diff --git a/AutoGuideStick.ioc b/AutoGuideStick.ioc
index b5e5dd3..35e891e 100644
--- a/AutoGuideStick.ioc
+++ b/AutoGuideStick.ioc
@@ -7,12 +7,15 @@ CAD.pinconfig=
CAD.provider=
CORTEX_M33_NS.userName=CORTEX_M33
File.Version=6
+GPDMA1.CIRCULARMODE_GPDMACH3=ENABLE
GPDMA1.CIRCULARMODE_GPDMACH5=ENABLE
GPDMA1.DIRECTION_GPDMACH4=DMA_MEMORY_TO_PERIPH
+GPDMA1.IPHANDLE_GPDMACH3-SIMPLEREQUEST_GPDMACH3=__NULL
GPDMA1.IPHANDLE_GPDMACH4-SIMPLEREQUEST_GPDMACH4=__NULL
GPDMA1.IPHANDLE_GPDMACH5-SIMPLEREQUEST_GPDMACH5=__NULL
-GPDMA1.IPParameters=IPHANDLE_GPDMACH4-SIMPLEREQUEST_GPDMACH4,REQUEST_GPDMACH4,DIRECTION_GPDMACH4,SRCINC_GPDMACH4,CIRCULARMODE_GPDMACH5,LINKALLOCATEDPORT_CIRCULAR_GPDMACH5,IPHANDLE_GPDMACH5-SIMPLEREQUEST_GPDMACH5,REQUEST_GPDMACH5,TRANSFERALLOCATEDPORTSRC_GPDMACH5,TRANSFERALLOCATEDPORTDEST_GPDMACH5
+GPDMA1.IPParameters=REQUEST_GPDMACH4,DIRECTION_GPDMACH4,SRCINC_GPDMACH4,CIRCULARMODE_GPDMACH5,LINKALLOCATEDPORT_CIRCULAR_GPDMACH5,REQUEST_GPDMACH5,TRANSFERALLOCATEDPORTSRC_GPDMACH5,TRANSFERALLOCATEDPORTDEST_GPDMACH5,IPHANDLE_GPDMACH5-SIMPLEREQUEST_GPDMACH5,IPHANDLE_GPDMACH4-SIMPLEREQUEST_GPDMACH4,CIRCULARMODE_GPDMACH3,IPHANDLE_GPDMACH3-SIMPLEREQUEST_GPDMACH3,REQUEST_GPDMACH3
GPDMA1.LINKALLOCATEDPORT_CIRCULAR_GPDMACH5=DMA_LINK_ALLOCATED_PORT1
+GPDMA1.REQUEST_GPDMACH3=GPDMA1_REQUEST_USART2_RX
GPDMA1.REQUEST_GPDMACH4=GPDMA1_REQUEST_USART1_TX
GPDMA1.REQUEST_GPDMACH5=GPDMA1_REQUEST_USART1_RX
GPDMA1.SRCINC_GPDMACH4=DMA_SINC_INCREMENTED
@@ -27,6 +30,7 @@ Mcu.ContextProject=TrustZoneDisabled
Mcu.Family=STM32H5
Mcu.IP0=BOOTPATH
Mcu.IP1=CORTEX_M33_NS
+Mcu.IP10=USART2
Mcu.IP2=GPDMA1
Mcu.IP3=MEMORYMAP
Mcu.IP4=NVIC
@@ -35,22 +39,25 @@ Mcu.IP6=RCC
Mcu.IP7=SYS
Mcu.IP8=THREADX
Mcu.IP9=USART1
-Mcu.IPNb=10
+Mcu.IPNb=11
Mcu.Name=STM32H563ZITx
Mcu.Package=LQFP144
Mcu.Pin0=PH0-OSC_IN(PH0)
-Mcu.Pin1=PB14
-Mcu.Pin10=VP_BOOTPATH_VS_BOOTPATH
-Mcu.Pin11=VP_MEMORYMAP_VS_MEMORYMAP
-Mcu.Pin2=PB15
-Mcu.Pin3=VP_CORTEX_M33_NS_VS_Hclk
-Mcu.Pin4=VP_GPDMA1_VS_GPDMACH4
-Mcu.Pin5=VP_GPDMA1_VS_GPDMACH5
-Mcu.Pin6=VP_PWR_VS_SECSignals
-Mcu.Pin7=VP_PWR_VS_LPOM
-Mcu.Pin8=VP_SYS_VS_tim1
-Mcu.Pin9=VP_THREADX_VS_RTOSJjThreadXJjCoreJjDefault
-Mcu.PinsNb=12
+Mcu.Pin1=PA2
+Mcu.Pin10=VP_PWR_VS_LPOM
+Mcu.Pin11=VP_SYS_VS_tim1
+Mcu.Pin12=VP_THREADX_VS_RTOSJjThreadXJjCoreJjDefault
+Mcu.Pin13=VP_BOOTPATH_VS_BOOTPATH
+Mcu.Pin14=VP_MEMORYMAP_VS_MEMORYMAP
+Mcu.Pin2=PA3
+Mcu.Pin3=PB14
+Mcu.Pin4=PB15
+Mcu.Pin5=VP_CORTEX_M33_NS_VS_Hclk
+Mcu.Pin6=VP_GPDMA1_VS_GPDMACH3
+Mcu.Pin7=VP_GPDMA1_VS_GPDMACH4
+Mcu.Pin8=VP_GPDMA1_VS_GPDMACH5
+Mcu.Pin9=VP_PWR_VS_SECSignals
+Mcu.PinsNb=15
Mcu.ThirdPartyNb=0
Mcu.UserConstants=
Mcu.UserName=STM32H563ZITx
