FOC_TEST/user/uart_communication.c

/**********************************
 * 文件名称: uart_communication.c
 * 功能描述: 串口通信模块
 **********************************/
#include "main.h"
#include <stdio.h>
#include <string.h>
#include "uart_communication.h"

// 接收缓冲区
volatile uint16_t com1_rx_len = 0;        // 接收帧数据的长度
volatile uint8_t com1_recv_end_flag = 0;  // 帧数据接收完成标志
uint8_t com1_rx_buffer[UART_BUFFER_SIZE] = {0};   // 接收数据缓存
uint8_t DMA_USART1_TX_BUF[UART_BUFFER_SIZE] = {0}; // DMA发送缓存

void uart_comm_Init(u32 bound)
{
    GPIO_InitTypeDef GPIO_InitStructure;
    USART_InitTypeDef USART_InitStructure;
    NVIC_InitTypeDef NVIC_InitStructure;
    DMA_InitTypeDef DMA_InitStructure;
    
    // 使能 GPIO 时钟（TX 和 RX）
    RCC_AHB1PeriphClockCmd(UART_COMM_TX_GPIO_CLK | UART_COMM_RX_GPIO_CLK, ENABLE);
    
    // 使能 USART 时钟
    RCC_APB2PeriphClockCmd(UART_COMM_CLK, ENABLE);
    
    // 使能 DMA 时钟
    RCC_AHB1PeriphClockCmd(UART_DMA_CLK, ENABLE);
    
    // 等待 DMA 流可配置
    while (DMA_GetCmdStatus(UART_DMA_TX_STREAM) != DISABLE);
    
    // 配置 TX 引脚
    GPIO_InitStructure.GPIO_Pin = UART_COMM_TX_PIN;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
    GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
    GPIO_Init(UART_COMM_TX_GPIO_PORT, &GPIO_InitStructure);
    
    // 配置 RX 引脚
    GPIO_InitStructure.GPIO_Pin = UART_COMM_RX_PIN;
    GPIO_Init(UART_COMM_RX_GPIO_PORT, &GPIO_InitStructure);
    
    // 配置 GPIO 复用功能
    GPIO_PinAFConfig(UART_COMM_TX_GPIO_PORT, UART_COMM_TX_SOURCE, UART_COMM_TX_AF);
    GPIO_PinAFConfig(UART_COMM_RX_GPIO_PORT, UART_COMM_RX_SOURCE, UART_COMM_RX_AF);
    
    // ========== 关键修复：添加 USART 初始化配置 ==========
    USART_InitStructure.USART_BaudRate = bound;
    USART_InitStructure.USART_WordLength = USART_WordLength_8b;
    USART_InitStructure.USART_StopBits = USART_StopBits_1;
    USART_InitStructure.USART_Parity = USART_Parity_No;
    USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
    USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;
    USART_Init(UART_COMM, &USART_InitStructure);
    // ===================================================
    
    // 配置 NVIC - USART 中断
    NVIC_InitStructure.NVIC_IRQChannel = UART_COMM_IRQ;
    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 2;
    NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
    NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
    NVIC_Init(&NVIC_InitStructure);
    
    // 配置 NVIC - DMA 接收中断
    NVIC_InitStructure.NVIC_IRQChannel = UART_DMA_RX_IRQn;
    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 2;
    NVIC_InitStructure.NVIC_IRQChannelSubPriority = 2;
    NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
    NVIC_Init(&NVIC_InitStructure);
    
    // 配置 NVIC - DMA 发送中断
    NVIC_InitStructure.NVIC_IRQChannel = UART_DMA_TX_IRQn;
    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 2;
    NVIC_InitStructure.NVIC_IRQChannelSubPriority = 3;
    NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
    NVIC_Init(&NVIC_InitStructure);
    
    // 配置 DMA 接收
    DMA_DeInit(UART_DMA_RX_STREAM);
    DMA_InitStructure.DMA_Channel = UART_DMA_RX_CHANNEL;
    DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)&UART_COMM->DR;
    DMA_InitStructure.DMA_Memory0BaseAddr = (uint32_t)com1_rx_buffer;
    DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralToMemory;
    DMA_InitStructure.DMA_BufferSize = UART_BUFFER_SIZE;
    DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
    DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
    DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte;
    DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte;
    DMA_InitStructure.DMA_Mode = DMA_Mode_Normal;
    DMA_InitStructure.DMA_Priority = DMA_Priority_VeryHigh;
    DMA_InitStructure.DMA_FIFOMode = DMA_FIFOMode_Disable;
    DMA_InitStructure.DMA_FIFOThreshold = DMA_FIFOThreshold_Full;
    DMA_InitStructure.DMA_MemoryBurst = DMA_MemoryBurst_Single;
    DMA_InitStructure.DMA_PeripheralBurst = DMA_PeripheralBurst_Single;
    DMA_Init(UART_DMA_RX_STREAM, &DMA_InitStructure);
    
