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加入大疆C板例程bsp

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2026-04-12 20:34:47 +08:00
parent 7475077b9e
commit b68ac54a34
51 changed files with 5950 additions and 1290 deletions
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101
bsp/boards/bsp_spi.c Normal file
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#include "bsp_spi.h"
#include "main.h"
extern SPI_HandleTypeDef hspi1;
extern DMA_HandleTypeDef hdma_spi1_rx;
extern DMA_HandleTypeDef hdma_spi1_tx;
void SPI1_DMA_init(uint32_t tx_buf, uint32_t rx_buf, uint16_t num)
{
SET_BIT(hspi1.Instance->CR2, SPI_CR2_TXDMAEN);
SET_BIT(hspi1.Instance->CR2, SPI_CR2_RXDMAEN);
__HAL_SPI_ENABLE(&hspi1);
//disable DMA
//失效DMA
__HAL_DMA_DISABLE(&hdma_spi1_rx);
while(hdma_spi1_rx.Instance->CR & DMA_SxCR_EN)
{
__HAL_DMA_DISABLE(&hdma_spi1_rx);
}
__HAL_DMA_CLEAR_FLAG(&hdma_spi1_rx, DMA_LISR_TCIF2);
hdma_spi1_rx.Instance->PAR = (uint32_t) & (SPI1->DR);
//memory buffer 1
//内存缓冲区1
hdma_spi1_rx.Instance->M0AR = (uint32_t)(rx_buf);
//data length
//数据长度
__HAL_DMA_SET_COUNTER(&hdma_spi1_rx, num);
__HAL_DMA_ENABLE_IT(&hdma_spi1_rx, DMA_IT_TC);
//disable DMA
//失效DMA
__HAL_DMA_DISABLE(&hdma_spi1_tx);
while(hdma_spi1_tx.Instance->CR & DMA_SxCR_EN)
{
__HAL_DMA_DISABLE(&hdma_spi1_tx);
}
__HAL_DMA_CLEAR_FLAG(&hdma_spi1_tx, DMA_LISR_TCIF3);
hdma_spi1_tx.Instance->PAR = (uint32_t) & (SPI1->DR);
//memory buffer 1
//内存缓冲区1
hdma_spi1_tx.Instance->M0AR = (uint32_t)(tx_buf);
//data length
//数据长度
__HAL_DMA_SET_COUNTER(&hdma_spi1_tx, num);
}
void SPI1_DMA_enable(uint32_t tx_buf, uint32_t rx_buf, uint16_t ndtr)
{
__HAL_DMA_DISABLE(&hdma_spi1_rx);
__HAL_DMA_DISABLE(&hdma_spi1_tx);
while(hdma_spi1_rx.Instance->CR & DMA_SxCR_EN)
{
__HAL_DMA_DISABLE(&hdma_spi1_rx);
}
while(hdma_spi1_tx.Instance->CR & DMA_SxCR_EN)
{
__HAL_DMA_DISABLE(&hdma_spi1_tx);
}
__HAL_DMA_CLEAR_FLAG (hspi1.hdmarx, __HAL_DMA_GET_TC_FLAG_INDEX(hspi1.hdmarx));
__HAL_DMA_CLEAR_FLAG (hspi1.hdmarx, __HAL_DMA_GET_HT_FLAG_INDEX(hspi1.hdmarx));
__HAL_DMA_CLEAR_FLAG (hspi1.hdmarx, __HAL_DMA_GET_TE_FLAG_INDEX(hspi1.hdmarx));
__HAL_DMA_CLEAR_FLAG (hspi1.hdmarx, __HAL_DMA_GET_DME_FLAG_INDEX(hspi1.hdmarx));
__HAL_DMA_CLEAR_FLAG (hspi1.hdmarx, __HAL_DMA_GET_FE_FLAG_INDEX(hspi1.hdmarx));
__HAL_DMA_CLEAR_FLAG (hspi1.hdmatx, __HAL_DMA_GET_TC_FLAG_INDEX(hspi1.hdmatx));
__HAL_DMA_CLEAR_FLAG (hspi1.hdmatx, __HAL_DMA_GET_HT_FLAG_INDEX(hspi1.hdmatx));
__HAL_DMA_CLEAR_FLAG (hspi1.hdmatx, __HAL_DMA_GET_TE_FLAG_INDEX(hspi1.hdmatx));
__HAL_DMA_CLEAR_FLAG (hspi1.hdmatx, __HAL_DMA_GET_DME_FLAG_INDEX(hspi1.hdmatx));
__HAL_DMA_CLEAR_FLAG (hspi1.hdmatx, __HAL_DMA_GET_FE_FLAG_INDEX(hspi1.hdmatx));
hdma_spi1_rx.Instance->M0AR = rx_buf;
hdma_spi1_tx.Instance->M0AR = tx_buf;
__HAL_DMA_SET_COUNTER(&hdma_spi1_rx, ndtr);
__HAL_DMA_SET_COUNTER(&hdma_spi1_tx, ndtr);
__HAL_DMA_ENABLE(&hdma_spi1_rx);
__HAL_DMA_ENABLE(&hdma_spi1_tx);
}