902 lines
25 KiB
C
902 lines
25 KiB
C
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/* USER CODE BEGIN Header */
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/**
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******************************************************************************
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* @file usart.c
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* @brief This file provides code for the configuration
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* of the USART instances.
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******************************************************************************
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* @attention
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*
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* Copyright (c) 2026 STMicroelectronics.
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* All rights reserved.
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*
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* This software is licensed under terms that can be found in the LICENSE file
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* in the root directory of this software component.
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* If no LICENSE file comes with this software, it is provided AS-IS.
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*
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******************************************************************************
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*/
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/* USER CODE END Header */
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/* Includes ------------------------------------------------------------------*/
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#include "usart.h"
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/* USER CODE BEGIN 0 */
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/* USER CODE END 0 */
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UART_HandleTypeDef huart4;
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UART_HandleTypeDef huart5;
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UART_HandleTypeDef huart7;
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UART_HandleTypeDef huart1;
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UART_HandleTypeDef huart2;
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UART_HandleTypeDef huart3;
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UART_HandleTypeDef huart6;
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DMA_HandleTypeDef hdma_uart4_rx;
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DMA_HandleTypeDef hdma_uart7_rx;
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DMA_HandleTypeDef hdma_usart2_rx;
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DMA_HandleTypeDef hdma_usart3_rx;
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DMA_HandleTypeDef hdma_usart6_rx;
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/* UART4 init function */
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void MX_UART4_Init(void)
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{
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/* USER CODE BEGIN UART4_Init 0 */
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/* USER CODE END UART4_Init 0 */
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/* USER CODE BEGIN UART4_Init 1 */
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/* USER CODE END UART4_Init 1 */
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huart4.Instance = UART4;
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huart4.Init.BaudRate = 230400;
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huart4.Init.WordLength = UART_WORDLENGTH_8B;
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huart4.Init.StopBits = UART_STOPBITS_1;
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huart4.Init.Parity = UART_PARITY_NONE;
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huart4.Init.Mode = UART_MODE_TX_RX;
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huart4.Init.HwFlowCtl = UART_HWCONTROL_NONE;
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huart4.Init.OverSampling = UART_OVERSAMPLING_16;
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huart4.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
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huart4.Init.ClockPrescaler = UART_PRESCALER_DIV1;
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huart4.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
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if (HAL_UART_Init(&huart4) != HAL_OK)
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{
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Error_Handler();
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}
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if (HAL_UARTEx_SetTxFifoThreshold(&huart4, UART_TXFIFO_THRESHOLD_1_8) != HAL_OK)
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{
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Error_Handler();
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}
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if (HAL_UARTEx_SetRxFifoThreshold(&huart4, UART_RXFIFO_THRESHOLD_1_8) != HAL_OK)