@@ -59,6 +66,7 @@ MxDb.Version=DB.6.0.141
NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
NVIC.ForceEnableDMAVector=true
+NVIC.GPDMA1_Channel3_IRQn=true\:0\:0\:false\:false\:true\:true\:false\:true\:true
NVIC.GPDMA1_Channel4_IRQn=true\:0\:0\:false\:false\:true\:true\:false\:true\:true
NVIC.GPDMA1_Channel5_IRQn=true\:0\:0\:false\:false\:true\:true\:false\:true\:true
NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
@@ -75,7 +83,12 @@ NVIC.TIM1_UP_IRQn=true\:15\:0\:false\:false\:true\:false\:false\:true\:true
NVIC.TimeBase=TIM1_UP_IRQn
NVIC.TimeBaseIP=TIM1
NVIC.USART1_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true\:true
+NVIC.USART2_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true\:true
NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
+PA2.Mode=Asynchronous
+PA2.Signal=USART2_TX
+PA3.Mode=Asynchronous
+PA3.Signal=USART2_RX
PB14.Mode=Asynchronous
PB14.Signal=USART1_TX
PB15.Mode=Asynchronous
@@ -114,7 +127,7 @@ ProjectManager.ToolChainLocation=
ProjectManager.UAScriptAfterPath=
ProjectManager.UAScriptBeforePath=
ProjectManager.UnderRoot=false
-ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_GPDMA1_Init-GPDMA1-false-HAL-true,4-MX_USART1_UART_Init-USART1-false-HAL-true,0-MX_CORTEX_M33_NS_Init-CORTEX_M33_NS-false-HAL-true,0-MX_PWR_Init-PWR-false-HAL-true
+ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_GPDMA1_Init-GPDMA1-false-HAL-true,4-MX_USART1_UART_Init-USART1-false-HAL-true,5-MX_USART2_UART_Init-USART2-false-HAL-true,0-MX_CORTEX_M33_NS_Init-CORTEX_M33_NS-false-HAL-true,0-MX_PWR_Init-PWR-false-HAL-true
RCC.ADCFreq_Value=250000000
RCC.AHBFreq_Value=250000000
RCC.APB1Freq_Value=250000000
@@ -203,10 +216,15 @@ RCC.VCOPLL3OutputFreq_Value=516000000
USART1.BaudRate=9600
USART1.IPParameters=VirtualMode-Asynchronous,BaudRate
USART1.VirtualMode-Asynchronous=VM_ASYNC
+USART2.BaudRate=9600
+USART2.IPParameters=VirtualMode-Asynchronous,BaudRate
+USART2.VirtualMode-Asynchronous=VM_ASYNC
VP_BOOTPATH_VS_BOOTPATH.Mode=BP_Activate
VP_BOOTPATH_VS_BOOTPATH.Signal=BOOTPATH_VS_BOOTPATH
VP_CORTEX_M33_NS_VS_Hclk.Mode=Hclk_Mode
VP_CORTEX_M33_NS_VS_Hclk.Signal=CORTEX_M33_NS_VS_Hclk
+VP_GPDMA1_VS_GPDMACH3.Mode=SIMPLEREQUEST_GPDMACH3
+VP_GPDMA1_VS_GPDMACH3.Signal=GPDMA1_VS_GPDMACH3
VP_GPDMA1_VS_GPDMACH4.Mode=SIMPLEREQUEST_GPDMACH4
VP_GPDMA1_VS_GPDMACH4.Signal=GPDMA1_VS_GPDMACH4
VP_GPDMA1_VS_GPDMACH5.Mode=SIMPLEREQUEST_GPDMACH5
diff --git a/Core/Inc/stm32h5xx_it.h b/Core/Inc/stm32h5xx_it.h
index d5cc913..df6e5a0 100644
--- a/Core/Inc/stm32h5xx_it.h
+++ b/Core/Inc/stm32h5xx_it.h
@@ -52,10 +52,12 @@ void MemManage_Handler(void);
void BusFault_Handler(void);
void UsageFault_Handler(void);
