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遥控器控制电机转动，队列用法还没实现

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This commit is contained in:
Wei Zitong
2026-07-17 20:37:55 +08:00
parent 8b24a3da19
commit 15c5074a0a
23 changed files with 8065 additions and 36 deletions
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26
.mxproject
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File diff suppressed because one or more lines are too long

2
CMakeLists.txt
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@@ -49,6 +49,8 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
Core/Src/bsp_can.c
Core/Src/chassis_control.c
Core/Src/pid.c
Core/Src/bsp_rc.c
Core/Src/remote_control.c
)
# Add include paths

8
Core/Inc/bsp_rc.h Normal file
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@@ -0,0 +1,8 @@
#ifndef BSP_RC_H
#define BSP_RC_H
#include "main.h"
extern void RC_init(uint8_t *rx1_buf, uint8_t *rx2_buf, uint16_t dma_buf_num);
extern void RC_unable(void);
extern void RC_restart(uint16_t dma_buf_num);
#endif

52
Core/Inc/dma.h Normal file
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@@ -0,0 +1,52 @@
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file dma.h
* @brief This file contains all the function prototypes for
* the dma.c file
******************************************************************************
* @attention
*
* Copyright (c) 2026 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __DMA_H__
#define __DMA_H__
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "main.h"
/* DMA memory to memory transfer handles -------------------------------------*/
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
/* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */
void MX_DMA_Init(void);
/* USER CODE BEGIN Prototypes */
/* USER CODE END Prototypes */
#ifdef __cplusplus
}
#endif
#endif /* __DMA_H__ */

105
Core/Inc/remote_control.h Normal file
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@@ -0,0 +1,105 @@
/**
****************************(C) COPYRIGHT 2016 DJI****************************
* @file remote_control.c/h
* @brief ң<><D2A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ң<EFBFBD><D2A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͨ<EFBFBD><CDA8><EFBFBD><EFBFBD><EFBFBD><EFBFBD>SBUS<55><53>Э<EFBFBD>鴫<EFBFBD>䣬<EFBFBD><E4A3AC><EFBFBD><EFBFBD>DMA<4D><41><EFBFBD>䷽ʽ<E4B7BD><CABD>ԼCPU
* <20><>Դ<EFBFBD><D4B4><EFBFBD><EFBFBD><EFBFBD>ô<EFBFBD><C3B4>ڿ<EFBFBD><DABF><EFBFBD><EFBFBD>ж<EFBFBD><D0B6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͬʱ<CDAC>ṩһЩ<D2BB><D0A9><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>DMA<4D><41><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
* <20>ķ<EFBFBD>ʽ<EFBFBD><CABD>֤<EFBFBD>Ȳ<EFBFBD>ε<EFBFBD><CEB5>ȶ<EFBFBD><C8B6>ԡ<EFBFBD>
* @note
* @history
* Version Date Author Modification
* V1.0.0 Dec-26-2018 RM 1. <20><><EFBFBD>
*
@verbatim
==============================================================================
==============================================================================
@endverbatim
****************************(C) COPYRIGHT 2016 DJI****************************
*/
#ifndef REMOTE_CONTROL_H
#define REMOTE_CONTROL_H
#include "main.h"
#include "bsp_rc.h"
#define SBUS_RX_BUF_NUM 36u
#define RC_FRAME_LENGTH 18u
#define RC_CH_VALUE_MIN ((uint16_t)364)
#define RC_CH_VALUE_OFFSET ((uint16_t)1024)
#define RC_CH_VALUE_MAX ((uint16_t)1684)
/* ----------------------- RC Switch Definition----------------------------- */
#define RC_SW_UP ((uint16_t)1)
#define RC_SW_MID ((uint16_t)3)
#define RC_SW_DOWN ((uint16_t)2)
#define switch_is_down(s) (s == RC_SW_DOWN)
#define switch_is_mid(s) (s == RC_SW_MID)
#define switch_is_up(s) (s == RC_SW_UP)
/* ----------------------- PC Key Definition-------------------------------- */
#define KEY_PRESSED_OFFSET_W ((uint16_t)1 << 0)
#define KEY_PRESSED_OFFSET_S ((uint16_t)1 << 1)
#define KEY_PRESSED_OFFSET_A ((uint16_t)1 << 2)
#define KEY_PRESSED_OFFSET_D ((uint16_t)1 << 3)
#define KEY_PRESSED_OFFSET_SHIFT ((uint16_t)1 << 4)
#define KEY_PRESSED_OFFSET_CTRL ((uint16_t)1 << 5)
#define KEY_PRESSED_OFFSET_Q ((uint16_t)1 << 6)
#define KEY_PRESSED_OFFSET_E ((uint16_t)1 << 7)
#define KEY_PRESSED_OFFSET_R ((uint16_t)1 << 8)
#define KEY_PRESSED_OFFSET_F ((uint16_t)1 << 9)
#define KEY_PRESSED_OFFSET_G ((uint16_t)1 << 10)
#define KEY_PRESSED_OFFSET_Z ((uint16_t)1 << 11)
#define KEY_PRESSED_OFFSET_X ((uint16_t)1 << 12)
#define KEY_PRESSED_OFFSET_C ((uint16_t)1 << 13)
#define KEY_PRESSED_OFFSET_V ((uint16_t)1 << 14)
#define KEY_PRESSED_OFFSET_B ((uint16_t)1 << 15)
/* ----------------------- Data Struct ------------------------------------- */
typedef __packed struct
{
__packed struct
{
int16_t ch[5];
char s[2];
} rc;
__packed struct
{
int16_t x;
int16_t y;
int16_t z;
uint8_t press_l;
uint8_t press_r;
} mouse;
__packed struct
{
uint16_t v;
} key;
} RC_ctrl_t;
/* ----------------------- Internal Data ----------------------------------- */
/**
* @brief remote control init
* @param[in] none
* @retval none
*/
/**
* @brief ң<><D2A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC>
* @param[in] none
* @retval none
*/
extern void remote_control_init(void);
/**
* @brief get remote control data point
* @param[in] none
* @retval remote control data point
*/
/**
* @brief <20><>ȡң<C8A1><D2A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ָ<EFBFBD><D6B8>
* @param[in] none
* @retval ң<><D2A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ָ<EFBFBD><D6B8>
*/
extern const RC_ctrl_t *get_remote_control_point(void);
extern void RC_USART3_IRQHandler(void);
#endif

2
Core/Inc/stm32f4xx_hal_conf.h
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@@ -64,7 +64,7 @@
/* #define HAL_MMC_MODULE_ENABLED */
/* #define HAL_SPI_MODULE_ENABLED */
#define HAL_TIM_MODULE_ENABLED
/* #define HAL_UART_MODULE_ENABLED */
#define HAL_UART_MODULE_ENABLED
/* #define HAL_USART_MODULE_ENABLED */
/* #define HAL_IRDA_MODULE_ENABLED */
/* #define HAL_SMARTCARD_MODULE_ENABLED */

2
Core/Inc/stm32f4xx_it.h
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@@ -52,7 +52,9 @@ void MemManage_Handler(void);
void BusFault_Handler(void);
void UsageFault_Handler(void);
void DebugMon_Handler(void);
void DMA1_Stream1_IRQHandler(void);
void CAN1_RX0_IRQHandler(void);
void USART3_IRQHandler(void);
void TIM6_DAC_IRQHandler(void);
/* USER CODE BEGIN EFP */

52
Core/Inc/usart.h Normal file
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@@ -0,0 +1,52 @@
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file usart.h
* @brief This file contains all the function prototypes for
* the usart.c file
******************************************************************************
* @attention
*
* Copyright (c) 2026 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __USART_H__
#define __USART_H__
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "main.h"
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
extern UART_HandleTypeDef huart3;
/* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */
void MX_USART3_UART_Init(void);
/* USER CODE BEGIN Prototypes */
/* USER CODE END Prototypes */
#ifdef __cplusplus
}
#endif
#endif /* __USART_H__ */

2
Core/Src/CAN_receive.c
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@@ -22,7 +22,7 @@
extern CAN_HandleTypeDef hcan1;
//motor data read
//motor data read读取电机数据，更新电机状态结构体
#define get_motor_measure(ptr, data) \
{ \
(ptr)->last_ecd = (ptr)->ecd; \

49
Core/Src/bsp_rc.c Normal file
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@@ -0,0 +1,49 @@
#include "bsp_rc.h"
#include "main.h"
extern UART_HandleTypeDef huart3;
extern DMA_HandleTypeDef hdma_usart3_rx;
void RC_init(uint8_t *rx1_buf, uint8_t *rx2_buf, uint16_t dma_buf_num)
{
//enable the DMA transfer for the receiver request
//ʹ<><CAB9>DMA<4D><41><EFBFBD>ڽ<EFBFBD><DABD><EFBFBD>
SET_BIT(huart3.Instance->CR3, USART_CR3_DMAR);
//enalbe idle interrupt
//ʹ<>ܿ<EFBFBD><DCBF><EFBFBD><EFBFBD>ж<EFBFBD>
__HAL_UART_ENABLE_IT(&huart3, UART_IT_IDLE);
//disable DMA
//ʧЧDMA
__HAL_DMA_DISABLE(&hdma_usart3_rx);
while(hdma_usart3_rx.Instance->CR & DMA_SxCR_EN)
{
__HAL_DMA_DISABLE(&hdma_usart3_rx);
}
hdma_usart3_rx.Instance->PAR = (uint32_t) & (USART3->DR);
//memory buffer 1
//<2F>ڴ滺<DAB4><E6BBBA><EFBFBD><EFBFBD>1
hdma_usart3_rx.Instance->M0AR = (uint32_t)(rx1_buf);
//memory buffer 2
//<2F>ڴ滺<DAB4><E6BBBA><EFBFBD><EFBFBD>2
hdma_usart3_rx.Instance->M1AR = (uint32_t)(rx2_buf);
//data length
//<2F><><EFBFBD>ݳ<EFBFBD><DDB3><EFBFBD>
hdma_usart3_rx.Instance->NDTR = dma_buf_num;
//enable double memory buffer
//ʹ<><CAB9>˫<EFBFBD><CBAB><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
SET_BIT(hdma_usart3_rx.Instance->CR, DMA_SxCR_DBM);
//enable DMA
//ʹ<><CAB9>DMA
__HAL_DMA_ENABLE(&hdma_usart3_rx);
}

