优化 App 类，重构 Setup 和 AppStart 函数，清理未使用的代码，增强可读性

BlindCane.ioc

@@ -94,7 +94,7 @@ NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 NVIC.PendSV_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4
 NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
-NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:true\:false\:true\:false
+NVIC.SysTick_IRQn=true\:14\:0\:false\:false\:true\:false\:true\:false
 NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 PA1.GPIOParameters=GPIO_Speed,GPIO_PuPd,GPIO_Label,GPIO_Mode
 PA1.GPIO_Label=RMII_REF_CLK
@@ -286,7 +286,7 @@ 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,0-MX_CORTEX_M33_NS_Init-CORTEX_M33_NS-false-HAL-true,0-MX_PWR_Init-PWR-false-HAL-true,false-0--NUCLEO-H563ZI-true-HAL-true
+ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_TIM7_Init-TIM7-false-HAL-true,0-MX_CORTEX_M33_NS_Init-CORTEX_M33_NS-false-HAL-true,0-MX_PWR_Init-PWR-false-HAL-true,false-0--NUCLEO-H563ZI-true-HAL-true
 RCC.ADCFreq_Value=250000000
 RCC.AHBFreq_Value=250000000
 RCC.APB1Freq_Value=250000000

CMakeLists.txt

@@ -49,14 +49,17 @@ target_link_directories(${CMAKE_PROJECT_NAME} PRIVATE
     # Add user defined library search paths
 )
 
+# Find Python3
+find_package(Python3 REQUIRED)
+
 # Add custom target to run MCUVersionGen.py script
-execute_process(COMMAND python ${CMAKE_CURRENT_SOURCE_DIR}/Tools/GenVersion/McuVersionGen.py ${CMAKE_PROJECT_NAME} ${CMAKE_CURRENT_SOURCE_DIR}
+execute_process(COMMAND ${Python3_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/Tools/GenVersion/McuVersionGen.py ${CMAKE_PROJECT_NAME} ${CMAKE_CURRENT_SOURCE_DIR}
         RESULT_VARIABLE result
         OUTPUT_VARIABLE script_output)
 message(${script_output})
 
 add_custom_target(version_gen
-        COMMAND python ${CMAKE_CURRENT_SOURCE_DIR}/Tools/GenVersion/McuVersionGen.py ${CMAKE_PROJECT_NAME} ${CMAKE_CURRENT_SOURCE_DIR}
+        COMMAND ${Python3_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/Tools/GenVersion/McuVersionGen.py ${CMAKE_PROJECT_NAME} ${CMAKE_CURRENT_SOURCE_DIR}
         COMMENT "Running MCUVersionGen.py script"
 )
 add_dependencies(${CMAKE_PROJECT_NAME} version_gen)

Core/App/Center/common_center.hpp

@@ -0,0 +1,34 @@
+#pragma once
+
+#include "../Common/can_mv.hpp"
+#include "../Common/df_player.hpp"
+#include "../Common/ultrasonic.hpp"
+#include "../config.hpp"
+
+class CommonCenter {
+public:
+    static Ultrasonic& GetUltrasonic() {
+        static Ultrasonic* instance = nullptr;
+        if (instance == nullptr) {
+            instance = new Ultrasonic(
+                Config::kCaptureConfig.trigger, Config::kCaptureConfig.timer, Config::kCaptureConfig.channel);
+        }
+        return *instance;
+    }
+
+    static DfPlayer& GetDfPlayer() {
+        static DfPlayer* instance = nullptr;
+        if (instance == nullptr) {
+            instance = new DfPlayer(Config::kDfPlayerUart);
+        }
+        return *instance;
+    }
+
+    static CanMv& GetCanMv() {
+        static CanMv* instance = nullptr;
+        if (instance == nullptr) {
+            instance = new CanMv(Config::kCanMvUart);
+        }
+        return *instance;
+    }
+};

Core/App/Common/can_mv.hpp

@@ -0,0 +1,19 @@
+#pragma once
+
+#include <cstdint>
+
+#include "../Common/serial_port.hpp"
+
+class CanMv {
+public:
+    explicit CanMv(UART_HandleTypeDef* uart) : serialPort(new SerialPort(uart, kLength, kTimeout)) {}
+
+    ~CanMv() {
+        delete serialPort;
+    }
+
+private:
+    static constexpr uint32_t kLength  = 128;
+    static constexpr uint32_t kTimeout = 10;
+    SerialPort* serialPort;
+};