void DebugMon_Handler(void);
+void GPDMA1_Channel3_IRQHandler(void);
void GPDMA1_Channel4_IRQHandler(void);
void GPDMA1_Channel5_IRQHandler(void);
void TIM1_UP_IRQHandler(void);
void USART1_IRQHandler(void);
+void USART2_IRQHandler(void);
/* USER CODE BEGIN EFP */
/* USER CODE END EFP */
diff --git a/Core/Inc/usart.h b/Core/Inc/usart.h
index 10c6193..737091e 100644
--- a/Core/Inc/usart.h
+++ b/Core/Inc/usart.h
@@ -34,11 +34,14 @@ extern "C" {
extern UART_HandleTypeDef huart1;
+extern UART_HandleTypeDef huart2;
+
/* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */
void MX_USART1_UART_Init(void);
+void MX_USART2_UART_Init(void);
/* USER CODE BEGIN Prototypes */
diff --git a/Core/Src/gpdma.c b/Core/Src/gpdma.c
index 508ef90..587244d 100644
--- a/Core/Src/gpdma.c
+++ b/Core/Src/gpdma.c
@@ -36,6 +36,8 @@ void MX_GPDMA1_Init(void)
__HAL_RCC_GPDMA1_CLK_ENABLE();
/* GPDMA1 interrupt Init */
+ HAL_NVIC_SetPriority(GPDMA1_Channel3_IRQn, 0, 0);
+ HAL_NVIC_EnableIRQ(GPDMA1_Channel3_IRQn);
HAL_NVIC_SetPriority(GPDMA1_Channel4_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(GPDMA1_Channel4_IRQn);
HAL_NVIC_SetPriority(GPDMA1_Channel5_IRQn, 0, 0);
diff --git a/Core/Src/gpio.c b/Core/Src/gpio.c
index 9dcf175..e58d04a 100644
--- a/Core/Src/gpio.c
+++ b/Core/Src/gpio.c
@@ -40,6 +40,7 @@ void MX_GPIO_Init(void)
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOH_CLK_ENABLE();
+ __HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
}
diff --git a/Core/Src/main.c b/Core/Src/main.c
index 66ac762..f29348d 100644
--- a/Core/Src/main.c
+++ b/Core/Src/main.c
@@ -92,6 +92,7 @@ int main(void)
MX_GPIO_Init();
MX_GPDMA1_Init();
MX_USART1_UART_Init();
+ MX_USART2_UART_Init();
/* USER CODE BEGIN 2 */
/* USER CODE END 2 */
diff --git a/Core/Src/stm32h5xx_it.c b/Core/Src/stm32h5xx_it.c
index ff49a9d..0b32369 100644
--- a/Core/Src/stm32h5xx_it.c
+++ b/Core/Src/stm32h5xx_it.c
@@ -60,7 +60,11 @@ extern DMA_NodeTypeDef Node_GPDMA1_Channel5;
extern DMA_QListTypeDef List_GPDMA1_Channel5;
extern DMA_HandleTypeDef handle_GPDMA1_Channel5;
extern DMA_HandleTypeDef handle_GPDMA1_Channel4;
+extern DMA_NodeTypeDef Node_GPDMA1_Channel3;
+extern DMA_QListTypeDef List_GPDMA1_Channel3;
+extern DMA_HandleTypeDef handle_GPDMA1_Channel3;
extern UART_HandleTypeDef huart1;
+extern UART_HandleTypeDef huart2;
extern TIM_HandleTypeDef htim1;
/* USER CODE BEGIN EV */
@@ -165,6 +169,20 @@ void DebugMon_Handler(void)
/* please refer to the startup file (startup_stm32h5xx.s). */
/******************************************************************************/
+/**
+ * @brief This function handles GPDMA1 Channel 3 global interrupt.
