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STM32与匿名上位机通信——使用串口DMA实现

背景：匿名上位机功能强大，这里想要采用匿名上位机输出一些调试信息，以波形的形式显示，方便观察和调试。

平台：

硬件：STM32F405RGT6

通信：2.4G zigbee无线串口收发模块 CC2530

软件：匿名上位机V6

数传模块操作简介：

STM32与匿名上位机通信——使用串口DMA实现-LMLPHP

配置 代码：（注意以下代码中不包含中断优先级的配置，个人习惯将所有nvic的配置写在一个单独的函数中）

这里采用UART2 DMA发送的方式 将数据通过数传发送给匿名上位机。采用DMA传输完成中断，可以实现不定长数据的传输。

/* usart2 for debug (Ano) */

void vUart2Config(void)

{

	USART_InitTypeDef usart2;

	GPIO_InitTypeDef  gpio;

	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA,ENABLE);

	RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART2,ENABLE);

	GPIO_PinAFConfig(GPIOA,GPIO_PinSource2,GPIO_AF_USART2);

	GPIO_PinAFConfig(GPIOA,GPIO_PinSource3,GPIO_AF_USART2);

	gpio.GPIO_Pin = GPIO_Pin_2;

	gpio.GPIO_Mode = GPIO_Mode_AF;

	gpio.GPIO_OType = GPIO_OType_PP;

	gpio.GPIO_Speed = GPIO_Speed_100MHz;

	gpio.GPIO_PuPd = GPIO_PuPd_NOPULL;

	GPIO_Init(GPIOA,&gpio);

	gpio.GPIO_Pin = GPIO_Pin_3;

	gpio.GPIO_Mode = GPIO_Mode_IN;

	gpio.GPIO_Speed = GPIO_Speed_100MHz;

	gpio.GPIO_PuPd = GPIO_PuPd_NOPULL;

	GPIO_Init(GPIOA,&gpio);

	USART_DeInit(USART2);

	/* zigbee digital transmiter support up to 115200 */

	usart2.USART_BaudRate = 115200;

	usart2.USART_WordLength = USART_WordLength_8b;

	usart2.USART_StopBits = USART_StopBits_1;

	usart2.USART_Parity = USART_Parity_No;

	usart2.USART_Mode = USART_Mode_Rx|USART_Mode_Tx;

	usart2.USART_HardwareFlowControl = USART_HardwareFlowControl_None;

	USART_Init(USART2,&usart2);

	USART_Cmd(USART2,ENABLE);

	USART_DMACmd(USART2, USART_DMAReq_Tx, ENABLE);

	/* send dma */

	{

		DMA_InitTypeDef dma;

		RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_DMA1,ENABLE);

		DMA_DeInit(DMA1_Stream6);

		dma.DMA_Channel= DMA_Channel_4;

		dma.DMA_PeripheralBaseAddr = (uint32_t)&(USART2->DR);

		dma.DMA_Memory0BaseAddr = (uint32_t)SendToAno_Buff;

		dma.DMA_DIR = DMA_DIR_MemoryToPeripheral;

		dma.DMA_BufferSize = USART2_ANO_DMA_send_buffersize;

		dma.DMA_PeripheralInc = DMA_PeripheralInc_Disable;

		dma.DMA_MemoryInc = DMA_MemoryInc_Enable;

		dma.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte;

		dma.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte;

		dma.DMA_Mode = DMA_Mode_Normal;

		dma.DMA_Priority = DMA_Priority_VeryHigh;

		dma.DMA_FIFOMode = DMA_FIFOMode_Disable;

		dma.DMA_FIFOThreshold = DMA_FIFOThreshold_1QuarterFull;

		dma.DMA_MemoryBurst = DMA_Mode_Normal;

		dma.DMA_PeripheralBurst = DMA_PeripheralBurst_Single;

		DMA_Init(DMA1_Stream6,&dma);

		DMA_ITConfig(DMA1_Stream6,DMA_IT_TC,ENABLE);

		/* enable dma when data preparing finish */

		DMA_Cmd(DMA1_Stream6,DISABLE);

	}

}

/* uart2 DMA send finish interrupt : send debug date (Ano) */

void DMA1_Stream6_IRQHandler(void)

{

	if(DMA_GetFlagStatus(DMA1_Stream6, DMA_IT_TCIF6) == SET)

	{

		DMA_Cmd(DMA1_Stream6, DISABLE);

		DMA_ClearFlag(DMA1_Stream6, DMA_FLAG_TCIF6);

		DMA_ClearITPendingBit(DMA1_Stream6, DMA_IT_TCIF6);

	}

}

DMA发送函数：（初始化时不使能DMA，当数据准备好之后，根据待发送的数据长度，设定DMA发送的长度，同时使能DMA，启动一次发送，当每次DMA发送完成后，在传输完成中断中，关闭DMA，等待下一次数据准备好，循环以上过程）

/* start once usart2 dma send (for ANO) */

static void USART2_ANO_DMA_SEND(uint16_t sendsize)

{

	DMA_Cmd(DMA1_Stream6, DISABLE);

	/* set dma sendbuffer size */

	DMA_SetCurrDataCounter(DMA1_Stream6, sendsize);

	/* start usart dma send */

	DMA_Cmd(DMA1_Stream6, ENABLE);

}

匿名上位机数据打包及循环发送：（使用的是匿名V6版本的上位机，具体协议请参考对应版本的上位机协议，这里使用匿名上位机提供的用户数据格式发送数据，ID分别为F1,F2,F3的三组不定长数据）

