TuxMonkey/bf_original_balance_chassis
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波特率提升为921600,修复了和视觉通信的溢出错误以及DMA冲突.

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NeoZng
2023-03-18 14:50:50 +08:00
parent 11b401c2bc
commit 87d0a5161c
10 changed files with 34 additions and 32 deletions
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26
bsp/usart/bsp_usart.c
View File

@@ -19,7 +19,7 @@ static USARTInstance *usart_instance[DEVICE_USART_CNT] = {NULL};
/**
* @brief 启动串口服务,会在每个实例注册之后自动启用接收,当前实现为DMA接收,后续可能添加IT和BLOCKING接收
*
*
* @todo 串口服务会在每个实例注册之后自动启用接收,当前实现为DMA接收,后续可能添加IT和BLOCKING接收
* 可能还要将此函数修改为extern,使得module可以控制串口的启停
*
@@ -52,24 +52,22 @@ USARTInstance *USARTRegister(USART_Init_Config_s *init_config)
}
/* @todo 当前仅进行了形式上的封装,后续要进一步考虑是否将module的行为与bsp完全分离 */
void USARTSend(USARTInstance *_instance, uint8_t *send_buf, uint16_t send_size)
{
HAL_UART_Transmit_DMA(_instance->usart_handle, send_buf, send_size);
}
void USARTAbort(USARTInstance *_instance, USART_TRANSFER_MODE mode)
void USARTSend(USARTInstance *_instance, uint8_t *send_buf, uint16_t send_size, USART_TRANSFER_MODE mode)
{
switch (mode)
{
case USART_TRANSFER_TX:
// if(_instance.work_mode == USART_TX_DMA)
HAL_UART_AbortTransmit_IT(_instance->usart_handle);
case USART_TRANSFER_BLOCKING:
HAL_UART_Transmit(_instance->usart_handle, send_buf, send_size, 100);
break;
case USART_TRANSFER_RX:
// if(_instance.work_mode == USART_RX_DMA)
HAL_UART_AbortReceive_IT(_instance->usart_handle);
case USART_TRANSFER_IT:
HAL_UART_Transmit_IT(_instance->usart_handle, send_buf, send_size);
break;
case USART_TRANSFER_NONE:
case USART_TRANSFER_DMA:
HAL_UART_Transmit_DMA(_instance->usart_handle, send_buf, send_size);
break;
default:
while (1)
; // illegal mode! check your code context!
break;
}
}

15
bsp/usart/bsp_usart.h
View File

@@ -13,8 +13,9 @@ typedef void (*usart_module_callback)();
typedef enum
{
USART_TRANSFER_NONE=0,
USART_TRANSFER_TX,
USART_TRANSFER_RX,
USART_TRANSFER_BLOCKING,
USART_TRANSFER_IT,
USART_TRANSFER_DMA,
} USART_TRANSFER_MODE;
// 串口实例结构体,每个module都要包含一个实例.
@@ -52,14 +53,6 @@ USARTInstance *USARTRegister(USART_Init_Config_s *init_config);
* @param send_buf 待发送数据的buffer
* @param send_size how many bytes to send
*/
void USARTSend(USARTInstance *_instance, uint8_t *send_buf, uint16_t send_size);
/**
* @brief 通过调用该函数终止串口的发送或者接收,通过传入mode参数来选择终止发送还是接收
*
* @param _instance 串口实例
* @param mode 选择终止发送还是接收的模式
*/
void USARTAbort(USARTInstance *_instance,USART_TRANSFER_MODE mode);
void USARTSend(USARTInstance *_instance, uint8_t *send_buf, uint16_t send_size,USART_TRANSFER_MODE mode);
#endif