temp

Core/Src/main.c

@@ -33,7 +33,6 @@
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
 #include "common.h"
-#include "bsp_uart.h"
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -67,43 +66,7 @@ void MX_FREERTOS_Init(void);
 
 /* Private user code ---------------------------------------------------------*/
 /* USER CODE BEGIN 0 */
-#ifndef CONFIG_UART_IT_IDLEDMA
-extern TComCtrl *g_ptCom1;
-extern TComCtrl *g_ptUartCtrl;
 
-void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
-{
-    if (huart->Instance == USART1)
-	{
-    	UART_RX_IRQHandler(g_ptUartCtrl);
-        // UART_RX_IRQHandler(g_ptCom1);
-	}
-    else if (huart->Instance == USART2)
-	{
-
-	}
-    else if (huart->Instance == USART3)
-    {
-
-    }
-    else if (huart->Instance == UART4)
-	{
-
-	}
-    else if (huart->Instance == UART5)
-	{
-
-	}
-    else if (huart->Instance == USART6)
-	{
-
-	}
-    else if (huart->Instance == UART7)
-	{
-
-	}
-}
-#endif
 /* USER CODE END 0 */
 
 /**

robot/bspMCU/bsp_uart.c

@@ -52,7 +52,10 @@ TUartUserData *UART_userdata_init(int _iID, uint32_t _uiBaudRate, uint32_t _uiSi
 #endif
     ptUartUserData->m_uart = g_ptUartTab[_iID].m_uart;
 
-    bsp_uart_set_baudrate(g_ptUartTab[_iID].m_uart, _uiBaudRate);
+    if (_uiBaudRate > 0)
+    {
+        bsp_uart_set_baudrate(g_ptUartTab[_iID].m_uart, _uiBaudRate);
+    }
     return ptUartUserData;
 }
 