Core/App/Common/df_player.cpp

@@ -0,0 +1,41 @@
+#include "df_player.hpp"
+
+void DfPlayer::SendCommand(Command cmd, uint16_t param) {
+    uint8_t buffer[10];
+    buffer[0] = kStartByte;
+    buffer[1] = kVersion;
+    buffer[2] = 0x06;
+    buffer[3] = static_cast<uint8_t>(cmd);
+    buffer[4] = kFeedback;
+    buffer[5] = (param >> 8) & 0xFF;
+    buffer[6] = param & 0xFF;
+
+    uint16_t checksum = 0xFFFF - (kVersion + 0x06 + static_cast<uint8_t>(cmd) + kFeedback + buffer[5] + buffer[6]) + 1;
+    buffer[7]         = (checksum >> 8) & 0xFF;
+    buffer[8]         = checksum & 0xFF;
+    buffer[9]         = kEndByte;
+
+    serialPort->WriteBytesBlocking(buffer, sizeof(buffer));
+}
+
+void DfPlayer::Play() {
+    SendCommand(Command::kPlay);
+}
+
+void DfPlayer::Stop() {
+    SendCommand(Command::kStop);
+}
+
+void DfPlayer::SetVolume(uint8_t volume) {
+    if (volume > 30) {
+        volume = 30;
+    }
+    SendCommand(Command::kSetVolume, volume);
+}
+
+void DfPlayer::PlayTrack(uint16_t track) {
+    if (track < 1 || track > 2999) {
+        return;
+    }
+    SendCommand(Command::kPlayTrack, track);
+}

Core/App/Common/df_player.hpp

@@ -0,0 +1,63 @@
+#pragma once
+
+#include <cstdint>
+
+#include "../Common/serial_port.hpp"
+
+class DfPlayer {
+public:
+    explicit DfPlayer(UART_HandleTypeDef* uart) : serialPort(new SerialPort(uart, kLength, kTimeout)) {}
+
+    ~DfPlayer() {
+        delete serialPort;
+    }
+
+    void Play();
+    void Stop();
+    void SetVolume(uint8_t volume);
+    void PlayTrack(uint16_t track);
+
+private:
+    enum class Command : uint8_t {
+        kNext                    = 0x01,
+        kPrevious                = 0x02,
+        kPlayTrack               = 0x03,
+        kVolumeUp                = 0x04,
+        kVolumeDown              = 0x05,
+        kSetVolume               = 0x06,
+        kSetEQ                   = 0x07,
+        kSingleLoopPlayTrack     = 0x08,
+        kSetPlaybackDevice       = 0x09,
+        kEnterSleep              = 0x0A,
+        kResetModule             = 0x0C,
+        kPlay                    = 0x0D,
+        kPause                   = 0x0E,
+        kPlayFolderTrack         = 0x0F,
+        kSetAmplification        = 0x10,
+        kLoopAll                 = 0x11,
+        kPlayMp3FolderTrack      = 0x12,
+        kInsertAd                = 0x13,
+        kStopAdPlayBackground    = 0x15,
+        kStop                    = 0x16,
+        kQueryStatus             = 0x42,
+        kQueryVolume             = 0x43,
+        kQueryEQ                 = 0x44,
+        kQueryUDiskTotalFiles    = 0x47,
+        kQueryTFCardTotalFiles   = 0x48,
+        kQueryFlashTotalFiles    = 0x49,
+        kQueryUDiskCurrentTrack  = 0x4B,
+        kQueryTFCardCurrentTrack = 0x4C,
+        kQueryFlashCurrentTrack  = 0x4D,
+    };
+
+    static constexpr uint32_t kLength  = 128;
+    static constexpr uint32_t kTimeout = 10;
+    SerialPort* serialPort;
+
+    void SendCommand(Command cmd, uint16_t param = 0);
+
+    static constexpr uint8_t kStartByte = 0x7E;
+    static constexpr uint8_t kVersion   = 0xFF;
+    static constexpr uint8_t kFeedback  = 0x00;
+    static constexpr uint8_t kEndByte   = 0xEF;
+};

Core/App/Common/serial_port.cpp

@@ -1,5 +0,0 @@
-#include "serial_port.hpp"
-
-extern "C" void HAL_UART_TxCpltCallback([[maybe_unused]] UART_HandleTypeDef* huart) {
-    SerialPort::isTransmitting = false;
-}

