两路雷达数据发送

App/freertos_action.c

@@ -1,21 +1,14 @@
-/*
+
- * @Author: your name
- * @Date: 2021-06-26 15:37:21
- * @LastEditTime: 2021-07-15 08:36:21
- * @LastEditors: Please set LastEditors
- * @Description: In User Settings Edit
- * @FilePath: \warter_rader\App\freertos_action.c
- */
 #include "freertos_action.h"
 
+void send_uavcan_proximity(uavcan_proximity_t *data);
+
 void task_usart_rev_action(void)
 {
     usart_data_t data = {0};
    // uint8_t data_uart;
     osStatus_t os_status;
-    osDelay(5000);
+    
-    request_QOAR1271_data();
-    active_uasrt_irq();
     for(;;)
     {
         if (usart_rev_queueHandle != NULL)
@@ -96,23 +89,78 @@ void task_default_action(void)
                 osMessageQueuePut(uavcan_send_queueHandle,&send_data,0,10);
             }
         }
-
-//        if (last_send_proximity_tick + 200 < HAL_GetTick())
-//        {
-//            last_send_proximity_tick = HAL_GetTick();
-//            if (uavcan_send_queueHandle != NULL)
-//            {
-//                uavcan_send_data_t send_data = {0};
-//                send_data.id = ZRZK_EQUIPMENT_RANGE_SENSOR_PROXIMITY_ID;
-//                uavcan_proximity_t data = {0};
-//                data.d0 = 200;
-//                data.d45 = 300;
-//                data.d315 = 400;
-//                data.d135 = 500;
-//                memcpy(&send_data.content.node_state, &data, sizeof(uavcan_node_status_t));
-//                osMessageQueuePut(uavcan_send_queueHandle, &send_data, 0, 10);
-//            }
-//        }
         osDelay(200);
     }
 }
+
+void task_usart_send(void)
+{
+    osDelay(5000);
+    request_QOAR1271_data();
+    active_uasrt_irq(1);
+    active_uasrt_irq(2);
+    for (;;)
+    {
+        osDelay(1000);
+    }
+}
+
+void task_proximity(void)
+{
+    proximity_data_t proximity1 ={0};
+    proximity_data_t proximity2 ={0};
+    osStatus_t os_p1 =osError;
+    osStatus_t os_p2 =osError;
+    for (;;)
+    {
+        if (proximity1_queueHandle != NULL && proximity2_queueHandle != NULL)
+        {
+            os_p1 = osMessageQueueGet(proximity1_queueHandle, &proximity1, NULL, 100);
+            os_p2 = osMessageQueueGet(proximity2_queueHandle, &proximity2, NULL, 100);
+
+            if ((os_p1 == osOK) && (os_p2 == osOK))
+            {
+                uavcan_proximity_t data = {0};
+                data.d0 = min(proximity1.d0, proximity2.d0);
+                data.d315 = proximity1.d_left;
+                data.d45 = proximity2.d_left;
+                send_uavcan_proximity(&data);
+            }
+            else
+            {
+                if (os_p1 == osOK)  //左边的雷达是反的
+                {
+                    uavcan_proximity_t data = {0};
+                    data.d0 = proximity1.d0;
+                    data.d315 = proximity1.d_right;
+                    data.d45 = proximity1.d_left;
+                    send_uavcan_proximity(&data);
+                }
+                else if (os_p2 == osOK)
+                {
+                    uavcan_proximity_t data = {0};
+                    data.d0 = proximity2.d0;
+                    data.d315 = proximity2.d_left;
+                    data.d45 = proximity2.d_right;
+                    send_uavcan_proximity(&data);
+                }
+            }
+        }
+    }
+}
+
+uint16_t min(uint16_t one, uint16_t two)
+{
+    return one < two ? one : two;
+}
+
+void send_uavcan_proximity(uavcan_proximity_t *data)
+{
+    uavcan_send_data_t msg = {0};
+    if (uavcan_send_queueHandle != NULL)
+    {
+        msg.id = ZRZK_EQUIPMENT_RANGE_SENSOR_PROXIMITY_ID;
+        memcpy(&msg.content.proximity, data, sizeof(uavcan_proximity_t));
+        osMessageQueuePut(uavcan_send_queueHandle, &msg, NULL, 10U);
+    }
+}

