AGV / agv_shengyiPPxiaoche · Files

/*
*********************************************************************************************************
*                                      
*    模块名称 : 串口驱动模块    
*    文件名称 : bsp_usart.c
*    版    本 : V2.0
*    说    明 : 实现printf和scanf函数重定向到串口1，即支持printf信息到USART1
*    	    	实现重定向，只需要添加2个函数:
*    	    	int fputc(int ch, FILE *f);
*    	    	int fgetc(FILE *f);
*    	    	对于KEIL MDK编译器，编译选项中需要在MicorLib前面打钩，否则不会有数据打印到USART1。
*
*********************************************************************************************************
*/
#include <stdarg.h>
#include <string.h>
#include <stdlib.h>
#include <stdio.h>
#include <ctype.h>
#include "cpu.h"
#include "stm32f4xx_flash.h"
#include "includes.h"
#include "bsp.h"
#include <common.h>

UartStruct Uart1Stu;
UartStruct Uart2Stu;
UartStruct Uart3Stu;
UartStruct Uart4Stu;
UartStruct Uart6Stu;

Imu_msg imu_msg;

/*
*********************************************************************************************************
*    函 数 名: bsp_InitUart
*    功能说明: 初始化CPU的USART1串口硬件设备。未启用中断。
*    形    参：无
*    返 回 值: 无
*********************************************************************************************************
*/

//初始化 COM1 COM2 485-1 485-2  COM6--TTL串口(WIFI/Zigbee)  2022-4-12修改
// COM1 TX--PA9  RX--PA10  UART1    232-1
// COM2 TX--PD5  RX--PD6   UART2    232-2
// COM3 TX--PD8  RX--PD9   UART3    485-1   
// COM4  TX--PC10 RX--PC11 UART4    485-2
// COM6 TX--PG14  RX--PG9  TTL串口(Zigbee/WiFi) 
//bound:波特率
void uart_init(u32 bound)
{
   //GPIO端口设置
  GPIO_InitTypeDef GPIO_InitStructure;
	USART_InitTypeDef USART_InitStructure;
	NVIC_InitTypeDef NVIC_InitStructure;
	
	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA|RCC_AHB1Periph_GPIOC|RCC_AHB1Periph_GPIOD|RCC_AHB1Periph_GPIOG,ENABLE); //使能GPIOA GPIOC GPIOD时钟
	
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1,ENABLE);//使能USART1时钟  232-1
  RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART6,ENABLE);//使能USART6时钟   TTL ZIGBEE/WIFI 
	
	RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART2, ENABLE); //  使能 USART2 clock   232-2
	RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART3, ENABLE);  // 485-1 COM3
	RCC_APB1PeriphClockCmd(RCC_APB1Periph_UART4, ENABLE);   // 485-2 COM4
	
	//串口1对应引脚复用映射
	GPIO_PinAFConfig(GPIOA,GPIO_PinSource9,GPIO_AF_USART1);    //GPIOA9复用为USART1 --- COM1
	GPIO_PinAFConfig(GPIOA,GPIO_PinSource10,GPIO_AF_USART1);   //GPIOA10复用为USART1
	// 串口2
	GPIO_PinAFConfig(GPIOD,GPIO_PinSource5,GPIO_AF_USART2);   //GPIOD5复用为USART2 --- COM2
	GPIO_PinAFConfig(GPIOD,GPIO_PinSource6,GPIO_AF_USART2);   //GPIOD6复用为USART2
	// 485-1
	GPIO_PinAFConfig(GPIOD,GPIO_PinSource8,GPIO_AF_USART3);   //GPIOD8复用为USART3 --- 485-1
	GPIO_PinAFConfig(GPIOD,GPIO_PinSource9,GPIO_AF_USART3);   //GPIOD9复用为USART3
	//485-2
	GPIO_PinAFConfig(GPIOC,GPIO_PinSource10,GPIO_AF_UART4);   //GPIOC10复用为UART4 --- 485-2
	GPIO_PinAFConfig(GPIOC,GPIO_PinSource11,GPIO_AF_UART4);   //GPIOC11复用为UART4
	// TTL COM6 ZIGBEE/WIFI
	GPIO_PinAFConfig(GPIOG,GPIO_PinSource14,GPIO_AF_USART6);   //GPIOG14复用为USART6 --- COM6 ZIGBEE
	GPIO_PinAFConfig(GPIOG,GPIO_PinSource9,GPIO_AF_USART6);    //GPIOG9复用为USART6 
	
