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

bspMCU/My_print.c

@@ -30,6 +30,15 @@ volatile uint8_t g_flow_control_paused = 0;
 
 TComCtrl *g_ptUartCtrl; 
 
+/**
+ * @brief 控制台串口句柄 getter (供 lua CON() 绑定)
+ * @note  借用语义: 调用方(lua GC)不得 Close, 控制台生命周期归 Myprint
+ */
+WEAK TComCtrl *Myprint_GetCtrl(void)
+{
+    return g_ptUartCtrl;
+}
+
 int USART_Send(char *_pBuffer, uint32_t _iSize)
 {
 	HAL_GPIO_WritePin(RS485_2_DIR_GPIO_Port, RS485_2_DIR_Pin,GPIO_PIN_SET);

bspMCU/bsp_uart.c

@@ -12,15 +12,15 @@ extern DMA_HandleTypeDef hdma_uart7_rx;
 
 #ifdef CONFIG_UART_IT_IDLEDMA
 static TUartTab g_ptUartTab[] = {
-    {&hlpuart1, &hdma_usart2_rx, 0},
+    {&hlpuart1, NULL, 0},
-    {&huart1, &hdma_usart1_rx, 0},
+    {&huart1, NULL, 0},
-    {&huart2, &hdma_usart2_rx, 0},
+    {&huart2, NULL, 0},
 	{&huart3, &hdma_usart3_rx, 0},
 #ifdef IOC_100PIN
-	{&huart4, &hdma_uart4_rx, 0},
+	{&huart4, NULL, 0},
-	{&huart5, &hdma_uart5_rx, 0},
+	{&huart5, NULL, 0},
-	{&huart6, &hdma_usart6_rx, 0},
+	{&huart6, NULL, 0},
-	{&huart7, &hdma_uart7_rx, 0}
+	{&huart7, NULL, 0}
 #endif
 };
 #else
@@ -159,6 +159,7 @@ void UART_RX_IRQHandler(TComCtrl *_ptComCtrl)
 #endif
 }
 
+#ifndef CONFIG_UART_IT_IDLEDMA
 void UART_RX_ERRORHandler(TComCtrl *_ptComCtrl)
 {
 	TUartUserData *ptUartUserData = (TUartUserData *)_ptComCtrl->m_pUserData;
@@ -177,5 +178,6 @@ void UART_RX_ERRORHandler(TComCtrl *_ptComCtrl)
 	/* 重新启动中断接收 */
 	HAL_UART_Receive_IT(ptUartUserData->m_uart, &ptUartUserData->m_temp, 1);
 }
+#endif
 
 #endif

bspMCU/l_stm32.c

@@ -767,6 +767,8 @@ int luaopen_stm32(lua_State *L)
     lua_call(L, 0, 1);
     lua_getfield(L, -1, "new");
     lua_setfield(L, -3, "COM"); 
+    lua_getfield(L, -1, "console");
+    lua_setfield(L, -3, "CON");
     lua_pop(L, 1);
 #endif
 

bspMCU/l_uart.c

@@ -165,6 +165,35 @@ static int l_com_sy(lua_State *L)
     return 1;
 }
 
+// 构造函数: CON() — 控制台串口句柄 (借用语义)
+// MCU(USE_PRINT) 上 lua 终端自身的收发(printf/fgetc)都走 g_ptUartCtrl,
+// CON() 把它包成 COMMT 句柄, 便可在控制台 REPL 直接对控制台串口 ymodem:
+//   c:ry('.')  -- 接收上位机发来的文件到当前目录
+//   c:sy('f.bin') -- 把本地文件发给上位机
+// 借用句柄 GC 不关闭 (m_iOwned=0), 控制台生命周期归 Myprint;
+// 无控制台句柄的平台(如 Linux 桌面构建)返回 nil
+static int l_con_new(lua_State *L)
+{
+#if defined(USE_PRINT)
+    extern TComCtrl *Myprint_GetCtrl(void);
+    TComCtrl *ptCtrl = Myprint_GetCtrl();
+    if (NULL == ptCtrl)
+    {
+        lua_print("CON: console port not ready\n");
+        lua_pushnil(L);
+        return 1;
+    }
+    stm32_com_t *u = (stm32_com_t *)lua_newuserdata(L, sizeof(stm32_com_t));
+    u->m_ptComCtrl = ptCtrl;
+    luaL_getmetatable(L, "stm32.COMMT");
+    lua_setmetatable(L, -2);
+    return 1;
+#else
+    lua_pushnil(L);
+    return 1;
+#endif
+}
+
 // 模块注册
 int luaopen_stm32_com(lua_State *L) 
 {
@@ -199,6 +228,9 @@ int luaopen_stm32_com(lua_State *L)
     lua_pushcfunction(L, l_com_new);
     lua_setfield(L, -2, "new");
 
+    lua_pushcfunction(L, l_con_new);
+    lua_setfield(L, -2, "console");
+
     return 1;
 }
 

lua/lua.c

@@ -727,6 +727,12 @@ int lua_init(lua_output _lua_print)
     luaopen_stm32(L);
 #endif
     luaopen_default(L);
+
+    /* 预创建控制台串口句柄全局 c (见 lacmd.c CON()):
+	 * MCU 上控制台串口即 lua 终端自身, 开机直接 c:ry('.') / c:sy('f') 做 ymodem;
+	 * 无控制台句柄的平台 CON() 返回 nil, c 为 nil, 无副作用 */
+	(void)luaL_dostring(L, "if st.CON then c = st.CON() end");
+
     lua_print("Lua REPL V5.4\nType 'exit' or Ctrl+D to quit.\n\n");
     lua_print("%s", incomplete ? CONT_PROMPT : PROMPT);
     return 0;