diff --git a/.vscode/settings.json b/.vscode/settings.json index faa9b76..676a653 100644 --- a/.vscode/settings.json +++ b/.vscode/settings.json @@ -4,8 +4,7 @@ "board.h": "c", "motor.h": "c", "main.h": "c", - "app.h": "c", - "type_traits": "c" + "app.h": "c" }, "C_Cpp.errorSquiggles": "disabled" } \ No newline at end of file diff --git a/Core/Src/stm32l0xx_it.c b/Core/Src/stm32l0xx_it.c index 6c5d0af..21674ef 100644 --- a/Core/Src/stm32l0xx_it.c +++ b/Core/Src/stm32l0xx_it.c @@ -154,7 +154,7 @@ void DMA1_Channel1_IRQHandler(void) /* USER CODE END DMA1_Channel1_IRQn 0 */ /* USER CODE BEGIN DMA1_Channel1_IRQn 1 */ - adc_convert_callback(adc1); + /* USER CODE END DMA1_Channel1_IRQn 1 */ } @@ -168,7 +168,7 @@ void DMA1_Channel2_3_IRQHandler(void) /* USER CODE END DMA1_Channel2_3_IRQn 0 */ /* USER CODE BEGIN DMA1_Channel2_3_IRQn 1 */ - uart_dma_reception_callback(uarts[UART_NUM_1]); + /* USER CODE END DMA1_Channel2_3_IRQn 1 */ } @@ -198,11 +198,13 @@ void TIM21_IRQHandler(void) /* USER CODE BEGIN TIM21_IRQn 0 */ /* USER CODE END TIM21_IRQn 0 */ - /* USER CODE BEGIN TIM21_IRQn 1 */ if (LL_TIM_IsActiveFlag_UPDATE(TIM21)) { + __NOP(); + step_motor_update(motor); LL_TIM_ClearFlag_UPDATE(TIM21); + __NOP(); } /* USER CODE END TIM21_IRQn 1 */ } @@ -216,7 +218,7 @@ void USART1_IRQHandler(void) /* USER CODE END USART1_IRQn 0 */ /* USER CODE BEGIN USART1_IRQn 1 */ - uart_reception_callback(uarts[UART_NUM_1]); + /* USER CODE END USART1_IRQn 1 */ } diff --git a/MDK-ARM/motor/motor.hex b/MDK-ARM/motor/motor.hex index e9fd637..e221ff3 100644 --- a/MDK-ARM/motor/motor.hex +++ b/MDK-ARM/motor/motor.hex @@ -1,34 +1,34 @@ :020000040800F2 -:10000000504600209D0100081D140008FD05000851 +:10000000104300209D0100085D1B0008890D0008B9 :1000100000000000000000000000000000000000E0 -:1000200000000000000000000000000011150008A2 -:1000300000000000000000001F1400081315000855 +:10002000000000000000000000000000511C00085B +:1000300000000000000000005F1B0008531C0008C7 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"board.h" #include "uarts.h" #include "sys.h" #include @@ -12,6 +12,7 @@ uint8_t mem_percent = 0; // 内存使用率 void app_init(void) { + motor_process_init(); flow_init(); // 流程初始化 } diff --git a/User/app.h b/User/app.h index f250b53..080522e 100644 --- a/User/app.h +++ b/User/app.h @@ -8,13 +8,15 @@ typedef struct { bool is_open; - uint32_t calibration_value; + float32 calibration_value; uint32_t original_value; } calibration_sensor_data_t; typedef struct { calibration_sensor_data_t torsion_in13; // 扭力 + calibration_sensor_data_t pressure_in7; // 压力 + calibration_sensor_data_t pressure_in8; // 流量 } adcs_t; typedef struct diff --git a/User/app_flow.c b/User/app_flow.c index 1ee5738..e132e0f 100644 --- a/User/app_flow.c +++ b/User/app_flow.c @@ -17,7 +17,15 @@ static uint8_t adc_inspection(struct flow *fl) FL_HEAD(fl); for (;;) { + // 扭力 