		
	//USART1端口配置  232-1
  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9 | GPIO_Pin_10; //GPIOA9与GPIOA10
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;//复用功能
	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;	//速度50MHz
	GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; //推挽复用输出
	GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP; //上拉
	GPIO_Init(GPIOA,&GPIO_InitStructure); //初始化PA9，PA10
	
	// USART2  232-2
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5|GPIO_Pin_6;
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;//复用功能
	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;	//速度50MHz
	GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; //推挽复用输出
	GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP; //上拉
	GPIO_Init(GPIOD,&GPIO_InitStructure); //初始化PD6，PD5
	
	// USART3 485-1
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8|GPIO_Pin_9;
	GPIO_Init(GPIOD,&GPIO_InitStructure); //初始化PD8，PD9
	//UART4端口配置 485-2
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10|GPIO_Pin_11;
	GPIO_Init(GPIOC,&GPIO_InitStructure); //初始化PC10，PC11
	
	//UART6端口配置 TTL串口 Zigbee WiFi
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9|GPIO_Pin_14;
	GPIO_Init(GPIOG,&GPIO_InitStructure); //初始化Pg9，Pg14
	
   //USART1 初始化设置   232-1
	USART_InitStructure.USART_BaudRate = bound;//波特率设置
	USART_InitStructure.USART_WordLength = USART_WordLength_8b;//字长为8位数据格式
	USART_InitStructure.USART_StopBits = USART_StopBits_1;//一个停止位
	USART_InitStructure.USART_Parity = USART_Parity_No;//无奇偶校验位
	USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;//无硬件数据流控制
	USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;	//收发模式
  USART_Init(USART1, &USART_InitStructure); //初始化串口1
	
	//USART2 初始化设置  232-2
	USART_InitStructure.USART_BaudRate = 115200;//波特率设置
	USART_InitStructure.USART_WordLength = USART_WordLength_8b;//字长为8位数据格式
	USART_InitStructure.USART_StopBits = USART_StopBits_1;//一个停止位
	USART_InitStructure.USART_Parity = USART_Parity_No;//无奇偶校验位
	USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;//无硬件数据流控制
	USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;	//收发模式
  USART_Init(USART2, &USART_InitStructure); //初始化串口2
	// USART3
	USART_InitStructure.USART_BaudRate = 115200;//波特率设置
	USART_InitStructure.USART_WordLength = USART_WordLength_8b;//字长为8位数据格式
	USART_InitStructure.USART_StopBits = USART_StopBits_1;//一个停止位
	USART_InitStructure.USART_Parity = USART_Parity_No;//无奇偶校验位
	USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;//无硬件数据流控制
	USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;	//收发模式
	USART_Init(USART3, &USART_InitStructure); //初始化串口3 485-1
	
	USART_Init(UART4, &USART_InitStructure); //初始化串口4 485-2
	
	USART_Init(USART6, &USART_InitStructure); //初始化串口6 TTL ZIGBEE WIFI
	
  USART_Cmd(USART1, ENABLE);  //使能 COM1 
	USART_Cmd(USART2, ENABLE);  //使能 COM2
	USART_Cmd(USART3, ENABLE);  //使能  485-1
	USART_Cmd(UART4, ENABLE);  //使能  485-2
	
	USART_Cmd(USART6, ENABLE);  //使能  COM6 ZIGBEE
		
//	USART_ClearFlag(USART1, USART_FLAG_TC);
	
	// COM1 232-1 接收使能
	USART_ITConfig(USART1, USART_IT_RXNE, ENABLE);//开启相关中断
	//Usart1 NVIC 配置
  NVIC_InitStructure.NVIC_IRQChannel = USART1_IRQn;//串口1中断通道
	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=3;//抢占优先级3
	NVIC_InitStructure.NVIC_IRQChannelSubPriority =3;		//子优先级3
	NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;			//IRQ通道使能
	NVIC_Init(&NVIC_InitStructure);	//根据指定的参数初始化VIC寄存器
  // USART2 232-2 接收使能
  USART_ITConfig(USART2, USART_IT_RXNE, ENABLE);//开启相关中断
	//Usart2 NVIC 配置
  NVIC_InitStructure.NVIC_IRQChannel = USART2_IRQn;//串口3中断通道
	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=3;//抢占优先级3
	NVIC_InitStructure.NVIC_IRQChannelSubPriority =3;		//子优先级3
	NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;			//IRQ通道使能
	NVIC_Init(&NVIC_InitStructure);	//根据指定的参数初始化VIC寄存器