App/freertos_action.h

@@ -8,10 +8,26 @@ extern "C"
 
 #include "main.h"
 
+
+extern osMessageQueueId_t uavcan_rev_queueHandle;
+extern osMessageQueueId_t usart_rev_queueHandle;
+extern osMessageQueueId_t uavcan_send_queueHandle;
+extern osMessageQueueId_t depth_data_queueHandle;
+extern osMessageQueueId_t proximity1_queueHandle;
+extern osMessageQueueId_t proximity2_queueHandle;
+
+extern osMutexId_t uavcan_send_mutexHandle;
+extern osMutexId_t radar_parse_mutexHandle;
+
 void task_usart_rev_action(void);
 void task_uavcan_rev_action(void);
 void task_uavcan_send_action(void);
 void task_default_action(void);
+void task_usart2_rev_action(void);
+void task_usart_send(void);
+void task_proximity(void);
+uint16_t min(uint16_t one, uint16_t two);
+
 #ifdef __cplusplus
 }
 #endif

BSP/bsp_common.c

@@ -1,7 +1,7 @@
 /*
  * @Author: your name
  * @Date: 2021-06-01 17:04:59
- * @LastEditTime: 2021-07-14 14:39:56
+ * @LastEditTime: 2021-08-10 17:28:33
  * @LastEditors: Please set LastEditors
  * @Description: In User Settings Edit
  * @FilePath: \flow-radar-convertor\BSP\bsp_common.c
@@ -10,6 +10,7 @@
 #include "stdarg.h"
 
 uint8_t hart1_rev_buff[BUFFER_SIZE];
+uint8_t hart2_rev_buff[BUFFER_SIZE];
 uint32_t last_usart1_rev_tick = 0;
 extern DMA_HandleTypeDef hdma_usart1_rx;
 extern DMA_HandleTypeDef hdma_usart1_tx;
@@ -50,27 +51,36 @@ void HAL_CAN_RxFifo1MsgPendingCallback(CAN_HandleTypeDef *hcan)
 
 //-----------usart funtion-------
 
-void active_uasrt_irq(void)
+void active_uasrt_irq(uint8_t instance)
 {
+    switch (instance)
+    {
+    case 1:
         HAL_UARTEx_ReceiveToIdle_DMA(&huart1, (uint8_t *)hart1_rev_buff, BUFFER_SIZE);
-    // __HAL_DMA_DISABLE_IT(&hdma_usart1_rx, DMA_IT_HT);
+        break;
-    // HAL_UART_Receive_IT(&huart1, &usart_rev_data, 1);
+    case 2:
+        HAL_UARTEx_ReceiveToIdle_DMA(&huart2, (uint8_t *)hart2_rev_buff, BUFFER_SIZE);
+        break;
+    default:
+        break;
+    }
 }
 
 void HAL_UART_ErrorCallback(UART_HandleTypeDef *huart)
 {
-    if (huart1.Instance == USART1)
+    if (huart->Instance == USART1)
     {
-       // my_printf("err tick:%u \r\n", HAL_GetTick());
         HAL_UARTEx_ReceiveToIdle_DMA(&huart1, (uint8_t *)hart1_rev_buff, BUFFER_SIZE);
     }
+    else if (huart->Instance == USART2)
+    {
+        HAL_UARTEx_ReceiveToIdle_DMA(&huart2, (uint8_t *)hart2_rev_buff, BUFFER_SIZE);
+    }
 }
 
 void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)
 {
     // uint8_t data_length = BUFFER_SIZE - __HAL_DMA_GET_COUNTER(&hdma_usart1_rx);
-   // my_printf("tick:%u,rx-size:%u\r\n", HAL_GetTick(), Size);
-
     if (huart->Instance == USART1)
     {
         usart_data_t msg = {0};
@@ -91,20 +101,31 @@ void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)
 
         memset(&hart1_rev_buff[0], 0, sizeof(hart1_rev_buff));
 
