测试

.vscode/settings.json

@@ -4,8 +4,7 @@
         "board.h": "c",
         "motor.h": "c",
         "main.h": "c",
-        "app.h": "c",
+        "app.h": "c"
-        "type_traits": "c"
     },
     "C_Cpp.errorSquiggles": "disabled"
 }

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 */
 }
 

User/app.c

@@ -1,5 +1,5 @@
 #include "app.h"
-// #include "board.h"
+#include "board.h"
 #include "uarts.h"
 #include "sys.h"
 #include <stdio.h>
@@ -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
 }
 

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

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);

User/application/motor_app.c

@@ -1,2 +0,0 @@
-#include "motor.h"
-

User/application/motor_app.h

@@ -1,8 +0,0 @@
-#ifndef __MOTOR_APP_H__
-#define __MOTOR_APP_H__
-
-
-
-extern void motor_process(void);
-
-#endif

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_init(void)
-void motor_process(frame_msg_t *rx, frame_msg_t *bk)
 {
-//    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
+    default:
-        break;
-    case MOTOR_MOVE: // 运行电机
-        break;
-    case MOTOR_STOP: // 停止电机
         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;

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240个字节
-#define UART_RXSIZE (240u) // 接收缓冲区 240个字节
+#define UART_TXSIZE (240u)               // 发送240个字节
-#define UART_TXSIZE (240u) // 发送缓冲区 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) */
-// 包头 + 状态码 + 设备号 + 命令号 + 长度 + 数据 + 校验 + 包尾
+#define ANGLE 180                        // 步进电机180度，转盘转动1度
-//  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;
 
 typedef enum
 {
@@ -43,37 +22,23 @@ typedef enum
 
 typedef enum
 {
-    SET_MOTOR_SPEED,
+    MOTOR_IDEL,
-    SET_DRIVER_PULSE,
+    MOTOR_RUN,
-    GET_MIN_STEP,
-    GET_MOTOR_STATE,
-    MOTOR_MOVE,
     MOTOR_STOP,
-} motor_cmd_e;
+    MOTOR_STEP,
-
+} motor_process_t;
-typedef enum
-{
-    GET_TORS_VALUE,
-} sensor_cmd_e;
-
-typedef enum
-{
-    ST_DEV_NORMAL,
-    ST_DEV_BUSY,
-    ST_MSG_MISS,
-} status_code_e;
 
 typedef struct
 {
-    uint8_t state;              // 状态
+    uint8_t dir;
-    uint8_t dev_no;             // 设备号
+    uint32_t angle;
-    uint8_t cmd_no;             // 命令号
+} motor_ctrl_t;
-    uint8_t len;                // 长度
-    uint8_t data[DATA_MAX_LEN]; // 数据
-
-} frame_msg_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__

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 */
     }
 }
 

User/system/bsp/adcs.h

@@ -65,24 +65,24 @@
 
 typedef enum
 {
-    IN0 = 0,
+    // IN0 = 0,
-    IN1,
+    // IN1,
     //  IN2,
     //  IN3,
     //  IN4,
     //  IN5,
-    IN6,
+    //  IN6,
     IN7,
     IN8,
-    IN9,
+    // IN9,
-    IN10,
+    // IN10,
-    IN11,
+    // IN11,
-    IN12,
+    // IN12,
     IN13,
     // IN14,
     // IN15,
-    INVREF,
+    // INVREF,
-    INTEMP,
+    // INTEMP,
     INMAX,
 } adc_num_t; // ADC通道号，根据cubemax配置的通道数量而定
 

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;
@@ -268,7 +191,6 @@ 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))
             {
@@ -278,6 +200,7 @@ void uart_send_data(uart_t *uart, uint8_t *data, uint16_t len)
                 }
             }
         }
+    }
 }
 
 /**
@@ -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
+    // 清除接收中断标志位
-    DMA_CLEAR_FLAG_TE_CHANNEL(uart->dma, uart->dma_tx_channel + 1);
+    DMA_ClEAR_FLAG_TE(uart->dma, 2);
+    DMA_ClEAR_FLAG_TE(uart->dma, 7);
 }

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. */
+    uint8_t uart_index; // 串口索引
-    USART_TypeDef *huart;       /**< The UART peripheral. */
+    USART_TypeDef *huart;
-    DMA_TypeDef *dma;           /**< The DMA peripheral. */
+    DMA_TypeDef *dma;        // 外部设置
-    uint32_t dma_rx_channel;    /**< The DMA receive channel. */
+    uint32_t dma_rx_channel; // 外部设置
-    uint32_t dma_tx_channel;    /**< The DMA transmit channel. */
+    uint32_t dma_tx_channel; // 外部设置
-    uint16_t rx_index;          /**< The receive data index. */
+
-    BOOL rx_dma_en;             /**< Flag indicating if DMA reception is enabled. */
+    uint16_t rx_index; // 接收数据索引
-    uint8_t *rxbuf;             /**< The receive buffer. */
+    BOOL rx_dma_en;
-    uint16_t rxsize;            /**< The size of the receive buffer. */
+    uint8_t *rxbuf;
-    uint16_t tx_index;          /**< The transmit data index. */
+    uint16_t rx_sta;
-    BOOL tx_dma_en;             /**< Flag indicating if DMA transmission is enabled. */
+    uint16_t rxsize;
-    uint8_t *txbuf;             /**< The transmit buffer. */
+
-    uint16_t txsize;            /**< The size of the transmit buffer. */
+    uint16_t tx_index;
-    __IO BOOL tx_dma_ok;        /**< Flag indicating if DMA transmission is complete. */
+    BOOL tx_dma_en;
-    rx_interupt_cb_t rx_interupt_cb;     /**< The receive interrupt callback function. */
+    uint8_t *txbuf;
-    tx_complete_cb_t tx_complete_cb;     /**< The transmit complete callback function. */
+    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);
+                           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
- * @brief Frees the resources of a UART instance.
+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
- * This function frees the resources allocated for a UART instance.
+extern void uart_dma_reception_callback(uart_t *uart);                                        // DMA接收中断回调
- *
- * @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);
 
 #endif // __UARTS_H__