8
Core/Src/chassis_control.c
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@@ -17,10 +17,10 @@ static int16_t target_speed_m4;
*/
void chassis_control_init(void)
{
pid_init(&pid_motor1, 15.0f, 0.1f, 2.0f, 16384.0f, 1000.0f);//底盘电机1
pid_init(&pid_motor2, 15.0f, 0.1f, 2.0f, 16384.0f, 1000.0f);//底盘电机2
pid_init(&pid_motor3, 15.0f, 0.1f, 2.0f, 16384.0f, 1000.0f);//底盘电机3
pid_init(&pid_motor4, 15.0f, 0.1f, 2.0f, 16384.0f, 1000.0f);//底盘电机4
pid_init(&pid_motor1, 15.0f, 0.1f, 2.0f, 4000.0f, 1000.0f);//底盘电机1
pid_init(&pid_motor2, 15.0f, 0.1f, 2.0f, 4000.0f, 1000.0f);//底盘电机2
pid_init(&pid_motor3, 15.0f, 0.1f, 2.0f, 4000.0f, 1000.0f);//底盘电机3
pid_init(&pid_motor4, 15.0f, 0.1f, 2.0f, 4000.0f, 1000.0f);//底盘电机4
}
/**

55
Core/Src/dma.c Normal file
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@@ -0,0 +1,55 @@
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file dma.c
* @brief This file provides code for the configuration
* of all the requested memory to memory DMA transfers.
******************************************************************************
* @attention
*
* Copyright (c) 2026 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "dma.h"
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
/*----------------------------------------------------------------------------*/
/* Configure DMA */
/*----------------------------------------------------------------------------*/
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/**
* Enable DMA controller clock
*/
void MX_DMA_Init(void)
{
/* DMA controller clock enable */
__HAL_RCC_DMA1_CLK_ENABLE();
/* DMA interrupt init */
/* DMA1_Stream1_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA1_Stream1_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(DMA1_Stream1_IRQn);
}
/* USER CODE BEGIN 2 */
/* USER CODE END 2 */

68
Core/Src/freertos.c
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@@ -28,9 +28,12 @@
#include "bsp_can.h"
#include "CAN_receive.h"
#include "chassis_control.h"
#include "bsp_rc.h"
#include "remote_control.h"
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
typedef StaticQueue_t osStaticMessageQDef_t;
/* USER CODE BEGIN PTD */
/* USER CODE END PTD */
@@ -63,6 +66,24 @@ const osThreadAttr_t Chassis_Control_attributes = {
.stack_size = 128 * 4,
.priority = (osPriority_t) osPriorityNormal,
};
/* Definitions for Command_Task */
osThreadId_t Command_TaskHandle;
const osThreadAttr_t Command_Task_attributes = {
.name = "Command_Task",
.stack_size = 128 * 4,
.priority = (osPriority_t) osPriorityNormal,
};
/* Definitions for chassis_speed_queue */
osMessageQueueId_t chassis_speed_queueHandle;
uint8_t chassis_speed_queueBuffer[ 5 * sizeof( uint16_t ) ];
osStaticMessageQDef_t chassis_speed_queueControlBlock;
const osMessageQueueAttr_t chassis_speed_queue_attributes = {
.name = "chassis_speed_queue",
.cb_mem = &chassis_speed_queueControlBlock,
.cb_size = sizeof(chassis_speed_queueControlBlock),
.mq_mem = &chassis_speed_queueBuffer,
.mq_size = sizeof(chassis_speed_queueBuffer)
};
/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN FunctionPrototypes */
@@ -71,6 +92,7 @@ const osThreadAttr_t Chassis_Control_attributes = {
void StartCAN_Receive_Task(void *argument);
void StartChassis_Control_Task(void *argument);
void StartCommand_Task(void *argument);
void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */
@@ -96,6 +118,10 @@ void MX_FREERTOS_Init(void) {
/* start timers, add new ones, ... */
/* USER CODE END RTOS_TIMERS */
/* Create the queue(s) */
/* creation of chassis_speed_queue */
chassis_speed_queueHandle = osMessageQueueNew (5, sizeof(uint16_t), &chassis_speed_queue_attributes);
/* USER CODE BEGIN RTOS_QUEUES */
/* add queues, ... */
/* USER CODE END RTOS_QUEUES */
@@ -107,6 +133,9 @@ void MX_FREERTOS_Init(void) {
/* creation of Chassis_Control */
Chassis_ControlHandle = osThreadNew(StartChassis_Control_Task, NULL, &Chassis_Control_attributes);
/* creation of Command_Task */
Command_TaskHandle = osThreadNew(StartCommand_Task, NULL, &Command_Task_attributes);
/* USER CODE BEGIN RTOS_THREADS */
/* add threads, ... */
/* USER CODE END RTOS_THREADS */
@@ -147,18 +176,49 @@ void StartChassis_Control_Task(void *argument)
{
/* USER CODE BEGIN StartChassis_Control_Task */
chassis_control_init();
chassis_set_speed(100, 0, 0, 0);
int16_t speed = 0;
/* Infinite loop */
for(;;)
{
chassis_control_task();//电机控制
if (osMessageQueueGet(chassis_speed_queueHandle, &speed, NULL, 0) == osOK)
{
chassis_set_speed(speed, 0, 0, 0);
}
chassis_control_task();
osDelay(1);
}
/* USER CODE END StartChassis_Control_Task */
}
/* USER CODE BEGIN Header_StartCommand_Task */
/**
* @brief Function implementing the Command_Task thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_StartCommand_Task */
void StartCommand_Task(void *argument)
{
/* USER CODE BEGIN StartCommand_Task */
remote_control_init();
const RC_ctrl_t *rc;
int16_t speed;
/* Infinite loop */
for(;;)
{
rc = get_remote_control_point();//rc=获取遥控器数据
speed = (int16_t)((float)rc->rc.ch[3] * 5000.0f / 660.0f);//根据通道三的值，映射到-5000到5000之间
if (speed > 5000)
speed = 5000;
if (speed < -5000)
speed = -5000;
osMessageQueuePut(chassis_speed_queueHandle, &speed, 0, 0);
osDelay(10);
}
/* USER CODE END StartCommand_Task */
}
/* Private application code --------------------------------------------------*/
/* USER CODE BEGIN Application */
/* USER CODE END Application */
/* USER CODE END Application */

1
Core/Src/gpio.c
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@@ -45,6 +45,7 @@ void MX_GPIO_Init(void)
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOD_CLK_ENABLE();
__HAL_RCC_GPIOC_CLK_ENABLE();
__HAL_RCC_GPIOH_CLK_ENABLE();
}

4
Core/Src/main.c
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@@ -20,6 +20,8 @@
#include "main.h"
#include "cmsis_os.h"
#include "can.h"
#include "dma.h"
#include "usart.h"
#include "gpio.h"
/* Private includes ----------------------------------------------------------*/
@@ -91,7 +93,9 @@ int main(void)
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_DMA_Init();
MX_CAN1_Init();
MX_USART3_UART_Init();
/* USER CODE BEGIN 2 */
can_filter_init();
/* USER CODE END 2 */