app.adc.torsion_in13.original_value = adc_get_result_average(IN13); + app.adc.torsion_in13.calibration_value = torsion_detect(app.adc.torsion_in13.original_value); + // 压力 + app.adc.pressure_in7.original_value = adc_get_result_average(IN7); + app.adc.pressure_in7.calibration_value = pressure_detect(app.adc.pressure_in7.original_value); + // 流量 + app.adc.pressure_in8.original_value = adc_get_result_average(IN8); + app.adc.pressure_in8.calibration_value = flow_detect(app.adc.pressure_in8.original_value); FL_LOCK_DELAY(fl, FL_CLOCK_100MSEC); /* 延时100毫秒 */ } FL_TAIL(fl); @@ -28,6 +36,7 @@ static uint8_t systom_inspection(struct flow *fl) FL_HEAD(fl); for (;;) { + motor_process(); FL_LOCK_DELAY(fl, FL_CLOCK_100MSEC); /* 延时100毫秒 */ } FL_TAIL(fl); diff --git a/User/application/motor_app.c b/User/application/motor_app.c deleted file mode 100644 index 3b231c0..0000000 --- a/User/application/motor_app.c +++ /dev/null @@ -1,2 +0,0 @@ -#include "motor.h" - diff --git a/User/application/motor_app.h b/User/application/motor_app.h deleted file mode 100644 index 8006683..0000000 --- a/User/application/motor_app.h +++ /dev/null @@ -1,8 +0,0 @@ -#ifndef __MOTOR_APP_H__ -#define __MOTOR_APP_H__ - - - -extern void motor_process(void); - -#endif \ No newline at end of file diff --git a/User/board/board.c b/User/board/board.c index dc18dc6..2bb64ec 100644 --- a/User/board/board.c +++ b/User/board/board.c @@ -1,167 +1,44 @@ #include "board.h" #include "motor.h" -void motor_process(frame_msg_t *rx, frame_msg_t *bk); -void sensor_procss(frame_msg_t *rx, frame_msg_t *bk); - -/************************************* 串口通讯 *************************************/ uart_t *uarts[UART_NUM_MAX]; -__IO static BOOL deal_done_flag = FALSE; // 数据处理标志 -__IO static frame_msg_t rx_frame; -__IO static frame_msg_t bk_frame; -__IO static uint8_t send_buffer[UART_TXSIZE]; - -// 串口发送 -static void host_send_msg(uint8_t *data, uint16_t len) -{ - uart_send_data(uarts[UART_NUM_1], data, len); -} - -// 接收数据解码 -static void host_data_decode(uint8_t *data, uint16_t len, frame_msg_t *msg) -{ - DBG_ASSERT(data != NULL __DBG_LINE); - DBG_ASSERT(msg != NULL __DBG_LINE); - - msg->state = data[1]; - msg->dev_no = data[2]; - msg->cmd_no = data[3]; - msg->len = data[4]; - osel_memcpy(msg->data, (uint8_t *)&data[5], msg->len); -} - -// 发送数据编码 -static void send_data_encode(frame_msg_t *msg) -{ - uint16_t ver_len = 0, ver_crc = 0; - uint8_t *sp = (uint8_t *)send_buffer; - DBG_ASSERT(msg != NULL __DBG_LINE); - - *sp++ = PACKET_STX; // 包头 - ver_len++; - *sp++ = msg->state; // 状态 - ver_len++; - *sp++ = msg->dev_no; // 设备号 - ver_len++; - *sp++ = msg->cmd_no; // 命令号 - ver_len++; - *sp++ = msg->len; // 长度 - ver_len++; - osel_memcpy(sp, msg->data, msg->len); // 数据 - sp += msg->len; - ver_len += msg->len; - - ver_crc = crc16_compute((uint8_t *)&send_buffer[1], (ver_len - 1)); // 减去包头 - ver_crc = S2B_UINT16(ver_crc); - osel_memcpy(sp, (uint8_t *)&ver_crc, 2); // 校验 - sp += 2; - ver_len += 2; - - *sp++ = PACKET_ETX; // 包尾 - ver_len++; - - // 发送 - host_send_msg((uint8_t *)send_buffer, ver_len); -} - -// 数据处理 -void host_data_deal(uint8_t *data, uint16_t len) -{ - frame_msg_t *rx_msg = (frame_msg_t *)&rx_frame; - frame_msg_t *bk_msg = (frame_msg_t *)&bk_frame; - - if (deal_done_flag == TRUE) - { - return; - } - // 解析 - host_data_decode(data, len, rx_msg); - // 执行 - switch (rx_msg->dev_no) - { - case ADC_SENSOR: - sensor_procss(rx_msg, bk_msg); - break; - case MOTOR: - motor_process(rx_msg, bk_msg); - break; - default: - return; - } - // 回复（组包 + 发送） - send_data_encode(bk_msg); - // 修改标志位 - deal_done_flag = TRUE; - osel_memset((uint8_t *)rx_msg, 0, sizeof(rx_frame)); - osel_memset((uint8_t *)bk_msg, 0, sizeof(bk_frame)); -} - -// 数据完整性检查 -static BOOL host_data_verify(uint8_t *data, uint16_t len) -{ - BOOL ret = TRUE; - uint16_t ver_len = 0; - uint16_t ver_crc = 0, rx_crc = 0; - - // 包头包尾检查 - if (data[0] != PACKET_STX || data[1] != MASTER_CODE || data[len - 1] != PACKET_ETX) - { - ret = FALSE; - return ret; - } - // 帧长度检查 - ver_len = data[4] + PACKET_MIN_LEN; - if (ver_len != len) - { - ret = FALSE; - return ret; - } - // CRC校验 - ver_crc = crc16_compute((uint8_t *)(data + 1), (len - 4)); // 减去包头、包尾、校验 - ver_crc = S2B_UINT16(ver_crc); - osel_memcpy((uint8_t *)&rx_crc, (uint8_t *)(data + len - 3), 2); - if (ver_crc != rx_crc) - { - ret = FALSE; - return ret; - } - - return ret; -} - -// 串口接收回调 -static void host_rx_cb(uint8_t uart_index, uint8_t *data, uint16_t len) -{ - BOOL ret = FALSE; - - // 数据完整性检查 - ret = host_data_verify(data, len); - // 数据处理 - if (ret == TRUE && deal_done_flag == TRUE) - { - deal_done_flag = FALSE; - } -} - -// 串口初始化 -void host_uart_init(void) -{ - if (uarts[UART_NUM_1] == NULL) - { - uarts[UART_NUM_1] = uart_create(USART1, TRUE, UART_RXSIZE, host_rx_cb, TRUE, UART_TXSIZE, NULL); - uarts[UART_NUM_1]->uart_index = UART_NUM_1; - uarts[UART_NUM_1]->dma = DMA1; - uarts[UART_NUM_1]->dma_rx_channel = LL_DMA_CHANNEL_3; - uarts[UART_NUM_1]->dma_tx_channel = LL_DMA_CHANNEL_2; - uart_recv_en(uarts[UART_NUM_1]); - } -} - -/************************************* 电机 *************************************/ -// 电机对象 motor_t *motor; +motor_ctrl_t *motor_param = NULL; +uint8_t motor_state = MOTOR_IDEL; + +adc_t adc1 = { + .adc = ADC1, + .dma = DMA1, + .dma_channel = LL_DMA_CHANNEL_1, +}; + +// 单位：N·m +float32 torsion_detect(uint16_t adc) +{ + float32 val = 0; + val = ((float32)adc - 1500) / (1.934 * 3) * 10; + + return val; +} + +// 单位：kPa +float32 pressure_detect(uint16_t adc) +{ + float32 val = 0; + val = ((float32)adc - 600) / (10 * 15) / 16 * 10; + + return val; +} + +// 单位：SLPM +float32 flow_detect(uint16_t adc) +{ + float32 val = 0; + val = ((float32)adc - 600) / (10 * 15) / 16 * 300; + + return val; +} -// 电机初始化 