如何去实现STM32串口的高速循环队列结构呢

辅助理解：数据结构（C语言版）


头文件数据定义



typedef enum
{
USART_QUEUE_EMPTY = 0,
USART_QUEUE_FULL = 1,
USART_QUEUE_OK = 2,
} usart_queue_status_t;


#define USART_QUEUE_SIZE 256
typedef struct
{
u16 front;
u16 rear;
u16 size;
u8 data[USART_QUEUE_SIZE];
} usart_queue_t;

extern usart_queue_t usart1_send;

void UsartQueueInit(usart_queue_t *q);
uint8_t UsartQueuePop(usart_queue_t *q, uint8_t *data);
uint8_t UsartQueuePush(usart_queue_t *q, uint8_t data);
.c文件


#include "sys.h"
#include "usart.h"

usart_queue_t usart1_send;


#if 1
#pragma import(__use_no_semihosting)
//解决HAL库使用时,某些情况可能报错的bug
int _ttywrch(int ch)
{
ch=ch;
return ch;
}
//标准库需要的支持函数
struct __FILE
{
int handle;
/* Whatever you require here. If the only file you are using is */
/* standard output using printf() for debugging, no file handling */
/* is required. */
};
/* FILE is typedef’ d in stdio.h. */
FILE __stdout;
//定义_sys_exit()以避免使用半主机模式
void _sys_exit(int x)
{
x = x;
}
//重定义fputc函数
int fputc(int ch, FILE *f)
{
while((USART1->ISR&0X40)==0);//循环发送,直到发送完毕
USART1->TDR = (u8) ch;
return ch;
}
#endif
//end



//串口缓冲队列初始化
void UsartQueueInit(usart_queue_t *q)
{
q->size = 0;
q->front = 0;
q->rear = 0;
}

//入队
uint8_t UsartQueuePush(usart_queue_t *q, uint8_t data)
{
if (((q->rear % USART_QUEUE_SIZE) == q->front) && ((q->size == USART_QUEUE_SIZE)))
{
//printf("--------------USART_QUEUE_FULL------------------");
return USART_QUEUE_FULL;
}
q->data[q->rear] = data;
q->rear = (q->rear + 1) % USART_QUEUE_SIZE;
q->size++;

return USART_QUEUE_OK;
}
//出队
uint8_t UsartQueuePop(usart_queue_t *q, uint8_t *data)
{
if ((q->front == q->rear) && (q->size == 0))
{
//printf("--------------USART_QUEUE_EMPTY-------------------");
return USART_QUEUE_EMPTY;
}

*data = q->data[q->front];
q->front = (q->front + 1) % USART_QUEUE_SIZE;
q->size--;

return USART_QUEUE_OK;
}



void USART1_IRQHandler(void)
{
u8 res;
if(USART1->ISR&(1<<5))//接收到数据
{
res=USART1->RDR;
UsartQueuePush(&usart1_send, res);
}
USART1->ICR |=0x0008;
}
//初始化IO 串口1 上位机
//pclk2:PCLK2时钟频率(Mhz)
//bound:波特率
void USART1_Init(u32 pclk2,u32 bound)
{
u32 temp;
temp=(pclk2*1000000+bound/2)/bound; //得到USARTDIV@OVER8=0,采用四舍五入计算
RCC->AHB1ENR|=1<<1; //使能PORTB口时钟
RCC->APB2ENR|=1<<4; //使能串口1时钟
GPIO_Set(GPIOB,PIN14|PIN15,GPIO_MODE_AF,GPIO_OTYPE_PP,GPIO_SPEED_100M,GPIO_PUPD_PU);//PB14,PB15,复用功能,上拉输出
GPIO_AF_Set(GPIOB,14,4); //PB14,AF4
GPIO_AF_Set(GPIOB,15,4);//PB15,AF4
//波特率设置
USART1->BRR=temp; //波特率设置@OVER8=0
USART1->CR1=0; //清零CR1寄存器
USART1->CR1|=0<<28; //设置M1=0
USART1->CR1|=0<<12; //设置M0=0&M1=0,选择8位字长
USART1->CR1|=0<<15; //设置OVER8=0,16倍过采样
USART1->CR1|=1<<3; //串口发送使能

//使能接收中断
USART1->CR1|=1<<2; //串口接收使能
USART1->CR1|=1<<5; //接收缓冲区非空中断使能
MY_NVIC_Init(0,2,USART1_IRQn,2);//组2，最低优先级

