diff --git a/sdk/chip/exhal/stm32_exhal_uart.cpp b/sdk/chip/exhal/stm32_exhal_uart.cpp index 8afacac..0fa37df 100644 --- a/sdk/chip/exhal/stm32_exhal_uart.cpp +++ b/sdk/chip/exhal/stm32_exhal_uart.cpp @@ -14,6 +14,7 @@ typedef enum { RECEIVE_TO_IDLE_DMA, AUTO_READ_DMA, AUTO_READ_IT, + AUTO_READ_IT_ONE_BYTE, } HAL_EX_UART_RX_STATE_T; typedef struct { @@ -101,10 +102,27 @@ static inline void processWhenAutoReadIT(EXHAL_UART_t* huart, ZUartIrqDispatcher HAL_UARTEx_ReceiveToIdle_IT(huart->huart, huart->autoRxBuffer, sizeof(huart->autoRxBuffer)); } } else if (event == ZUartIrqDispatcher::UART_IRQ_Error) { + __HAL_UART_CLEAR_PEFLAG(huart->huart); HAL_UARTEx_ReceiveToIdle_IT(huart->huart, huart->autoRxBuffer, sizeof(huart->autoRxBuffer)); } } +static inline void processWhenAutoReadOneByteIT(EXHAL_UART_t* huart, ZUartIrqDispatcher::IRQType event, int size) { + // printf("rx: %d size:%d\n", event, size); + // if (huart->huart == &huart3) printf("%d",event); + if (event == ZUartIrqDispatcher::UART_IRQ_RxCplt) { + HAL_UART_Receive_IT(huart->huart, huart->autoRxBuffer, 1); + huart->autoRxSize = 1; + uint8_t rx = huart->autoRxBuffer[0]; + if (huart->listener) { + huart->listener(huart->huart, &rx, huart->autoRxSize); + } + } else if (event == ZUartIrqDispatcher::UART_IRQ_Error) { + __HAL_UART_CLEAR_PEFLAG(huart->huart); + HAL_UART_Receive_IT(huart->huart, huart->autoRxBuffer, 1); + } +} + void EXHAL_UART_OnUartIrq(UART_HandleTypeDef* huart, ZUartIrqDispatcher::IRQType event, int size) { EXHAL_UART_t* exhal_uart = EXHAL_UART_Get(huart); if (exhal_uart == NULL) return; @@ -124,6 +142,9 @@ void EXHAL_UART_OnUartIrq(UART_HandleTypeDef* huart, ZUartIrqDispatcher::IRQType case AUTO_READ_IT: processWhenAutoReadIT(exhal_uart, event, size); break; + case AUTO_READ_IT_ONE_BYTE: + processWhenAutoReadOneByteIT(exhal_uart, event, size); + break; default: break; } @@ -183,14 +204,14 @@ void EXHAL_UART_RS485_EnTx(UART_HandleTypeDef* huart, bool en) { HAL_StatusTypeDef EXHAL_UART_RegListener(UART_HandleTypeDef* huart, EXHAL_UART_Listener_t listener) { EXHAL_UART_t* exhal_uart = EXHAL_UART_Get(huart); ZEARLY_ASSERT(exhal_uart != NULL); - exhal_uart->listener = listener; + exhal_uart->listener = listener; return HAL_OK; } HAL_StatusTypeDef EXHAL_UART_TransmitBlock_DMA(UART_HandleTypeDef* huart, uint8_t* data, size_t len) { EXHAL_UART_t* exhal_uart = EXHAL_UART_Get(huart); ZEARLY_ASSERT(exhal_uart != NULL); - exhal_uart->rxstate = TRANSMIT_BLOCK_DMA; + exhal_uart->rxstate = TRANSMIT_BLOCK_DMA; HAL_StatusTypeDef ret = HAL_UART_Transmit_DMA(huart, data, len); if (ret != HAL_OK) { @@ -204,8 +225,8 @@ HAL_StatusTypeDef EXHAL_UART_TransmitBlock_DMA(UART_HandleTypeDef* huart, uint8_ return HAL_OK; } -HAL_StatusTypeDef EXHAL_UART_TransmitStringBlock(UART_HandleTypeDef* huart, const char* data){// - return HAL_UART_Transmit(huart, (uint8_t*)data, strlen(data),100); +HAL_StatusTypeDef EXHAL_UART_TransmitStringBlock(UART_HandleTypeDef* huart, const char* data) { // + return HAL_UART_Transmit(huart, (uint8_t*)data, strlen(data), 100); } static void __attribute__((noinline)) clearUartRxCache(UART_HandleTypeDef* huart) { // @@ -263,7 +284,7 @@ HAL_StatusTypeDef EXHAL_UART_DMAStartAutoRead(UART_HandleTypeDef* huart) { EXHAL_UART_t* exhal_uart = EXHAL_UART_Get(huart); ZEARLY_ASSERT(exhal_uart != NULL); - exhal_uart->rxstate = AUTO_READ_DMA; + exhal_uart->rxstate = AUTO_READ_DMA; HAL_UARTEx_ReceiveToIdle_DMA_force(huart, exhal_uart->autoRxBuffer, sizeof(exhal_uart->autoRxBuffer)); __HAL_DMA_DISABLE_IT(huart->hdmarx, DMA_IT_HT); @@ -301,7 +322,7 @@ HAL_StatusTypeDef EXHAL_UART_ITStartAutoRead(UART_HandleTypeDef* huart) { EXHAL_UART_t* exhal_uart = EXHAL_UART_Get(huart); ZEARLY_ASSERT(exhal_uart != NULL); - exhal_uart->rxstate = AUTO_READ_IT; + exhal_uart->rxstate = AUTO_READ_IT; while (true) { HAL_StatusTypeDef ret = HAL_UARTEx_ReceiveToIdle_IT(huart, exhal_uart->autoRxBuffer, sizeof(exhal_uart->autoRxBuffer)); @@ -310,6 +331,22 @@ HAL_StatusTypeDef EXHAL_UART_ITStartAutoRead(UART_HandleTypeDef* huart) { } return HAL_OK; } + +HAL_StatusTypeDef EXHAL_UART_ITStartAutoReadOneByte(UART_HandleTypeDef* huart) { + clearUartRxCache(huart); + EXHAL_UART_t* exhal_uart = EXHAL_UART_Get(huart); + ZEARLY_ASSERT(exhal_uart != NULL); + + exhal_uart->rxstate = AUTO_READ_IT_ONE_BYTE; + + while (true) { + HAL_StatusTypeDef ret = HAL_UART_Receive_IT(huart, exhal_uart->autoRxBuffer, 1); + if (ret == HAL_OK) break; + HAL_UART_AbortReceive(huart); + } + return HAL_OK; +} + HAL_StatusTypeDef EXHAL_UART_ITStopAutoRead(UART_HandleTypeDef* huart) { if (huart == NULL) { return HAL_ERROR; diff --git a/sdk/chip/exhal/stm32_exhal_uart.hpp b/sdk/chip/exhal/stm32_exhal_uart.hpp index f8a876d..4b42291 100644 --- a/sdk/chip/exhal/stm32_exhal_uart.hpp +++ b/sdk/chip/exhal/stm32_exhal_uart.hpp @@ -23,7 +23,6 @@ void EXHAL_UART_RS485_EnTx(UART_HandleTypeDef* huart, bool en); HAL_StatusTypeDef EXHAL_UART_TransmitBlock_DMA(UART_HandleTypeDef* huart, uint8_t* data, size_t len); HAL_StatusTypeDef EXHAL_UART_TransmitStringBlock(UART_HandleTypeDef* huart, const char* data); - // rx blcok HAL_StatusTypeDef EXHAL_UARTEx_ReceiveToIdle_DMA_Start(UART_HandleTypeDef* huart, uint8_t* data, int32_t len); HAL_StatusTypeDef EXHAL_UARTEx_ReceiveToIdle_DMA_Wait(UART_HandleTypeDef* huart, size_t* rxlen, int32_t overtime); @@ -35,4 +34,5 @@ HAL_StatusTypeDef EXHAL_UART_DMAStartAutoRead(UART_HandleTypeDef* huart); HAL_StatusTypeDef EXHAL_UART_DMAStopAutoRead(UART_HandleTypeDef* huart); HAL_StatusTypeDef EXHAL_UART_ITStartAutoRead(UART_HandleTypeDef* huart); +HAL_StatusTypeDef EXHAL_UART_ITStartAutoReadOneByte(UART_HandleTypeDef* huart); HAL_StatusTypeDef EXHAL_UART_ITStopAutoRead(UART_HandleTypeDef* huart); diff --git a/sdk/chip/irq_dispatcher/zuart_irq_dispatcher.cpp b/sdk/chip/irq_dispatcher/zuart_irq_dispatcher.cpp index ee682cb..c4c9f56 100644 --- a/sdk/chip/irq_dispatcher/zuart_irq_dispatcher.cpp +++ b/sdk/chip/irq_dispatcher/zuart_irq_dispatcher.cpp @@ -21,6 +21,7 @@ void HAL_UART_RxHalfCpltCallback(UART_HandleTypeDef *huart) { // } void HAL_UART_ErrorCallback(UART_HandleTypeDef *huart) { // ZUartIrqDispatcher::callOnUartIrq(ZUartIrqDispatcher::UART_IRQ_Error, huart, 