static void motor_init(void) { motor = motor_create(STEP_MOTOR); @@ -173,73 +50,40 @@ static void motor_init(void) .port = ENA_GPIO_Port, .pin = ENA_Pin, }; - motor->handle.step_motor.interface.init(motor, dir, en, MIN_STEP_ANGLE, TIM21, LL_TIM_CHANNEL_CH2); + motor->handle.step_motor.interface.init(motor, dir, en, MAX_STEP_ANGLE, TIM21, LL_TIM_CHANNEL_CH2); } -// 电机任务 -void motor_process(frame_msg_t *rx, frame_msg_t *bk) +void motor_process_init(void) { -// BOOL ret = TRUE; + motor_param = (motor_ctrl_t *)osel_mem_alloc(sizeof(motor_ctrl_t)); + DBG_ASSERT(motor_param != NULL __DBG_LINE); + osel_memset((uint8_t *)motor_param, 0, sizeof(motor_ctrl_t)); +} - switch (rx->cmd_no) +void motor_process(void) +{ + step_motor_t *step_motor = &motor->handle.step_motor; + + switch (motor_state) { - case SET_MOTOR_SPEED: // 设置电机转速 + case MOTOR_RUN: + step_motor->interface.run(motor, (dir_e)motor_param->dir); + motor_state = MOTOR_IDEL; break; - case SET_DRIVER_PULSE: // 设置驱动器脉冲 + case MOTOR_STOP: + step_motor->interface.stop(motor); + motor_state = MOTOR_IDEL; + case MOTOR_STEP: + step_motor->interface.set_angle(motor, motor_param->angle, (dir_e)motor_param->dir); + motor_state = MOTOR_IDEL; break; - case GET_MIN_STEP: // 获取最小步距 + case MOTOR_IDEL: break; - case GET_MOTOR_STATE: // 获取电机运行状态 - break; - case MOTOR_MOVE: // 运行电机 - break; - case MOTOR_STOP: // 停止电机 + default: break; } - - bk->dev_no = MOTOR; - bk->cmd_no = rx->cmd_no; } -/************************************* ADc传感器 *************************************/ -// AD传感器 -adc_t adc1 = { - .adc = ADC1, - .dma = DMA1, - .dma_channel = LL_DMA_CHANNEL_1, -}; - -// 获取扭力值 -static BOOL get_tors_value(frame_msg_t *bk) -{ - uint16_t value = 0; - - bk->len = sizeof(uint16_t); - value = adc_get_result_average(IN13); - value = S2B_UINT16(value); - osel_memcpy(bk->data, (uint8_t *)&value, bk->len); - return TRUE; -} - -// 传感器任务 -void sensor_procss(frame_msg_t *rx, frame_msg_t *bk) -{ - BOOL ret = TRUE; - - switch (rx->cmd_no) - { - case GET_TORS_VALUE: // 获取扭力值 - ret = get_tors_value(bk); - break; - } - - bk->state = ret; - bk->dev_no = ADC_SENSOR; - bk->cmd_no = rx->cmd_no; -} - -/************************************* 板卡 *************************************/ -// 板卡初始化 void board_init(void) { motor = NULL; diff --git a/User/board/board.h b/User/board/board.h index 24c81f0..3fee36d 100644 --- a/User/board/board.h +++ b/User/board/board.h @@ -4,32 +4,11 @@ #include "adcs.h" #include "uarts.h" -// 串口协议参数 -#define UART_RXSIZE (240u) // 接收缓冲区 240个字节 -#define UART_TXSIZE (240u) // 发送缓冲区 240个字节 - -// 包头 + 状态码 + 设备号 + 命令号 + 长度 + 数据 + 校验 + 包尾 -// 1 1 1 1 1 0~128 2 1 -#define PACKET_STX 0xff // 包头 -#define PACKET_ETX 0x3c // 包尾 -#define MASTER_CODE 0x00 // 状态码-主机 - -// 最大数据长度 -#define DATA_MAX_LEN 128 -// 最小帧长度：包头 + 状态码 + 设备号 + 命令号 + 长度 + 校验 + 包尾 -#define PACKET_MIN_LEN 8 -// 最大帧长度 -#define