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robot_h743
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Lizongdi 1 week ago
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3 changed files with 190 additions and 38 deletions
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  1. 37
      Core/Src/main.c
  2. 5
      robot/bspMCU/bsp_uart.c
  3. 186
      robot/bspMCU/drv_interface.c

37
Core/Src/main.c
View File

@ -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 */
/**

5
robot/bspMCU/bsp_uart.c
View File

@ -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;
}

186
robot/bspMCU/drv_interface.c
View File

@ -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);
}
}
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