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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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24
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)
{ {
@ -228,9 +216,11 @@ 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));
imu_msg->lock = 0; // HAL_UART_Transmit_IT(&huart1, str_buf, strlen((char*) str_buf));
imu_msg->ready = 0; HAL_UART_Transmit(&huart1, str_buf, strlen((char*) str_buf), 0x04);
imu_msg->lock = 0;
imu_msg->ready = 0;
} }
return 1; return 1;

247
Core/Src/stm32f1xx_it.c
View File

@ -74,131 +74,131 @@ extern TIM_HandleTypeDef htim3;
/* Cortex-M3 Processor Interruption and Exception Handlers */ /* Cortex-M3 Processor Interruption and Exception Handlers */
/******************************************************************************/ /******************************************************************************/
/** /**
* @brief This function handles Non maskable interrupt. * @brief This function handles Non maskable interrupt.
*/ */
void NMI_Handler(void) void NMI_Handler(void)
{ {
/* USER CODE BEGIN NonMaskableInt_IRQn 0 */ /* USER CODE BEGIN NonMaskableInt_IRQn 0 */
/* USER CODE END NonMaskableInt_IRQn 0 */ /* USER CODE END NonMaskableInt_IRQn 0 */
/* USER CODE BEGIN NonMaskableInt_IRQn 1 */ /* USER CODE BEGIN NonMaskableInt_IRQn 1 */
while (1) while (1)
{ {
} }
/* USER CODE END NonMaskableInt_IRQn 1 */ /* USER CODE END NonMaskableInt_IRQn 1 */
} }
/** /**
* @brief This function handles Hard fault interrupt. * @brief This function handles Hard fault interrupt.
*/ */
void HardFault_Handler(void) void HardFault_Handler(void)
{ {
/* USER CODE BEGIN HardFault_IRQn 0 */ /* USER CODE BEGIN HardFault_IRQn 0 */
/* USER CODE END HardFault_IRQn 0 */ /* USER CODE END HardFault_IRQn 0 */
while (1) while (1)
{ {
/* USER CODE BEGIN W1_HardFault_IRQn 0 */ /* USER CODE BEGIN W1_HardFault_IRQn 0 */
/* USER CODE END W1_HardFault_IRQn 0 */ /* USER CODE END W1_HardFault_IRQn 0 */
} }
} }
/** /**
* @brief This function handles Memory management fault. * @brief This function handles Memory management fault.
*/ */
void MemManage_Handler(void) void MemManage_Handler(void)
{ {
/* USER CODE BEGIN MemoryManagement_IRQn 0 */ /* USER CODE BEGIN MemoryManagement_IRQn 0 */
/* USER CODE END MemoryManagement_IRQn 0 */ /* USER CODE END MemoryManagement_IRQn 0 */
while (1) while (1)
{ {
/* USER CODE BEGIN W1_MemoryManagement_IRQn 0 */ /* USER CODE BEGIN W1_MemoryManagement_IRQn 0 */
/* USER CODE END W1_MemoryManagement_IRQn 0 */ /* USER CODE END W1_MemoryManagement_IRQn 0 */
} }
} }
/** /**
* @brief This function handles Prefetch fault, memory access fault. * @brief This function handles Prefetch fault, memory access fault.
*/ */
void BusFault_Handler(void) void BusFault_Handler(void)
{ {
/* USER CODE BEGIN BusFault_IRQn 0 */ /* USER CODE BEGIN BusFault_IRQn 0 */
/* USER CODE END BusFault_IRQn 0 */ /* USER CODE END BusFault_IRQn 0 */
while (1) while (1)
{ {
/* USER CODE BEGIN W1_BusFault_IRQn 0 */ /* USER CODE BEGIN W1_BusFault_IRQn 0 */
/* USER CODE END W1_BusFault_IRQn 0 */ /* USER CODE END W1_BusFault_IRQn 0 */
} }
} }
/** /**
* @brief This function handles Undefined instruction or illegal state. * @brief This function handles Undefined instruction or illegal state.