    // 使能 DMA 接收完成中断（可选，用于处理缓冲区满的情况）
    DMA_ITConfig(UART_DMA_RX_STREAM, DMA_IT_TC, ENABLE);
    DMA_Cmd(UART_DMA_RX_STREAM, ENABLE);
    
    // 配置 DMA 发送
    DMA_DeInit(UART_DMA_TX_STREAM);
    while (DMA_GetCmdStatus(UART_DMA_TX_STREAM) != DISABLE);
    DMA_InitStructure.DMA_Channel = UART_DMA_TX_CHANNEL;
    DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)&UART_COMM->DR;
    DMA_InitStructure.DMA_Memory0BaseAddr = (uint32_t)DMA_USART1_TX_BUF;
    DMA_InitStructure.DMA_DIR = DMA_DIR_MemoryToPeripheral;
    DMA_InitStructure.DMA_BufferSize = UART_BUFFER_SIZE;
    DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
    DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
    DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte;
    DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte;
    DMA_InitStructure.DMA_Mode = DMA_Mode_Normal;
    DMA_InitStructure.DMA_Priority = DMA_Priority_Medium;
    DMA_InitStructure.DMA_FIFOMode = DMA_FIFOMode_Disable;
    DMA_InitStructure.DMA_FIFOThreshold = DMA_FIFOThreshold_1QuarterFull;
    DMA_InitStructure.DMA_MemoryBurst = DMA_MemoryBurst_Single;
    DMA_InitStructure.DMA_PeripheralBurst = DMA_PeripheralBurst_Single;
    DMA_Init(UART_DMA_TX_STREAM, &DMA_InitStructure);
    
    DMA_ITConfig(UART_DMA_TX_STREAM, DMA_IT_TC, ENABLE);
    DMA_Cmd(UART_DMA_TX_STREAM, DISABLE);
    
    // 使能 USART 中断和 DMA
    USART_ITConfig(UART_COMM, USART_IT_IDLE, ENABLE);
    USART_DMACmd(UART_COMM, USART_DMAReq_Rx, ENABLE);
    USART_DMACmd(UART_COMM, USART_DMAReq_Tx, ENABLE);
    
    // 使能 USART
    USART_Cmd(UART_COMM, ENABLE);
}

/**
 * @brief 串口通信初始化函数
 */
void uart_communication_init(void)
{
    uart_comm_Init(UART_BAUDRATE);
}

/**
 * @brief 发送单个字符
 */
void uart_send_char(uint8_t ch)
{
    // 等待发送缓冲区空
    while ((USART1->SR & USART_SR_TXE) == 0);
    USART_SendData(UART_COMM, ch);
}

/**
 * @brief 发送数据块
 */
void uart_send_data(uint8_t *data, uint16_t length)
{
    for (uint16_t i = 0; i < length; i++) {
        uart_send_char(data[i]);
    }
}

/**
 * @brief 发送字符串
 */
void uart_send_string(char *str)
{
    while (*str)
    {
        uart_send_char((uint8_t)*str++);
    }
}

/**
 * @brief 发送浮点数
 */
void uart_send_float(float value)
{
    uint8_t data[4];
    memcpy(data, &value, 4);
    uart_send_data(data, 4);
}

/**
 * @brief 发送整数
 */
void uart_send_int(int32_t value)
{
    uint8_t data[4];
    memcpy(data, &value, 4);
    uart_send_data(data, 4);
}

/**
 * @brief 检查是否有数据接收到
 */
uint8_t uart_is_data_available(void)
{
    return (com1_recv_end_flag == 1);
}

/**
 * @brief 获取接收到的数据
 */
uint16_t uart_get_received_data(uint8_t *buffer, uint16_t max_len)
{
    uint16_t len = 0;
    
    if (com1_recv_end_flag && com1_rx_len > 0) {
        len = (com1_rx_len < max_len) ? com1_rx_len : max_len;
        memcpy(buffer, com1_rx_buffer, len);
        
