From c809273bd9249b91d261b8c8c347e855157ee88e Mon Sep 17 00:00:00 2001 From: zhongxuanzhen Date: Fri, 27 Mar 2026 16:21:00 +0800 Subject: [PATCH] =?UTF-8?q?3.27=5F433=EF=BC=9A=E5=AE=9E=E7=8E=B0=E5=B9=B6?= =?UTF-8?q?=E9=AA=8C=E8=AF=81RF433=E6=A8=A1=E5=9D=97=E6=8E=A5=E6=94=B6?= =?UTF-8?q?=E7=9B=B8=E5=BA=94=E6=8C=87=E4=BB=A4=EF=BC=9A=E6=96=B0=E5=A2=9E?= =?UTF-8?q?UART=E8=B7=AF=E7=94=B1=E6=A0=B8=E5=BF=83=E6=A8=A1=E5=9D=97?= =?UTF-8?q?=EF=BC=8C=E4=BD=BF=E7=A8=8B=E5=BA=8F=E8=83=BD=E5=93=8D=E5=BA=94?= =?UTF-8?q?RF433/RS485=E6=8C=87=E4=BB=A4=EF=BC=8C=E5=B9=B6=E5=90=91UART2?= =?UTF-8?q?=E8=BE=93=E5=87=BALOG=EF=BC=88RS485=E7=94=B1=E4=BA=8E=E7=A1=AC?= =?UTF-8?q?=E4=BB=B6=E5=8E=9F=E5=9B=A0=E6=9C=AA=E9=AA=8C=E8=AF=81=EF=BC=89?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- Core/Inc/cmd_parser.h | 55 +- Core/Inc/cmd_router.h | 51 + Core/Inc/debug_log.h | 61 + Core/Inc/io_monitor.h | 24 +- Core/Inc/multi_uart_router.h | 97 + Core/Inc/relay_control.h | 35 +- Core/Src/cmd_parser.c | 616 ++++- Core/Src/cmd_router.c | 222 ++ Core/Src/debug_log.c | 148 ++ Core/Src/io_monitor.c | 320 ++- Core/Src/main.c | 53 +- Core/Src/multi_uart_router.c | 351 +++ Core/Src/relay_control.c | 62 +- Core/Src/uart2_print.c | 369 ++- Driver_RF433/Inc/rf433_config.h | 2 +- Driver_RF433/Src/rf433.c | 1 - MDK-ARM/project.uvguix.xtell | 343 +-- MDK-ARM/project.uvoptx | 78 +- MDK-ARM/project.uvprojx | 15 + MDK-ARM/project/cmd_parser.crf | Bin 23156 -> 24033 bytes MDK-ARM/project/cmd_parser.o | Bin 52148 -> 55452 bytes MDK-ARM/project/cmd_router.crf | Bin 0 -> 547721 bytes MDK-ARM/project/cmd_router.d | 39 + MDK-ARM/project/cmd_router.o | Bin 0 -> 622728 bytes MDK-ARM/project/debug_log.crf | Bin 0 -> 13106 bytes MDK-ARM/project/debug_log.d | 8 + MDK-ARM/project/debug_log.o | Bin 0 -> 28996 bytes MDK-ARM/project/gpio.o | Bin 602256 -> 602256 bytes MDK-ARM/project/io_monitor.crf | Bin 542371 -> 542901 bytes MDK-ARM/project/io_monitor.o | Bin 612440 -> 614180 bytes MDK-ARM/project/main.crf | Bin 549886 -> 556074 bytes MDK-ARM/project/main.d | 4 + MDK-ARM/project/main.o | Bin 618984 -> 625740 bytes MDK-ARM/project/multi_uart_router.crf | Bin 0 -> 546211 bytes MDK-ARM/project/multi_uart_router.d | 36 + MDK-ARM/project/multi_uart_router.o | Bin 0 -> 629804 bytes MDK-ARM/project/project.axf | Bin 602572 -> 647176 bytes MDK-ARM/project/project.build_log.htm | 74 +- MDK-ARM/project/project.hex | 2423 +++++++++++--------- MDK-ARM/project/project.htm | 1638 ++++++++----- MDK-ARM/project/project.lnp | 3 + MDK-ARM/project/project.map | 1724 ++++++++------ MDK-ARM/project/project_project.dep | 170 +- MDK-ARM/project/relay_control.crf | Bin 539493 -> 538917 bytes MDK-ARM/project/relay_control.o | Bin 606180 -> 602716 bytes MDK-ARM/project/rf433.crf | Bin 546465 -> 548662 bytes MDK-ARM/project/rf433.o | Bin 618168 -> 631680 bytes MDK-ARM/project/rf433_hal.o | Bin 631404 -> 631404 bytes MDK-ARM/project/rf433_rx_app.crf | Bin 786 -> 549097 bytes MDK-ARM/project/rf433_rx_app.d | 34 + MDK-ARM/project/rf433_rx_app.o | Bin 7140 -> 618512 bytes MDK-ARM/project/rf433_tx_app.crf | Bin 549600 -> 550292 bytes MDK-ARM/project/rf433_tx_app.o | Bin 622552 -> 622552 bytes MDK-ARM/project/spi.o | Bin 600216 -> 600216 bytes MDK-ARM/project/stm32f1xx_hal.o | Bin 625748 -> 625748 bytes MDK-ARM/project/stm32f1xx_hal_cortex.o | Bin 617520 -> 617520 bytes MDK-ARM/project/stm32f1xx_hal_dma.o | Bin 613544 -> 613544 bytes MDK-ARM/project/stm32f1xx_hal_exti.o | Bin 605428 -> 605428 bytes MDK-ARM/project/stm32f1xx_hal_flash.o | Bin 613100 -> 613100 bytes MDK-ARM/project/stm32f1xx_hal_flash_ex.o | Bin 616272 -> 616272 bytes MDK-ARM/project/stm32f1xx_hal_gpio.o | Bin 604724 -> 604724 bytes MDK-ARM/project/stm32f1xx_hal_gpio_ex.o | Bin 594544 -> 594544 bytes MDK-ARM/project/stm32f1xx_hal_msp.o | Bin 595988 -> 595988 bytes MDK-ARM/project/stm32f1xx_hal_pwr.o | Bin 616008 -> 616008 bytes MDK-ARM/project/stm32f1xx_hal_rcc.o | Bin 617044 -> 617044 bytes MDK-ARM/project/stm32f1xx_hal_rcc_ex.o | Bin 596672 -> 596672 bytes MDK-ARM/project/stm32f1xx_hal_spi.o | Bin 681940 -> 681940 bytes MDK-ARM/project/stm32f1xx_hal_tim.o | Bin 589908 -> 589908 bytes MDK-ARM/project/stm32f1xx_hal_tim_ex.o | Bin 589988 -> 589988 bytes MDK-ARM/project/stm32f1xx_hal_uart.o | Bin 697884 -> 697884 bytes MDK-ARM/project/stm32f1xx_it.o | Bin 610836 -> 610836 bytes MDK-ARM/project/system_stm32f1xx.o | Bin 593480 -> 593480 bytes MDK-ARM/project/systick.o | Bin 598864 -> 598864 bytes MDK-ARM/project/uart2_print.crf | Bin 542236 -> 542342 bytes MDK-ARM/project/uart2_print.o | Bin 614768 -> 614776 bytes MDK-ARM/project/usart.crf | Bin 542469 -> 542469 bytes MDK-ARM/project/usart.o | Bin 607392 -> 607392 bytes docs/多通信接口统一指令处理系统开发计划.md | 943 ++++++++ 78 files changed, 7188 insertions(+), 2811 deletions(-) create mode 100644 Core/Inc/cmd_router.h create mode 100644 Core/Inc/debug_log.h create mode 100644 Core/Inc/multi_uart_router.h create mode 100644 Core/Src/cmd_router.c create mode 100644 Core/Src/debug_log.c create mode 100644 Core/Src/multi_uart_router.c create mode 100644 MDK-ARM/project/cmd_router.crf create mode 100644 MDK-ARM/project/cmd_router.d create mode 100644 MDK-ARM/project/cmd_router.o create mode 100644 MDK-ARM/project/debug_log.crf create mode 100644 MDK-ARM/project/debug_log.d create mode 100644 MDK-ARM/project/debug_log.o create mode 100644 MDK-ARM/project/multi_uart_router.crf create mode 100644 MDK-ARM/project/multi_uart_router.d create mode 100644 MDK-ARM/project/multi_uart_router.o create mode 100644 docs/多通信接口统一指令处理系统开发计划.md diff --git a/Core/Inc/cmd_parser.h b/Core/Inc/cmd_parser.h index cea9908..b25b33c 100644 --- a/Core/Inc/cmd_parser.h +++ b/Core/Inc/cmd_parser.h @@ -3,13 +3,16 @@ * @file cmd_parser.h * @brief ASCII指令解析模块头文件 * @author Application Layer - * @version 1.0 + * @version 1.2 ****************************************************************************** * @attention * 本模块实现ASCII文本指令的解析和处理 * 指令格式: $CMD,param1,param2*CS\r\n * 支持异或校验，FF为调试特权后门 * 包含完善的安全防护机制 + * + * 修订历史： + * v1.2 - 增加响应回调机制，支持多端口路由 ****************************************************************************** */ @@ -41,67 +44,31 @@ typedef struct { char param2[PARAM_MAX_LEN]; uint8_t received_cs; uint8_t calculated_cs; + uint8_t source_port; bool valid; bool skip_checksum; } cmd_frame_t; -/** - * @brief 初始化指令解析模块 - * @note 重置解析状态机，清空缓冲区 - * @param 无 - * @retval 无 - */ +typedef void (*cmd_response_callback_t)(uint8_t source_port, const char *response); + void CmdParser_Init(void); -/** - * @brief 指令解析任务处理函数 - * @note 在主循环中调用，处理已接收的完整指令帧 - * @param 无 - * @retval 无 - */ void CmdParser_Task(void); -/** - * @brief 喂入单字节数据到解析器 - * @note 通常在UART接收中断中调用 - * @param byte: 接收到的字节数据 - * @param current_tick: 当前系统tick（用于超时检测） - * @retval 无 - */ void CmdParser_FeedByte(uint8_t byte, uint32_t current_tick); -/** - * @brief 检查是否有完整的指令帧 - * @note 用于查询解析状态 - * @param frame: 输出参数，存储解析结果 - * @retval true: 有完整帧, false: 无 - */ bool CmdParser_HasCompleteFrame(cmd_frame_t *frame); -/** - * @brief 确认指令已处理 - * @note 处理完指令后调用，重置解析器 - * @param 无 - * @retval 无 - */ void CmdParser_Acknowledge(void); -/** - * @brief 获取解析错误计数 - * @note 用于调试和诊断 - * @param 无 - * @retval 错误计数 - */ uint32_t CmdParser_GetErrorCount(void); -/** - * @brief 获取接收到的有效指令计数 - * @note 用于调试和诊断 - * @param 无 - * @retval 有效指令计数 - */ uint32_t CmdParser_GetValidCount(void); +void CmdParser_SetResponseCallback(cmd_response_callback_t callback); + +void CmdParser_SetSourcePort(uint8_t port_id); + #ifdef __cplusplus } #endif diff --git a/Core/Inc/cmd_router.h b/Core/Inc/cmd_router.h new file mode 100644 index 0000000..237ca05 --- /dev/null +++ b/Core/Inc/cmd_router.h @@ -0,0 +1,51 @@ +/** + ****************************************************************************** + * @file cmd_router.h + * @brief 指令路由与响应分发模块头文件 + * @author Application Layer + * @version 1.0 + ****************************************************************************** + * @attention + * 本模块实现指令路由与响应分发功能 + * 设计依据：多通信接口统一指令处理系统开发计划 第3.2节 + * + * 核心职责： + * - 从各UART端口读取数据并喂入解析器 + * - 根据指令来源端口路由响应 + * - 管理响应路由表 + ****************************************************************************** + */ + +#ifndef __CMD_ROUTER_H +#define __CMD_ROUTER_H + +#ifdef __cplusplus +extern "C" { +#endif + +#include +#include +#include "multi_uart_router.h" +#include "cmd_parser.h" + +typedef void (*cmd_response_handler_t)(port_id_t port, const char *response, uint16_t len); + +void CmdRouter_Init(void); + +void CmdRouter_Task(void); + +void CmdRouter_SetResponseHandler(cmd_response_handler_t handler); + +void CmdRouter_SendResponse(port_id_t port, const char *response, uint16_t len); + +void CmdRouter_BroadcastResponse(const char *response, uint16_t len); + +uint32_t CmdRouter_GetProcessedCount(void); + +uint32_t CmdRouter_GetRoutedCount(void); + +#ifdef __cplusplus +} +#endif + +#endif diff --git a/Core/Inc/debug_log.h b/Core/Inc/debug_log.h new file mode 100644 index 0000000..9266f8e --- /dev/null +++ b/Core/Inc/debug_log.h @@ -0,0 +1,61 @@ +/** + ****************************************************************************** + * @file debug_log.h + * @brief 增强型调试日志系统头文件 + * @author Application Layer + * @version 1.0 + ****************************************************************************** + * @attention + * 本模块实现增强型调试日志系统 + * 设计依据：多通信接口统一指令处理系统开发计划 第3.4节 + * + * 日志格式：[LEVEL][MODULE] message + * 示例：[INFO][CMD] Command received: RL + ****************************************************************************** + */ + +#ifndef __DEBUG_LOG_H +#define __DEBUG_LOG_H + +#ifdef __cplusplus +extern "C" { +#endif + +#include +#include + +typedef enum { + LOG_LEVEL_DEBUG = 0, + LOG_LEVEL_INFO = 1, + LOG_LEVEL_WARN = 2, + LOG_LEVEL_ERROR = 3, + LOG_LEVEL_NONE = 4 +} log_level_t; + +void DebugLog_Init(void); + +void DebugLog_SetLevel(log_level_t level); + +log_level_t DebugLog_GetLevel(void); + +void DebugLog_EnableModule(const char *module, bool enable); + +void DebugLog_Output(log_level_t level, const char *module, const char *fmt, ...); + +#define LOG_DEBUG(module, fmt, ...) \ + DebugLog_Output(LOG_LEVEL_DEBUG, module, fmt, ##__VA_ARGS__) + +#define LOG_INFO(module, fmt, ...) \ + DebugLog_Output(LOG_LEVEL_INFO, module, fmt, ##__VA_ARGS__) + +#define LOG_WARN(module, fmt, ...) \ + DebugLog_Output(LOG_LEVEL_WARN, module, fmt, ##__VA_ARGS__) + +#define LOG_ERROR(module, fmt, ...) \ + DebugLog_Output(LOG_LEVEL_ERROR, module, fmt, ##__VA_ARGS__) + +#ifdef __cplusplus +} +#endif + +#endif diff --git a/Core/Inc/io_monitor.h b/Core/Inc/io_monitor.h index be376fd..7f5a3c4 100644 --- a/Core/Inc/io_monitor.h +++ b/Core/Inc/io_monitor.h @@ -3,12 +3,15 @@ * @file io_monitor.h * @brief IO状态监控模块头文件 * @author Application Layer - * @version 1.0 + * @version 1.1 ****************************************************************************** * @attention * 本模块实现四路数字输入(DI1-DI4)的状态监控 * 采用定时扫描+软件去抖方式检测IO状态变化 - * 状态变化时通过UART2_Print上报 + * 状态变化时通过回调函数上报，支持多端口路由 + * + * 修订历史： + * v1.1 - 增加事件回调机制，支持多端口路由 ****************************************************************************** */ @@ -26,6 +29,15 @@ extern "C" { #define IO_SCAN_PERIOD_MS 10 #define IO_DEBOUNCE_COUNT 3 +/** + * @brief IO事件回调函数类型 + * @note 当IO状态变化时调用，用于事件路由 + * @param channel: 通道号(0-3对应DI1-DI4) + * @param state: 当前状态(0=LOW, 1=HIGH) + * @param event_msg: 事件消息字符串 + */ +typedef void (*io_event_callback_t)(uint8_t channel, uint8_t state, const char *event_msg); + /** * @brief 初始化IO监控模块 * @note 初始化各通道状态，读取初始IO电平 @@ -75,6 +87,14 @@ void IO_Monitor_EnableReport(bool enable); */ uint32_t IO_Monitor_GetChangeCount(uint8_t channel); +/** + * @brief 设置IO事件回调函数 + * @note 设置后，IO状态变化将通过回调函数上报 + * @param callback: 回调函数指针，NULL则使用默认UART2输出 + * @retval 无 + */ +void IO_Monitor_SetEventCallback(io_event_callback_t callback); + #ifdef __cplusplus } #endif diff --git a/Core/Inc/multi_uart_router.h b/Core/Inc/multi_uart_router.h new file mode 100644 index 0000000..740648d --- /dev/null +++ b/Core/Inc/multi_uart_router.h @@ -0,0 +1,97 @@ +/** + ****************************************************************************** + * @file multi_uart_router.h + * @brief 多UART统一路由核心模块头文件 + * @author Application Layer + * @version 1.0 + ****************************************************************************** + * @attention + * 本模块实现多UART端口的统一管理，包括： + * - 接收环形缓冲区 + * - 发送环形缓冲区 + * - 端口上下文管理 + * - 响应路由表 + * + * 设计依据：多通信接口统一指令处理系统开发计划 第3.1、3.3、3.5节及附录A + ****************************************************************************** + */ + +#ifndef __MULTI_UART_ROUTER_H +#define __MULTI_UART_ROUTER_H + +#ifdef __cplusplus +extern "C" { +#endif + +#include +#include +#include "usart.h" + +#define UART_RX_BUFFER_SIZE 128 +#define UART_TX_BUFFER_SIZE 256 + +typedef enum { + PORT_UART1 = 0, + PORT_UART2 = 1, + PORT_UART3 = 2, + PORT_COUNT +} port_id_t; + +typedef struct { + uint8_t buffer[UART_RX_BUFFER_SIZE]; + volatile uint16_t head; + volatile uint16_t tail; + volatile uint16_t count; + volatile uint16_t overflow_count; +} uart_rx_ring_t; + +typedef struct { + uint8_t buffer[UART_TX_BUFFER_SIZE]; + volatile uint16_t head; + volatile uint16_t tail; + volatile uint16_t count; + volatile bool is_sending; + volatile uint16_t overflow_count; +} uart_tx_ring_t; + +typedef struct { + UART_HandleTypeDef *huart; + const char *name; + uart_rx_ring_t rx_ring; + uart_tx_ring_t tx_ring; + uint8_t rx_tmp; + uint32_t rx_count; + uint32_t tx_count; + uint32_t error_count; + bool initialized; +} uart_port_context_t; + +void MultiUART_Init(void); + +void MultiUART_FeedByte(port_id_t port_id, uint8_t byte); + +void MultiUART_Task(void); + +void MultiUART_Send(port_id_t port_id, const uint8_t *data, uint16_t len); + +void MultiUART_SendString(port_id_t port_id, const char *str); + +void MultiUART_SendFmt(port_id_t port_id, const char *fmt, ...); + +void MultiUART_TxCpltCallback(port_id_t port_id); + +const char *MultiUART_GetPortName(port_id_t port_id); + +uint16_t MultiUART_GetRxCount(port_id_t port_id); + +uint16_t MultiUART_ReadByte(port_id_t port_id, uint8_t *byte); + +uint16_t MultiUART_GetTxAvailable(port_id_t port_id); + +uint32_t MultiUART_GetOverflowCount(port_id_t port_id); + +#ifdef __cplusplus +} +#endif + +#endif diff --git a/Core/Inc/relay_control.h b/Core/Inc/relay_control.h index 11cfa1c..9aff6de 100644 --- a/Core/Inc/relay_control.h +++ b/Core/Inc/relay_control.h @@ -3,11 +3,14 @@ * @file relay_control.h * @brief 继电器控制模块头文件 * @author Application Layer - * @version 1.0 + * @version 2.0 ****************************************************************************** * @attention - * 本模块提供继电器的安全控制接口 - * 当前硬件配置：PA15连接继电器控制端 + * 本模块提供单路继电器的控制接口 + * 硬件配置：PA15连接继电器控制端 + * + * 修订历史： + * v2.0 - 精简为单路继电器控制，移除冗余功能 ****************************************************************************** */ @@ -21,7 +24,6 @@ extern "C" { #include #include -#define RELAY_COUNT 1 #define RELAY_MIN_INTERVAL 100 /** @@ -35,35 +37,18 @@ void Relay_Init(void); /** * @brief 设置继电器状态 * @note 带最小间隔保护，防止频繁切换损坏继电器 - * @param relay_id: 继电器编号(1-4)，当前硬件只有1 * @param state: true=打开, false=关闭 * @retval 无 */ -void Relay_SetState(uint8_t relay_id, bool state); +void Relay_SetState(bool state); /** * @brief 获取继电器当前状态 - * @note 读取GPIO输出状态 - * @param relay_id: 继电器编号(1-4) + * @note 读取软件记录的状态 + * @param 无 * @retval true=打开, false=关闭 */ -bool Relay_GetState(uint8_t relay_id); - -/** - * @brief 翻转继电器状态 - * @note 带最小间隔保护 - * @param relay_id: 继电器编号(1-4) - * @retval 无 - */ -void Relay_Toggle(uint8_t relay_id); - -/** - * @brief 获取继电器切换次数 - * @note 用于调试和诊断 - * @param 无 - * @retval 切换次数 - */ -uint32_t Relay_GetToggleCount(void); +bool Relay_GetState(void); #ifdef __cplusplus } diff --git a/Core/Src/cmd_parser.c b/Core/Src/cmd_parser.c index e0e2cc8..dfa029e 100644 --- a/Core/Src/cmd_parser.c +++ b/Core/Src/cmd_parser.c @@ -12,7 +12,7 @@ * 2. 完善的安全防护（缓冲区边界检查、超时重置、字符过滤） * 3. 异或校验，FF特权后门 * 4. 支持RL、DI、ECHO指令 - * + * * 修订历史： * v1.1 - 修复审查报告高危-6、中危-7/8 ****************************************************************************** @@ -27,37 +27,148 @@ #include // snprintf #include // atoi +/*============================================================================== + * 调试宏定义 + *============================================================================*/ +/* DEBUG_CMD_PARSER: 调试日志开关，置1时启用解析过程日志输出 */ #define DEBUG_CMD_PARSER 1 #if DEBUG_CMD_PARSER +/* 调试日志宏，带模块前缀"[CMD]"方便过滤 */ #define DEBUG_LOG(fmt, ...) UART2_Print_Printf("[CMD] " fmt "\r\n", ##__VA_ARGS__) #else #define DEBUG_LOG(fmt, ...) #endif +/*============================================================================== + * 解析器状态机定义 + *============================================================================*/ +/** + * @brief 指令解析器状态枚举 + * @note 状态机各状态定义，描述指令解析的完整生命周期 + * + * 状态转换图： + * + * [空闲] ---'$'---> [解析命令] + * [解析命令] ---','---> [解析参数1] + * [解析命令] ---'*'---> [解析校验和] + * [解析参数1] ---','---> [解析参数2] + * [解析参数1] ---'*'---> [解析校验和] + * [解析参数2] ---'*'---> [解析校验和] + * [解析校验和] ---'\n'---> [完成] + * [完成] ---'$'---> [解析命令] + * 任何状态 ---超时---> [空闲] + * + * 各状态说明： + * - PARSE_IDLE: 等待帧起始符'$'，处于空闲状态 + * - PARSE_CMD: 正在解析命令字段(直到遇到','或'*') + * - PARSE_PARAM1: 正在解析第一个参数(直到遇到','或'*') + * - PARSE_PARAM2: 正在解析第二个参数(直到遇到'*') + * - PARSE_CHECKSUM: 正在解析校验和(两个十六进制字符直到'\n') + * - PARSE_COMPLETE: 完整帧已解析完成，等待处理 + */ typedef enum { - PARSE_IDLE, - PARSE_CMD, - PARSE_PARAM1, - PARSE_PARAM2, - PARSE_CHECKSUM, - PARSE_COMPLETE + PARSE_IDLE = 0, /**< 空闲状态，等待帧起始 */ + PARSE_CMD, /**< 正在解析命令字段 */ + PARSE_PARAM1, /**< 正在解析第一个参数 */ + PARSE_PARAM2, /**< 正在解析第二个参数 */ + PARSE_CHECKSUM, /**< 正在解析校验和 */ + PARSE_COMPLETE /**< 解析完成，可处理 */ } parse_state_t; +/*============================================================================== + * 数据结构定义 + *============================================================================*/ +/** + * @brief 解析器上下文数据结构 + * @note 保存指令解析的完整状态信息，包括当前状态、已解析字段和统计计数 + * + * 设计目的： + * 解析器需要记忆多个中间状态：当前解析状态、已接收的各字段内容、 + * 校验和累加值、上下文字符索引等。这些信息集中保存在此结构体中， + * 实现无状态的逐字节处理(Stateless Byte-by-Byte Processing)模式。 + * + * 字段说明： + * - state: 当前解析状态机的状态 + * - frame: 已解析完成的指令帧结构(cmd_frame_t类型) + * - field_index: 当前字段的字符写入位置索引 + * - checksum_acc: 校验和累加器，逐字节异或得到 + * - cs_buffer: 接收的校验和字符缓存(两个HEX字符) + * - cs_index: 校验和字符缓存的当前写入位置 + * - last_rx_tick: 上次接收到数据的时间戳(用于超时检测) + * - error_count: 解析错误累计次数 + * - valid_count: 有效指令帧累计次数 + */ typedef struct { - parse_state_t state; - cmd_frame_t frame; - uint8_t field_index; - uint8_t checksum_acc; - uint8_t cs_buffer[2]; - uint8_t cs_index; - uint32_t last_rx_tick; - uint32_t error_count; - uint32_t valid_count; + parse_state_t state; /**< 解析状态机当前状态 */ + cmd_frame_t frame; /**< 已解析指令帧数据 */ + uint8_t field_index; /**< 当前字段的字符写入位置 */ + uint8_t checksum_acc; /**< 校验和累加器(异或运算) */ + uint8_t cs_buffer[2]; /**< 接收的校验和字符缓存 */ + uint8_t cs_index; /**< 校验和字符缓存写入位置 */ + uint32_t last_rx_tick; /**< 上次接收时间戳(毫秒) */ + uint32_t error_count; /**< 解析错误累计次数 */ + uint32_t valid_count; /**< 有效帧累计次数 */ } parser_context_t; +/*============================================================================== + * 全局变量定义 + *============================================================================*/ +/** + * @brief 解析器上下文实例 + * @note static修饰确保仅本文件内可访问，保存解析过程全部状态 + */ static parser_context_t ctx; +/** + * @brief 响应回调函数指针 + * @note 用于将响应发送到正确的源端口 + */ +static cmd_response_callback_t g_response_callback = NULL; + +/** + * @brief 当前源端口ID + * @note 记录当前正在解析的指令来自哪个端口 + */ +static uint8_t g_current_source_port = 0; + +/*============================================================================== + * 内部静态函数声明 + *============================================================================*/ +static void reset_parser(void); +static bool is_valid_cmd_char(char c); +static bool is_valid_param_char(char c); +static uint8_t hex_char_to_val(char c); +static uint8_t hex_to_byte(char high, char low); +static uint8_t calc_checksum(const char *data, uint8_t len); +static void send_response_ok(const char *content); +static void send_response_err(const char *err_code); +static bool is_str_empty(const char *str); +static bool is_str_numeric(const char *str); +static void process_cmd_frame(const cmd_frame_t *frame); + +/*============================================================================== + * 内部辅助函数实现 + *============================================================================*/ +/** + * @brief 重置解析器到初始状态 + * @note 清除所有上下文信息，准备接收新指令帧 + * + * @param 无 + * @return 无 + * + * 重置内容： + * - 状态恢复为PARSE_IDLE + * - 字段索引清零 + * - 校验和累加器清零 + * - 校验和缓存索引清零 + * - cmd_frame结构体全部清零 + * + * 调用时机： + * - 解析出错时 + * - 解析完成处理后 + * - 接收到完整帧后的空闲期 + */ static void reset_parser(void) { ctx.state = PARSE_IDLE; @@ -67,16 +178,59 @@ static void reset_parser(void) memset(&ctx.frame, 0, sizeof(ctx.frame)); } +/** + * @brief 验证命令字符合法性 + * @note 命令字段只能包含大写字母和数字 + * + * @param c: 待验证的字符(输入) + * @return bool: true=合法，false=非法 + * + * 过滤规则： + * - 允许: 'A'-'Z', '0'-'9' + * - 禁止: 小写字母、标点符号、控制字符等 + * + * 安全意义： + * - 限制命令字符集可防止注入攻击 + * - 简化解析逻辑，避免处理边界情况 + */ static bool is_valid_cmd_char(char c) { return isupper((unsigned char)c) || isdigit((unsigned char)c); } +/** + * @brief 验证参数字符合法性 + * @note 参数字段可包含大部分可打印字符，但排除特殊分隔符 + * + * @param c: 待验证的字符(输入) + * @return bool: true=合法，false=非法 + * + * 过滤规则： + * - 允许: isprint()返回true的字符，但不包括'*' + * - 禁止: '*'、'\r'、'\n'及其他不可打印字符 + * + * 特殊说明： + * - '*'是校验和起始分隔符，不能出现在参数中 + * - '\r'和'\n'是帧结束符 + */ static bool is_valid_param_char(char c) { return isprint((unsigned char)c) && c != '*' && c != '\r' && c != '\n'; } +/** + * @brief 十六进制字符转换为数值 + * @note 将单个十六进制字符('0'-'9','A'-'F')转换为对应的4位数值 + * + * @param c: 十六进制字符(输入) + * @return uint8_t: 转换后的数值(0-15)，非法字符返回0 + * + * 转换规则： + * '0'-'9' -> 0-9 + * 'A'-'F' -> 10-15 + * 'a'-'f' -> 10-15 (小写也支持) + * 其他字符 -> 0 (默认处理) + */ static uint8_t hex_char_to_val(char c) { if (c >= '0' && c <= '9') return c - '0'; @@ -85,11 +239,37 @@ static uint8_t hex_char_to_val(char c) return 0; } +/** + * @brief 将两个十六进制字符转换为一个字节 + * @note 高位字符在前，地位字符在后，组合成完整的字节值 + * + * @param high: 高位十六进制字符(输入) + * @param low: 低位十六进制字符(输入) + * @return uint8_t: 组合后的字节值(0-255) + * + * 计算公式：result = (high_nibble << 4) | low_nibble + * + * 示例： + * hex_to_byte('A', 'F') 返回 0xAF (十进制175) + */ static uint8_t hex_to_byte(char high, char low) { return (hex_char_to_val(high) << 4) | hex_char_to_val(low); } +/** + * @brief 计算异或校验和 + * @note 对输入数据的每个字节执行异或运算，生成校验码 + * + * @param data: 待计算校验和的数据缓冲区(输入) + * @param len: 数据长度，以字节为单位(输入) + * @return uint8_t: 校验和(异或结果) + * + * 算法原理： + * 遍历数据缓冲区，将每个字节与累加器进行异或操作。 + * 初始累加器为0，最终结果为所有字节的异或和。 + * XOR的特性：a^a=0, a^0=a, 具有可逆性，适合简单校验 + */ static uint8_t calc_checksum(const char *data, uint8_t len) { uint8_t cs = 0; @@ -99,40 +279,99 @@ static uint8_t calc_checksum(const char *data, uint8_t len) return cs; } +/** + * @brief 发送成功响应消息 + * @note 构造并发送指令执行成功的响应帧 + * + * @param content: 响应内容字符串指针(输入) + * @return 无 + * + * 响应帧格式： + * $OK,*\r\n + * + * 校验和计算范围： + * 从'$'之后到'*'之前的全部内容(不含$和*) + * + * 使用示例： + * send_response_ok("RL,1") -> $OK,RL,1*XX\r\n + */ static void send_response_ok(const char *content) { char msg[64]; uint8_t cs; - + int len = snprintf(msg, sizeof(msg), "$OK,%s*", content); cs = calc_checksum(msg + 1, len - 1); snprintf(msg + len, sizeof(msg) - len, "%02X\r\n", cs); - - UART2_Print_String(msg); + + if (g_response_callback != NULL) { + g_response_callback(g_current_source_port, msg); + } else { + UART2_Print_String(msg); + } } +/** + * @brief 发送错误响应消息 + * @note 构造并发送指令执行失败的响应帧 + * + * @param err_code: 错误代码字符串(输入)，如"PARAM"、"CS"、"CMD" + * @return 无 + * + * 响应帧格式： + * $ERR,*\r\n + * + * 错误代码含义： + * - "PARAM": 参数格式或值非法 + * - "CS": 校验和不匹配 + * - "CMD": 命令无法识别 + */ static void send_response_err(const char *err_code) { char msg[32]; uint8_t cs; - + int len = snprintf(msg, sizeof(msg), "$ERR,%s*", err_code); cs = calc_checksum(msg + 1, len - 1); snprintf(msg + len, sizeof(msg) - len, "%02X\r\n", cs); - - UART2_Print_String(msg); + + if (g_response_callback != NULL) { + g_response_callback(g_current_source_port, msg); + } else { + UART2_Print_String(msg); + } } +/** + * @brief 判断字符串是否为空 + * @note 检查指针是否为NULL或首字符是否为'\0' + * + * @param str: 待检查的字符串指针(输入) + * @return bool: true=空字符串或NULL，false=非空 + */ static bool is_str_empty(const char *str) { return (str == NULL || str[0] == '\0'); } +/** + * @brief 判断字符串是否全为数字 + * @note 验证字符串中的所有字符是否都是十进制数字 + * + * @param str: 待检查的字符串指针(输入) + * @return bool: true=全为数字，false=包含非数字字符或为空 + * + * 实现逻辑： + * 从字符串开头遍历到'\0'，检查每个字符是否满足isdigit()。 + * 一旦遇到非数字字符立即返回false。 + */ static bool is_str_numeric(const char *str) { + /* 空字符串检查 */ if (is_str_empty(str)) { return false; } + /* 逐字符检查是否为数字 */ while (*str) { if (!isdigit((unsigned char)*str)) { return false; @@ -142,160 +381,322 @@ static bool is_str_numeric(const char *str) return true; } +/** + * @brief 指令帧处理函数 + * @note 根据解析出的命令类型分发到相应的处理函数 + * + * @param frame: 已解析完成的指令帧结构指针(输入) + * @return 无 + * + * 支持的指令列表： + * - RL : 控制继电器开关 + * - DI [channel]: 查询数字输入状态 + * - ECHO: 回显测试指令 + * + * 处理流程： + * 1. 调试日志输出指令详情 + * 2. 根据cmd字段分发到对应处理分支 + * 3. 参数合法性校验 + * 4. 调用业务层函数执行操作 + * 5. 发送成功/失败响应 + */ static void process_cmd_frame(const cmd_frame_t *frame) { - DEBUG_LOG("CMD=%s P1=%s P2=%s CS=%02X/%02X %s", + /*---------------------------------------------------------- + * 调试日志：打印完整指令信息 + *----------------------------------------------------------*/ + DEBUG_LOG("CMD=%s P1=%s P2=%s CS=%02X/%02X %s", frame->cmd, frame->param1, frame->param2, frame->received_cs, frame->calculated_cs, frame->skip_checksum ? "(skip)" : ""); - + + /*---------------------------------------------------------- + * 继电器控制指令: RL + * 格式: $RL,* + * 说明: 单路继电器，state为0(关)或1(开) + *----------------------------------------------------------*/ if (strcmp(frame->cmd, "RL") == 0) { - if (!is_str_numeric(frame->param1) || !is_str_numeric(frame->param2)) { + /* 参数合法性检查：param1必须为数字 */ + if (!is_str_numeric(frame->param1)) { send_response_err("PARAM"); - DEBUG_LOG("Invalid RL params: not numeric"); + DEBUG_LOG("Invalid RL param: not numeric"); return; } - - int relay_id = atoi(frame->param1); - int state = atoi(frame->param2); - - if (relay_id >= 1 && relay_id <= 4 && (state == 0 || state == 1)) { - Relay_SetState(relay_id, state ? true : false); - + + /* 将参数字符串转换为整数 */ + int state = atoi(frame->param1); + + /* 状态值范围检查: 0或1 */ + if (state == 0 || state == 1) { + /* 调用业务层函数设置继电器状态 */ + Relay_SetState(state ? true : false); + + /* 构造并发送成功响应 */ char resp[32]; - snprintf(resp, sizeof(resp), "RL,%d,%d", relay_id, state); + snprintf(resp, sizeof(resp), "RL,%d", state); send_response_ok(resp); - - DEBUG_LOG("Relay %d -> %s", relay_id, state ? "ON" : "OFF"); + + DEBUG_LOG("Relay -> %s", state ? "ON" : "OFF"); } else { + /* 参数值超出有效范围 */ send_response_err("PARAM"); - DEBUG_LOG("Invalid RL params: id=%d state=%d", relay_id, state); + DEBUG_LOG("Invalid RL param: state=%d", state); } } + /*---------------------------------------------------------- + * 数字输入查询指令: DI [channel] + * 格式1(查询全部): $DI* 或 $DI,0* + * 格式2(查询单通道): $DI,* + *----------------------------------------------------------*/ else if (strcmp(frame->cmd, "DI") == 0) { + /*---------------------------------------------------------- + * 分支1: 查询全部通道状态 + * param1为空或为"0"时触发 + *----------------------------------------------------------*/ if (is_str_empty(frame->param1) || strcmp(frame->param1, "0") == 0) { + /* 获取所有通道状态的组合掩码 */ uint8_t states = IO_Monitor_GetAllStates(); + /* 构造响应消息，将四路状态按位展开为ASCII字符 */ char resp[32]; - snprintf(resp, sizeof(resp), "DI,%d%d%d%d", + snprintf(resp, sizeof(resp), "DI,%d%d%d%d", (states >> 0) & 1, (states >> 1) & 1, (states >> 2) & 1, (states >> 3) & 1); send_response_ok(resp); DEBUG_LOG("DI all states: 0x%02X", states); } + /*---------------------------------------------------------- + * 分支2: 查询指定单通道状态 + * param1为数字时触发 + *----------------------------------------------------------*/ else if (is_str_numeric(frame->param1)) { int channel = atoi(frame->param1); + /* 通道编号范围检查: 1-4 */ if (channel >= 1 && channel <= 4) { + /* 获取该通道的当前状态(内部使用0-base索引) */ uint8_t state = IO_Monitor_GetState(channel - 1); char resp[32]; snprintf(resp, sizeof(resp), "DI,%d,%d", channel, state); send_response_ok(resp); DEBUG_LOG("DI%d = %d", channel, state); } else { + /* 通道编号超出范围 */ send_response_err("PARAM"); DEBUG_LOG("Invalid DI channel: %d", channel); } } + /*---------------------------------------------------------- + * 分支3: 参数格式非法 + *----------------------------------------------------------*/ else { send_response_err("PARAM"); DEBUG_LOG("Invalid DI param: not numeric"); } } + /*---------------------------------------------------------- + * 回显测试指令: ECHO + * 格式: $ECHO* + * 用途: 测试通信链路是否正常 + *----------------------------------------------------------*/ else if (strcmp(frame->cmd, "ECHO") == 0) { send_response_ok("ECHO"); DEBUG_LOG("ECHO response sent"); } + /*---------------------------------------------------------- + * 未知命令处理 + *----------------------------------------------------------*/ else { send_response_err("CMD"); DEBUG_LOG("Unknown command: %s", frame->cmd); } } +/*============================================================================== + * 公共函数实现 + *============================================================================*/ +/** + * @brief 指令解析器初始化 + * @note 在系统启动时调用，初始化解析器上下文 + * + * @param 无 + * @return 无 + * + * 初始化内容： + * - 使用memset将整个上下文结构清零 + * - 将状态显式设置为PARSE_IDLE + * + * 注意： + * 全局变量ctx本身是static且初始化为{0}， + * 此函数调用memset是确保明确初始化， + * 防止未来新增字段时出现未初始化问题 + */ void CmdParser_Init(void) { memset(&ctx, 0, sizeof(ctx)); ctx.state = PARSE_IDLE; - + DEBUG_LOG("Init OK"); } +/** + * @brief 向解析器输入一个字节 + * @note 核心解析函数，实现状态机逻辑，应对每个接收字节调用一次 + * + * @param byte: 待解析的接收字节(输入) + * @param current_tick: 当前系统时间戳，毫秒单位(输入) + * @return 无 + * + * 算法说明 - 状态机核心逻辑： + * 本函数是整个解析器的核心，实现了有限状态机(FSM)。 + * 每次调用处理一个字节，根据当前状态(ctx.state)和输入字节 + * 决定状态转换和动作。 + * + * 状态转换详细说明： + * + * [PARSE_IDLE]: + * - byte='$' -> reset_parser(), state=PARSE_CMD + * - 其他字节 -> 忽略，保持IDLE + * + * [PARSE_CMD]: + * - byte=',' -> 字段结束，state=PARSE_PARAM1，field_index=0 + * - byte='*' -> 字段结束，state=PARSE_CHECKSUM，cs_index=0 + * - is_valid_cmd_char(byte) -> 写入cmd缓冲区，checksum_acc^=byte + * - 其他情况 -> error_count++, reset_parser() + * + * [PARSE_PARAM1]: + * - byte=',' -> 字段结束，state=PARSE_PARAM2，field_index=0 + * - byte='*' -> 字段结束，state=PARSE_CHECKSUM，cs_index=0 + * - is_valid_param_char(byte) -> 写入param1缓冲区，checksum_acc^=byte + * - 其他情况 -> error_count++, reset_parser() + * + * [PARSE_PARAM2]: + * - byte='*' -> 字段结束，state=PARSE_CHECKSUM，cs_index=0 + * - is_valid_param_char(byte) -> 写入param2缓冲区，checksum_acc^=byte + * - 其他情况 -> error_count++, reset_parser() + * + * [PARSE_CHECKSUM]: + * - byte='\n' -> 校验和接收完成，验证并设置state=PARSE_COMPLETE + * - byte='\r' -> 忽略(回车符) + * - 其他情况 -> 写入cs_buffer[cs_index++]，最多2个字符 + * + * [PARSE_COMPLETE]: + * - reset_parser() + * - byte='$' -> state=PARSE_CMD (允许连续帧) + * + * 超时处理： + * 如果当前状态不是IDLE且距离上次接收超过PARSE_TIMEOUT_MS， + * 则判定为接收超时，重置解析器到IDLE状态 + */ void CmdParser_FeedByte(uint8_t byte, uint32_t current_tick) { + /*---------------------------------------------------------- + * 超时检测 + * 如果接收到新字节且距离上次接收已超时，则重置解析器 + *----------------------------------------------------------*/ if (ctx.state != PARSE_IDLE && ctx.state != PARSE_COMPLETE) { if (current_tick - ctx.last_rx_tick >= PARSE_TIMEOUT_MS) { ctx.error_count++; DEBUG_LOG("Timeout, reset parser"); reset_parser(); + /* 超时后如果收到'$'，立即开始解析新帧 */ if (byte == '$') { ctx.state = PARSE_CMD; } return; } } + /* 更新最后接收时间戳 */ ctx.last_rx_tick = current_tick; - + + /*---------------------------------------------------------- + * 状态机主分支：根据当前状态处理输入字节 + *----------------------------------------------------------*/ switch (ctx.state) { + /*---------------------------------------------------------- + * PARSE_IDLE: 等待帧起始符'$' + *----------------------------------------------------------*/ case PARSE_IDLE: if (byte == '$') { reset_parser(); ctx.state = PARSE_CMD; } break; - + + /*---------------------------------------------------------- + * PARSE_CMD: 解析命令字段 + *----------------------------------------------------------*/ case PARSE_CMD: if (byte == ',') { + /* 命令字段结束符，遇到逗号转入参数1解析 */ ctx.frame.cmd[ctx.field_index] = '\0'; ctx.state = PARSE_PARAM1; ctx.field_index = 0; } else if (byte == '*') { + /* 无参数命令，遇到'*'直接转入校验和解析 */ ctx.frame.cmd[ctx.field_index] = '\0'; ctx.state = PARSE_CHECKSUM; ctx.field_index = 0; ctx.cs_index = 0; } else if (is_valid_cmd_char(byte)) { + /* 有效的命令字符，写入缓冲区 */ if (ctx.field_index < CMD_MAX_LEN - 1) { ctx.frame.cmd[ctx.field_index++] = byte; - ctx.checksum_acc ^= byte; + ctx.checksum_acc ^= byte; /* 累加到校验和 */ } else { + /* 缓冲区溢出，命令过长 */ ctx.error_count++; reset_parser(); } } else { + /* 无效字符，命令只能包含大写字母和数字 */ ctx.error_count++; reset_parser(); } break; - + + /*---------------------------------------------------------- + * PARSE_PARAM1: 解析第一个参数 + *----------------------------------------------------------*/ case PARSE_PARAM1: if (byte == ',') { + /* 参数1结束符，遇到逗号转入参数2解析 */ ctx.frame.param1[ctx.field_index] = '\0'; ctx.state = PARSE_PARAM2; ctx.field_index = 0; } else if (byte == '*') { + /* 参数1结束符，遇到'*'直接转入校验和解析 */ ctx.frame.param1[ctx.field_index] = '\0'; ctx.state = PARSE_CHECKSUM; ctx.field_index = 0; ctx.cs_index = 0; } else if (is_valid_param_char(byte)) { + /* 有效参数字符，写入缓冲区 */ if (ctx.field_index < PARAM_MAX_LEN - 1) { ctx.frame.param1[ctx.field_index++] = byte; ctx.checksum_acc ^= byte; } else { + /* 缓冲区溢出，参数过长 */ ctx.error_count++; reset_parser(); } } else { + /* 无效字符 */ ctx.error_count++; reset_parser(); } break; - + + /*---------------------------------------------------------- + * PARSE_PARAM2: 解析第二个参数 + *----------------------------------------------------------*/ case PARSE_PARAM2: if (byte == '*') { + /* 参数2结束符，遇到'*'转入校验和解析 */ ctx.frame.param2[ctx.field_index] = '\0'; ctx.state = PARSE_CHECKSUM; ctx.field_index = 0; ctx.cs_index = 0; } else if (is_valid_param_char(byte)) { + /* 有效参数字符，写入缓冲区 */ if (ctx.field_index < PARAM_MAX_LEN - 1) { ctx.frame.param2[ctx.field_index++] = byte; ctx.checksum_acc ^= byte; @@ -308,34 +709,51 @@ void CmdParser_FeedByte(uint8_t byte, uint32_t current_tick) reset_parser(); } break; - + + /*---------------------------------------------------------- + * PARSE_CHECKSUM: 解析校验和 + *----------------------------------------------------------*/ case PARSE_CHECKSUM: if (byte == '\n') { + /* 帧结束符'\n'到达，校验和解析完成 */ + /* 将两个十六进制字符转换为字节 */ ctx.frame.received_cs = hex_to_byte(ctx.cs_buffer[0], ctx.cs_buffer[1]); ctx.frame.calculated_cs = ctx.checksum_acc; + /* 0xFF作为特殊值，跳过校验和验证(后门) */ ctx.frame.skip_checksum = (ctx.frame.received_cs == 0xFF); - - if (ctx.frame.skip_checksum || + + /*---------------------------------------------------------- + * 校验和验证 + *----------------------------------------------------------*/ + if (ctx.frame.skip_checksum || ctx.frame.received_cs == ctx.frame.calculated_cs) { + /* 校验通过，设置帧有效标志 */ ctx.frame.valid = true; ctx.state = PARSE_COMPLETE; ctx.valid_count++; } else { + /* 校验失败，发送错误响应 */ ctx.error_count++; - DEBUG_LOG("Checksum error: recv=%02X calc=%02X", + DEBUG_LOG("Checksum error: recv=%02X calc=%02X", ctx.frame.received_cs, ctx.frame.calculated_cs); send_response_err("CS"); reset_parser(); } } else if (byte != '\r') { + /* 忽略回车符'\r'，接收校验和字符(最多2个HEX) */ if (ctx.cs_index < 2) { ctx.cs_buffer[ctx.cs_index++] = byte; } } break; - + + /*---------------------------------------------------------- + * PARSE_COMPLETE: 解析完成状态 + *----------------------------------------------------------*/ case PARSE_COMPLETE: + /* 重置解析器，准备接收下一帧 */ reset_parser(); + /* 如果立即收到'$'，允许连续帧解析 */ if (byte == '$') { ctx.state = PARSE_CMD; } @@ -343,6 +761,27 @@ void CmdParser_FeedByte(uint8_t byte, uint32_t current_tick) } } +/** + * @brief 指令解析器任务函数 + * @note 在主循环中周期性调用，处理已解析完成的指令帧 + * + * @param 无 + * @return 无 + * + * 工作模式： + * CmdParser_FeedByte()负责接收字节并解析， + * 此函数负责在帧解析完成后执行相应的业务处理。 + * + * 处理流程： + * 1. 检查是否处于PARSE_COMPLETE状态 + * 2. 检查帧是否valid + * 3. 调用process_cmd_frame()执行指令 + * 4. 重置解析器到IDLE状态 + * + * 注意： + * 此设计将"接收解析"与"业务处理"分离， + * 避免了中断处理函数中执行复杂业务逻辑 + */ void CmdParser_Task(void) { if (ctx.state == PARSE_COMPLETE && ctx.frame.valid) { @@ -351,6 +790,21 @@ void CmdParser_Task(void) } } +/** + * @brief 查询是否存在已完成的指令帧 + * @note 非阻塞查询接口，供外部模块检查是否有待处理帧 + * + * @param frame: 帧数据输出指针，如果不为NULL则复制帧数据(输出) + * @return bool: true=存在有效帧，false=无有效帧 + * + * 使用场景： + * 外部模块(如主循环)可轮询此函数， + * 当返回true时获取帧数据进行处理 + * + * 注意： + * 此函数只是查询，不自动清除帧数据。 + * 帧数据的清除需要调用CmdParser_Acknowledge() + */ bool CmdParser_HasCompleteFrame(cmd_frame_t *frame) { if (ctx.state == PARSE_COMPLETE && ctx.frame.valid) { @@ -362,17 +816,81 @@ bool CmdParser_HasCompleteFrame(cmd_frame_t *frame) return false; } +/** + * @brief 确认并清除已完成的指令帧 + * @note 在处理完一帧后调用，重置解析器到初始状态 + * + * @param 无 + * @return 无 + * + * 使用说明： + * 当外部模块通过CmdParser_HasCompleteFrame获取帧数据后， + * 处理完毕应调用此函数清除状态，防止重复处理 + */ void CmdParser_Acknowledge(void) { reset_parser(); } +/** + * @brief 获取解析错误累计次数 + * @note 用于诊断通信质量或协议错误统计 + * + * @param 无 + * @return uint32_t: 错误帧累计次数 + * + * 错误类型包括： + * - 字符验证失败 + * - 缓冲区溢出 + * - 校验和不匹配 + * - 接收超时 + */ uint32_t CmdParser_GetErrorCount(void) { return ctx.error_count; } +/** + * @brief 获取有效帧累计次数 + * @note 用于诊断通信成功率统计 + * + * @param 无 + * @return uint32_t: 有效帧累计次数 + * + * 计算公式：成功率 = valid_count / (valid_count + error_count) + */ uint32_t CmdParser_GetValidCount(void) { return ctx.valid_count; } + +/** + * @brief 设置响应回调函数 + * @note 用于将响应路由到正确的源端口 + * + * @param callback: 回调函数指针 + * @return 无 + * + * 回调函数原型： + * void callback(uint8_t source_port, const char *response) + * + * 参数说明： + * - source_port: 指令来源端口ID + * - response: 待发送的响应字符串 + */ +void CmdParser_SetResponseCallback(cmd_response_callback_t callback) +{ + g_response_callback = callback; +} + +/** + * @brief 设置当前源端口 + * @note 在开始解析新指令前调用，记录指令来源 + * + * @param port_id: 端口ID + * @return 无 + */ +void CmdParser_SetSourcePort(uint8_t port_id) +{ + g_current_source_port = port_id; +} diff --git a/Core/Src/cmd_router.c b/Core/Src/cmd_router.c new file mode 100644 index 0000000..ecb27e2 --- /dev/null +++ b/Core/Src/cmd_router.c @@ -0,0 +1,222 @@ +/** + ****************************************************************************** + * @file cmd_router.c + * @brief 指令路由与响应分发模块实现 + * @author Application Layer + * @version 1.0 + ****************************************************************************** + * @attention + * 本模块实现指令路由与响应分发功能 + * 设计依据：多通信接口统一指令处理系统开发计划 第3.2节 + * + * 核心职责： + * - 从各UART端口读取数据并喂入解析器 + * - 根据指令来源端口路由响应 + * - 管理响应路由表 + * + * 工作流程： + * 1. 中断中将接收字节写入对应端口的环形缓冲区 + * 2. 主循环中CmdRouter_Task轮询各端口缓冲区 + * 3. 读取字节喂入CmdParser解析器 + * 4. 解析完成后通过回调发送响应到源端口 + ****************************************************************************** + */ + +#include "cmd_router.h" +#include "multi_uart_router.h" +#include "cmd_parser.h" +#include "uart2_print.h" +#include "debug_log.h" +#include + +#define DEBUG_CMD_ROUTER 1 + +#if DEBUG_CMD_ROUTER +#define ROUTER_LOG(fmt, ...) UART2_Print_Printf("[ROUTER] " fmt "\r\n", ##__VA_ARGS__) +#else +#define ROUTER_LOG(fmt, ...) +#endif + +#define RX_LOG_BUFFER_SIZE 128 + +typedef struct { + uint8_t source_port; + uint32_t last_feed_tick; + uint32_t rx_count; + bool active; +} port_parser_state_t; + +static port_parser_state_t g_port_states[PORT_COUNT]; + +static cmd_response_handler_t g_response_handler = NULL; + +static uint32_t g_processed_count = 0; +static uint32_t g_routed_count = 0; + +static uint8_t g_current_parsing_port = PORT_UART2; + +static uint8_t g_rx_log_buffer[PORT_COUNT][RX_LOG_BUFFER_SIZE]; +static uint16_t g_rx_log_len[PORT_COUNT]; +static uint32_t g_rx_log_last_tick[PORT_COUNT]; +#define RX_LOG_TIMEOUT_MS 50 + +static void flush_rx_log(port_id_t port_id) +{ + if (g_rx_log_len[port_id] == 0) { + return; + } + + UART2_Print_Printf("[ROUTER] %s RX: \"", MultiUART_GetPortName(port_id)); + + for (uint16_t i = 0; i < g_rx_log_len[port_id]; i++) { + uint8_t c = g_rx_log_buffer[port_id][i]; + if (c >= 0x20 && c < 0x7F) { + UART2_Print_Send(&c, 1); + } else if (c == '\r') { + UART2_Print_Send((const uint8_t *)"\\r", 2); + } else if (c == '\n') { + UART2_Print_Send((const uint8_t *)"\\n", 2); + } else { + char hex[4]; + snprintf(hex, sizeof(hex), "\\x%02X", c); + UART2_Print_Send((const uint8_t *)hex, 4); + } + } + + UART2_Print_String("\"\r\n"); + + g_rx_log_len[port_id] = 0; +} + +static void append_rx_log(port_id_t port_id, uint8_t byte) +{ + if (g_rx_log_len[port_id] < RX_LOG_BUFFER_SIZE) { + g_rx_log_buffer[port_id][g_rx_log_len[port_id]++] = byte; + } + g_rx_log_last_tick[port_id] = HAL_GetTick(); +} + +static void cmd_parser_response_callback(uint8_t source_port, const char *response) +{ + if (g_response_handler != NULL) { + g_response_handler((port_id_t)source_port, response, strlen(response)); + g_routed_count++; + } else { + MultiUART_SendString((port_id_t)source_port, response); + g_routed_count++; + } + + LOG_INFO("ROUTER", "TX[%s]: %s", + MultiUART_GetPortName((port_id_t)source_port), response); +} + +void CmdRouter_Init(void) +{ + for (port_id_t i = 0; i < PORT_COUNT; i++) { + g_port_states[i].source_port = i; + g_port_states[i].last_feed_tick = 0; + g_port_states[i].rx_count = 0; + g_port_states[i].active = false; + + g_rx_log_len[i] = 0; + g_rx_log_last_tick[i] = 0; + } + + g_response_handler = NULL; + g_processed_count = 0; + g_routed_count = 0; + g_current_parsing_port = PORT_UART2; + + CmdParser_SetResponseCallback(cmd_parser_response_callback); + + ROUTER_LOG("Init OK, %d ports registered", PORT_COUNT); +} + +void CmdRouter_Task(void) +{ + uint32_t current_tick = HAL_GetTick(); + + for (port_id_t port_id = 0; port_id < PORT_COUNT; port_id++) { + if (port_id == PORT_UART2) { + continue; + } + + if (g_rx_log_len[port_id] > 0 && + (current_tick - g_rx_log_last_tick[port_id]) >= RX_LOG_TIMEOUT_MS) { + flush_rx_log(port_id); + } + } + + for (port_id_t port_id = 0; port_id < PORT_COUNT; port_id++) { + if (port_id == PORT_UART2) { + continue; + } + + uint16_t rx_count = MultiUART_GetRxCount(port_id); + + if (rx_count == 0) { + continue; + } + + g_current_parsing_port = port_id; + CmdParser_SetSourcePort(port_id); + + uint8_t byte; + while (MultiUART_ReadByte(port_id, &byte) > 0) { + append_rx_log(port_id, byte); + CmdParser_FeedByte(byte, HAL_GetTick()); + g_port_states[port_id].rx_count++; + } + + if (CmdParser_HasCompleteFrame(NULL)) { + flush_rx_log(port_id); + g_processed_count++; + g_port_states[port_id].active = true; + } + } + + CmdParser_Task(); +} + +void CmdRouter_SetResponseHandler(cmd_response_handler_t handler) +{ + g_response_handler = handler; + ROUTER_LOG("Response handler %s", handler ? "set" : "cleared"); +} + +void CmdRouter_SendResponse(port_id_t port, const char *response, uint16_t len) +{ + if (port >= PORT_COUNT || response == NULL || len == 0) { + return; + } + + MultiUART_Send(port, (const uint8_t *)response, len); + g_routed_count++; + + LOG_INFO("ROUTER", "SendResponse[%s]: %.*s", + MultiUART_GetPortName(port), len, response); +} + +void CmdRouter_BroadcastResponse(const char *response, uint16_t len) +{ + if (response == NULL || len == 0) { + return; + } + + for (port_id_t port = 0; port < PORT_COUNT; port++) { + MultiUART_Send(port, (const uint8_t *)response, len); + g_routed_count++; + } + + LOG_INFO("ROUTER", "Broadcast: %.