PACKET_MAX_LEN (DATA_MAX_LEN + PACKET_MIN_LEN) - -// 电机初始默认值 -#define PULSE_REV 18000.0 // 每圈脉冲数（驱动器脉冲） -#define MIN_STEP_ANGLE (360 / PULSE_REV) // 最小步距 - -typedef enum -{ - ADC_SENSOR, - MOTOR, -} dev_id_e; +#define UART_RXSIZE (240u) // 接收240个字节 +#define UART_TXSIZE (240u) // 发送240个字节 +#define PULSE_REV 18000.0 /* 每圈脉冲数 */ +#define MAX_STEP_ANGLE (360 / PULSE_REV) /* 最小步距(360/PULSE_REV) */ +#define ANGLE 180 // 步进电机180度，转盘转动1度 typedef enum { @@ -43,37 +22,23 @@ typedef enum typedef enum { - SET_MOTOR_SPEED, - SET_DRIVER_PULSE, - GET_MIN_STEP, - GET_MOTOR_STATE, - MOTOR_MOVE, + MOTOR_IDEL, + MOTOR_RUN, MOTOR_STOP, -} motor_cmd_e; - -typedef enum -{ - GET_TORS_VALUE, -} sensor_cmd_e; - -typedef enum -{ - ST_DEV_NORMAL, - ST_DEV_BUSY, - ST_MSG_MISS, -} status_code_e; + MOTOR_STEP, +} motor_process_t; typedef struct { - uint8_t state; // 状态 - uint8_t dev_no; // 设备号 - uint8_t cmd_no; // 命令号 - uint8_t len; // 长度 - uint8_t data[DATA_MAX_LEN]; // 数据 - -} frame_msg_t; + uint8_t dir; + uint32_t angle; +} motor_ctrl_t; extern void board_init(void); -void host_data_deal(uint8_t *data, uint16_t len); +extern void motor_process_init(void); +extern void motor_process(void); +extern float32 torsion_detect(uint16_t adc); +extern float32 pressure_detect(uint16_t adc); +extern float32 flow_detect(uint16_t adc); #endif // __BOARD_H__ diff --git a/User/board/motor.c b/User/board/motor.c index 327b0eb..8092aac 100644 --- a/User/board/motor.c +++ b/User/board/motor.c @@ -20,6 +20,8 @@ static void step_motor_run(motor_t *motor, dir_e dir) handle->attribute.dir = dir; handle->attribute.en = TRUE; dir == DIR_CCW ? handle->gpios.dir->set(*handle->gpios.dir) : handle->gpios.dir->reset(*handle->gpios.dir); + LL_TIM_EnableIT_UPDATE(handle->pwm_timer); + // LL_TIM_EnableIT_CC2(handle->pwm_timer); PWM_START(handle->pwm_timer, handle->pwm_channel); } @@ -86,7 +88,8 @@ void step_motor_update(motor_t *motor) if (handle->attribute.pulse_count <= 0) /* 当脉冲数等于0的时候 代表需要发送的脉冲个数已完成，停止定时器输出 */ { LOG_PRINT("累计旋转的角度:%d\r\n", (int)(handle->attribute.add_pulse_count * handle->attribute.min_step_angle)); /* 打印累计转动了多少角度 */ - handle->interface.stop(motor); /* 停止接口一输出 */ + handle->interface.stop(motor); + /* 停止接口一输出 */ } } diff --git a/User/system/bsp/adcs.h b/User/system/bsp/adcs.h index cf7d374..6fc3a8f 100644 --- a/User/system/bsp/adcs.h +++ b/User/system/bsp/adcs.h @@ -65,24 +65,24 @@ typedef enum { - IN0 = 0, - IN1, - // IN2, - // IN3, - // IN4, - // IN5, - IN6, + // IN0 = 0, + // IN1, + // IN2, + // IN3, + // IN4, + // IN5, + // IN6, IN7, IN8, - IN9, - IN10, - IN11, - IN12, + // IN9, + // IN10, + // IN11, + // IN12, IN13, // IN14, // IN15, - INVREF, - INTEMP, + // INVREF, + // INTEMP, INMAX, } adc_num_t; // ADC通道号，根据cubemax配置的通道数量而定 diff --git a/User/system/bsp/uarts.c b/User/system/bsp/uarts.c index f0b157b..55a5185 100644 --- a/User/system/bsp/uarts.c +++ b/User/system/bsp/uarts.c @@ -41,79 +41,6 @@ } \ } while (__LINE__ == -1) -/** - * @file uarts.c - * @brief This file contains the implementation of DMA_CLEAR_FLAG_TC_CHANNEL macro. - */ - -/** - * @brief Clear the Transfer Complete (TC) flag of a specific DMA channel. - * - * @param dma The DMA peripheral. - * @param channel The DMA channel number. - */ -#define DMA_CLEAR_FLAG_TC_CHANNEL(dma, channel) \ - switch (channel) \ - { \ - case 1: \ - DMA_ClEAR_FLAG_TC(dma, 1); \ - break; \ - case 2: \ - DMA_ClEAR_FLAG_TC(dma, 2); \ - break; \ - case 3: \ - DMA_ClEAR_FLAG_TC(dma, 3); \ - break; \ - case 4: \ - DMA_ClEAR_FLAG_TC(dma, 4); \ - break; \ - case 5: \ - DMA_ClEAR_FLAG_TC(dma, 5); \ - break; \ - case 6: \ - DMA_ClEAR_FLAG_TC(dma, 6); \ - break; \ - case 7: \ - DMA_ClEAR_FLAG_TC(dma, 7); \ - break; \ - default: \ - break; \ - } - -/** - * @brief Clear the Transfer Error (TE) flag for the specified DMA channel. - * - * @param dma The DMA peripheral. - * @param channel The DMA channel number. - */ -#define DMA_CLEAR_FLAG_TE_CHANNEL(dma, channel) \ - switch (channel) \ - { \ - case 1: \ - DMA_ClEAR_FLAG_TE(dma, 1); \ - break; \ - case 2: \ - DMA_ClEAR_FLAG_TE(dma, 2); \ - break; \ - case 3: \ - DMA_ClEAR_FLAG_TE(dma, 3); \ - break; \ - case 4: \ - DMA_ClEAR_FLAG_TE(dma, 4); \ - break; \ - case 5: \ - DMA_ClEAR_FLAG_TE(dma, 5); \ - break; \ - case 6: \ - DMA_ClEAR_FLAG_TE(dma, 6); \ - break; \ - case 7: \ - DMA_ClEAR_FLAG_TE(dma, 7); \ - break; \ - default: \ - break; \ - } - /** * @brief 创建一个UART设备 * @param {USART_TypeDef} *huart USART总线设备句柄 @@ -203,8 +130,6 @@ void uart_recv_en(uart_t *uart) LL_DMA_SetMemoryAddress(uart->dma, uart->dma_tx_channel, (uint32_t)uart->txbuf); LL_DMA_EnableIT_TC(uart->dma, uart->dma_tx_channel); LL_USART_EnableDMAReq_TX(uart->huart); - - uart->tx_dma_ok = TRUE; } } @@ -244,9 +169,8 @@ void uart_send_data(uart_t *uart, uint8_t *data, uint16_t len) DBG_ASSERT(data != NULL __DBG_LINE); DBG_ASSERT(len > 0 __DBG_LINE); uint8_t count = 0; - if (TRUE == uart->tx_dma_en && uart->tx_dma_ok == TRUE) + if (TRUE == uart->tx_dma_en) { - uart->tx_dma_ok = FALSE; osel_memcpy(uart->txbuf, data, len); // 拷贝数据到发送缓冲区 LL_DMA_DisableChannel(uart->dma, uart->dma_tx_channel); // 配置数据长度 @@ -256,7 +180,6 @@ void uart_send_data(uart_t *uart, uint8_t *data, uint16_t len) } else { - count = 0; for (uint16_t i = 0; i < len; i++) { count = 0; @@ -268,13 +191,13 @@ void uart_send_data(uart_t *uart, uint8_t *data, uint16_t len) } } LL_USART_TransmitData8(uart->huart, data[i]); - } - count = 0; - while (!LL_USART_IsActiveFlag_TC(uart->huart)) - { - if (count++ >= 0xFE) + count = 0; + while (!LL_USART_IsActiveFlag_TC(uart->huart)) { - return; + if (count++ >= 0xFE) + { + return; + } } } } @@ -365,12 +288,13 @@ void uart_dma_reception_callback(uart_t *uart) LL_DMA_DisableChannel(uart->dma, uart->dma_tx_channel); // 