194
Core/Src/remote_control.c Normal file
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@@ -0,0 +1,194 @@
/**
****************************(C) COPYRIGHT 2019 DJI****************************
* @file remote_control.c/h
* @brief ?????????????????????????SBUS??<3F><>?<3F><>??????DMA????????CPU
* ????????????????<3F><>????????????????????<3F><>????????DMA??????
* ??????????<3F><>???????
* @note ????????????????<3F><>???????????freeRTOS????
* @history
* Version Date Author Modification
* V1.0.0 Dec-01-2019 RM 1. ???
*
@verbatim
==============================================================================
==============================================================================
@endverbatim
****************************(C) COPYRIGHT 2019 DJI****************************
*/
#include "remote_control.h"
#include "main.h"
extern UART_HandleTypeDef huart3;
extern DMA_HandleTypeDef hdma_usart3_rx;
/**
* @brief remote control protocol resolution
* @param[in] sbus_buf: raw data point
* @param[out] rc_ctrl: remote control data struct point
* @retval none
*/
/**
* @brief ?????<3F><>?????
* @param[in] sbus_buf: ??????????
* @param[out] rc_ctrl: ??????????
* @retval none
*/
static void sbus_to_rc(volatile const uint8_t *sbus_buf, RC_ctrl_t *rc_ctrl);
//remote control data
//????????????
RC_ctrl_t rc_ctrl;
//receive data, 18 bytes one frame, but set 36 bytes
//????????????18??????????36????????????DMA???????
static uint8_t sbus_rx_buf[2][SBUS_RX_BUF_NUM];
/**
* @brief remote control init
* @param[in] none
* @retval none
*/
/**
* @brief ??????????
* @param[in] none
* @retval none
*/
void remote_control_init(void)
{
RC_init(sbus_rx_buf[0], sbus_rx_buf[1], SBUS_RX_BUF_NUM);
}
/**
* @brief get remote control data point
* @param[in] none
* @retval remote control data point
*/
/**
* @brief ???????????????
* @param[in] none
* @retval ????????????
*/
const RC_ctrl_t *get_remote_control_point(void)
{
return &rc_ctrl;
}
//?????<3F><>?
void RC_USART3_IRQHandler(void)
{
if(huart3.Instance->SR & UART_FLAG_RXNE)//?????????
{
__HAL_UART_CLEAR_PEFLAG(&huart3);
}
else if(USART3->SR & UART_FLAG_IDLE)
{
static uint16_t this_time_rx_len = 0;
__HAL_UART_CLEAR_PEFLAG(&huart3);
if ((hdma_usart3_rx.Instance->CR & DMA_SxCR_CT) == RESET)
{
/* Current memory buffer used is Memory 0 */
//disable DMA
//?<3F><>DMA
__HAL_DMA_DISABLE(&hdma_usart3_rx);
//get receive data length, length = set_data_length - remain_length
//??????????????,???? = ?څ???? - ?????
this_time_rx_len = SBUS_RX_BUF_NUM - hdma_usart3_rx.Instance->NDTR;
//reset set_data_lenght
//?????څ???????
hdma_usart3_rx.Instance->NDTR = SBUS_RX_BUF_NUM;
//set memory buffer 1
//?څ??????1
hdma_usart3_rx.Instance->CR |= DMA_SxCR_CT;
//enable DMA
//???DMA
__HAL_DMA_ENABLE(&hdma_usart3_rx);
if(this_time_rx_len == RC_FRAME_LENGTH)
{
sbus_to_rc(sbus_rx_buf[0], &rc_ctrl);
}
}
else
{
/* Current memory buffer used is Memory 1 */
//disable DMA
//?<3F><>DMA
__HAL_DMA_DISABLE(&hdma_usart3_rx);
//get receive data length, length = set_data_length - remain_length
//??????????????,???? = ?څ???? - ?????
this_time_rx_len = SBUS_RX_BUF_NUM - hdma_usart3_rx.Instance->NDTR;
//reset set_data_lenght
//?????څ???????
hdma_usart3_rx.Instance->NDTR = SBUS_RX_BUF_NUM;
//set memory buffer 0
//?څ??????0
DMA1_Stream1->CR &= ~(DMA_SxCR_CT);
//enable DMA
//???DMA
__HAL_DMA_ENABLE(&hdma_usart3_rx);
if(this_time_rx_len == RC_FRAME_LENGTH)
{
//?????????????
sbus_to_rc(sbus_rx_buf[1], &rc_ctrl);
}
}
}
}
/**
* @brief remote control protocol resolution
* @param[in] sbus_buf: raw data point
* @param[out] rc_ctrl: remote control data struct point
* @retval none
*/
/**
* @brief ?????<3F><>?????
* @param[in] sbus_buf: ??????????
* @param[out] rc_ctrl: ??????????
* @retval none
*/
static void sbus_to_rc(volatile const uint8_t *sbus_buf, RC_ctrl_t *rc_ctrl)
{
if (sbus_buf == NULL || rc_ctrl == NULL)
{
return;
}
rc_ctrl->rc.ch[0] = (sbus_buf[0] | (sbus_buf[1] << 8)) & 0x07ff; //!< Channel 0 ???????
rc_ctrl->rc.ch[1] = ((sbus_buf[1] >> 3) | (sbus_buf[2] << 5)) & 0x07ff; //!< Channel 1 ???????
rc_ctrl->rc.ch[2] = ((sbus_buf[2] >> 6) | (sbus_buf[3] << 2) | //!< Channel 2 ???????
(sbus_buf[4] << 10)) &0x07ff;
rc_ctrl->rc.ch[3] = ((sbus_buf[4] >> 1) | (sbus_buf[5] << 7)) & 0x07ff; //!< Channel 3 ???????
rc_ctrl->rc.s[0] = ((sbus_buf[5] >> 4) & 0x0003); //!< Switch left
rc_ctrl->rc.s[1] = ((sbus_buf[5] >> 4) & 0x000C) >> 2; //!< Switch right
rc_ctrl->mouse.x = sbus_buf[6] | (sbus_buf[7] << 8); //!< Mouse X axis
rc_ctrl->mouse.y = sbus_buf[8] | (sbus_buf[9] << 8); //!< Mouse Y axis
rc_ctrl->mouse.z = sbus_buf[10] | (sbus_buf[11] << 8); //!< Mouse Z axis
rc_ctrl->mouse.press_l = sbus_buf[12]; //!< Mouse Left Is Press ?
rc_ctrl->mouse.press_r = sbus_buf[13]; //!< Mouse Right Is Press ?
rc_ctrl->key.v = sbus_buf[14] | (sbus_buf[15] << 8); //!< KeyBoard value
rc_ctrl->rc.ch[4] = sbus_buf[16] | (sbus_buf[17] << 8); //NULL
rc_ctrl->rc.ch[0] -= RC_CH_VALUE_OFFSET;
rc_ctrl->rc.ch[1] -= RC_CH_VALUE_OFFSET;
rc_ctrl->rc.ch[2] -= RC_CH_VALUE_OFFSET;
rc_ctrl->rc.ch[3] -= RC_CH_VALUE_OFFSET;
rc_ctrl->rc.ch[4] -= RC_CH_VALUE_OFFSET;
}

32
Core/Src/stm32f4xx_it.c
View File

@@ -22,6 +22,7 @@
#include "stm32f4xx_it.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "remote_control.h"
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
@@ -56,6 +57,8 @@
/* External variables --------------------------------------------------------*/
extern CAN_HandleTypeDef hcan1;
extern DMA_HandleTypeDef hdma_usart3_rx;
extern UART_HandleTypeDef huart3;
extern TIM_HandleTypeDef htim6;
/* USER CODE BEGIN EV */
@@ -160,6 +163,20 @@ void DebugMon_Handler(void)
/* please refer to the startup file (startup_stm32f4xx.s). */
/******************************************************************************/
/**
* @brief This function handles DMA1 stream1 global interrupt.
*/
void DMA1_Stream1_IRQHandler(void)
{
/* USER CODE BEGIN DMA1_Stream1_IRQn 0 */
/* USER CODE END DMA1_Stream1_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_usart3_rx);
/* USER CODE BEGIN DMA1_Stream1_IRQn 1 */
/* USER CODE END DMA1_Stream1_IRQn 1 */
}
/**
* @brief This function handles CAN1 RX0 interrupts.
*/
@@ -174,6 +191,21 @@ void CAN1_RX0_IRQHandler(void)
/* USER CODE END CAN1_RX0_IRQn 1 */
}
/**
* @brief This function handles USART3 global interrupt.
*/
void USART3_IRQHandler(void)
{
/* USER CODE BEGIN USART3_IRQn 0 */
RC_USART3_IRQHandler();
return;
/* USER CODE END USART3_IRQn 0 */
HAL_UART_IRQHandler(&huart3);
/* USER CODE BEGIN USART3_IRQn 1 */
/* USER CODE END USART3_IRQn 1 */
}
/**
* @brief This function handles TIM6 global interrupt, DAC1 and DAC2 underrun error interrupts.
*/

142
Core/Src/usart.c Normal file
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@@ -0,0 +1,142 @@
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file usart.c
* @brief This file provides code for the configuration
* of the USART instances.
******************************************************************************
* @attention
*
* Copyright (c) 2026 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "usart.h"
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
UART_HandleTypeDef huart3;
DMA_HandleTypeDef hdma_usart3_rx;
/* USART3 init function */
void MX_USART3_UART_Init(void)
{
/* USER CODE BEGIN USART3_Init 0 */
/* USER CODE END USART3_Init 0 */
/* USER CODE BEGIN USART3_Init 1 */
/* USER CODE END USART3_Init 1 */
huart3.Instance = USART3;
huart3.Init.BaudRate = 100000;
huart3.Init.WordLength = UART_WORDLENGTH_8B;
huart3.Init.StopBits = UART_STOPBITS_1;
huart3.Init.Parity = UART_PARITY_EVEN;
huart3.Init.Mode = UART_MODE_TX_RX;
huart3.Init.HwFlowCtl = UART_HWCONTROL_NONE;
huart3.Init.OverSampling = UART_OVERSAMPLING_16;
if (HAL_UART_Init(&huart3) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN USART3_Init 2 */
/* USER CODE END USART3_Init 2 */
}
void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
if(uartHandle->Instance==USART3)
{
/* USER CODE BEGIN USART3_MspInit 0 */
/* USER CODE END USART3_MspInit 0 */
/* USART3 clock enable */
__HAL_RCC_USART3_CLK_ENABLE();
__HAL_RCC_GPIOC_CLK_ENABLE();
/**USART3 GPIO Configuration
PC11 ------> USART3_RX
PC10 ------> USART3_TX
*/
GPIO_InitStruct.Pin = GPIO_PIN_11|GPIO_PIN_10;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF7_USART3;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/* USART3 DMA Init */
/* USART3_RX Init */
hdma_usart3_rx.Instance = DMA1_Stream1;
hdma_usart3_rx.Init.Channel = DMA_CHANNEL_4;
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_CIRCULAR;
hdma_usart3_rx.Init.Priority = DMA_PRIORITY_VERY_HIGH;
hdma_usart3_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
if (HAL_DMA_Init(&hdma_usart3_rx) != HAL_OK)
{
Error_Handler();
}
__HAL_LINKDMA(uartHandle,hdmarx,hdma_usart3_rx);
/* USART3 interrupt Init */
HAL_NVIC_SetPriority(USART3_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(USART3_IRQn);
/* USER CODE BEGIN USART3_MspInit 1 */
/* USER CODE END USART3_MspInit 1 */
}
}
void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
{
if(uartHandle->Instance==USART3)
{
/* USER CODE BEGIN USART3_MspDeInit 0 */
/* USER CODE END USART3_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_USART3_CLK_DISABLE();
/**USART3 GPIO Configuration
PC11 ------> USART3_RX
PC10 ------> USART3_TX
*/
HAL_GPIO_DeInit(GPIOC, GPIO_PIN_11|GPIO_PIN_10);
/* USART3 DMA DeInit */
HAL_DMA_DeInit(uartHandle->hdmarx);
/* USART3 interrupt Deinit */
HAL_NVIC_DisableIRQ(USART3_IRQn);
/* USER CODE BEGIN USART3_MspDeInit 1 */
/* USER CODE END USART3_MspDeInit 1 */
}
}
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */

909
Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h Normal file
View File

@@ -0,0 +1,909 @@
/**
******************************************************************************
* @file stm32f4xx_hal_uart.h
* @author MCD Application Team
* @brief Header file of UART HAL module.
******************************************************************************
* @attention
*
* Copyright (c) 2016 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __STM32F4xx_HAL_UART_H
#define __STM32F4xx_HAL_UART_H
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "stm32f4xx_hal_def.h"
/** @addtogroup STM32F4xx_HAL_Driver
* @{
*/
/** @addtogroup UART
* @{
*/
/* Exported types ------------------------------------------------------------*/
/** @defgroup UART_Exported_Types UART Exported Types
* @{
*/
/**
* @brief UART Init Structure definition
*/
typedef struct
{
uint32_t BaudRate; /*!< This member configures the UART communication baud rate.
The baud rate is computed using the following formula:
- IntegerDivider = ((PCLKx) / (8 * (OVR8+1) * (huart->Init.BaudRate)))
- FractionalDivider = ((IntegerDivider - ((uint32_t) IntegerDivider)) * 8 * (OVR8+1)) + 0.5
Where OVR8 is the "oversampling by 8 mode" configuration bit in the CR1 register. */
uint32_t WordLength; /*!< Specifies the number of data bits transmitted or received in a frame.
This parameter can be a value of @ref UART_Word_Length */
uint32_t StopBits; /*!< Specifies the number of stop bits transmitted.
This parameter can be a value of @ref UART_Stop_Bits */
uint32_t Parity; /*!< Specifies the parity mode.
This parameter can be a value of @ref UART_Parity
@note When parity is enabled, the computed parity is inserted
at the MSB position of the transmitted data (9th bit when
the word length is set to 9 data bits; 8th bit when the
word length is set to 8 data bits). */
uint32_t Mode; /*!< Specifies whether the Receive or Transmit mode is enabled or disabled.
This parameter can be a value of @ref UART_Mode */
uint32_t HwFlowCtl; /*!< Specifies whether the hardware flow control mode is enabled or disabled.
This parameter can be a value of @ref UART_Hardware_Flow_Control */
uint32_t OverSampling; /*!< Specifies whether the Over sampling 8 is enabled or disabled, to achieve higher speed (up to fPCLK/8).
This parameter can be a value of @ref UART_Over_Sampling */
} UART_InitTypeDef;
/**
* @brief HAL UART State structures definition
* @note HAL UART State value is a combination of 2 different substates: gState and RxState.
* - gState contains UART state information related to global Handle management
* and also information related to Tx operations.
* gState value coding follow below described bitmap :
* b7-b6 Error information
* 00 : No Error
* 01 : (Not Used)
* 10 : Timeout
* 11 : Error
* b5 Peripheral initialization status
* 0 : Reset (Peripheral not initialized)
* 1 : Init done (Peripheral initialized. HAL UART Init function already called)
* b4-b3 (not used)
* xx : Should be set to 00
* b2 Intrinsic process state
* 0 : Ready
* 1 : Busy (Peripheral busy with some configuration or internal operations)
* b1 (not used)
* x : Should be set to 0
* b0 Tx state
* 0 : Ready (no Tx operation ongoing)
* 1 : Busy (Tx operation ongoing)
* - RxState contains information related to Rx operations.
* RxState value coding follow below described bitmap :
* b7-b6 (not used)
* xx : Should be set to 00
* b5 Peripheral initialization status
* 0 : Reset (Peripheral not initialized)
* 1 : Init done (Peripheral initialized)
* b4-b2 (not used)
* xxx : Should be set to 000
* b1 Rx state
* 0 : Ready (no Rx operation ongoing)
* 1 : Busy (Rx operation ongoing)
* b0 (not used)
* x : Should be set to 0.
*/
typedef enum
{
HAL_UART_STATE_RESET = 0x00U, /*!< Peripheral is not yet Initialized
Value is allowed for gState and RxState */
HAL_UART_STATE_READY = 0x20U, /*!< Peripheral Initialized and ready for use
Value is allowed for gState and RxState */
HAL_UART_STATE_BUSY = 0x24U, /*!< an internal process is ongoing
Value is allowed for gState only */
HAL_UART_STATE_BUSY_TX = 0x21U, /*!< Data Transmission process is ongoing
Value is allowed for gState only */
HAL_UART_STATE_BUSY_RX = 0x22U, /*!< Data Reception process is ongoing
Value is allowed for RxState only */
HAL_UART_STATE_BUSY_TX_RX = 0x23U, /*!< Data Transmission and Reception process is ongoing
Not to be used for neither gState nor RxState.
Value is result of combination (Or) between gState and RxState values */
HAL_UART_STATE_TIMEOUT = 0xA0U, /*!< Timeout state
Value is allowed for gState only */
HAL_UART_STATE_ERROR = 0xE0U /*!< Error
Value is allowed for gState only */
} HAL_UART_StateTypeDef;
/**
* @brief HAL UART Reception type definition
* @note HAL UART Reception type value aims to identify which type of Reception is ongoing.
* This parameter can be a value of @ref UART_Reception_Type_Values :
* HAL_UART_RECEPTION_STANDARD = 0x00U,
* HAL_UART_RECEPTION_TOIDLE = 0x01U,
*/
typedef uint32_t HAL_UART_RxTypeTypeDef;
/**
* @brief HAL UART Rx Event type definition
* @note HAL UART Rx Event type value aims to identify which type of Event has occurred
* leading to call of the RxEvent callback.
* This parameter can be a value of @ref UART_RxEvent_Type_Values :
* HAL_UART_RXEVENT_TC = 0x00U,
* HAL_UART_RXEVENT_HT = 0x01U,
* HAL_UART_RXEVENT_IDLE = 0x02U,
*/
typedef uint32_t HAL_UART_RxEventTypeTypeDef;
/**
* @brief UART handle Structure definition
*/
typedef struct __UART_HandleTypeDef
{
USART_TypeDef *Instance; /*!< UART registers base address */
UART_InitTypeDef Init; /*!< UART communication parameters */
const uint8_t *pTxBuffPtr; /*!< Pointer to UART Tx transfer Buffer */
uint16_t TxXferSize; /*!< UART Tx Transfer size */
__IO uint16_t TxXferCount; /*!< UART Tx Transfer Counter */
uint8_t *pRxBuffPtr; /*!< Pointer to UART Rx transfer Buffer */
uint16_t RxXferSize; /*!< UART Rx Transfer size */
__IO uint16_t RxXferCount; /*!< UART Rx Transfer Counter */
__IO HAL_UART_RxTypeTypeDef ReceptionType; /*!< Type of ongoing reception */
__IO HAL_UART_RxEventTypeTypeDef RxEventType; /*!< Type of Rx Event */
DMA_HandleTypeDef *hdmatx; /*!< UART Tx DMA Handle parameters */
DMA_HandleTypeDef *hdmarx; /*!< UART Rx DMA Handle parameters */
HAL_LockTypeDef Lock; /*!< Locking object */
__IO HAL_UART_StateTypeDef gState; /*!< UART state information related to global Handle management
and also related to Tx operations.
This parameter can be a value of @ref HAL_UART_StateTypeDef */
__IO HAL_UART_StateTypeDef RxState; /*!< UART state information related to Rx operations.
This parameter can be a value of @ref HAL_UART_StateTypeDef */
__IO uint32_t ErrorCode; /*!< UART Error code */
#if (USE_HAL_UART_REGISTER_CALLBACKS == 1)
void (* TxHalfCpltCallback)(struct __UART_HandleTypeDef *huart); /*!< UART Tx Half Complete Callback */
void (* TxCpltCallback)(struct __UART_HandleTypeDef *huart); /*!< UART Tx Complete Callback */
void (* RxHalfCpltCallback)(struct __UART_HandleTypeDef *huart); /*!< UART Rx Half Complete Callback */
void (* RxCpltCallback)(struct __UART_HandleTypeDef *huart); /*!< UART Rx Complete Callback */
void (* ErrorCallback)(struct __UART_HandleTypeDef *huart); /*!< UART Error Callback */
void (* AbortCpltCallback)(struct __UART_HandleTypeDef *huart); /*!< UART Abort Complete Callback */
void (* AbortTransmitCpltCallback)(struct __UART_HandleTypeDef *huart); /*!< UART Abort Transmit Complete Callback */
void (* AbortReceiveCpltCallback)(struct __UART_HandleTypeDef *huart); /*!< UART Abort Receive Complete Callback */
void (* WakeupCallback)(struct __UART_HandleTypeDef *huart); /*!< UART Wakeup Callback */
void (* RxEventCallback)(struct __UART_HandleTypeDef *huart, uint16_t Pos); /*!< UART Reception Event Callback */
void (* MspInitCallback)(struct __UART_HandleTypeDef *huart); /*!< UART Msp Init callback */
void (* MspDeInitCallback)(struct __UART_HandleTypeDef *huart); /*!< UART Msp DeInit callback */
#endif /* USE_HAL_UART_REGISTER_CALLBACKS */
} UART_HandleTypeDef;
#if (USE_HAL_UART_REGISTER_CALLBACKS == 1)
/**
* @brief HAL UART Callback ID enumeration definition
*/
typedef enum
{
HAL_UART_TX_HALFCOMPLETE_CB_ID = 0x00U, /*!< UART Tx Half Complete Callback ID */
HAL_UART_TX_COMPLETE_CB_ID = 0x01U, /*!< UART Tx Complete Callback ID */
HAL_UART_RX_HALFCOMPLETE_CB_ID = 0x02U, /*!< UART Rx Half Complete Callback ID */
HAL_UART_RX_COMPLETE_CB_ID = 0x03U, /*!< UART Rx Complete Callback ID */
HAL_UART_ERROR_CB_ID = 0x04U, /*!< UART Error Callback ID */
HAL_UART_ABORT_COMPLETE_CB_ID = 0x05U, /*!< UART Abort Complete Callback ID */
HAL_UART_ABORT_TRANSMIT_COMPLETE_CB_ID = 0x06U, /*!< UART Abort Transmit Complete Callback ID */
HAL_UART_ABORT_RECEIVE_COMPLETE_CB_ID = 0x07U, /*!< UART Abort Receive Complete Callback ID */
HAL_UART_WAKEUP_CB_ID = 0x08U, /*!< UART Wakeup Callback ID */
HAL_UART_MSPINIT_CB_ID = 0x0BU, /*!< UART MspInit callback ID */
HAL_UART_MSPDEINIT_CB_ID = 0x0CU /*!< UART MspDeInit callback ID */
} HAL_UART_CallbackIDTypeDef;
/**
* @brief HAL UART Callback pointer definition
*/
typedef void (*pUART_CallbackTypeDef)(UART_HandleTypeDef *huart); /*!< pointer to an UART callback function */