  // USART3  485-1
  USART_ITConfig(USART3, USART_IT_RXNE, ENABLE);//开启相关中断
	//Usart3 NVIC 配置
  NVIC_InitStructure.NVIC_IRQChannel = USART3_IRQn;//串口3中断通道
	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=3;//抢占优先级3
	NVIC_InitStructure.NVIC_IRQChannelSubPriority =3;		//子优先级3
	NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;			//IRQ通道使能
	NVIC_Init(&NVIC_InitStructure);	//根据指定的参数初始化VIC寄存器
	
	// UART4  485-2
  USART_ITConfig(UART4, USART_IT_RXNE, ENABLE);//开启相关中断
	//Uart4 NVIC 配置
  NVIC_InitStructure.NVIC_IRQChannel = UART4_IRQn;//串口3中断通道
	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=3;//抢占优先级3
	NVIC_InitStructure.NVIC_IRQChannelSubPriority =3;		//子优先级3
	NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;			//IRQ通道使能
	NVIC_Init(&NVIC_InitStructure);	//根据指定的参数初始化VIC寄存器
	
	// COM6 TTL ZIGBEE WIFI
	USART_ITConfig(USART6, USART_IT_RXNE, ENABLE);//开启相关中断
	//Usart6 NVIC 配置
  NVIC_InitStructure.NVIC_IRQChannel = USART6_IRQn;//串口3中断通道
	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=3;//抢占优先级3
	NVIC_InitStructure.NVIC_IRQChannelSubPriority =3;		//子优先级3
	NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;			//IRQ通道使能
	NVIC_Init(&NVIC_InitStructure);	//根据指定的参数初始化VIC寄存器
	
}

/****************************************************************************
* 函数名: USART1_IRQHandler
* 功  能: USART1中断服务程序.
* 输  入: 无
* 输  出: 无
* 返  回: 无
*/
#if 1
void USART1_IRQHandler(void)
{
    CPU_SR_ALLOC();
    unsigned int i;    
    unsigned char ch;
	unsigned int flag = USART_GetITStatus(USART1, USART_IT_RXNE);
    CPU_CRITICAL_ENTER();
    OSIntEnter();                                          
    CPU_CRITICAL_EXIT();
    /*接收中断*/
    if (USART_GetITStatus(USART1, USART_IT_RXNE) != RESET)
    { 
    	/* Read one byte from the receive data register */
        ch = USART_ReceiveData(USART1);
    	if(((Uart1Stu.RxBuf_In + 1) & UART_BUF_LEN) == Uart1Stu.RxBuf_Out)
    	{

    	}
    	else
    	{
            Uart1Stu.RxBuf[(Uart1Stu.RxBuf_In)] = ch;
    	    Uart1Stu.RxBuf_In = (Uart1Stu.RxBuf_In + 1) & UART_BUF_LEN;
    	}    	
    }	    	    
    /* 发送缓冲区空中断 */
    if (USART_GetITStatus(USART1, USART_IT_TXE) != RESET)
    {
        if(Uart1Stu.TxBuf_In != Uart1Stu.TxBuf_Out)
        {
            i = Uart1Stu.TxBuf_Out;
            Uart1Stu.TxBuf_Out = (Uart1Stu.TxBuf_Out + 1) & UART_BUF_LEN;
            ch = Uart1Stu.TxBuf[i];
            USART_SendData(USART1,ch);
        }
        else
    	{
    	    /* 禁止发送缓冲区空中断，使能发送完毕中断 */
    	    USART_ITConfig(USART1, USART_IT_TXE, DISABLE);
    	    USART_ITConfig(USART1, USART_IT_TC, ENABLE);
    	}
    }
    /* 1个字节发送完毕的中断 */
    else if (USART_GetITStatus(USART1, USART_IT_TC) != RESET)
    {
        if(Uart1Stu.TxBuf_In != Uart1Stu.TxBuf_Out)
        {
            i = Uart1Stu.TxBuf_Out;
            Uart1Stu.TxBuf_Out = (Uart1Stu.TxBuf_Out + 1) & UART_BUF_LEN;
            ch = Uart1Stu.TxBuf[i];
            USART_SendData(USART1,ch);
        }
        else
    	{
    	    /* 禁止发送缓冲区空中断，使能发送完毕中断 */
    	    USART_ITConfig(USART1, USART_IT_TC, DISABLE);
    	}
    }
		else//接收
    {
    	/* Read one byte from the receive data register */
        ch = USART_ReceiveData(USART1);
    	if(((Uart1Stu.RxBuf_In + 1) & UART_BUF_LEN) == Uart1Stu.RxBuf_Out)
    	{