清除发送中断标志位 - DMA_CLEAR_FLAG_TC_CHANNEL(uart->dma, uart->dma_tx_channel + 1); + DMA_ClEAR_FLAG_TC(uart->dma, 2); + DMA_ClEAR_FLAG_TC(uart->dma, 7); // 使能发送中断，用于关闭发送使能引脚 LL_USART_EnableIT_TC(uart->huart); // 使能发送中断，用于关闭发送使能引脚 - uart->tx_dma_ok = TRUE; - // 清除传输错误标志 - DMA_CLEAR_FLAG_TE_CHANNEL(uart->dma, uart->dma_tx_channel + 1); + // 清除接收中断标志位 + DMA_ClEAR_FLAG_TE(uart->dma, 2); + DMA_ClEAR_FLAG_TE(uart->dma, 7); } diff --git a/User/system/bsp/uarts.h b/User/system/bsp/uarts.h index 45fc902..28468db 100644 --- a/User/system/bsp/uarts.h +++ b/User/system/bsp/uarts.h @@ -1,132 +1,47 @@ -/** - * @file uarts.h - * @brief Header file for UARTs module. - * - * This file contains the definitions and function prototypes for UARTs module. - * The UARTs module provides functions for creating and managing UART instances, - * enabling reception, sending data, and handling interrupts. - */ - #ifndef __UARTS_H__ #define __UARTS_H__ - #include "lib.h" #include "main.h" -/** - * @brief Callback function type for UART receive interrupt. - * - * This function type is used to define the callback function for UART receive interrupt. - * The callback function is called when data is received on the UART. - * - * @param uart_index The index of the UART. - * @param data The received data. - * @param len The length of the received data. - */ +// typedef void (*rx_interupt_cb_t)(uint8_t uart_index, uint8_t *data, uint16_t len); -/** - * @brief Callback function type for UART transmit complete. - * - * This function type is used to define the callback function for UART transmit complete. - * The callback function is called when the UART transmission is complete. - */ +// typedef void (*tx_complete_cb_t)(void); -/** - * @brief Enumeration for UART status. - */ -typedef enum -{ - UART_OK = 0x00u, /**< The action was successful. */ - UART_ERROR = 0xFFu /**< Generic error. */ -} uart_status_e; - -/** - * @brief Structure representing a UART instance. - */ +// typedef struct { - uint8_t uart_index; /**< The index of the UART. */ - USART_TypeDef *huart; /**< The UART peripheral. */ - DMA_TypeDef *dma; /**< The DMA peripheral. */ - uint32_t dma_rx_channel; /**< The DMA receive channel. */ - uint32_t dma_tx_channel; /**< The DMA transmit channel. */ - uint16_t rx_index; /**< The receive data index. */ - BOOL rx_dma_en; /**< Flag indicating if DMA reception is enabled. */ - uint8_t *rxbuf; /**< The receive buffer. */ - uint16_t rxsize; /**< The size of the receive buffer. */ - uint16_t tx_index; /**< The transmit data index. */ - BOOL tx_dma_en; /**< Flag indicating if DMA transmission is enabled. */ - uint8_t *txbuf; /**< The transmit buffer. */ - uint16_t txsize; /**< The size of the transmit buffer. */ - __IO BOOL tx_dma_ok; /**< Flag indicating if DMA transmission is complete. */ - rx_interupt_cb_t rx_interupt_cb; /**< The receive interrupt callback