typedef void (*pUART_RxEventCallbackTypeDef)(struct __UART_HandleTypeDef *huart, uint16_t Pos); /*!< pointer to a UART Rx Event specific callback function */
#endif /* USE_HAL_UART_REGISTER_CALLBACKS */
/**
* @}
*/
/* Exported constants --------------------------------------------------------*/
/** @defgroup UART_Exported_Constants UART Exported Constants
* @{
*/
/** @defgroup UART_Error_Code UART Error Code
* @{
*/
#define HAL_UART_ERROR_NONE 0x00000000U /*!< No error */
#define HAL_UART_ERROR_PE 0x00000001U /*!< Parity error */
#define HAL_UART_ERROR_NE 0x00000002U /*!< Noise error */
#define HAL_UART_ERROR_FE 0x00000004U /*!< Frame error */
#define HAL_UART_ERROR_ORE 0x00000008U /*!< Overrun error */
#define HAL_UART_ERROR_DMA 0x00000010U /*!< DMA transfer error */
#if (USE_HAL_UART_REGISTER_CALLBACKS == 1)
#define HAL_UART_ERROR_INVALID_CALLBACK 0x00000020U /*!< Invalid Callback error */
#endif /* USE_HAL_UART_REGISTER_CALLBACKS */
/**
* @}
*/
/** @defgroup UART_Word_Length UART Word Length
* @{
*/
#define UART_WORDLENGTH_8B 0x00000000U
#define UART_WORDLENGTH_9B ((uint32_t)USART_CR1_M)
/**
* @}
*/
/** @defgroup UART_Stop_Bits UART Number of Stop Bits
* @{
*/
#define UART_STOPBITS_1 0x00000000U
#define UART_STOPBITS_2 ((uint32_t)USART_CR2_STOP_1)
/**
* @}
*/
/** @defgroup UART_Parity UART Parity
* @{
*/
#define UART_PARITY_NONE 0x00000000U
#define UART_PARITY_EVEN ((uint32_t)USART_CR1_PCE)
#define UART_PARITY_ODD ((uint32_t)(USART_CR1_PCE | USART_CR1_PS))
/**
* @}
*/
/** @defgroup UART_Hardware_Flow_Control UART Hardware Flow Control
* @{
*/
#define UART_HWCONTROL_NONE 0x00000000U
#define UART_HWCONTROL_RTS ((uint32_t)USART_CR3_RTSE)
#define UART_HWCONTROL_CTS ((uint32_t)USART_CR3_CTSE)
#define UART_HWCONTROL_RTS_CTS ((uint32_t)(USART_CR3_RTSE | USART_CR3_CTSE))
/**
* @}
*/
/** @defgroup UART_Mode UART Transfer Mode
* @{
*/
#define UART_MODE_RX ((uint32_t)USART_CR1_RE)
#define UART_MODE_TX ((uint32_t)USART_CR1_TE)
#define UART_MODE_TX_RX ((uint32_t)(USART_CR1_TE | USART_CR1_RE))
/**
* @}
*/
/** @defgroup UART_State UART State
* @{
*/
#define UART_STATE_DISABLE 0x00000000U
#define UART_STATE_ENABLE ((uint32_t)USART_CR1_UE)
/**
* @}
*/
/** @defgroup UART_Over_Sampling UART Over Sampling
* @{
*/
#define UART_OVERSAMPLING_16 0x00000000U
#define UART_OVERSAMPLING_8 ((uint32_t)USART_CR1_OVER8)
/**
* @}
*/
/** @defgroup UART_LIN_Break_Detection_Length UART LIN Break Detection Length
* @{
*/
#define UART_LINBREAKDETECTLENGTH_10B 0x00000000U
#define UART_LINBREAKDETECTLENGTH_11B ((uint32_t)USART_CR2_LBDL)
/**
* @}
*/
/** @defgroup UART_WakeUp_functions UART Wakeup Functions
* @{
*/
#define UART_WAKEUPMETHOD_IDLELINE 0x00000000U
#define UART_WAKEUPMETHOD_ADDRESSMARK ((uint32_t)USART_CR1_WAKE)
/**
* @}
*/
/** @defgroup UART_Flags UART FLags
* Elements values convention: 0xXXXX
* - 0xXXXX : Flag mask in the SR register
* @{
*/
#define UART_FLAG_CTS ((uint32_t)USART_SR_CTS)
#define UART_FLAG_LBD ((uint32_t)USART_SR_LBD)
#define UART_FLAG_TXE ((uint32_t)USART_SR_TXE)
#define UART_FLAG_TC ((uint32_t)USART_SR_TC)
#define UART_FLAG_RXNE ((uint32_t)USART_SR_RXNE)
#define UART_FLAG_IDLE ((uint32_t)USART_SR_IDLE)
#define UART_FLAG_ORE ((uint32_t)USART_SR_ORE)
#define UART_FLAG_NE ((uint32_t)USART_SR_NE)
#define UART_FLAG_FE ((uint32_t)USART_SR_FE)
#define UART_FLAG_PE ((uint32_t)USART_SR_PE)
/**
* @}
*/
/** @defgroup UART_Interrupt_definition UART Interrupt Definitions
* Elements values convention: 0xY000XXXX
* - XXXX : Interrupt mask (16 bits) in the Y register
* - Y : Interrupt source register (2bits)
* - 0001: CR1 register
* - 0010: CR2 register
* - 0011: CR3 register
* @{
*/
#define UART_IT_PE ((uint32_t)(UART_CR1_REG_INDEX << 28U | USART_CR1_PEIE))
#define UART_IT_TXE ((uint32_t)(UART_CR1_REG_INDEX << 28U | USART_CR1_TXEIE))
#define UART_IT_TC ((uint32_t)(UART_CR1_REG_INDEX << 28U | USART_CR1_TCIE))
#define UART_IT_RXNE ((uint32_t)(UART_CR1_REG_INDEX << 28U | USART_CR1_RXNEIE))
#define UART_IT_IDLE ((uint32_t)(UART_CR1_REG_INDEX << 28U | USART_CR1_IDLEIE))
#define UART_IT_LBD ((uint32_t)(UART_CR2_REG_INDEX << 28U | USART_CR2_LBDIE))
#define UART_IT_CTS ((uint32_t)(UART_CR3_REG_INDEX << 28U | USART_CR3_CTSIE))
#define UART_IT_ERR ((uint32_t)(UART_CR3_REG_INDEX << 28U | USART_CR3_EIE))
/**
* @}
*/
/** @defgroup UART_Reception_Type_Values UART Reception type values
* @{
*/
#define HAL_UART_RECEPTION_STANDARD (0x00000000U) /*!< Standard reception */
#define HAL_UART_RECEPTION_TOIDLE (0x00000001U) /*!< Reception till completion or IDLE event */
/**
* @}
*/
/** @defgroup UART_RxEvent_Type_Values UART RxEvent type values
* @{
*/
#define HAL_UART_RXEVENT_TC (0x00000000U) /*!< RxEvent linked to Transfer Complete event */
#define HAL_UART_RXEVENT_HT (0x00000001U) /*!< RxEvent linked to Half Transfer event */
#define HAL_UART_RXEVENT_IDLE (0x00000002U)
/**
* @}
*/
/**
* @}
*/
/* Exported macro ------------------------------------------------------------*/
/** @defgroup UART_Exported_Macros UART Exported Macros
* @{
*/
/** @brief Reset UART handle gstate & RxState
* @param __HANDLE__ specifies the UART Handle.
* UART Handle selects the USARTx or UARTy peripheral
* (USART,UART availability and x,y values depending on device).
* @retval None
*/
#if (USE_HAL_UART_REGISTER_CALLBACKS == 1)
#define __HAL_UART_RESET_HANDLE_STATE(__HANDLE__) do{ \
(__HANDLE__)->gState = HAL_UART_STATE_RESET; \
(__HANDLE__)->RxState = HAL_UART_STATE_RESET; \
(__HANDLE__)->MspInitCallback = NULL; \
(__HANDLE__)->MspDeInitCallback = NULL; \
} while(0U)
#else
#define __HAL_UART_RESET_HANDLE_STATE(__HANDLE__) do{ \
(__HANDLE__)->gState = HAL_UART_STATE_RESET; \
(__HANDLE__)->RxState = HAL_UART_STATE_RESET; \
} while(0U)
#endif /*USE_HAL_UART_REGISTER_CALLBACKS */
/** @brief Flushes the UART DR register
* @param __HANDLE__ specifies the UART Handle.
* UART Handle selects the USARTx or UARTy peripheral
* (USART,UART availability and x,y values depending on device).
*/
#define __HAL_UART_FLUSH_DRREGISTER(__HANDLE__) ((__HANDLE__)->Instance->DR)
/** @brief Checks whether the specified UART flag is set or not.
* @param __HANDLE__ specifies the UART Handle.
* UART Handle selects the USARTx or UARTy peripheral
* (USART,UART availability and x,y values depending on device).
* @param __FLAG__ specifies the flag to check.
* This parameter can be one of the following values:
* @arg UART_FLAG_CTS: CTS Change flag (not available for UART4 and UART5)
* @arg UART_FLAG_LBD: LIN Break detection flag
* @arg UART_FLAG_TXE: Transmit data register empty flag
* @arg UART_FLAG_TC: Transmission Complete flag
* @arg UART_FLAG_RXNE: Receive data register not empty flag
* @arg UART_FLAG_IDLE: Idle Line detection flag
* @arg UART_FLAG_ORE: Overrun Error flag
* @arg UART_FLAG_NE: Noise Error flag
* @arg UART_FLAG_FE: Framing Error flag
* @arg UART_FLAG_PE: Parity Error flag
* @retval The new state of __FLAG__ (TRUE or FALSE).
*/
#define __HAL_UART_GET_FLAG(__HANDLE__, __FLAG__) (((__HANDLE__)->Instance->SR & (__FLAG__)) == (__FLAG__))
/** @brief Clears the specified UART pending flag.
* @param __HANDLE__ specifies the UART Handle.
* UART Handle selects the USARTx or UARTy peripheral
* (USART,UART availability and x,y values depending on device).
* @param __FLAG__ specifies the flag to check.
* This parameter can be any combination of the following values:
* @arg UART_FLAG_CTS: CTS Change flag (not available for UART4 and UART5).
* @arg UART_FLAG_LBD: LIN Break detection flag.
* @arg UART_FLAG_TC: Transmission Complete flag.
* @arg UART_FLAG_RXNE: Receive data register not empty flag.
*
* @note PE (Parity error), FE (Framing error), NE (Noise error), ORE (Overrun
* error) and IDLE (Idle line detected) flags are cleared by software
* sequence: a read operation to USART_SR register followed by a read
* operation to USART_DR register.
* @note RXNE flag can be also cleared by a read to the USART_DR register.
* @note TC flag can be also cleared by software sequence: a read operation to
* USART_SR register followed by a write operation to USART_DR register.
* @note TXE flag is cleared only by a write to the USART_DR register.
*
* @retval None
*/
#define __HAL_UART_CLEAR_FLAG(__HANDLE__, __FLAG__) ((__HANDLE__)->Instance->SR = ~(__FLAG__))
/** @brief Clears the UART PE pending flag.
* @param __HANDLE__ specifies the UART Handle.
* UART Handle selects the USARTx or UARTy peripheral
* (USART,UART availability and x,y values depending on device).
* @retval None
*/
#define __HAL_UART_CLEAR_PEFLAG(__HANDLE__) \
do{ \
__IO uint32_t tmpreg = 0x00U; \
tmpreg = (__HANDLE__)->Instance->SR; \
tmpreg = (__HANDLE__)->Instance->DR; \
UNUSED(tmpreg); \
} while(0U)
/** @brief Clears the UART FE pending flag.
* @param __HANDLE__ specifies the UART Handle.
* UART Handle selects the USARTx or UARTy peripheral
* (USART,UART availability and x,y values depending on device).
* @retval None
*/
#define __HAL_UART_CLEAR_FEFLAG(__HANDLE__) __HAL_UART_CLEAR_PEFLAG(__HANDLE__)
/** @brief Clears the UART NE pending flag.
* @param __HANDLE__ specifies the UART Handle.
* UART Handle selects the USARTx or UARTy peripheral
* (USART,UART availability and x,y values depending on device).
* @retval None
