sentry_gimbal_hzz/bsp/usart/bsp_usart.c

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/**
* @file bsp_usart.c
* @author neozng
* @brief bsp层的实现
* @version beta
* @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"
#include "stdlib.h"
#include "memory.h"
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/* 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};
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/**
* @brief usart service will start automatically, after each module registered
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*
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*
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* @param _instance instance owned by module,
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*/
static void USARTServiceInit(USARTInstance *_instance)
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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()
// 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);
}
USARTInstance *USARTRegister(USART_Init_Config_s *init_config)
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{
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;
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 */
void USARTSend(USARTInstance *_instance, uint8_t *send_buf, uint16_t send_size)
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{
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HAL_UART_Transmit_DMA(_instance->usart_handle, send_buf, send_size);
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}
/**
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* @brief dma/idle中断发生时.uart实例会调用对应的回调进行进一步的处理
* ://
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*
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* @todo neozng给HAL库的github repo提了issue, ST在最新的一次更新中为此提供了一个HAL_UARTEx_GetRxEventType()
*
*
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* @note because DMA half transfer iterrupt(DMA_IT_HT) would call this callback function too, so we just
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* disable it when transfer complete using macro: __HAL_DMA_DISABLE_IT(huart->hdmarx,DMA_IT_HT)
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* dma half transfer中断防止两次进入HAL_UARTEx_RxEventCallback()
* HAL库的一个设计失误,DMA传输完成/IDLE中断都会触发HAL_UARTEx_RxEventCallback()
* 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 uart handle indicate which uart is being handled
* @param Size not used temporarily,,
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*/
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
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}
}
}
/**
* @brief when error occurs in the process of send/receive,this function will be called
* then just simply restart send/receive.
*
* @note most frequent error ex: parity/overrrun/frame error
*
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* @param huart uart handle type, indicate where error comes from
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*/
void HAL_UART_ErrorCallback(UART_HandleTypeDef *huart)
{
for (uint8_t i = 0; i < idx; ++i)
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{
if (huart == usart_instance[i]->usart_handle)
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{
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;
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}
}
}