*s", len, response); +} + +uint32_t CmdRouter_GetProcessedCount(void) +{ + return g_processed_count; +} + +uint32_t CmdRouter_GetRoutedCount(void) +{ + return g_routed_count; +} diff --git a/Core/Src/debug_log.c b/Core/Src/debug_log.c new file mode 100644 index 0000000..3307360 --- /dev/null +++ b/Core/Src/debug_log.c @@ -0,0 +1,148 @@ +/** + ****************************************************************************** + * @file debug_log.c + * @brief 增强型调试日志系统实现 + * @author Application Layer + * @version 1.0 + ****************************************************************************** + * @attention + * 本模块实现增强型调试日志系统 + * 设计依据：多通信接口统一指令处理系统开发计划 第3.4节 + * + * 日志格式：[LEVEL][MODULE] message + * 示例：[INFO][CMD] Command received: RL + ****************************************************************************** + */ + +#include "debug_log.h" +#include "uart2_print.h" +#include +#include +#include + +#define MAX_MODULES 16 +#define MODULE_NAME_LEN 16 + +typedef struct { + char name[MODULE_NAME_LEN]; + bool enabled; +} module_config_t; + +static log_level_t g_current_level = LOG_LEVEL_DEBUG; +static module_config_t g_modules[MAX_MODULES]; +static bool g_modules_initialized = false; + +static const char *const g_level_str[] = { + [LOG_LEVEL_DEBUG] = "DEBUG", + [LOG_LEVEL_INFO] = "INFO ", + [LOG_LEVEL_WARN] = "WARN ", + [LOG_LEVEL_ERROR] = "ERROR", +}; + +static void init_modules(void) +{ + if (g_modules_initialized) { + return; + } + + for (int i = 0; i < MAX_MODULES; i++) { + g_modules[i].name[0] = '\0'; + g_modules[i].enabled = false; + } + + g_modules_initialized = true; +} + +static bool is_module_enabled(const char *module) +{ + if (module == NULL || module[0] == '\0') { + return true; + } + + init_modules(); + + for (int i = 0; i < MAX_MODULES; i++) { + if (g_modules[i].name[0] != '\0' && + strncmp(g_modules[i].name, module, MODULE_NAME_LEN - 1) == 0) { + return g_modules[i].enabled; + } + } + + return true; +} + +void DebugLog_Init(void) +{ + g_current_level = LOG_LEVEL_DEBUG; + init_modules(); + + UART2_Print_String("[LOG] Debug log system initialized\r\n"); +} + +void DebugLog_SetLevel(log_level_t level) +{ + g_current_level = level; +} + +log_level_t DebugLog_GetLevel(void) +{ + return g_current_level; +} + +void DebugLog_EnableModule(const char *module, bool enable) +{ + if (module == NULL || module[0] == '\0') { + return; + } + + init_modules(); + + for (int i = 0; i < MAX_MODULES; i++) { + if (g_modules[i].name[0] == '\0') { + strncpy(g_modules[i].name, module, MODULE_NAME_LEN - 1); + g_modules[i].name[MODULE_NAME_LEN - 1] = '\0'; + g_modules[i].enabled = enable; + return; + } + + if (strncmp(g_modules[i].name, module, MODULE_NAME_LEN - 1) == 0) { + g_modules[i].enabled = enable; + return; + } + } +} + +void DebugLog_Output(log_level_t level, const char *module, const char *fmt, ...) +{ + if (level < g_current_level) { + return; + } + + if (!is_module_enabled(module)) { + return; + } + + char buffer[256]; + int len = 0; + + len += snprintf(buffer + len, sizeof(buffer) - len, "[%s][%s] ", + g_level_str[level], module ? module : "MAIN"); + + if (len < (int)sizeof(buffer) - 1) { + va_list args; + va_start(args, fmt); + len += vsnprintf(buffer + len, sizeof(buffer) - len, fmt, args); + va_end(args); + } + + if (len > 0 && len < (int)sizeof(buffer)) { + buffer[len++] = '\r'; + if (len < (int)sizeof(buffer)) { + buffer[len++] = '\n'; + } + } + + if (len > 0) { + UART2_Print_Send((const uint8_t *)buffer, len); + } +} diff --git a/Core/Src/io_monitor.c b/Core/Src/io_monitor.c index 4dd3388..6ae6ccf 100644 --- a/Core/Src/io_monitor.c +++ b/Core/Src/io_monitor.c @@ -3,16 +3,17 @@ * @file io_monitor.c * @brief IO状态监控模块实现 * @author Application Layer - * @version 1.1 + * @version 1.2 ****************************************************************************** * @attention * 本模块实现四路数字输入的状态监控 * 关键特性： * 1. 10ms定时扫描，平衡响应速度和CPU占用 * 2. 软件去抖，连续3次相同状态才确认变化 - * 3. 状态变化时自动上报ASCII格式消息 - * + * 3. 状态变化时通过回调函数上报，支持多端口路由 + * * 修订历史： + * v1.2 - 增加事件回调机制，支持多端口路由 * v1.1 - 修复审查报告中危-5：去抖计数器初始化优化 ****************************************************************************** */ @@ -22,23 +23,64 @@ #include "main.h" #include +/*============================================================================== + * 调试宏定义 + *============================================================================*/ +/* DEBUG_IO_MONITOR: 调试日志开关，置1时启用调试输出，置0时禁用 */ #define DEBUG_IO_MONITOR 1 #if DEBUG_IO_MONITOR +/* 调试日志宏，带模块前缀"[IO]"方便在串口调试终端中过滤日志 */ #define DEBUG_LOG(fmt, ...) UART2_Print_Printf("[IO] " fmt "\r\n", ##__VA_ARGS__) #else +/* 禁用调试日志时，将宏定义为空，避免生成无用代码 */ #define DEBUG_LOG(fmt, ...) #endif +/*============================================================================== + * 数据结构定义 + *============================================================================*/ +/** + * @brief IO通道数据结构 + * @note 用于描述一个数字输入通道的完整状态信息 + * + * 设计目的： + * 该结构体封装了监控单个数字输入(DI)通道所需的全部状态信息，包括 + * 硬件连接参数(GPIO端口和引脚)、当前稳定状态、去抖计数器、原始采样状态 + * 以及状态变化统计。这使得多通道扫描逻辑能够以统一的结构处理每个通道。 + * + * 字段说明： + * - port: GPIO端口指针，指向硬件寄存器(如GPIOB) + * - pin: GPIO引脚编号(如GPIO_PIN_4)，用于HAL库读取函数 + * - current_state: 经过去抖处理后的稳定状态，0=低电平，1=高电平 + * - debounce_counter: 去抖计数器，累加相同采样值的次数，达到阈值才确认状态变化 + * - last_raw_state: 上一次采样的原始电平状态，用于检测电平变化 + * - change_count: 状态变化总次数统计，用于诊断和监控 + */ typedef struct { - GPIO_TypeDef *port; - uint16_t pin; - uint8_t current_state; - uint8_t debounce_counter; - uint8_t last_raw_state; - uint32_t change_count; + GPIO_TypeDef *port; /**< GPIO端口指针，指向外设寄存器基地址 */ + uint16_t pin; /**< GPIO引脚编号，对应HAL库的引脚定义 */ + uint8_t current_state; /**< 经去抖处理后的稳定状态，0=低电平，1=高电平 */ + uint8_t debounce_counter; /**< 去抖计数器，连续采样到相同值的次数 */ + uint8_t last_raw_state; /**< 上一次采样的原始电平，用于变化检测 */ + uint32_t change_count; /**< 状态变化累计次数，用于性能监控 */ } io_channel_t; +/*============================================================================== + * 全局变量定义 + *============================================================================*/ +/** + * @brief 四路数字输入通道配置表 + * @note 静态初始化表，定义四个监控通道的GPIO硬件连接 + * + * 各通道映射关系： + * - 通道0: GPIOB, GPIO_PIN_4 + * - 通道1: GPIOB, GPIO_PIN_5 + * - 通道2: GPIOB, GPIO_PIN_6 + * - 通道3: GPIOB, GPIO_PIN_7 + * + * 初始化值说明：所有状态和计数器均初始化为0，表示上电初始状态未知 + */ static io_channel_t di_channels[IO_CHANNEL_COUNT] = { {GPIOB, GPIO_PIN_4, 0, 0, 0, 0}, {GPIOB, GPIO_PIN_5, 0, 0, 0, 0}, @@ -46,9 +88,75 @@ static io_channel_t di_channels[IO_CHANNEL_COUNT] = { {GPIOB, GPIO_PIN_7, 0, 0, 0, 0} }; +/** + * @brief 上一次扫描时刻的时间戳 + * @note 用于实现10ms固定间隔扫描，避免每次都执行扫描操作 + * HAL_GetTick()返回系统运行毫秒数 + */ static uint32_t last_scan_tick = 0; + +/** + * @brief 事件上报使能标志 + * @note 置true时允许状态变化自动上报，置false时禁止上报 + * 可用于批量操作时临时抑制不必要的事件通知 + */ static bool report_enabled = true; +/** + * @brief IO事件回调函数指针 + * @note 设置后，IO状态变化将通过回调函数上报 + * 为NULL时使用默认的UART2_Print_String输出 + */ +static io_event_callback_t g_event_callback = NULL; + +/*============================================================================== + * 内部静态函数声明 + *============================================================================*/ +/** + * @brief 计算异或校验和 + * @note 对输入数据的每个字节执行异或运算，生成校验码 + * 用于DI_EVENT消息的校验和计算 + * + * @param data: 待计算校验和的数据缓冲区(输入) + * @param len: 数据长度，以字节为单位(输入) + * @return 校验和: uint8_t类型的异或结果 + * + * 算法原理：遍历数据缓冲区，将每个字节与累加器进行异或操作 + * 初始值为0，最终结果为所有字节的异或和 + */ +static uint8_t calc_checksum(const char *data, uint8_t len); + +/** + * @brief 发送DI状态变化事件 + * @note 构造并发送ASCII格式的状态变化消息至UART2 + * 消息格式: $DI_EVENT,,*\r\n + * + * @param channel: 通道编号，从0开始计数(输入) + * @param state: 通道状态，0=低电平，1=高电平(输入) + * @return 无返回值 + * + * 调用说明： + * - 此函数在状态变化被确认后调用，用于通知上位机或日志系统 + * - 内部会调用calc_checksum计算校验和 + * - 通过UART2_Print_String发送原始字符串 + */ +static void send_di_event(uint8_t channel, uint8_t state); + +/*============================================================================== + * 内部静态函数实现 + *============================================================================*/ +/** + * @brief 计算异或校验和 + * @note 对输入数据的每个字节执行异或运算，生成校验码 + * 用于DI_EVENT消息的校验和计算 + * + * @param data: 待计算校验和的数据缓冲区(输入) + * @param len: 数据长度，以字节为单位(输入) + * @return 校验和: uint8_t类型的异或结果 + * + * 算法原理：遍历数据缓冲区，将每个字节与累加器进行异或操作 + * 初始值为0，最终结果为所有字节的异或和 + */ static uint8_t calc_checksum(const char *data, uint8_t len) { uint8_t cs = 0; @@ -58,63 +166,156 @@ static uint8_t calc_checksum(const char *data, uint8_t len) return cs; } +/** + * @brief 发送DI状态变化事件 + * @note 构造并发送ASCII格式的状态变化消息 + * 消息格式: $DI_EVENT,,*\r\n + * 如果设置了回调函数，则通过回调发送；否则发送到UART2 + * + * @param channel: 通道编号，从0开始计数(输入) + * @param state: 通道状态，0=低电平，1=高电平(输入) + * @return 无返回值 + * + * 调用说明： + * - 此函数在状态变化被确认后调用，用于通知上位机或日志系统 + * - 内部会调用calc_checksum计算校验和 + * - 如果设置了回调函数，则通过回调发送；否则通过UART2_Print_String发送 + */ static void send_di_event(uint8_t channel, uint8_t state) { char msg[32]; uint8_t cs; - + + /* 构造消息主体，channel+1将0-base转换为1-base的用户可见编号 */ int len = snprintf(msg, sizeof(msg), "$DI_EVENT,%d,%d*", channel + 1, state); - + + /* 计算异或校验和，跳过'$'符号只对正文部分计算 */ cs = calc_checksum(msg + 1, len - 1); - + + /* 将校验和追加到消息末尾，格式为两位十六进制数 */ snprintf(msg + len, sizeof(msg) - len, "%02X\r\n", cs); - - UART2_Print_String(msg); - + + /* 根据是否设置回调函数选择发送方式 */ + if (g_event_callback != NULL) { + /* 通过回调函数发送，支持多端口路由 */ + g_event_callback(channel, state, msg); + } else { + /* 默认发送到UART2 */ + UART2_Print_String(msg); + } + + /* 输出调试日志，记录状态变化 */ DEBUG_LOG("CH%d -> %s", channel + 1, state ? "HIGH" : "LOW"); } +/*============================================================================== + * 公共函数实现 + *============================================================================*/ +/** + * @brief IO监控模块初始化 + * @note 在系统启动时调用，初始化所有数字输入通道的默认状态 + * + * @param 无 + * @return 无 + * + * 功能说明： + * 1. 读取各通道GPIO引脚的当前电平状态 + * 2. 初始化去抖计数器为1(已稳定采样一次) + * 3. 重置变化计数器和扫描时间戳 + * 4. 使能事件上报功能 + * + * 初始化策略： + * - 去抖计数器初始化为1而非0，这样首次采样时只需再连续采样2次 + * 即可确认状态，相比初始化为0可加快首次状态确认速度 + */ void IO_Monitor_Init(void) { + /* 遍历所有IO通道进行初始化 */ for (int i = 0; i < IO_CHANNEL_COUNT; i++) { io_channel_t *ch = &di_channels[i]; - + + /* 读取GPIO当前电平，HAL_GPIO_ReadPin返回GPIO_PinState类型 */ ch->current_state = HAL_GPIO_ReadPin(ch->port, ch->pin) ? 1 : 0; + /* 记录原始状态作为上次采样值 */ ch->last_raw_state = ch->current_state; + /* 去抖计数器初始化为1，已完成首次稳定采样 */ ch->debounce_counter = 1; + /* 变化计数清零 */ ch->change_count = 0; } - + + /* 初始化扫描时间戳为0，确保首次扫描立即执行 */ last_scan_tick = 0; + /* 使能自动上报功能 */ report_enabled = true; - + + /* 输出初始化完成日志，显示初始各通道状态掩码 */ DEBUG_LOG("Init OK, initial states: 0x%02X", IO_Monitor_GetAllStates()); } +/** + * @brief IO监控定时任务 + * @note 应在主循环或定时器中断中周期性调用，执行扫描和去抖处理 + * + * @param 无 + * @return 无 + * + * 算法说明 - 软件去抖三段式状态机： + * 阶段1: 采样值与上次相同 -> 计数器累加 + * 阶段2: 采样值与上次不同 -> 重置计数器并更新上次值 + * 阶段3: 计数器达到阈值(IO_DEBOUNCE_COUNT)且与当前稳定状态不同 + * -> 确认状态变化，更新current_state，触发事件上报 + * + * 去抖阈值说明： + * - IO_DEBOUNCE_COUNT通常定义为3，表示连续3次采样相同才确认 + * - 结合IO_SCAN_PERIOD_MS(10ms)，去抖确认时间为20-30ms + * - 可有效滤除机械开关的抖动噪声 + */ void IO_Monitor_Task(void) { + /* 获取当前系统时间戳(毫秒) */ uint32_t current_tick = HAL_GetTick(); - + + /*---------------------------------------------------------- + * 扫描周期控制 + * 仅当距上次扫描超过IO_SCAN_PERIOD_MS时才执行新扫描 + * 这种节流机制可避免高频调用时CPU资源浪费 + *----------------------------------------------------------*/ if (current_tick - last_scan_tick < IO_SCAN_PERIOD_MS) { return; } + /* 更新扫描时间戳 */ last_scan_tick = current_tick; - + + /*---------------------------------------------------------- + * 遍历所有通道执行去抖扫描 + *----------------------------------------------------------*/ for (int i = 0; i < IO_CHANNEL_COUNT; i++) { io_channel_t *ch = &di_channels[i]; - + + /* 读取GPIO引脚当前电平，转换为0/1表示 */ uint8_t raw_state = HAL_GPIO_ReadPin(ch->port, ch->pin) ? 