问答

用串口助手发送8个字节的数据，在接收中断里面通过DMA搬运数据。但接收的数据有问题，第一个字节的数据搬运2次，最后一个字节的数据丢失。void uart_init(void) { UART_InitTypeDef uart0_config; GPIO_InitTypeDef GPIO_InitStruct; // DMA_InitTypeDef uart0_dma_config; UART_StructInit(&uart0_config); // 这些是默认配置，简单的应用只配置波特率即可 // uart1_config.DUPLEX = DISABLE; // 半双工模式使能，tx_data // uart1_config.MD_EN = DISABLE; // Multi-drop 使能 // uart1_config.CK_EN = DISABLE; // 数据校验使能 // uart1_config.CK_TYPE = 0; // 奇偶校验配置 0:偶校验（EVEN）;1: 奇校验（ODD） // uart1_config.BIT_ORDER = 0; // 数据发送顺序配置 0:LSB;1:MSB // uart1_config.STOP_LEN = 0; // 停止位长度配置 0:1-Bit;1:2-Bit // uart1_config.BYTE_LEN = 0; // 数据长度配置 0:8-Bit;1:9-Bit // uart1_config.ADR = 0; // 多机通讯时的从机地址 // uart1_config.RX_DONE = DISABLE; // 接收完成 DMA 请求使能 // uart1_config.TX_BUF_EMPTY = DISABLE; // 发送缓冲区空 DMA 请求使能 // uart1_config.TXD_INV = DISABLE; // TXD 输出极性取反 // uart1_config.RXD_INV = DISABLE; // RXD 输入极性取反 // uart0_config.TX_DONE = ENABLE; // 发送完成 DMA 请求使能 uart0_config.RX_DONE = ENABLE; uart0_config.TX_BUF_EMPTY = ENABLE; // 发送缓冲区空 DMA 请求使能 uart0_config.IE = UART_IF_SendOver | UART_IF_RcvOver|UART_IF_SendBufEmpty; // 中断配置 uart0_config.BAUDRATE = 115200; // 波特率 UART_Init(UART0, &uart0_config); /*UART0_485的GPIO配置*/ //uart0_485 GPIO_InitStruct.GPIO_Mode = GPIO_Mode_OUT; GPIO_InitStruct.GPIO_Pin = GPIO_Pin_15; GPIO_Init(GPIO0, &GPIO_InitStruct); GPIO0_PDO |= BIT15; //写1 /* P0.14-RX0, UART0 */ GPIO_StructInit(&GPIO_InitStruct); GPIO_InitStruct.GPIO_Mode = GPIO_Mode_IN; GPIO_InitStruct.GPIO_Pin = GPIO_Pin_14 ; GPIO_Init(GPIO0, &GPIO_InitStruct); /*P1.0-TX0 UART0 */ GPIO_InitStruct.GPIO_Mode = GPIO_Mode_OUT; GPIO_InitStruct.GPIO_Pin = GPIO_Pin_0; GPIO_Init(GPIO1, &GPIO_InitStruct); GPIO_PinAFConfig(GPIO1, GPIO_PinSource_0, GPIO_AF_UART); GPIO_PinAFConfig(GPIO0, GPIO_PinSource_14, GPIO_AF_UART); /*开启UART的中断*/ NVIC_EnableIRQ(UART0_IRQn); NVIC_SetPriority(UART0_IRQn, 1); } /*DMA接收来自外设的数据*/ void uart0_dma_485_recvdata(u8 *t, u16 len) { DMA_InitTypeDef uart0_dma_config; // GPIO0_PDO &= ~BIT15; uart0_dma_config.DMA_Channel_EN = ENABLE; /* DMA 通道使能*/ uart0_dma_config.DMA_IRQ_EN = ENABLE; /* DMA 中断使能 */ uart0_dma_config.DMA_RMODE = ENABLE; /* 多轮传输使能 */ uart0_dma_config.DMA_CIRC = DISABLE; /* 循环模式使能 */ uart0_dma_config.DMA_SINC = DISABLE; /* 源地址递增使能 */ uart0_dma_config.DMA_DINC = ENABLE; /* 目的地址递增使能 */ uart0_dma_config.DMA_SBTW = 0; /* 源地址访问位宽， 0:byte, 1:half-word, 2:word */ uart0_dma_config.DMA_DBTW = 0; /* 目的地址访问位宽， 0:byte, 1:half-word, 2:word */ uart0_dma_config.DMA_REQ_EN = DMA_REQ_UART0_RX; /* 通道 x 硬件 DMA 请求使能，高有效 */ uart0_dma_config.DMA_TIMES = 8; /* DMA 通道 x 数据搬运次数 */ uart0_dma_config.DMA_SADR = (u32)&UART0_BUFF; /* DMA 通道 x 源地址 */ uart0_dma_config.DMA_DADR = (u32)t; /* DMA 通道 x 目的地址 */ DMA_Init(DMA_CH0, &uart0_dma_config); DMA_Trigger(DMA_CH0); //开始一次DMA传输 } void UART0_IRQHandler(void) { if (UART_GetIRQFlag(UART0, UART_IF_SendOver)) /*发送完成中断*/ { UART_ClearIRQFlag(UART0, UART_IF_SendOver); // GPIO_ResetBits(GPIO0, GPIO_Pin_15); } if (UART_GetIRQFlag(UART0, UART_IF_RcvOver)) /*接收完成中断*/ { UART_ClearIRQFlag(UART0, UART_IF_RcvOver); uart0_dma_485_recvdata(ModbusSlave_RX_TempBuff, 8); } } 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uLps6ejLH1IRcvGRk7DbCzG8zg7O6t4oz1F/jb+c3z7NyHAsX9b63JHsrERt8Hfvn8putL69nvGu/I3yxZotq8V5xpmmtvCfD5v5JpoapIsy5qaqsF5BI5GzJSNDdrIn1TD02blD6Txs4x1NMGC0bQ8zznOGlM1yd/dEQxz+qKzFYDVu+cvHMAJQfD5WRp3uQi6OhBDAAd8g0swBCJqBQZGe7sMdm8j9g6LQpFwAFYbaDCbDXHNxDzNdpmNUf5ywYlFXZprYnc8Q5hjkfArj3rhWx3+wtkyYfziXhCtinA3oW4IT5vOdAM3NjGbLWHvaTq/Wm3yKbK2RRFxAk33ettqqTx59+Dg1aHhgxNoIhOCu1gjoUvRvY22Zf6KS2ijG/YcCf1xs2HCMLOlSBl/UZgDiNvIxo1Hyy4bxXHWmKQOf0OQgVzo4kiZRrITnI8uDkJDII1FupczQ22n0vH9L58Qa76IXZy7nMYZty26B0d0R3DGCTRtFDfLdHT+toN92cgm4BKKBtkBhy3nLQ9nzTO0pMv46yrk1blC01FGcxoPh2kIhsMtB3Fk1uQvJjLGgXShcGhDgotzM5rDQdMc4eHQGxOQaQKbwhspg+WvlWqnyJcFa5xx26IvcLh94fg4njaEe1nzDJ3pvmwMNx5GnAmWEKYhwgLaTdJScyN/cZ2wsGL4aVVWHkZxQnSPPBsSIGz4dvwF0ZxwTfCrDHCWb/VZMmYIx2LDLh9DOAErJoJMW7c6CrOcgfCXz8z2hcvFvfZyJl8freq+wOE2ZXt3DrhmdIgF05luYBvNvmwMNx5GeL/ohYgaiAvVpfFUbeiN/A0X5QqhIcp2525pARzOhwl4nrppt+Mv0w0UAzEBRESQD8E5jn1lObwQa54KGiKsAV0soN3MFh8mf3EB2VnyibJGWtuiL3C4fWHvTqDp8vGUsHgiLRzYRqQvG93GremCvF+AhuHizHT53Gxbb+Svq79sF86Bek02kzVMqM9fbAOkY5axBliRiUg0bWMwTEAEIroW15xIsK4sy4bA38TBhyfqknHMrYq+wOE2hb07gabLd8hIpIUD24j0ZaPbuDVdMLpfl8NNaIjoDG0E0/x1hx4WwAWX6XASzsScLmhNF6zO3xf/u1Lq9y8APhNoOsxx3HWloYxeHoXZQsFpNhY5mCoRsa6O+WvnWvaCzOca5rgIkjsQfYGDt4ZXVvYQVzxf9Kw5mWfrRfdiI/sGN1iYFc40JHCcNRK6dzLNX+zXCdTJu4CGcGmIQ8Aunh9BswWTvGhW5K/913aev7YGSGfMAtRQAXhnmTwKGojEKMzDw3kGjMUQ9LrZMEOY6VbBFiyze/7y2YSn5XoH0uwFHAPZe4NlyMZGzEzw1ygZspLX5V5oCGQaH7gJbQJDIKJP5yr8xf8ruuIvUwzwZeSBd6MTtjVsqnf+ukMdZlPgaORcZGODNkZ//wLzg2AMR+utEglJGo6yHI6b5siLnI38BXwXUAp56u4fQa4wcxQR3P/aRsRfXLIJIXAkzKneJRure5XINBuj/AV2ebgLgpKIs+CBrB1VbYglYELkc3KavwzfFzrC31FQtXaR4i8umoQQOBLmVO+SjdW9SmQyf41uw/8aBZSD74tdTI6/4/kQu54rffrsac8V7MXysrGRYzQbh49dVBjyN4TvFPkb+qKIHJADcqBVB6Lwjb//22odmlwOyAE5MCkHyuBbFMX/AS0SbjdIrlZFAAAAAElFTkSuQmCC[/img] 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[/img]

凌欧的芯片有没有人加磁编码器，做成机器机关机人关机伺服电机吗？

凌欧芯片，有OTA升级的demo吗？