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{
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Error_Handler();
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}
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if (HAL_UARTEx_DisableFifoMode(&huart4) != HAL_OK)
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{
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Error_Handler();
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}
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/* USER CODE BEGIN UART4_Init 2 */
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/* USER CODE END UART4_Init 2 */
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}
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/* UART5 init function */
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void MX_UART5_Init(void)
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{
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/* USER CODE BEGIN UART5_Init 0 */
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/* USER CODE END UART5_Init 0 */
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/* USER CODE BEGIN UART5_Init 1 */
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/* USER CODE END UART5_Init 1 */
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huart5.Instance = UART5;
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huart5.Init.BaudRate = 115200;
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huart5.Init.WordLength = UART_WORDLENGTH_8B;
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huart5.Init.StopBits = UART_STOPBITS_1;
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huart5.Init.Parity = UART_PARITY_NONE;
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huart5.Init.Mode = UART_MODE_TX_RX;
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huart5.Init.HwFlowCtl = UART_HWCONTROL_NONE;
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huart5.Init.OverSampling = UART_OVERSAMPLING_16;
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huart5.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
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huart5.Init.ClockPrescaler = UART_PRESCALER_DIV1;
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huart5.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
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if (HAL_HalfDuplex_Init(&huart5) != HAL_OK)
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{
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Error_Handler();
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}
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if (HAL_UARTEx_SetTxFifoThreshold(&huart5, UART_TXFIFO_THRESHOLD_1_8) != HAL_OK)
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{
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Error_Handler();
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}
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if (HAL_UARTEx_SetRxFifoThreshold(&huart5, UART_RXFIFO_THRESHOLD_1_8) != HAL_OK)
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{
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Error_Handler();
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}
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if (HAL_UARTEx_DisableFifoMode(&huart5) != HAL_OK)
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{
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Error_Handler();
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}
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/* USER CODE BEGIN UART5_Init 2 */
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/* USER CODE END UART5_Init 2 */
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}
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/* UART7 init function */
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void MX_UART7_Init(void)
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{
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/* USER CODE BEGIN UART7_Init 0 */
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/* USER CODE END UART7_Init 0 */
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/* USER CODE BEGIN UART7_Init 1 */
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/* USER CODE END UART7_Init 1 */
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huart7.Instance = UART7;
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huart7.Init.BaudRate = 115200;
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huart7.Init.WordLength = UART_WORDLENGTH_8B;
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huart7.Init.StopBits = UART_STOPBITS_1;
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huart7.Init.Parity = UART_PARITY_NONE;
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huart7.Init.Mode = UART_MODE_TX_RX;
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huart7.Init.HwFlowCtl = UART_HWCONTROL_NONE;
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huart7.Init.OverSampling = UART_OVERSAMPLING_16;
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huart7.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
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huart7.Init.ClockPrescaler = UART_PRESCALER_DIV1;
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huart7.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
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if (HAL_UART_Init(&huart7) != HAL_OK)