USART1->CR1|=1<<0; //串口使能
}

使用时，解析一个丢一个数据，通讯协议定义最短接收指令个数为9，所以当接收一个完成指令在进行解析，接收数据格式CC 33 length order data1 ...... datan check1 check2


void UsartQueueDataProcess(void)
{
if(usart1_send.size > 9)
{
int i = 0;
UsartCheckInform check_inform;
if (UsartQueuePop(&usart1_send, &check_inform.Head1) == USART_QUEUE_OK)
{
//printf("-----------------head1--------------------------");
if (check_inform.Head1 == 0xcc) // head1;
{
check_inform.data[0] = 0xcc;
//printf("-----------------head1--------------------------");
if (UsartQueuePop(&usart1_send, &check_inform.Head2) == USART_QUEUE_OK)
{
if (check_inform.Head2 == 0x33) // head2
{
check_inform.data[1] = 0x33;
//printf("-----------------head2--------------------------");
if (UsartQueuePop(&usart1_send, &check_inform.Lenghth) == USART_QUEUE_OK)
{
check_inform.data[2] = check_inform.Lenghth;
// printf("-----------------Lenghth--------------------------");
for (i = 0; i < check_inform.Lenghth; i++)
{
UsartQueuePop(&usart1_send, &check_inform.data[i + 3]);
}
if (Check_Sum(check_inform.data, check_inform.Lenghth + 3) == 1) //校验正确
{
//
switch (check_inform.data[3])
{
case 0x01:// 运动控制指令
if(state_yksp!=1)
{
if (check_inform.data[8] == 1)
{
speedlinedata = (int16_t)(((uint16_t)check_inform.data[5] << 8) + (uint16_t)check_inform.data[4]);
speedangledata = (int16_t)(((uint16_t)check_inform.data[7] << 8) + (uint16_t)check_inform.data[6]);
state_pcsp=1;
carsport_state=0;
speed11=const_speed*(speedlinedata-wheel_interval/2*speedangledata/1000);
speed22=const_speed*(speedlinedata-wheel_interval/2*speedangledata/1000);
speed33=-const_speed*(speedlinedata+wheel_interval/2*speedangledata/1000);
speed44=-const_speed*(speedlinedata+wheel_interval/2*speedangledata/1000);
}
else
{
speed11=0;
speed22=0;
speed33=0;
speed44=0;
}
Motor_Velocity(Motor1_Drive_ID,(uint32_t)(speed11));
Motor_Velocity(Motor2_Drive_ID,(uint32_t)(speed22));
delay_us(1000);
Motor_Velocity(Motor3_Drive_ID,(uint32_t)(speed33));
Motor_Velocity(Motor4_Drive_ID,(uint32_t)(speed44));
}
break ;

case 0x11: // 信号处理单元 融入数据查询 即融合信息上传频率设定
DataFrequency = check_inform.data[4]; //信息频率上传确定 0为单次
break;
case 0x12:// 里程计清零指令
X = 0;
Y = 0;
Yaw_Angle = 0;
break;
case 0x81: // 当前发送机状态为0 且第一次解析发送机指令
if ((check_inform.data[4] == 0x01) && (enginestartstopflag == 0x00))
{

//printf("-----------------ENGING---START------------------------");
emginestarstopstate = 0X0E;
timedurcnt=0;
}
if ((check_inform.data[4] == 0x02) && (enginestartstopflag == 0x01))
{

//printf("-----------------ENGING---STOP------------------------");
emginestarstopstate=0X10;
timedurcnt=0;
}
break;

case 0x82: // 底盘升降
switch (check_inform.data[4])
{
case 0x01:
// 当前不在01 挡位则进行解析
if (UnderPlantFour != 0x01)
{
UnderPlantUpdownConState = 0xFF;
UpdownTimeflag = 0x01;
}
break;
case 0x02:
if (UnderPlantFour != 0x02)
{
UnderPlantUpdownConState = 0xFF;
UpdownTimeflag = 0x02;
}
break;
case 0x03:
if (UnderPlantFour != 0x03)
{
UnderPlantUpdownConState = 0xFF;
UpdownTimeflag = 0x03;
}
break;
case 0x04:
if (UnderPlantFour != 0x04)
{
UnderPlantUpdownConState = 0xFF;
UpdownTimeflag = 0x04;
}
break;
}
break;
case 0x90: // 目前只有设置油量选项 根据协议其余信息自动上传
switch (check_inform.data[4])
{
// 设置油量
case 0x03:
oil = check_inform.data[5];
break;
}
break;
case 0x92:
// 电机复位请求标志
Motor_ErrorReset_Request(Motor1_Drive_ID);
Motor_ErrorReset_Request(Motor2_Drive_ID);
Motor_ErrorReset_Request(Motor3_Drive_ID);
Motor_ErrorReset_Request(Motor4_Drive_ID);
MOTOR_init();
break;
default :
break;
}
}

}

}


}

}

}

}

}