From 3f3ee8797af54d827c477c7a0928f1dd7c216585 Mon Sep 17 00:00:00 2001 From: zcj <2487150395@qq.com> Date: Sat, 4 Jan 2025 17:45:33 +0800 Subject: [PATCH] =?UTF-8?q?=E5=8D=8F=E4=BD=9C=E6=8E=A8=E9=80=81?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- Core/Inc/spi.h | 3 - Core/Inc/stm32h7xx_it.h | 4 +- Core/Inc/tim.h | 3 - Core/Inc/usart.h | 4 +- Core/Src/dma.c | 6 - Core/Src/gpio.c | 30 +- Core/Src/main.c | 4 +- Core/Src/spi.c | 107 - Core/Src/stm32h7xx_it.c | 46 +- Core/Src/tim.c | 98 - Core/Src/usart.c | 186 +- application/cmd/robot_cmd.c | 2 +- bsp/usart/bsp_usart.c | 1 + .../reply/cache-v2-bb9dac21bf3d3b0ff3e0.json | 1227 -- .../cmakeFiles-v1-0e1fbbe0acb3a31c84d3.json | 1203 -- .../directory-.-d0094a50bb2071803777.json | 14 - cmake-build-debug/.ninja_deps | Bin 112900 -> 95688 bytes cmake-build-debug/.ninja_log | 456 +- cmake-build-debug/CMakeCache.txt | 6 +- .../3.26.4/CMakeDetermineCompilerABI_C.bin | Bin 1660 -> 1660 bytes .../3.26.4/CMakeDetermineCompilerABI_CXX.bin | Bin 1876 -> 1876 bytes .../CMakeFiles/CMakeConfigureLog.yaml | 83 +- .../CMakeFiles/clion-Debug-log.txt | 10 +- cmake-build-debug/CMakeFiles/rules.ninja | 14 +- .../Core/Src/gpio.c.obj | Bin 14008 -> 14116 bytes .../Core/Src/main.c.obj | Bin 34292 -> 33628 bytes .../Core/Src/spi.c.obj | Bin 29288 -> 27444 bytes .../Core/Src/stm32h7xx_it.c.obj | Bin 37428 -> 36440 bytes .../Core/Src/tim.c.obj | Bin 28364 -> 26104 bytes .../Core/Src/usart.c.obj | Bin 33324 -> 32972 bytes .../bsp/spi/bsp_spi.c.obj | Bin 22516 -> 22488 bytes .../bsp/usart/bsp_usart.c.obj | Bin 23688 -> 23688 bytes cmake-build-debug/build.ninja | 510 +- cmake-build-debug/cmake_install.cmake | 2 +- cmake-build-debug/scara_engineering.bin | Bin 153812 -> 153028 bytes cmake-build-debug/scara_engineering.elf | Bin 1732324 -> 1729328 bytes cmake-build-debug/scara_engineering.hex | 14677 ++++++++-------- cmake-build-debug/scara_engineering.map | 6556 ++++--- debug.jdebug.user | 23 +- modules/imu/ins_task.c | 7 +- modules/remote/remote_control.c | 2 +- scara_engineering.ioc | 431 +- 42 files changed, 11419 insertions(+), 14296 deletions(-) delete mode 100644 cmake-build-debug/.cmake/api/v1/reply/cache-v2-bb9dac21bf3d3b0ff3e0.json delete mode 100644 cmake-build-debug/.cmake/api/v1/reply/cmakeFiles-v1-0e1fbbe0acb3a31c84d3.json delete mode 100644 cmake-build-debug/.cmake/api/v1/reply/directory-.-d0094a50bb2071803777.json diff --git a/Core/Inc/spi.h b/Core/Inc/spi.h index 43636ac..6a5279d 100644 --- a/Core/Inc/spi.h +++ b/Core/Inc/spi.h @@ -34,14 +34,11 @@ extern "C" { extern SPI_HandleTypeDef hspi1; -extern SPI_HandleTypeDef hspi2; - /* USER CODE BEGIN Private defines */ /* USER CODE END Private defines */ void MX_SPI1_Init(void); -void MX_SPI2_Init(void); /* USER CODE BEGIN Prototypes */ diff --git a/Core/Inc/stm32h7xx_it.h b/Core/Inc/stm32h7xx_it.h index 0298847..d2f74f9 100644 --- a/Core/Inc/stm32h7xx_it.h +++ b/Core/Inc/stm32h7xx_it.h @@ -54,15 +54,13 @@ void UsageFault_Handler(void); void DebugMon_Handler(void); void DMA1_Stream0_IRQHandler(void); void DMA1_Stream1_IRQHandler(void); -void DMA1_Stream2_IRQHandler(void); -void DMA1_Stream3_IRQHandler(void); void DMA1_Stream4_IRQHandler(void); void FDCAN1_IT0_IRQHandler(void); void FDCAN2_IT0_IRQHandler(void); void FDCAN1_IT1_IRQHandler(void); void FDCAN2_IT1_IRQHandler(void); void SPI1_IRQHandler(void); -void USART3_IRQHandler(void); +void USART1_IRQHandler(void); void TIM8_TRG_COM_TIM14_IRQHandler(void); void UART5_IRQHandler(void); void DMA2_Stream3_IRQHandler(void); diff --git a/Core/Inc/tim.h b/Core/Inc/tim.h index c0b7023..cd1b31c 100644 --- a/Core/Inc/tim.h +++ b/Core/Inc/tim.h @@ -36,8 +36,6 @@ extern