/* accroding to ANO earth station V6 protocol: userdata */

void ANOSend(void)

{

	static uint8_t ANO_dataid = 1;

	static uint16_t test_count = 0;

	uint8_t senddata_cnt = 0;

	uint8_t sumcheck = 0;

	uint8_t errorcode_sum = 0;

	int16_t yawAngle_100 = 0;

	int16_t pitchAngle_100 = 0;

	int16_t pctarget_yawAngle_100 = 0;

	int16_t pctarget_pitchAngle_100 = 0;

	int16_t sintest_data_100 = 0;

	switch(ANO_dataid)

	{

		/* id1 (F1) send gimbal angle */

		case 1:

		{

			senddata_cnt = 0;

			errorcode_sum = 0;

			SendToAno_Buff[senddata_cnt++] = 0xAA;

			SendToAno_Buff[senddata_cnt++] = 0x05;

			SendToAno_Buff[senddata_cnt++] = 0xAF;

			SendToAno_Buff[senddata_cnt++] = (0xF0+ANO_dataid);

			/* jump over the data length byte */

			senddata_cnt++;

			/* int16_t yawAngle */

			yawAngle_100 = (int16_t)(imu.yawAngle*100);

			SendToAno_Buff[senddata_cnt++] = BYTE1(yawAngle_100);

			SendToAno_Buff[senddata_cnt++] = BYTE0(yawAngle_100);

			/* int16_t pitchAngle */

			pitchAngle_100 = (int16_t)(imu.pitchAngle*100);

			SendToAno_Buff[senddata_cnt++] = BYTE1(pitchAngle_100);

			SendToAno_Buff[senddata_cnt++] = BYTE0(pitchAngle_100);

			SendToAno_Buff[4] = senddata_cnt-5;

			/* sum check calculate */

			sumcheck = 0;

			for(uint8_t i=0; i < (SendToAno_Buff[4]+5); i++)

			{

				sumcheck += SendToAno_Buff[i];

			}

			SendToAno_Buff[senddata_cnt++] = sumcheck;

			USART2_ANO_DMA_SEND(senddata_cnt);

			break;

		}

		/* id2 (F2) send PC data */

		case 2:

		{

			senddata_cnt = 0;

			SendToAno_Buff[senddata_cnt++] = 0xAA;

			SendToAno_Buff[senddata_cnt++] = 0x05;

			SendToAno_Buff[senddata_cnt++] = 0xAF;

			SendToAno_Buff[senddata_cnt++] = (0xF0+ANO_dataid);

			/* jump over the data length byte */

			senddata_cnt++;

			/* int16_t PCtarget_yawangle */

			pctarget_yawAngle_100 = (int16_t)(PC_Recv.PCTargetYaw*100);

			SendToAno_Buff[senddata_cnt++] = BYTE1(pctarget_yawAngle_100);

			SendToAno_Buff[senddata_cnt++] = BYTE0(pctarget_yawAngle_100);

			/* int16_t PCtarget_pitchangle */

			pctarget_pitchAngle_100 = (int16_t)(PC_Recv.PCTargetPitch*100);

			SendToAno_Buff[senddata_cnt++] = BYTE1(pctarget_pitchAngle_100);

			SendToAno_Buff[senddata_cnt++] = BYTE0(pctarget_pitchAngle_100);

			SendToAno_Buff[4] = senddata_cnt-5;

			/* sum check calculate */

			sumcheck = 0;

			for(uint8_t i=0; i < (SendToAno_Buff[4]+5); i++)

			{

				sumcheck += SendToAno_Buff[i];

			}

			SendToAno_Buff[senddata_cnt++] = sumcheck;

			USART2_ANO_DMA_SEND(senddata_cnt);

			break;

		}

		/* id2 (F3) send test data */

		case 3:

		{

			senddata_cnt = 0;

			test_count++;

			SendToAno_Buff[senddata_cnt++] = 0xAA;

			SendToAno_Buff[senddata_cnt++] = 0x05;

			SendToAno_Buff[senddata_cnt++] = 0xAF;

			SendToAno_Buff[senddata_cnt++] = (0xF0+ANO_dataid);

			/* jump over the data length byte */

			senddata_cnt++;

			/* int16_t test_sindata 100times */

			sintest_data_100 = (int16_t)(sin((float)test_count*3.14f/180.0f)*100);

			SendToAno_Buff[senddata_cnt++] = BYTE1(sintest_data_100);

			SendToAno_Buff[senddata_cnt++] = BYTE0(sintest_data_100);

			SendToAno_Buff[4] = senddata_cnt-5;

			/* sum check calculate */

			sumcheck = 0;

			for(uint8_t i=0; i < (SendToAno_Buff[4]+5); i++)

			{

				sumcheck += SendToAno_Buff[i];

			}

			SendToAno_Buff[senddata_cnt++] = sumcheck;

			USART2_ANO_DMA_SEND(senddata_cnt);

			break;

		}

	}

	ANO_dataid++;

	/* choose the return number */

	if(ANO_TEST)

	{

		if(ANO_dataid >= 4)

		{

			ANO_dataid = 1;

		}

	}

	else if(!ANO_TEST)

	{

		if(ANO_dataid >= 3)

		{

			ANO_dataid = 1;

		}

	}

}

——cloud over sky

——2020/3/7

05-08 15:37
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