        // 清空标志
        com1_recv_end_flag = 0;
        com1_rx_len = 0;
    }
    
    return len;
}

/**
 * @brief USART1 中断服务函数
 */
void USART1_IRQHandler(void)
{
    if (USART_GetITStatus(USART1, USART_IT_IDLE) != RESET)
    {
        // 关键修复：先清空闲中断标志（读SR再读DR）
        volatile uint32_t tmp_sr = USART1->SR;
        volatile uint16_t tmp_dr = USART1->DR;
        (void)tmp_sr;
        (void)tmp_dr;
        
        // 关闭DMA，防止在操作过程中DMA继续写入
        DMA_Cmd(UART_DMA_RX_STREAM, DISABLE);
        
        // 获取接收到的数据长度
        com1_rx_len = UART_BUFFER_SIZE - DMA_GetCurrDataCounter(UART_DMA_RX_STREAM);
        
        if (com1_rx_len > 0) {
            com1_recv_end_flag = 1;
        }
        
        // 清除DMA标志
        DMA_ClearFlag(UART_DMA_RX_STREAM, DMA_FLAG_TCIF5);
        
        // 重新配置DMA
        DMA_SetCurrDataCounter(UART_DMA_RX_STREAM, UART_BUFFER_SIZE);
        DMA_Cmd(UART_DMA_RX_STREAM, ENABLE);
    }
}

/**
 * @brief DMA 发送完成中断处理
 */
void DMA2_Stream7_IRQHandler(void)
{
    if (DMA_GetFlagStatus(DMA2_Stream7, DMA_FLAG_TCIF7) != RESET)
    {
        DMA_ClearFlag(DMA2_Stream7, DMA_FLAG_TCIF7);
        DMA_Cmd(DMA2_Stream7, DISABLE);
        // 注意：这里不需要再使能TC中断，因为DMA发送完成后，我们不需要额外的串口发送完成中断
        // 如果需要确认所有数据已从串口发出，可以等待TC标志
        // while(USART_GetFlagStatus(USART1, USART_FLAG_TC) == RESET);
    }
}

/**
 * @brief DMA 接收完成中断处理（缓冲区满时触发）
 */
void DMA2_Stream5_IRQHandler(void)
{
    if (DMA_GetFlagStatus(DMA2_Stream5, DMA_FLAG_TCIF5) != RESET)
    {
        DMA_ClearFlag(DMA2_Stream5, DMA_FLAG_TCIF5);
        
        // 缓冲区满，接收完成
        com1_recv_end_flag = 1;
        com1_rx_len = UART_BUFFER_SIZE;
        
        // 重新配置DMA
        DMA_Cmd(DMA2_Stream5, DISABLE);
        DMA_SetCurrDataCounter(DMA2_Stream5, UART_BUFFER_SIZE);
        DMA_Cmd(DMA2_Stream5, ENABLE);
    }
}

/**
 * @brief DMA 发送函数
 */
void DMA_USART_COMM_Send(uint8_t *data, uint16_t size)
{
    // 等待上一次发送完成
    while (DMA_GetCmdStatus(UART_DMA_TX_STREAM) != DISABLE);
    
    // 复制数据到发送缓冲区
    memcpy(DMA_USART1_TX_BUF, data, size);
    
    // 配置DMA并开始发送
    DMA_SetCurrDataCounter(UART_DMA_TX_STREAM, size);
    DMA_Cmd(UART_DMA_TX_STREAM, ENABLE);
}

// printf 重定向（默认禁用，需要时取消注释并删除上面的 #if 0）
#if 0
#if (__ARMCC_VERSION >= 6010050)
__asm(".global __use_no_semihosting\n\t");
__asm(".global __ARM_use_no_argv \n\t");
#else
#pragma import(__use_no_semihosting)

struct __FILE
{
    int handle;
};
#endif

int _ttywrch(int ch)
{
    ch = ch;
    return ch;
}

void _sys_exit(int x)
{
    x = x;
}

char *_sys_command_string(char *cmd, int len)
{
    return NULL;
}

FILE __stdout;

int fputc(int ch, FILE *f)
{
    uart_send_char((uint8_t)ch);
    return ch;
}
#endif