0); + __HAL_UART_CLEAR_PEFLAG(huart); } void HAL_UART_AbortCpltCallback(UART_HandleTypeDef *huart) { // ZUartIrqDispatcher::callOnUartIrq(ZUartIrqDispatcher::UART_IRQ_AbortCplt, huart, 0); diff --git a/sdk/components/pipette_module/pipette_ctrl_module.cpp b/sdk/components/pipette_module/pipette_ctrl_module.cpp index df59ada..aed2e74 100644 --- a/sdk/components/pipette_module/pipette_ctrl_module.cpp +++ b/sdk/components/pipette_module/pipette_ctrl_module.cpp @@ -25,56 +25,32 @@ void PipetteModule::initialize(int32_t id, hardward_config_t *hardwaredcfg) { / m_zm->getGState(); // 读取状态，清空下复位标识 m_piette_gun_io1.initAsInput(hardwaredcfg->IO1, ZGPIO::kMode_pullup, ZGPIO::kIRQ_noIrq, hardwaredcfg->IO1Mirror); - ZASSERT(hardwaredcfg->uart232); - EXHAL_UART_BindUart("pipette-uart232", hardwaredcfg->uart232); - EXHAL_UART_RegListener(hardwaredcfg->uart232, [this](UART_HandleTypeDef *huart, uint8_t *data, size_t len) { - printf("!rx(%d): ", len); - if (len > 0) { - printf("%c", data[0]); - } - printf("\n"); - }); - EXHAL_UART_ITStartAutoRead(hardwaredcfg->uart232); - - while (true) { - EXHAL_UART_TransmitStringBlock(hardwaredcfg->uart232, "/1QR\r"); - osDelay(10); - } - - m_smtp2.pump_set_pressure_data_stream_port(0); // - // EXHAL_UART_BindUart("pipette-uart", hardwaredcfg->uart); - // EXHAL_UART_RegListener(hardwaredcfg->uart, [this](UART_HandleTypeDef *huart, uint8_t *data, size_t len) { - // printf("!rx(%d): ", len); - // for (size_t i = 0; i < len; i++) { - // printf("%c", data[i]); - // } - // printf("\n"); - // }); - // EXHAL_UART_DMAStartAutoRead(hardwaredcfg->uart); - // EXHAL_UART_TransmitStringBlock(hardwaredcfg->uart, "/1QR\r"); - // HAL_Delay(1000); - // EXHAL_UART_TransmitStringBlock(hardwaredcfg->uart232, "/1QR\r"); - - // m_smtp2.pump_factory_reset(); - // osDelay(1000); - + // 设置泵机压力数据流走232 + m_smtp2.pump_set_pressure_data_stream_port(1); + // 测试泵机连接性 test_connectivity(); + // 参数初始化 parameter_init(); + // 同步参数到步进电机 zm_sync_base_cfg(); - get_platinfo_smart(m_state.platinfo_cpyid, &m_now_platinfo); - int32_t maxul = 0; - // int32_t ecode = 0; - - // m_smtp2.pump_set_tip_type(smtp2::TipSize_t::TS1000UL); // 默认1000ul - // m_smtp2.pump_get_max_limit(&maxul); - // ZLOGI(TAG, "1pipette gun max limit:%d", maxul); + // 读取SMTP2泵机版本 + ZLOGI(TAG, "pipette gun version:%s", m_smtp2.pump_read_version()); - m_smtp2.pump_set_tip_type(smtp2::TipSize_t::TS200UL); // - m_smtp2.pump_get_max_limit(&maxul); - ZLOGI(TAG, "2pipette gun max limit:%d", maxul); + // 上报压力流 ! 不能一直打开压力流，一直打开压力流，会导致SMTP2无法响应其他命令 + // m_smtp2.pump_init(); + // while (true) { + // int32_t isbusy = 1; + // m_smtp2.pump_get_state(&isbusy); + // if (isbusy == 0) break; + // osDelay(10); + // } + // m_smtp2.sendcmd_direct("/1f1+300A1250R\r"); - ZLOGI(TAG, "pipette gun version:%s", m_smtp2.pump_read_version()); + ZASSERT(hardwaredcfg->uart232); + EXHAL_UART_BindUart("pipette-uart232", hardwaredcfg->uart232); + EXHAL_UART_RegListener(hardwaredcfg->uart232, [this](UART_HandleTypeDef *huart, uint8_t *data, size_t len) { smtpPressureStreamProcesser.process_rx(data[0]); }); + EXHAL_UART_ITStartAutoReadOneByte(hardwaredcfg->uart232); } void