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{
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Error_Handler();
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}
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if (HAL_UARTEx_SetTxFifoThreshold(&huart7, UART_TXFIFO_THRESHOLD_1_8) != HAL_OK)
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{
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Error_Handler();
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}
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if (HAL_UARTEx_SetRxFifoThreshold(&huart7, UART_RXFIFO_THRESHOLD_1_8) != HAL_OK)
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{
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Error_Handler();
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}
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if (HAL_UARTEx_DisableFifoMode(&huart7) != HAL_OK)
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{
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Error_Handler();
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}
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/* USER CODE BEGIN UART7_Init 2 */
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/* USER CODE END UART7_Init 2 */
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}
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/* USART1 init function */
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void MX_USART1_UART_Init(void)
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{
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/* USER CODE BEGIN USART1_Init 0 */
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/* USER CODE END USART1_Init 0 */
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/* USER CODE BEGIN USART1_Init 1 */
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/* USER CODE END USART1_Init 1 */
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huart1.Instance = USART1;
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huart1.Init.BaudRate = 115200;
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huart1.Init.WordLength = UART_WORDLENGTH_8B;
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huart1.Init.StopBits = UART_STOPBITS_1;
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huart1.Init.Parity = UART_PARITY_NONE;
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huart1.Init.Mode = UART_MODE_TX_RX;
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huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
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huart1.Init.OverSampling = UART_OVERSAMPLING_16;
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huart1.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
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huart1.Init.ClockPrescaler = UART_PRESCALER_DIV1;
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huart1.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
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if (HAL_UART_Init(&huart1) != HAL_OK)
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{
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Error_Handler();
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}
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if (HAL_UARTEx_SetTxFifoThreshold(&huart1, UART_TXFIFO_THRESHOLD_1_8) != HAL_OK)
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{
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Error_Handler();
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}
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if (HAL_UARTEx_SetRxFifoThreshold(&huart1, UART_RXFIFO_THRESHOLD_1_8) != HAL_OK)
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{
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Error_Handler();
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}
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if (HAL_UARTEx_DisableFifoMode(&huart1) != HAL_OK)
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{
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Error_Handler();
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}
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/* USER CODE BEGIN USART1_Init 2 */
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/* USER CODE END USART1_Init 2 */
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}
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/* USART2 init function */
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void MX_USART2_UART_Init(void)
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{
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/* USER CODE BEGIN USART2_Init 0 */
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/* USER CODE END USART2_Init 0 */
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/* USER CODE BEGIN USART2_Init 1 */
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/* USER CODE END USART2_Init 1 */
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huart2.Instance = USART2;
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huart2.Init.BaudRate = 230400;
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huart2.Init.WordLength = UART_WORDLENGTH_8B;
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huart2.Init.StopBits = UART_STOPBITS_1;
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huart2.Init.Parity = UART_PARITY_NONE;
