代码规范 usart文档

2026-07-24 11:37:44 +08:00 · 2025-11-25 14:28:03 +08:00
parent 2a40c85a2b
commit 72e8500a27
2 changed files with 215 additions and 10 deletions
--- a/User_Code/bsp/usart/bsp_usart.c
+++ b/User_Code/bsp/usart/bsp_usart.c
@@ -1,5 +1,143 @@
-//
-// Created by tuxmonkey on 2025/10/28.
-//
+/**
+ * @file bsp_usart.c
+ * @author
+ * @brief  串口bsp层的实现
+ * @version beta
+ * @date
+ *
+ * @copyright
+ *
+ */

-#include "bsp_usart.h"
+#include "bsp_usart.h"
+#include "bsp_log.h"
+#include "stdlib.h"
+#include "memory.h"
+
+/* 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 uint8_t idx;
+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
+ *
+ * @param _instance instance owned by module,模块拥有的串口实例
+ */
+void USARTServiceInit(USARTInstance *_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()
+    // 这是HAL库的一个设计失误,发生DMA传输完成/半完成以及串口IDLE中断都会触发HAL_UARTEx_RxEventCallback()
+    // 我们只希望处理第一种和第三种情况,因此直接关闭DMA半传输中断
+    __HAL_DMA_DISABLE_IT(_instance->usart_handle->hdmarx, DMA_IT_HT);
+}
+
+USARTInstance *USARTRegister(USART_Init_Config_s *init_config)
+{
+    if (idx >= DEVICE_USART_CNT) // 超过最大实例数
+        while (1)
+            LOGERROR("[bsp_usart] USART exceed max instance count!");
+
+    for (uint8_t i = 0; i < idx; i++) // 检查是否已经注册过
+        if (usart_instance[i]->usart_handle == init_config->usart_handle)
+            while (1)
+                LOGERROR("[bsp_usart] USART instance already registered!");
+
+    USARTInstance *instance = (USARTInstance *) malloc(sizeof(USARTInstance));
+    memset(instance, 0, sizeof(USARTInstance));
+
+    instance->usart_handle = init_config->usart_handle;
+    instance->recv_buff_size = init_config->recv_buff_size;
+    instance->module_callback = init_config->module_callback;
+
+    usart_instance[idx++] = instance;
+    USARTServiceInit(instance);
+    return 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(USARTInstance *_instance, uint8_t *send_buf, uint16_t send_size, USART_TRANSFER_MODE mode)
+{
+    switch (mode)
+    {
+        case USART_TRANSFER_BLOCKING:
+            HAL_UART_Transmit(_instance->usart_handle, send_buf, send_size, 100);
+            break;
+        case USART_TRANSFER_IT:
+            HAL_UART_Transmit_IT(_instance->usart_handle, send_buf, send_size);
+            break;
+        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! 检查定义instance的代码上下文,可能出现指针越界
+            break;
+    }
+}
+
+/* 串口发送时,gstate会被设为BUSY_TX */
+uint8_t USARTIsReady(USARTInstance *_instance)
+{
+    if (_instance->usart_handle->gState | HAL_UART_STATE_BUSY_TX)
+        return 0;
+    else
+        return 1;
+}
+
+/**
+ * @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  通过__HAL_DMA_DISABLE_IT(huart->hdmarx,DMA_IT_HT)关闭dma half transfer中断防止两次进入HAL_UARTEx_RxEventCallback()
+ *        这是HAL库的一个设计失误,发生DMA传输完成/半完成以及串口IDLE中断都会触发HAL_UARTEx_RxEventCallback()
+ *        我们只希望处理，因此直接关闭DMA半传输中断第一种和第三种情况
+ *
+ * @param huart 发生中断的串口
+ * @param Size 此次接收到的总数居量,暂时没用
+ */
+void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)
+{
+    for (uint8_t i = 0; i < idx; ++i)
+    {
+        // find the instance which is being handled
+        if (huart == usart_instance[i]->usart_handle)
+        {
+            // call the callback function if it is not NULL
+            if (usart_instance[i]->module_callback != NULL)
+            {
+                usart_instance[i]->module_callback();
+                memset(usart_instance[i]->recv_buff, 0, Size); // 接收结束后清空buffer,对于变长数据是必要的
+            }
+            HAL_UARTEx_ReceiveToIdle_DMA(usart_instance[i]->usart_handle, usart_instance[i]->recv_buff,
+                                         usart_instance[i]->recv_buff_size);
+            __HAL_DMA_DISABLE_IT(usart_instance[i]->usart_handle->hdmarx, DMA_IT_HT);
+            return; // break the loop
+        }
+    }
+}
+
+/**
+ * @brief 当串口发送/接收出现错误时,会调用此函数,此时这个函数要做的就是重新启动接收
+ *
+ * @note  最常见的错误:奇偶校验/溢出/帧错误
+ *
+ * @param huart 发生错误的串口
+ */
+void HAL_UART_ErrorCallback(UART_HandleTypeDef *huart)
+{
+    for (uint8_t i = 0; i < idx; ++i)
+    {
+        if (huart == usart_instance[i]->usart_handle)
+        {
+            HAL_UARTEx_ReceiveToIdle_DMA(usart_instance[i]->usart_handle, usart_instance[i]->recv_buff,
+                                         usart_instance[i]->recv_buff_size);
+            __HAL_DMA_DISABLE_IT(usart_instance[i]->usart_handle->hdmarx, DMA_IT_HT);
+            LOGWARNING("[bsp_usart] USART error callback triggered, instance idx [%d]", i);
+            return;
+        }
+    }
+}