PipetteModule::test_connectivity() { diff --git a/sdk/components/pipette_module/pipette_ctrl_module.hpp b/sdk/components/pipette_module/pipette_ctrl_module.hpp index d2be5a5..03950c5 100644 --- a/sdk/components/pipette_module/pipette_ctrl_module.hpp +++ b/sdk/components/pipette_module/pipette_ctrl_module.hpp @@ -5,6 +5,7 @@ #include "sdk/os/zos.hpp" #include "sdk\components\api\zi_module.hpp" #include "sdk\components\sensors\smtp2_v2\smtp2_v2.hpp" +#include "sdk\components\sensors\smtp2_v2\smtp_pressure_stream_processer.hpp" #include "sdk\components\tmc\basic\tmc_ic_interface.hpp" #include "sdk\components\tmc\ic\ztmc5130.hpp" #include "sdk\components\zcancmder\zcanreceiver.hpp" @@ -80,6 +81,8 @@ class PipetteModule : public ZIModule { liquid_info_t m_now_liquid_info; // 当前液体信息 liquid_info_t m_now_liquid_in_gun_info; // 当前枪内液体信息 + SmtpPressureStreamProcesser smtpPressureStreamProcesser; + /*********************************************************************************************************************** * Config * ***********************************************************************************************************************/ diff --git a/sdk/components/pipette_module/pipette_ctrl_module_utils.cpp b/sdk/components/pipette_module/pipette_ctrl_module_utils.cpp index e204271..e197780 100644 --- a/sdk/components/pipette_module/pipette_ctrl_module_utils.cpp +++ b/sdk/components/pipette_module/pipette_ctrl_module_utils.cpp @@ -177,7 +177,6 @@ void PipetteModule::dump(const char *title, distribu_all_param_t *param) { ZLOGI(TAG, "-------------------------- %s --------------------------", title); ZLOGI(TAG, "- container_pos: %d", param->container_pos); ZLOGI(TAG, "- dest_container_cpyid: %d", param->dest_container_cpyid); - ZLOGI(TAG, "- dest_container_is_empty: %d", param->dest_container_is_empty); ZLOGI(TAG, "- dest_liquid_cfg_index: %d", param->dest_liquid_cfg_index); ZLOGI(TAG, "- distribu_type: %d", param->distribu_type); ZLOGI(TAG, "- mix_volume: %d", param->mix_volume); diff --git a/sdk/components/sensors/smtp2_v2/smtp2_v2.cpp b/sdk/components/sensors/smtp2_v2/smtp2_v2.cpp index 2bda0fe..ca75db5 100644 --- a/sdk/components/sensors/smtp2_v2/smtp2_v2.cpp +++ b/sdk/components/sensors/smtp2_v2/smtp2_v2.cpp @@ -11,12 +11,11 @@ using namespace smtp2; #define TAG "SMTP2" #define OVERTIME 100 -#define DUMP_HEX 0 +#define DUMP_HEX 1 #define RE_SEND_TIMES 5 #define RE_SEND_DELAY 400 -#if DUMP_HEX static const char* hex2str(const char* hex, size_t len) { static char buf[256]; memset(buf, 0, sizeof(buf)); @@ -25,7 +24,6 @@ static const char* hex2str(const char* hex, size_t len) { } return buf; } -#endif void SMTP2V2::initialize(UART_HandleTypeDef* uart, uint8_t id, DMA_HandleTypeDef* hdma_rx, DMA_HandleTypeDef* hdma_tx) { m_uart = uart; @@ -120,7 +118,7 @@ int32_t SMTP2V2::pump_put_tip() { } int32_t SMTP2V2::pump_factory_reset() { ZLOGI(TAG, "pump_factory_reset"); - _sendcmd(true, "/1!22R\r"); // + _sendcmd(true, "/1!22R\r"); // _sendcmd(true, "/1!0R\r"); // 复位指令没有回执，所以这里只能使用方法_sendcmd _sendcmd(true, "/1!0R\r"); // 