TIM_HandleTypeDef htim1; extern TIM_HandleTypeDef htim2; -extern TIM_HandleTypeDef htim3; - extern TIM_HandleTypeDef htim12; /* USER CODE BEGIN Private defines */ @@ -46,7 +44,6 @@ extern TIM_HandleTypeDef htim12; void MX_TIM1_Init(void); void MX_TIM2_Init(void); -void MX_TIM3_Init(void); void MX_TIM12_Init(void); void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim); diff --git a/Core/Inc/usart.h b/Core/Inc/usart.h index 64b187d..9a5407c 100644 --- a/Core/Inc/usart.h +++ b/Core/Inc/usart.h @@ -34,7 +34,7 @@ extern "C" { extern UART_HandleTypeDef huart5; -extern UART_HandleTypeDef huart3; +extern UART_HandleTypeDef huart1; extern UART_HandleTypeDef huart10; @@ -43,7 +43,7 @@ extern UART_HandleTypeDef huart10; /* USER CODE END Private defines */ void MX_UART5_Init(void); -void MX_USART3_UART_Init(void); +void MX_USART1_UART_Init(void); void MX_USART10_UART_Init(void); /* USER CODE BEGIN Prototypes */ diff --git a/Core/Src/dma.c b/Core/Src/dma.c index 739c06a..cec82b8 100644 --- a/Core/Src/dma.c +++ b/Core/Src/dma.c @@ -50,12 +50,6 @@ void MX_DMA_Init(void) /* DMA1_Stream1_IRQn interrupt configuration */ HAL_NVIC_SetPriority(DMA1_Stream1_IRQn, 5, 0); HAL_NVIC_EnableIRQ(DMA1_Stream1_IRQn); - /* DMA1_Stream2_IRQn interrupt configuration */ - HAL_NVIC_SetPriority(DMA1_Stream2_IRQn, 5, 0); - HAL_NVIC_EnableIRQ(DMA1_Stream2_IRQn); - /* DMA1_Stream3_IRQn interrupt configuration */ - HAL_NVIC_SetPriority(DMA1_Stream3_IRQn, 5, 0); - HAL_NVIC_EnableIRQ(DMA1_Stream3_IRQn); /* DMA1_Stream4_IRQn interrupt configuration */ HAL_NVIC_SetPriority(DMA1_Stream4_IRQn, 5, 0); HAL_NVIC_EnableIRQ(DMA1_Stream4_IRQn); diff --git a/Core/Src/gpio.c b/Core/Src/gpio.c index 0bac145..0b45a01 100644 --- a/Core/Src/gpio.c +++ b/Core/Src/gpio.c @@ -38,10 +38,8 @@ * Output * EVENT_OUT * EXTI - PA10 ------> USART1_RX - PD4 ------> USART2_DE - PD5 ------> USART2_TX - PD6 ------> USART2_RX + PD8 ------> USART3_TX + PD9 ------> USART3_RX */ void MX_GPIO_Init(void) { @@ -101,6 +99,14 @@ void MX_GPIO_Init(void) GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH; HAL_GPIO_Init(SPI1_CS_GPIO_Port, &GPIO_InitStruct); + /*Configure GPIO pins : PD8 PD9 */ + GPIO_InitStruct.Pin = GPIO_PIN_8|GPIO_PIN_9; + GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; + GPIO_InitStruct.Pull = GPIO_NOPULL; + GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; + GPIO_InitStruct.Alternate = GPIO_AF7_USART3; + HAL_GPIO_Init(GPIOD, &GPIO_InitStruct); + /*Configure GPIO pin : PtPin */ GPIO_InitStruct.Pin = LCD_GPIO_Pin; GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; @@ -108,22 +114,6 @@ void MX_GPIO_Init(void) GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; HAL_GPIO_Init(LCD_GPIO_GPIO_Port, &GPIO_InitStruct); - /*Configure GPIO pin : PA10 */ - GPIO_InitStruct.Pin = GPIO_PIN_10; - GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - GPIO_InitStruct.Alternate = GPIO_AF7_USART1; - HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); - - /*Configure GPIO pins : PD4 PD5 PD6 */ - GPIO_InitStruct.Pin = GPIO_PIN_4|GPIO_PIN_5|GPIO_PIN_6; - GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - GPIO_InitStruct.Alternate = GPIO_AF7_USART2; - HAL_GPIO_Init(GPIOD, &GPIO_InitStruct); - } /* USER CODE BEGIN 2 */ diff --git a/Core/Src/main.c b/Core/Src/main.c index 55286f8..96ca06f 100644 --- a/Core/Src/main.c +++ b/Core/Src/main.c @@ -105,16 +105,14 @@ int main(void) MX_FDCAN1_Init(); MX_FDCAN2_Init(); MX_FDCAN3_Init(); - MX_SPI2_Init(); MX_TIM1_Init(); MX_TIM2_Init(); - MX_TIM3_Init(); MX_TIM12_Init(); MX_UART5_Init(); - MX_USART3_UART_Init(); MX_USART10_UART_Init(); MX_I2C2_Init(); MX_SPI1_Init(); + MX_USART1_UART_Init(); /* USER