STM32HAL库串口中断接收数据

【代码】STM32HAL库串口中断接收数据。

AZSR

434人浏览 · 2024-12-07 11:14:14

AZSR · 2024-12-07 11:14:14 发布

/* USER CODE BEGIN Header */
/**
 ******************************************************************************
 * @file : main.c
 * @brief : Main program body
 ******************************************************************************
 * @attention
 *
 * Copyright (c) 2024 STMicroelectronics.
 * All rights reserved.
 *
 * This software is licensed under terms that can be found in the LICENSE file
 * in the root directory of this software component.
 * If no LICENSE file comes with this software, it is provided AS-IS.
 *
 ******************************************************************************
 */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include <stdio.h>
#include <string.h>
#include "pid.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

uint8_t x = 0, y = 0;
volatile uint8_t flag = 0;
uint8_t RxBuffer[5];
double motor1 = 25;
double motor2 = 35;
/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart) {
	// �??查是否是预期的UART接口
	if (huart == &huart2) {
		// 判断帧头
		if (RxBuffer[0] == 0x2C && RxBuffer[1] == 0x12) {
			// 读取数据
			x = RxBuffer[2];
			y = RxBuffer[3];
			// 判断帧尾
			if (RxBuffer[4] == 0x5B) {
				flag = 1;
				motor1 = motor1 + PIDx_realize(x, 100);//第一参数为实际坐标，第二个参数为设定坐标
				if (motor1 < 30)
					motor1 = 30;				//防止超过舵机的工作范围内的占空比
				if (motor1 > 250)
					motor1 = 250;
				TIM3->CCR1 = motor1;
				//对上面对应纵坐标的舵机进行控�??
				//motor2 = motor2 + PIDy_realize(y, 105);
				if (motor2 < 30)
					motor2 = 30;
				if (motor2 > 250)
					motor2 = 250;
				TIM4->CCR1 = motor2;
			} else {

			}
		}
		// 清空接收缓冲�??
		memset(RxBuffer, 0x00, sizeof(RxBuffer));
		// 再次启动UART接收中断
		HAL_UART_Receive_IT(&huart2, RxBuffer, 5);
	}
}
/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{

  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_USART1_UART_Init();
  MX_USART2_UART_Init();
  MX_TIM3_Init();
  MX_TIM4_Init();
  /* USER CODE BEGIN 2 */
	HAL_UART_Receive_IT(&huart2, RxBuffer, 5);
	PID_init();
	HAL_Delay(100);
	HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_1); //�??启PWM�??
	HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_1);
	__HAL_TIM_SET_COMPARE(&htim3, TIM_CHANNEL_1, motor1); //占空比初始化，为25\1000=2.5%
	__HAL_TIM_SET_COMPARE(&htim4, TIM_CHANNEL_1, motor2);
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
	while (1) {
		if (flag) {
			if (x <= 100) {
				HAL_GPIO_WritePin(GPIOA, GPIO_PIN_4, GPIO_PIN_RESET);
				HAL_Delay(1000);
				HAL_GPIO_WritePin(GPIOA, GPIO_PIN_4, GPIO_PIN_SET);
				HAL_Delay(1000);
			}
			if (x >= 100) {
				HAL_Delay(1000);
				HAL_GPIO_WritePin(GPIOA, GPIO_PIN_0, GPIO_PIN_RESET);
				HAL_Delay(1000);
				HAL_GPIO_WritePin(GPIOA, GPIO_PIN_0, GPIO_PIN_SET);
			}
			// 处理接收到的数据
			flag = 0; // 重置标志�????
		}
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
	}
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
	/* User can add his own implementation to report the HAL error return state */
	__disable_irq();
	while (1) {
		HAL_GPIO_WritePin(GPIOA, GPIO_PIN_0, GPIO_PIN_RESET);
		HAL_Delay(1000);
		HAL_GPIO_WritePin(GPIOA, GPIO_PIN_0, GPIO_PIN_SET);
		HAL_Delay(1000);
	}
  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
/* User can add his own implementation to report the file name and line number,
ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */