前言
一、工程配置
二、串口DMA部分代码
- 1.源文件UART_DMA.c
- 2.头文件UART_DMA.h
- 3.stm32f1xx_it.c的修改
- 4.串口收发DMA测试
三、字符串数字提取代码
- 1.源文件NumAndStr.c:
- 2.头文件NumAndStr.h:
- 3.测试:
四、Openmv / K210 发送、STM32接收测试
总结
修订版本
- UART_DMA.c
- UART_DMA.h

平台: STM32 Cube IDE

前言

许多科创比赛中经常会有其他设备与STM32串口通讯的需求，比如可能需要Openmv / K210向STM32串口发送坐标的情况。下面我将介绍一种基于HAL库的串口DMA不定长数据收发和数据解读的方案。

一、工程配置

1.选择好芯片、配置好时钟和debug模式后，使能要用到的串口。

2.使能该串口的收发收发DMA:

3.使能串口全局中断，并生成工程文件。

二、串口DMA部分代码

本部分代码修改自xia0816大佬写的《真正实现了STM32 HAL串口不定长数据的接收发送功能(DMA方式，不用限定单次接收长度和添加结束标志)》

1.源文件UART_DMA.c

#include "UART_DMA.h"
#include <string.h>
#include <stdarg.h>
#include <stdio.h>uint8_t RxBuffer[UART_RX_BUF_SIZE] = {0};
uint8_t TxBuffer[UART_RX_BUF_SIZE] = {0};
uint8_t sendCompleteSign = 1;
uint8_t TxLen = 0;void DataProcess(void)
{//在这里加入数据处理的函数}//到USARTx_IRQHandler中添加，如:
//void USART1_IRQHandler(void)
//{//  /* USER CODE BEGIN USART1_IRQn 0 */
//  if(__HAL_UART_GET_FLAG(&USB_Huart,UART_FLAG_IDLE))
//  {//    HAL_UART_IdleCallback(&USB_Huart);
//  }
//
//  /* USER CODE END USART1_IRQn 0 */
//  HAL_UART_IRQHandler(&huartx);
//}
void HAL_UART_IdleCallback(UART_HandleTypeDef *huart)
{__HAL_UART_CLEAR_IDLEFLAG(huart);{HAL_UART_DMAStop(huart);ProcessData();StartUartRxDMA();}
}void ProcessData()
{uint32_t len = 0;//得到已经接收了多少个字节 = 总共要接收的字节数 - ?NDTR F1为CNDTR F4为NDTR#ifdef __STM32F1xx_HAL_Hlen = UART_RX_BUF_SIZE - USB_Huart.hdmarx->Instance->CNDTR;#define ProcessDataOK#endif#ifdef  __STM32F4xx_HAL_Hlen = UART_RX_BUF_SIZE - USB_Huart.hdmarx->Instance->NDTR;#define ProcessDataOK#endif#ifndef ProcessDataOK增加所用芯片的版本#endifif(len > 0){if(sendCompleteSign == 1){#if UART_RXTX_Switchmemset((void *)TxBuffer, 0, sizeof(TxBuffer));memcpy(TxBuffer, RxBuffer, len);TxLen = len;StartUartTxDMA();    //串口回显
#endif{//在这里面加入数据处理的函数DataProcess();}}}
}void USB_DMA_printf(const char *format,...)
{uint32_t length;va_list args;va_start(args, format);length = vsnprintf((char*)TxBuffer, sizeof(TxBuffer)+1, (char*)format, args);va_end(args);HAL_UART_Transmit_DMA(&USB_Huart,TxBuffer,length);
}void USB_printf(const char *format,...)
{uint32_t length;va_list args;va_start(args, format);length = vsnprintf((char*)TxBuffer, sizeof(TxBuffer)+1, (char*)format, args);va_end(args);HAL_UART_Transmit(&USB_Huart,TxBuffer,length,0xFFFF);
}/*** @brief  Tx Transfer completed callbacks.* @param  huart  Pointer to a UART_HandleTypeDef structure that contains*                the configuration information for the specified UART module.* @retval None*/
void HAL_UART_TxCpltCallback(UART_HandleTypeDef *huart)
{/* Prevent unused argument(s) compilation warning */
//  UNUSED(huart);if(huart == &USB_Huart){sendCompleteSign = 1;}/* NOTE: This function should not be modified, when the callback is needed,the HAL_UART_TxCpltCallback could be implemented in the user file*/
}/*** @brief  Rx Transfer completed callbacks.* @param  huart  Pointer to a UART_HandleTypeDef structure that contains*                the configuration information for the specified UART module.* @retval None*/
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
{/* Prevent unused argument(s) compilation warning */
//  UNUSED(huart);if(huart == &USB_Huart){ProcessData();StartUartRxDMA();}/* NOTE: This function should not be modified, when the callback is needed,the HAL_UART_RxCpltCallback could be implemented in the user file*/
}uint8_t UartTxData(UART_HandleTypeDef *huart, uint8_t *buf, const uint32_t len)
{HAL_StatusTypeDef status;uint8_t ret = 1;if(sendCompleteSign == 0 || len == 0){return 0;}sendCompleteSign = 0;status = HAL_UART_Transmit_DMA(huart, (uint8_t*)buf, len);if(HAL_OK != status){ret = 0;}return ret;
}//启动DMA发送
uint8_t StartUartTxDMA()
{return UartTxData(&USB_Huart, TxBuffer, TxLen);
}uint8_t UartRxData(UART_HandleTypeDef *huart, uint8_t *buf, const uint32_t len)
{HAL_StatusTypeDef status;uint8_t ret = 1;status = HAL_UART_Receive_DMA(huart, (uint8_t*)buf, len);if(HAL_OK != status){ret = 0;}else{/* 开启空闲接收中断 */__HAL_UART_ENABLE_IT(huart, UART_IT_IDLE);}return ret;
}//启动DMA接收
uint8_t StartUartRxDMA()
{return UartRxData(&USB_Huart, RxBuffer, UART_RX_BUF_SIZE);
}

