[问答]

如何将我的UART类与HAL库相结合呢

124 HAL库

问答对人有帮助，内容完整，我也想知道答案 0 作为背景，目前有 2 个设备需要 UART、GPS1 和 CTD1。最终，我知道会有 8 个 UART 设备，将来可能会更多。我正在尝试实现非阻塞架构，因此我使用 HAL_UART_Receive_IT、...Transmit_IT、...Receive_DMA 和 ...Transmit_DMA 函数。每个设备都有一个类。在这些类中发生的所有事情是它们调用各自的 initGPS1() 或 initCTD1() 函数，然后当它们需要传输某些内容并接收响应时，它们调用它们的 ctd1RX... 或 GPSRX.. 函数。现在，我错误地倾向于让事情具体化，而牺牲了几个看起来非常相似的函数。如果这成为一个问题，我可以考虑稍后进行概括。提前致谢 - 基因 //UARTs.hpp #pragma once #include <STM32h7xx_hal.h> #include tim.h> #include using namespace std; #include "main.hpp" #include "FIFO.hpp" extern "C" void HAL_UART_RxCpltCallback(UART_HandleTypeDef huart); static uint8_t gps1MsgBuffer[128]; static uint8_t gps1MsgBufferIndex = 0; static uint8_t gps1RXBuffer[32]; static uint8_t ctd1MsgBuffer[32]; static uint8_t ctd1MsgBufferIndex = 0; static uint8_t ctd1RXBuffer[32]; static MainFIFORecordIDs gps1RecordID = undefined; static MainFIFORecordIDs ctd1RecordID = undefined; class UARTs { public: UARTs() { } void initGPS1_UART(); void initCTD1_UART(); void gps1RXitTXDMA(uint8_t cmd[], size_t size, MainFIFORecordIDs gpsRecordID); void ctd1RXitTXit(uint8_t cmd[], size_t size, MainFIFORecordIDs ctdRecordID); }; //UARTs.cpp #include "UARTs.hpp" static UART_HandleTypeDef gps1UART = UART_HandleTypeDef(); static DMA_HandleTypeDef gps1HDMA_tx; static DMA_HandleTypeDef gps1HDMA_rx; static UART_HandleTypeDef ctd1UART = UART_HandleTypeDef(); static DMA_HandleTypeDef ctd1HDMA_tx; static DMA_HandleTypeDef ctd1HDMA_rx; extern "C" void USART1_IRQHandler() { HAL_UART_IRQHandler(&gps1UART); } extern "C" void USART2_IRQHandler() { HAL_UART_IRQHandler(&ctd1UART); } extern "C" void DMA1_Stream1_IRQHandler() { HAL_DMA_IRQHandler(&gps1HDMA_tx); } void HAL_UART_TxCpltCallback(UART_HandleTypeDef huart) { HAL_GPIO_WritePin(GPIOE, GPIO_PIN_1, GPIO_PIN_RESET); } extern "C" void DMA1_Stream0_IRQHandler() { HAL_DMA_IRQHandler(&gps1HDMA_rx); } void HAL_UART_RxCpltCallback(UART_HandleTypeDef huart) { if (huart == &gps1UART) { //cout << "GPS1 buffer index: " << gps1MsgBufferIndex << " GPS1 Msg Buffer: " << gps1MsgBuffer << endl; HAL_UART_Receive_IT(&gps1UART, gps1RXBuffer, 1); gps1MsgBuffer[gps1MsgBufferIndex] = gps1RXBuffer[0]; gps1MsgBufferIndex++; if (gps1RXBuffer[0] == 10) { gps1MsgBufferIndex = 0; enqueueMainFIFO(getSysTickCounter(), gps1RecordID, gps1MsgBuffer); } } if (huart == &ctd1UART) { //cout << "CTD1 buffer index: " << ctd1MsgBufferIndex << " CTD1 Msg Buffer: " << ctd1MsgBuffer << endl; HAL_UART_Receive_IT(&ctd1UART, ctd1RXBuffer, 1); ctd1MsgBuffer[ctd1MsgBufferIndex] = ctd1RXBuffer[0]; ctd1MsgBufferIndex++; //TODO maybe deal with unexpected messages here by making rxtxInProgress visible? if(ctd1RXBuffer[0] == 10) { ctd1MsgBufferIndex = 0; enqueueMainFIFO(getSysTickCounter(), ctd1RecordID, ctd1MsgBuffer); } } } void UARTs::gps1RXitTXDMA(uint8_t cmd[], size_t size, MainFIFORecordIDs id) { gps1RecordID = id; HAL_UART_Receive_IT(&gps1UART, gps1RXBuffer, 1); HAL_UART_Transmit_DMA(&gps1UART, (uint8_t)cmd, size); } void UARTs::ctd1RXitTXit(uint8_t cmd[], size_t size, MainFIFORecordIDs id) { ctd1RecordID = id; HAL_UART_Receive_IT(&ctd1UART, ctd1RXBuffer, 1); HAL_UART_Transmit_IT(&ctd1UART, (uint8_t)cmd, size); } void UARTs::initGPS1_UART() { __USART1_CLK_ENABLE(); __GPIOB_CLK_ENABLE(); GPIO_InitTypeDef uart1GPIO_InitStructure; uart1GPIO_InitStructure.Pin = GPIO_PIN_6; uart1GPIO_InitStructure.Mode = GPIO_MODE_AF_PP; uart1GPIO_InitStructure.Alternate = GPIO_AF7_USART1; uart1GPIO_InitStructure.Speed = GPIO_SPEED_HIGH; uart1GPIO_InitStructure.Pull = GPIO_NOPULL; HAL_GPIO_Init(GPIOB, &uart1GPIO_InitStructure); uart1GPIO_InitStructure.Pin = GPIO_PIN_7; uart1GPIO_InitStructure.Mode = GPIO_MODE_AF_OD; HAL_GPIO_Init(GPIOB, &uart1GPIO_InitStructure); gps1UART.Instance = USART1; gps1UART.Init.BaudRate = 9600; gps1UART.Init.WordLength = UART_WORDLENGTH_8B; gps1UART.Init.StopBits = UART_STOPBITS_1; gps1UART.Init.Parity = UART_PARITY_NONE; gps1UART.Init.HwFlowCtl = UART_HWCONTROL_NONE; gps1UART.Init.Mode = UART_MODE_TX_RX; if (HAL_UART_Init(&gps1UART) != HAL_OK) asm("bkpt 255"); NVIC_EnableIRQ(USART1_IRQn); __HAL_RCC_DMA1_CLK_ENABLE(); gps1HDMA_tx.Instance = DMA1_Stream1; gps1HDMA_tx.Init.Direction = DMA_MEMORY_TO_PERIPH; gps1HDMA_tx.Init.PeriphInc = DMA_PINC_DISABLE; gps1HDMA_tx.Init.MemInc = DMA_MINC_ENABLE; gps1HDMA_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE; gps1HDMA_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE; gps1HDMA_tx.Init.Mode = DMA_NORMAL; gps1HDMA_tx.Init.Priority = DMA_PRIORITY_LOW; gps1HDMA_tx.Init.FIFOMode = DMA_FIFOMODE_DISABLE; gps1HDMA_tx.Init.FIFOThreshold = DMA_FIFO_THRESHOLD_FULL; gps1HDMA_tx.Init.MemBurst = DMA_MBURST_INC4; gps1HDMA_tx.Init.PeriphBurst = DMA_PBURST_INC4; gps1HDMA_tx.Init.Request = DMA_REQUEST_USART1_TX; HAL_DMA_Init(&gps1HDMA_tx); __HAL_LINKDMA(&gps1UART, hdmatx, gps1HDMA_tx); / Configure the DMA handler for reception process / gps1HDMA_rx.Instance = DMA1_Stream0; gps1HDMA_rx.Init.Direction = DMA_PERIPH_TO_MEMORY; gps1HDMA_rx.Init.PeriphInc = DMA_PINC_DISABLE; gps1HDMA_rx.Init.MemInc = DMA_MINC_ENABLE; gps1HDMA_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE; gps1HDMA_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE; gps1HDMA_rx.Init.Mode = DMA_NORMAL; gps1HDMA_rx.Init.Priority = DMA_PRIORITY_HIGH; gps1HDMA_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE; gps1HDMA_rx.Init.FIFOThreshold = DMA_FIFO_THRESHOLD_FULL; gps1HDMA_rx.Init.MemBurst = DMA_MBURST_INC4; gps1HDMA_rx.Init.PeriphBurst = DMA_PBURST_INC4; gps1HDMA_rx.Init.Request = DMA_REQUEST_USART1_RX; HAL_DMA_Init(&gps1HDMA_rx); __HAL_LINKDMA(&gps1UART, hdmarx, gps1HDMA_rx); / NVIC configuration for DMA transfer complete interrupt (USART1_RX) / HAL_NVIC_SetPriority(DMA1_Stream0_IRQn, 0, 1); HAL_NVIC_EnableIRQ(DMA1_Stream0_IRQn); / NVIC configuration for DMA transfer complete interrupt (USART1_TX) */ HAL_NVIC_SetPriority(DMA1_Stream1_IRQn, 0, 0); HAL_NVIC_EnableIRQ(DMA1_Stream1_IRQn); } void UARTs::initCTD1_UART() { __USART2_CLK_ENABLE(); __GPIOD_CLK_ENABLE(); GPIO_InitTypeDef usart2GPIO_InitStructure; usart2GPIO_InitStructure.Pin = GPIO_PIN_5; usart2GPIO_InitStructure.Mode = GPIO_MODE_AF_PP; usart2GPIO_InitStructure.Alternate = GPIO_AF7_USART2; usart2GPIO_InitStructure.Speed = GPIO_SPEED_HIGH; usart2GPIO_InitStructure.Pull = GPIO_NOPULL; HAL_GPIO_Init(GPIOD, &usart2GPIO_InitStructure); usart2GPIO_InitStructure.Pin = GPIO_PIN_6; usart2GPIO_InitStructure.Mode = GPIO_MODE_AF_OD; HAL_GPIO_Init(GPIOD, &usart2GPIO_InitStructure); ctd1UART.Instance = USART2; ctd1UART.Init.BaudRate = 9600; ctd1UART.Init.WordLength = UART_WORDLENGTH_8B; ctd1UART.Init.StopBits = UART_STOPBITS_1; ctd1UART.Init.Parity = UART_PARITY_NONE; ctd1UART.Init.HwFlowCtl = UART_HWCONTROL_NONE; ctd1UART.Init.Mode = UART_MODE_TX_RX; if (HAL_UART_Init(&ctd1UART) != HAL_OK) asm("bkpt 255"); NVIC_EnableIRQ(USART2_IRQn); } 0
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答案对人有帮助，有参考价值 0 我会更进一步，为构造函数/析构函数设置一些硬性规则/指南，因为它嵌入了比 PC 编码更多的限制和物理限制，尤其是当产品通常必须在没有任何操作员干预的情况下“永远”运行时。 * 我们更愿意将构造函数/析构函数留空。这是因为构造函数可以在 main() 之前或之后调用，具体取决于您声明变量的方式（在函数内部/外部等）。相反，我们向每个类添加“init”函数，以便我们可以明显地控制调用这些函数的位置/时间。即，如果你弄错了并且你的构造函数有一个分配，你可能会随着时间的推移耗尽内存，这对嵌入式系统来说是可怕的。 ** 实际上我讨厌在嵌入式系统中使用 alloc。我更喜欢编译时使用数组/结构定义内存。如果需要，则提供指向该预定义内存的指针，或将索引分配到内存结构中。这消除了内存泄漏。当然正确的代码不应该有内存泄漏，但我们谈论的是现实生活和真实的人。

2022-12-8 17:36:44 评论举报李莉