-        active_uasrt_irq();
+        active_uasrt_irq(1);
     }
+    else if (huart->Instance == USART2)
+    {
+        usart_data_t msg = {0};
+
+        msg.len = Size;
+        msg.usart_instance = 2;
+
+        if (Size > BUFFER_SIZE)
+        {
+            Size = BUFFER_SIZE;
         }
+        memcpy(&msg.data, &hart2_rev_buff[0], msg.len);
 
-void my_printf(const char *format, ...)
+        if (usart_rev_queueHandle != NULL && msg.len > 0)
         {
-    static uint8_t _dbg_TXBuff[300];
+            osMessageQueuePut(usart_rev_queueHandle, &msg, NULL, 0U);
-    memset(&_dbg_TXBuff[0], 0, sizeof(_dbg_TXBuff));
-    uint32_t length;
-    va_list args;
-    va_start(args, format);
-    length = vsnprintf((char *)_dbg_TXBuff, sizeof(_dbg_TXBuff) + 1, (char *)format, args);
-    va_end(args);
-    HAL_UART_Transmit_DMA(&huart2, _dbg_TXBuff, length);
         }
+
+        memset(&hart2_rev_buff[0], 0, sizeof(hart2_rev_buff));
+
+        active_uasrt_irq(2);
+    }
+}
+
 //--------------------------------------------
 

BSP/bsp_common.h

@@ -1,7 +1,7 @@
 /*
  * @Author: your name
  * @Date: 2021-06-01 17:05:15
- * @LastEditTime: 2021-07-14 14:32:04
+ * @LastEditTime: 2021-08-10 17:10:46
  * @LastEditors: Please set LastEditors
  * @Description: In User Settings Edit
  * @FilePath: \flow-radar-convertor\BSP\bsp_common.h
@@ -27,13 +27,10 @@ void close_timer(TIM_HandleTypeDef *htim);
 void USAR_UART_IDLECallback(UART_HandleTypeDef *huart);
 void USER_UART_IRQHandler(UART_HandleTypeDef *huart);
 
-
-
 void action_do_uasrt1_sigle_data(uint8_t data);
 void usart1_IRQ_action(void);
-void active_uasrt_irq(void);
+void active_uasrt_irq(uint8_t instance);
 void action_rev_usart(uint8_t data);
-void my_printf(const char *format, ...);
 
 #ifdef __cplusplus
 }

BSP/custom_data_def.h

@@ -12,4 +12,12 @@ typedef struct
     uint8_t data[BUFFER_SIZE];
 } usart_data_t;
 
+
+typedef struct 
+{
+   uint16_t d0;
+   uint16_t d_left;
+   uint16_t d_right;
+}proximity_data_t;
+
 #endif /* CUSTOM_DATA_DEF_H */

BSP/insifhtica_QOAR1271.c

@@ -6,6 +6,7 @@ uint16_t ar1271_rev_flag = 0;
 
 void parse_ar1271_data(usart_data_t *usart_data)
 {
+    osSemaphoreAcquire(radar_parse_mutexHandle,30);
     uint8_t buffer_count;
     uint8_t buffer[LIDAR_360_SIZE] = {0};
     uint8_t message_count;
@@ -32,27 +33,29 @@ void parse_ar1271_data(usart_data_t *usart_data)
             // check if message has right CRC
             if (crc_crc8(buffer, 19) == buffer[19])
             {
+                proximity_data_t proximity_data = {0};
+                proximity_data.d0 = uint16_value(buffer[2], buffer[3]);
+                proximity_data.d_right = uint16_value(buffer[4], buffer[5]);
+                proximity_data.d_left = uint16_value(buffer[16], buffer[17]);
+
                 if (usart_data->usart_instance == 1)
                 {
-                    uavcan_send_data_t msg = {0};
+                    if (proximity1_queueHandle != NULL)
-                    if (uavcan_send_queueHandle != NULL)
                     {
-                        msg.id = ZRZK_EQUIPMENT_RANGE_SENSOR_PROXIMITY_ID;
+                        osMessageQueuePut(proximity1_queueHandle, &proximity_data, 0, 10);
-
+                    }
-                        uavcan_proximity_t data = {0};
+                }
-                        data.sensor_type = SENSOR_TYPE_RADAR;
+                else if (usart_data->usart_instance == 2)
-    
+                {
-                        data.d0 = uint16_value(buffer[2], buffer[3]);
+                    if (proximity2_queueHandle != NULL)
-                        data.d45 = uint16_value(buffer[4], buffer[5]);
+                    {
-                        data.d315 = uint16_value(buffer[16], buffer[17]);
+                        osMessageQueuePut(proximity2_queueHandle, &proximity_data, 0, 10);
-                        memcpy(&msg.content.proximity, &data, sizeof(uavcan_proximity_t));
-                        osMessageQueuePut(uavcan_send_queueHandle, &msg, NULL, 10U);
                     }
                 }
-                //TODO action send_data;
             }
         }
     }
+     osSemaphoreRelease(radar_parse_mutexHandle);
 }
 