void ProcessData()中可能需要视所用芯片情况作部分修改，目前只测试过STM32F103VET6和STM32F411CEU6

    //得到已经接收了多少个字节 = 总共要接收的字节数 - ?NDTR F1为CNDTR F4为NDTR#ifdef __STM32F1xx_HAL_Hlen = UART_RX_BUF_SIZE - USB_Huart.hdmarx->Instance->CNDTR;#define ProcessDataOK#endif#ifdef  __STM32F4xx_HAL_Hlen = UART_RX_BUF_SIZE - USB_Huart.hdmarx->Instance->NDTR;#define ProcessDataOK#endif#ifndef ProcessDataOK增加所用芯片的版本#endif

2.头文件UART_DMA.h

#ifndef UART_DMA_UART_DMA_H_
#define UART_DMA_UART_DMA_H_#include "main.h"extern UART_HandleTypeDef huart1;    //修改为所用串口
#define USB_Huart huart1            //修改为所用串口#define UART_RX_BUF_SIZE 128#define UART_RXTX_Switch 1         //串口回显开关/*
要在Cube中开串口全局中断和收发DMA*/extern uint8_t RxBuffer[UART_RX_BUF_SIZE];
extern uint8_t TxBuffer[UART_RX_BUF_SIZE];
extern uint8_t TxLen;void USB_DMA_printf(const char *format,...);           //printf DMA方式
void USB_printf(const char *format,...);                //printf 普通方式
uint8_t UartTxData(UART_HandleTypeDef *huart, uint8_t *buf, const uint32_t len);
uint8_t StartUartRxDMA();                               //接收DMA初始化
uint8_t StartUartTxDMA();                               //不需要自己调用
void ProcessData();                                     //在里面添加数据处理函数
void HAL_UART_IdleCallback(UART_HandleTypeDef *huart);  //到USARTx_IRQHandler中添加#endif /* UART_DMA_UART_DMA_H_ */

3.stm32f1xx_it.c的修改

需要到stm32f1xx_it.c中的USARTx_IRQHandler添加几句话

//...
/* USER CODE BEGIN Includes */
#include "../UART_DMA/UART_DMA.h"
/* USER CODE END Includes */
//...