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huart2.Init.Mode = UART_MODE_TX_RX;
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huart2.Init.HwFlowCtl = UART_HWCONTROL_NONE;
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huart2.Init.OverSampling = UART_OVERSAMPLING_16;
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huart2.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
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huart2.Init.ClockPrescaler = UART_PRESCALER_DIV1;
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huart2.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
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if (HAL_UART_Init(&huart2) != HAL_OK)
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{
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Error_Handler();
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}
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if (HAL_UARTEx_SetTxFifoThreshold(&huart2, UART_TXFIFO_THRESHOLD_1_8) != HAL_OK)
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{
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Error_Handler();
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}
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if (HAL_UARTEx_SetRxFifoThreshold(&huart2, UART_RXFIFO_THRESHOLD_1_8) != HAL_OK)
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{
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Error_Handler();
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}
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if (HAL_UARTEx_DisableFifoMode(&huart2) != HAL_OK)
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{
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Error_Handler();
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}
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/* USER CODE BEGIN USART2_Init 2 */
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/* USER CODE END USART2_Init 2 */
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}
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/* USART3 init function */
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void MX_USART3_UART_Init(void)
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{
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/* USER CODE BEGIN USART3_Init 0 */
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/* USER CODE END USART3_Init 0 */
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/* USER CODE BEGIN USART3_Init 1 */
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/* USER CODE END USART3_Init 1 */
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huart3.Instance = USART3;
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huart3.Init.BaudRate = 115200;
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huart3.Init.WordLength = UART_WORDLENGTH_8B;
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huart3.Init.StopBits = UART_STOPBITS_1;
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huart3.Init.Parity = UART_PARITY_NONE;
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huart3.Init.Mode = UART_MODE_TX_RX;
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huart3.Init.HwFlowCtl = UART_HWCONTROL_NONE;
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huart3.Init.OverSampling = UART_OVERSAMPLING_16;
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huart3.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
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huart3.Init.ClockPrescaler = UART_PRESCALER_DIV1;
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huart3.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
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if (HAL_UART_Init(&huart3) != HAL_OK)
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{
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Error_Handler();
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}
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if (HAL_UARTEx_SetTxFifoThreshold(&huart3, UART_TXFIFO_THRESHOLD_1_8) != HAL_OK)
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{
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Error_Handler();
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}
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if (HAL_UARTEx_SetRxFifoThreshold(&huart3, UART_RXFIFO_THRESHOLD_1_8) != HAL_OK)
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{
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Error_Handler();
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}
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if (HAL_UARTEx_DisableFifoMode(&huart3) != HAL_OK)
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{
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Error_Handler();
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}
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/* USER CODE BEGIN USART3_Init 2 */
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/* USER CODE END USART3_Init 2 */
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}
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/* USART6 init function */
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void MX_USART6_UART_Init(void)
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{
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/* USER CODE BEGIN USART6_Init 0 */