 static const uint8_t crc8_table[] = {
@@ -106,11 +109,19 @@ void request_QOAR1271_data(void)
     uint8_t send_data4[5] = {0x00, 0x52, 0x03, 0x03, 0xC4};
 
     HAL_UART_Transmit_DMA(&huart1, send_data1, 4);
-    osDelay(1000);
+    osDelay(500);
+    HAL_UART_Transmit_DMA(&huart2, send_data1, 4);
+    osDelay(500);
     HAL_UART_Transmit_DMA(&huart1, send_data2, 4);
-    osDelay(1000);
+    osDelay(500);
+    HAL_UART_Transmit_DMA(&huart2, send_data2, 4);
+    osDelay(500);
     HAL_UART_Transmit_DMA(&huart1, send_data3, 5);
-    osDelay(1000);
+    osDelay(500);
+    HAL_UART_Transmit_DMA(&huart2, send_data3, 5);
+    osDelay(500);
     HAL_UART_Transmit_DMA(&huart1, send_data4, 5);
-    osDelay(1000);
+    osDelay(500);
+    HAL_UART_Transmit_DMA(&huart2, send_data4, 5);
+    osDelay(500);
 }

Core/Inc/main.h

@@ -45,11 +45,7 @@ extern "C" {
 
 /* Exported types ------------------------------------------------------------*/
 /* USER CODE BEGIN ET */
-extern osMessageQueueId_t uavcan_rev_queueHandle;
+
-extern osMessageQueueId_t usart_rev_queueHandle;
-extern osMessageQueueId_t uavcan_send_queueHandle;
-extern osMutexId_t        uavcan_send_mutexHandle;
-extern osMessageQueueId_t depth_data_queueHandle;
 /* USER CODE END ET */
 
 /* Exported constants --------------------------------------------------------*/

Core/Inc/stm32f1xx_it.h

@@ -55,6 +55,7 @@ void UsageFault_Handler(void);
 void DebugMon_Handler(void);
 void DMA1_Channel4_IRQHandler(void);
 void DMA1_Channel5_IRQHandler(void);
+void DMA1_Channel6_IRQHandler(void);
 void DMA1_Channel7_IRQHandler(void);
 void CAN1_RX1_IRQHandler(void);
 void TIM2_IRQHandler(void);

Core/Src/dma.c

@@ -46,8 +46,11 @@ void MX_DMA_Init(void)
   HAL_NVIC_SetPriority(DMA1_Channel4_IRQn, 9, 0);
   HAL_NVIC_EnableIRQ(DMA1_Channel4_IRQn);
   /* DMA1_Channel5_IRQn interrupt configuration */
-  HAL_NVIC_SetPriority(DMA1_Channel5_IRQn, 6, 0);
+  HAL_NVIC_SetPriority(DMA1_Channel5_IRQn, 5, 0);
   HAL_NVIC_EnableIRQ(DMA1_Channel5_IRQn);
+  /* DMA1_Channel6_IRQn interrupt configuration */
+  HAL_NVIC_SetPriority(DMA1_Channel6_IRQn, 6, 0);
+  HAL_NVIC_EnableIRQ(DMA1_Channel6_IRQn);
   /* DMA1_Channel7_IRQn interrupt configuration */
   HAL_NVIC_SetPriority(DMA1_Channel7_IRQn, 10, 0);
   HAL_NVIC_EnableIRQ(DMA1_Channel7_IRQn);