//...
/*** @brief This function handles USART1 global interrupt.*/
void USART1_IRQHandler(void)
{/* USER CODE BEGIN USART1_IRQn 0 */if(__HAL_UART_GET_FLAG(&USB_Huart,UART_FLAG_IDLE)){HAL_UART_IdleCallback(&USB_Huart);}/* USER CODE END USART1_IRQn 0 */HAL_UART_IRQHandler(&huart1);/* USER CODE BEGIN USART1_IRQn 1 *//* USER CODE END USART1_IRQn 1 */
}
//...

4.串口收发DMA测试

(2022年1月25日补充)新版Cube MX有BUG，生成的初始化代码顺序有问题，见STM32 HAL串口DMA发送一直失败 —— 攻城狮_鲨鱼，故建议在生成的初始化代码前手动

  MX_DMA_Init();MX_USART1_UART_Init();

如

启动串口DMA接收

//.../* USER CODE BEGIN 2 */StartUartRxDMA();/* USER CODE END 2 *//* Infinite loop *//* USER CODE BEGIN WHILE */while (1){/* USER CODE END WHILE *//* USER CODE BEGIN 3 */}/* USER CODE END 3 */
//...

进入debug跑起来，将接收区缓存RxBuffer加入现场表达式

//...uint8_t RxBuffer[UART_RX_BUF_SIZE] = {0};uint8_t TxBuffer[UART_RX_BUF_SIZE] = {0};uint8_t sendCompleteSign = 1;uint8_t TxLen = 0;
//...

在ProcessData()中的该处打上断点。

打开串口调试助手，选择好参数后发送一段测试字符串，可以发现该字符串已成功存入缓冲区。

随后又成功将数据通过DMA回显

至此串口DMA收发已成功实现。

而源文件中附有的USB_DMA_printf()和USB_printf()分别为DMA方式的printf和普通的printf

void USB_DMA_printf(const char *format,...)
{uint32_t length;va_list args;va_start(args, format);length = vsnprintf((char*)TxBuffer, sizeof(TxBuffer)+1, (char*)format, args);va_end(args);HAL_UART_Transmit_DMA(&USB_Huart,TxBuffer,length);
}void USB_printf(const char *format,...)
{uint32_t length;va_list args;va_start(args, format);length = vsnprintf((char*)TxBuffer, sizeof(TxBuffer)+1, (char*)format, args);va_end(args);HAL_UART_Transmit(&USB_Huart,TxBuffer,length,0xFFFF);
}

效果如下:

为了进一步处理数据，下面介绍字符串数字提取的方案。

三、字符串数字提取代码

改进型代码见C语言字符串数字提取函数，支持负数、浮点数、科学记数法
实测double数据直接传参数据会出错，故采取了指针的方式。

1.源文件NumAndStr.c:

/** NumAndStr.c**  Created on: Mar 15, 2021*      Author: 乙酸氧铍*/
#include "../NumAndStr/NumAndStr.h"
#include  <stdlib.h>int32_t str2int(uint8_t * str, uint8_t flag, uint8_t no)
{uint8_t No = 1;uint8_t * Str = str;uint8_t NumTemp[TempIntLen];while(No!=no){if(*Str == flag)No++;Str++;}No = 0;while(*Str != flag && *Str != '\r' && *Str != '\n' && *Str != '\0' && No < (TempIntLen - 1)){NumTemp[No] = *Str;Str++;No++;}NumTemp[No] = '\0';return atoi(NumTemp);
}void str2double(uint8_t * str, uint8_t flag, uint8_t no, double * Output)
{uint8_t No = 1;uint8_t * Str = str;uint8_t NumTemp[TempDoubleLen];uint8_t NumTemp_int[TempDoubleLen];double OutputNum;while(No!=no){if(*Str == flag)No++;Str++;}No = 0;while(*Str != flag && *Str != '\r' && *Str != '\n' && *Str != '\0' && No < (TempDoubleLen - 1)){NumTemp[No] = *Str;Str++;No++;}NumTemp[No] = '\0';NumTemp[(TempDoubleLen - 1)] = 0;No = 0;while(NumTemp[NumTemp[(TempDoubleLen - 1)]] != '\0' && NumTemp[(TempDoubleLen - 1)] < (TempDoubleLen - 1)){if(NumTemp[NumTemp[(TempDoubleLen - 1)]] == '.'){NumTemp[(TempDoubleLen - 1)]++;NumTemp_int[(TempDoubleLen - 1)] = NumTemp[(TempDoubleLen - 1)];}NumTemp_int[No] = NumTemp[NumTemp[(TempDoubleLen - 1)]];No++;NumTemp[(TempDoubleLen - 1)]++;}NumTemp_int[No]='\0';NumTemp[(TempDoubleLen - 1)] = NumTemp_int[(TempDoubleLen - 1)]++;OutputNum = (double)atoi(NumTemp_int);while(NumTemp[NumTemp[(TempDoubleLen - 1)]] != '\0'){OutputNum /= 10;NumTemp[(TempDoubleLen - 1)] ++;}*Output = OutputNum;
}

2.头文件NumAndStr.h:

/** NumAndStr.h**  Created on: Mar 15, 2021*      Author: 乙酸氧铍*/#ifndef NUMANDSTR_NUMANDSTR_H_
#define NUMANDSTR_NUMANDSTR_H_#include "main.h"#define TempDoubleLen 18
#define TempIntLen 11/*
str:数字字符串首地址
flag:分隔符
no:第no个数字 从1开始计
Output: 小数存放地址*/
extern int32_t str2int(uint8_t * str, uint8_t flag, uint8_t no);
extern void str2double(uint8_t * str, uint8_t flag, uint8_t no, double * Output);#endif /* NUMANDSTR_NUMANDSTR_H_ */

str:数字字符串首地址
flag:分隔符
no:第no个数字从1开始计
Output: 小数存放地址

3.测试:

修改UART_DMA.c中的DataProcess()函数

#include "../NumAndStr/NumAndStr.h"        //包含头文件int32_t a,b,c;
double  d,e,f;
void DataProcess(void)
{//在这里加入数据处理的函数a = str2int(RxBuffer, ' ', 1);b = str2int(RxBuffer, ' ', 2);c = str2int(RxBuffer, ' ', 3);str2double(RxBuffer, ' ', 4, &d);str2double(RxBuffer, ' ', 5, &e);str2double(RxBuffer, ' ', 6, &f);
}

进入debug模式，监视变量a、b、c、d、e、f，使用串口调试助手再次发送一段测试字符串
效果如图所示:

可以看到六个数据都已成功存入对应的变量中，并成功回显。

且多次测试都能成功解读

四、Openmv / K210 发送、STM32接收测试

(示例) 平台: MaixPy IDE、K210 Maix Bit

K210 串口测试程序
延时500ms时

import utime
from board import board_info
from Maix import freq
from fpioa_manager import fm
from machine import UARTimport randomfm.register(9,fm.fpioa.UART1_TX)
fm.register(10,fm.fpioa.UART1_RX)
UART_USB = UART(UART.UART1, 115200, 8, None, 1, timeout = 1000, read_buf_len = 128)while(True):Tube_X = random.randint(-200,200)Tube_Y = random.randint(-200,200)Tube_Angle = random.random()print('%d %d %f'%(Tube_X, Tube_Y, Tube_Angle))UART_USB.write('%d %d %f\r\n'%(Tube_X, Tube_Y, Tube_Angle))utime.sleep_ms(500)