复位指令没有回执，所以这里只能使用方法_sendcmd return 0; @@ -432,6 +430,14 @@ int32_t SMTP2V2::setstate(bool dump, const char* format, ...) { return getAckEcode(); } +bool SMTP2V2::sendcmd_direct(const char* cmd) { + m_rxNum = 0; + ZLOGI(TAG, "tx:%s", cmd); + bool ret = _sendcmd_dma(cmd); + ZLOGI(TAG, "rx:(%d) (%s) %s", m_rxNum, hex2str(m_rxbuf, m_rxNum), m_rxbuf); + return ret; +} + bool SMTP2V2::_sendcmd(bool dump, const char* cmd) { m_rxNum = 0; diff --git a/sdk/components/sensors/smtp2_v2/smtp2_v2.hpp b/sdk/components/sensors/smtp2_v2/smtp2_v2.hpp index 8f2727e..08e7ae5 100644 --- a/sdk/components/sensors/smtp2_v2/smtp2_v2.hpp +++ b/sdk/components/sensors/smtp2_v2/smtp2_v2.hpp @@ -192,10 +192,10 @@ class SMTP2V2 { ***********************************************************************************************************************/ int32_t pump_set_plld_start_delay(int32_t delay_ms); int32_t pump_set_vcfg(VelCfg* vcfg); - int32_t pump_set_io1_mode(int32_t mode); // 0LLD输出高 1LLD输出低 2通用输出 - int32_t pump_set_io1_state(int32_t state); // - int32_t pump_set_io2_mode(int32_t mode); // 0通用输入 1紧急制动 2Tip脱落输出高 3Tip脱落输出低 - int32_t pump_set_tip_type(TipSize_t size); // Tip大小 0:1ml 1:200ul(max:250ul) 2:50ul(max:62ul) 3=20ul(max:40ul) + int32_t pump_set_io1_mode(int32_t mode); // 0LLD输出高 1LLD输出低 2通用输出 + int32_t pump_set_io1_state(int32_t state); // + int32_t pump_set_io2_mode(int32_t mode); // 0通用输入 1紧急制动 2Tip脱落输出高 3Tip脱落输出低 + int32_t pump_set_tip_type(TipSize_t size); // Tip大小 0:1ml 1:200ul(max:250ul) 2:50ul(max:62ul) 3=20ul(max:40ul) // int32_t pump_set_max_limit(int32_t nl); // int32_t pump_get_max_limit(int32_t* nl); // 获取最大行程 int32_t pump_enable_temp_compensation(int32_t enable); // 0:关闭 1:开启 @@ -216,14 +216,14 @@ class SMTP2V2 { /*********************************************************************************************************************** * ACTION * ***********************************************************************************************************************/ - int32_t pump_init(); // 泵机初始化(归零) - int32_t pump_put_tip(); // 丢弃TIP - int32_t pump_factory_reset(); // 泵机复位 - int32_t pump_stop(); // 停止 + int32_t pump_init(); // 泵机初始化(归零) + int32_t pump_put_tip(); // 丢弃TIP + int32_t pump_factory_reset(); // 泵机复位 + int32_t pump_stop(); // 停止 int32_t _pump_move_to_nl(VelCfg* vcfg, int32_t nl); - int32_t pump_move_to_nl(VelCfg* vcfg, int32_t nl); // - int32_t pump_move_by_nl(VelCfg* vcfg, int32_t nl); // - int32_t pump_aspirate_plld(int32_t pressure_threshold, VelCfg* vcfg); // plld,分配探测 + int32_t pump_move_to_nl(VelCfg* vcfg, int32_t nl); // + int32_t pump_move_by_nl(VelCfg* vcfg, int32_t nl); // + int32_t pump_aspirate_plld(int32_t pressure_threshold, VelCfg* vcfg); // plld,分配探测 int32_t pump_aspirate_plld_get_state(int32_t* detected); int32_t pump_clld(int32_t c_threshold); // clld 0...130 @@ -247,7 +247,7 @@ class SMTP2V2 { int32_t pump_get_infer_eigen_time(int32_t* eigen_time); void dumpparam(); - + bool sendcmd_direct(const char* cmd); private: int32_t runaction(bool dump, const char* format, ...); @@ -255,6 +255,7 @@ class SMTP2V2 { int32_t readstate(bool dump, const char* format, ...); int32_t setstate(bool dump, const char* format, ...); + public: bool _sendcmd(bool dump, const char* cmd); bool _sendcmd_dma(const char* cmd); diff --git a/sdk/components/sensors/smtp2_v2/smtp_pressure_stream_processer.hpp b/sdk/components/sensors/smtp2_v2/smtp_pressure_stream_processer.hpp new file mode 100644 index 0000000..bf9e6b4 --- /dev/null +++ b/sdk/components/sensors/smtp2_v2/smtp_pressure_stream_processer.hpp @@ -0,0 +1,48 @@ +#pragma once +#include + +#include "a8000_protocol\protocol.hpp" +#include "sdk\os\zos.hpp" +namespace iflytop { +using namespace std; + +class SmtpPressureStreamProcesser { + private: + uint8_t m_rxbuf[20] = {0}; + int32_t m_rxnum = 0; + bool m_is_ready_flag = false; + + char m_state = '`'; + int32_t m_pressure = 0; + char m_pressure_cache[10]; + int32_t m_pressure_uuid = 0; + + public: + void process_rx(char data) { + if (data == '/') { + m_rxnum = 0; + } + if (m_rxnum >= sizeof(m_rxbuf) - 1) return; + m_rxbuf[m_rxnum] = data; + m_rxnum++; + + if (m_rxbuf[m_rxnum - 1] == 0x0a && m_rxbuf[m_rxnum - 2] == 0x0d && m_rxbuf[1] == '0') { + + if ((m_rxnum - 6) != 4) return; + + memcpy(m_pressure_cache, &m_rxbuf[3], 4); + m_pressure_cache[4] = 0; // Null-terminate the string + + m_pressure = atoi(m_pressure_cache); + m_pressure_uuid++; + m_is_ready_flag = true; + } + } + void getPressure(int32_t *pressure, int32_t *pressureuuid) const { + __disable_irq(); + if (pressure) *pressure = m_pressure; + if (pressureuuid) *pressureuuid = m_pressure_uuid; + __enable_irq(); + } +}; +} // namespace iflytop diff --git a/sdk/components/zcan_protocol_parser/zcan_protocol_parser.cpp b/sdk/components/zcan_protocol_parser/zcan_protocol_parser.cpp index 3ae87d7..ba7c860 100644 --- a/sdk/components/zcan_protocol_parser/zcan_protocol_parser.cpp +++ b/sdk/components/zcan_protocol_parser/zcan_protocol_parser.cpp @@ -185,7 +185,6 @@ void ZCanProtocolParser::initialize(ZCanReceiver* cancmder) { REGFN(pipette_pump_pierce_through); REGFN(pipette_pump_aspirate_set_param); REGFN(pipette_pump_aspirate); - REGFN(pipette_pump_distribu); REGFN(pipette_get_sensor_sample_data); REGFN(pipette_get_sensor_sample_data_num); REGFN(pipette_read_state); diff --git a/usrc/subboards/subboard80_cliptip/subboard80_cliptip_board.c b/usrc/subboards/subboard80_cliptip/subboard80_cliptip_board.c index fa31444..6509e56 100644 --- a/usrc/subboards/subboard80_cliptip/subboard80_cliptip_board.c +++ b/usrc/subboards/subboard80_cliptip/subboard80_cliptip_board.c @@ -192,7 +192,10 @@ static void UART3_Init() { if (HAL_UART_Init(&huart3) != HAL_OK) { Error_Handler(); } - + /**USART3 GPIO Configuration + PD8 ------> USART3_TX + PD9 ------> USART3_RX + */ GPIO_InitStruct.Pin = GPIO_PIN_8 | GPIO_PIN_9; GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; GPIO_InitStruct.Pull = GPIO_NOPULL; @@ -242,6 +245,9 @@ static void UART3_Init() { HAL_NVIC_SetPriority(DMA1_Stream3_IRQn, 5, 0); HAL_NVIC_EnableIRQ(DMA1_Stream3_IRQn); + + HAL_NVIC_SetPriority(USART3_IRQn, 5, 0); + HAL_NVIC_EnableIRQ(USART3_IRQn); } void subboard80_cliptip_board_init() {