+ */
+void GPDMA1_Channel3_IRQHandler(void)
+{
+ /* USER CODE BEGIN GPDMA1_Channel3_IRQn 0 */
+
+ /* USER CODE END GPDMA1_Channel3_IRQn 0 */
+ HAL_DMA_IRQHandler(&handle_GPDMA1_Channel3);
+ /* USER CODE BEGIN GPDMA1_Channel3_IRQn 1 */
+
+ /* USER CODE END GPDMA1_Channel3_IRQn 1 */
+}
+
/**
* @brief This function handles GPDMA1 Channel 4 global interrupt.
*/
@@ -220,7 +238,7 @@ void USART1_IRQHandler(void)
if(__HAL_UART_GET_FLAG(&huart1,UART_FLAG_IDLE))
{
__HAL_UART_CLEAR_IDLEFLAG(&huart1);
- //ÕâÀïÊǼÆËã½ÓÊÕ×Ö·û¸öÊý
+ //�����Ǽ�������ַ�����
uint16_t len = UART_DMA_RX_BUF_SIZE - __HAL_DMA_GET_COUNTER(huart1.hdmarx);
for(uint16_t i = 0;i < len; i++)
@@ -229,12 +247,26 @@ void USART1_IRQHandler(void)
ble_rx_ring.head = (ble_rx_ring.head + 1) %RING_BUFFER_SIZE;
}
- HAL_UART_AbortReceive(&huart1); //Í£Ö¹µ±Ç°DMA
+ HAL_UART_AbortReceive(&huart1); //ֹͣ��ǰDMA
HCBle_InitDMAReception();
}
/* USER CODE END USART1_IRQn 1 */
}
+/**
+ * @brief This function handles USART2 global interrupt.
+ */
+void USART2_IRQHandler(void)
+{
+ /* USER CODE BEGIN USART2_IRQn 0 */
+
+ /* USER CODE END USART2_IRQn 0 */
+ HAL_UART_IRQHandler(&huart2);
+ /* USER CODE BEGIN USART2_IRQn 1 */
+
+ /* USER CODE END USART2_IRQn 1 */
+}
+
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
diff --git a/Core/Src/usart.c b/Core/Src/usart.c
index 66acfb5..661ca38 100644
--- a/Core/Src/usart.c
+++ b/Core/Src/usart.c
@@ -25,10 +25,14 @@
/* USER CODE END 0 */
UART_HandleTypeDef huart1;
+UART_HandleTypeDef huart2;
DMA_NodeTypeDef Node_GPDMA1_Channel5;
DMA_QListTypeDef List_GPDMA1_Channel5;
DMA_HandleTypeDef handle_GPDMA1_Channel5;
DMA_HandleTypeDef handle_GPDMA1_Channel4;
+DMA_NodeTypeDef Node_GPDMA1_Channel3;
+DMA_QListTypeDef List_GPDMA1_Channel3;
+DMA_HandleTypeDef handle_GPDMA1_Channel3;
/* USART1 init function */
@@ -73,6 +77,50 @@ void MX_USART1_UART_Init(void)
/* USER CODE END USART1_Init 2 */
+}
+/* USART2 init function */
+
+void MX_USART2_UART_Init(void)
+{
+
+ /* USER CODE BEGIN USART2_Init 0 */
+
+ /* USER CODE END USART2_Init 0 */
+
+ /* USER CODE BEGIN USART2_Init 1 */
+
+ /* USER CODE END USART2_Init 1 */
+ huart2.Instance = USART2;
+ huart2.Init.BaudRate = 9600;
+ huart2.Init.WordLength = UART_WORDLENGTH_8B;
+ huart2.Init.StopBits = UART_STOPBITS_1;
+ huart2.Init.Parity = UART_PARITY_NONE;
+ huart2.Init.Mode = UART_MODE_TX_RX;
+ huart2.Init.HwFlowCtl = UART_HWCONTROL_NONE;
+ huart2.Init.OverSampling = UART_OVERSAMPLING_16;
+ huart2.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
+ huart2.Init.ClockPrescaler = UART_PRESCALER_DIV1;
+ huart2.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
+ if (HAL_UART_Init(&huart2) != HAL_OK)
+ {
+ Error_Handler();
+ }
+ if (HAL_UARTEx_SetTxFifoThreshold(&huart2, UART_TXFIFO_THRESHOLD_1_8) != HAL_OK)
+ {
+ Error_Handler();
+ }
+ if (HAL_UARTEx_SetRxFifoThreshold(&huart2, UART_RXFIFO_THRESHOLD_1_8) != HAL_OK)
+ {
+ Error_Handler();
+ }
+ if (HAL_UARTEx_DisableFifoMode(&huart2) != HAL_OK)
+ {
+ Error_Handler();
+ }
+ /* USER CODE BEGIN USART2_Init 2 */
