Merge branch 'master' of http://123.207.52.103:3000/LiZongdi/robot

bspMCU/bsp_uart.c

@@ -2,14 +2,15 @@
 #ifdef USE_UART
 extern DMA_HandleTypeDef hdma_usart1_rx;
 extern DMA_HandleTypeDef hdma_usart2_rx;
+extern DMA_HandleTypeDef hdma_usart3_rx;
 
 #ifdef CONFIG_UART_IT_IDLEDMA
 static TUartTab g_ptUartTab[] = {
     {&hlpuart1, &hdma_usart2_rx},
     {&huart1, &hdma_usart1_rx},
     {&huart2, &hdma_usart2_rx},
-#ifdef IOC_100PIN
 	{&huart3, &hdma_usart3_rx},
+#ifdef IOC_100PIN
 	{&huart4, &hdma_usart4_rx},
 	{&huart5, &hdma_usart5_rx},
 	{&huart6, &hdma_usart6_rx},
@@ -21,8 +22,8 @@ static TUartTab g_ptUartTab[] = {
     {&hlpuart1, NULL},
     {&huart1, NULL},
     {&huart2, NULL},
-#ifdef IOC_100PIN
 	{&huart3, NULL},
+#ifdef IOC_100PIN
 	{&huart4, NULL},
 	{&huart5, NULL},
 	{&huart6, NULL},

project/Spoolend/Spoolend.c

@@ -72,14 +72,18 @@ static int RS485_2_Send(char *_pBuffer, uint32_t _iSize)
 #ifndef CONFIG_UART_IT_IDLEDMA
 void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
 {
-    if (huart->Instance == LPUART1)
+    if (huart->Instance == USART1)
 	{
     	UART_RX_IRQHandler(g_ptRS485_1);
 	}
-    else if (huart->Instance == USART1)
+    else if (huart->Instance == USART3)
     {
         UART_RX_IRQHandler(g_ptRS485_2);
     }
+    else if (huart->Instance == LPUART1)
+    {
+        //UART_RX_IRQHandler(g_ptRS485_2);
+    }
 }
 #endif
 
@@ -100,12 +104,12 @@ static int check_Spoolend(char *_pBuffer, uint32_t _iSize)
 
 static void decode_RS485_1(const char *_pBuffer, uint32_t _iSize)
 {
-    rd_ComSend(g_ptRS485_1, (char *)_pBuffer, _iSize);
+	//rd_ComWrite(g_ptRS485_1, (char *)_pBuffer, _iSize);
 }
 
 static void decode_RS485_2(const char *_pBuffer, uint32_t _iSize)
 {
-    rd_ComSend(g_ptRS485_2, (char *)_pBuffer, _iSize);
+    //rd_ComWrite(g_ptRS485_2, (char *)_pBuffer, _iSize);
 }
 
 static void decode_Spoolend(const char *_pBuffer, uint32_t _iSize)
@@ -136,42 +140,42 @@ void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs)
 	}
 }
 
-void Myprint_Init(void)
+//void Myprint_Init(void)
-{
+//{
-    TUartUserData *ptUartUserData = UART_userdata_init(1, 115200, 4096);
+//    TUartUserData *ptUartUserData = UART_userdata_init(3, 115200, 4096);
-    g_ptRS485_2 = rd_ComCreate(NULL, NULL, RS485_2_Send, ptUartUserData->m_buf_size, ptUartUserData);
+//    g_ptRS485_2 = rd_ComCreate(NULL, NULL, RS485_1_Send, ptUartUserData->m_buf_size, ptUartUserData);
-    UART_IT_init(g_ptRS485_2);
+//    UART_IT_init(g_ptRS485_2);
-}
+//}
-
+//
-int Myprint_putchar(uint8_t ch)
+//int Myprint_putchar(uint8_t ch)
-{
+//{
-    char tx_buf[2];
+//    char tx_buf[2];
-
+//
-    if (ch == '\n') 
+//    if (ch == '\n')
-    {
+//    {
-        // 遇到换行，发送 \r\n
+//        // 遇到换行，发送 \r\n
-        tx_buf[0] = '\r';
+//        tx_buf[0] = '\r';
-        tx_buf[1] = '\n';
+//        tx_buf[1] = '\n';
-        if (rd_ComSend(g_ptRS485_2, tx_buf, 2) < 0) return EOF;
+//        if (rd_ComSend(g_ptRS485_2, tx_buf, 2) < 0) return EOF;
-        return 2;
+//        return 2;
-    } 
+//    }
-    else 
+//    else
-    {
+//    {
-        // 普通字符
+//        // 普通字符
-        tx_buf[0] = ch;
+//        tx_buf[0] = ch;
-        if (rd_ComSend(g_ptRS485_2, tx_buf, 1) < 0) return EOF;
+//        if (rd_ComSend(g_ptRS485_2, tx_buf, 1) < 0) return EOF;
-        return 1;
+//        return 1;
-    }
+//    }
-}
+//}
 