*/
#define __HAL_UART_CLEAR_NEFLAG(__HANDLE__) __HAL_UART_CLEAR_PEFLAG(__HANDLE__)
/** @brief Clears the UART ORE pending flag.
* @param __HANDLE__ specifies the UART Handle.
* UART Handle selects the USARTx or UARTy peripheral
* (USART,UART availability and x,y values depending on device).
* @retval None
*/
#define __HAL_UART_CLEAR_OREFLAG(__HANDLE__) __HAL_UART_CLEAR_PEFLAG(__HANDLE__)
/** @brief Clears the UART IDLE pending flag.
* @param __HANDLE__ specifies the UART Handle.
* UART Handle selects the USARTx or UARTy peripheral
* (USART,UART availability and x,y values depending on device).
* @retval None
*/
#define __HAL_UART_CLEAR_IDLEFLAG(__HANDLE__) __HAL_UART_CLEAR_PEFLAG(__HANDLE__)
/** @brief Enable the specified UART interrupt.
* @param __HANDLE__ specifies the UART Handle.
* UART Handle selects the USARTx or UARTy peripheral
* (USART,UART availability and x,y values depending on device).
* @param __INTERRUPT__ specifies the UART interrupt source to enable.
* This parameter can be one of the following values:
* @arg UART_IT_CTS: CTS change interrupt
* @arg UART_IT_LBD: LIN Break detection interrupt
* @arg UART_IT_TXE: Transmit Data Register empty interrupt
* @arg UART_IT_TC: Transmission complete interrupt
* @arg UART_IT_RXNE: Receive Data register not empty interrupt
* @arg UART_IT_IDLE: Idle line detection interrupt
* @arg UART_IT_PE: Parity Error interrupt
* @arg UART_IT_ERR: Error interrupt(Frame error, noise error, overrun error)
* @retval None
*/
#define __HAL_UART_ENABLE_IT(__HANDLE__, __INTERRUPT__) ((((__INTERRUPT__) >> 28U) == UART_CR1_REG_INDEX)? ((__HANDLE__)->Instance->CR1 |= ((__INTERRUPT__) & UART_IT_MASK)): \
(((__INTERRUPT__) >> 28U) == UART_CR2_REG_INDEX)? ((__HANDLE__)->Instance->CR2 |= ((__INTERRUPT__) & UART_IT_MASK)): \
((__HANDLE__)->Instance->CR3 |= ((__INTERRUPT__) & UART_IT_MASK)))
/** @brief Disable the specified UART interrupt.
* @param __HANDLE__ specifies the UART Handle.
* UART Handle selects the USARTx or UARTy peripheral
* (USART,UART availability and x,y values depending on device).
* @param __INTERRUPT__ specifies the UART interrupt source to disable.
* This parameter can be one of the following values:
* @arg UART_IT_CTS: CTS change interrupt
* @arg UART_IT_LBD: LIN Break detection interrupt
* @arg UART_IT_TXE: Transmit Data Register empty interrupt
* @arg UART_IT_TC: Transmission complete interrupt
* @arg UART_IT_RXNE: Receive Data register not empty interrupt
* @arg UART_IT_IDLE: Idle line detection interrupt
* @arg UART_IT_PE: Parity Error interrupt
* @arg UART_IT_ERR: Error interrupt(Frame error, noise error, overrun error)
* @retval None
*/
#define __HAL_UART_DISABLE_IT(__HANDLE__, __INTERRUPT__) ((((__INTERRUPT__) >> 28U) == UART_CR1_REG_INDEX)? ((__HANDLE__)->Instance->CR1 &= ~((__INTERRUPT__) & UART_IT_MASK)): \
(((__INTERRUPT__) >> 28U) == UART_CR2_REG_INDEX)? ((__HANDLE__)->Instance->CR2 &= ~((__INTERRUPT__) & UART_IT_MASK)): \
((__HANDLE__)->Instance->CR3 &= ~ ((__INTERRUPT__) & UART_IT_MASK)))
/** @brief Checks whether the specified UART interrupt source is enabled or not.
* @param __HANDLE__ specifies the UART Handle.
* UART Handle selects the USARTx or UARTy peripheral
* (USART,UART availability and x,y values depending on device).
* @param __IT__ specifies the UART interrupt source to check.
* This parameter can be one of the following values:
* @arg UART_IT_CTS: CTS change interrupt (not available for UART4 and UART5)
* @arg UART_IT_LBD: LIN Break detection interrupt
* @arg UART_IT_TXE: Transmit Data Register empty interrupt
* @arg UART_IT_TC: Transmission complete interrupt
* @arg UART_IT_RXNE: Receive Data register not empty interrupt
* @arg UART_IT_IDLE: Idle line detection interrupt
* @arg UART_IT_ERR: Error interrupt
* @retval The new state of __IT__ (TRUE or FALSE).
*/
#define __HAL_UART_GET_IT_SOURCE(__HANDLE__, __IT__) (((((__IT__) >> 28U) == UART_CR1_REG_INDEX)? (__HANDLE__)->Instance->CR1:(((((uint32_t)(__IT__)) >> 28U) == UART_CR2_REG_INDEX)? \
(__HANDLE__)->Instance->CR2 : (__HANDLE__)->Instance->CR3)) & (((uint32_t)(__IT__)) & UART_IT_MASK))
/** @brief Enable CTS flow control
* @note This macro allows to enable CTS hardware flow control for a given UART instance,
* without need to call HAL_UART_Init() function.
* As involving direct access to UART registers, usage of this macro should be fully endorsed by user.
* @note As macro is expected to be used for modifying CTS Hw flow control feature activation, without need
* for USART instance Deinit/Init, following conditions for macro call should be fulfilled :
* - UART instance should have already been initialised (through call of HAL_UART_Init() )
* - macro could only be called when corresponding UART instance is disabled (i.e __HAL_UART_DISABLE(__HANDLE__))
* and should be followed by an Enable macro (i.e __HAL_UART_ENABLE(__HANDLE__)).
* @param __HANDLE__ specifies the UART Handle.
* The Handle Instance can be any USARTx (supporting the HW Flow control feature).
* It is used to select the USART peripheral (USART availability and x value depending on device).
* @retval None
*/
#define __HAL_UART_HWCONTROL_CTS_ENABLE(__HANDLE__) \
do{ \
ATOMIC_SET_BIT((__HANDLE__)->Instance->CR3, USART_CR3_CTSE); \
(__HANDLE__)->Init.HwFlowCtl |= USART_CR3_CTSE; \
} while(0U)
/** @brief Disable CTS flow control
* @note This macro allows to disable CTS hardware flow control for a given UART instance,
* without need to call HAL_UART_Init() function.
* As involving direct access to UART registers, usage of this macro should be fully endorsed by user.
* @note As macro is expected to be used for modifying CTS Hw flow control feature activation, without need
* for USART instance Deinit/Init, following conditions for macro call should be fulfilled :
* - UART instance should have already been initialised (through call of HAL_UART_Init() )
* - macro could only be called when corresponding UART instance is disabled (i.e __HAL_UART_DISABLE(__HANDLE__))
* and should be followed by an Enable macro (i.e __HAL_UART_ENABLE(__HANDLE__)).
* @param __HANDLE__ specifies the UART Handle.
* The Handle Instance can be any USARTx (supporting the HW Flow control feature).
* It is used to select the USART peripheral (USART availability and x value depending on device).
* @retval None
*/
#define __HAL_UART_HWCONTROL_CTS_DISABLE(__HANDLE__) \
do{ \
ATOMIC_CLEAR_BIT((__HANDLE__)->Instance->CR3, USART_CR3_CTSE); \
(__HANDLE__)->Init.HwFlowCtl &= ~(USART_CR3_CTSE); \
} while(0U)
/** @brief Enable RTS flow control
* This macro allows to enable RTS hardware flow control for a given UART instance,
* without need to call HAL_UART_Init() function.
* As involving direct access to UART registers, usage of this macro should be fully endorsed by user.
* @note As macro is expected to be used for modifying RTS Hw flow control feature activation, without need
* for USART instance Deinit/Init, following conditions for macro call should be fulfilled :
* - UART instance should have already been initialised (through call of HAL_UART_Init() )
* - macro could only be called when corresponding UART instance is disabled (i.e __HAL_UART_DISABLE(__HANDLE__))
* and should be followed by an Enable macro (i.e __HAL_UART_ENABLE(__HANDLE__)).
* @param __HANDLE__ specifies the UART Handle.
* The Handle Instance can be any USARTx (supporting the HW Flow control feature).
* It is used to select the USART peripheral (USART availability and x value depending on device).
* @retval None
*/
#define __HAL_UART_HWCONTROL_RTS_ENABLE(__HANDLE__) \
do{ \
ATOMIC_SET_BIT((__HANDLE__)->Instance->CR3, USART_CR3_RTSE); \
(__HANDLE__)->Init.HwFlowCtl |= USART_CR3_RTSE; \
} while(0U)
/** @brief Disable RTS flow control
* This macro allows to disable RTS hardware flow control for a given UART instance,
* without need to call HAL_UART_Init() function.
* As involving direct access to UART registers, usage of this macro should be fully endorsed by user.
* @note As macro is expected to be used for modifying RTS Hw flow control feature activation, without need
* for USART instance Deinit/Init, following conditions for macro call should be fulfilled :
* - UART instance should have already been initialised (through call of HAL_UART_Init() )
* - macro could only be called when corresponding UART instance is disabled (i.e __HAL_UART_DISABLE(__HANDLE__))
* and should be followed by an Enable macro (i.e __HAL_UART_ENABLE(__HANDLE__)).
* @param __HANDLE__ specifies the UART Handle.
* The Handle Instance can be any USARTx (supporting the HW Flow control feature).
* It is used to select the USART peripheral (USART availability and x value depending on device).
* @retval None
*/
#define __HAL_UART_HWCONTROL_RTS_DISABLE(__HANDLE__) \
do{ \
ATOMIC_CLEAR_BIT((__HANDLE__)->Instance->CR3, USART_CR3_RTSE);\
(__HANDLE__)->Init.HwFlowCtl &= ~(USART_CR3_RTSE); \
} while(0U)
/** @brief Macro to enable the UART's one bit sample method
* @param __HANDLE__ specifies the UART Handle.
* @retval None
*/
#define __HAL_UART_ONE_BIT_SAMPLE_ENABLE(__HANDLE__) ((__HANDLE__)->Instance->CR3|= USART_CR3_ONEBIT)
/** @brief Macro to disable the UART's one bit sample method