    	}
    	else
    	{
            Uart1Stu.RxBuf[(Uart1Stu.RxBuf_In)] = ch;
    	    Uart1Stu.RxBuf_In = (Uart1Stu.RxBuf_In + 1) & UART_BUF_LEN;
    	}    	
    }

	OSIntExit(); 
}
#endif



/****************************************************************************
* 函数名: USART6_IRQHandler
* 功  能: USART6中断服务程序.
* 输  入: 无
* 输  出: 无
* 返  回: 无
*/

unsigned char recvBuff[120];

void USART3_IRQHandler(void)
{
	unsigned int i;	
    unsigned char ch;
	u8 flag = 0;
	CPU_SR_ALLOC();
	CPU_CRITICAL_ENTER();
    OSIntEnter();                                          
    CPU_CRITICAL_EXIT();
	
    /*接收中断*/
    if (USART_GetITStatus(USART3, USART_IT_RXNE) != RESET)
    {
				flag = 1;
    	/* Read one byte from the receive data register */
        ch = USART_ReceiveData(USART3);
    	if(((Uart3Stu.RxBuf_In + 1) & UART_BUF_LEN) == Uart3Stu.RxBuf_Out)
    	{
            
    	}
    	else
    	{
            Uart3Stu.RxBuf[(Uart3Stu.RxBuf_In)] = ch;
    	    Uart3Stu.RxBuf_In = (Uart3Stu.RxBuf_In + 1) & UART_BUF_LEN;
    	}    	
    }	    	    
    /* 发送缓冲区空中断 */
    if (USART_GetITStatus(USART3, USART_IT_TXE) != RESET)
    { 
        if(Uart3Stu.TxBuf_In != Uart3Stu.TxBuf_Out)
        {
            i = Uart3Stu.TxBuf_Out;
            Uart3Stu.TxBuf_Out = (Uart3Stu.TxBuf_Out + 1) & UART_BUF_LEN;
            ch = Uart3Stu.TxBuf[i];
            USART_SendData(USART3,ch);
        } 
        else
    	{
    	    /* 禁止发送缓冲区空中断，使能发送完毕中断 */
    	    USART_ITConfig(USART3, USART_IT_TXE, DISABLE);
    	    USART_ITConfig(USART3, USART_IT_TC, ENABLE);
    	}            
    }
    /* 1个字节发送完毕的中断 */
    else if (USART_GetITStatus(USART3, USART_IT_TC) != RESET)
    {
        if(Uart3Stu.TxBuf_In != Uart3Stu.TxBuf_Out)
        {
            i = Uart3Stu.TxBuf_Out;
            Uart3Stu.TxBuf_Out = (Uart3Stu.TxBuf_Out + 1) & UART_BUF_LEN;
            ch = Uart3Stu.TxBuf[i];
            USART_SendData(USART3,ch);
        } 
        else
    	{
    	    /* 禁止发送缓冲区空中断，使能发送完毕中断 */
    	    USART_ITConfig(USART3, USART_IT_TC, DISABLE);
    	}    
    }
		else if(flag == 0)
		{
			/* Read one byte from the receive data register */
        ch = USART_ReceiveData(USART3);
    	if(((Uart3Stu.RxBuf_In + 1) & UART_BUF_LEN) == Uart3Stu.RxBuf_Out)
    	{
            
    	}
    	else
    	{
            Uart3Stu.RxBuf[(Uart3Stu.RxBuf_In)] = ch;
    	    Uart3Stu.RxBuf_In = (Uart3Stu.RxBuf_In + 1) & UART_BUF_LEN;
    	}
		}
//		Uart_Printf(COM1,"%c",ch);
		
	static int StepFlag = 0,iii = 0,lastTime = 0;
		
