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

project_old/paint_robot_old/BASE/Src/BSP/bsp_UART.c

@@ -19,6 +19,8 @@ uint8_t RS485_4_RxDMA_buf[UART_Receive_MAX_NUM];
 uint8_t Debug_RxDMA_buf[UART_Receive_MAX_NUM];
 uint8_t ExternSerial_RxDMA_buf[UART_Receive_MAX_NUM];
 
+__attribute__((section(".dma_buffer"), aligned(32)))
+uint8_t MyRS485_TxDMA_buf[UART_Transmit_MAX_NUM];
 uint8_t RS485_1_TxDMA_buf[UART_Transmit_MAX_NUM];
 uint8_t RS485_2_TxDMA_buf[UART_Transmit_MAX_NUM];
 uint8_t RS485_3_TxDMA_buf[UART_Transmit_MAX_NUM];
@@ -231,10 +233,10 @@ void UARTHandlerTx(struct UARTHandler *uartHandler)
 
 			}
 
-			SCB_CleanInvalidateDCache_by_Addr((uint32_t*) uartHandler->Tx_Buf,
-					uartHandler->TxCount);
-
-			HAL_UART_Transmit_DMA(uartHandler->uart, uartHandler->Tx_Buf,
+//			SCB_CleanInvalidateDCache_by_Addr((uint32_t*) uartHandler->Tx_Buf,
+//					uartHandler->TxCount);
+			memcpy(MyRS485_TxDMA_buf, uartHandler->Tx_Buf, uartHandler->TxCount);
+			HAL_UART_Transmit_DMA(uartHandler->uart, MyRS485_TxDMA_buf,
 					uartHandler->TxCount);
 #if defined (hlpuart1Exit)
 		}

project_old/paint_robot_old/paint_robot_old.c

@@ -100,10 +100,10 @@ void GF_Robot_Init()
 	is_upper_computer_take_over_control = 0;
 	DLT_LOG_ENABLE_LEVEL = 7;	  //7 send all information 	  //0 send nothing
 	//dLT_Log_intialize(&InterCall_DEBUG_UART_Handler); //huart4
-	//dLT_Log_intialize(&RS_485_4_UART_Handler);
+	dLT_Log_intialize(&RS_485_4_UART_Handler);
 	udp_client_init();
 	tcp_server_init(3490);
-	dLT_Log_intialize_udp_tcp();
+	//dLT_Log_intialize_udp_tcp();
 	upper_Computer_UART_Handler_intialize(&RS_485_4_UART_Handler);//send to computer to 485
 	TL720D_intialize(&RS_485_1_UART_Handler);
 	MK32_Sbus_UART_Handler_intialize(&E28_SBUS_UART_Handler); //huart5