Core/Src/freertos.c

@@ -80,9 +80,16 @@ const osThreadAttr_t UavcanSendTask_attributes = {
 osThreadId_t UsartRevTaskHandle;
 const osThreadAttr_t UsartRevTask_attributes = {
   .name = "UsartRevTask",
-  .stack_size = 128 * 4,
+  .stack_size = 256 * 4,
   .priority = (osPriority_t) osPriorityAboveNormal7,
 };
+/* Definitions for proximityTask */
+osThreadId_t proximityTaskHandle;
+const osThreadAttr_t proximityTask_attributes = {
+  .name = "proximityTask",
+  .stack_size = 256 * 4,
+  .priority = (osPriority_t) osPriorityAboveNormal4,
+};
 /* Definitions for uavcan_rev_queue */
 osMessageQueueId_t uavcan_rev_queueHandle;
 const osMessageQueueAttr_t uavcan_rev_queue_attributes = {
@@ -98,11 +105,26 @@ osMessageQueueId_t usart_rev_queueHandle;
 const osMessageQueueAttr_t usart_rev_queue_attributes = {
   .name = "usart_rev_queue"
 };
+/* Definitions for proximity1_queue */
+osMessageQueueId_t proximity1_queueHandle;
+const osMessageQueueAttr_t proximity1_queue_attributes = {
+  .name = "proximity1_queue"
+};
+/* Definitions for proximity2_queue */
+osMessageQueueId_t proximity2_queueHandle;
+const osMessageQueueAttr_t proximity2_queue_attributes = {
+  .name = "proximity2_queue"
+};
 /* Definitions for uavcan_send_mutex */
 osMutexId_t uavcan_send_mutexHandle;
 const osMutexAttr_t uavcan_send_mutex_attributes = {
   .name = "uavcan_send_mutex"
 };
+/* Definitions for radar_parse_mutex */
+osMutexId_t radar_parse_mutexHandle;
+const osMutexAttr_t radar_parse_mutex_attributes = {
+  .name = "radar_parse_mutex"
+};
 
 /* Private function prototypes -----------------------------------------------*/
 /* USER CODE BEGIN FunctionPrototypes */
@@ -114,6 +136,7 @@ void StartUavcanRevTask(void *argument);
 void StartTaskUsartSend(void *argument);
 void StartUavcanSendTask(void *argument);
 void StartUsartRevTask(void *argument);
+void StartProximity(void *argument);
 
 void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */
 
@@ -130,6 +153,9 @@ void MX_FREERTOS_Init(void) {
   /* creation of uavcan_send_mutex */
   uavcan_send_mutexHandle = osMutexNew(&uavcan_send_mutex_attributes);
 
+  /* creation of radar_parse_mutex */
+  radar_parse_mutexHandle = osMutexNew(&radar_parse_mutex_attributes);
+
   /* USER CODE BEGIN RTOS_MUTEX */
   /* add mutexes, ... */
   /* USER CODE END RTOS_MUTEX */
@@ -147,11 +173,17 @@ void MX_FREERTOS_Init(void) {
   uavcan_rev_queueHandle = osMessageQueueNew (10, sizeof(uavcan_rev_t), &uavcan_rev_queue_attributes);
 
   /* creation of uavcan_send_queue */
-  uavcan_send_queueHandle = osMessageQueueNew (10, sizeof(uavcan_send_data_t), &uavcan_send_queue_attributes);
+  uavcan_send_queueHandle = osMessageQueueNew (5, sizeof(uavcan_send_data_t), &uavcan_send_queue_attributes);
 
   /* creation of usart_rev_queue */
   usart_rev_queueHandle = osMessageQueueNew (10, sizeof(usart_data_t), &usart_rev_queue_attributes);
 