+
+ /* USER CODE END USART2_Init 2 */
+
}
void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
@@ -201,6 +249,99 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
/* 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.Usart2ClockSelection = RCC_USART2CLKSOURCE_PCLK1;
+ 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 */
+ /* GPDMA1_REQUEST_USART2_RX Init */
+ NodeConfig.NodeType = DMA_GPDMA_LINEAR_NODE;
+ NodeConfig.Init.Request = GPDMA1_REQUEST_USART2_RX;
+ NodeConfig.Init.BlkHWRequest = DMA_BREQ_SINGLE_BURST;
+ NodeConfig.Init.Direction = DMA_PERIPH_TO_MEMORY;
+ NodeConfig.Init.SrcInc = DMA_SINC_FIXED;
+ NodeConfig.Init.DestInc = DMA_DINC_FIXED;
+ NodeConfig.Init.SrcDataWidth = DMA_SRC_DATAWIDTH_BYTE;
+ NodeConfig.Init.DestDataWidth = DMA_DEST_DATAWIDTH_BYTE;
+ NodeConfig.Init.SrcBurstLength = 1;
+ NodeConfig.Init.DestBurstLength = 1;
+ NodeConfig.Init.TransferAllocatedPort = DMA_SRC_ALLOCATED_PORT0|DMA_DEST_ALLOCATED_PORT0;
+ NodeConfig.Init.TransferEventMode = DMA_TCEM_BLOCK_TRANSFER;
+ NodeConfig.Init.Mode = DMA_NORMAL;
+ NodeConfig.TriggerConfig.TriggerPolarity = DMA_TRIG_POLARITY_MASKED;
+ NodeConfig.DataHandlingConfig.DataExchange = DMA_EXCHANGE_NONE;
+ NodeConfig.DataHandlingConfig.DataAlignment = DMA_DATA_RIGHTALIGN_ZEROPADDED;
+ if (HAL_DMAEx_List_BuildNode(&NodeConfig, &Node_GPDMA1_Channel3) != HAL_OK)
+ {
+ Error_Handler();
+ }
+
+ if (HAL_DMAEx_List_InsertNode(&List_GPDMA1_Channel3, NULL, &Node_GPDMA1_Channel3) != HAL_OK)
+ {
+ Error_Handler();
+ }
+
+ if (HAL_DMAEx_List_SetCircularMode(&List_GPDMA1_Channel3) != HAL_OK)
+ {
+ Error_Handler();
+ }
+
+ handle_GPDMA1_Channel3.Instance = GPDMA1_Channel3;
+ handle_GPDMA1_Channel3.InitLinkedList.Priority = DMA_LOW_PRIORITY_LOW_WEIGHT;
+ handle_GPDMA1_Channel3.InitLinkedList.LinkStepMode = DMA_LSM_FULL_EXECUTION;
+ handle_GPDMA1_Channel3.InitLinkedList.LinkAllocatedPort = DMA_LINK_ALLOCATED_PORT0;
+ handle_GPDMA1_Channel3.InitLinkedList.TransferEventMode = DMA_TCEM_BLOCK_TRANSFER;
+ handle_GPDMA1_Channel3.InitLinkedList.LinkedListMode = DMA_LINKEDLIST_CIRCULAR;
+ if (HAL_DMAEx_List_Init(&handle_GPDMA1_Channel3) != HAL_OK)
+ {
+ Error_Handler();
+ }
+
+ if (HAL_DMAEx_List_LinkQ(&handle_GPDMA1_Channel3, &List_GPDMA1_Channel3) != HAL_OK)
+ {
+ Error_Handler();
+ }
+
+ __HAL_LINKDMA(uartHandle, hdmarx, handle_GPDMA1_Channel3);
+
+ if (HAL_DMA_ConfigChannelAttributes(&handle_GPDMA1_Channel3, DMA_CHANNEL_NPRIV) != HAL_OK)
+ {
+ Error_Handler();
+ }
+
+ /* USART2 interrupt Init */
+ HAL_NVIC_SetPriority(USART2_IRQn, 0, 0);
+ HAL_NVIC_EnableIRQ(USART2_IRQn);
+ /* USER CODE BEGIN USART2_MspInit 1 */
+
+ /* USER CODE END USART2_MspInit 1 */
+ }
}
void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
@@ -230,6 +371,29 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
/* 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 */
+ }
}
/* USER CODE BEGIN 1 */
diff --git a/MDK-ARM/.vscode/keil-assistant.log b/MDK-ARM/.vscode/keil-assistant.log
index 18930fb..8443197 100644