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/* USER CODE END USART6_Init 0 */
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/* USER CODE BEGIN USART6_Init 1 */
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/* USER CODE END USART6_Init 1 */
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huart6.Instance = USART6;
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huart6.Init.BaudRate = 115200;
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huart6.Init.WordLength = UART_WORDLENGTH_8B;
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huart6.Init.StopBits = UART_STOPBITS_1;
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huart6.Init.Parity = UART_PARITY_NONE;
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huart6.Init.Mode = UART_MODE_TX_RX;
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huart6.Init.HwFlowCtl = UART_HWCONTROL_NONE;
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huart6.Init.OverSampling = UART_OVERSAMPLING_16;
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huart6.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
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huart6.Init.ClockPrescaler = UART_PRESCALER_DIV1;
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huart6.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
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if (HAL_UART_Init(&huart6) != HAL_OK)
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{
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Error_Handler();
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}
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if (HAL_UARTEx_SetTxFifoThreshold(&huart6, UART_TXFIFO_THRESHOLD_1_8) != HAL_OK)
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{
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Error_Handler();
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}
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if (HAL_UARTEx_SetRxFifoThreshold(&huart6, UART_RXFIFO_THRESHOLD_1_8) != HAL_OK)
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|
{
|
|||
|
|
Error_Handler();
|
|||
|
|
}
|
|||
|
|
if (HAL_UARTEx_DisableFifoMode(&huart6) != HAL_OK)
|
|||
|
|
{
|
|||
|
|
Error_Handler();
|
|||
|
|
}
|
|||
|
|
/* USER CODE BEGIN USART6_Init 2 */
|
|||
|
|
|
|||
|
|
/* USER CODE END USART6_Init 2 */
|
|||
|
|
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
|
|||
|
|
{
|
|||
|
|
|
|||
|
|
GPIO_InitTypeDef GPIO_InitStruct = {0};
|
|||
|
|
RCC_PeriphCLKInitTypeDef PeriphClkInitStruct = {0};
|
|||
|
|
if(uartHandle->Instance==UART4)
|
|||
|
|
{
|
|||
|
|
/* USER CODE BEGIN UART4_MspInit 0 */
|
|||
|
|
|
|||
|
|
/* USER CODE END UART4_MspInit 0 */
|
|||
|
|
|
|||
|
|
/** Initializes the peripherals clock
|
|||
|
|
*/
|
|||
|
|
PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_UART4;
|
|||
|
|
PeriphClkInitStruct.Usart234578ClockSelection = RCC_USART234578CLKSOURCE_D2PCLK1;
|
|||
|
|
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
|
|||
|
|
{
|
|||
|
|
Error_Handler();
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/* UART4 clock enable */
|
|||
|
|
__HAL_RCC_UART4_CLK_ENABLE();
|
|||
|
|
|
|||
|
|
__HAL_RCC_GPIOA_CLK_ENABLE();
|
|||
|
|
/**UART4 GPIO Configuration
|
|||
|
|
PA0 ------> UART4_TX
|
|||
|
|
PA1 ------> UART4_RX
|
|||
|
|
*/
|
|||
|
|
GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1;
|
|||
|
|
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
|
|||
|
|
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
|||
|
|
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
|
|||
|
|
GPIO_InitStruct.Alternate = GPIO_AF8_UART4;
|
|||
|
|
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
|
|||
|
|
|
|||
|
|
/* UART4 DMA Init */
|
|||
|
|
/* UART4_RX Init */
|
|||
|
|
hdma_uart4_rx.Instance = DMA1_Stream1;
|
|||
|
|
hdma_uart4_rx.Init.Request = DMA_REQUEST_UART4_RX;
|
|||
|
|
hdma_uart4_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
|
|||
|
|
hdma_uart4_rx.Init.PeriphInc = DMA_PINC_DISABLE;
|
|||
|
|
hdma_uart4_rx.Init.MemInc = DMA_MINC_ENABLE;
|
|||
|
|
hdma_uart4_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
|
|||
|
|
hdma_uart4_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
|
|||
|
|
hdma_uart4_rx.Init.Mode = DMA_CIRCULAR;
|
|||
|
|
hdma_uart4_rx.Init.Priority = DMA_PRIORITY_HIGH;
|
|||
|
|
hdma_uart4_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
|
|||
|
|
if (HAL_DMA_Init(&hdma_uart4_rx) != HAL_OK)
|
|||
|
|
{
|
|||
|
|
Error_Handler();
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
__HAL_LINKDMA(uartHandle,hdmarx,hdma_uart4_rx);
|
|||
|
|
|
|||
|
|
/* UART4 interrupt Init */
|
|||
|
|
HAL_NVIC_SetPriority(UART4_IRQn, 6, 0);
|
|||
|
|
HAL_NVIC_EnableIRQ(UART4_IRQn);
|
|||
|
|
/* USER CODE BEGIN UART4_MspInit 1 */
|
|||
|
|
|
|||
|
|
/* USER CODE END UART4_MspInit 1 */
|
|||
|
|
}
|
|||
|
|
else if(uartHandle->Instance==UART5)
|
|||
|
|
{
|
|||
|
|
/* USER CODE BEGIN UART5_MspInit 0 */
|
|||
|
|
|
|||
|
|
/* USER CODE END UART5_MspInit 0 */
|
|||
|
|
|
|||
|
|
/** Initializes the peripherals clock
|
|||
|
|
*/
|
|||
|
|
PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_UART5;
|
|||
|
|
PeriphClkInitStruct.Usart234578ClockSelection = RCC_USART234578CLKSOURCE_D2PCLK1;
|
|||
|
|
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
|
|||
|
|
{
|
|||
|
|
Error_Handler();
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/* UART5 clock enable */