+  /* creation of proximity1_queue */
+  proximity1_queueHandle = osMessageQueueNew (5, sizeof(proximity_data_t), &proximity1_queue_attributes);
+
+  /* creation of proximity2_queue */
+  proximity2_queueHandle = osMessageQueueNew (5, sizeof(proximity_data_t), &proximity2_queue_attributes);
+
   /* USER CODE BEGIN RTOS_QUEUES */
   /* add queues, ... */
   /* USER CODE END RTOS_QUEUES */
@@ -172,6 +204,9 @@ void MX_FREERTOS_Init(void) {
   /* creation of UsartRevTask */
   UsartRevTaskHandle = osThreadNew(StartUsartRevTask, NULL, &UsartRevTask_attributes);
 
+  /* creation of proximityTask */
+  proximityTaskHandle = osThreadNew(StartProximity, NULL, &proximityTask_attributes);
+
   /* USER CODE BEGIN RTOS_THREADS */
   /* add threads, ... */
   /* USER CODE END RTOS_THREADS */
@@ -223,10 +258,7 @@ void StartTaskUsartSend(void *argument)
 {
   /* USER CODE BEGIN StartTaskUsartSend */
   /* Infinite loop */
-  for(;;)
+  task_usart_send();
-  {
-    osDelay(1000);
-  }
   /* USER CODE END StartTaskUsartSend */
 }
 
@@ -260,6 +292,21 @@ void StartUsartRevTask(void *argument)
   /* USER CODE END StartUsartRevTask */
 }
 
+/* USER CODE BEGIN Header_StartProximity */
+/**
+* @brief Function implementing the proximityTask thread.
+* @param argument: Not used
+* @retval None
+*/
+/* USER CODE END Header_StartProximity */
+void StartProximity(void *argument)
+{
+  /* USER CODE BEGIN StartProximity */
+  /* Infinite loop */
+  task_proximity();
+  /* USER CODE END StartProximity */
+}
+
 /* Private application code --------------------------------------------------*/
 /* USER CODE BEGIN Application */
 

Core/Src/stm32f1xx_it.c

@@ -60,6 +60,7 @@ extern CAN_HandleTypeDef hcan;
 extern DMA_HandleTypeDef hdma_usart1_rx;
 extern DMA_HandleTypeDef hdma_usart1_tx;
 extern DMA_HandleTypeDef hdma_usart2_tx;
+extern DMA_HandleTypeDef hdma_usart2_rx;
 extern UART_HandleTypeDef huart1;
 extern UART_HandleTypeDef huart2;
 extern TIM_HandleTypeDef htim2;
@@ -194,6 +195,20 @@ void DMA1_Channel5_IRQHandler(void)
   /* USER CODE END DMA1_Channel5_IRQn 1 */
 }
 
+/**
+  * @brief This function handles DMA1 channel6 global interrupt.
+  */
+void DMA1_Channel6_IRQHandler(void)
+{
+  /* USER CODE BEGIN DMA1_Channel6_IRQn 0 */
+
+  /* USER CODE END DMA1_Channel6_IRQn 0 */
+  HAL_DMA_IRQHandler(&hdma_usart2_rx);
+  /* USER CODE BEGIN DMA1_Channel6_IRQn 1 */
+
+  /* USER CODE END DMA1_Channel6_IRQn 1 */
+}
+
 /**
   * @brief This function handles DMA1 channel7 global interrupt.
   */

Core/Src/usart.c

@@ -29,6 +29,7 @@ UART_HandleTypeDef huart2;
 DMA_HandleTypeDef hdma_usart1_rx;
 DMA_HandleTypeDef hdma_usart1_tx;
 DMA_HandleTypeDef hdma_usart2_tx;
+DMA_HandleTypeDef hdma_usart2_rx;
 
 /* USART1 init function */
 
@@ -72,7 +73,7 @@ void MX_USART2_UART_Init(void)
 
   /* USER CODE END USART2_Init 1 */
   huart2.Instance = USART2;
-  huart2.Init.BaudRate = 115200;
+  huart2.Init.BaudRate = 921600;
   huart2.Init.WordLength = UART_WORDLENGTH_8B;
   huart2.Init.StopBits = UART_STOPBITS_1;
   huart2.Init.Parity = UART_PARITY_NONE;
@@ -196,8 +197,24 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
 