		if(ch == 0x3c)
		 {
			 iii = 0;
			 StepFlag = 1;
		 }
		 else if(ch == 0x3e&&StepFlag == 1)
		 {
			 StepFlag = 2;
	//							 Uart_Printf(COM1,"一帧数据完成\r\n");
		 }
		 if(iii>110)
		 {
			StepFlag = 0;
			 iii = 0;
		 }
		 if(StepFlag == 1)
		 {
			 recvBuff[iii++] = ch;
		 }
		 else if(StepFlag == 2)
		 {
			 recvBuff[iii++] = ch;
			 StepFlag = 0;
			 Camera.UpdataFlag  = 1;
			 Camera.OffCount = 100;
//			 Uart_Printf(COM1,"%s\r\n",recvBuff);
		 }
	OSIntExit();	
}

unsigned char recvBuffTwo[120];

void UART4_IRQHandler(void)
{
	unsigned int i;	
    unsigned char ch;
	u8 flag = 0;
	CPU_SR_ALLOC();
	CPU_CRITICAL_ENTER();
    OSIntEnter();                                          
    CPU_CRITICAL_EXIT();
	
    /*接收中断*/
    if (USART_GetITStatus(UART4, USART_IT_RXNE) != RESET)
    {
				flag = 1;
    	/* Read one byte from the receive data register */
        ch = USART_ReceiveData(UART4);
    	if(((Uart4Stu.RxBuf_In + 1) & UART_BUF_LEN) == Uart4Stu.RxBuf_Out)
    	{
            
    	}
    	else
    	{
            Uart4Stu.RxBuf[(Uart4Stu.RxBuf_In)] = ch;
    	    Uart4Stu.RxBuf_In = (Uart4Stu.RxBuf_In + 1) & UART_BUF_LEN;
    	}    	
    }	    	    
    /* 发送缓冲区空中断 */
    if (USART_GetITStatus(UART4, USART_IT_TXE) != RESET)
    { 
        if(Uart4Stu.TxBuf_In != Uart4Stu.TxBuf_Out)
        {
            i = Uart4Stu.TxBuf_Out;
            Uart4Stu.TxBuf_Out = (Uart4Stu.TxBuf_Out + 1) & UART_BUF_LEN;
            ch = Uart4Stu.TxBuf[i];
            USART_SendData(UART4,ch);
        } 
        else
    	{
    	    /* 禁止发送缓冲区空中断，使能发送完毕中断 */
    	    USART_ITConfig(UART4, USART_IT_TXE, DISABLE);
    	    USART_ITConfig(UART4, USART_IT_TC, ENABLE);
    	}            
    }
    /* 1个字节发送完毕的中断 */
    else if (USART_GetITStatus(UART4, USART_IT_TC) != RESET)
    {
        if(Uart4Stu.TxBuf_In != Uart4Stu.TxBuf_Out)
        {
            i = Uart4Stu.TxBuf_Out;
            Uart4Stu.TxBuf_Out = (Uart4Stu.TxBuf_Out + 1) & UART_BUF_LEN;
            ch = Uart4Stu.TxBuf[i];
            USART_SendData(UART4,ch);
        } 
        else
    	{
    	    /* 禁止发送缓冲区空中断，使能发送完毕中断 */
    	    USART_ITConfig(UART4, USART_IT_TC, DISABLE);
    	}    
    }
		else if(flag == 0)
		{
			/* Read one byte from the receive data register */
        ch = USART_ReceiveData(UART4);
    	if(((Uart4Stu.RxBuf_In + 1) & UART_BUF_LEN) == Uart4Stu.RxBuf_Out)
    	{
            
    	}
    	else
    	{
            Uart4Stu.RxBuf[(Uart4Stu.RxBuf_In)] = ch;
    	    Uart4Stu.RxBuf_In = (Uart4Stu.RxBuf_In + 1) & UART_BUF_LEN;
    	}
		}
//		Uart_Printf(COM1,"%c",ch);
		
	static int StepFlag = 0,iii = 0,lastTime = 0;
		
		if(ch == 0x3c)
		 {
			 iii = 0;
			 StepFlag = 1;
		 }
		 else if(ch == 0x3e&&StepFlag == 1)
		 {
			 StepFlag = 2;
	//							 Uart_Printf(COM1,"一帧数据完成\r\n");
		 }
		 if(iii>110)
		 {
			StepFlag = 0;
			 iii = 0;
		 }
		 if(StepFlag == 1)
		 {
			 recvBuffTwo[iii++] = ch;
		 }
		 else if(StepFlag == 2)
		 {
			 recvBuffTwo[iii++] = ch;
			 StepFlag = 0;
			 CameraTwo.UpdataFlag  = 1;
			 CameraTwo.OffCount = 100;
//			 Uart_Printf(COM1,"%s\r\n",recvBuff);
		 }
	OSIntExit();	
}

void SetRS485ReadCOM()
{
    GPIO_ResetBits(GPIOC,GPIO_Pin_8);	
}

void SetRS485WriteCOM()
{
    GPIO_SetBits(GPIOC,GPIO_Pin_8);	
}


void USART6_IRQHandler(void)
{
	unsigned int i;	
    unsigned char ch;
	u8 flag = 0;
	CPU_SR_ALLOC();
	CPU_CRITICAL_ENTER();
    OSIntEnter();                                          
    CPU_CRITICAL_EXIT();
	