--- a/MDK-ARM/.vscode/keil-assistant.log
+++ b/MDK-ARM/.vscode/keil-assistant.log
@@ -39,3 +39,5 @@
[info] Log at : 2025/6/9|21:25:19|GMT+0800
+[info] Log at : 2025/6/9|21:52:22|GMT+0800
+
diff --git a/MDK-ARM/AutoGuideStick.uvguix.madao b/MDK-ARM/AutoGuideStick.uvguix.madao
index 0533caa..98783ef 100644
--- a/MDK-ARM/AutoGuideStick.uvguix.madao
+++ b/MDK-ARM/AutoGuideStick.uvguix.madao
@@ -93,8 +93,8 @@
2
3
- -32000
- -32000
+ -1
+ -1
-1
@@ -110,8 +110,8 @@
0
- 665
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@@ -1822,7 +1822,7 @@
Build
988
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583
@@ -1838,7 +1838,7 @@
Debug
2373
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898
@@ -1862,48 +1862,21 @@
0
100
- 0
-
- ..\fun\headfile.h
- 18
- 1
- 15
- 1
-
- 0
-
-
- ..\fun\HCBle.h
- 38
- 9
- 39
- 1
-
- 0
-
-
- ..\fun\HCBle.c
- 31
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+ 3
../Core/Src/usart.c
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+ 18
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+ 21
1
0
../Core/Src/stm32h5xx_it.c
- 3
- 210
- 221
+ 46
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1
0
@@ -1917,6 +1890,33 @@
0
+
+ ..\fun\gps.c
+ 0
+ 135
+ 161
+ 1
+
+ 0
+
+
+ ..\fun\gps.h
+ 5
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+ 0
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+
+ ..\fun\HCBle.c
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diff --git a/MDK-ARM/AutoGuideStick.uvoptx b/MDK-ARM/AutoGuideStick.uvoptx
index 17f2c19..10fb4b5 100644
--- a/MDK-ARM/AutoGuideStick.uvoptx
+++ b/MDK-ARM/AutoGuideStick.uvoptx
@@ -2559,7 +2559,7 @@
fun
- 0
+ 1
0
0
0
@@ -2599,6 +2599,30 @@
0
0
+
+ 7
+ 198
+ 1
+ 0
+ 0
+ 0
+ ..\fun\gps.c
+ gps.c
+ 0
+ 0
+
+
+ 7
+ 199
+ 5
+ 0
+ 0
+ 0
+ ..\fun\gps.h
+ gps.h
+ 0
+ 0
+
diff --git a/MDK-ARM/AutoGuideStick.uvprojx b/MDK-ARM/AutoGuideStick.uvprojx
index 08eb1c4..77b00b0 100644
--- a/MDK-ARM/AutoGuideStick.uvprojx
+++ b/MDK-ARM/AutoGuideStick.uvprojx
@@ -1603,6 +1603,16 @@
5
..\fun\headfile.h
+
+ gps.c
+ 1
+ ..\fun\gps.c
+
+
+ gps.h
+ 5
+ ..\fun\gps.h
+
diff --git a/MDK-ARM/AutoGuideStick/AutoGuideStick.axf b/MDK-ARM/AutoGuideStick/AutoGuideStick.axf
index 6fa7c87..00de0ad 100644
Binary files a/MDK-ARM/AutoGuideStick/AutoGuideStick.axf and b/MDK-ARM/AutoGuideStick/AutoGuideStick.axf differ
diff --git a/MDK-ARM/AutoGuideStick/AutoGuideStick.build_log.htm b/MDK-ARM/AutoGuideStick/AutoGuideStick.build_log.htm
index 9ddcf7c..cde30f5 100644
--- a/MDK-ARM/AutoGuideStick/AutoGuideStick.build_log.htm
+++ b/MDK-ARM/AutoGuideStick/AutoGuideStick.build_log.htm
@@ -21,198 +21,17 @@ Target DLL: STLink\ST-LINKIII-KEIL_SWO.dll V3.2.0.0
Dialog DLL: TCM.DLL V1.56.4.0
Project:
-d:\advance_stick\AutoGuideStick\MDK-ARM\AutoGuideStick.uvprojx
-Project File Date: 06/09/2025
+D:\advance_stick\AutoGuideStick\MDK-ARM\AutoGuideStick.uvprojx
+Project File Date: 06/10/2025
Output:
*** Using Compiler 'V6.21', folder: 'D:\keil5\ARM\ARMCLANG\Bin'
Build target 'AutoGuideStick'
-compiling memorymap.c...