修改UART_DMA.c中的DataProcess()函数

int32_t Tube_X = 0, Tube_Y = 0;
double  Tube_Angle = 0;
void DataProcess(void)
{//在这里加入数据处理的函数Tube_X = str2int(RxBuffer, ' ', 1);Tube_Y = str2int(RxBuffer, ' ', 2);str2double(RxBuffer, ' ', 3, &Tube_Angle);
}

进入debug，如图所示，数据提取成功

延时15ms时

#...
while(True):Tube_X = random.randint(-200,200)Tube_Y = random.randint(-200,200)Tube_Angle = random.random()print('%d %d %f'%(Tube_X, Tube_Y, Tube_Angle))UART_USB.write('%d %d %f\r\n'%(Tube_X, Tube_Y, Tube_Angle))utime.sleep_ms(15)#...

总结

本文介绍了一种STM32 串口DMA收发并解读的方案，对CPU要求较小，只需自己选择分隔符号，不需要设计复杂的通信协议就能得到对应位置的数据，应该可以应用到使用STM32的多种科创比赛项目中去。

修订版本

UART_DMA.c

/** UART_DMA.c**  Created on: Mar 14, 2021*      Author: Royic*/
#include "UART_DMA.h"
#include <string.h>
#include <stdarg.h>
#include <stdio.h>uint8_t RxBuffer[UART_RX_BUF_SIZE] = {0};
uint8_t TxBuffer[UART_RX_BUF_SIZE] = {0};
uint8_t sendCompleteSign = 1;
uint8_t TxLen = 0;
uint8_t USE_UART_DMA = 0;void DataProcess(UART_HandleTypeDef *huart, uint32_t Len)
{//在这里加入数据处理的函数
#ifdef USB_Huart_1if(huart == &USB_Huart_1){;}
#endif
#ifdef USB_Huart_2if(huart == &USB_Huart_2){;}
#endif
}//到USARTx_IRQHandler中添加，如:
//void USART1_IRQHandler(void)
//{//  /* USER CODE BEGIN USART1_IRQn 0 */
//  if(__HAL_UART_GET_FLAG(&USB_Huart_1,UART_FLAG_IDLE))
//  {//    HAL_UART_IdleCallback(&USB_Huart_1);
//  }
//
//  /* USER CODE END USART1_IRQn 0 */
//  HAL_UART_IRQHandler(&huartx);
//}
void HAL_UART_IdleCallback(UART_HandleTypeDef *huart)
{__HAL_UART_CLEAR_IDLEFLAG(huart);{HAL_UART_DMAStop(huart);ProcessData(huart);StartUartRxDMA(huart);}
}void ProcessData(UART_HandleTypeDef *huart)
{uint32_t len = 0;len = UART_RX_BUF_SIZE - __HAL_DMA_GET_COUNTER(huart->hdmarx);if(len > 0){if(sendCompleteSign == 1){#if UART_RXTX_Switchmemset((void *)TxBuffer, 0, sizeof(TxBuffer));memcpy(TxBuffer, RxBuffer, len);TxLen = len;StartUartTxDMA(huart);   //串口回显
#endif}{//在这里面加入数据处理的函数DataProcess(huart, len);}}
}void USB_DMA_printf(UART_HandleTypeDef *huart, const char *format,...)
{uint32_t length;va_list args;va_start(args, format);length = vsnprintf((char*)TxBuffer, sizeof(TxBuffer)+1, (char*)format, args);va_end(args);HAL_UART_Transmit_DMA(huart,TxBuffer,length);
}void USB_printf(UART_HandleTypeDef *huart, const char *format,...)
{uint32_t length;va_list args;va_start(args, format);length = vsnprintf((char*)TxBuffer, sizeof(TxBuffer)+1, (char*)format, args);va_end(args);HAL_UART_Transmit(huart,TxBuffer,length,0xFFFF);
}/*** @brief  Tx Transfer completed callbacks.* @param  huart  Pointer to a UART_HandleTypeDef structure that contains*                the configuration information for the specified UART module.* @retval None*/
void HAL_UART_TxCpltCallback(UART_HandleTypeDef *huart)
{/* Prevent unused argument(s) compilation warning */sendCompleteSign = 1;/* NOTE: This function should not be modified, when the callback is needed,the HAL_UART_TxCpltCallback could be implemented in the user file*/
}/*** @brief  Rx Transfer completed callbacks.* @param  huart  Pointer to a UART_HandleTypeDef structure that contains*                the configuration information for the specified UART module.* @retval None*/
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
{/* Prevent unused argument(s) compilation warning */ProcessData(huart);StartUartRxDMA(huart);/* NOTE: This function should not be modified, when the callback is needed,the HAL_UART_RxCpltCallback could be implemented in the user file*/
}uint8_t UartTxData(UART_HandleTypeDef *huart, uint8_t *buf, const uint32_t len)
{HAL_StatusTypeDef status;uint8_t ret = 1;if(sendCompleteSign == 0 || len == 0){return 0;}sendCompleteSign = 0;status = HAL_UART_Transmit_DMA(huart, (uint8_t*)buf, len);if(HAL_OK != status){ret = 0;}return ret;
}//启动DMA发送
uint8_t StartUartTxDMA(UART_HandleTypeDef *huart)
{return UartTxData(huart, TxBuffer, TxLen);
}uint8_t UartRxData(UART_HandleTypeDef *huart, uint8_t *buf, const uint32_t len)
{HAL_StatusTypeDef status;uint8_t ret = 1;status = HAL_UART_Receive_DMA(huart, (uint8_t*)buf, len);if(HAL_OK != status){ret = 0;}else{/* 开启空闲接收中断 */__HAL_UART_ENABLE_IT(huart, UART_IT_IDLE);}return ret;
}//启动DMA接收
uint8_t StartUartRxDMA(UART_HandleTypeDef *huart)
{USE_UART_DMA = 1;return UartRxData(huart, RxBuffer, UART_RX_BUF_SIZE);
}

