调通串口与上位机双向通信

- UART2 TX: 硬件FIFO+DMA+块传输模式，非阻塞发送 - UART2 RX: 硬件FIFO+中断+软件FIFO，状态机解析协议帧 - 协议: [SOF:0xA7][cmd:1][checksum:1]，支持自动/手动/调试模式切换 - 更新.gitignore忽略*.log文件
2026-06-07 11:42:15 +08:00
parent f28d129e11
commit d120fa0d17
4 changed files with 165 additions and 86 deletions
@@ -1,10 +1,11 @@
-/libraries/sdk/ti_config/excluded
-
-/project/keil/Listings/
-/project/keil/Objects/
-
-uv4.log
-uv4.log.lock
-keil-assistant.log
-
+/libraries/sdk/ti_config/excluded
+
+/project/keil/Listings/
+/project/keil/Objects/
+
+uv4.log
+uv4.log.lock
+keil-assistant.log
+*.log
+
 CLAUDE.md
@@ -1,66 +1,138 @@
-#include "Command.h"
-#include "zf_driver_uart.h"
-#include "zf_common_interrupt.h"
-#include "ti/driverlib/dl_uart_main.h"
-#include "zf_common_fifo.h"
-
-volatile fifo_struct command_fifo = {0};
-volatile uint8_t command_fifo_buffer[COMMAND_FIFO_BUFFER_SIZE] = {0};
-uint8_t command_sum(uint8_t* data,int len);
-
-void command_callback(uint32 state, void *ptr)
-{
-    while(false == DL_UART_isRXFIFOEmpty(UART2))//读取到一个数据
-    {
-        fifo_write_element((fifo_struct*)&command_fifo,DL_UART_Main_receiveData(UART2));//写入软件FIFO
-    }
-}
-void command_init()
-{
-    uart_init(UART_2,115200,UART2_TX_B15,UART2_RX_B16);
-    uart_set_interrupt_config(UART_2,UART_INTERRUPT_CONFIG_RX_ENABLE);
-    interrupt_set_priority(UART2_INT_IRQn,1);//设置为与主要任务平行的优先级
-
-    //开启发送DMA
-
-    //开启硬件FIFO
-    DL_UART_Main_enableFIFOs(UART2);
-    DL_UART_Main_setRXFIFOThreshold(UART2,DL_UART_MAIN_RX_FIFO_LEVEL_1_2_FULL);
-
-    //设置软件FIFO
-    fifo_init((fifo_struct *)&command_fifo,FIFO_DATA_8BIT,(void*)command_fifo_buffer,COMMAND_FIFO_BUFFER_SIZE);
-    //设置中断回调
-    uart_set_callback(UART_2,command_callback,NULL);
-}
-//从软件FIFO中解析数据包并执行
-void command_task()
-{
-
-}
-//DMA发送使用的地址
-uint8_t angle_velocity_data[6] = {0};
-//发送速度前馈
-void command_send_angle_velocity(float* pointer_angle_velocity)
-{
-    //等待上一次DMA发送完成
-
-    //填充数据
-    uint8_t* p = (uint8_t*)pointer_angle_velocity;
-    angle_velocity_data[0]=0xA1;
-    angle_velocity_data[1]=*(p++);
-    angle_velocity_data[2]=*(p++);
-    angle_velocity_data[3]=*(p++);
-    angle_velocity_data[4]=*(p++);
-    angle_velocity_data[5]=command_sum(angle_velocity_data,5);
-    //DMA发送（非阻塞）
-
-}
-uint8_t command_sum(uint8_t* data,int len)
-{
-    uint8_t sum = 0;
-    for(int i=0;i<len;i++)
-    {
-        sum+=data[i];
-    }
-    return sum;
+#include "Command.h"
+#include "zf_driver_uart.h"
+#include "zf_common_interrupt.h"
+#include "ti/driverlib/dl_uart_main.h"
+#include "ti/driverlib/dl_dma.h"
+#include "zf_common_fifo.h"
+#include "Beep.h"
+
+volatile fifo_struct command_fifo = {0};
+volatile uint8_t command_fifo_buffer[COMMAND_FIFO_BUFFER_SIZE] = {0};
+uint8_t command_sum(uint8_t* data,int len);
+
+void command_callback(uint32 state, void *ptr)
+{
+    while(false == DL_UART_isRXFIFOEmpty(UART2))//读取到一个数据
+    {
+        fifo_write_element((fifo_struct*)&command_fifo,DL_UART_Main_receiveData(UART2));//写入软件FIFO
+    }
+}
+void command_init()
+{
+    uart_init(UART_2,115200,UART2_TX_B15,UART2_RX_B16);
+    uart_set_interrupt_config(UART_2,UART_INTERRUPT_CONFIG_RX_ENABLE);
+    interrupt_set_priority(UART2_INT_IRQn,2);//设置为次于主要任务的优先级
+
+    //开启发送DMA
+    static const DL_DMA_Config dma_tx_config =
+    {
+        .trigger       = DMA_UART2_TX_TRIG,
+        .triggerType   = DL_DMA_TRIGGER_TYPE_EXTERNAL,
+        .transferMode  = DL_DMA_SINGLE_TRANSFER_MODE,
+        .extendedMode  = DL_DMA_NORMAL_MODE,
+        .srcWidth      = DL_DMA_WIDTH_BYTE,
+        .destWidth     = DL_DMA_WIDTH_BYTE,
+        .srcIncrement  = DL_DMA_ADDR_INCREMENT,
+        .destIncrement = DL_DMA_ADDR_UNCHANGED,
+    };
+    DL_DMA_initChannel(DMA, 0, &dma_tx_config);
+    DL_UART_Main_enableDMATransmitEvent(UART2);
+
+    //开启硬件FIFO
+    DL_UART_Main_enableFIFOs(UART2);