|
|||
|
|
__HAL_RCC_UART5_CLK_ENABLE();
|
|||
|
|
|
|||
|
|
__HAL_RCC_GPIOB_CLK_ENABLE();
|
|||
|
|
/**UART5 GPIO Configuration
|
|||
|
|
PB13 ------> UART5_TX
|
|||
|
|
*/
|
|||
|
|
GPIO_InitStruct.Pin = GPIO_PIN_13;
|
|||
|
|
GPIO_InitStruct.Mode = GPIO_MODE_AF_OD;
|
|||
|
|
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
|||
|
|
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
|
|||
|
|
GPIO_InitStruct.Alternate = GPIO_AF14_UART5;
|
|||
|
|
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
|
|||
|
|
|
|||
|
|
/* USER CODE BEGIN UART5_MspInit 1 */
|
|||
|
|
|
|||
|
|
/* USER CODE END UART5_MspInit 1 */
|
|||
|
|
}
|
|||
|
|
else if(uartHandle->Instance==UART7)
|
|||
|
|
{
|
|||
|
|
/* USER CODE BEGIN UART7_MspInit 0 */
|
|||
|
|
|
|||
|
|
/* USER CODE END UART7_MspInit 0 */
|
|||
|
|
|
|||
|
|
/** Initializes the peripherals clock
|
|||
|
|
*/
|
|||
|
|
PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_UART7;
|
|||
|
|
PeriphClkInitStruct.Usart234578ClockSelection = RCC_USART234578CLKSOURCE_D2PCLK1;
|
|||
|
|
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
|
|||
|
|
{
|
|||
|
|
Error_Handler();
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/* UART7 clock enable */
|
|||
|
|
__HAL_RCC_UART7_CLK_ENABLE();
|
|||
|
|
|
|||
|
|
__HAL_RCC_GPIOE_CLK_ENABLE();
|
|||
|
|
/**UART7 GPIO Configuration
|
|||
|
|
PE7 ------> UART7_RX
|
|||
|
|
PE8 ------> UART7_TX
|
|||
|
|
*/
|
|||
|
|
GPIO_InitStruct.Pin = GPIO_PIN_7|GPIO_PIN_8;
|
|||
|
|
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
|
|||
|
|
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
|||
|
|
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
|
|||
|
|
GPIO_InitStruct.Alternate = GPIO_AF7_UART7;
|
|||
|
|
HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
|
|||
|
|
|
|||
|
|
/* UART7 DMA Init */
|
|||
|
|
/* UART7_RX Init */
|
|||
|
|
hdma_uart7_rx.Instance = DMA1_Stream4;
|
|||
|
|
hdma_uart7_rx.Init.Request = DMA_REQUEST_UART7_RX;
|
|||
|
|
hdma_uart7_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
|
|||
|
|
hdma_uart7_rx.Init.PeriphInc = DMA_PINC_DISABLE;
|
|||
|
|
hdma_uart7_rx.Init.MemInc = DMA_MINC_ENABLE;
|
|||
|
|
hdma_uart7_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
|
|||
|
|
hdma_uart7_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
|
|||
|
|
hdma_uart7_rx.Init.Mode = DMA_CIRCULAR;
|
|||
|
|
hdma_uart7_rx.Init.Priority = DMA_PRIORITY_HIGH;
|
|||
|
|
hdma_uart7_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
|
|||
|
|
if (HAL_DMA_Init(&hdma_uart7_rx) != HAL_OK)
|
|||
|
|
{
|
|||
|
|
Error_Handler();
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
__HAL_LINKDMA(uartHandle,hdmarx,hdma_uart7_rx);
|
|||
|
|
|
|||
|
|
/* UART7 interrupt Init */
|
|||
|
|
HAL_NVIC_SetPriority(UART7_IRQn, 5, 0);
|
|||
|
|
HAL_NVIC_EnableIRQ(UART7_IRQn);
|
|||
|
|
/* USER CODE BEGIN UART7_MspInit 1 */
|
|||
|
|
|
|||
|
|
/* USER CODE END UART7_MspInit 1 */
|
|||
|
|
}
|
|||
|
|
else if(uartHandle->Instance==USART1)
|
|||
|
|
{
|
|||
|
|
/* USER CODE BEGIN USART1_MspInit 0 */
|
|||
|
|
|
|||
|
|
/* USER CODE END USART1_MspInit 0 */
|
|||
|
|
|
|||
|
|
/** Initializes the peripherals clock
|
|||
|
|
*/
|
|||
|
|
PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_USART1;
|
|||
|
|
PeriphClkInitStruct.Usart16ClockSelection = RCC_USART16CLKSOURCE_D2PCLK2;
|
|||
|
|
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
|
|||
|
|
{
|
|||
|
|
Error_Handler();
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/* USART1 clock enable */
|
|||
|
|
__HAL_RCC_USART1_CLK_ENABLE();
|
|||
|
|
|
|||
|
|
__HAL_RCC_GPIOB_CLK_ENABLE();
|
|||
|
|
/**USART1 GPIO Configuration
|
|||
|
|
PB14 ------> USART1_TX
|
|||
|
|
PB15 ------> USART1_RX
|
|||
|
|
*/
|
|||
|
|
GPIO_InitStruct.Pin = GPIO_PIN_14|GPIO_PIN_15;
|
|||
|
|
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
|
|||
|
|
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
|||
|
|
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
|
|||
|
|
GPIO_InitStruct.Alternate = GPIO_AF4_USART1;
|
|||
|
|
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
|
|||
|
|
|
|||
|
|
/* USER CODE BEGIN USART1_MspInit 1 */
|
|||
|
|
|
|||
|
|
/* USER CODE END USART1_MspInit 1 */
|
|||
|
|
}
|
|||
|
|
else if(uartHandle->Instance==USART2)
|
|||
|
|
{
|
|||
|
|
/* USER CODE BEGIN USART2_MspInit 0 */
|
|||
|
|
|
|||
|
|
/* USER CODE END USART2_MspInit 0 */
|
|||
|
|
|
|||
|
|
/** Initializes the peripherals clock
|
|||
|
|
*/
|
|||
|
|
PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_USART2;
|
|||
|
|
PeriphClkInitStruct.Usart234578ClockSelection = RCC_USART234578CLKSOURCE_D2PCLK1;
|
|||
|
|
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
|
|||
|
|
{
|
|||
|
|
Error_Handler();
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/* USART2 clock enable */
|
|||
|
|
__HAL_RCC_USART2_CLK_ENABLE();
|
|||
|
|
|
|||
|
|
__HAL_RCC_GPIOA_CLK_ENABLE();
|
|||
|
|
/**USART2 GPIO Configuration
|
|||
|
|
PA2 ------> USART2_TX
|
|||
|
|
PA3 ------> USART2_RX
|
|||
|
|
*/
|
|||
|
|
GPIO_InitStruct.Pin = GPIO_PIN_2|GPIO_PIN_3;
|
|||
|
|
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
|
|||
|
|
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
|||
|
|
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
|
|||
|
|
GPIO_InitStruct.Alternate = GPIO_AF7_USART2;
|
|||
|
|
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
|
|||
|
|
|
|||
|
|
/* USART2 DMA Init */
|