CODE BEGIN 2 */ // 气泵上电默认关闭 diff --git a/Core/Src/spi.c b/Core/Src/spi.c index d87cbe4..a66eb03 100644 --- a/Core/Src/spi.c +++ b/Core/Src/spi.c @@ -25,7 +25,6 @@ /* USER CODE END 0 */ SPI_HandleTypeDef hspi1; -SPI_HandleTypeDef hspi2; DMA_HandleTypeDef hdma_spi1_rx; DMA_HandleTypeDef hdma_spi1_tx; @@ -70,48 +69,6 @@ void MX_SPI1_Init(void) /* USER CODE END SPI1_Init 2 */ -} -/* SPI2 init function */ -void MX_SPI2_Init(void) -{ - - /* USER CODE BEGIN SPI2_Init 0 */ - - /* USER CODE END SPI2_Init 0 */ - - /* USER CODE BEGIN SPI2_Init 1 */ - - /* USER CODE END SPI2_Init 1 */ - hspi2.Instance = SPI2; - hspi2.Init.Mode = SPI_MODE_MASTER; - hspi2.Init.Direction = SPI_DIRECTION_2LINES; - hspi2.Init.DataSize = SPI_DATASIZE_4BIT; - hspi2.Init.CLKPolarity = SPI_POLARITY_LOW; - hspi2.Init.CLKPhase = SPI_PHASE_1EDGE; - hspi2.Init.NSS = SPI_NSS_SOFT; - hspi2.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_2; - hspi2.Init.FirstBit = SPI_FIRSTBIT_MSB; - hspi2.Init.TIMode = SPI_TIMODE_DISABLE; - hspi2.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE; - hspi2.Init.CRCPolynomial = 0x0; - hspi2.Init.NSSPMode = SPI_NSS_PULSE_ENABLE; - hspi2.Init.NSSPolarity = SPI_NSS_POLARITY_LOW; - hspi2.Init.FifoThreshold = SPI_FIFO_THRESHOLD_01DATA; - hspi2.Init.TxCRCInitializationPattern = SPI_CRC_INITIALIZATION_ALL_ZERO_PATTERN; - hspi2.Init.RxCRCInitializationPattern = SPI_CRC_INITIALIZATION_ALL_ZERO_PATTERN; - hspi2.Init.MasterSSIdleness = SPI_MASTER_SS_IDLENESS_00CYCLE; - hspi2.Init.MasterInterDataIdleness = SPI_MASTER_INTERDATA_IDLENESS_00CYCLE; - hspi2.Init.MasterReceiverAutoSusp = SPI_MASTER_RX_AUTOSUSP_DISABLE; - hspi2.Init.MasterKeepIOState = SPI_MASTER_KEEP_IO_STATE_DISABLE; - hspi2.Init.IOSwap = SPI_IO_SWAP_DISABLE; - if (HAL_SPI_Init(&hspi2) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN SPI2_Init 2 */ - - /* USER CODE END SPI2_Init 2 */ - } void HAL_SPI_MspInit(SPI_HandleTypeDef* spiHandle) @@ -202,49 +159,6 @@ void HAL_SPI_MspInit(SPI_HandleTypeDef* spiHandle) /* USER CODE END SPI1_MspInit 1 */ } - else if(spiHandle->Instance==SPI2) - { - /* USER CODE BEGIN SPI2_MspInit 0 */ - - /* USER CODE END SPI2_MspInit 0 */ - - /** Initializes the peripherals clock - */ - PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_SPI2; - PeriphClkInitStruct.Spi123ClockSelection = RCC_SPI123CLKSOURCE_PLL; - if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK) - { - Error_Handler(); - } - - /* SPI2 clock enable */ - __HAL_RCC_SPI2_CLK_ENABLE(); - - __HAL_RCC_GPIOC_CLK_ENABLE(); - __HAL_RCC_GPIOB_CLK_ENABLE(); - /**SPI2 GPIO Configuration - PC1 ------> SPI2_MOSI - PC2_C ------> SPI2_MISO - PB13 ------> SPI2_SCK - */ - GPIO_InitStruct.Pin = GPIO_PIN_1|GPIO_PIN_2; - GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - GPIO_InitStruct.Alternate = GPIO_AF5_SPI2; - HAL_GPIO_Init(GPIOC, &GPIO_InitStruct); - - GPIO_InitStruct.Pin = GPIO_PIN_13; - GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - GPIO_InitStruct.Alternate = GPIO_AF5_SPI2; - HAL_GPIO_Init(GPIOB, &GPIO_InitStruct); - - /* USER CODE BEGIN SPI2_MspInit 1 */ - - /* USER CODE END SPI2_MspInit 1 */ - } } void HAL_SPI_MspDeInit(SPI_HandleTypeDef* spiHandle) @@ -277,27 +191,6 @@ void HAL_SPI_MspDeInit(SPI_HandleTypeDef* spiHandle) /* USER CODE END SPI1_MspDeInit 1 */ } - else if(spiHandle->Instance==SPI2) - { - /* USER CODE BEGIN SPI2_MspDeInit 0 */ - - /* USER CODE END SPI2_MspDeInit 0 */ - /* Peripheral clock disable */ - __HAL_RCC_SPI2_CLK_DISABLE(); - - /**SPI2 GPIO Configuration - PC1 ------> SPI2_MOSI - PC2_C ------> SPI2_MISO - PB13 ------> SPI2_SCK - */ - HAL_GPIO_DeInit(GPIOC, GPIO_PIN_1|GPIO_PIN_2); - - HAL_GPIO_DeInit(GPIOB, GPIO_PIN_13); - - /* USER