-compiling app_azure_rtos.c...
-compiling gpdma.c...
-compiling usart.c...
-compiling gpio.c...
-compiling stm32h5xx_hal_tim_ex.c...
-compiling stm32h5xx_hal_tim.c...
-compiling app_threadx.c...
-compiling stm32h5xx_hal_cortex.c...
-compiling stm32h5xx_hal_dma.c...
-compiling main.c...
-compiling stm32h5xx_hal_timebase_tim.c...
-compiling stm32h5xx_hal_msp.c...
compiling stm32h5xx_it.c...
-compiling stm32h5xx_hal_dma_ex.c...
-compiling stm32h5xx_hal_rcc.c...
-compiling stm32h5xx_hal_flash.c...
-compiling stm32h5xx_hal_rcc_ex.c...
-compiling stm32h5xx_hal_flash_ex.c...
-compiling stm32h5xx_hal_gpio.c...
-compiling stm32h5xx_hal_pwr.c...
-compiling stm32h5xx_hal_pwr_ex.c...
-compiling stm32h5xx_hal.c...
-compiling stm32h5xx_hal_exti.c...
-compiling tx_initialize_high_level.c...
-compiling stm32h5xx_hal_uart_ex.c...
-compiling system_stm32h5xx.c...
-compiling tx_initialize_kernel_enter.c...
-compiling stm32h5xx_hal_uart.c...
-compiling tx_initialize_kernel_setup.c...
-compiling tx_thread_stack_error_handler.c...
-compiling tx_thread_stack_error_notify.c...
-compiling tx_thread_system_resume.c...
-compiling tx_block_allocate.c...
-compiling tx_block_pool_cleanup.c...
-compiling tx_block_pool_create.c...
-compiling tx_block_pool_delete.c...
-compiling tx_block_pool_info_get.c...
-compiling tx_block_pool_initialize.c...
-compiling tx_block_pool_prioritize.c...
-compiling tx_block_release.c...
-compiling tx_byte_allocate.c...
-compiling tx_byte_pool_cleanup.c...
-compiling tx_byte_pool_create.c...
-compiling tx_byte_pool_delete.c...
-compiling tx_byte_pool_info_get.c...
-compiling tx_byte_pool_initialize.c...
-compiling tx_byte_pool_prioritize.c...
-compiling tx_byte_pool_search.c...
-compiling tx_byte_release.c...
-compiling tx_event_flags_cleanup.c...
-compiling tx_event_flags_create.c...
-compiling tx_event_flags_delete.c...
-compiling tx_event_flags_info_get.c...
-compiling tx_event_flags_get.c...
-compiling tx_event_flags_initialize.c...
-compiling tx_event_flags_set.c...
-compiling tx_event_flags_set_notify.c...
-compiling tx_mutex_cleanup.c...
-compiling tx_mutex_create.c...
-compiling tx_mutex_delete.c...
-compiling tx_mutex_get.c...
-compiling tx_mutex_info_get.c...
-compiling tx_mutex_initialize.c...
-compiling tx_mutex_prioritize.c...
-compiling tx_mutex_priority_change.c...
-compiling tx_mutex_put.c...
-compiling tx_queue_cleanup.c...
-compiling tx_queue_create.c...
-compiling tx_queue_delete.c...
-compiling tx_queue_flush.c...
-compiling tx_queue_front_send.c...
-compiling tx_queue_info_get.c...
-compiling tx_queue_initialize.c...
-compiling tx_queue_prioritize.c...
-compiling tx_queue_receive.c...
-compiling tx_queue_send.c...
-compiling tx_queue_send_notify.c...
-compiling tx_semaphore_ceiling_put.c...
-compiling tx_semaphore_cleanup.c...
-compiling tx_semaphore_create.c...
-compiling tx_semaphore_delete.c...
-compiling tx_semaphore_get.c...
-compiling tx_semaphore_info_get.c...
-compiling tx_semaphore_initialize.c...
-compiling tx_semaphore_prioritize.c...
-compiling tx_semaphore_put.c...
-compiling tx_semaphore_put_notify.c...
-compiling tx_thread_create.c...
-compiling tx_thread_delete.c...
-compiling tx_thread_entry_exit_notify.c...
-compiling tx_thread_identify.c...
-compiling tx_thread_info_get.c...
-compiling tx_thread_initialize.c...
-compiling tx_thread_preemption_change.c...