|||
|
|
/* USART2_RX Init */
|
|||
|
|
hdma_usart2_rx.Instance = DMA1_Stream0;
|
|||
|
|
hdma_usart2_rx.Init.Request = DMA_REQUEST_USART2_RX;
|
|||
|
|
hdma_usart2_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
|
|||
|
|
hdma_usart2_rx.Init.PeriphInc = DMA_PINC_DISABLE;
|
|||
|
|
hdma_usart2_rx.Init.MemInc = DMA_MINC_ENABLE;
|
|||
|
|
hdma_usart2_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
|
|||
|
|
hdma_usart2_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
|
|||
|
|
hdma_usart2_rx.Init.Mode = DMA_CIRCULAR;
|
|||
|
|
hdma_usart2_rx.Init.Priority = DMA_PRIORITY_HIGH;
|
|||
|
|
hdma_usart2_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
|
|||
|
|
if (HAL_DMA_Init(&hdma_usart2_rx) != HAL_OK)
|
|||
|
|
{
|
|||
|
|
Error_Handler();
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
__HAL_LINKDMA(uartHandle,hdmarx,hdma_usart2_rx);
|
|||
|
|
|
|||
|
|
/* USART2 interrupt Init */
|
|||
|
|
HAL_NVIC_SetPriority(USART2_IRQn, 6, 0);
|
|||
|
|
HAL_NVIC_EnableIRQ(USART2_IRQn);
|
|||
|
|
/* USER CODE BEGIN USART2_MspInit 1 */
|
|||
|
|
|
|||
|
|
/* USER CODE END USART2_MspInit 1 */
|
|||
|
|
}
|
|||
|
|
else if(uartHandle->Instance==USART3)
|
|||
|
|
{
|
|||
|
|
/* USER CODE BEGIN USART3_MspInit 0 */
|
|||
|
|
|
|||
|
|
/* USER CODE END USART3_MspInit 0 */
|
|||
|
|
|
|||
|
|
/** Initializes the peripherals clock
|
|||
|
|
*/
|
|||
|
|
PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_USART3;
|
|||
|
|
PeriphClkInitStruct.Usart234578ClockSelection = RCC_USART234578CLKSOURCE_D2PCLK1;
|
|||
|
|
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
|
|||
|
|
{
|
|||
|
|
Error_Handler();
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/* USART3 clock enable */
|
|||
|
|
__HAL_RCC_USART3_CLK_ENABLE();
|
|||
|
|
|
|||
|
|
__HAL_RCC_GPIOD_CLK_ENABLE();
|
|||
|
|
/**USART3 GPIO Configuration
|
|||
|
|
PD8 ------> USART3_TX
|
|||
|
|
PD9 ------> USART3_RX
|
|||
|
|
*/
|
|||
|
|
GPIO_InitStruct.Pin = GPIO_PIN_8|GPIO_PIN_9;
|
|||
|
|
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
|
|||
|
|
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
|||
|
|
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
|
|||
|
|
GPIO_InitStruct.Alternate = GPIO_AF7_USART3;
|
|||
|
|
HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
|
|||
|
|
|
|||
|
|
/* USART3 DMA Init */
|
|||
|
|
/* USART3_RX Init */
|
|||
|
|
hdma_usart3_rx.Instance = DMA1_Stream2;
|
|||
|
|
hdma_usart3_rx.Init.Request = DMA_REQUEST_USART3_RX;
|
|||
|
|
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_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, 6, 0);
|
|||
|
|
HAL_NVIC_EnableIRQ(USART3_IRQn);
|
|||
|
|
/* USER CODE BEGIN USART3_MspInit 1 */
|
|||
|
|
|
|||
|
|
/* USER CODE END USART3_MspInit 1 */
|
|||
|
|
}
|
|||
|
|
else if(uartHandle->Instance==USART6)
|
|||
|
|
{
|
|||
|
|
/* USER CODE BEGIN USART6_MspInit 0 */
|
|||
|
|
|
|||
|
|
/* USER CODE END USART6_MspInit 0 */
|
|||
|
|
|
|||
|
|
/** Initializes the peripherals clock
|
|||
|
|
*/
|
|||
|
|
PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_USART6;
|
|||
|
|
PeriphClkInitStruct.Usart16ClockSelection = RCC_USART16CLKSOURCE_D2PCLK2;
|
|||
|
|
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
|
|||
|
|
{
|
|||
|
|
Error_Handler();
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/* USART6 clock enable */
|
|||
|
|
__HAL_RCC_USART6_CLK_ENABLE();
|
|||
|
|
|
|||
|
|
__HAL_RCC_GPIOC_CLK_ENABLE();
|
|||
|
|
/**USART6 GPIO Configuration
|
|||
|
|
PC6 ------> USART6_TX
|
|||
|
|
PC7 ------> USART6_RX
|
|||
|
|
*/
|
|||
|
|
GPIO_InitStruct.Pin = GPIO_PIN_6|GPIO_PIN_7;
|
|||
|
|
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
|
|||
|
|
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
|||
|
|
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
|
|||
|
|
GPIO_InitStruct.Alternate = GPIO_AF7_USART6;
|
|||
|
|
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
|
|||
|
|
|
|||
|
|
/* USART6 DMA Init */
|
|||
|
|
/* USART6_RX Init */
|
|||
|
|
hdma_usart6_rx.Instance = DMA1_Stream3;
|
|||
|
|
hdma_usart6_rx.Init.Request = DMA_REQUEST_USART6_RX;
|
|||
|
|
hdma_usart6_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
|
|||
|
|
hdma_usart6_rx.Init.PeriphInc = DMA_PINC_DISABLE;
|
|||
|
|
hdma_usart6_rx.Init.MemInc = DMA_MINC_ENABLE;
|
|||
|
|
hdma_usart6_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
|
|||
|
|
hdma_usart6_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
|
|||
|
|
hdma_usart6_rx.Init.Mode = DMA_CIRCULAR;
|
|||
|
|
hdma_usart6_rx.Init.Priority = DMA_PRIORITY_HIGH;
|
|||
|
|
hdma_usart6_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
|
|||
|
|
if (HAL_DMA_Init(&hdma_usart6_rx) != HAL_OK)
|
|||
|
|
{
|
|||
|
|
Error_Handler();
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
__HAL_LINKDMA(uartHandle,hdmarx,hdma_usart6_rx);
|
|||
|
|
|
|||
|
|
/* USART6 interrupt Init */
|
|||
|
|
HAL_NVIC_SetPriority(USART6_IRQn, 6, 0);
|
|||
|
|
HAL_NVIC_EnableIRQ(USART6_IRQn);
|
|||
|
|
/* USER CODE BEGIN USART6_MspInit 1 */
|
|||
|
|
|
|||
|
|
/* USER CODE END USART6_MspInit 1 */
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
|
|||
|
|
{
|
|||
|
|
|
|||
|
|
if(uartHandle->Instance==UART4)
|
|||
|
|
{
|
|||
|
|
/* USER CODE BEGIN UART4_MspDeInit 0 */
|
|||
|
|
|
|||
|
|
/* USER CODE END UART4_MspDeInit 0 */
|
|||
|
|
/* Peripheral clock disable */
|
|||
|
|
__HAL_RCC_UART4_CLK_DISABLE();
|
|||
|
|
|
|||
|
|