*/ */
void UsageFault_Handler(void) void UsageFault_Handler(void)
{ {
/* USER CODE BEGIN UsageFault_IRQn 0 */ /* USER CODE BEGIN UsageFault_IRQn 0 */
/* USER CODE END UsageFault_IRQn 0 */ /* USER CODE END UsageFault_IRQn 0 */
while (1) while (1)
{ {
/* USER CODE BEGIN W1_UsageFault_IRQn 0 */ /* USER CODE BEGIN W1_UsageFault_IRQn 0 */
/* USER CODE END W1_UsageFault_IRQn 0 */ /* USER CODE END W1_UsageFault_IRQn 0 */
} }
} }
/** /**
* @brief This function handles System service call via SWI instruction. * @brief This function handles System service call via SWI instruction.
*/ */
void SVC_Handler(void) void SVC_Handler(void)
{ {
/* USER CODE BEGIN SVCall_IRQn 0 */ /* USER CODE BEGIN SVCall_IRQn 0 */
/* USER CODE END SVCall_IRQn 0 */ /* USER CODE END SVCall_IRQn 0 */
/* USER CODE BEGIN SVCall_IRQn 1 */ /* USER CODE BEGIN SVCall_IRQn 1 */
/* USER CODE END SVCall_IRQn 1 */ /* USER CODE END SVCall_IRQn 1 */
} }
/** /**
* @brief This function handles Debug monitor. * @brief This function handles Debug monitor.
*/ */
void DebugMon_Handler(void) void DebugMon_Handler(void)
{ {
/* USER CODE BEGIN DebugMonitor_IRQn 0 */ /* USER CODE BEGIN DebugMonitor_IRQn 0 */
/* USER CODE END DebugMonitor_IRQn 0 */ /* USER CODE END DebugMonitor_IRQn 0 */
/* USER CODE BEGIN DebugMonitor_IRQn 1 */ /* USER CODE BEGIN DebugMonitor_IRQn 1 */
/* USER CODE END DebugMonitor_IRQn 1 */ /* USER CODE END DebugMonitor_IRQn 1 */
} }
/** /**
* @brief This function handles Pendable request for system service. * @brief This function handles Pendable request for system service.
*/ */
void PendSV_Handler(void) void PendSV_Handler(void)
{ {
/* USER CODE BEGIN PendSV_IRQn 0 */ /* USER CODE BEGIN PendSV_IRQn 0 */
/* USER CODE END PendSV_IRQn 0 */ /* USER CODE END PendSV_IRQn 0 */
/* USER CODE BEGIN PendSV_IRQn 1 */ /* USER CODE BEGIN PendSV_IRQn 1 */
/* USER CODE END PendSV_IRQn 1 */ /* USER CODE END PendSV_IRQn 1 */
} }
/** /**
* @brief This function handles System tick timer. * @brief This function handles System tick timer.
*/ */
void SysTick_Handler(void) void SysTick_Handler(void)
{ {
/* USER CODE BEGIN SysTick_IRQn 0 */ /* USER CODE BEGIN SysTick_IRQn 0 */
/* USER CODE END SysTick_IRQn 0 */ /* USER CODE END SysTick_IRQn 0 */
HAL_IncTick(); HAL_IncTick();
/* USER CODE BEGIN SysTick_IRQn 1 */ /* USER CODE BEGIN SysTick_IRQn 1 */
/* USER CODE END SysTick_IRQn 1 */ /* USER CODE END SysTick_IRQn 1 */
} }
/******************************************************************************/ /******************************************************************************/
@ -209,101 +209,101 @@ void SysTick_Handler(void)
/******************************************************************************/ /******************************************************************************/
/** /**
* @brief This function handles EXTI line0 interrupt. * @brief This function handles EXTI line0 interrupt.
