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

master
Lizongdi 2 weeks ago
parent
71530dd0f5 a278474cc0
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95da4c27e6
2 changed files with 69 additions and 51 deletions
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  1. 5
      bspMCU/bsp_uart.c
  2. 115
      project/Spoolend/Spoolend.c

5
bspMCU/bsp_uart.c
View File

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

115
project/Spoolend/Spoolend.c
View File

@ -72,14 +72,18 @@ static int RS485_2_Send(char *_pBuffer, uint32_t _iSize)
#ifndef CONFIG_UART_IT_IDLEDMA #ifndef CONFIG_UART_IT_IDLEDMA
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart) void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
{ {
if (huart->Instance == LPUART1) if (huart->Instance == USART1)
{ {
UART_RX_IRQHandler(g_ptRS485_1); UART_RX_IRQHandler(g_ptRS485_1);
} }
else if (huart->Instance == USART1) else if (huart->Instance == USART3)
{ {
UART_RX_IRQHandler(g_ptRS485_2); UART_RX_IRQHandler(g_ptRS485_2);
} }
else if (huart->Instance == LPUART1)
{
//UART_RX_IRQHandler(g_ptRS485_2);
}
} }
#endif #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) 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) 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) 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) 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); 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); TCANUserData *ptCANUserData = CAN_userdata_init(&hfdcan1, 8, 0);
g_ptFDCAN1 = rd_ComCreate(check_Spoolend, decode_Spoolend, FDCAN1_Send, CONFIG_UART_BUFFER_SIZE, ptCANUserData); g_ptFDCAN1 = rd_ComCreate(check_Spoolend, decode_Spoolend, FDCAN1_Send, CONFIG_UART_BUFFER_SIZE, ptCANUserData);
CAN_IT_init(g_ptFDCAN1); CAN_IT_init(g_ptFDCAN1);
@ -179,26 +183,39 @@ void SpoolendInit(void)
void SpoolendTask(void) void SpoolendTask(void)
{ {
static int iCount = 0;
char pcBuffer1[52] = {0}; char pcBuffer1[52] = {0};
// char pcBuffer2[52] = {0}; char pcBuffer2[52] = {0};
char pcBuffer3[52] = {0}; char pcBuffer3[52] = {0};
__disable_irq(); __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)); rd_ComRead(g_ptFDCAN1, pcBuffer3, sizeof(pcBuffer3));
__enable_irq(); __enable_irq();
printf("Hello world\n");
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); if (i485_1 > 0) rd_ComWrite(g_ptRS485_1, pcBuffer1, i485_1);
// HAL_GPIO_TogglePin(K2_GPIO_Port, K2_Pin); if (i485_2 > 0) rd_ComWrite(g_ptRS485_2, pcBuffer2, i485_2);
// HAL_GPIO_TogglePin(K3_GPIO_Port, K3_Pin); // rd_ComIDWrite(g_ptFDCAN1, 1, "Hello\n", 6);
// HAL_GPIO_TogglePin(K4_GPIO_Port, K4_Pin);
// HAL_GPIO_TogglePin(K5_GPIO_Port, K5_Pin); 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++;
}
rd_ComSendProc(g_ptRS485_1);
rd_ComSendProc(g_ptRS485_2);
rd_ComSendProc(g_ptFDCAN1); rd_ComSendProc(g_ptFDCAN1);
HAL_Delay(500);
} }

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