robot/bspMCU/drv_interface.c

@@ -0,0 +1,186 @@
+/******************************************************************************
+
+                  版权所有 (C), 2018-2099, Radkil
+
+ ******************************************************************************
+  文 件 名   : drv_interface.c
+  版 本 号   : 初稿
+  作    者   : radkil
+  生成日期   : 2026年5月27日
+  最近修改   :
+  功能描述   : 对外接口层
+  
+  修改历史   :
+  1.日    期   : 2026年5月27日
+    作    者   : radkil
+    修改内容   : 创建文件
+
+******************************************************************************/
+#include "bsp_config.h"
+#include "main.h"
+#include "bsp_uart.h"
+#include "bsp_CAN.h"
+
+/*----------------------------------------------*
+ * 外部变量说明                                 *
+ *----------------------------------------------*/
+
+/*----------------------------------------------*
+ * 外部函数原型说明                             *
+ *----------------------------------------------*/
+
+/*----------------------------------------------*
+ * 内部函数原型说明                             *
+ *----------------------------------------------*/
+
+/*----------------------------------------------*
+ * 全局变量                                     *
+ *----------------------------------------------*/
+TComCtrl *g_ptRS485_1; 
+TComCtrl *g_ptRS485_2; 
+TComCtrl *g_ptRS485_3; 
+TComCtrl *g_ptRS485_4; 
+TComCtrl *g_ptLTE_7S0; 
+TComCtrl *g_ptE28_SBUS; 
+TComCtrl *g_ptInterCall;
+
+TComCtrl *g_ptFDCAN1; 
+TComCtrl *g_ptFDCAN2; 
+/*----------------------------------------------*
+ * 模块级变量                                   *
+ *----------------------------------------------*/
+
+/*----------------------------------------------*
+ * 常量定义                                     *
+ *----------------------------------------------*/
+
+/*----------------------------------------------*
+ * 宏定义                                       *
+ *----------------------------------------------*/
+
+int RS485_1_Send(char *_pBuffer, uint32_t _iSize)
+{
+    HAL_GPIO_WritePin(RS485_1_DIR_GPIO_Port, RS485_1_DIR_Pin, GPIO_PIN_SET);
+    TUartUserData *ptUartUserData = (TUartUserData *)g_ptRS485_1->m_pUserData;
+    int iRet = HAL_UART_Transmit(ptUartUserData->m_uart, (uint8_t *)_pBuffer, _iSize, 100);
+    HAL_GPIO_WritePin(RS485_1_DIR_GPIO_Port, RS485_1_DIR_Pin, GPIO_PIN_RESET);
+    return iRet;
+}
+
+int LTE_7S0_Send(char *_pBuffer, uint32_t _iSize)
+{
+    TUartUserData *ptUartUserData = (TUartUserData *)g_ptLTE_7S0->m_pUserData;
+    int iRet = HAL_UART_Transmit(ptUartUserData->m_uart, (uint8_t *)_pBuffer, _iSize, 100);
+    return iRet;
+}
+
+int RS485_2_Send(char *_pBuffer, uint32_t _iSize)
+{
+    HAL_GPIO_WritePin(RS485_2_DIR_GPIO_Port, RS485_2_DIR_Pin, GPIO_PIN_SET);
+    TUartUserData *ptUartUserData = (TUartUserData *)g_ptRS485_2->m_pUserData;
+    int iRet = HAL_UART_Transmit(ptUartUserData->m_uart, (uint8_t *)_pBuffer, _iSize, 100);
+    HAL_GPIO_WritePin(RS485_2_DIR_GPIO_Port, RS485_2_DIR_Pin, GPIO_PIN_RESET);
+    return iRet;
+}
+
+int InterCall_Send(char *_pBuffer, uint32_t _iSize)
+{
+    TUartUserData *ptUartUserData = (TUartUserData *)g_ptInterCall->m_pUserData;
+    int iRet = HAL_UART_Transmit(ptUartUserData->m_uart, (uint8_t *)_pBuffer, _iSize, 100);
+    return iRet;
+}
+
+int E28_SBUS_Send(char *_pBuffer, uint32_t _iSize)
+{
+    TUartUserData *ptUartUserData = (TUartUserData *)g_ptE28_SBUS->m_pUserData;
+    int iRet = HAL_UART_Transmit(ptUartUserData->m_uart, (uint8_t *)_pBuffer, _iSize, 100);
+    return iRet;
+}
+
+int RS485_3_Send(char *_pBuffer, uint32_t _iSize)
+{
+    HAL_GPIO_WritePin(RS485_3_DIR_GPIO_Port, RS485_3_DIR_Pin, GPIO_PIN_SET);
+    TUartUserData *ptUartUserData = (TUartUserData *)g_ptRS485_3->m_pUserData;
+    int iRet = HAL_UART_Transmit(ptUartUserData->m_uart, (uint8_t *)_pBuffer, _iSize, 100);
+    HAL_GPIO_WritePin(RS485_3_DIR_GPIO_Port, RS485_3_DIR_Pin, GPIO_PIN_RESET);
+    return iRet;
+}
+
+int RS485_4_Send(char *_pBuffer, uint32_t _iSize)
+{
+    HAL_GPIO_WritePin(RS485_4_DIR_GPIO_Port, RS485_4_DIR_Pin, GPIO_PIN_SET);
+    TUartUserData *ptUartUserData = (TUartUserData *)g_ptRS485_4->m_pUserData;
+    int iRet = HAL_UART_Transmit(ptUartUserData->m_uart, (uint8_t *)_pBuffer, _iSize, 100);
+    HAL_GPIO_WritePin(RS485_4_DIR_GPIO_Port, RS485_4_DIR_Pin, GPIO_PIN_RESET);
+    return iRet;
+}
+
+int FDCAN1_Send(char *_pBuffer, uint32_t _iSize)
+{
+    return CAN_TX_FIFOQ(g_ptFDCAN1, _pBuffer[0], &_pBuffer[4], _iSize);
+}
+
+int FDCAN2_Send(char *_pBuffer, uint32_t _iSize)
+{
+    return CAN_TX_FIFOQ(g_ptFDCAN2, _pBuffer[0], &_pBuffer[4], _iSize);
+}
+
+#ifndef CONFIG_UART_IT_IDLEDMA
+void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
+{
+    if (huart->Instance == USART1)
+	{
+    	UART_RX_IRQHandler(g_ptRS485_1);
+	}
+    else if (huart->Instance == USART2)
+	{
+        UART_RX_IRQHandler(g_ptLTE_7S0);
+	}
+    else if (huart->Instance == USART3)
+    {
+        UART_RX_IRQHandler(g_ptRS485_2);
+    }
+    else if (huart->Instance == UART4)
+	{
+        UART_RX_IRQHandler(g_ptInterCall);
+	}
+    else if (huart->Instance == UART5)
+	{
+        UART_RX_IRQHandler(g_ptE28_SBUS);
+	}
+    else if (huart->Instance == USART6)
+	{
+        UART_RX_IRQHandler(g_ptRS485_3);
+	}
+    else if (huart->Instance == UART7)
+	{
+        UART_RX_IRQHandler(g_ptRS485_4);
+	}
+}
+#endif
+
+void HAL_FDCAN_ErrorStatusCallback(FDCAN_HandleTypeDef *hfdcan, uint32_t ErrorStatusITs)
+{
+	if (hfdcan->Instance == FDCAN1)
+	{
+		MX_FDCAN1_Init();
+	}
+    else if (hfdcan->Instance == FDCAN2)
+	{
+		MX_FDCAN2_Init();
+	}
+}
+
+void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs)
+{
+	if (hfdcan->Instance == FDCAN1)
+	{
+		CAN_RX_IRQHandler(g_ptFDCAN1);
+	}
+    else if (hfdcan->Instance == FDCAN2)
+	{
+		CAN_RX_IRQHandler(g_ptFDCAN2);
+	}
+}
+
+