SkyLiCoder
88702e2832
- Add .dma_buf section in RAM_D1 for DMA-accessible USART instance pool. DTCM (0x20000000) is not reachable by DMA on STM32H7, causing bus errors (TE) when DMA writes to malloc'd buffers placed in DTCM by the XG linker script. - Replace malloc with static pool (usart_pool[]) placed in .dma_buf section. - In RxEventCallback, set recv_buff_size from Size so module callbacks know how many bytes were actually received. - Use USART_RXBUFF_LIMIT (256) as the DMA transfer size instead of per-module recv_buff_size. The actual buffer is always 256 bytes. - Remove recv_buff_size from USART_Init_Config_s; it is now set at runtime. - Flush RDR, clear error flags, and clear stale DMAR in error callback to prevent residual conditions from re-triggering errors on DMA restart. - Switch Vision module from UART10 to UART1.
121 lines
3.6 KiB
C
121 lines
3.6 KiB
C
#include "board_comm.h"
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static board_comm_data_t board_comm_data;
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static USARTInstance *board_comm_usart_instance;
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static DaemonInstance *board_comm_daemon_instance;
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// 计算简单校验和
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static uint32_t board_comm_checksum(uint8_t *data, uint8_t len)
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{
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uint32_t sum = 0;
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for (int i = 0; i < len; i++)
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{
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sum += data[i];
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}
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return sum;
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}
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// 解析接收到的数据包
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static void board_comm_decode(const uint8_t *buffer)
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{
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board_comm_packet_t *packet = (board_comm_packet_t *)buffer;
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// 验证帧头
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if (packet->header[0] != 0x55 || packet->header[1] != 0xAA)
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return;
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// 验证校验和（包含整型和浮点型数据）
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uint8_t data_len = sizeof(packet->int_data) + sizeof(packet->float_data);
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uint32_t calc_sum = board_comm_checksum((uint8_t *)packet->int_data, data_len);
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if (calc_sum != packet->checksum)
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return;
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// 复制数据
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memcpy(board_comm_data.rx_int_data, packet->int_data, sizeof(packet->int_data));
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memcpy(board_comm_data.rx_float_data, packet->float_data, sizeof(packet->float_data));
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}
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// 串口接收回调
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static void BoardCommRxCallback()
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{
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// 暂时注释掉 daemon 相关调用，专注于数据传输
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// DaemonReload(board_comm_daemon_instance);
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board_comm_decode(board_comm_usart_instance->recv_buff);
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}
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// 通信丢失回调
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static void BoardCommLostCallback(void *id)
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{
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memset(board_comm_data.rx_int_data, 0, sizeof(board_comm_data.rx_int_data));
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memset(board_comm_data.rx_float_data, 0, sizeof(board_comm_data.rx_float_data));
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USARTServiceInit(board_comm_usart_instance);
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LOGWARNING("[board_comm] communication lost");
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}
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// 初始化板间通信
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board_comm_data_t* BoardCommInit(UART_HandleTypeDef *uart_handle)
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{
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USART_Init_Config_s conf;
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conf.module_callback = BoardCommRxCallback;
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conf.usart_handle = uart_handle;
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board_comm_usart_instance = USARTRegister(&conf);
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// 暂时注释掉 daemon 注册，专注于数据传输
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/*
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// 注册守护进程
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Daemon_Init_Config_s daemon_conf = {
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.reload_count = 20, // 200ms未收到数据视为离线
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.callback = BoardCommLostCallback,
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.owner_id = NULL,
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};
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board_comm_daemon_instance = DaemonRegister(&daemon_conf);
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*/
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memset(&board_comm_data, 0, sizeof(board_comm_data));
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return &board_comm_data;
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}
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// 检查通信状态
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uint8_t BoardCommIsOnline(void)
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{
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// 暂时返回固定值，专注于数据传输
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return 1;
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// return DaemonIsOnline(board_comm_daemon_instance);
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}
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// 发送状态数组
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void BoardCommSend(int32_t int_data[2], float float_data[2])
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{
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board_comm_packet_t packet;
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// 设置帧头
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packet.header[0] = 0x55;
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packet.header[1] = 0xAA;
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// 复制数据
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memcpy(packet.int_data, int_data, sizeof(packet.int_data));
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memcpy(packet.float_data, float_data, sizeof(packet.float_data));
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memcpy(board_comm_data.tx_int_data, int_data, sizeof(board_comm_data.tx_int_data));
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memcpy(board_comm_data.tx_float_data, float_data, sizeof(board_comm_data.tx_float_data));
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// 计算校验和
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uint8_t data_len = sizeof(packet.int_data) + sizeof(packet.float_data);
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packet.checksum = board_comm_checksum((uint8_t *)packet.int_data, data_len);
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// 发送数据
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USARTSend(board_comm_usart_instance, (uint8_t *)&packet, sizeof(packet), USART_TRANSFER_IT);
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}
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// 获取接收到的整型数组
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int32_t* BoardCommGetIntData(void)
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{
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return board_comm_data.rx_int_data;
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}
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// 获取接收到的浮点型数组
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float* BoardCommGetFloatData(void)
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{
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return board_comm_data.rx_float_data;
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} |