function. */ - tx_complete_cb_t tx_complete_cb; /**< The transmit complete callback function. */ + uint8_t uart_index; // 串口索引 + USART_TypeDef *huart; + DMA_TypeDef *dma; // 外部设置 + uint32_t dma_rx_channel; // 外部设置 + uint32_t dma_tx_channel; // 外部设置 + + uint16_t rx_index; // 接收数据索引 + BOOL rx_dma_en; + uint8_t *rxbuf; + uint16_t rx_sta; + uint16_t rxsize; + + uint16_t tx_index; + BOOL tx_dma_en; + uint8_t *txbuf; + uint16_t txsize; + + // 接收中断回调 + rx_interupt_cb_t rx_interupt_cb; + // 发生完成回调 + tx_complete_cb_t tx_complete_cb; + } uart_t; -/** - * @brief Creates a UART instance. - * - * This function creates a UART instance with the specified parameters. - * - * @param huart The UART peripheral. - * @param rx_dma_en Flag indicating if DMA reception is enabled. - * @param rxsize The size of the receive buffer. - * @param rx_cb The receive interrupt callback function. - * @param tx_dma_en Flag indicating if DMA transmission is enabled. - * @param txsize The size of the transmit buffer. - * @param tx_complete_cb The transmit complete callback function. - * @return The created UART instance. - */ extern uart_t *uart_create(USART_TypeDef *huart, BOOL rx_dma_en, uint16_t rxsize, rx_interupt_cb_t rx_cb, - BOOL tx_dma_en, uint16_t txsize, tx_complete_cb_t tx_complete_cb); - -/** - * @brief Frees the resources of a UART instance. - * - * This function frees the resources allocated for a UART instance. - * - * @param uart The UART instance to free. - */ -extern void uart_free(uart_t *uart); - -/** - * @brief Enables UART reception. - * - * This function enables reception on the specified UART instance. - * - * @param uart The UART instance. - */ -extern void uart_recv_en(uart_t *uart); - -/** - * @brief Sends data over UART. - * - * This function sends the specified data over the specified UART instance. - * - * @param uart The UART instance. - * @param data The data to send. - * @param len The length of the data. - */ -extern void uart_send_data(uart_t *uart, uint8_t *data, uint16_t len); - -/** - * @brief UART receive interrupt callback. - * - * This function is the interrupt callback for UART receive interrupt. - * - * @param uart The UART instance. - */ -extern void uart_reception_callback(uart_t *uart); - -/** - * @brief DMA receive interrupt callback. - * - * This function is the interrupt callback for DMA receive interrupt. - * - * @param uart The UART instance. - */ -extern void uart_dma_reception_callback(uart_t *uart); + BOOL tx_dma_en, uint16_t txsize, tx_complete_cb_t tx_complete_cb); // 创建uart +extern void uart_free(uart_t *uart); // 释放uart资源 +extern void uart_recv_en(uart_t *uart); // 使能接收 +extern void uart_send_data(uart_t *uart, uint8_t *data, uint16_t len); // 发送数据 +extern void uart_reception_callback(uart_t *uart); // 接收中断回调 +extern void uart_dma_reception_callback(uart_t *uart); // DMA接收中断回调 #endif // __UARTS_H__