Core/App/Common/serial_port.hpp

@@ -1,43 +1,38 @@
 #pragma once
 
-#include "stm32h5xx_nucleo.h"
+#include "main.h"
 #include <cstdarg>
 #include <cstdint>
 #include <cstring>
+#include <memory>
 #include <string>
 
 class SerialPort {
 private:
-    static constexpr uint32_t kTransmitTimeout = 1000;
+    UART_HandleTypeDef* handle;
-    static constexpr auto* kHandle             = &hcom_uart[COM1];
+    uint32_t timeout;
-
+    std::unique_ptr<char[]> buffer;
-    static inline char buffer[256] = {0};
-
-    friend void HAL_UART_TxCpltCallback(UART_HandleTypeDef* huart);
-    static inline volatile bool isTransmitting = false;
-
-    static void WaitTransmit() {
-        const auto tick = HAL_GetTick();
-        while (isTransmitting) {
-            if (HAL_GetTick() - tick > kTransmitTimeout) {
-                HAL_UART_AbortTransmit(kHandle);
-                isTransmitting = false;
-            }
-        }
-    }
 
 public:
-    static uint8_t ReadByte() {
+    SerialPort(UART_HandleTypeDef* uart, uint32_t length, uint32_t timeout)
-        return kHandle->Instance->RDR;
+        : handle(uart), timeout(timeout), buffer(std::make_unique<char[]>(length)) {}
+
+    ~SerialPort() = default;
+
+    uint8_t ReadByte() {
+        return handle->Instance->RDR;
     }
 
-    static std::string ReadLine() {
+    std::string ReadLine() {
         std::string result;
         result.reserve(128);
         char c;
         ReadByte();
         while (true) {
-            HAL_UART_Receive(kHandle, reinterpret_cast<uint8_t*>(&c), 1, HAL_MAX_DELAY);
+            auto r =  HAL_UART_Receive(handle, reinterpret_cast<uint8_t*>(&c), sizeof(c), timeout);
+            if (r != HAL_OK) {
+                throw std::runtime_error("UART receive error");
+            }
             if (c == '\n') {
                 if (!result.empty() && result.back() == '\r') {
                     result.pop_back();
@@ -49,70 +44,39 @@ public:
         return result;
     }
 
-    static void WriteLineDMA(const char* format, ...) {
+    void ReadBytesBlocking(uint8_t* data, size_t size) {
-        WaitTransmit();
+        auto r = HAL_UART_Receive(handle, data, size, timeout);
-        isTransmitting = true;
+        if (r != HAL_OK) {
-        va_list args;
+            throw std::runtime_error("UART receive error");
-        va_start(args, format);
-        int len = vsnprintf(buffer, sizeof(buffer) - 1, format, args);
-        va_end(args);
-        if (len < 0 || len > static_cast<int>(sizeof(buffer) - 1)) {
-            isTransmitting = false;
-            return;
         }
-        buffer[len] = '\n';
-        len++;
-        HAL_UART_Transmit_DMA(kHandle, reinterpret_cast<uint8_t*>(buffer), len);
     }
 