CODE BEGIN SPI2_MspDeInit 1 */ - - /* USER CODE END SPI2_MspDeInit 1 */ - } } /* USER CODE BEGIN 1 */ diff --git a/Core/Src/stm32h7xx_it.c b/Core/Src/stm32h7xx_it.c index a1362c3..5b990f5 100644 --- a/Core/Src/stm32h7xx_it.c +++ b/Core/Src/stm32h7xx_it.c @@ -63,12 +63,10 @@ extern DMA_HandleTypeDef hdma_spi1_rx; extern DMA_HandleTypeDef hdma_spi1_tx; extern SPI_HandleTypeDef hspi1; extern DMA_HandleTypeDef hdma_uart5_rx; -extern DMA_HandleTypeDef hdma_usart3_tx; -extern DMA_HandleTypeDef hdma_usart3_rx; extern DMA_HandleTypeDef hdma_usart10_rx; extern DMA_HandleTypeDef hdma_usart10_tx; extern UART_HandleTypeDef huart5; -extern UART_HandleTypeDef huart3; +extern UART_HandleTypeDef huart1; extern UART_HandleTypeDef huart10; extern TIM_HandleTypeDef htim14; @@ -202,34 +200,6 @@ void DMA1_Stream1_IRQHandler(void) /* USER CODE END DMA1_Stream1_IRQn 1 */ } -/** - * @brief This function handles DMA1 stream2 global interrupt. - */ -void DMA1_Stream2_IRQHandler(void) -{ - /* USER CODE BEGIN DMA1_Stream2_IRQn 0 */ - - /* USER CODE END DMA1_Stream2_IRQn 0 */ - HAL_DMA_IRQHandler(&hdma_usart3_tx); - /* USER CODE BEGIN DMA1_Stream2_IRQn 1 */ - - /* USER CODE END DMA1_Stream2_IRQn 1 */ -} - -/** - * @brief This function handles DMA1 stream3 global interrupt. - */ -void DMA1_Stream3_IRQHandler(void) -{ - /* USER CODE BEGIN DMA1_Stream3_IRQn 0 */ - - /* USER CODE END DMA1_Stream3_IRQn 0 */ - HAL_DMA_IRQHandler(&hdma_usart3_rx); - /* USER CODE BEGIN DMA1_Stream3_IRQn 1 */ - - /* USER CODE END DMA1_Stream3_IRQn 1 */ -} - /** * @brief This function handles DMA1 stream4 global interrupt. */ @@ -315,17 +285,17 @@ void SPI1_IRQHandler(void) } /** - * @brief This function handles USART3 global interrupt. + * @brief This function handles USART1 global interrupt. */ -void USART3_IRQHandler(void) +void USART1_IRQHandler(void) { - /* USER CODE BEGIN USART3_IRQn 0 */ + /* USER CODE BEGIN USART1_IRQn 0 */ - /* USER CODE END USART3_IRQn 0 */ - HAL_UART_IRQHandler(&huart3); - /* USER CODE BEGIN USART3_IRQn 1 */ + /* USER CODE END USART1_IRQn 0 */ + HAL_UART_IRQHandler(&huart1); + /* USER CODE BEGIN USART1_IRQn 1 */ - /* USER CODE END USART3_IRQn 1 */ + /* USER CODE END USART1_IRQn 1 */ } /** diff --git a/Core/Src/tim.c b/Core/Src/tim.c index 8c86b7c..96b4979 100644 --- a/Core/Src/tim.c +++ b/Core/Src/tim.c @@ -26,7 +26,6 @@ TIM_HandleTypeDef htim1; TIM_HandleTypeDef htim2; -TIM_HandleTypeDef htim3; TIM_HandleTypeDef htim12; /* TIM1 init function */ @@ -167,50 +166,6 @@ void MX_TIM2_Init(void) /* USER CODE END TIM2_Init 2 */ HAL_TIM_MspPostInit(&htim2); -} -/* TIM3 init function */ -void MX_TIM3_Init(void) -{ - - /* USER CODE BEGIN TIM3_Init 0 */ - - /* USER CODE END TIM3_Init 0 */ - - TIM_MasterConfigTypeDef sMasterConfig = {0}; - TIM_OC_InitTypeDef sConfigOC = {0}; - - /* USER CODE BEGIN TIM3_Init 1 */ - - /* USER CODE END TIM3_Init 1 */ - htim3.Instance = TIM3; - htim3.Init.Prescaler = 24-1; - htim3.Init.CounterMode = TIM_COUNTERMODE_UP; - htim3.Init.Period = 10000-1; - htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; - htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; - if (HAL_TIM_PWM_Init(&htim3) != HAL_OK) - { - Error_Handler(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - sConfigOC.OCMode = TIM_OCMODE_PWM1; - sConfigOC.Pulse = 0; - sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; - sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; - if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_4) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM3_Init 2 */ - - /* USER CODE END TIM3_Init 2 */ - HAL_TIM_MspPostInit(&htim3); - } /* TIM12 init function */ void MX_TIM12_Init(void) @@ -305,22 +260,6 @@ void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle) /* USER CODE END TIM12_MspInit 1 */ } } - -void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef* tim_pwmHandle) -{ - - if(tim_pwmHandle->Instance==TIM3) - { - /* USER CODE BEGIN TIM3_MspInit 0 */ - - /* USER CODE END TIM3_MspInit 0 */ - /* TIM3 clock enable */ - __HAL_RCC_TIM3_CLK_ENABLE(); - /* USER CODE BEGIN TIM3_MspInit 1 */ - - /* USER CODE END TIM3_MspInit 1 */ - } -} void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle) { @@ -368,27 +307,6 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle) /* USER CODE END TIM2_MspPostInit 1 */ } - else if(timHandle->Instance==TIM3) - { - /* USER CODE BEGIN TIM3_MspPostInit 0 */ - - /* USER CODE END TIM3_MspPostInit 0 */ - - __HAL_RCC_GPIOB_CLK_ENABLE(); - /**TIM3 GPIO Configuration - PB1 ------> TIM3_CH4 - */ - GPIO_InitStruct.Pin = GPIO_PIN_1; - GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - GPIO_InitStruct.Alternate = GPIO_AF2_TIM3; - HAL_GPIO_Init(GPIOB, &GPIO_InitStruct); - - /* USER CODE BEGIN TIM3_MspPostInit 1 */ - - /* USER CODE END TIM3_MspPostInit 1 */ - } else if(timHandle->Instance==TIM12) { /* USER CODE BEGIN TIM12_MspPostInit 0 */ @@ -451,22 +369,6 @@ void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle) } } -void HAL_TIM_PWM_MspDeInit(TIM_HandleTypeDef* tim_pwmHandle) -{ - - if(tim_pwmHandle->Instance==TIM3) - { - /* USER CODE BEGIN TIM3_MspDeInit 0 */ - - /* USER CODE END TIM3_MspDeInit 0 */ - /* Peripheral clock disable */ - __HAL_RCC_TIM3_CLK_DISABLE(); - /* USER CODE BEGIN TIM3_MspDeInit 1 */ - - /* USER CODE END TIM3_MspDeInit 1 */ - } -} - /* USER CODE BEGIN 1 */ /* USER CODE END 1 */ diff --git a/Core/Src/usart.c b/Core/Src/usart.c index 00ea190..1dff06f 100644 --- a/Core/Src/usart.c +++ b/Core/Src/usart.c @@ -25,11 +25,11 @@ /* USER CODE END 0 */ UART_HandleTypeDef huart5; -UART_HandleTypeDef huart3; +UART_HandleTypeDef huart1; UART_HandleTypeDef huart10; DMA_HandleTypeDef hdma_uart5_rx; -DMA_HandleTypeDef hdma_usart3_tx; -DMA_HandleTypeDef hdma_usart3_rx; +DMA_HandleTypeDef hdma_usart1_rx; +DMA_HandleTypeDef hdma_usart1_tx; DMA_HandleTypeDef hdma_usart10_rx; DMA_HandleTypeDef hdma_usart10_tx; @@ -76,48 +76,48 @@ void MX_UART5_Init(void) /* USER CODE END UART5_Init 2 */ } -/* USART3 init function */ +/* USART1 init function */ -void MX_USART3_UART_Init(void) +void MX_USART1_UART_Init(void) { - /* USER CODE BEGIN USART3_Init 0 */ + /* USER CODE BEGIN USART1_Init 0 */ - /* USER CODE END USART3_Init 0 */ + /* USER CODE END USART1_Init 0 */ - /* USER CODE BEGIN USART3_Init 1 */ + /* USER CODE BEGIN USART1_Init 1 */ - /* USER CODE END USART3_Init 1 */ - huart3.Instance = USART3; - huart3.Init.BaudRate = 115200; - huart3.Init.WordLength = UART_WORDLENGTH_8B; - huart3.Init.StopBits = UART_STOPBITS_1; - huart3.Init.Parity = UART_PARITY_NONE; - huart3.Init.Mode = UART_MODE_TX_RX; - huart3.Init.HwFlowCtl = UART_HWCONTROL_NONE; - huart3.Init.OverSampling = UART_OVERSAMPLING_16; - huart3.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE; - huart3.Init.ClockPrescaler = UART_PRESCALER_DIV1; - huart3.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT; - if (HAL_RS485Ex_Init(&huart3, UART_DE_POLARITY_HIGH, 0, 0) != HAL_OK) + /* USER CODE END USART1_Init 1 */ + huart1.Instance = USART1; + huart1.Init.BaudRate = 115200; + huart1.Init.WordLength = UART_WORDLENGTH_8B; + huart1.Init.StopBits = UART_STOPBITS_1; + huart1.Init.Parity = UART_PARITY_NONE; + huart1.Init.Mode = UART_MODE_TX_RX; + huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE; + huart1.Init.OverSampling = UART_OVERSAMPLING_16; + huart1.