stm32cubemx hal学习记录：JY901S串口-Toy模板网

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一、配置过程

1、配置RCC、SYS、USART1、时钟84MHz

2、配置TIM6，10ms，允许中断，作为控制周期

3、配置USART3，允许中断，其他默认

二、代码编写

1、移植入jy901s的c与h文件

#include "jy901s.h"
#include <string.h>
#include "usart.h"


struct STime		stcTime;
struct SAcc 		stcAcc;
struct SGyro 		stcGyro;
struct SAngle 	stcAngle;
struct SMag 		stcMag;
struct SDStatus stcDStatus;
struct SPress 	stcPress;
struct SLonLat 	stcLonLat;
struct SGPSV 		stcGPSV;
struct SQ       stcQ;

char ACCCALSW[5] = {0XFF,0XAA,0X01,0X01,0X00};//进入加速度校准模式
char SAVACALSW[5]= {0XFF,0XAA,0X00,0X00,0X00};//保存当前配置

char MAGNETICCALAM[5] = {0XFF,0XAA,0X01,0X07,0X00};
char SAVEMAGNETICCALAM[5] = {0XFF,0XAA,0X00,0X00,0X00};

//用串口3给JY模块发送指令
void sendcmd(char cmd[])
{
	char i;
	for(i=0;i<5;i++)
		UART3_send_char(cmd[i]);
}



void uart3_read_data(unsigned char ucData)
{
	static unsigned char ucRxBuffer[256];
	static unsigned char ucRxCount = 0;	
	
	
	ucRxBuffer[ucRxCount++]=ucData;	//将收到的数据存入缓冲区中
	if (ucRxBuffer[0]!=0x55) 				//数据头
	{
		ucRxCount=0;
		return;
	}
	if (ucRxCount<11) {return;}			//数据不满11个，则返回
	else
	{
		switch(ucRxBuffer[1])//判断数据是哪种数据，然后将其拷贝到对应的结构体中，有些数据包需要通过上位机打开对应的输出后，才能接收到这个数据包的数据
		{
			//memcpy为编译器自带的内存拷贝函数，需引用"string.h"，将接收缓冲区的字符拷贝到数据结构体里面，从而实现数据的解析。
			case 0x50:	memcpy(&stcTime,&ucRxBuffer[2],8);break;
			case 0x51:	memcpy(&stcAcc,&ucRxBuffer[2],8);break;
			case 0x52:	memcpy(&stcGyro,&ucRxBuffer[2],8);break;
			case 0x53:	memcpy(&stcAngle,&ucRxBuffer[2],8);break;
			case 0x54:	memcpy(&stcMag,&ucRxBuffer[2],8);break;
			case 0x55:	memcpy(&stcDStatus,&ucRxBuffer[2],8);break;
			case 0x56:	memcpy(&stcPress,&ucRxBuffer[2],8);break;
			case 0x57:	memcpy(&stcLonLat,&ucRxBuffer[2],8);break;
			case 0x58:	memcpy(&stcGPSV,&ucRxBuffer[2],8);break;
			case 0x59:	memcpy(&stcQ,&ucRxBuffer[2],8);break;
		}
		ucRxCount=0;	//清空缓存区
	}
}

#ifndef _JY901S_H
#define _JY901S_H


#include "stm32f4xx_hal.h"


void sendcmd(char cmd[]);
void uart3_read_data(unsigned char ucData);


#define SAVE 			0x00
#define CALSW 		0x01
#define RSW 			0x02
#define RRATE			0x03
#define BAUD 			0x04
#define AXOFFSET	0x05
#define AYOFFSET	0x06
#define AZOFFSET	0x07
#define GXOFFSET	0x08
#define GYOFFSET	0x09
#define GZOFFSET	0x0a
#define HXOFFSET	0x0b
#define HYOFFSET	0x0c
#define HZOFFSET	0x0d
#define D0MODE		0x0e
#define D1MODE		0x0f
#define D2MODE		0x10
#define D3MODE		0x11
#define D0PWMH		0x12
#define D1PWMH		0x13
#define D2PWMH		0x14
#define D3PWMH		0x15
#define D0PWMT		0x16
#define D1PWMT		0x17
#define D2PWMT		0x18
#define D3PWMT		0x19
#define IICADDR		0x1a
#define LEDOFF 		0x1b
#define GPSBAUD		0x1c

