C++ STM32 F4xx USART LL库 DMA + IDLE ISR 驱动裸机 +FreeRTOS 任务通知

写的一般，大佬可以帮我看看

头文件

/********************************************************************************* @file           : usart_driver.hpp* @brief          : usart_driver program head******************************************************************************* @attention*******************************************************************************/
#ifndef __USART_DRIVER_H
#define __USART_DRIVER_H#include "stm32f4xx_hal.h"#define COM1 USART1
#define COM2 USART2
#define COM3 USART3
#define COM4 UART4
#define COM5 UART5
#define COM6 USART6#define USE_RTOS_FOR_USART
#ifdef  USE_RTOS_FOR_USART
#include "FreeRTOS.h"
#include "task.h"
#endifclass serial_device {
public:explicit serial_device(USART_TypeDef* usartPort, uint32_t baudRate, uint16_t nvicPriority): m_serial_port(usartPort),m_baudrate(baudRate),m_nvic_priority(nvicPriority) {mp_buffer_for_dma_rx = mp_rx_bufferA;mp_buffer_for_user_rx = mp_buffer_for_dma_rx;m_is_rx_complete = 0;m_rx_data_size = 0;m_is_tx_complete = 0;#if USE_FREERTOSmp_task_handle = NULL; //接收任务通知#endif}void init();                                    // serial_init USARTvoid send(const uint8_t* data, uint16_t size);  // Send datavoid handle_isr_recv();                       // Interrupt receive processing function#ifdef  USE_RTOS_FOR_USARTvoid set_notify_task(TaskHandle_t task_handle); //设置任务通知的task handleuint32_t task_notify_take();#endifvoid reset_rx_complete_flag();void reset_tx_complete_flag();const uint8_t* get_recv_data();uint16_t get_recv_data_size();uint8_t is_recv_ready();uint8_t is_send_ready();private:USART_TypeDef* m_serial_port;DMA_TypeDef* m_dma_port;uint32_t m_dma_rx_stream;uint32_t m_dma_tx_stream;#ifdef  USE_RTOS_FOR_USARTTaskHandle_t  mp_task_handle;BaseType_t    mpx_task_woken;#endifuint32_t m_baudrate;uint16_t m_nvic_priority;uint16_t m_rx_data_size;static constexpr uint32_t RECEIVE_BUFFER_SIZE = 32;   // Size of received data bufferuint8_t m_is_rx_complete;uint8_t m_is_tx_complete;uint8_t* mp_buffer_for_dma_rx;  // Pointer to ready-to-receive bufferuint8_t* mp_buffer_for_user_rx;   // Pointer to user-accessible receive bufferuint8_t mp_rx_bufferA[RECEIVE_BUFFER_SIZE * 2]; // Receive buffer Auint8_t mp_rx_bufferB[RECEIVE_BUFFER_SIZE * 2]; // Receive buffer Bserial_device(const serial_device&) = delete;serial_device& operator=(const serial_device&) = delete;       // Disable copy and move constructorsserial_device(serial_device&&) = delete;serial_device& operator=(serial_device&&) = delete;
};#endif

源文件

/********************************************************************************* @file           : usart_driver.c* @brief          : usart program body******************************************************************************* @attention*******************************************************************************/