    /*接收中断*/
    if (USART_GetITStatus(USART6, USART_IT_RXNE) != RESET)
    { 
			flag = 1;
    	/* Read one byte from the receive data register */
        ch = USART_ReceiveData(USART6);
    	if(((Uart6Stu.RxBuf_In + 1) & UART_BUF_LEN) == Uart6Stu.RxBuf_Out)
    	{
            
    	}
    	else
    	{
            Uart6Stu.RxBuf[(Uart6Stu.RxBuf_In)] = ch;
    	    Uart6Stu.RxBuf_In = (Uart6Stu.RxBuf_In + 1) & UART_BUF_LEN;
    	}    	
    }	    	    
    /* 发送缓冲区空中断 */
    if (USART_GetITStatus(USART6, USART_IT_TXE) != RESET)
    { 
        if(Uart6Stu.TxBuf_In != Uart6Stu.TxBuf_Out)
        {
            i = Uart6Stu.TxBuf_Out;
            Uart6Stu.TxBuf_Out = (Uart6Stu.TxBuf_Out + 1) & UART_BUF_LEN;
            ch = Uart6Stu.TxBuf[i];
			SetRS485WriteCOM();
            USART_SendData(USART6,ch);
        } 
        else
    	{
    	    /* 禁止发送缓冲区空中断，使能发送完毕中断 */
    	    USART_ITConfig(USART6, USART_IT_TXE, DISABLE);
    	    USART_ITConfig(USART6, USART_IT_TC, ENABLE);
    	}            
    }
    /* 1个字节发送完毕的中断 */
    else if (USART_GetITStatus(USART6, USART_IT_TC) != RESET)
    {
        if(Uart6Stu.TxBuf_In != Uart6Stu.TxBuf_Out)
        {
            i = Uart6Stu.TxBuf_Out;
            Uart6Stu.TxBuf_Out = (Uart6Stu.TxBuf_Out + 1) & UART_BUF_LEN;
            ch = Uart6Stu.TxBuf[i];
			SetRS485WriteCOM();
            USART_SendData(USART6,ch);
        } 
        else
    	{
    	    /* 禁止发送缓冲区空中断，使能发送完毕中断 */
    	    USART_ITConfig(USART6, USART_IT_TC, DISABLE);
			SetRS485ReadCOM();
    	}    
    } 
		else if(flag == 0)
		{
			/* Read one byte from the receive data register */
        ch = USART_ReceiveData(USART6);
    	if(((Uart6Stu.RxBuf_In + 1) & UART_BUF_LEN) == Uart6Stu.RxBuf_Out)
    	{
            
    	}
    	else
    	{
            Uart6Stu.RxBuf[(Uart6Stu.RxBuf_In)] = ch;
    	    Uart6Stu.RxBuf_In = (Uart6Stu.RxBuf_In + 1) & UART_BUF_LEN;
    	}
		}
	OSIntExit();	
}


/****************************************************************************
* 函数名: ReadUart
* 功  能: 从指定的串口接收缓存区中取固定长度数据.
* 输  入: UartID-串口号，buff-数据存放位置， length-预取数据长度
* 输  出: 无
* 返  回: 实际获取的数据长度
*/
unsigned int ReadUart(unsigned char UartID,unsigned char *buff,unsigned int length)
{
    unsigned int i = 0;
    unsigned int count = 0;
    UartStruct *pUartStu;

    if(UartID == COM1)
        pUartStu = &Uart1Stu;
    else if(UartID == COM2)
        pUartStu = &Uart2Stu;
    else if(UartID == COM3)
        pUartStu = &Uart3Stu;
		else if(UartID == COM4)
        pUartStu = &Uart4Stu;  	
    else if(UartID == COM6)
        pUartStu = &Uart6Stu;    	
    else        
        return 0;

    for(i = 0; i < length; i++)
    {
		if(pUartStu->RxBuf_In == pUartStu->RxBuf_Out)
    	    break;
        count += 1;
        buff[i] = pUartStu->RxBuf[(pUartStu->RxBuf_Out)];
				pUartStu->RxBuf_Out = (pUartStu->RxBuf_Out + 1) & UART_BUF_LEN;    	
    }
    return count;
}