#define YYMM				0x30
#define DDHH				0x31
#define MMSS				0x32
#define MS					0x33
#define AX					0x34
#define AY					0x35
#define AZ					0x36
#define GX					0x37
#define GY					0x38
#define GZ					0x39
#define HX					0x3a
#define HY					0x3b
#define HZ					0x3c			
#define Roll				0x3d
#define Pitch				0x3e
#define Yaw					0x3f
#define TEMP				0x40
#define D0Status		0x41
#define D1Status		0x42
#define D2Status		0x43
#define D3Status		0x44
#define PressureL		0x45
#define PressureH		0x46
#define HeightL			0x47
#define HeightH			0x48
#define LonL				0x49
#define LonH				0x4a
#define LatL				0x4b
#define LatH				0x4c
#define GPSHeight   0x4d
#define GPSYAW      0x4e
#define GPSVL				0x4f
#define GPSVH				0x50
#define q0          0x51
#define q1          0x52
#define q2          0x53
#define q3          0x54
      
#define DIO_MODE_AIN 0
#define DIO_MODE_DIN 1
#define DIO_MODE_DOH 2
#define DIO_MODE_DOL 3
#define DIO_MODE_DOPWM 4
#define DIO_MODE_GPS 5		

struct STime
{
	unsigned char ucYear;
	unsigned char ucMonth;
	unsigned char ucDay;
	unsigned char ucHour;
	unsigned char ucMinute;
	unsigned char ucSecond;
	unsigned short usMiliSecond;
};

struct SAcc
{
	short a[3];
	short T;
};

struct SGyro
{
	short w[3];
	short T;
};

struct SAngle
{
	short Angle[3];
	short T;
};

struct SMag
{
	short h[3];
	short T;
};

struct SDStatus
{
	short sDStatus[4];
};

struct SPress
{
	long lPressure;
	long lAltitude;
};

struct SLonLat
{
	long lLon;
	long lLat;
};

struct SGPSV
{
	short sGPSHeight;
	short sGPSYaw;
	long lGPSVelocity;
};

struct SQ
{ short q[4];
};

#endif

2、串口读取数据代码

static unsigned char TxBuffer[256];
static unsigned char TxCounter=0;
static unsigned char count=0; 

void UART3_send_char(unsigned char data)
{
	TxBuffer[count++] = data;   
}

void UART3_send_string(unsigned char *str)
{
	while(*str)
	{
		if(*str=='\r')UART3_send_char(0x0d);
			else if(*str=='\n')UART3_send_char(0x0a);
				else UART3_send_char(*str);
		str++;
	}
}

uint8_t Rxdata;
extern void uart3_read_data(unsigned char ucData);
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
{
	if (huart->Instance==USART3)
	{
		HAL_UART_Receive_IT(&huart3,&Rxdata,1);
		uart3_read_data(Rxdata);	//处理数据
	}	
}

3、main中代码

extern char ACCCALSW[5];//进入加速度校准模式
extern char SAVACALSW[5];//保存当前配置
extern char MAGNETICCALAM[5];      //磁力计校准
extern char SAVEMAGNETICCALAM[5];  //保存配置

extern uint8_t Rxdata;


HAL_TIM_Base_Start_IT(&htim6);
HAL_UART_Receive_IT(&huart3,&Rxdata,1);

sendcmd(ACCCALSW);HAL_Delay(100); //加速度计校准
sendcmd(SAVACALSW);HAL_Delay(100);//保存当前配置

sendcmd(MAGNETICCALAM);	HAL_Delay(100);   //磁力计校准
sendcmd(SAVEMAGNETICCALAM);HAL_Delay(100);//保存当前配置

4、定时器积分得到航向角