robot_h743/robot/bspMCU/bsp_uart.c

#include "bsp_uart.h"
#ifdef USE_UART
extern DMA_HandleTypeDef hdma_usart1_rx;
extern DMA_HandleTypeDef hdma_usart2_rx;

#ifdef CONFIG_UART_IT_IDLEDMA
static TUartTab g_ptUartTab[] = {
    {&huart2, &hdma_usart2_rx},
    {&huart1, &hdma_usart1_rx},
    {&huart2, &hdma_usart2_rx},
	{&huart3, &hdma_usart3_rx},
	{&huart4, &hdma_usart4_rx},
	{&huart5, &hdma_usart5_rx},
	{&huart6, &hdma_usart6_rx},
	{&huart7, &hdma_usart7_rx}
};
#else
static TUartTab g_ptUartTab[] = {
    {&huart2, NULL},
    {&huart1, NULL},
    {&huart2, NULL},
	{&huart3, NULL},
	{&huart4, NULL},
	{&huart5, NULL},
	{&huart6, NULL},
	{&huart7, NULL}
};
#endif

static void bsp_uart_set_baudrate(UART_HandleTypeDef *_pUartHandle, uint32_t _uiBaudRate)
{
    _pUartHandle->Init.BaudRate = _uiBaudRate;
    if (HAL_UART_Init(_pUartHandle) != HAL_OK)
    {
        Error_Handler();
    }
}

TUartUserData *UART_userdata_init(int _iID, uint32_t _uiBaudRate, uint32_t _uiSize)
{
    if (_iID < 0 || _iID >= (sizeof(g_ptUartTab)/sizeof(g_ptUartTab[0]))) 
        return NULL;
    
    TUartUserData *ptUartUserData = (TUartUserData *)RD_CALLOC(1, sizeof(TUartUserData));
    ptUartUserData->m_buf_size = (_uiSize == 0) ? CONFIG_UART_BUFFER_SIZE : _uiSize;
#ifdef CONFIG_UART_IT_IDLEDMA
    uint8_t *pDMABuf = (uint8_t *)RD_CALLOC(1, ptUartUserData->m_buf_size);
    ptUartUserData->m_dma_rx_buf = pDMABuf;
    ptUartUserData->m_last_dma_pos = 0;

    ptUartUserData->m_hdma_rx = g_ptUartTab[_iID].m_hdma_rx;
#endif
    ptUartUserData->m_uart = g_ptUartTab[_iID].m_uart;

    bsp_uart_set_baudrate(g_ptUartTab[_iID].m_uart, _uiBaudRate);
    return ptUartUserData;
}

void UART_IT_init(TComCtrl *_ptComCtrl)
{
    TUartUserData *ptUartUserData = (TUartUserData *)_ptComCtrl->m_pUserData;     
#ifdef CONFIG_UART_IT_IDLEDMA
    // 开启串口空闲中断 (IDLE Interrupt)
    // 这是核心！DMA 负责搬运，IDLE 负责通知“一帧结束了”
    __HAL_UART_ENABLE_IT(ptUartUserData->m_uart, UART_IT_IDLE);

    // 启动 DMA 接收 (Circular 模式)
    // 注意：这里不需要在中断里重启 DMA，因为 Circular 模式会自动循环
    if (HAL_UART_Receive_DMA(ptUartUserData->m_uart, ptUartUserData->m_dma_rx_buf, ptUartUserData->m_buf_size) != HAL_OK)
    {
        Error_Handler();
    }
#else
    HAL_UART_Receive_IT(ptUartUserData->m_uart, &ptUartUserData->m_temp, 1);
#endif
}

void UART_DMA_RX_IRQHandler(TComCtrl *_ptComCtrl)
{
#ifdef CONFIG_UART_IT_IDLEDMA
    TUartUserData *ptUartUserData = (TUartUserData *)_ptComCtrl->m_pUserData;
    // 1. 检查是否是空闲中断 (IDLE)
    if (__HAL_UART_GET_FLAG(ptUartUserData->m_uart, UART_FLAG_IDLE) != RESET) 
    {
        
        // 2. 清除空闲标志 (必须先读 SR 再读 DR，HAL 宏已封装好)
        __HAL_UART_CLEAR_IDLEFLAG(ptUartUserData->m_uart);
        
        // 3. 计算本次接收了多少数据
        // 公式：总长度 - DMA 当前剩余未传输的数量
        uint16_t current_pos = ptUartUserData->m_buf_size - __HAL_DMA_GET_COUNTER(ptUartUserData->m_hdma_rx);
        
        uint16_t data_len = 0;
        
        if (current_pos >= ptUartUserData->m_last_dma_pos) 
        {
            data_len = current_pos - ptUartUserData->m_last_dma_pos;
            if (data_len > 0) 
            {
                rd_ComRecvProc(_ptComCtrl, (const char*)&ptUartUserData->m_dma_rx_buf[ptUartUserData->m_last_dma_pos], data_len);
            }
        } 
        else 
        {
            // DMA 指针发生了回绕 (Wrap around)
            // 分两段拷贝：[last_pos -> End] 和 [0 -> current_pos]
            uint16_t part1 = ptUartUserData->m_buf_size - ptUartUserData->m_last_dma_pos;
            uint16_t part2 = current_pos;
            
            if (part1 > 0) 
            {
                rd_ComRecvProc(_ptComCtrl, (const char*)&ptUartUserData->m_dma_rx_buf[ptUartUserData->m_last_dma_pos], part1);
            }
            if (part2 > 0) 
            {
                rd_ComRecvProc(_ptComCtrl, (const char*)&ptUartUserData->m_dma_rx_buf[0], part2);
            }
        }

        ptUartUserData->m_last_dma_pos = current_pos; // 更新位置        
    }
#endif
}

void UART_RX_IRQHandler(TComCtrl *_ptComCtrl)
{
#ifndef CONFIG_UART_IT_IDLEDMA
    TUartUserData *ptUartUserData = (TUartUserData *)_ptComCtrl->m_pUserData;
    rd_ComRecvProc(_ptComCtrl, (const char*)&ptUartUserData->m_temp, 1);
    HAL_UART_Receive_IT(ptUartUserData->m_uart, &ptUartUserData->m_temp, 1);
#endif
}

#endif