/**UART4 GPIO Configuration
|
|||
|
|
PA0 ------> UART4_TX
|
|||
|
|
PA1 ------> UART4_RX
|
|||
|
|
*/
|
|||
|
|
HAL_GPIO_DeInit(GPIOA, GPIO_PIN_0|GPIO_PIN_1);
|
|||
|
|
|
|||
|
|
/* UART4 DMA DeInit */
|
|||
|
|
HAL_DMA_DeInit(uartHandle->hdmarx);
|
|||
|
|
|
|||
|
|
/* UART4 interrupt Deinit */
|
|||
|
|
HAL_NVIC_DisableIRQ(UART4_IRQn);
|
|||
|
|
/* USER CODE BEGIN UART4_MspDeInit 1 */
|
|||
|
|
|
|||
|
|
/* USER CODE END UART4_MspDeInit 1 */
|
|||
|
|
}
|
|||
|
|
else if(uartHandle->Instance==UART5)
|
|||
|
|
{
|
|||
|
|
/* USER CODE BEGIN UART5_MspDeInit 0 */
|
|||
|
|
|
|||
|
|
/* USER CODE END UART5_MspDeInit 0 */
|
|||
|
|
/* Peripheral clock disable */
|
|||
|
|
__HAL_RCC_UART5_CLK_DISABLE();
|
|||
|
|
|
|||
|
|
/**UART5 GPIO Configuration
|
|||
|
|
PB13 ------> UART5_TX
|
|||
|
|
*/
|
|||
|
|
HAL_GPIO_DeInit(GPIOB, GPIO_PIN_13);
|
|||
|
|
|
|||
|
|
/* USER CODE BEGIN UART5_MspDeInit 1 */
|
|||
|
|
|
|||
|
|
/* USER CODE END UART5_MspDeInit 1 */
|
|||
|
|
}
|
|||
|
|
else if(uartHandle->Instance==UART7)
|
|||
|
|
{
|
|||
|
|
/* USER CODE BEGIN UART7_MspDeInit 0 */
|
|||
|
|
|
|||
|
|
/* USER CODE END UART7_MspDeInit 0 */
|
|||
|
|
/* Peripheral clock disable */
|
|||
|
|
__HAL_RCC_UART7_CLK_DISABLE();
|
|||
|
|
|
|||
|
|
/**UART7 GPIO Configuration
|
|||
|
|
PE7 ------> UART7_RX
|
|||
|
|
PE8 ------> UART7_TX
|
|||
|
|
*/
|
|||
|
|
HAL_GPIO_DeInit(GPIOE, GPIO_PIN_7|GPIO_PIN_8);
|
|||
|
|
|
|||
|
|
/* UART7 DMA DeInit */
|
|||
|
|
HAL_DMA_DeInit(uartHandle->hdmarx);
|
|||
|
|
|
|||
|
|
/* UART7 interrupt Deinit */
|
|||
|
|
HAL_NVIC_DisableIRQ(UART7_IRQn);
|
|||
|
|
/* USER CODE BEGIN UART7_MspDeInit 1 */
|
|||
|
|
|
|||
|
|
/* USER CODE END UART7_MspDeInit 1 */
|
|||
|
|
}
|
|||
|
|
else if(uartHandle->Instance==USART1)
|
|||
|
|
{
|
|||
|
|
/* USER CODE BEGIN USART1_MspDeInit 0 */
|
|||
|
|
|
|||
|
|
/* USER CODE END USART1_MspDeInit 0 */
|
|||
|
|
/* Peripheral clock disable */
|
|||
|
|
__HAL_RCC_USART1_CLK_DISABLE();
|
|||
|
|
|
|||
|
|
/**USART1 GPIO Configuration
|
|||
|
|
PB14 ------> USART1_TX
|
|||
|
|
PB15 ------> USART1_RX
|
|||
|
|
*/
|
|||
|
|
HAL_GPIO_DeInit(GPIOB, GPIO_PIN_14|GPIO_PIN_15);
|
|||
|
|
|
|||
|
|
/* USER CODE BEGIN USART1_MspDeInit 1 */
|
|||
|
|
|
|||
|
|
/* USER CODE END USART1_MspDeInit 1 */
|
|||
|
|
}
|
|||
|
|
else if(uartHandle->Instance==USART2)
|
|||
|
|
{
|
|||
|
|
/* USER CODE BEGIN USART2_MspDeInit 0 */
|
|||
|
|
|
|||
|
|
/* USER CODE END USART2_MspDeInit 0 */
|
|||
|
|
/* Peripheral clock disable */
|
|||
|
|
__HAL_RCC_USART2_CLK_DISABLE();
|
|||
|
|
|
|||
|
|
/**USART2 GPIO Configuration
|
|||
|
|
PA2 ------> USART2_TX
|
|||
|
|
PA3 ------> USART2_RX
|
|||
|
|
*/
|
|||
|
|
HAL_GPIO_DeInit(GPIOA, GPIO_PIN_2|GPIO_PIN_3);
|
|||
|
|
|
|||
|
|
/* USART2 DMA DeInit */
|
|||
|
|
HAL_DMA_DeInit(uartHandle->hdmarx);
|
|||
|
|
|
|||
|
|
/* USART2 interrupt Deinit */
|
|||
|
|
HAL_NVIC_DisableIRQ(USART2_IRQn);
|
|||
|
|
/* USER CODE BEGIN USART2_MspDeInit 1 */
|
|||
|
|
|
|||
|
|
/* USER CODE END USART2_MspDeInit 1 */
|
|||
|
|
}
|
|||
|
|
else 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
|
|||
|
|
PD8 ------> USART3_TX
|
|||
|
|
PD9 ------> USART3_RX
|
|||
|
|
*/
|
|||
|
|
HAL_GPIO_DeInit(GPIOD, GPIO_PIN_8|GPIO_PIN_9);
|
|||
|
|
|
|||
|
|
/* 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 */
|
|||
|
|
}
|
|||
|
|
else if(uartHandle->Instance==USART6)
|
|||
|
|
{
|
|||
|
|
/* USER CODE BEGIN USART6_MspDeInit 0 */
|
|||
|
|
|
|||
|
|
/* USER CODE END USART6_MspDeInit 0 */
|
|||
|
|
/* Peripheral clock disable */
|
|||
|
|
__HAL_RCC_USART6_CLK_DISABLE();
|
|||
|
|
|
|||
|
|
/**USART6 GPIO Configuration
|
|||
|
|
PC6 ------> USART6_TX
|
|||
|
|
PC7 ------> USART6_RX
|
|||
|
|
*/
|
|||
|
|
HAL_GPIO_DeInit(GPIOC, GPIO_PIN_6|GPIO_PIN_7);
|
|||
|
|
|
|||
|
|
/* USART6 DMA DeInit */
|
|||
|
|
HAL_DMA_DeInit(uartHandle->hdmarx);
|
|||
|
|
|
|||
|
|
/* USART6 interrupt Deinit */
|
|||
|
|
HAL_NVIC_DisableIRQ(USART6_IRQn);
|
|||
|
|
/* USER CODE BEGIN USART6_MspDeInit 1 */
|
|||
|
|
|
|||
|
|
/* USER CODE END USART6_MspDeInit 1 */
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/* USER CODE BEGIN 1 */
|
|||
|
|
#include "laser/laser_manager.h"
|
|||
|
|
#include "IMU/hwt101.h"
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* @brief 全局 UART 接收完成回调分发器
|
|||
|
|
*/
|
|||
|
|
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
|
|||
|
|
{
|
|||
|
|
// 分发给激光雷达管理器
|
|||
|
|
LASER_UART_RxCpltCallback(huart);
|
|||
|
|
|
|||
|
|
// 如果 IMU 以后需要用到定长接收中断，也可以在这里加:
|
|||
|
|
// HWT101_UART_RxCpltCallback(huart);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* @brief 全局 UART 接收过半回调分发器
|
|||
|
|
*/
|
|||
|
|
void HAL_UART_RxHalfCpltCallback(UART_HandleTypeDef *huart)
|
|||
|
|
{
|
|||
|
|
// 分发给激光雷达管理器
|
|||
|
|
LASER_UART_RxHalfCpltCallback(huart);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* @brief 全局 UART 空闲/扩展接收回调分发器
|
|||
|
|
*/
|
|||
|
|
void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)
|
|||
|
|
{
|
|||
|
|
// 分发给激光雷达管理器
|
|||
|
|
LASER_UARTEx_RxEventCallback(huart, Size);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* @brief 全局 UART 错误回调分发器 (极其关键，防止外设死机)
|
|||
|
|
*/
|
|||
|
|
void HAL_UART_ErrorCallback(UART_HandleTypeDef *huart)
|
|||
|
|
{
|
|||
|
|
// 分发给激光雷达管理器进行自动恢复
|
|||
|
|
LASER_UART_ErrorRecovery(huart);
|
|||
|
|
|
|||
|
|
// 分发给 IMU 进行自动恢复 (暴力清除错误标志并重启 DMA)
|
|||
|
|
HWT101_ErrorRecovery(huart);
|
|||
|
|
}
|
|||
|
|
/* USER CODE END 1 */
|