     __HAL_LINKDMA(uartHandle,hdmatx,hdma_usart2_tx);
 
+    /* USART2_RX Init */
+    hdma_usart2_rx.Instance = DMA1_Channel6;
+    hdma_usart2_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
+    hdma_usart2_rx.Init.PeriphInc = DMA_PINC_DISABLE;
+    hdma_usart2_rx.Init.MemInc = DMA_MINC_ENABLE;
+    hdma_usart2_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
+    hdma_usart2_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
+    hdma_usart2_rx.Init.Mode = DMA_NORMAL;
+    hdma_usart2_rx.Init.Priority = DMA_PRIORITY_VERY_HIGH;
+    if (HAL_DMA_Init(&hdma_usart2_rx) != HAL_OK)
+    {
+      Error_Handler();
+    }
+
+    __HAL_LINKDMA(uartHandle,hdmarx,hdma_usart2_rx);
+
     /* USART2 interrupt Init */
-    HAL_NVIC_SetPriority(USART2_IRQn, 8, 0);
+    HAL_NVIC_SetPriority(USART2_IRQn, 6, 0);
     HAL_NVIC_EnableIRQ(USART2_IRQn);
   /* USER CODE BEGIN USART2_MspInit 1 */
 
@@ -248,6 +265,7 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
 
     /* USART2 DMA DeInit */
     HAL_DMA_DeInit(uartHandle->hdmatx);
+    HAL_DMA_DeInit(uartHandle->hdmarx);
 
     /* USART2 interrupt Deinit */
     HAL_NVIC_DisableIRQ(USART2_IRQn);

MDK-ARM/WaterLidar.uvprojx

@@ -189,7 +189,7 @@
             <hadIRAM2>0</hadIRAM2>
             <hadIROM2>0</hadIROM2>
             <StupSel>8</StupSel>
-            <useUlib>1</useUlib>
+            <useUlib>0</useUlib>
             <EndSel>0</EndSel>
             <uLtcg>0</uLtcg>
             <nSecure>0</nSecure>

