解决串口DMA发送问题，并增加根据一个USE_PRINT选项控制终端是串口还是网口

CMakePresets.json

@@ -42,6 +42,8 @@
         "USE_LUA_ST": true,
         "USE_TALNET": true,
         "USE_LWIP": true,
+        //"USE_PRINT": true,
+        "PRINT_ID": "3",
         "USE_FREERTOS": true
       }
     }

Core/Src/freertos.c

@@ -112,6 +112,8 @@ void MX_FREERTOS_Init(void) {
 
   /* USER CODE BEGIN RTOS_THREADS */
   /* add threads, ... */
+  void GF_Init(void);
+  GF_Init();
   void MyTask_Init(void);
   MyTask_Init();
   /* USER CODE END RTOS_THREADS */

Core/Src/main.c

@@ -131,6 +131,10 @@ int main(void)
   /* USER CODE BEGIN 2 */
 #ifdef MEM_POOL_TOTAL_SIZE
   RD_INIT();
+#ifdef USE_PRINT
+  void Myprint_Init(void);
+  Myprint_Init();
+#endif
 #endif
   /* USER CODE END 2 */
 
@@ -266,6 +270,17 @@ void MPU_Config(void)
   MPU_InitStruct.IsShareable = MPU_ACCESS_SHAREABLE;
   MPU_InitStruct.IsBufferable = MPU_ACCESS_NOT_BUFFERABLE;
 
+  HAL_MPU_ConfigRegion(&MPU_InitStruct);
+
+  /** Initializes and configures the Region and the memory to be protected
+  */
+  MPU_InitStruct.Number = MPU_REGION_NUMBER3;
+  MPU_InitStruct.BaseAddress = 0x24000000 ;
+  MPU_InitStruct.Size = MPU_REGION_SIZE_512KB;
+  MPU_InitStruct.TypeExtField = MPU_TEX_LEVEL0;
+  MPU_InitStruct.DisableExec = MPU_INSTRUCTION_ACCESS_DISABLE;
+  MPU_InitStruct.IsShareable = MPU_ACCESS_NOT_SHAREABLE;
+
   HAL_MPU_ConfigRegion(&MPU_InitStruct);
   /* Enables the MPU */
   HAL_MPU_Enable(MPU_PRIVILEGED_DEFAULT);

Core/Src/usart.c

@@ -324,10 +324,10 @@ void MX_USART3_UART_Init(void)
 
   /* USER CODE END USART3_Init 1 */
   huart3.Instance = USART3;
-  huart3.Init.BaudRate = 921600;
+  huart3.Init.BaudRate = 115200;
-  huart3.Init.WordLength = UART_WORDLENGTH_9B;
+  huart3.Init.WordLength = UART_WORDLENGTH_8B;
   huart3.Init.StopBits = UART_STOPBITS_1;
-  huart3.Init.Parity = UART_PARITY_EVEN;
+  huart3.Init.Parity = UART_PARITY_NONE;
   huart3.Init.Mode = UART_MODE_TX_RX;
   huart3.Init.HwFlowCtl = UART_HWCONTROL_NONE;
   huart3.Init.OverSampling = UART_OVERSAMPLING_16;
@@ -348,7 +348,7 @@ void MX_USART3_UART_Init(void)
   {
     Error_Handler();
   }
-  if (HAL_UARTEx_EnableFifoMode(&huart3) != HAL_OK)
+  if (HAL_UARTEx_DisableFifoMode(&huart3) != HAL_OK)
   {
     Error_Handler();
   }

STM32H743XG_FLASH.ld

@@ -253,6 +253,13 @@ SECTIONS
     *(.Rx_PoolSection) 
   } >RAM_D2
 
+  .dma_buffer (NOLOAD) :
+  {
+      . = ALIGN(32);
+      *(.dma_buffer)
+      . = ALIGN(32);
+  } > RAM
+
   /* Remove information from the standard libraries */
   /DISCARD/ :
   {

robot

@@ -1 +1 @@
-Subproject commit 778a14c63b91f62ea8b058caf330792cfc4050cc
+Subproject commit 6f6cd98dfe6360e6457de0b96493c9226625948d