#include "usart_driver.h"
#include "string.h"
#include "stm32f4xx_ll_usart.h"
#include "stm32f4xx_ll_dma.h"
#include "stm32f4xx_ll_gpio.h"
#include "stm32f4xx_ll_rcc.h"
#include "stm32f4xx_ll_bus.h"/*** @brief 初始化串口** 此函数用于初始化指定的串口，包括GPIO配置、DMA配置、中断配置和串口配置。** @param 无** @return 无*/
void serial_device::init(){LL_AHB1_GRP1_EnableClock(LL_AHB1_GRP1_PERIPH_DMA1);LL_AHB1_GRP1_EnableClock(LL_AHB1_GRP1_PERIPH_DMA2);LL_USART_InitTypeDef USART_InitStruct = {0};LL_GPIO_InitTypeDef GPIO_InitStruct = {0};GPIO_InitStruct.Mode = LL_GPIO_MODE_ALTERNATE;GPIO_InitStruct.Speed = LL_GPIO_SPEED_FREQ_VERY_HIGH;GPIO_InitStruct.OutputType = LL_GPIO_OUTPUT_PUSHPULL;GPIO_InitStruct.Pull = LL_GPIO_PULL_NO;IRQn_Type COMIRQn;IRQn_Type DMARxIRQn;IRQn_Type DMATxIRQn;/* Peripheral clock enable */if(this->m_serial_port == COM1){LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_USART1);LL_AHB1_GRP1_EnableClock(LL_AHB1_GRP1_PERIPH_GPIOA);/**USART1 GPIO ConfigurationPA9   ------> USART1_TXPA10   ------> USART1_RX*/GPIO_InitStruct.Pin = LL_GPIO_PIN_9|LL_GPIO_PIN_10;GPIO_InitStruct.Alternate = LL_GPIO_AF_7;LL_GPIO_Init(GPIOA, &GPIO_InitStruct);m_dma_port = DMA2;m_dma_rx_stream = LL_DMA_STREAM_2;m_dma_tx_stream = LL_DMA_STREAM_7;COMIRQn = USART1_IRQn;DMARxIRQn = DMA2_Stream2_IRQn;DMATxIRQn = DMA2_Stream7_IRQn;} else if(this->m_serial_port == COM2){/* Peripheral clock enable */LL_APB1_GRP1_EnableClock(LL_APB1_GRP1_PERIPH_USART2);LL_AHB1_GRP1_EnableClock(LL_AHB1_GRP1_PERIPH_GPIOA);/**USART2 GPIO ConfigurationPA2   ------> USART2_TXPA3   ------> USART2_RX*/GPIO_InitStruct.Pin = LL_GPIO_PIN_2|LL_GPIO_PIN_3;GPIO_InitStruct.Alternate = LL_GPIO_AF_7;LL_GPIO_Init(GPIOA, &GPIO_InitStruct);m_dma_port = DMA1;m_dma_rx_stream = LL_DMA_STREAM_5;m_dma_tx_stream = LL_DMA_STREAM_6;COMIRQn = USART2_IRQn;DMARxIRQn = DMA1_Stream5_IRQn;DMATxIRQn = DMA1_Stream6_IRQn;} else if(this->m_serial_port == COM3){/* Peripheral clock enable */LL_APB1_GRP1_EnableClock(LL_APB1_GRP1_PERIPH_USART3);LL_AHB1_GRP1_EnableClock(LL_AHB1_GRP1_PERIPH_GPIOB);/**USART3 GPIO ConfigurationPB10   ------> USART3_TXPB11   ------> USART3_RX*/GPIO_InitStruct.Pin = LL_GPIO_PIN_10|LL_GPIO_PIN_11;GPIO_InitStruct.Alternate = LL_GPIO_AF_7;LL_GPIO_Init(GPIOB, &GPIO_InitStruct);m_dma_port = DMA1;m_dma_rx_stream = LL_DMA_STREAM_1;m_dma_tx_stream = LL_DMA_STREAM_3;COMIRQn = USART2_IRQn;DMARxIRQn = DMA1_Stream1_IRQn;DMATxIRQn = DMA1_Stream3_IRQn;} else if(this->m_serial_port == COM4){/* Peripheral clock enable */LL_APB1_GRP1_EnableClock(LL_APB1_GRP1_PERIPH_UART4);LL_AHB1_GRP1_EnableClock(LL_AHB1_GRP1_PERIPH_GPIOA);/**UART4 GPIO ConfigurationPA0-WKUP   ------> UART4_TXPA1   ------> UART4_RX*/GPIO_InitStruct.Pin = LL_GPIO_PIN_0|LL_GPIO_PIN_1;GPIO_InitStruct.Alternate = LL_GPIO_AF_8;LL_GPIO_Init(GPIOA, &GPIO_InitStruct);m_dma_port = DMA1;m_dma_rx_stream = LL_DMA_STREAM_2;m_dma_tx_stream = LL_DMA_STREAM_4;COMIRQn = UART4_IRQn;DMARxIRQn = DMA1_Stream2_IRQn;DMATxIRQn = DMA1_Stream4_IRQn;}else if(this->m_serial_port == COM5){/* Peripheral clock enable */LL_APB1_GRP1_EnableClock(LL_APB1_GRP1_PERIPH_UART5);LL_AHB1_GRP1_EnableClock(LL_AHB1_GRP1_PERIPH_GPIOC);LL_AHB1_GRP1_EnableClock(LL_AHB1_GRP1_PERIPH_GPIOD);/**UART5 GPIO ConfigurationPC12   ------> UART5_TXPD2   ------> UART5_RX*/GPIO_InitStruct.Pin = LL_GPIO_PIN_12;GPIO_InitStruct.Alternate = LL_GPIO_AF_8;LL_GPIO_Init(GPIOC, &GPIO_InitStruct);GPIO_InitStruct.Pin = LL_GPIO_PIN_2;GPIO_InitStruct.Alternate = LL_GPIO_AF_8;LL_GPIO_Init(GPIOD, &GPIO_InitStruct);m_dma_port = DMA1;m_dma_rx_stream = LL_DMA_STREAM_0;m_dma_tx_stream = LL_DMA_STREAM_7;COMIRQn = UART5_IRQn;DMARxIRQn = DMA1_Stream0_IRQn;DMATxIRQn = DMA1_Stream7_IRQn;}else if(this->m_serial_port == COM6){/* Peripheral clock enable */LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_USART6);LL_AHB1_GRP1_EnableClock(LL_AHB1_GRP1_PERIPH_GPIOC);/**USART6 GPIO ConfigurationPC6   ------> USART6_TXPC7   ------> USART6_RX*/GPIO_InitStruct.Pin = LL_GPIO_PIN_6|LL_GPIO_PIN_7;GPIO_InitStruct.Alternate = LL_GPIO_AF_8;LL_GPIO_Init(GPIOC, &GPIO_InitStruct);this->m_dma_port = DMA2;this->m_dma_rx_stream = LL_DMA_STREAM_1;this->m_dma_tx_stream = LL_DMA_STREAM_6;COMIRQn = UART5_IRQn;DMARxIRQn = DMA2_Stream1_IRQn;DMATxIRQn = DMA2_Stream6_IRQn;}/* DMA Init *//* RX Init */LL_DMA_SetChannelSelection(this->m_dma_port, this->m_dma_rx_stream, LL_DMA_CHANNEL_4); LL_DMA_SetDataTransferDirection(this->m_dma_port, this->m_dma_rx_stream, LL_DMA_DIRECTION_PERIPH_TO_MEMORY);LL_DMA_SetStreamPriorityLevel(this->m_dma_port, this->m_dma_rx_stream, LL_DMA_PRIORITY_LOW);LL_DMA_SetMode(this->m_dma_port, this->m_dma_rx_stream, LL_DMA_MODE_NORMAL);LL_DMA_SetPeriphIncMode(this->m_dma_port, this->m_dma_rx_stream, LL_DMA_PERIPH_NOINCREMENT);LL_DMA_SetMemoryIncMode(this->m_dma_port, this->m_dma_rx_stream, LL_DMA_MEMORY_INCREMENT);LL_DMA_SetPeriphSize(this->m_dma_port, this->m_dma_rx_stream, LL_DMA_PDATAALIGN_BYTE);LL_DMA_SetMemorySize(this->m_dma_port, this->m_dma_rx_stream, LL_DMA_MDATAALIGN_BYTE);LL_DMA_DisableFifoMode(this->m_dma_port, this->m_dma_rx_stream);/* TX Init */LL_DMA_SetChannelSelection(this->m_dma_port, this->m_dma_tx_stream, LL_DMA_CHANNEL_4);LL_DMA_SetDataTransferDirection(this->m_dma_port, this->m_dma_tx_stream, LL_DMA_DIRECTION_MEMORY_TO_PERIPH);LL_DMA_SetStreamPriorityLevel(this->m_dma_port, this->m_dma_tx_stream, LL_DMA_PRIORITY_LOW);LL_DMA_SetMode(this->m_dma_port, this->m_dma_tx_stream, LL_DMA_MODE_NORMAL);LL_DMA_SetPeriphIncMode(this->m_dma_port, this->m_dma_tx_stream, LL_DMA_PERIPH_NOINCREMENT);LL_DMA_SetMemoryIncMode(this->m_dma_port, this->m_dma_tx_stream, LL_DMA_MEMORY_INCREMENT);LL_DMA_SetPeriphSize(this->m_dma_port, this->m_dma_tx_stream, LL_DMA_PDATAALIGN_BYTE);LL_DMA_SetMemorySize(this->m_dma_port, this->m_dma_tx_stream, LL_DMA_MDATAALIGN_BYTE);LL_DMA_DisableFifoMode(this->m_dma_port, this->m_dma_tx_stream);/* Interrupt