/****************************************************************************
* 函数名: WriteUart
* 功  能: 发送数据到指定的串口缓存区.
* 输  入: UartID-串口号，buff-需要发送的数据存放位置， length-需要发送的数据长度
* 输  出: 无
* 返  回: 无
*/
void WriteUart(unsigned char UartID,unsigned char *buff,unsigned int length)
{
    unsigned int i;    
    UartStruct *pUartStu;
    USART_TypeDef* USARTx;
    unsigned char write;

    if(UartID == COM1)
    {
        pUartStu = &Uart1Stu;
        USARTx = USART1;
    }
    else if(UartID == COM2)
    {
        pUartStu = &Uart2Stu;    	
        USARTx = USART2;
    }
    else if(UartID == COM3)
    {
        pUartStu = &Uart3Stu;    	
        USARTx = USART3;
    }
		else if(UartID == COM4)
    {
        pUartStu = &Uart4Stu;    	
        USARTx = UART4;
    }
    else if(UartID == COM6)
    {
        pUartStu = &Uart6Stu;    	
        USARTx = USART6;
    }    
    else
        return; 

    if(pUartStu->TxBuf_In == pUartStu->TxBuf_Out)
    {
    	write = 1;
    }    
    else
    {
    	write = 0;
    }

    for(i = 0; i < length; i++)
    {
    	if(((pUartStu->TxBuf_In + 1) & UART_BUF_LEN) != pUartStu->TxBuf_Out)
    	{
    	    pUartStu->TxBuf[(pUartStu->TxBuf_In)] = buff[i];
    	    pUartStu->TxBuf_In = (pUartStu->TxBuf_In + 1) & UART_BUF_LEN;    	    
    	}
    	else
    	    break;
    }

    if(write)
    {
    	USART_ITConfig(USARTx, USART_IT_TXE, ENABLE);
    }               
}

void UartSend(unsigned char UartID,unsigned char *buff,unsigned int length)
{
    unsigned int i;
	unsigned int time;
    USART_TypeDef* USARTx;

    if(UartID == COM1)
        USARTx = USART1;
    else if(UartID == COM2)
        USARTx = USART2;
    else if(UartID == COM3)
        USARTx = USART3;
    else if(UartID == COM4)
        USARTx = UART4;
    else if(UartID == COM5)
        USARTx = UART5;
    else if(UartID == COM6)
        USARTx = USART6;    
    else
        return;
	
    for(i = 0; i < length; i++)
    {
        /* 写一个字节到USART1 */
        USART_SendData(USARTx, buff[i]);
    
        /* 等待发送结束 */
		time = 0;
        while (USART_GetFlagStatus(USARTx, USART_FLAG_TC) == RESET)
        {
			time++;
			if(time > 100000)
			{
				break;
			}
		};
    }
}
void ProcessDataFormUartCard()
{
    unsigned char buff[64];
    unsigned int len;
    unsigned i;
    len = ReadUart(COM6,buff,12);

    if( len > 0)
    {
			for(i = 0; i < len; i++)
			{

			}
    }
}

float getData(unsigned char *Res)
{
	int x = 1;
	int baiwei = Res[0] & 0xf;
	int shiwei = Res[1] >> 4;
	int gewei = Res[1] & 0xf;
	int dian1 = Res[2] >> 4;
	int dian2 = Res[2] & 0xf;

	if ((Res[0] >> 4) == 1)
	{
		x = -1;
	}

	return x * ((float)baiwei * 100.0f + (float)shiwei * 10.0f + (float)gewei + (float)dian1 * 0.1f + (float)dian2 * 0.01f);
}

float _getData(unsigned char *Res)
{
	int x = 1;
	int gewei = Res[1] >> 4;
	int dian1 = Res[1] & 0xf;
	int dian2 = Res[2] >> 4;
	int dian3 = Res[2] & 0xf;

	if ((Res[0] >> 4) == 1)
	{
		x = -1;
	}

	return x * ((float)gewei + (float)dian1 * 0.1f + (float)dian2 * 0.01f + (float)dian3 * 0.001f);
}

