_rx.Instance = DMA1_Channel4;
hdma_usart2_rx.Init.Request = DMA_REQUEST_USART2_RX;
hdma_usart2_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
hdma_usart2_rx.Init.PeriphInc = DMA_PINC_DISABLE;
hdma_usart2_rx.Init.MemInc = DMA_MINC_ENABLE;
hdma_usart2_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
hdma_usart2_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
hdma_usart2_rx.Init.Mode = DMA_CIRCULAR;
hdma_usart2_rx.Init.Priority = DMA_PRIORITY_LOW;
if (HAL_DMA_Init(&hdma_usart2_rx) != HAL_OK)
{
Error_Handler();
}
__HAL_LINKDMA(uartHandle,hdmarx,hdma_usart2_rx);
/* USER CODE BEGIN USART2_MspInit 1 */ /* USER CODE BEGIN USART2_MspInit 1 */
/* USER CODE END USART2_MspInit 1 */ /* USER CODE END USART2_MspInit 1 */
@ -367,6 +387,24 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
GPIO_InitStruct.Alternate = GPIO_AF7_USART3; GPIO_InitStruct.Alternate = GPIO_AF7_USART3;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct); HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/* USART3 DMA Init */
/* USART3_RX Init */
hdma_usart3_rx.Instance = DMA1_Channel3;
hdma_usart3_rx.Init.Request = DMA_REQUEST_USART3_RX;
hdma_usart3_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
hdma_usart3_rx.Init.PeriphInc = DMA_PINC_DISABLE;
hdma_usart3_rx.Init.MemInc = DMA_MINC_ENABLE;
hdma_usart3_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
hdma_usart3_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
hdma_usart3_rx.Init.Mode = DMA_CIRCULAR;
hdma_usart3_rx.Init.Priority = DMA_PRIORITY_LOW;
if (HAL_DMA_Init(&hdma_usart3_rx) != HAL_OK)
{
Error_Handler();
}
__HAL_LINKDMA(uartHandle,hdmarx,hdma_usart3_rx);
/* USART3 interrupt Init */ /* USART3 interrupt Init */
HAL_NVIC_SetPriority(USART3_IRQn, 0, 0); HAL_NVIC_SetPriority(USART3_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(USART3_IRQn); HAL_NVIC_EnableIRQ(USART3_IRQn);
@ -414,7 +452,7 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
HAL_GPIO_DeInit(GPIOA, GPIO_PIN_9|GPIO_PIN_10); HAL_GPIO_DeInit(GPIOA, GPIO_PIN_9|GPIO_PIN_10);
/* USART1 DMA DeInit */ /* USART1 DMA DeInit */
HAL_DMA_DeInit(uartHandle->hdmatx); HAL_DMA_DeInit(uartHandle->hdmarx);
/* USART1 interrupt Deinit */ /* USART1 interrupt Deinit */
HAL_NVIC_DisableIRQ(USART1_IRQn); HAL_NVIC_DisableIRQ(USART1_IRQn);
@ -436,6 +474,8 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
*/ */
HAL_GPIO_DeInit(GPIOA, GPIO_PIN_2|GPIO_PIN_3); HAL_GPIO_DeInit(GPIOA, GPIO_PIN_2|GPIO_PIN_3);
/* USART2 DMA DeInit */
HAL_DMA_DeInit(uartHandle->hdmarx);
/* USER CODE BEGIN USART2_MspDeInit 1 */ /* USER CODE BEGIN USART2_MspDeInit 1 */
/* USER CODE END USART2_MspDeInit 1 */ /* USER CODE END USART2_MspDeInit 1 */
@ -454,6 +494,9 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
*/ */
HAL_GPIO_DeInit(GPIOC, GPIO_PIN_10|GPIO_PIN_11); HAL_GPIO_DeInit(GPIOC, GPIO_PIN_10|GPIO_PIN_11);
/* USART3 DMA DeInit */
HAL_DMA_DeInit(uartHandle->hdmarx);
/* USART3 interrupt Deinit */ /* USART3 interrupt Deinit */
HAL_NVIC_DisableIRQ(USART3_IRQn); HAL_NVIC_DisableIRQ(USART3_IRQn);
/* USER CODE BEGIN USART3_MspDeInit 1 */ /* USER CODE BEGIN USART3_MspDeInit 1 */

2
robot

@ -1 +1 @@
Subproject commit 48b7027c5628e62f09eb23e705cd94bca50aca6f Subproject commit a7248b66af36e3d3772a58e9ee89e31b27fb8a43
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