-    static void WriteLineBlocking(const char* format, ...) {
+    void WriteBytesBlocking(const uint8_t* data, size_t size) {
-        WaitTransmit();
+        HAL_UART_Transmit(handle, const_cast<uint8_t*>(data), size, timeout);
+    }
+
+    void WriteBlocking(const char* format, ...) {
+
         va_list args;
         va_start(args, format);
-        int len = vsnprintf(buffer, sizeof(buffer) - 1, format, args);
+        auto len = vsnprintf(buffer.get(), sizeof(buffer), format, args);
+        va_end(args);
+        if (len < 0 || len > static_cast<int>(sizeof(buffer))) {
+            return;
+        }
+        HAL_UART_Transmit(handle, reinterpret_cast<uint8_t*>(buffer.get()), strlen(buffer.get()), timeout);
+    }
+
+    void WriteLineBlocking(const char* format, ...) {
+        va_list args;
+        va_start(args, format);
+        int len = vsnprintf(buffer.get(), sizeof(buffer) - 1, format, args);
         va_end(args);
         if (len < 0 || len > static_cast<int>(sizeof(buffer) - 1)) {
             return;
         }
         buffer[len] = '\n';
         len++;
-        HAL_UART_Transmit(kHandle, reinterpret_cast<uint8_t*>(buffer), len, kTransmitTimeout);
+        HAL_UART_Transmit(handle, reinterpret_cast<uint8_t*>(buffer.get()), len, timeout);
-    }
-
-    static void WriteDMA(const char* format, ...) {
-        WaitTransmit();
-        isTransmitting = true;
-        va_list args;
-        va_start(args, format);
-        auto len = vsnprintf(buffer, sizeof(buffer), format, args);
-        va_end(args);
-        if (len < 0 || len > static_cast<int>(sizeof(buffer))) {
-            isTransmitting = false;
-            return;
-        }
-        HAL_UART_Transmit_DMA(kHandle, reinterpret_cast<uint8_t*>(buffer), len);
-    }
-
-    static void WriteBlocking(const char* format, ...) {
-        WaitTransmit();
-        va_list args;
-        va_start(args, format);
-        auto len = vsnprintf(buffer, sizeof(buffer), format, args);
-        va_end(args);
-        if (len < 0 || len > static_cast<int>(sizeof(buffer))) {
-            return;
-        }
-        HAL_UART_Transmit(kHandle, reinterpret_cast<uint8_t*>(buffer), strlen(buffer), kTransmitTimeout);
-    }
-
-    static void WriteBytesDMA(const uint8_t* data, size_t size) {
-        WaitTransmit();
-        isTransmitting = true;
-        HAL_UART_Transmit_DMA(kHandle, const_cast<uint8_t*>(data), size);
-    }
-
-    static void WriteBytesBlocking(const uint8_t* data, size_t size) {
-        WaitTransmit();
-        HAL_UART_Transmit(kHandle, const_cast<uint8_t*>(data), size, kTransmitTimeout);
     }
 };

Core/App/Common/ultrasonic.hpp

@@ -0,0 +1,89 @@
+#pragma once
+
+#include "../Helper/delay_helper.h"
+#include "stm32h563xx.h"
+#include "stm32h5xx_hal_tim.h"
+#include <cstdint>
+#include <stdexcept>
+
+#include "../Helper/gpio_helper.hpp"
+#include "../Helper/task_helper.hpp"
+
+class Ultrasonic {
+public:
+    Ultrasonic(GPIO_TypeDef* gpio, uint16_t pin, TIM_HandleTypeDef* timer, uint32_t channel)
+        : Ultrasonic({gpio, pin}, timer, channel) {}
+
+    Ultrasonic(const GpioHelper::Gpio& trigger, TIM_HandleTypeDef* timer, uint32_t channel)
+        : trigger(trigger), timer(timer), channel(channel) {
+        captureFlag = GetCaptureFlag(channel);
+    }
+
+    double GetDistance(uint32_t time = 1) {
+        double distance = 0;
+        for (uint32_t cnt = 0; cnt < time; ++cnt) {
+            Trigger();
+            auto echoTime = MeasureEchoTime();
+            distance += CalculateDistance(echoTime);
+        }
+        return distance / time;
+    }
+
+private:
+    constexpr static uint32_t kTimeout = 100;
+
+    GpioHelper::Gpio trigger;
+    TIM_HandleTypeDef* timer;
+    uint32_t channel;
+    uint32_t captureFlag;
+
+    void Trigger() {
+        trigger.Set();
+        DelayUs(10);
+        trigger.Reset();
+    }
+
+    double MeasureEchoTime() {
+        timer->Instance->CNT = 0;
+        uint32_t data[2];
+        HAL_TIM_IC_Start(timer, channel);
+        try {
+            for (auto& value : data) {
+                TaskHelper::WaitFor(
+                    [&]() {
+                        if (__HAL_TIM_GET_FLAG(timer, captureFlag)) {
+                            __HAL_TIM_CLEAR_FLAG(timer, captureFlag);
+                            value = HAL_TIM_ReadCapturedValue(timer, channel);
+                            return true;
+                        }
+                        return false;
+                    },
+                    kTimeout);
+            }
+            HAL_TIM_IC_Stop(timer, channel);
+            return (data[1] - data[0]) / 250.0;
+        } catch (const std::exception& e) {
+            HAL_TIM_IC_Stop(timer, channel);
+            throw;
+        }
+    }
+
+    [[nodiscard]] static double CalculateDistance(double echoTime) {
+        return (echoTime * 0.0343) / 2.0;
+    }
+
+    static uint32_t GetCaptureFlag(uint32_t channel) {
+        switch (channel) {
+        case TIM_CHANNEL_1:
+            return TIM_SR_CC1IF;
+        case TIM_CHANNEL_2:
+            return TIM_SR_CC2IF;
+        case TIM_CHANNEL_3:
+            return TIM_SR_CC3IF;
+        case TIM_CHANNEL_4:
+            return TIM_SR_CC4IF;
+        default:
+            throw std::invalid_argument("Invalid timer channel");
+        }
+    }
+};