*/ */
void EXTI0_IRQHandler(void) void EXTI0_IRQHandler(void)
{ {
/* USER CODE BEGIN EXTI0_IRQn 0 */ /* USER CODE BEGIN EXTI0_IRQn 0 */
/* USER CODE END EXTI0_IRQn 0 */ /* USER CODE END EXTI0_IRQn 0 */
HAL_GPIO_EXTI_IRQHandler(SPI1_INIT1_Pin); HAL_GPIO_EXTI_IRQHandler(SPI1_INIT1_Pin);
/* USER CODE BEGIN EXTI0_IRQn 1 */ /* USER CODE BEGIN EXTI0_IRQn 1 */
/* USER CODE END EXTI0_IRQn 1 */ /* USER CODE END EXTI0_IRQn 1 */
} }
/** /**
* @brief This function handles EXTI line1 interrupt. * @brief This function handles EXTI line1 interrupt.
*/ */
void EXTI1_IRQHandler(void) void EXTI1_IRQHandler(void)
{ {
/* USER CODE BEGIN EXTI1_IRQn 0 */ /* USER CODE BEGIN EXTI1_IRQn 0 */
/* USER CODE END EXTI1_IRQn 0 */ /* USER CODE END EXTI1_IRQn 0 */
HAL_GPIO_EXTI_IRQHandler(PPS_INT_Pin); HAL_GPIO_EXTI_IRQHandler(PPS_INT_Pin);
/* USER CODE BEGIN EXTI1_IRQn 1 */ /* USER CODE BEGIN EXTI1_IRQn 1 */
/* USER CODE END EXTI1_IRQn 1 */ /* USER CODE END EXTI1_IRQn 1 */
} }
/** /**
* @brief This function handles DMA1 channel4 global interrupt. * @brief This function handles DMA1 channel4 global interrupt.
*/ */
void DMA1_Channel4_IRQHandler(void) void DMA1_Channel4_IRQHandler(void)
{ {
/* USER CODE BEGIN DMA1_Channel4_IRQn 0 */ /* USER CODE BEGIN DMA1_Channel4_IRQn 0 */
/* USER CODE END DMA1_Channel4_IRQn 0 */ /* USER CODE END DMA1_Channel4_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_usart1_tx); HAL_DMA_IRQHandler(&hdma_usart1_tx);
/* USER CODE BEGIN DMA1_Channel4_IRQn 1 */ /* USER CODE BEGIN DMA1_Channel4_IRQn 1 */
/* USER CODE END DMA1_Channel4_IRQn 1 */ /* USER CODE END DMA1_Channel4_IRQn 1 */
} }
/** /**
* @brief This function handles DMA1 channel6 global interrupt. * @brief This function handles DMA1 channel6 global interrupt.
*/ */
void DMA1_Channel6_IRQHandler(void) void DMA1_Channel6_IRQHandler(void)
{ {
/* USER CODE BEGIN DMA1_Channel6_IRQn 0 */ /* USER CODE BEGIN DMA1_Channel6_IRQn 0 */
/* USER CODE END DMA1_Channel6_IRQn 0 */ /* USER CODE END DMA1_Channel6_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_usart2_rx); HAL_DMA_IRQHandler(&hdma_usart2_rx);
/* USER CODE BEGIN DMA1_Channel6_IRQn 1 */ /* USER CODE BEGIN DMA1_Channel6_IRQn 1 */
/* USER CODE END DMA1_Channel6_IRQn 1 */ /* USER CODE END DMA1_Channel6_IRQn 1 */
} }
/** /**
* @brief This function handles EXTI line[9:5] interrupts. * @brief This function handles EXTI line[9:5] interrupts.
*/ */
void EXTI9_5_IRQHandler(void) void EXTI9_5_IRQHandler(void)
{ {
/* USER CODE BEGIN EXTI9_5_IRQn 0 */ /* USER CODE BEGIN EXTI9_5_IRQn 0 */
/* USER CODE END EXTI9_5_IRQn 0 */ /* USER CODE END EXTI9_5_IRQn 0 */
HAL_GPIO_EXTI_IRQHandler(SPI2_INIT1_Pin); HAL_GPIO_EXTI_IRQHandler(SPI2_INIT1_Pin);
/* USER CODE BEGIN EXTI9_5_IRQn 1 */ /* USER CODE BEGIN EXTI9_5_IRQn 1 */
/* USER CODE END EXTI9_5_IRQn 1 */ /* USER CODE END EXTI9_5_IRQn 1 */
} }
/** /**
* @brief This function handles USART1 global interrupt. * @brief This function handles USART1 global interrupt.