+    DL_UART_Main_setRXFIFOThreshold(UART2,DL_UART_MAIN_RX_FIFO_LEVEL_ONE_ENTRY);
+    DL_UART_Main_setTXFIFOThreshold(UART2,DL_UART_MAIN_TX_FIFO_LEVEL_ONE_ENTRY);
+
+    //设置软件FIFO
+    fifo_init((fifo_struct *)&command_fifo,FIFO_DATA_8BIT,(void*)command_fifo_buffer,COMMAND_FIFO_BUFFER_SIZE);
+    //设置中断回调
+    uart_set_callback(UART_2,command_callback,NULL);
+}
+//从软件FIFO中解析数据包并执行
+void command_task()
+{
+    static uint8_t state = 0;
+    static uint8_t cmd;
+    uint8_t byte;
+
+    while(fifo_used((fifo_struct*)&command_fifo) > 0)
+    {
+        switch(state)
+        {
+            case 0: // 等待SOF 0xA7
+                fifo_read_element((fifo_struct*)&command_fifo, &byte, FIFO_READ_AND_CLEAN);
+                if(byte == 0xA7) state = 1;
+                break;
+            case 1: // 读取cmd
+                fifo_read_element((fifo_struct*)&command_fifo, &cmd, FIFO_READ_AND_CLEAN);
+                state = 2;
+                break;
+            case 2: // 校验checksum = SOF + cmd
+                fifo_read_element((fifo_struct*)&command_fifo, &byte, FIFO_READ_AND_CLEAN);
+                if(byte == (uint8_t)(0xA7 + cmd))
+                {
+                    switch(cmd)
+                    {
+                        case 0x01: SwitchToAutoMode();   break;
+                        case 0x02: SwitchToManualMode(); break;
+                        case 0x03: SwitchToDebugMode();  break;
+                    }
+                }
+                state = 0;
+                break;
+        }
+    }
+}
+
+//切换到自动模式
+void SwitchToAutoMode()
+{
+    beep_on_time(100);
+}
+
+//切换到手动模式
+void SwitchToManualMode()
+{
+    beep_on_time(200);
+}
+
+//切换到调试模式
+void SwitchToDebugMode()
+{
+    beep_on_time(300);
+}
+//DMA发送使用的地址
+uint8_t angle_velocity_data[6] = {0};
+//发送速度前馈
+void command_send_angle_velocity(float* pointer_angle_velocity)
+{
+    //等待上一次DMA发送完成
+    while(DL_DMA_isChannelEnabled(DMA, 0));
+    //等待UART物理发送完成
+    while(!DL_UART_isTXFIFOEmpty(UART2));
+
+    //填充数据
+    uint8_t* p = (uint8_t*)pointer_angle_velocity;
+    angle_velocity_data[0]=0xA9;
+    angle_velocity_data[1]=*(p++);
+    angle_velocity_data[2]=*(p++);
+    angle_velocity_data[3]=*(p++);
+    angle_velocity_data[4]=*(p++);
+    angle_velocity_data[5]=command_sum(angle_velocity_data,5);
+    //DMA发送（非阻塞）
+    DL_DMA_setSrcAddr(DMA, 0, (uint32_t)angle_velocity_data);
+    DL_DMA_setDestAddr(DMA, 0, (uint32_t)&UART2->TXDATA);
+    DL_DMA_setTransferSize(DMA, 0, 6);
+    DL_DMA_enableChannel(DMA, 0);
+    // UART TX FIFO为空，DMA触发条件已满足，使能通道即自动开始传输
+
+}
+uint8_t command_sum(uint8_t* data,int len)
+{
+    uint8_t sum = 0;
+    for(int i=0;i<len;i++)
+    {
+        sum+=data[i];
+    }
+    return sum;
 }
@@ -1,12 +1,16 @@
-#ifndef __COMMAND_H
-#define __COMMAND_H
-
-#define COMMAND_FIFO_BUFFER_SIZE 16
-
-#include "zf_common_typedef.h"
-
-void command_init();
-void command_task();
-void command_send_angle_velocity(float* pointer_angle_velocity);
-
+#ifndef __COMMAND_H
+#define __COMMAND_H
+
+#define COMMAND_FIFO_BUFFER_SIZE 16
+
+#include "zf_common_typedef.h"
+
+void command_init();
+void command_task();
+void command_send_angle_velocity(float* pointer_angle_velocity);
+
+void SwitchToAutoMode();
+void SwitchToManualMode();
+void SwitchToDebugMode();
+
 #endif
@@ -46,6 +46,7 @@
 #include "Beep.h"
 #include "GrayscaleSensor.h"
 #include "MotorEncoder.h"
+#include "Command.h"

 /*
 定时器资源分配：
@@ -60,7 +61,7 @@ G6 20Hz任务
 0 GPIOA_INT_IRQn 外部中断模拟四倍频正交编码器
 1 TIMA0_INT_IRQn 100Hz任务
 1 TIMA1_INT_IRQn 50Hz任务
-1 UART2_INT_IRQn Command串口接收中断
+2 UART2_INT_IRQn Command串口接收中断
 7 TIMG6_INT_IRQn 20Hz任务
 */
 int main (void)
@@ -75,6 +76,7 @@ int main (void)
    imu_calibrate_gyro(); // IMU 陀螺仪零偏校准 需要在静止状态下调用
    grayscale_sensor_init();//灰度传感器初始化
    motor_encoder_init();//电机编码器初始化
+    command_init();

    task_init();