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使用阻塞发送模式成功, 完成基本功能.

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This commit is contained in:
Winston Qu 2022-12-14 13:59:20 +08:00
parent 1314aa1d19
commit 1b2e90bc89
3 changed files with 145 additions and 137 deletions
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20
Core/Src/main.c
View File

@ -102,7 +102,6 @@ int main(void)
MX_SPI2_Init(); MX_SPI2_Init();
MX_TIM3_Init(); MX_TIM3_Init();
/* USER CODE BEGIN 2 */ /* USER CODE BEGIN 2 */
HAL_TIM_Base_Start(&htim3); HAL_TIM_Base_Start(&htim3);
user_dev_init(); user_dev_init();
user_dev_init1(); user_dev_init1();
@ -110,7 +109,7 @@ int main(void)
memcpy(IMU_mng_ST.name, "STM\0", 4); memcpy(IMU_mng_ST.name, "STM\0", 4);
/* enable IMU */ /* enable IMU */
IMU_mng_ST.enable = 1; IMU_mng_ST.enable = 1;
IMU_mng_TDK.enable = 0; IMU_mng_TDK.enable = 1;
/* USER CODE END 2 */ /* USER CODE END 2 */
/* Infinite loop */ /* Infinite loop */
@ -198,23 +197,12 @@ void SystemClock_Config(void)
} }
/* USER CODE BEGIN 4 */ /* USER CODE BEGIN 4 */
#ifdef __GNUC__
#define PUTCHAR_PROTOTYPE int __io_putchar(int ch)
PUTCHAR_PROTOTYPE
{
HAL_UART_Transmit(&huart1, (uint8_t*) &ch, 1, HAL_MAX_DELAY);
return ch;
}
#endif
uint8_t IMUdate_to_uart(UART_HandleTypeDef *huart, IMU_mng_t *imu_msg) uint8_t IMUdate_to_uart(UART_HandleTypeDef *huart, IMU_mng_t *imu_msg)
{ {
uint8_t str_buf[256]; uint8_t str_buf[256];
if (imu_msg->lock == 1 && imu_msg->ready == 1 && HAL_DMA_STATE_READY == huart1.hdmatx->State) if (imu_msg->lock == 1 && imu_msg->ready == 1)
{ {
if (imu_msg->gpstime.time == 0) if (imu_msg->gpstime.time == 0)
{ {
@ -228,7 +216,9 @@ uint8_t IMUdate_to_uart(UART_HandleTypeDef *huart, IMU_mng_t *imu_msg)
imu_msg->gpstime.time + imu_msg->gpstime.sec, imu_msg->IMU_acc[0], imu_msg->IMU_acc[1], imu_msg->gpstime.time + imu_msg->gpstime.sec, imu_msg->IMU_acc[0], imu_msg->IMU_acc[1],
imu_msg->IMU_acc[2], imu_msg->IMU_gyro[0], imu_msg->IMU_gyro[1], imu_msg->IMU_gyro[2]); imu_msg->IMU_acc[2], imu_msg->IMU_gyro[0], imu_msg->IMU_gyro[1], imu_msg->IMU_gyro[2]);
} }
HAL_UART_Transmit_DMA(&huart1, str_buf, strlen((char*) str_buf)); // HAL_UART_Transmit_DMA(&huart1, str_buf, strlen((char*) str_buf));
// HAL_UART_Transmit_IT(&huart1, str_buf, strlen((char*) str_buf));
HAL_UART_Transmit(&huart1, str_buf, strlen((char*) str_buf), 0x04);
imu_msg->lock = 0; imu_msg->lock = 0;
imu_msg->ready = 0; imu_msg->ready = 0;
} }

11
Core/Src/stm32f1xx_it.c
View File

@ -348,7 +348,10 @@ void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
} }
else else
{ {
// while (1) HAL_GPIO_WritePin(LED1_GPIO_Port, LED1_Pin, GPIO_PIN_RESET);
printf("ERROR -> TDK IMU RD TIME OUT! \r\n");
printf("Go to loop! please reboot MCU! \r\n");
while (1)
; ;
} }
HAL_GPIO_TogglePin(LED1_GPIO_Port, LED1_Pin); HAL_GPIO_TogglePin(LED1_GPIO_Port, LED1_Pin);
@ -366,7 +369,11 @@ void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
} }
else else
{ {
// while (1) HAL_GPIO_WritePin(LED0_GPIO_Port, LED0_Pin, GPIO_PIN_RESET);
printf("ERROR -> STM IMU RD TIME OUT! \r\n");
printf("Go to loop! please reboot MCU! \r\n");
while (1)
; ;
} }
HAL_GPIO_TogglePin(LED0_GPIO_Port, LED0_Pin); HAL_GPIO_TogglePin(LED0_GPIO_Port, LED0_Pin);

11
Core/Src/usart.c
View File

@ -241,5 +241,16 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
} }
/* USER CODE BEGIN 1 */ /* USER CODE BEGIN 1 */
#ifdef __GNUC__
#define PUTCHAR_PROTOTYPE int __io_putchar(int ch)
PUTCHAR_PROTOTYPE
{
HAL_UART_Transmit(&huart1, (uint8_t*) &ch, 1, HAL_MAX_DELAY);
return ch;
}
#endif
/* USER CODE END 1 */ /* USER CODE END 1 */