Init */NVIC_SetPriority(COMIRQn, NVIC_EncodePriority(NVIC_GetPriorityGrouping(),this->m_nvic_priority, 0));NVIC_SetPriority(DMARxIRQn, NVIC_EncodePriority(NVIC_GetPriorityGrouping(),this->m_nvic_priority, 0));NVIC_SetPriority(DMATxIRQn, NVIC_EncodePriority(NVIC_GetPriorityGrouping(),this->m_nvic_priority, 0));NVIC_EnableIRQ(COMIRQn);NVIC_EnableIRQ(DMARxIRQn);NVIC_EnableIRQ(DMATxIRQn);/* UART init */USART_InitStruct.BaudRate = this->m_baudrate;USART_InitStruct.DataWidth = LL_USART_DATAWIDTH_8B;USART_InitStruct.StopBits = LL_USART_STOPBITS_1;USART_InitStruct.Parity = LL_USART_PARITY_NONE;USART_InitStruct.TransferDirection = LL_USART_DIRECTION_TX_RX;USART_InitStruct.HardwareFlowControl = LL_USART_HWCONTROL_NONE;USART_InitStruct.OverSampling = LL_USART_OVERSAMPLING_16;LL_USART_Init(this->m_serial_port, &USART_InitStruct);LL_USART_ConfigAsyncMode(this->m_serial_port);LL_USART_Enable(this->m_serial_port);LL_USART_EnableIT_IDLE(this->m_serial_port);//使用空闲中断，必须使能空闲中断LL_DMA_EnableIT_TC(this->m_dma_port,this->m_dma_tx_stream);LL_DMA_SetMemoryAddress(this->m_dma_port, m_dma_rx_stream,(uint32_t)(this->mp_buffer_for_dma_rx));LL_DMA_SetPeriphAddress(this->m_dma_port,this->m_dma_rx_stream, LL_USART_DMA_GetRegAddr(this->m_serial_port));LL_DMA_SetDataTransferDirection(this->m_dma_port,this->m_dma_rx_stream,LL_DMA_DIRECTION_PERIPH_TO_MEMORY);LL_DMA_SetDataLength(this->m_dma_port,this->m_dma_rx_stream, RECEIVE_BUFFER_SIZE);	LL_DMA_EnableStream(this->m_dma_port,this->m_dma_rx_stream);//使能DMA流LL_USART_EnableDMAReq_RX(this->m_serial_port);LL_USART_EnableDMAReq_TX(this->m_serial_port);
}/*** @brief 发送数据到串口** 通过DMA（直接内存访问）方式将指定大小的数据发送到串口。** @param data 要发送的数据指针* @param size 要发送的数据大小（以字节为单位）*/
void serial_device::send(const uint8_t *data, uint16_t size) {// 重置传输完成标志reset_tx_complete_flag();  LL_DMA_SetMemoryAddress(this->m_dma_port, m_dma_tx_stream,(uint32_t)(data));LL_DMA_SetPeriphAddress(this->m_dma_port,this->m_dma_tx_stream, LL_USART_DMA_GetRegAddr(this->m_serial_port));LL_DMA_SetDataTransferDirection(this->m_dma_port,this->m_dma_tx_stream,LL_DMA_DIRECTION_MEMORY_TO_PERIPH);LL_DMA_SetDataLength(this->m_dma_port, m_dma_tx_stream, size);	LL_DMA_EnableStream(this->m_dma_port, m_dma_tx_stream);//使能DMA流
}/*** @brief UART 中断处理函数** 该函数处理UART的中断，包括空闲中断和发送完成中断。** 当检测到空闲中断时，会清除空闲中断标志位，关闭DMA，清除DMA搬运完成标志，* 获取接收数据大小，更新接收缓冲区指针，并重新配置DMA以继续接收数据。** 当检测到发送完成中断时，会清除发送完成标志，清除DMA搬运完成中断，并禁用DMA流。*/