 void SpoolendInit(void)
 {
-    TUartUserData *ptUartUserData = UART_userdata_init(0, 115200, 512);
+    TUartUserData *ptUartUserData = UART_userdata_init(1, 115200, 512);
-    g_ptRS485_1 = rd_ComCreate(check_RS485_1, decode_RS485_1, RS485_1_Send, ptUartUserData->m_buf_size, ptUartUserData);
+    g_ptRS485_1 = rd_ComCreate(NULL, NULL, RS485_1_Send, ptUartUserData->m_buf_size, ptUartUserData);  // 仿照My_print，check和decode传NULL
     UART_IT_init(g_ptRS485_1);
-//    TUartUserData *ptUartUserData1 = UART_userdata_init(0, 115200, 512);
+    TUartUserData *ptUartUserData1 = UART_userdata_init(3, 115200, 512);
-//    g_ptRS485_2 = rd_ComCreate(check_RS485_2, decode_RS485_2, RS485_2_Send, ptUartUserData1->m_buf_size, ptUartUserData1);
+    g_ptRS485_2 = rd_ComCreate(NULL, NULL, RS485_2_Send, ptUartUserData1->m_buf_size, ptUartUserData1);  // 仿照My_print，check和decode传NULL
-//    UART_IT_init(g_ptRS485_2);
+    UART_IT_init(g_ptRS485_2);
     TCANUserData *ptCANUserData = CAN_userdata_init(&hfdcan1, 8, 0);
     g_ptFDCAN1 = rd_ComCreate(check_Spoolend, decode_Spoolend, FDCAN1_Send, CONFIG_UART_BUFFER_SIZE, ptCANUserData);
     CAN_IT_init(g_ptFDCAN1);
@@ -179,26 +183,39 @@ void SpoolendInit(void)
 
 void SpoolendTask(void)
 {
+	static int iCount = 0;
 	char pcBuffer1[52] = {0};
-//	char pcBuffer2[52] = {0};
+	char pcBuffer2[52] = {0};
 	char pcBuffer3[52] = {0};
 	__disable_irq();
-	rd_ComRead(g_ptRS485_1, pcBuffer1, sizeof(pcBuffer1));
+	int i485_1 = rd_ComRead(g_ptRS485_1, pcBuffer1, sizeof(pcBuffer1));
-//	rd_ComRead(g_ptRS485_2, pcBuffer2, sizeof(pcBuffer2));
+	int i485_2 = rd_ComRead(g_ptRS485_2, pcBuffer2, sizeof(pcBuffer2));
 	rd_ComRead(g_ptFDCAN1, pcBuffer3, sizeof(pcBuffer3));
 	__enable_irq();
-    printf("Hello world\n");
+
+	if (i485_1 > 0) rd_ComWrite(g_ptRS485_1, pcBuffer1, i485_1);
+	if (i485_2 > 0) rd_ComWrite(g_ptRS485_2, pcBuffer2, i485_2);
+//	rd_ComIDWrite(g_ptFDCAN1, 1, "Hello\n", 6);
+
+	if (iCount > 50000)
+	{
 		HAL_GPIO_TogglePin(LED1_GPIO_Port, LED1_Pin);
 		HAL_GPIO_TogglePin(LED2_GPIO_Port, LED2_Pin);
 		HAL_GPIO_TogglePin(LED3_GPIO_Port, LED3_Pin);
+		HAL_GPIO_TogglePin(K1_GPIO_Port, K1_Pin);
+		HAL_GPIO_TogglePin(K2_GPIO_Port, K2_Pin);
+		HAL_GPIO_TogglePin(K3_GPIO_Port, K3_Pin);
+		HAL_GPIO_TogglePin(K4_GPIO_Port, K4_Pin);
+		HAL_GPIO_TogglePin(K5_GPIO_Port, K5_Pin);
+		iCount = 0;
+	}
+	else
+	{
+		iCount++;
+	}
 
-//    HAL_GPIO_TogglePin(K1_GPIO_Port, K1_Pin);
+    rd_ComSendProc(g_ptRS485_1);
-//    HAL_GPIO_TogglePin(K2_GPIO_Port, K2_Pin);
+    rd_ComSendProc(g_ptRS485_2);
-//    HAL_GPIO_TogglePin(K3_GPIO_Port, K3_Pin);
-//    HAL_GPIO_TogglePin(K4_GPIO_Port, K4_Pin);
-//    HAL_GPIO_TogglePin(K5_GPIO_Port, K5_Pin);
-
     rd_ComSendProc(g_ptFDCAN1);
- 	HAL_Delay(500);
 }