robot_h743.ioc

@@ -14,18 +14,24 @@ CAD.provider=
 CORTEX_M7.AccessPermission-Cortex_Memory_Protection_Unit_Region0_Settings=MPU_REGION_NO_ACCESS
 CORTEX_M7.AccessPermission-Cortex_Memory_Protection_Unit_Region1_Settings=MPU_REGION_FULL_ACCESS
 CORTEX_M7.AccessPermission-Cortex_Memory_Protection_Unit_Region2_Settings=MPU_REGION_FULL_ACCESS
+CORTEX_M7.AccessPermission-Cortex_Memory_Protection_Unit_Region3_Settings=MPU_REGION_FULL_ACCESS
 CORTEX_M7.BaseAddress-Cortex_Memory_Protection_Unit_Region0_Settings=0
 CORTEX_M7.BaseAddress-Cortex_Memory_Protection_Unit_Region1_Settings=0x30000000
 CORTEX_M7.BaseAddress-Cortex_Memory_Protection_Unit_Region2_Settings=0x30004000
+CORTEX_M7.BaseAddress-Cortex_Memory_Protection_Unit_Region3_Settings=0x24000000 
 CORTEX_M7.CPU_DCache=Enabled
 CORTEX_M7.CPU_ICache=Enabled
+CORTEX_M7.DisableExec-Cortex_Memory_Protection_Unit_Region3_Settings=MPU_INSTRUCTION_ACCESS_DISABLE
 CORTEX_M7.Enable-Cortex_Memory_Protection_Unit_Region0_Settings=MPU_REGION_ENABLE
 CORTEX_M7.Enable-Cortex_Memory_Protection_Unit_Region1_Settings=MPU_REGION_ENABLE
 CORTEX_M7.Enable-Cortex_Memory_Protection_Unit_Region2_Settings=MPU_REGION_ENABLE
-CORTEX_M7.IPParameters=MPU_Control,CPU_ICache,CPU_DCache,Enable-Cortex_Memory_Protection_Unit_Region2_Settings,Enable-Cortex_Memory_Protection_Unit_Region0_Settings,BaseAddress-Cortex_Memory_Protection_Unit_Region0_Settings,Size-Cortex_Memory_Protection_Unit_Region0_Settings,IsBufferable-Cortex_Memory_Protection_Unit_Region0_Settings,AccessPermission-Cortex_Memory_Protection_Unit_Region0_Settings,Enable-Cortex_Memory_Protection_Unit_Region1_Settings,BaseAddress-Cortex_Memory_Protection_Unit_Region1_Settings,Size-Cortex_Memory_Protection_Unit_Region1_Settings,AccessPermission-Cortex_Memory_Protection_Unit_Region1_Settings,IsCacheable-Cortex_Memory_Protection_Unit_Region1_Settings,IsShareable-Cortex_Memory_Protection_Unit_Region1_Settings,TypeExtField-Cortex_Memory_Protection_Unit_Region1_Settings,IsShareable-Cortex_Memory_Protection_Unit_Region0_Settings,SubRegionDisable-Cortex_Memory_Protection_Unit_Region0_Settings,IsBufferable-Cortex_Memory_Protection_Unit_Region1_Settings,TypeExtField-Cortex_Memory_Protection_Unit_Region0_Settings,BaseAddress-Cortex_Memory_Protection_Unit_Region2_Settings,Size-Cortex_Memory_Protection_Unit_Region2_Settings,TypeExtField-Cortex_Memory_Protection_Unit_Region2_Settings,AccessPermission-Cortex_Memory_Protection_Unit_Region2_Settings,IsShareable-Cortex_Memory_Protection_Unit_Region2_Settings
+CORTEX_M7.Enable-Cortex_Memory_Protection_Unit_Region3_Settings=MPU_REGION_ENABLE
+CORTEX_M7.IPParameters=MPU_Control,CPU_ICache,CPU_DCache,Enable-Cortex_Memory_Protection_Unit_Region2_Settings,Enable-Cortex_Memory_Protection_Unit_Region0_Settings,BaseAddress-Cortex_Memory_Protection_Unit_Region0_Settings,Size-Cortex_Memory_Protection_Unit_Region0_Settings,IsBufferable-Cortex_Memory_Protection_Unit_Region0_Settings,AccessPermission-Cortex_Memory_Protection_Unit_Region0_Settings,Enable-Cortex_Memory_Protection_Unit_Region1_Settings,BaseAddress-Cortex_Memory_Protection_Unit_Region1_Settings,Size-Cortex_Memory_Protection_Unit_Region1_Settings,AccessPermission-Cortex_Memory_Protection_Unit_Region1_Settings,IsCacheable-Cortex_Memory_Protection_Unit_Region1_Settings,IsShareable-Cortex_Memory_Protection_Unit_Region1_Settings,TypeExtField-Cortex_Memory_Protection_Unit_Region1_Settings,IsShareable-Cortex_Memory_Protection_Unit_Region0_Settings,SubRegionDisable-Cortex_Memory_Protection_Unit_Region0_Settings,IsBufferable-Cortex_Memory_Protection_Unit_Region1_Settings,TypeExtField-Cortex_Memory_Protection_Unit_Region0_Settings,BaseAddress-Cortex_Memory_Protection_Unit_Region2_Settings,Size-Cortex_Memory_Protection_Unit_Region2_Settings,TypeExtField-Cortex_Memory_Protection_Unit_Region2_Settings,AccessPermission-Cortex_Memory_Protection_Unit_Region2_Settings,IsShareable-Cortex_Memory_Protection_Unit_Region2_Settings,Enable-Cortex_Memory_Protection_Unit_Region3_Settings,BaseAddress-Cortex_Memory_Protection_Unit_Region3_Settings,Size-Cortex_Memory_Protection_Unit_Region3_Settings,AccessPermission-Cortex_Memory_Protection_Unit_Region3_Settings,DisableExec-Cortex_Memory_Protection_Unit_Region3_Settings,IsCacheable-Cortex_Memory_Protection_Unit_Region3_Settings,IsBufferable-Cortex_Memory_Protection_Unit_Region3_Settings
 CORTEX_M7.IsBufferable-Cortex_Memory_Protection_Unit_Region0_Settings=MPU_ACCESS_NOT_BUFFERABLE
 CORTEX_M7.IsBufferable-Cortex_Memory_Protection_Unit_Region1_Settings=MPU_ACCESS_BUFFERABLE
+CORTEX_M7.IsBufferable-Cortex_Memory_Protection_Unit_Region3_Settings=MPU_ACCESS_NOT_BUFFERABLE
 CORTEX_M7.IsCacheable-Cortex_Memory_Protection_Unit_Region1_Settings=MPU_ACCESS_NOT_CACHEABLE
+CORTEX_M7.IsCacheable-Cortex_Memory_Protection_Unit_Region3_Settings=MPU_ACCESS_NOT_CACHEABLE
 CORTEX_M7.IsShareable-Cortex_Memory_Protection_Unit_Region0_Settings=MPU_ACCESS_SHAREABLE
 CORTEX_M7.IsShareable-Cortex_Memory_Protection_Unit_Region1_Settings=MPU_ACCESS_NOT_SHAREABLE
 CORTEX_M7.IsShareable-Cortex_Memory_Protection_Unit_Region2_Settings=MPU_ACCESS_SHAREABLE
@@ -33,6 +39,7 @@ CORTEX_M7.MPU_Control=MPU_PRIVILEGED_DEFAULT
 CORTEX_M7.Size-Cortex_Memory_Protection_Unit_Region0_Settings=MPU_REGION_SIZE_4GB
 CORTEX_M7.Size-Cortex_Memory_Protection_Unit_Region1_Settings=MPU_REGION_SIZE_1KB
 CORTEX_M7.Size-Cortex_Memory_Protection_Unit_Region2_Settings=MPU_REGION_SIZE_16KB
+CORTEX_M7.Size-Cortex_Memory_Protection_Unit_Region3_Settings=MPU_REGION_SIZE_512KB
 CORTEX_M7.SubRegionDisable-Cortex_Memory_Protection_Unit_Region0_Settings=0x87
 CORTEX_M7.TypeExtField-Cortex_Memory_Protection_Unit_Region0_Settings=MPU_TEX_LEVEL0
 CORTEX_M7.TypeExtField-Cortex_Memory_Protection_Unit_Region1_Settings=MPU_TEX_LEVEL0
@@ -902,14 +909,14 @@ USART2.DMADisableonRxErrorParam=ADVFEATURE_DMA_DISABLEONRXERROR
 USART2.IPParameters=VirtualMode-Asynchronous,OverrunDisableParam,DMADisableonRxErrorParam
 USART2.OverrunDisableParam=ADVFEATURE_OVERRUN_DISABLE
 USART2.VirtualMode-Asynchronous=VM_ASYNC
-USART3.BaudRate=921600
+USART3.BaudRate=115200
 USART3.DMADisableonRxErrorParam=ADVFEATURE_DMA_DISABLEONRXERROR
-USART3.FIFOMode=FIFOMODE_ENABLE
+USART3.FIFOMode=FIFOMODE_DISABLE
 USART3.IPParameters=VirtualMode-Asynchronous,DMADisableonRxErrorParam,OverrunDisableParam,FIFOMode,BaudRate,WordLength,Parity
 USART3.OverrunDisableParam=ADVFEATURE_OVERRUN_DISABLE
-USART3.Parity=PARITY_EVEN
+USART3.Parity=PARITY_NONE
 USART3.VirtualMode-Asynchronous=VM_ASYNC
-USART3.WordLength=WORDLENGTH_9B
+USART3.WordLength=WORDLENGTH_8B
 USART6.BaudRate=19200
 USART6.DMADisableonRxErrorParam=ADVFEATURE_DMA_ENABLEONRXERROR
 USART6.FIFOMode=FIFOMODE_ENABLE