void getdata(unsigned char Res)
{
	static int offset = 0;
	static unsigned char buffer[70];
	static int step = 0;
	buffer[offset++] = Res;
//	  Uart_Printf(COM1,"%02X",Res);
	if (offset > 69)
		offset = 0;
	if (Res == 0x68 && step == 0)
	{
//		Uart_Printf(COM1,"step0\r\n");
		step = 1;
	}
	else if (Res == 0x21 && step == 1)
	{
//		Uart_Printf(COM1,"step1\r\n");
		step = 2;
	}
	else if (Res == 0x00 && step == 2)
	{
//		Uart_Printf(COM1,"step2\r\n");
		step = 3;
	}
	else if (Res == 0x84 && step == 3)
	{
//		Uart_Printf(COM1,"step3\r\n");
		step = 0;
		offset = 0;
//		Uart_Printf(COM1,"get one frame\r\n");
	}
	else
	{
		step = 0;
	}

	if (offset == 30)
	{
		unsigned char sum = 0xa5;
		for (int i = 0; i < 29;)
		{
			sum += buffer[i];
			i++;
		}
		if (sum == buffer[29])
		{
			imu_msg.angular_velocity_x	  = (getData(buffer + 18)) * 0.017453f; //Gx;//*0.017453f; //raw_msg->raw_angular_velocity.x - gyroscope_bias_["x"];
			imu_msg.angular_velocity_y	  = (getData(buffer + 21)) * 0.017453f; //Gy;//*0.017453f; //raw_msg->raw_angular_velocity.y - gyroscope_bias_["y"];
			imu_msg.angular_velocity_z 	  = (getData(buffer + 24)) * 0.017453f; //*0.017453f; //raw_msg->raw_angular_velocity.z - gyroscope_bias_["z"];

			imu_msg.linear_acceleration_x = (_getData(buffer + 9));  //raw_msg->raw_linear_acceleration.x - acceleration_bias_["x"];
			imu_msg.linear_acceleration_y = (_getData(buffer + 12)); //raw_msg->raw_linear_acceleration.y - acceleration_bias_["y"];
			imu_msg.linear_acceleration_z = (_getData(buffer + 15)); //raw_msg->raw_linear_acceleration.z - acceleration_bias_["z"];
			
			imu_msg.angular_roll		  = getData(buffer) * 0.017453f;
			imu_msg.angular_pitch 		  = getData(buffer + 3) * 0.017453f;
			imu_msg.angular_yaw   		  = getData(buffer + 6) * 0.017453f;
//			static u8 testCount = 0;
//			if(testCount ++ > 15)
//			{	
//				Uart_Printf(COM1,"imu_msg.angular_yaw = %f\r\n",imu_msg.angular_yaw*180.0f/PI);
//				testCount = 0;
//			}
		}
	}
}


void ProcessDataFormUartGoya()
{
    unsigned char buff[180];
    unsigned int len;
    unsigned i;
    len = ReadUart(COM3,buff,180);
	//WriteUart(COM1,buff,len);
    if( len > 0)
    {
        for(i = 0; i < len; i++)
        {
			getdata(buff[i]);
        }
    }
}




////////////////////////////////////////////////////////////////////////////////
/*********************************************************************************************************
** 函数名称:  Uart_Printf
** 函数功能:  串口接收数据
** 入口参数:  num 句柄 *buff 数据缓存
** 出口参数:  无
** 函数说明:
*********************************************************************************************************/
void Uart_Printf(unsigned char UartID, const char *fmt,...)
{
//    va_list    ap;
//    char string[1024];

//    va_start(ap,fmt);
//    vsprintf(string,fmt,ap);

//    WriteUart(UartID,(unsigned char *)string,strlen(string));
//    va_end(ap);
}

//////////////////////////////////////////////////////////////////
//加入以下代码,支持printf函数,而不需要选择use MicroLIB	  
//#pragma import(__use_no_semihosting)             
//标准库需要的支持函数                 
struct __FILE 
{ 
	int handle; 
}; 

FILE __stdout;       
//定义_sys_exit()以避免使用半主机模式    
void  _sys_exit(int x) 
{ 
	x = x; 
} 
//重定义fputc函数 
int fputc(int ch, FILE *f)
{ 	
//	while((USART3->SR&0X40)==0);//循环发送,直到发送完毕   
//	USART3->DR = (u8) ch;      
	return ch;
}