void serial_device::handle_isr_recv(){if((LL_USART_IsEnabledIT_IDLE(this->m_serial_port) != RESET) && (LL_USART_IsActiveFlag_IDLE(this->m_serial_port) != RESET))//空闲中断{	//清除空闲中断标志位    LL_USART_ClearFlag_IDLE(this->m_serial_port);//读取数据前将DMA关闭 LL_DMA_DisableStream(this->m_dma_port,this->m_dma_rx_stream);//清除DMA搬运完成标志if(this->m_dma_rx_stream == LL_DMA_STREAM_0){LL_DMA_ClearFlag_TC0(m_dma_port);}else if(this->m_dma_rx_stream == LL_DMA_STREAM_1){LL_DMA_ClearFlag_TC1(m_dma_port);}else if(this->m_dma_rx_stream == LL_DMA_STREAM_2){LL_DMA_ClearFlag_TC2(m_dma_port);}else if(this->m_dma_rx_stream == LL_DMA_STREAM_3){LL_DMA_ClearFlag_TC3(m_dma_port);}else if(this->m_dma_rx_stream == LL_DMA_STREAM_4){LL_DMA_ClearFlag_TC4(m_dma_port);}else if(this->m_dma_rx_stream == LL_DMA_STREAM_5){LL_DMA_ClearFlag_TC5(m_dma_port);}else if(this->m_dma_rx_stream == LL_DMA_STREAM_6){LL_DMA_ClearFlag_TC6(m_dma_port);}else if(this->m_dma_rx_stream == LL_DMA_STREAM_7){LL_DMA_ClearFlag_TC7(m_dma_port);}//获取接收数据大小m_rx_data_size = RECEIVE_BUFFER_SIZE - LL_DMA_GetDataLength(m_dma_port, m_dma_rx_stream);//得到串口收到的数据长度this->m_is_rx_complete = 1;#ifdef  USE_RTOS_FOR_USARTthis->mpx_task_woken = pdFALSE;vTaskNotifyGiveFromISR(this->mp_task_handle,&mpx_task_woken); //发送通知#endifmp_buffer_for_user_rx = mp_buffer_for_dma_rx;//this->send(mp_buffer_for_user_rx,m_rx_data_size);if(this->mp_buffer_for_dma_rx == this->mp_rx_bufferA){ //切换缓冲区this->mp_buffer_for_dma_rx = this->mp_rx_bufferB;}else{this->mp_buffer_for_dma_rx = this->mp_rx_bufferA;}//重新开始接收，设置DMA的地址和数据大小LL_DMA_ConfigAddresses(this->m_dma_port,this->m_dma_rx_stream, LL_USART_DMA_GetRegAddr(this->m_serial_port), (uint32_t)(this->mp_buffer_for_dma_rx), LL_DMA_DIRECTION_PERIPH_TO_MEMORY);LL_DMA_SetDataLength(this->m_dma_port,this->m_dma_rx_stream, RECEIVE_BUFFER_SIZE); LL_DMA_EnableStream(this->m_dma_port,this->m_dma_rx_stream);//使能DMA流#ifdef  USE_RTOS_FOR_USARTportYIELD_FROM_ISR(this->mpx_task_woken);#endif}
}#ifdef  USE_RTOS_FOR_USART
void serial_device::set_notify_task(TaskHandle_t task_handle){this->mp_task_handle = task_handle;
}uint32_t serial_device::task_notify_take(){return ulTaskNotifyTake(pdTRUE, portMAX_DELAY);
}
#endif/*** @brief 从接收缓冲区中读取数据指针** 获取接收缓冲区的数据指针，以便读取串口接收到的数据。** @return 返回接收缓冲区的指针*/
const uint8_t * serial_device::get_recv_data(){return this->mp_buffer_for_user_rx;
}/*** @brief 读取接收到的数据大小** 获取当前接收到的数据大小。** @return uint16_t 接收到的数据大小*/
uint16_t serial_device::get_recv_data_size(){return this->m_rx_data_size;
}
/*** @brief 检查串口接收是否准备好** 检查串口接收是否完成，如果完成则返回true，否则返回false。** @return 如果接收完成，返回true；否则返回false。*/
uint8_t serial_device::is_recv_ready(){return this->m_is_rx_complete;
}
/*** @brief 判断串口传输是否准备完成** 判断串口传输是否已经完成准备，可以开始传输数据。** @return 如果传输准备完成，返回非零值；否则返回0。*/
uint8_t serial_device::is_send_ready(){return this->m_is_tx_complete;
}
/*** @brief 重置接收完成标志位** 将接收完成标志位 `RecvCpltFlag` 重置为 0。*/
void serial_device::reset_rx_complete_flag(){this->m_is_rx_complete = 0;
}/*** @brief 重置传输完成标志** 该函数用于将传输完成标志重置为0。*/
void serial_device::reset_tx_complete_flag(){this->m_is_tx_complete = 0;
}