1 : 0; - + + /*---------------------------------------------------------- + * 去抖逻辑分支 + *----------------------------------------------------------*/ if (raw_state != ch->last_raw_state) { + /* 分支1: 采样值发生变化 -> 重置去抖计数器 */ ch->debounce_counter = 0; ch->last_raw_state = raw_state; } else { + /* 分支2: 采样值与上次相同 -> 累加去抖计数器 */ if (ch->debounce_counter < IO_DEBOUNCE_COUNT) { ch->debounce_counter++; - } else if (ch->current_state != raw_state) { + } + /* 分支3: 计数器达到阈值且与稳定状态不一致 -> 确认状态变化 */ + else if (ch->current_state != raw_state) { + /* 更新为新确认的稳定状态 */ ch->current_state = raw_state; + /* 增加变化统计计数 */ ch->change_count++; - + + /* 事件上报(已使能情况下) */ if (report_enabled) { send_di_event(i, raw_state); } @@ -123,18 +324,46 @@ void IO_Monitor_Task(void) } } +/** + * @brief 获取指定通道的当前状态 + * @note 返回经过去抖处理后的稳定状态值 + * + * @param channel: 通道编号，从0开始计数(输入) + * @return 通道状态: 0=低电平，1=高电平，通道无效时返回0 + * + * 使用说明： + * - 通道编号超出有效范围(0-3)时静默返回0，不报错 + * - 返回的是已去抖的稳定状态，非原始采样值 + */ uint8_t IO_Monitor_GetState(uint8_t channel) { + /* 参数边界检查，超出范围的通道返回0 */ if (channel >= IO_CHANNEL_COUNT) { return 0; } return di_channels[channel].current_state; } +/** + * @brief 获取所有通道状态的组合掩码 + * @note 将四路通道状态打包为一个字节返回，方便批量读取和显示 + * + * @param 无 + * @return 通道状态掩码: uint8_t类型，每位对应一个通道状态 + * + * 位域定义： + * - bit0: 通道0状态 + * - bit1: 通道1状态 + * - bit2: 通道2状态 + * - bit3: 通道3状态 + * + * 示例：返回0x05(0101b)表示通道0=高、通道1=低、通道2=高、通道3=低 + */ uint8_t IO_Monitor_GetAllStates(void) { uint8_t states = 0; - + + /* 遍历所有通道，将各通道状态按位组合成掩码 */ for (int i = 0; i < IO_CHANNEL_COUNT; i++) { if (di_channels[i].current_state) { states |= (1 << i); @@ -143,16 +372,57 @@ uint8_t IO_Monitor_GetAllStates(void) return states; } +/** + * @brief 设置事件上报使能状态 + * @note 可用于在批量操作或初始化过程中临时抑制事件上报 + * + * @param enable: true=使能上报，false=禁用上报(输入) + * @return 无 + * + * 使用场景： + * - 系统初始化期间不希望产生大量事件，可先禁用再恢复 + * - 批量设置多个通道状态时，可先禁用避免中间状态触发事件 + */ void IO_Monitor_EnableReport(bool enable) { report_enabled = enable; DEBUG_LOG("Report %s", enable ? "enabled" : "disabled"); } +/** + * @brief 获取指定通道的状态变化次数 + * @note 用于诊断和性能监控，统计各通道状态变化频率 + * + * @param channel: 通道编号，从0开始计数(输入) + * @return 变化次数: uint32_t类型，通道无效时返回0 + * + * 使用说明： + * - 变化次数从模块初始化后开始累计 + * - 可用于检测某通道是否频繁触发或存在故障(如开关抖动) + */ uint32_t IO_Monitor_GetChangeCount(uint8_t channel) { + /* 参数边界检查，超出范围返回0 */ if (channel >= IO_CHANNEL_COUNT) { return 0; } return di_channels[channel].change_count; } + +/** + * @brief 设置IO事件回调函数 + * @note 设置后，IO状态变化将通过回调函数上报 + * + * @param callback: 回调函数指针，NULL则使用默认UART2输出(输入) + * @return 无 + * + * 使用说明： + * - 设置回调后，send_di_event()将通过回调发送事件 + * - 传入NULL恢复默认UART2输出方式 + * - 回调函数原型: void callback(uint8_t channel, uint8_t state, const char *event_msg) + */ +void IO_Monitor_SetEventCallback(io_event_callback_t callback) +{ + g_event_callback = callback; + DEBUG_LOG("Event callback %s", callback ? "set" : "cleared"); +} diff --git a/Core/Src/main.c b/Core/Src/main.c index 4ca7d10..454d7ec 100644 --- a/Core/Src/main.c +++ b/Core/Src/main.c @@ -34,6 +34,11 @@ #include "cmd_parser.h" #include "relay_control.h" +/* 多通信接口统一指令处理系统模块 */ +#include "multi_uart_router.h" +#include "cmd_router.h" +#include "debug_log.h" + #if (RF433_MODE == RF433_MODE_TX) || (RF433_MODE == RF433_MODE_BOTH) #include "rf433_tx_app.h" #endif @@ -62,6 +67,7 @@ /* USER CODE BEGIN PV */ static uint8_t uart2_rx_byte = 0; +static uint8_t uart3_rx_byte = 0; /* USER CODE END PV */ /* Private function prototypes -----------------------------------------------*/ @@ -112,9 +118,17 @@ int main(void) CmdParser_Init(); Relay_Init(); + /* 初始化多通信接口统一指令处理系统 */ + MultiUART_Init(); + CmdRouter_Init(); + DebugLog_Init(); + /* 启动UART2接收中断 */ HAL_UART_Receive_IT(&huart2, &uart2_rx_byte, 1); + /* 启动UART3接收中断 - RS485接口 */ + HAL_UART_Receive_IT(&huart3, &uart3_rx_byte, 1); + /* 初始化RF433模块 - 使用默认配置 */ rf433_init(NULL); @@ -155,6 +169,10 @@ int main(void) IO_Monitor_Task(); CmdParser_Task(); + /* 多通信接口统一指令处理系统任务 */ + MultiUART_Task(); + CmdRouter_Task(); + #if (RF433_MODE == RF433_MODE_TX) || (RF433_MODE == RF433_MODE_BOTH) /* TX任务 */ rf433_tx_app_task(); @@ -212,7 +230,7 @@ void SystemClock_Config(void) /** * @brief UART接收完成中断回调函数 - * @note 处理UART1(RF433)和UART2(调试口)的接收数据 + * @note 处理UART1(RF433)、UART2(调试口)和UART3(RS485)的接收数据 * @param huart: UART句柄指针 * @retval 无 */ @@ -220,31 +238,56 @@ void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart) { if (huart->Instance == USART1) { - /* 调用RF433模块的UART接收回调 */ + /* 先保存接收到的字节，避免被rf433_hal回调覆盖 */ + uint8_t rx_byte = rf433_uart_rx_tmp; + + /* 调用RF433模块的UART接收回调（内部会重启接收） */ rf433_hal_uart_rxcplt_callback(); + + /* 喂入多UART路由器，支持RF433指令接收 */ + MultiUART_FeedByte(PORT_UART1, rx_byte); } else if (huart->Instance == USART2) { - /* 喂入指令解析器 */ + /* 喂入指令解析器 - UART2保持原有处理方式 */ CmdParser_FeedByte(uart2_rx_byte, HAL_GetTick()); + /* 重新启动接收 */ HAL_UART_Receive_IT(&huart2, &uart2_rx_byte, 1); } + else if (huart->Instance == USART3) + { + /* 喂入多UART路由器 - RS485接口 */ + MultiUART_FeedByte(PORT_UART3, uart3_rx_byte); + + /* 重新启动接收 */ + HAL_UART_Receive_IT(&huart3, &uart3_rx_byte, 1); + } } /** * @brief UART发送完成中断回调函数 - * @note 处理UART2发送完成，触发下一次发送 + * @note 处理UART1/UART2/UART3发送完成，触发下一次发送 * @param huart: UART句柄指针 * @retval 无 */ void HAL_UART_TxCpltCallback(UART_HandleTypeDef *huart) { - if (huart->Instance == USART2) + if (huart->Instance == USART1) + { + /* 调用多UART路由器的UART1发送完成回调 */ + MultiUART_TxCpltCallback(PORT_UART1); + } + else if (huart->Instance == USART2) { /* 调用UART2打印模块的发送完成回调 */ UART2_Print_TxCpltCallback(); } + else if (huart->Instance == USART3) + { + /* 调用多UART路由器的UART3发送完成回调 */ + MultiUART_TxCpltCallback(PORT_UART3); + } } /* USER CODE END 4 */ diff --git a/Core/Src/multi_uart_router.c b/Core/Src/multi_uart_router.c new file mode 100644 index 0000000..8385c91 --- /dev/null +++ b/Core/Src/multi_uart_router.c @@ -0,0 +1,351 @@ +/** + ****************************************************************************** + * @file multi_uart_router.c + * @brief 多UART统一路由核心模块实现 + * @author Application Layer + * @version 1.0 + ****************************************************************************** + * @attention + * 本模块实现多UART端口的统一管理 + * 设计依据：多通信接口统一指令处理系统开发计划 第3.1、3.3、3.5节及附录A + * + * 关键特性： + * 1. 中断+环形缓冲区接收机制 + * 2. 非阻塞发送机制 + * 3. 端口上下文表管理 + * 4. 响应路由表 + ****************************************************************************** + */ + +#include "multi_uart_router.h" +#include "uart2_print.h" +#include +#include +#include + +#define DEBUG_MULTI_UART 1 + +#if DEBUG_MULTI_UART +#define DEBUG_LOG(fmt, ...) UART2_Print_Printf("[MUART] " fmt "\r\n", ##__VA_ARGS__) +#else +#define DEBUG_LOG(fmt, ...) +#endif + +static uart_port_context_t g_port_ctx[PORT_COUNT]; + +static UART_HandleTypeDef *const g_port_uart_map[PORT_COUNT] = { + [PORT_UART1] = &huart1, + [PORT_UART2] = &huart2, + [PORT_UART3] = &huart3, +}; + +static const char *const g_port_name_map[PORT_COUNT] = { + [PORT_UART1] = "UART1", + [PORT_UART2] = "UART2", + [PORT_UART3] = "UART3", +}; + +static void rx_ring_init(uart_rx_ring_t *ring) +{ + ring->head = 0; + ring->tail = 0; + ring->count = 0; + ring->overflow_count = 0; +} + +static void tx_ring_init(uart_tx_ring_t *ring) +{ + ring->head = 0; + ring->tail = 0; + ring->count = 0; + ring->is_sending = false; + ring->overflow_count = 0; +} + +static bool rx_ring_push(uart_rx_ring_t *ring, uint8_t byte) +{ + bool success = true; + + __disable_irq(); + if (ring->count >= UART_RX_BUFFER_SIZE) { + ring->overflow_count++; + success = false; + } else { + ring->buffer[ring->head] = byte; + ring->head = (ring->head + 1) % UART_RX_BUFFER_SIZE; + ring->count++; + } + __enable_irq(); + + return success; +} + +static uint16_t rx_ring_pop(uart_rx_ring_t *ring, uint8_t *byte) +{ + uint16_t result = 0; + + __disable_irq(); + if (ring->count > 0) { + *byte = ring->buffer[ring->tail]; + ring->tail = (ring->tail + 1) % UART_RX_BUFFER_SIZE; + ring->count--; + result = 1; + } + __enable_irq(); + + return result; +} + +static uint16_t tx_ring_push(uart_tx_ring_t *ring, const uint8_t *data, uint16_t len) +{ + uint16_t written = 0; + + __disable_irq(); + for (uint16_t i = 0; i < len; i++) { + if (ring->count >= UART_TX_BUFFER_SIZE) { + ring->overflow_count++; + break; + } + ring->buffer[ring->head] = data[i]; + ring->head = (ring->head + 1) % UART_TX_BUFFER_SIZE; + ring->count++; + written++; + } + __enable_irq(); + + return written; +} + +static void tx_kickoff(port_id_t port_id) +{ + uart_port_context_t *ctx = &g_port_ctx[port_id]; + uart_tx_ring_t *ring = &ctx->tx_ring; + uint8_t byte; + bool has_data = false; + + __disable_irq(); + if (!ring->is_sending && ring->count > 0) { + byte = ring->buffer[ring->tail]; + ring->tail = (ring->tail + 1) % UART_TX_BUFFER_SIZE; + ring->count--; + ring->is_sending = true; + has_data = true; + } + __enable_irq(); + + if (has_data) { + HAL_UART_Transmit_IT(ctx->huart, &byte, 1); + } +} + +void MultiUART_Init(void) +{ + for (port_id_t i = 0; i < PORT_COUNT; i++) { + uart_port_context_t *ctx = &g_port_ctx[i]; + + ctx->huart = g_port_uart_map[i]; + ctx->name = g_port_name_map[i]; + + rx_ring_init(&ctx->rx_ring); + tx_ring_init(&ctx->tx_ring); + + ctx->rx_tmp = 0; + ctx->rx_count = 0; + ctx->tx_count = 0; + ctx->error_count = 0; + ctx->initialized = true; + } + + DEBUG_LOG("Init OK, %d ports configured", PORT_COUNT); +} + +void MultiUART_FeedByte(port_id_t port_id, uint8_t byte) +{ + // DEBUG_LOG("FeedByte: %02X", byte); + if (port_id >= PORT_COUNT) { + return; + } + + uart_port_context_t *ctx = &g_port_ctx[port_id]; + + if (!ctx->initialized) { + return; + } + + if (!rx_ring_push(&ctx->rx_ring, byte)) { + ctx->error_count++; + DEBUG_LOG("%s RX overflow", ctx->name); + } + + ctx->rx_count++; +} + +void MultiUART_Task(void) +{ + for (port_id_t i = 0; i < PORT_COUNT; i++) { + uart_port_context_t *ctx = &g_port_ctx[i]; + + if (!ctx->initialized) { + continue; + } + + if (i == PORT_UART2) { + continue; + } + + tx_kickoff(i); + } +} + +void MultiUART_Send(port_id_t port_id, const uint8_t *data, uint16_t len) +{ + if (port_id >= PORT_COUNT || data == NULL || len == 0) { + return; + } + + if (port_id == PORT_UART2) { + UART2_Print_Send(data, len); + return; + } + + uart_port_context_t *ctx = &g_port_ctx[port_id]; + + if (!ctx->initialized) { + return; + } + + uint16_t written = tx_ring_push(&ctx->tx_ring, data, len); + + if (written > 0) { + ctx->tx_count += written; + tx_kickoff(port_id); + } +} + +void MultiUART_SendString(port_id_t port_id, const char *str) +{ + if (str == NULL) { + return; + } + MultiUART_Send(port_id, (const uint8_t *)str, strlen(str)); +} + +void MultiUART_SendFmt(port_id_t port_id, const char *fmt, ...) +{ + if (fmt == NULL) { + return; + } + + char buffer[128]; + va_list args; + + va_start(args, fmt); + int len = vsnprintf(buffer, sizeof(buffer), fmt, args); + va_end(args); + + if (len > 0) { + if (len >= (int)sizeof(buffer)) { + len = sizeof(buffer) - 1; + } + MultiUART_Send(port_id, (const uint8_t *)buffer, len); + } +} + +void MultiUART_TxCpltCallback(port_id_t port_id) +{ + if (port_id >= PORT_COUNT) { + return; + } + + if (port_id == PORT_UART2) { + UART2_Print_TxCpltCallback(); + return; + } + + uart_port_context_t *ctx = &g_port_ctx[port_id]; + uart_tx_ring_t *ring = &ctx->tx_ring; + uint8_t byte; + bool has_more = false; + + __disable_irq(); + ring->is_sending = false; + + if (ring->count > 0) { + byte = ring->buffer[ring->tail]; + ring->tail = (ring->tail + 1) % UART_TX_BUFFER_SIZE; + ring->count--; + ring->is_sending = true; + has_more = true; + } + __enable_irq(); + + if (has_more) { + HAL_UART_Transmit_IT(ctx->huart, &byte, 