* @param __HANDLE__ specifies the UART Handle.
* @retval None
*/
#define __HAL_UART_ONE_BIT_SAMPLE_DISABLE(__HANDLE__) ((__HANDLE__)->Instance->CR3\
&= (uint16_t)~((uint16_t)USART_CR3_ONEBIT))
/** @brief Enable UART
* @param __HANDLE__ specifies the UART Handle.
* @retval None
*/
#define __HAL_UART_ENABLE(__HANDLE__) ((__HANDLE__)->Instance->CR1 |= USART_CR1_UE)
/** @brief Disable UART
* @param __HANDLE__ specifies the UART Handle.
* @retval None
*/
#define __HAL_UART_DISABLE(__HANDLE__) ((__HANDLE__)->Instance->CR1 &= ~USART_CR1_UE)
/**
* @}
*/
/* Exported functions --------------------------------------------------------*/
/** @addtogroup UART_Exported_Functions
* @{
*/
/** @addtogroup UART_Exported_Functions_Group1 Initialization and de-initialization functions
* @{
*/
/* Initialization/de-initialization functions **********************************/
HAL_StatusTypeDef HAL_UART_Init(UART_HandleTypeDef *huart);
HAL_StatusTypeDef HAL_HalfDuplex_Init(UART_HandleTypeDef *huart);
HAL_StatusTypeDef HAL_LIN_Init(UART_HandleTypeDef *huart, uint32_t BreakDetectLength);
HAL_StatusTypeDef HAL_MultiProcessor_Init(UART_HandleTypeDef *huart, uint8_t Address, uint32_t WakeUpMethod);
HAL_StatusTypeDef HAL_UART_DeInit(UART_HandleTypeDef *huart);
void HAL_UART_MspInit(UART_HandleTypeDef *huart);
void HAL_UART_MspDeInit(UART_HandleTypeDef *huart);
/* Callbacks Register/UnRegister functions ***********************************/
#if (USE_HAL_UART_REGISTER_CALLBACKS == 1)
HAL_StatusTypeDef HAL_UART_RegisterCallback(UART_HandleTypeDef *huart, HAL_UART_CallbackIDTypeDef CallbackID,
pUART_CallbackTypeDef pCallback);
HAL_StatusTypeDef HAL_UART_UnRegisterCallback(UART_HandleTypeDef *huart, HAL_UART_CallbackIDTypeDef CallbackID);
HAL_StatusTypeDef HAL_UART_RegisterRxEventCallback(UART_HandleTypeDef *huart, pUART_RxEventCallbackTypeDef pCallback);
HAL_StatusTypeDef HAL_UART_UnRegisterRxEventCallback(UART_HandleTypeDef *huart);
#endif /* USE_HAL_UART_REGISTER_CALLBACKS */
/**
* @}
*/
/** @addtogroup UART_Exported_Functions_Group2 IO operation functions
* @{
*/
/* IO operation functions *******************************************************/
HAL_StatusTypeDef HAL_UART_Transmit(UART_HandleTypeDef *huart, const uint8_t *pData, uint16_t Size, uint32_t Timeout);
HAL_StatusTypeDef HAL_UART_Receive(UART_HandleTypeDef *huart, uint8_t *pData, uint16_t Size, uint32_t Timeout);
HAL_StatusTypeDef HAL_UART_Transmit_IT(UART_HandleTypeDef *huart, const uint8_t *pData, uint16_t Size);
HAL_StatusTypeDef HAL_UART_Receive_IT(UART_HandleTypeDef *huart, uint8_t *pData, uint16_t Size);
HAL_StatusTypeDef HAL_UART_Transmit_DMA(UART_HandleTypeDef *huart, const uint8_t *pData, uint16_t Size);
HAL_StatusTypeDef HAL_UART_Receive_DMA(UART_HandleTypeDef *huart, uint8_t *pData, uint16_t Size);
HAL_StatusTypeDef HAL_UART_DMAPause(UART_HandleTypeDef *huart);
HAL_StatusTypeDef HAL_UART_DMAResume(UART_HandleTypeDef *huart);
HAL_StatusTypeDef HAL_UART_DMAStop(UART_HandleTypeDef *huart);
HAL_StatusTypeDef HAL_UARTEx_ReceiveToIdle(UART_HandleTypeDef *huart, uint8_t *pData, uint16_t Size, uint16_t *RxLen,
uint32_t Timeout);
HAL_StatusTypeDef HAL_UARTEx_ReceiveToIdle_IT(UART_HandleTypeDef *huart, uint8_t *pData, uint16_t Size);
HAL_StatusTypeDef HAL_UARTEx_ReceiveToIdle_DMA(UART_HandleTypeDef *huart, uint8_t *pData, uint16_t Size);
HAL_UART_RxEventTypeTypeDef HAL_UARTEx_GetRxEventType(UART_HandleTypeDef *huart);
/* Transfer Abort functions */
HAL_StatusTypeDef HAL_UART_Abort(UART_HandleTypeDef *huart);
HAL_StatusTypeDef HAL_UART_AbortTransmit(UART_HandleTypeDef *huart);
HAL_StatusTypeDef HAL_UART_AbortReceive(UART_HandleTypeDef *huart);
HAL_StatusTypeDef HAL_UART_Abort_IT(UART_HandleTypeDef *huart);
HAL_StatusTypeDef HAL_UART_AbortTransmit_IT(UART_HandleTypeDef *huart);
HAL_StatusTypeDef HAL_UART_AbortReceive_IT(UART_HandleTypeDef *huart);
void HAL_UART_IRQHandler(UART_HandleTypeDef *huart);
void HAL_UART_TxCpltCallback(UART_HandleTypeDef *huart);
void HAL_UART_TxHalfCpltCallback(UART_HandleTypeDef *huart);
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart);
void HAL_UART_RxHalfCpltCallback(UART_HandleTypeDef *huart);
void HAL_UART_ErrorCallback(UART_HandleTypeDef *huart);
void HAL_UART_AbortCpltCallback(UART_HandleTypeDef *huart);
void HAL_UART_AbortTransmitCpltCallback(UART_HandleTypeDef *huart);
void HAL_UART_AbortReceiveCpltCallback(UART_HandleTypeDef *huart);
void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size);
/**
* @}
*/
/** @addtogroup UART_Exported_Functions_Group3
* @{
*/
/* Peripheral Control functions ************************************************/
HAL_StatusTypeDef HAL_LIN_SendBreak(UART_HandleTypeDef *huart);
HAL_StatusTypeDef HAL_MultiProcessor_EnterMuteMode(UART_HandleTypeDef *huart);
HAL_StatusTypeDef HAL_MultiProcessor_ExitMuteMode(UART_HandleTypeDef *huart);
HAL_StatusTypeDef HAL_HalfDuplex_EnableTransmitter(UART_HandleTypeDef *huart);
HAL_StatusTypeDef HAL_HalfDuplex_EnableReceiver(UART_HandleTypeDef *huart);
/**
* @}
*/
/** @addtogroup UART_Exported_Functions_Group4
* @{
*/
/* Peripheral State functions **************************************************/
HAL_UART_StateTypeDef HAL_UART_GetState(const UART_HandleTypeDef *huart);
uint32_t HAL_UART_GetError(const UART_HandleTypeDef *huart);
/**
* @}
*/
/**
* @}
*/
/* Private types -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
/* Private constants ---------------------------------------------------------*/
/** @defgroup UART_Private_Constants UART Private Constants
* @{
*/
/** @brief UART interruptions flag mask
*
*/
#define UART_IT_MASK 0x0000FFFFU
#define UART_CR1_REG_INDEX 1U
#define UART_CR2_REG_INDEX 2U
#define UART_CR3_REG_INDEX 3U
/**
* @}
*/
/* Private macros ------------------------------------------------------------*/
/** @defgroup UART_Private_Macros UART Private Macros
* @{
*/
#define IS_UART_WORD_LENGTH(LENGTH) (((LENGTH) == UART_WORDLENGTH_8B) || \
((LENGTH) == UART_WORDLENGTH_9B))
#define IS_UART_LIN_WORD_LENGTH(LENGTH) (((LENGTH) == UART_WORDLENGTH_8B))
#define IS_UART_STOPBITS(STOPBITS) (((STOPBITS) == UART_STOPBITS_1) || \
((STOPBITS) == UART_STOPBITS_2))
#define IS_UART_PARITY(PARITY) (((PARITY) == UART_PARITY_NONE) || \
((PARITY) == UART_PARITY_EVEN) || \
((PARITY) == UART_PARITY_ODD))
#define IS_UART_HARDWARE_FLOW_CONTROL(CONTROL)\
(((CONTROL) == UART_HWCONTROL_NONE) || \
((CONTROL) == UART_HWCONTROL_RTS) || \
((CONTROL) == UART_HWCONTROL_CTS) || \
((CONTROL) == UART_HWCONTROL_RTS_CTS))
#define IS_UART_MODE(MODE) ((((MODE) & 0x0000FFF3U) == 0x00U) && ((MODE) != 0x00U))
#define IS_UART_STATE(STATE) (((STATE) == UART_STATE_DISABLE) || \
((STATE) == UART_STATE_ENABLE))
#define IS_UART_OVERSAMPLING(SAMPLING) (((SAMPLING) == UART_OVERSAMPLING_16) || \
((SAMPLING) == UART_OVERSAMPLING_8))
#define IS_UART_LIN_OVERSAMPLING(SAMPLING) (((SAMPLING) == UART_OVERSAMPLING_16))
#define IS_UART_LIN_BREAK_DETECT_LENGTH(LENGTH) (((LENGTH) == UART_LINBREAKDETECTLENGTH_10B) || \
((LENGTH) == UART_LINBREAKDETECTLENGTH_11B))
#define IS_UART_WAKEUPMETHOD(WAKEUP) (((WAKEUP) == UART_WAKEUPMETHOD_IDLELINE) || \
((WAKEUP) == UART_WAKEUPMETHOD_ADDRESSMARK))
#define IS_UART_BAUDRATE(BAUDRATE) ((BAUDRATE) <= 10500000U)
#define IS_UART_ADDRESS(ADDRESS) ((ADDRESS) <= 0x0FU)
#define UART_DIV_SAMPLING16(_PCLK_, _BAUD_) ((uint32_t)((((uint64_t)(_PCLK_))*25U)/(4U*((uint64_t)(_BAUD_)))))
#define UART_DIVMANT_SAMPLING16(_PCLK_, _BAUD_) (UART_DIV_SAMPLING16((_PCLK_), (_BAUD_))/100U)
#define UART_DIVFRAQ_SAMPLING16(_PCLK_, _BAUD_) ((((UART_DIV_SAMPLING16((_PCLK_), (_BAUD_)) - (UART_DIVMANT_SAMPLING16((_PCLK_), (_BAUD_)) * 100U)) * 16U)\
+ 50U) / 100U)
/* UART BRR = mantissa + overflow + fraction
= (UART DIVMANT << 4) + (UART DIVFRAQ & 0xF0) + (UART DIVFRAQ & 0x0FU) */
#define UART_BRR_SAMPLING16(_PCLK_, _BAUD_) ((UART_DIVMANT_SAMPLING16((_PCLK_), (_BAUD_)) << 4U) + \
(UART_DIVFRAQ_SAMPLING16((_PCLK_), (_BAUD_)) & 0xF0U) + \
(UART_DIVFRAQ_SAMPLING16((_PCLK_), (_BAUD_)) & 0x0FU))
#define UART_DIV_SAMPLING8(_PCLK_, _BAUD_) ((uint32_t)((((uint64_t)(_PCLK_))*25U)/(2U*((uint64_t)(_BAUD_)))))
#define UART_DIVMANT_SAMPLING8(_PCLK_, _BAUD_) (UART_DIV_SAMPLING8((_PCLK_), (_BAUD_))/100U)
#define UART_DIVFRAQ_SAMPLING8(_PCLK_, _BAUD_) ((((UART_DIV_SAMPLING8((_PCLK_), (_BAUD_)) - (UART_DIVMANT_SAMPLING8((_PCLK_), (_BAUD_)) * 100U)) * 8U)\
+ 50U) / 100U)
/* UART BRR = mantissa + overflow + fraction
= (UART DIVMANT << 4) + ((UART DIVFRAQ & 0xF8) << 1) + (UART DIVFRAQ & 0x07U) */
#define UART_BRR_SAMPLING8(_PCLK_, _BAUD_) ((UART_DIVMANT_SAMPLING8((_PCLK_), (_BAUD_)) << 4U) + \
((UART_DIVFRAQ_SAMPLING8((_PCLK_), (_BAUD_)) & 0xF8U) << 1U) + \
(UART_DIVFRAQ_SAMPLING8((_PCLK_), (_BAUD_)) & 0x07U))
/**
* @}
*/
/* Private functions ---------------------------------------------------------*/
/** @defgroup UART_Private_Functions UART Private Functions
* @{
*/
HAL_StatusTypeDef UART_Start_Receive_IT(UART_HandleTypeDef *huart, uint8_t *pData, uint16_t Size);
HAL_StatusTypeDef UART_Start_Receive_DMA(UART_HandleTypeDef *huart, uint8_t *pData, uint16_t Size);
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/
#ifdef __cplusplus
}
#endif
#endif /* __STM32F4xx_HAL_UART_H */