-compiling tx_thread_priority_change.c...
-compiling tx_thread_relinquish.c...
-compiling tx_thread_reset.c...
-compiling tx_thread_shell_entry.c...
-compiling tx_thread_resume.c...
-compiling tx_thread_sleep.c...
-compiling tx_thread_stack_analyze.c...
-compiling tx_thread_suspend.c...
-compiling tx_thread_system_preempt_check.c...
-compiling tx_thread_system_suspend.c...
-compiling tx_thread_terminate.c...
-compiling tx_thread_time_slice.c...
-compiling tx_thread_time_slice_change.c...
-compiling tx_thread_timeout.c...
-compiling tx_thread_wait_abort.c...
-compiling tx_time_get.c...
-compiling tx_time_set.c...
-compiling txe_block_allocate.c...
-compiling txe_block_pool_create.c...
-compiling txe_block_pool_delete.c...
-compiling txe_block_pool_info_get.c...
-compiling txe_block_pool_prioritize.c...
-compiling txe_block_release.c...
-compiling txe_byte_allocate.c...
-compiling txe_byte_pool_create.c...
-compiling txe_byte_pool_delete.c...
-compiling txe_byte_pool_info_get.c...
-compiling txe_byte_pool_prioritize.c...
-compiling txe_byte_release.c...
-compiling txe_event_flags_create.c...
-compiling txe_event_flags_delete.c...
-compiling txe_event_flags_get.c...
-compiling txe_event_flags_info_get.c...
-compiling txe_event_flags_set.c...
-compiling txe_event_flags_set_notify.c...
-compiling txe_mutex_create.c...
-compiling txe_mutex_delete.c...
-compiling txe_mutex_get.c...
-compiling txe_mutex_info_get.c...
-compiling txe_mutex_prioritize.c...
-compiling txe_mutex_put.c...
-compiling txe_queue_create.c...
-compiling txe_queue_delete.c...
-compiling txe_queue_flush.c...
-compiling txe_queue_front_send.c...
-compiling txe_queue_info_get.c...
-compiling txe_queue_prioritize.c...
-compiling txe_queue_receive.c...
-compiling txe_queue_send.c...
-compiling txe_queue_send_notify.c...
-compiling txe_semaphore_ceiling_put.c...
-compiling txe_semaphore_create.c...
-compiling txe_semaphore_delete.c...
-compiling txe_semaphore_get.c...
-compiling txe_semaphore_info_get.c...
-compiling txe_semaphore_prioritize.c...
-compiling txe_semaphore_put.c...
-compiling txe_semaphore_put_notify.c...
-compiling txe_thread_create.c...
-compiling txe_thread_delete.c...
-compiling txe_thread_entry_exit_notify.c...
-compiling txe_thread_info_get.c...
-compiling txe_thread_preemption_change.c...
-compiling txe_thread_priority_change.c...
-compiling txe_thread_relinquish.c...
-compiling txe_thread_reset.c...
-compiling txe_thread_resume.c...
-compiling txe_thread_suspend.c...
-compiling txe_thread_terminate.c...
-compiling txe_thread_time_slice_change.c...
-compiling txe_thread_wait_abort.c...
-compiling tx_timer_activate.c...
-compiling tx_timer_change.c...
-compiling tx_timer_create.c...
-compiling tx_timer_deactivate.c...
-compiling tx_timer_delete.c...
-compiling tx_timer_expiration_process.c...
-compiling tx_timer_info_get.c...
-compiling tx_timer_initialize.c...
-compiling tx_timer_system_activate.c...
-compiling tx_timer_system_deactivate.c...
-compiling tx_timer_thread_entry.c...
-compiling txe_timer_activate.c...
-compiling txe_timer_change.c...
-compiling txe_timer_create.c...
-compiling txe_timer_deactivate.c...
-compiling txe_timer_delete.c...
-compiling txe_timer_info_get.c...
compiling HCBle.c...
+compiling gps.c...
linking...
-Program Size: Code=54718 RO-data=726 RW-data=16 ZI-data=5296
+Program Size: Code=55862 RO-data=726 RW-data=16 ZI-data=5952
FromELF: creating hex file...
"AutoGuideStick\AutoGuideStick.axf" - 0 Error(s), 0 Warning(s).
@@ -238,7 +57,7 @@ Package Vendor: Keil
* Component: ARM::CMSIS:CORE@5.6.0
Include file: CMSIS/Core/Include/tz_context.h
-Build Time Elapsed: 00:00:24
+Build Time Elapsed: 00:00:02