TuxMonkey/bf_original_balance_chassis
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finish all bsp utilities

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NeoZng
2022-11-01 22:32:15 +08:00
parent c113ca81e0
commit a2b7558047
13 changed files with 514 additions and 436 deletions
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31
bsp/bsp_usart.c
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@@ -1,17 +1,30 @@
/**
* @file bsp_usart.c
* @author neozng
* @brief 串口bsp层的实现
* @version beta
* @date 2022-11-01
*
* @copyright Copyright (c) 2022
*
*/
#include "bsp_usart.h"
#include "stdlib.h"
/* usart service instance,modules' info would be recoreded here using ModuleRegister() */
/* usart service instance, modules' info would be recoreded here using USARTRegister() */
/* usart服务实例,所有注册了usart的模块信息会被保存在这里 */
static usart_instance *instance[DEVICE_USART_CNT];
/**
* @brief usart service will start automatically, after each module registered
* 串口服务会在每个实例注册之后自动启用
*
* @param _instance instance owned by module
* @param _instance instance owned by module,模块拥有的串口实例
*/
static void USARTServiceInit(usart_instance *_instance)
{
HAL_UARTEx_ReceiveToIdle_DMA(_instance->usart_handle, _instance->recv_buff, _instance->recv_buff_size);
// 关闭dma half transfer中断防止两次进入HAL_UARTEx_RxEventCallback()
__HAL_DMA_DISABLE_IT(_instance->usart_handle->hdmarx, DMA_IT_HT);
}
@@ -22,21 +35,21 @@ void USARTRegister(usart_instance *_instance)
instance[instance_idx++] = _instance;
}
/* @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(usart_instance *_instance, uint8_t *send_buf, uint16_t send_size)
{
HAL_UART_Transmit_DMA(_instance->usart_handle, send_buf, send_size);
}
/**
* @brief everytiem when dma/idle happens,this function will be called
* here, for each uart, specific callback is refered for further process
* etc:visual protocol resolve/remote control resolve/referee protocol resolve
* @brief 每次dma/idle中断发生时，都会调用此函数.对于每个uart实例会调用对应的回调进行进一步的处理
* 例如:视觉协议解析/遥控器解析/裁判系统解析
*
* @note because DMA half transfer iterrupt(DMA_IT_HT) would call this function too, so we just
* @note because DMA half transfer iterrupt(DMA_IT_HT) would call this callback function too, so we just
* disable it when transfer complete using macro: __HAL_DMA_DISABLE_IT(huart->hdmarx,DMA_IT_HT)
*
* @param huart uart handle indicate which uart is being handled
* @param Size not used temporarily
* @param huart uart handle indicate which uart is being handled 发生中断的串口
* @param Size not used temporarily,此次接收到的总数居量,暂时没用
*/
void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)
{
@@ -58,7 +71,7 @@ void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)
*
* @note most frequent error ex: parity/overrrun/frame error
*
* @param huart uart handle type,indicate where error comes from
* @param huart uart handle type, indicate where error comes from
*/
void HAL_UART_ErrorCallback(UART_HandleTypeDef *huart)
{