2521
Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_usart.h Normal file
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3807
Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c Normal file
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55
Infantry_chassis.ioc
View File

@@ -9,31 +9,48 @@ CAN1.CalculateTimeBit=1000
CAN1.CalculateTimeQuantum=71.42857142857143
CAN1.IPParameters=CalculateTimeQuantum,CalculateTimeBit,CalculateBaudRate,Prescaler,BS1,BS2
CAN1.Prescaler=3
Dma.Request0=USART3_RX
Dma.RequestsNb=1
Dma.USART3_RX.0.Direction=DMA_PERIPH_TO_MEMORY
Dma.USART3_RX.0.FIFOMode=DMA_FIFOMODE_DISABLE
Dma.USART3_RX.0.Instance=DMA1_Stream1
Dma.USART3_RX.0.MemDataAlignment=DMA_MDATAALIGN_BYTE
Dma.USART3_RX.0.MemInc=DMA_MINC_ENABLE
Dma.USART3_RX.0.Mode=DMA_CIRCULAR
Dma.USART3_RX.0.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
Dma.USART3_RX.0.PeriphInc=DMA_PINC_DISABLE
Dma.USART3_RX.0.Priority=DMA_PRIORITY_VERY_HIGH
Dma.USART3_RX.0.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
FREERTOS.FootprintOK=true
FREERTOS.IPParameters=Tasks01,FootprintOK
FREERTOS.Tasks01=CAN_Receive_Tas,40,128,StartCAN_Receive_Task,Default,NULL,Dynamic,NULL,NULL;Chassis_Control,24,128,StartChassis_Control_Task,Default,NULL,Dynamic,NULL,NULL
FREERTOS.IPParameters=Tasks01,FootprintOK,Queues01
FREERTOS.Queues01=chassis_speed_queue,5,uint16_t,0,Static,chassis_speed_queueBuffer,chassis_speed_queueControlBlock
FREERTOS.Tasks01=CAN_Receive_Tas,40,128,StartCAN_Receive_Task,Default,NULL,Dynamic,NULL,NULL;Chassis_Control,24,128,StartChassis_Control_Task,Default,NULL,Dynamic,NULL,NULL;Command_Task,24,128,StartCommand_Task,Default,NULL,Dynamic,NULL,NULL
File.Version=6
GPIO.groupedBy=Group By Peripherals
KeepUserPlacement=false
Mcu.CPN=STM32F407IGH6TR
Mcu.Family=STM32F4
Mcu.IP0=CAN1
Mcu.IP1=FREERTOS
Mcu.IP2=NVIC
Mcu.IP3=RCC
Mcu.IP4=SYS
Mcu.IPNb=5
Mcu.IP1=DMA
Mcu.IP2=FREERTOS
Mcu.IP3=NVIC
Mcu.IP4=RCC
Mcu.IP5=SYS
Mcu.IP6=USART3
Mcu.IPNb=7
Mcu.Name=STM32F407I(E-G)Hx
Mcu.Package=UFBGA176
Mcu.Pin0=PA14
Mcu.Pin1=PA13
Mcu.Pin2=PD0
Mcu.Pin3=PD1
Mcu.Pin4=PH0-OSC_IN
Mcu.Pin5=PH1-OSC_OUT
Mcu.Pin6=VP_FREERTOS_VS_CMSIS_V2
Mcu.Pin7=VP_SYS_VS_tim6
Mcu.PinsNb=8
Mcu.Pin3=PC11
Mcu.Pin4=PC10
Mcu.Pin5=PD1
Mcu.Pin6=PH0-OSC_IN
Mcu.Pin7=PH1-OSC_OUT
Mcu.Pin8=VP_FREERTOS_VS_CMSIS_V2
Mcu.Pin9=VP_SYS_VS_tim6
Mcu.PinsNb=10
Mcu.ThirdPartyNb=0
Mcu.UserConstants=
Mcu.UserName=STM32F407IGHx
@@ -41,6 +58,7 @@ MxCube.Version=6.15.0
MxDb.Version=DB.6.0.150
NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
NVIC.CAN1_RX0_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.DMA1_Stream1_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
NVIC.ForceEnableDMAVector=true
NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
@@ -56,11 +74,16 @@ NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:false\:true\:false\:true\:false
NVIC.TIM6_DAC_IRQn=true\:15\:0\:false\:false\:true\:false\:false\:true\:true
NVIC.TimeBase=TIM6_DAC_IRQn
NVIC.TimeBaseIP=TIM6
NVIC.USART3_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
PA13.Mode=Serial_Wire
PA13.Signal=SYS_JTMS-SWDIO
PA14.Mode=Serial_Wire
PA14.Signal=SYS_JTCK-SWCLK
PC10.Mode=Asynchronous
PC10.Signal=USART3_TX
PC11.Mode=Asynchronous
PC11.Signal=USART3_RX
PD0.Locked=true
PD0.Mode=CAN_Activate
PD0.Signal=CAN1_RX
@@ -104,7 +127,7 @@ ProjectManager.ToolChainLocation=
ProjectManager.UAScriptAfterPath=
ProjectManager.UAScriptBeforePath=
ProjectManager.UnderRoot=false
ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_CAN1_Init-CAN1-false-HAL-true
ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA_Init-DMA-false-HAL-true,4-MX_CAN1_Init-CAN1-false-HAL-true,5-MX_USART3_UART_Init-USART3-false-HAL-true
RCC.48MHZClocksFreq_Value=84000000
RCC.AHBFreq_Value=168000000
RCC.APB1CLKDivider=RCC_HCLK_DIV4
@@ -138,6 +161,10 @@ RCC.VCOI2SOutputFreq_Value=384000000
RCC.VCOInputFreq_Value=2000000
RCC.VCOOutputFreq_Value=336000000
RCC.VcooutputI2S=192000000
USART3.BaudRate=100000
USART3.IPParameters=VirtualMode,BaudRate,Parity
USART3.Parity=PARITY_EVEN
USART3.VirtualMode=VM_ASYNC
VP_FREERTOS_VS_CMSIS_V2.Mode=CMSIS_V2
VP_FREERTOS_VS_CMSIS_V2.Signal=FREERTOS_VS_CMSIS_V2
VP_SYS_VS_tim6.Mode=TIM6

5
cmake/stm32cubemx/CMakeLists.txt
View File

@@ -26,6 +26,8 @@ set(MX_Application_Src
${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/gpio.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/freertos.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/can.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/dma.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/usart.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/stm32f4xx_it.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/stm32f4xx_hal_msp.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/stm32f4xx_hal_timebase_tim.c
@@ -52,7 +54,8 @@ set(STM32_Drivers_Src
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c
)
# Drivers Midllewares