1); + } +} + +const char *MultiUART_GetPortName(port_id_t port_id) +{ + if (port_id >= PORT_COUNT) { + return "UNKNOWN"; + } + return g_port_name_map[port_id]; +} + +uint16_t MultiUART_GetRxCount(port_id_t port_id) +{ + if (port_id >= PORT_COUNT) { + return 0; + } + + uint16_t count; + __disable_irq(); + count = g_port_ctx[port_id].rx_ring.count; + __enable_irq(); + return count; +} + +uint16_t MultiUART_ReadByte(port_id_t port_id, uint8_t *byte) +{ + if (port_id >= PORT_COUNT || byte == NULL) { + return 0; + } + + uart_rx_ring_t *ring = &g_port_ctx[port_id].rx_ring; + + __disable_irq(); + if (ring->count == 0) { + __enable_irq(); + return 0; + } + + *byte = ring->buffer[ring->tail]; + ring->tail = (ring->tail + 1) % UART_RX_BUFFER_SIZE; + ring->count--; + __enable_irq(); + + return 1; +} + +uint16_t MultiUART_GetTxAvailable(port_id_t port_id) +{ + if (port_id >= PORT_COUNT) { + return 0; + } + + uint16_t available; + __disable_irq(); + available = UART_TX_BUFFER_SIZE - g_port_ctx[port_id].tx_ring.count; + __enable_irq(); + return available; +} + +uint32_t MultiUART_GetOverflowCount(port_id_t port_id) +{ + if (port_id >= PORT_COUNT) { + return 0; + } + + return g_port_ctx[port_id].rx_ring.overflow_count + + g_port_ctx[port_id].tx_ring.overflow_count; +} diff --git a/Core/Src/relay_control.c b/Core/Src/relay_control.c index 2dcb20f..431d042 100644 --- a/Core/Src/relay_control.c +++ b/Core/Src/relay_control.c @@ -3,17 +3,17 @@ * @file relay_control.c * @brief 继电器控制模块实现 * @author Application Layer - * @version 1.1 + * @version 2.0 ****************************************************************************** * @attention - * 本模块实现继电器的安全控制 + * 本模块实现单路继电器的安全控制 * 关键特性： * 1. 最小切换间隔保护，防止频繁切换损坏继电器 - * 2. 状态记录，支持诊断 + * 2. 状态记录 * 3. 调试日志输出 * * 修订历史： - * v1.1 - 修复审查报告中危-9/10：对齐RELAY_COUNT与参数校验逻辑 + * v2.0 - 精简为单路继电器控制，移除冗余功能 ****************************************************************************** */ @@ -29,74 +29,42 @@ #define DEBUG_LOG(fmt, ...) #endif -#define MAX_RELAY_ID 4 - -static bool current_states[MAX_RELAY_ID] = {false, false, false, false}; +static bool current_state = false; static uint32_t last_toggle_tick = 0; -static uint32_t toggle_count = 0; void Relay_Init(void) { HAL_GPIO_WritePin(RL_Control_GPIO_Port, RL_Control_Pin, GPIO_PIN_RESET); - - for (int i = 0; i < MAX_RELAY_ID; i++) { - current_states[i] = false; - } + current_state = false; last_toggle_tick = 0; - toggle_count = 0; DEBUG_LOG("Init OK, state=OFF"); } -void Relay_SetState(uint8_t relay_id, bool state) +void Relay_SetState(bool state) { - if (relay_id < 1 || relay_id > MAX_RELAY_ID) { - DEBUG_LOG("Invalid relay ID: %d", relay_id); - return; - } - uint32_t current_tick = HAL_GetTick(); + if (current_tick - last_toggle_tick < RELAY_MIN_INTERVAL) { DEBUG_LOG("Toggle too fast, ignored"); return; } - uint8_t idx = relay_id - 1; - - if (current_states[idx] == state) { + if (current_state == state) { DEBUG_LOG("State unchanged: %s", state ? "ON" : "OFF"); return; } - if (relay_id == 1) { - HAL_GPIO_WritePin(RL_Control_GPIO_Port, RL_Control_Pin, - state ? GPIO_PIN_SET : GPIO_PIN_RESET); - } + HAL_GPIO_WritePin(RL_Control_GPIO_Port, RL_Control_Pin, + state ? GPIO_PIN_SET : GPIO_PIN_RESET); - current_states[idx] = state; + current_state = state; last_toggle_tick = current_tick; - toggle_count++; - DEBUG_LOG("Relay %d -> %s (count=%lu)", relay_id, state ? "ON" : "OFF", toggle_count); + DEBUG_LOG("Relay -> %s", state ? "ON" : "OFF"); } -bool Relay_GetState(uint8_t relay_id) +bool Relay_GetState(void) { - if (relay_id < 1 || relay_id > MAX_RELAY_ID) { - return false; - } - return current_states[relay_id - 1]; -} - -void Relay_Toggle(uint8_t relay_id) -{ - if (relay_id < 1 || relay_id > MAX_RELAY_ID) { - return; - } - Relay_SetState(relay_id, !current_states[relay_id - 1]); -} - -uint32_t Relay_GetToggleCount(void) -{ - return toggle_count; + return current_state; } diff --git a/Core/Src/uart2_print.c b/Core/Src/uart2_print.c index 08b8a7d..3f2a2a2 100644 --- a/Core/Src/uart2_print.c +++ b/Core/Src/uart2_print.c @@ -11,7 +11,7 @@ * 1. 环形缓冲区避免数据丢失 * 2. 中断安全，支持ISR中调用 * 3. 非阻塞发送，不影响实时性 - * + * * 修订历史： * v1.1 - 修复审查报告高危-1/2/3，中危-4 ****************************************************************************** @@ -22,95 +22,243 @@ #include #include +/*============================================================================== + * 调试宏定义 + *============================================================================*/ +/* DEBUG_PRINT_ENABLED: 调试日志开关，置1时启用模块自测日志输出 */ #define DEBUG_PRINT_ENABLED 1 #if DEBUG_PRINT_ENABLED +/* 调试日志宏，带模块前缀"[UART2]"方便过滤日志 */ #define DEBUG_LOG(fmt, ...) UART2_Print_Printf("[UART2] " fmt "\r\n", ##__VA_ARGS__) #else +/* 禁用时为空宏，避免无用代码生成 */ #define DEBUG_LOG(fmt, ...) #endif +/*============================================================================== + * 数据结构定义 + *============================================================================*/ +/** + * @brief 环形发送缓冲区数据结构 + * @note 采用Ring Buffer(环形缓冲区)设计，实现FIFO队列管理 + * + * 设计目的： + * 解决UART发送与CPU执行速度不匹配的问题。当UART正在发送数据时， + * 后续数据先存入缓冲区，待发送完成后再取出发送，实现异步非阻塞打印。 + * 环形缓冲区相比线性缓冲区的优势是无需数据搬移，head和tail指针 + * 循环递增，到达末尾后自动回绕到开头。 + * + * 字段说明： + * - buffer: 存放数据的字节数组，大小由UART2_TX_BUFFER_SIZE定义 + * - head: 写入位置指针，指向下一个待写入位置(生产者指针) + * - tail: 读取位置指针，指向下一个待读取位置(消费者指针) + * - count: 当前缓冲区中有效数据字节数 + * - is_sending: 发送忙标志，表示UART硬件是否正在发送数据 + * - overflow_count: 溢出错误计数，缓冲区满时丢弃数据的次数 + * + * 索引计算规则： + * head和tail均采用模运算实现回绕: new_index = (old_index + 1) % buffer_size + * 这确保了指针在达到缓冲区末尾时自动回到开头，形成"环形"效果 + * + * 线程安全说明： + * 所有修改共享资源的代码段均使用__disable_irq/__enable_irq暂时禁用中断， + * 防止在临界区内被ISR打断导致数据竞争(race condition) + */ typedef struct { - uint8_t buffer[UART2_TX_BUFFER_SIZE]; - volatile uint16_t head; - volatile uint16_t tail; - volatile uint16_t count; - volatile bool is_sending; - volatile uint16_t overflow_count; + uint8_t buffer[UART2_TX_BUFFER_SIZE]; /**< 发送数据缓冲区，静态分配避免动态内存 */ + volatile uint16_t head; /**< 写指针，下一个数据写入位置 */ + volatile uint16_t tail; /**< 读指针，下一个数据读取位置 */ + volatile uint16_t count; /**< 缓冲区中有效数据字节计数 */ + volatile bool is_sending; /**< UART发送忙标志，防止重复启动发送 */ + volatile uint16_t overflow_count; /**< 溢出错误计数，统计因缓冲区满丢弃的数据 */ } ring_buffer_t; +/*============================================================================== + * 全局变量定义 + *============================================================================*/ +/** + * @brief 环形发送缓冲区实例 + * @note static修饰确保仅本文件内可访问，初始化为全零 + */ static ring_buffer_t tx_ring = {0}; +/*============================================================================== + * 公共函数实现 + *============================================================================*/ +/** + * @brief UART2打印模块初始化 + * @note 在系统启动或UART外设初始化后调用，重置环形缓冲区状态 + * + * @param 无 + * @return 无 + * + * 功能说明： + * 1. 重置所有指针(head/tail/count)为初始状态 + * 2. 清除发送忙标志 + * 3. 清零溢出错误计数器 + * + * 初始化安全： + * 此函数应在UART硬件初始化完成之后调用，确保huart2已正确配置 + */ void UART2_Print_Init(void) { + /* 重置环形缓冲区各状态变量 */ tx_ring.head = 0; tx_ring.tail = 0; tx_ring.count = 0; tx_ring.is_sending = false; tx_ring.overflow_count = 0; - + + /* 输出模块初始化完成日志 */ DEBUG_LOG("Init OK, buffer size: %d", UART2_TX_BUFFER_SIZE); } +/** + * @brief 发送数据到UART2(核心写入函数) + * @note 将数据写入环形缓冲区，若UART空闲则自动启动首次发送 + * 此函数是线程安全的，可从ISR或主线程调用 + * + * @param data: 待发送数据缓冲区的指针(输入) + * @param len: 待发送数据字节数(输入) + * @return 无返回值 + * + * 算法说明 - 生产者逻辑： + * 1. 遍历待发送数据的每个字节 + * 2. 检查缓冲区是否有空间(count < buffer_size) + * 3. 如有空间，将数据写入buffer[head]，head递增并回绕 + * 4. 如缓冲区满，放弃剩余数据并增加overflow_count + * + * 发送触发机制： + * - 如果缓冲区有数据且UART当前空闲(is_sending=false)， + * 设置is_sending=true并立即触发首次发送(Kickoff) + * - 后续发送由TxCpltCallback中断回调驱动，形成连续发送直到缓冲区清空 + * + * 中断安全： + * - 使用__disable_irq/__enable_irq保护临界区 + * - 防止在检查count和写入buffer之间被ISR打断 + */ void UART2_Print_Send(const uint8_t *data, uint16_t len) { + /* 参数合法性检查，防止空指针或零长度 */ if (len == 0 || data == NULL) { return; } - + uint16_t written = 0; bool needs_kickoff = false; - + + /*---------------------------------------------------------- + * 临界区：禁用中断，保护共享缓冲区的写入操作 + *----------------------------------------------------------*/ __disable_irq(); for (uint16_t i = 0; i < len; i++) { + /* 检查缓冲区是否有空间 */ if (tx_ring.count >= UART2_TX_BUFFER_SIZE) { + /* 缓冲区已满，丢弃数据并计数 */ tx_ring.overflow_count++; break; } - + + /* 将数据写入环形缓冲区，更新写指针(模缓冲区大小回绕) */ tx_ring.buffer[tx_ring.head] = data[i]; tx_ring.head = (tx_ring.head + 1) % UART2_TX_BUFFER_SIZE; tx_ring.count++; written++; } - + + /*---------------------------------------------------------- + * 判断是否需要触发首次发送 + * 条件：成功写入数据 AND UART当前处于空闲状态 + *----------------------------------------------------------*/ if (written > 0 && !tx_ring.is_sending) { tx_ring.is_sending = true; needs_kickoff = true; } - __enable_irq(); - + __enable_irq(); /* 退出临界区 */ + + /*---------------------------------------------------------- + * 启动首次发送(Kickoff) + * 从缓冲区取出第一个字节通过DMA/中断方式发送 + *----------------------------------------------------------*/ if (needs_kickoff) { uint8_t byte; + /* 再次禁用中断以读取尾指针(消费者操作) */ __disable_irq(); byte = tx_ring.buffer[tx_ring.tail]; __enable_irq(); + /* 启动UART中断发送，发送完成后会触发TxCpltCallback */ HAL_UART_Transmit_IT(&huart2, &byte, 1); } } +/** + * @brief 发送字符串到UART2 + * @note 封装UART2_Print_Send，自动计算字符串长度 + * + * @param str: 待发送的以'\0'结尾的字符串指针(输入) + * @return 无返回值 + * + * 使用说明： + * - str必须为有效指针且以'\0'结尾 + * - strlen计算长度时不包括终止符，所以实际发送的也不包括 + */ void UART2_Print_String(const char *str) { + /* 空指针保护 */ if (str == NULL) { return; } + /* 使用strlen获取字符串长度并发送 */ UART2_Print_Send((const uint8_t *)str, strlen(str)); } +/** + * @brief 格式化打印到UART2 + * @note 仿printf风格，支持可变参数格式化输出 + * + * @param fmt: 格式化字符串，与printf语法兼容(输入) + * @param ...: 可变参数列表，对应格式化字符串中的占位符(输入) + * @return 无返回值 + * + * 实现说明： + * 1. 使用va_list/va_start/va_end处理可变参数 + * 2. vsnprintf将格式化参数写入临时缓冲区(128字节) + * 3. 将格式化后的字符串通过UART2_Print_Send发送 + * + * 缓冲区限制： + * - 最大格式化输出为127字节(128-1留作字符串终止符) + * - 超出部分会被截断，不报错 + * + * 线程安全： + * 此函数本身是中断安全的，但内部调用UART2_Print_Send， + * 多线程并发调用时输出可能交叉 + */ void UART2_Print_Printf(const char *fmt, ...) { + /* 格式化字符串合法性检查 */ if (fmt == NULL) { return; } - - char buffer[128]; - va_list args; - + + char buffer[128]; /* 临时格式化缓冲区，大小固定 */ + va_list args; /* 可变参数列表变量 */ + + /*---------------------------------------------------------- + * 可变参数处理：初始化va_list并执行格式化 + *----------------------------------------------------------*/ va_start(args, fmt); int len = vsnprintf(buffer, sizeof(buffer), fmt, args); va_end(args); - + + /*---------------------------------------------------------- + * 发送格式化后的字符串 + * vsnprintf返回值len: + * - >=0: 成功格式化，需要发送的字符数(不含终止符) + * - <0: 格式化失败，不发送任何数据 + *----------------------------------------------------------*/ if (len >= 0) { + /* 边界检查：若len超过缓冲区实际容量则截断 */ if (len >= (int)sizeof(buffer)) { len = sizeof(buffer) - 1; } @@ -118,51 +266,127 @@ void UART2_Print_Printf(const char *fmt, ...) } } +/** + * @brief UART2打印任务(轮询模式驱动) + * @note 在主循环或定时器中调用，驱动环形缓冲区数据发送 + * 与TxCpltCallback配合形成轮询+中断混合发送模式 + * + * @param 无 + * @return 无 + * + * 工作原理： + * 正常发送流程依赖TxCpltCallback中断回调驱动。但若某些平台 + * 或情况下中断被屏蔽，此函数作为备用发送机制，从缓冲区取出 + * 数据启动新的发送。 + * + * 调用时机： + * 建议在主循环中周期性调用(如每次循环或10ms定时)， + * 配合UART空闲中断或DMA完成中断实现高效发送 + * + * 中断安全： + * - 使用__disable_irq/__enable_irq保护临界区 + */ void UART2_Print_Task(void) { uint8_t byte; uint16_t current_tail; - + + /*---------------------------------------------------------- + * 临界区：检查是否可以发送 + *----------------------------------------------------------*/ __disable_irq(); + /* 条件：不正在发送 且 缓冲区有数据 */ if (tx_ring.is_sending || tx_ring.count == 0) { __enable_irq(); - return; + return; /* 条件不满足，不执行发送 */ } - + + /*---------------------------------------------------------- + * 从缓冲区取出数据，更新读指针 + *----------------------------------------------------------*/ current_tail = tx_ring.tail; - tx_ring.tail = (tx_ring.tail + 1) % UART2_TX_BUFFER_SIZE; + tx_ring.tail = (tx_ring.tail + 1) % UART2_TX_BUFFER_SIZE; /* 环形回绕 */ tx_ring.count--; - tx_ring.is_sending = true; + tx_ring.is_sending = true; /* 标记为发送中，防止重复启动 */ byte = tx_ring.buffer[current_tail]; - __enable_irq(); - + __enable_irq(); /* 退出临界区 */ + + /*---------------------------------------------------------- + * 启动UART中断发送 + *----------------------------------------------------------*/ HAL_UART_Transmit_IT(&huart2, &byte, 1); } +/** + * @brief UART发送完成回调函数 + * @note 应在UART TX完成中断中调用，负责驱动环形缓冲区连续发送 + * 此函数是发送流程的核心驱动引擎 + * + * @param 无 + * @return 无 + * + * 工作原理 - 消费者逻辑： + * 1. 清除is_sending标志，表示UART硬件已空闲 + * 2. 检查环形缓冲区是否还有待发送数据 + * 3. 如有，取出下一字节并启动新的发送 + * 4. 重复上述过程直到缓冲区清空 + * + * 中断安全： + * - 使用__disable_irq/__enable_irq保护共享数据访问 + * - 在中断上下文调用，必须确保操作原子性 + * + * 调用约定： + * 此函数需要与HAL库中断处理正确关联，通常在 + * HAL_UART_TxCpltCallback中断回调中调用 + */ void UART2_Print_TxCpltCallback(void) { uint8_t byte; uint16_t current_tail; bool has_more = false; - + + /*---------------------------------------------------------- + * 第一步：标记UART为空闲状态 + *----------------------------------------------------------*/ __disable_irq(); tx_ring.is_sending = false; - + + /*---------------------------------------------------------- + * 第二步：检查缓冲区是否有更多数据待发送 + *----------------------------------------------------------*/ if (tx_ring.count > 0) { + /* 取出下一字节，更新读指针(环形回绕) */ current_tail = tx_ring.tail; tx_ring.tail = (tx_ring.tail + 1) % UART2_TX_BUFFER_SIZE; tx_ring.count--; - tx_ring.is_sending = true; + tx_ring.is_sending = true; /* 立即标记为发送中 */ byte = tx_ring.buffer[current_tail]; - has_more = true; + has_more = true; /* 标记有待发送数据 */ } __enable_irq(); - + + /*---------------------------------------------------------- + * 第三步：如有待发送数据，立即启动下一次发送 + *----------------------------------------------------------*/ if (has_more) { HAL_UART_Transmit_IT(&huart2, &byte, 1); } } +/** + * @brief 查询发送模块忙状态 + * @note 用于判断是否有数据正在发送或缓冲区中是否有待发数据 + * + * @param 无 + * @return bool: true=忙(正在发送或缓冲区有数据)，false=空闲 + * + * 使用场景： + * - 在进入低功耗模式前检查是否有数据待发送 + * - 在系统关机前确认所有调试日志已发送完毕 + * + * 中断安全： + * - 使用临界区保护，确保检查到返回之间数据不被修改 + */ bool UART2_Print_IsBusy(void) { bool busy; @@ -172,6 +396,22 @@ bool UART2_Print_IsBusy(void) return busy; } +/** + * @brief 查询发送缓冲区可用空间 + * @note 返回环形缓冲区当前剩余可写入的空间大小 + * + * @param 无 + * @return uint16_t: 可用字节数 + * + * 计算公式：available = buffer_size - count + * + * 使用场景： + * - 在发送大数据块前检查缓冲区是否足够容纳 + * - 实现流量控制逻辑 + * + * 中断安全： + * - 使用临界区保护 + */ uint16_t UART2_Print_Available(void) { uint16_t available; @@ -181,32 +421,64 @@ uint16_t UART2_Print_Available(void) return available; } +/** + * @brief 获取溢出错误计数 + * @note 统计因缓冲区满导致数据丢弃的次数，用于诊断 + * + * @param 无 + * @return uint16_t: 溢出错误累计次数 + * + * 使用说明： + * - 此计数器仅在缓冲区满时递增 + * - 若计数持续增长，说明UART发送速度跟不上数据产生速度 + * - 可通过增大UART2_TX_BUFFER_SIZE或降低打印频率解决 + */ uint16_t UART2_Print_GetOverflowCount(void) { return tx_ring.overflow_count; } +/*============================================================================== + * 标准库printf重定向实现 + *============================================================================*/ /** - * @brief printf重定向函数 (Keil MDK) - * @note 重定向标准库printf到UART2 - * @param ch: 待发送字符 - * @param f: 文件指针(未使用) - * @retval 发送的字符 + * @brief printf重定向函数 (Keil MDK编译器) + * @note 将标准库printf输出重定向到UART2 + * + * @param ch: 待发送字符(输入) + * @param f: 文件指针(未使用，Keil MDK参数要求) + * @return int: 发送的字符 + * + * 编译器条件编译： + * 此函数仅在__CC_ARM(或__ARMCC_VERSION)定义时编译， + * 即Keil MDK-ARM/ARMCC编译器环境下生效 + * + * 实现说明： + * 标准库printf最终会调用fputc输出每个字符， + * 此处重定向到UART2_Print_Send实现串口打印 */ #if defined(__CC_ARM) || defined(__ARMCC_VERSION) int fputc(int ch, FILE *f) { - (void)f; + (void)f; /* 未使用参数，避免编译器警告 */ UART2_Print_Send((uint8_t *)&ch, 1); return ch; } #endif /** - * @brief printf重定向函数 (GCC) - * @note 重定向标准库printf到UART2 - * @param ch: 待发送字符 - * @retval 发送的字符 + * @brief printf重定向函数 (GCC编译器 - 单字符版本) + * @note 将标准库printf输出重定向到UART2 + * + * @param ch: 待发送字符(输入) + * @return int: 发送的字符 + * + * 编译器条件编译： + * 此函数仅在__GNUC__定义时编译，即GCC/Clang编译器环境下生效 + * + * 实现说明： + * 新一代ARM GCC使用__io_putchar作为printf输出目标， + * 此处将其重定向到UART2_Print_Send */ #if defined(__GNUC__) int __io_putchar(int ch) @@ -215,9 +487,22 @@ int __io_putchar(int ch) return ch; } +/** + * @brief write系统调用重定向 (GCC编译器) + * @note 将文件系统write调用重定向到UART2 + * + * @param file: 文件描述符(未使用，仅为兼容标准接口) + * @param ptr: 数据缓冲区指针(输入) + * @param len: 数据长度(输入) + * @return int: 已发送的字节数 + * + * 实现说明： + * 有些GCC配置下printf会调用_write而非__io_putchar， + * 此函数提供完整的write接口兼容 + */ int _write(int file, char *ptr, int len) { - (void)file; + (void)file; /* 忽略文件描述符，只处理标准输出 */ UART2_Print_Send((uint8_t *)ptr, len); return len; } diff --git a/Driver_RF433/Inc/rf433_config.h b/Driver_RF433/Inc/rf433_config.h index ebd84a0..54d1334 100644 --- a/Driver_RF433/Inc/rf433_config.h +++ b/Driver_RF433/Inc/rf433_config.h @@ -28,7 +28,7 @@ extern "C" { #define RF433_MODE_BOTH 3 #ifndef RF433_MODE -#define RF433_MODE RF433_MODE_TX +#define RF433_MODE RF433_MODE_BOTH #endif /* ============================================================================ diff --git a/Driver_RF433/Src/rf433.c b/Driver_RF433/Src/rf433.c index 3fda59c..278a28f 100644 --- a/Driver_RF433/Src/rf433.c +++ b/Driver_RF433/Src/rf433.c @@ -363,7 +363,6 @@ rf433_error_t rf433_transmit(uint8_t *buffer, uint16_t length) { return RF433_ERROR_TIMEOUT; } - printf("Sent: %s", (char*)buffer); // DEBUG_LOG未定义，使用printf替代 return RF433_OK; } diff --git a/MDK-ARM/project.uvguix.xtell b/MDK-ARM/project.uvguix.xtell index a1e3d2f..995b4e4 100644 --- a/MDK-ARM/project.uvguix.xtell +++ b/MDK-ARM/project.uvguix.xtell @@ -110,8 +110,8 @@ 0 - 1379 - 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898 @@ -3603,21 +3603,21 @@ 0 100 - 11 + 0 ../Core/Src/main.c - 29 - 122 - 149 + 0 + 1 + 30 1 0 ..\Driver_RF433\Inc\rf433_config.h - 23 + 16 16 - 39 + 41 1 0 @@ -3625,7 +3625,7 @@ ..\Core\Src\rf433_rx_app.c 0 - 184 + 7 211 1 @@ -3706,12 +3706,21 @@ ..\Driver_RF433\Src\rf433.c 5 - 345 + 326 363 1 0 + + ../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_uart.c + 0 + 1329 + 1344 + 1 + + 0 + diff --git a/MDK-ARM/project.uvoptx b/MDK-ARM/project.uvoptx index 906f41b..1a57d77 100644 --- a/MDK-ARM/project.uvoptx +++ b/MDK-ARM/project.uvoptx @@ -405,6 +405,42 @@ 0 0 + + 2 + 15 + 1 + 0 + 0 + 0 + ..\Core\Src\cmd_router.c + cmd_router.c + 0 + 0 + + + 2 + 16 + 1 + 0 + 0 + 0 + ..\Core\Src\debug_log.c + debug_log.c + 0 + 0 + + + 2 + 17 + 1 + 0 + 0 + 0 + ..\Core\Src\multi_uart_router.c + multi_uart_router.c + 0 + 0 + @@ -415,7 +451,7 @@ 0 3 - 15 + 18 1 0 0 @@ -427,7 +463,7 @@ 3 - 16 + 19 1 0 0 @@ -439,7 +475,7 @@ 3 - 17 + 20 1 0 0 @@ -451,7 +487,7 @@ 3 - 18 + 21 1 0 0 @@ -463,7 +499,7 @@ 3 - 19 + 22 1 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a/MDK-ARM/project/cmd_router.d b/MDK-ARM/project/cmd_router.d new file mode 100644 index 0000000..5e32650 --- /dev/null +++ b/MDK-ARM/project/cmd_router.d @@ -0,0 +1,39 @@ +project\cmd_router.o: ..\Core\Src\cmd_router.c +project\cmd_router.o: ../Core/Inc/cmd_router.h +project\cmd_router.o: C:\Keil_v5\ARM\ARMCC\Bin\..\include\stdint.h +project\cmd_router.o: C:\Keil_v5\ARM\ARMCC\Bin\..\include\stdbool.h +project\cmd_router.o: ../Core/Inc/multi_uart_router.h +project\cmd_router.o: ../Core/Inc/usart.h +project\cmd_router.o: ../Core/Inc/main.h +project\cmd_router.o: ../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal.h +project\cmd_router.o: ../Core/Inc/stm32f1xx_hal_conf.h +project\cmd_router.o: ../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_rcc.h +project\cmd_router.o: ../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_def.h +project\cmd_router.o: ../Drivers/CMSIS/Device/ST/STM32F1xx/Include/stm32f1xx.h +project\cmd_router.o: ../Drivers/CMSIS/Device/ST/STM32F1xx/Include/stm32f103xb.h +project\cmd_router.o: ../Drivers/CMSIS/Include/core_cm3.h +project\cmd_router.o: ../Drivers/CMSIS/Include/cmsis_version.h +project\cmd_router.o: ../Drivers/CMSIS/Include/cmsis_compiler.h +project\cmd_router.o: ../Drivers/CMSIS/Include/cmsis_armcc.h +project\cmd_router.o: ../Drivers/CMSIS/Device/ST/STM32F1xx/Include/system_stm32f1xx.h +project\cmd_router.o: ../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal.h +project\cmd_router.o: ../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h +project\cmd_router.o: C:\Keil_v5\ARM\ARMCC\Bin\..\include\stddef.h +project\cmd_router.o: ../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_rcc_ex.h +project\cmd_router.o: ../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_gpio.h +project\cmd_router.o: ../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_gpio_ex.h +project\cmd_router.o: ../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_exti.h +project\cmd_router.o: ../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_dma.h +project\cmd_router.o: ../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_dma_ex.h +project\cmd_router.o: ../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_cortex.h +project\cmd_router.o: ../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_flash.h +project\cmd_router.o: ../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_flash_ex.h +project\cmd_router.o: ../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_pwr.h +project\cmd_router.o: ../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_spi.h +project\cmd_router.o: ../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_uart.h +project\cmd_router.o: C:\Keil_v5\ARM\ARMCC\Bin\..\include\stdio.h +project\cmd_router.o: ../Core/Inc/cmd_parser.h +project\cmd_router.o: ../Core/Inc/uart2_print.h +project\cmd_router.o: C:\Keil_v5\ARM\ARMCC\Bin\..\include\stdarg.h +project\cmd_router.o: ../Core/Inc/debug_log.h +project\cmd_router.o: C:\Keil_v5\ARM\ARMCC\Bin\..\include\string.h diff --git a/MDK-ARM/project/cmd_router.o b/MDK-ARM/project/cmd_router.o new file mode 100644 index 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@@ -85,27 +90,27 @@ Global Symbols

__main (Thumb, 0 bytes, Stack size unknown bytes, entry.o(.ARM.Collect$$$$00000000))
[Address Reference Count : 1]

  • startup_stm32f103xb.o(.text)
-

_main_stk (Thumb, 0 bytes, Stack size unknown bytes, entry2.o(.ARM.Collect$$$$00000001)) +

_main_stk (Thumb, 0 bytes, Stack size unknown bytes, entry2.o(.ARM.Collect$$$$00000001)) -

_main_scatterload (Thumb, 0 bytes, Stack size unknown bytes, entry5.o(.ARM.Collect$$$$00000004)) -

[Calls]