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE; + huart1.Init.ClockPrescaler = UART_PRESCALER_DIV1; + huart1.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT; + if (HAL_UART_Init(&huart1) != HAL_OK) { Error_Handler(); } - if (HAL_UARTEx_SetTxFifoThreshold(&huart3, UART_TXFIFO_THRESHOLD_1_8) != HAL_OK) + if (HAL_UARTEx_SetTxFifoThreshold(&huart1, UART_TXFIFO_THRESHOLD_1_8) != HAL_OK) { Error_Handler(); } - if (HAL_UARTEx_SetRxFifoThreshold(&huart3, UART_RXFIFO_THRESHOLD_1_8) != HAL_OK) + if (HAL_UARTEx_SetRxFifoThreshold(&huart1, UART_RXFIFO_THRESHOLD_1_8) != HAL_OK) { Error_Handler(); } - if (HAL_UARTEx_DisableFifoMode(&huart3) != HAL_OK) + if (HAL_UARTEx_DisableFifoMode(&huart1) != HAL_OK) { Error_Handler(); } - /* USER CODE BEGIN USART3_Init 2 */ + /* USER CODE BEGIN USART1_Init 2 */ - /* USER CODE END USART3_Init 2 */ + /* USER CODE END USART1_Init 2 */ } /* USART10 init function */ @@ -217,7 +217,7 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle) hdma_uart5_rx.Init.MemInc = DMA_MINC_ENABLE; hdma_uart5_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE; hdma_uart5_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE; - hdma_uart5_rx.Init.Mode = DMA_CIRCULAR; + hdma_uart5_rx.Init.Mode = DMA_NORMAL; hdma_uart5_rx.Init.Priority = DMA_PRIORITY_VERY_HIGH; hdma_uart5_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE; if (HAL_DMA_Init(&hdma_uart5_rx) != HAL_OK) @@ -234,88 +234,79 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle) /* USER CODE END UART5_MspInit 1 */ } - else if(uartHandle->Instance==USART3) + else if(uartHandle->Instance==USART1) { - /* USER CODE BEGIN USART3_MspInit 0 */ + /* USER CODE BEGIN USART1_MspInit 0 */ - /* USER CODE END USART3_MspInit 0 */ + /* USER CODE END USART1_MspInit 0 */ /** Initializes the peripherals clock */ - PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_USART3; - PeriphClkInitStruct.Usart234578ClockSelection = RCC_USART234578CLKSOURCE_D2PCLK1; + PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_USART1; + PeriphClkInitStruct.Usart16ClockSelection = RCC_USART16910CLKSOURCE_D2PCLK2; if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK) { Error_Handler(); } - /* USART3 clock enable */ - __HAL_RCC_USART3_CLK_ENABLE(); + /* USART1 clock enable */ + __HAL_RCC_USART1_CLK_ENABLE(); - __HAL_RCC_GPIOB_CLK_ENABLE(); - __HAL_RCC_GPIOD_CLK_ENABLE(); - /**USART3 GPIO Configuration - PB14 ------> USART3_DE - PD8 ------> USART3_TX - PD9 ------> USART3_RX + __HAL_RCC_GPIOA_CLK_ENABLE(); + /**USART1 GPIO Configuration + PA9 ------> USART1_TX + PA10 ------> USART1_RX */ - GPIO_InitStruct.Pin = GPIO_PIN_14; + GPIO_InitStruct.Pin = GPIO_PIN_9|GPIO_PIN_10; GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; GPIO_InitStruct.Pull = GPIO_NOPULL; GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - GPIO_InitStruct.Alternate = GPIO_AF7_USART3; - HAL_GPIO_Init(GPIOB, &GPIO_InitStruct); + GPIO_InitStruct.Alternate = GPIO_AF7_USART1; + HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); - GPIO_InitStruct.Pin = GPIO_PIN_8|GPIO_PIN_9; - GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - GPIO_InitStruct.Alternate = GPIO_AF7_USART3; - HAL_GPIO_Init(GPIOD, &GPIO_InitStruct); - - /* USART3 DMA Init */ - /* USART3_TX Init */ - hdma_usart3_tx.Instance = DMA1_Stream2; - hdma_usart3_tx.Init.Request = DMA_REQUEST_USART3_TX; - hdma_usart3_tx.Init.Direction = DMA_MEMORY_TO_PERIPH; - hdma_usart3_tx.Init.PeriphInc = DMA_PINC_DISABLE; - hdma_usart3_tx.Init.MemInc = DMA_MINC_ENABLE; - hdma_usart3_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE; - hdma_usart3_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE; - hdma_usart3_tx.Init.Mode = DMA_NORMAL; - hdma_usart3_tx.Init.Priority = DMA_PRIORITY_LOW; - hdma_usart3_tx.Init.FIFOMode = DMA_FIFOMODE_DISABLE; - if (HAL_DMA_Init(&hdma_usart3_tx) != HAL_OK) + /* USART1 DMA Init */ + /* USART1_RX Init */ + hdma_usart1_rx.Instance = DMA1_Stream2; + hdma_usart1_rx.Init.Request = DMA_REQUEST_USART1_RX; + hdma_usart1_rx.Init.Direction = DMA_PERIPH_TO_MEMORY; + hdma_usart1_rx.Init.PeriphInc = DMA_PINC_DISABLE; + hdma_usart1_rx.Init.MemInc = DMA_MINC_ENABLE; + hdma_usart1_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE; + hdma_usart1_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE; + hdma_usart1_rx.Init.Mode = DMA_NORMAL; + hdma_usart1_rx.Init.Priority = DMA_PRIORITY_LOW; + hdma_usart1_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE; + if (HAL_DMA_Init(&hdma_usart1_rx) != HAL_OK) { Error_Handler(); } - __HAL_LINKDMA(uartHandle,hdmatx,hdma_usart3_tx); + __HAL_LINKDMA(uartHandle,hdmarx,hdma_usart1_rx); - /* USART3_RX Init */ - hdma_usart3_rx.Instance = DMA1_Stream3; - hdma_usart3_rx.Init.Request = DMA_REQUEST_USART3_RX; - hdma_usart3_rx.Init.Direction = DMA_PERIPH_TO_MEMORY; - hdma_usart3_rx.Init.PeriphInc = DMA_PINC_DISABLE; - hdma_usart3_rx.Init.MemInc = DMA_MINC_ENABLE; - hdma_usart3_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE; - hdma_usart3_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE; - hdma_usart3_rx.Init.Mode = DMA_NORMAL; - hdma_usart3_rx.Init.Priority = DMA_PRIORITY_LOW; - hdma_usart3_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE; - if (HAL_DMA_Init(&hdma_usart3_rx) != HAL_OK) + /* USART1_TX Init */ + hdma_usart1_tx.Instance = DMA1_Stream3; + hdma_usart1_tx.Init.Request = DMA_REQUEST_USART1_TX; + hdma_usart1_tx.Init.Direction = DMA_MEMORY_TO_PERIPH; + hdma_usart1_tx.Init.PeriphInc = DMA_PINC_DISABLE; + hdma_usart1_tx.Init.MemInc = DMA_MINC_ENABLE; + hdma_usart1_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE; + hdma_usart1_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE; + hdma_usart1_tx.Init.Mode = DMA_NORMAL; + hdma_usart1_tx.Init.Priority = DMA_PRIORITY_LOW; + hdma_usart1_tx.Init.FIFOMode = DMA_FIFOMODE_DISABLE; + if (HAL_DMA_Init(&hdma_usart1_tx) != HAL_OK) { Error_Handler(); } - __HAL_LINKDMA(uartHandle,hdmarx,hdma_usart3_rx); + __HAL_LINKDMA(uartHandle,hdmatx,hdma_usart1_tx); - /* USART3 interrupt Init */ - HAL_NVIC_SetPriority(USART3_IRQn, 5, 0); - HAL_NVIC_EnableIRQ(USART3_IRQn); - /* USER CODE BEGIN USART3_MspInit 1 */ + /* USART1 interrupt Init */ + HAL_NVIC_SetPriority(USART1_IRQn, 5, 0); + HAL_NVIC_EnableIRQ(USART1_IRQn); + /* USER CODE BEGIN USART1_MspInit 1 */ - /* USER CODE END USART3_MspInit 1 */ + /* USER CODE END USART1_MspInit 1 */ } else if(uartHandle->Instance==USART10) { @@ -428,32 +419,29 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle) /* USER CODE END UART5_MspDeInit 1 */ } - else if(uartHandle->Instance==USART3) + else if(uartHandle->Instance==USART1) { - /* USER CODE BEGIN USART3_MspDeInit 0 */ + /* USER CODE BEGIN USART1_MspDeInit 0 */ - /* USER CODE END USART3_MspDeInit 0 */ + /* USER CODE END USART1_MspDeInit 0 */ /* Peripheral clock disable */ - __HAL_RCC_USART3_CLK_DISABLE(); + __HAL_RCC_USART1_CLK_DISABLE(); - /**USART3 GPIO Configuration - PB14 ------> USART3_DE - PD8 ------> USART3_TX - PD9 ------> USART3_RX + /**USART1 GPIO Configuration + PA9 ------> USART1_TX + PA10 ------> USART1_RX */ - HAL_GPIO_DeInit(GPIOB, GPIO_PIN_14); + HAL_GPIO_DeInit(GPIOA, GPIO_PIN_9|GPIO_PIN_10); - HAL_GPIO_DeInit(GPIOD, GPIO_PIN_8|GPIO_PIN_9); - - /* USART3 DMA DeInit */ - HAL_DMA_DeInit(uartHandle->hdmatx); + /* USART1 DMA DeInit */ HAL_DMA_DeInit(uartHandle->hdmarx); + HAL_DMA_DeInit(uartHandle->hdmatx); - /* USART3 interrupt Deinit */ - HAL_NVIC_DisableIRQ(USART3_IRQn); - /* USER CODE BEGIN USART3_MspDeInit 1 */ + /* USART1 interrupt Deinit */ + HAL_NVIC_DisableIRQ(USART1_IRQn); + /* USER CODE BEGIN USART1_MspDeInit 1 */ - /* USER CODE END USART3_MspDeInit 1 */ + /* USER CODE END USART1_MspDeInit 1 */ } else if(uartHandle->Instance==USART10) { diff --git a/application/cmd/robot_cmd.c b/application/cmd/robot_cmd.c index 82b223b..38c9f72 100644 --- a/application/cmd/robot_cmd.c +++ b/application/cmd/robot_cmd.c @@ -70,7 +70,7 @@ void RobotCMDInit() { rc_data = RemoteControlInit(&huart5); // 修改为对应串口,注意如果是自研板dbus协议串口需选用添加了反相器的那个 // vision_recv_data = VisionInit(&huart1); // 视觉通信串口 - referee_data = UITaskInit(&huart3, &ui_data); // 裁判系统初始化,会同时初始化UI + referee_data = UITaskInit(&huart1, &ui_data); // 裁判系统初始化,会同时初始化UI referee_VT_data = VTInit(&huart10); //这里需要改一下气泵的控制电路 diff --git a/bsp/usart/bsp_usart.c b/bsp/usart/bsp_usart.c index e3a6945..0005753 100644 --- a/bsp/usart/bsp_usart.c +++ b/bsp/usart/bsp_usart.c @@ -130,6 +130,7 @@ void HAL_UART_ErrorCallback(UART_HandleTypeDef *huart) { 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); diff --git a/cmake-build-debug/.cmake/api/v1/reply/cache-v2-bb9dac21bf3d3b0ff3e0.json b/cmake-build-debug/.cmake/api/v1/reply/cache-v2-bb9dac21bf3d3b0ff3e0.json deleted file mode 100644 index 89b4991..0000000 --- a/cmake-build-debug/.cmake/api/v1/reply/cache-v2-bb9dac21bf3d3b0ff3e0.json +++ /dev/null @@ -1,1227 +0,0 @@ -{ - 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-G Ninja -S D:\RM\@RM2025\scara_engineering -B D:\RM\@RM2025\scara_engineering\cmake-build-debug +-- Minimal optimization, debug info included +-- Configuring done (0.2s) +You have changed variables that require your cache to be deleted. +Configure will be re-run and you may have to reset some variables. +The following variables have changed: +CMAKE_C_COMPILER= C:/Arm-GNU-Toolchian/bin/arm-none-eabi-gcc.exe +CMAKE_CXX_COMPILER= C:/Arm-GNU-Toolchian/bin/arm-none-eabi-c++.exe + -- The C compiler identification is GNU 9.3.1 -- The CXX compiler identification is GNU 9.3.1 -- The ASM compiler identification is GNU @@ -14,6 +22,6 @@ -- Detecting CXX compile features -- Detecting CXX compile features - done -- Minimal optimization, debug info included --- Configuring done (6.4s) +-- Configuring done (6.2s) -- Generating done (0.1s) -- Build files have been written to: D:/RM/@RM2025/scara_engineering/cmake-build-debug diff --git a/cmake-build-debug/CMakeFiles/rules.ninja 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############################################# # Rule for compiling C files. -rule C_COMPILER__scara_engineering.2eelf_unscanned_Debug +rule C_COMPILER__scara_engineering.2eelf_unscanned_ depfile = $DEP_FILE deps = gcc command = C:\MounRiver\MounRiver_Studio\toolchain\arm-none-eabi-gcc\bin\arm-none-eabi-gcc.exe $DEFINES $INCLUDES $FLAGS -MD -MT $out -MF $DEP_FILE -o $out -c $in @@ -34,7 +34,7 @@ rule C_COMPILER__scara_engineering.2eelf_unscanned_Debug ############################################# # Rule for compiling CXX files. -rule CXX_COMPILER__scara_engineering.2eelf_unscanned_Debug +rule CXX_COMPILER__scara_engineering.2eelf_unscanned_ depfile = $DEP_FILE deps = gcc command = C:\MounRiver\MounRiver_Studio\toolchain\arm-none-eabi-gcc\bin\arm-none-eabi-g++.exe $DEFINES $INCLUDES $FLAGS -MD -MT $out -MF $DEP_FILE -o $out -c $in @@ -44,7 +44,7 @@ rule CXX_COMPILER__scara_engineering.2eelf_unscanned_Debug ############################################# # Rule for linking CXX executable. 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