UART_DMA.h

/** UART_DMA.h**  Created on: Mar 14, 2021*      Author: Royic*/#ifndef UART_DMA_UART_DMA_H_
#define UART_DMA_UART_DMA_H_#include "main.h"#define USB_Huart_1 huart1           //修改为所用串口
extern UART_HandleTypeDef USB_Huart_1;#define USB_Huart_2 huart2            //修改为所用串口
extern UART_HandleTypeDef USB_Huart_2;#define UART_RX_BUF_SIZE 128#define UART_RXTX_Switch 0            //串口回显开关
//#define UART_DMA_Switch 0         /*
要在Cube中开串口全局中断和收发DMA*/extern uint8_t RxBuffer[UART_RX_BUF_SIZE];
extern uint8_t TxBuffer[UART_RX_BUF_SIZE];
extern uint8_t TxLen;
extern uint8_t USE_UART_DMA;void USB_DMA_printf(UART_HandleTypeDef *huart, const char *format,...);         //printf DMA方式
void USB_printf(UART_HandleTypeDef *huart, const char *format,...);             //printf 普通方式
uint8_t UartTxData(UART_HandleTypeDef *huart, uint8_t *buf, const uint32_t len);
uint8_t StartUartRxDMA(UART_HandleTypeDef *huart);                              //接收DMA初始化
uint8_t StartUartTxDMA(UART_HandleTypeDef *huart);                              //不需要自己调用
void ProcessData(UART_HandleTypeDef *huart);                                        //在里面添加数据处理函数
void HAL_UART_IdleCallback(UART_HandleTypeDef *huart);  //到USARTx_IRQHandler中添加#endif /* UART_DMA_UART_DMA_H_ */

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