140 lines
5.5 KiB
C
140 lines
5.5 KiB
C
/**
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* @file bsp_usart.c
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* @author neozng
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* @brief 串口bsp层的实现
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* @version beta
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* @date 2022-11-01
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*
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* @copyright Copyright (c) 2022
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*
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*/
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#include "bsp_usart.h"
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#include "bsp_log.h"
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#include "stdlib.h"
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#include "memory.h"
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/* usart service instance, modules' info would be recoreded here using USARTRegister() */
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/* usart服务实例,所有注册了usart的模块信息会被保存在这里 */
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static uint8_t idx;
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static USARTInstance *usart_instance[DEVICE_USART_CNT] = {NULL};
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/**
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* @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
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*
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* @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
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* 可能还要将此函数修改为extern,使得module可以控制串口的启停
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*
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* @param _instance instance owned by module,模块拥有的串口实例
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*/
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void USARTServiceInit(USARTInstance *_instance)
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{
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HAL_UARTEx_ReceiveToIdle_DMA(_instance->usart_handle, _instance->recv_buff, _instance->recv_buff_size);
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// 关闭dma half transfer中断防止两次进入HAL_UARTEx_RxEventCallback()
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// 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()
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// 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
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__HAL_DMA_DISABLE_IT(_instance->usart_handle->hdmarx, DMA_IT_HT);
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}
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USARTInstance *USARTRegister(USART_Init_Config_s *init_config)
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{
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if (idx >= DEVICE_USART_CNT) // 超过最大实例数
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while (1)
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LOGERROR("[bsp_usart] USART exceed max instance count!");
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for (uint8_t i = 0; i < idx; i++) // 检查是否已经注册过
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if (usart_instance[i]->usart_handle == init_config->usart_handle)
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while (1)
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LOGERROR("[bsp_usart] USART instance already registered!");
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USARTInstance *instance = (USARTInstance *)malloc(sizeof(USARTInstance));
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memset(instance, 0, sizeof(USARTInstance));
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instance->usart_handle = init_config->usart_handle;
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instance->recv_buff_size = init_config->recv_buff_size;
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instance->module_callback = init_config->module_callback;
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usart_instance[idx++] = instance;
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USARTServiceInit(instance);
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return instance;
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}
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/* @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 */
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void USARTSend(USARTInstance *_instance, uint8_t *send_buf, uint16_t send_size, USART_TRANSFER_MODE mode)
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{
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switch (mode)
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{
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case USART_TRANSFER_BLOCKING:
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HAL_UART_Transmit(_instance->usart_handle, send_buf, send_size, 100);
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break;
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case USART_TRANSFER_IT:
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HAL_UART_Transmit_IT(_instance->usart_handle, send_buf, send_size);
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break;
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case USART_TRANSFER_DMA:
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HAL_UART_Transmit_DMA(_instance->usart_handle, send_buf, send_size);
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break;
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default:
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while (1)
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; // 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
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break;
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}
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}
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/* 串口发送时,gstate会被设为BUSY_TX */
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uint8_t USARTIsReady(USARTInstance *_instance)
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{
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if (_instance->usart_handle->gState | HAL_UART_STATE_BUSY_TX)
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return 0;
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else
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return 1;
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}
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/**
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* @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
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* 例如:视觉协议解析/遥控器解析/裁判系统解析
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*
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* @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()
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* 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()
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* 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
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*
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* @param huart 发生中断的串口
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* @param Size 此次接收到的总数居量,暂时没用
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*/
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void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)
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{
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for (uint8_t i = 0; i < idx; ++i)
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{ // find the instance which is being handled
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if (huart == usart_instance[i]->usart_handle)
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{ // call the callback function if it is not NULL
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if (usart_instance[i]->module_callback != NULL)
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{
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usart_instance[i]->module_callback();
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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
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}
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HAL_UARTEx_ReceiveToIdle_DMA(usart_instance[i]->usart_handle, usart_instance[i]->recv_buff, usart_instance[i]->recv_buff_size);
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__HAL_DMA_DISABLE_IT(usart_instance[i]->usart_handle->hdmarx, DMA_IT_HT);
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return; // break the loop
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}
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}
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}
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/**
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* @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
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*
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* @note 最常见的错误:奇偶校验/溢出/帧错误
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*
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* @param huart 发生错误的串口
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*/
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void HAL_UART_ErrorCallback(UART_HandleTypeDef *huart)
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{
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for (uint8_t i = 0; i < idx; ++i)
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{
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if (huart == usart_instance[i]->usart_handle)
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{
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HAL_UARTEx_ReceiveToIdle_DMA(usart_instance[i]->usart_handle, usart_instance[i]->recv_buff, usart_instance[i]->recv_buff_size);
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__HAL_DMA_DISABLE_IT(usart_instance[i]->usart_handle->hdmarx, DMA_IT_HT);
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LOGWARNING("[bsp_usart] USART error callback triggered, instance idx [%d]", i);
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return;
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}
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}
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} |