*/ */
void USART1_IRQHandler(void) void USART1_IRQHandler(void)
{ {
/* USER CODE BEGIN USART1_IRQn 0 */ /* USER CODE BEGIN USART1_IRQn 0 */
/* USER CODE END USART1_IRQn 0 */ /* USER CODE END USART1_IRQn 0 */
HAL_UART_IRQHandler(&huart1); HAL_UART_IRQHandler(&huart1);
/* USER CODE BEGIN USART1_IRQn 1 */ /* USER CODE BEGIN USART1_IRQn 1 */
/* USER CODE END USART1_IRQn 1 */ /* USER CODE END USART1_IRQn 1 */
} }
/** /**
* @brief This function handles USART2 global interrupt. * @brief This function handles USART2 global interrupt.
*/ */
void USART2_IRQHandler(void) void USART2_IRQHandler(void)
{ {
/* USER CODE BEGIN USART2_IRQn 0 */ /* USER CODE BEGIN USART2_IRQn 0 */
uint32_t temp, i; uint32_t temp, i;
uint8_t ans = 0; uint8_t ans = 0;
/* USER CODE END USART2_IRQn 0 */ /* USER CODE END USART2_IRQn 0 */
HAL_UART_IRQHandler(&huart2); HAL_UART_IRQHandler(&huart2);
/* USER CODE BEGIN USART2_IRQn 1 */ /* USER CODE BEGIN USART2_IRQn 1 */
if (__HAL_UART_GET_FLAG(&huart2,UART_FLAG_IDLE) != RESET) if (__HAL_UART_GET_FLAG(&huart2,UART_FLAG_IDLE) != RESET)
{ {
@ -329,7 +329,7 @@ void USART2_IRQHandler(void)
} }
} }
/* USER CODE END USART2_IRQn 1 */ /* USER CODE END USART2_IRQn 1 */
} }
/* USER CODE BEGIN 1 */ /* USER CODE BEGIN 1 */
@ -344,11 +344,14 @@ void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
IMU_mng_TDK.ready = 1; IMU_mng_TDK.ready = 1;
IMU_mng_TDK.gpstime = SYS_TIME.SYS_GPST_TIME; IMU_mng_TDK.gpstime = SYS_TIME.SYS_GPST_TIME;
IMU_mng_TDK.utctime = SYS_TIME.SYS_UTC_TIME; IMU_mng_TDK.utctime = SYS_TIME.SYS_UTC_TIME;
IMU_mng_TDK.gpstime.sec = IMU_mng_TDK.utctime.sec = __HAL_TIM_GET_COUNTER(&htim3)/10000.0; IMU_mng_TDK.gpstime.sec = IMU_mng_TDK.utctime.sec = __HAL_TIM_GET_COUNTER(&htim3) / 10000.0;
} }
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);
@ -362,11 +365,15 @@ void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
IMU_mng_ST.ready = 1; IMU_mng_ST.ready = 1;
IMU_mng_ST.gpstime = SYS_TIME.SYS_GPST_TIME; IMU_mng_ST.gpstime = SYS_TIME.SYS_GPST_TIME;
IMU_mng_ST.utctime = SYS_TIME.SYS_UTC_TIME; IMU_mng_ST.utctime = SYS_TIME.SYS_UTC_TIME;
IMU_mng_ST.gpstime.sec = IMU_mng_ST.utctime.sec = __HAL_TIM_GET_COUNTER(&htim3)/10000.0; IMU_mng_ST.gpstime.sec = IMU_mng_ST.utctime.sec = __HAL_TIM_GET_COUNTER(&htim3) / 10000.0;
} }
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 */