Core/App/Helper/task_helper.hpp

@@ -0,0 +1,19 @@
+#pragma once
+
+#include "stm32h5xx_hal.h"
+#include <cstdint>
+#include <stdexcept>
+
+class TaskHelper {
+public:
+    template <typename Func>
+    static void WaitFor(Func func, int timeoutMilliseconds) {
+        auto start = HAL_GetTick();
+        while (!func()) {
+            uint32_t now = HAL_GetTick();
+            if ((now - start) > static_cast<uint32_t>(timeoutMilliseconds)) {
+                throw std::runtime_error("Operation timed out");
+            }
+        }
+    }
+};

Core/App/app.cpp

@@ -1,21 +1,36 @@
 #include "Helper/delay_helper.h"
 #include "stm32h563xx.h"
 
-#include "Common/serial_port.hpp"
+#include "Center/common_center.hpp"
 #include "Helper/gpio_helper.hpp"
+#include "Helper/delay_helper.h"
 
+void TerminateHandler() {
+    auto led = GpioHelper::GpioInit(GPIOB, GPIO_PIN_0, GPIO_MODE_OUTPUT_PP, GPIO_NOPULL, GPIO_PIN_SET);
+    while (true) {
+        led.Toggle();
+        DelayS(1);
+    }
+}
 
 void Setup() {
     GpioHelper::EnableAllGpioPeripheral();
     DelaySetup();
+    auto ultrasonic = CommonCenter::GetUltrasonic();
+    auto dfPlayer   = CommonCenter::GetDfPlayer();
+    auto canMv      = CommonCenter::GetCanMv();
 }
 
 extern "C" void AppStart() {
     Setup();
-    auto gpio = GpioHelper::GpioInit(GPIOB, GPIO_PIN_0, GPIO_MODE_OUTPUT_PP, GPIO_NOPULL, GPIO_PIN_SET);
+    auto ultrasonic = CommonCenter::GetUltrasonic();
+    auto dfPlayer   = CommonCenter::GetDfPlayer();
+    auto canMv      = CommonCenter::GetCanMv();
     while (true) {
-        gpio.Toggle();
+        // Example usage of the classes
-        SerialPort::WriteBlocking("LED is toggled,current state: %s", gpio.Read() ? "OFF" : "ON");
+        ultrasonic.GetDistance();
-        DelayS(1);
+        dfPlayer.PlayTrack(1);
+
+        DelayMs(1000); // Delay for 1 second
     }
 }

Core/App/config.hpp

@@ -0,0 +1,18 @@
+#pragma once
+
+#include "stm32h563xx.h"
+#include "tim.h"
+
+#include "./Helper/gpio_helper.hpp"
+
+struct Config {
+    static inline struct {
+        GpioHelper::Gpio trigger;
+        TIM_HandleTypeDef* timer;
+        uint32_t channel;
+    } kCaptureConfig = {{GPIOA, GPIO_PIN_0}, &htim7, TIM_CHANNEL_1};
+
+    static inline UART_HandleTypeDef* kDfPlayerUart = &hcom_uart[COM1];
+    
+    static inline UART_HandleTypeDef* kCanMvUart    = &hcom_uart[COM1];
+};

Core/Inc/stm32h5xx_hal_conf.h

@@ -182,7 +182,7 @@
   */
 
 #define  VDD_VALUE                  3300UL /*!< Value of VDD in mv */
-#define  TICK_INT_PRIORITY          (15UL)  /*!< tick interrupt priority (lowest by default) */
+#define  TICK_INT_PRIORITY          (14UL)  /*!< tick interrupt priority */
 #define  USE_RTOS                   0U
 #define  PREFETCH_ENABLE            0U               /*!< Enable prefetch */