WaterLidar.ioc

@@ -10,7 +10,8 @@ CAN.Prescaler=4
 Dma.Request0=USART1_RX
 Dma.Request1=USART2_TX
 Dma.Request2=USART1_TX
-Dma.RequestsNb=3
+Dma.Request3=USART2_RX
+Dma.RequestsNb=4
 Dma.USART1_RX.0.Direction=DMA_PERIPH_TO_MEMORY
 Dma.USART1_RX.0.Instance=DMA1_Channel5
 Dma.USART1_RX.0.MemDataAlignment=DMA_MDATAALIGN_BYTE
@@ -29,6 +30,15 @@ Dma.USART1_TX.2.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
 Dma.USART1_TX.2.PeriphInc=DMA_PINC_DISABLE
 Dma.USART1_TX.2.Priority=DMA_PRIORITY_MEDIUM
 Dma.USART1_TX.2.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority
+Dma.USART2_RX.3.Direction=DMA_PERIPH_TO_MEMORY
+Dma.USART2_RX.3.Instance=DMA1_Channel6
+Dma.USART2_RX.3.MemDataAlignment=DMA_MDATAALIGN_BYTE
+Dma.USART2_RX.3.MemInc=DMA_MINC_ENABLE
+Dma.USART2_RX.3.Mode=DMA_NORMAL
+Dma.USART2_RX.3.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
+Dma.USART2_RX.3.PeriphInc=DMA_PINC_DISABLE
+Dma.USART2_RX.3.Priority=DMA_PRIORITY_VERY_HIGH
+Dma.USART2_RX.3.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority
 Dma.USART2_TX.1.Direction=DMA_MEMORY_TO_PERIPH
 Dma.USART2_TX.1.Instance=DMA1_Channel7
 Dma.USART2_TX.1.MemDataAlignment=DMA_MDATAALIGN_BYTE
@@ -40,9 +50,9 @@ Dma.USART2_TX.1.Priority=DMA_PRIORITY_MEDIUM
 Dma.USART2_TX.1.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority
 FREERTOS.FootprintOK=true
 FREERTOS.IPParameters=Tasks01,Queues01,configTOTAL_HEAP_SIZE,configQUEUE_REGISTRY_SIZE,configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY,FootprintOK,Mutexes01
-FREERTOS.Mutexes01=uavcan_send_mutex,Dynamic,NULL
+FREERTOS.Mutexes01=uavcan_send_mutex,Dynamic,NULL;radar_parse_mutex,Dynamic,NULL
-FREERTOS.Queues01=uavcan_rev_queue,10,uavcan_rev_t,0,Dynamic,NULL,NULL;uavcan_send_queue,10,uavcan_send_data_t,0,Dynamic,NULL,NULL;usart_rev_queue,10,usart_data_t,0,Dynamic,NULL,NULL
+FREERTOS.Queues01=uavcan_rev_queue,10,uavcan_rev_t,0,Dynamic,NULL,NULL;uavcan_send_queue,5,uavcan_send_data_t,0,Dynamic,NULL,NULL;usart_rev_queue,10,usart_data_t,0,Dynamic,NULL,NULL;proximity1_queue,5,proximity_data_t,0,Dynamic,NULL,NULL;proximity2_queue,5,proximity_data_t,0,Dynamic,NULL,NULL
-FREERTOS.Tasks01=DefaultTask,24,256,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL;UavcanRevTask,35,256,StartUavcanRevTask,Default,NULL,Dynamic,NULL,NULL;UsartSendTask,18,128,StartTaskUsartSend,Default,NULL,Dynamic,NULL,NULL;UavcanSendTask,36,512,StartUavcanSendTask,Default,NULL,Dynamic,NULL,NULL;UsartRevTask,39,128,StartUsartRevTask,Default,NULL,Dynamic,NULL,NULL
+FREERTOS.Tasks01=DefaultTask,24,256,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL;UavcanRevTask,35,256,StartUavcanRevTask,Default,NULL,Dynamic,NULL,NULL;UsartSendTask,18,128,StartTaskUsartSend,Default,NULL,Dynamic,NULL,NULL;UavcanSendTask,36,512,StartUavcanSendTask,Default,NULL,Dynamic,NULL,NULL;UsartRevTask,39,256,StartUsartRevTask,Default,NULL,Dynamic,NULL,NULL;proximityTask,36,256,StartProximity,Default,NULL,Dynamic,NULL,NULL
 FREERTOS.configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY=5
 FREERTOS.configQUEUE_REGISTRY_SIZE=40
 FREERTOS.configTOTAL_HEAP_SIZE=11264
@@ -82,7 +92,8 @@ MxDb.Version=DB.6.0.30
 NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 NVIC.CAN1_RX1_IRQn=true\:7\:0\:true\:false\:true\:true\:true\:true
 NVIC.DMA1_Channel4_IRQn=true\:9\:0\:true\:false\:true\:true\:false\:true
-NVIC.DMA1_Channel5_IRQn=true\:6\:0\:true\:false\:true\:true\:false\:true
+NVIC.DMA1_Channel5_IRQn=true\:5\:0\:true\:false\:true\:true\:false\:true
+NVIC.DMA1_Channel6_IRQn=true\:6\:0\:true\:false\:true\:true\:false\:true
 NVIC.DMA1_Channel7_IRQn=true\:10\:0\:true\:false\:true\:true\:false\:true
 NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 NVIC.ForceEnableDMAVector=true
@@ -100,7 +111,7 @@ NVIC.TIM2_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:true
 NVIC.TimeBase=TIM2_IRQn
 NVIC.TimeBaseIP=TIM2
 NVIC.USART1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true
-NVIC.USART2_IRQn=true\:8\:0\:true\:false\:true\:true\:true\:true
+NVIC.USART2_IRQn=true\:6\:0\:true\:false\:true\:true\:true\:true
 NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 PA10.Mode=Asynchronous
 PA10.Signal=USART1_RX
@@ -177,7 +188,8 @@ RCC.VCOOutput2Freq_Value=8000000
 USART1.BaudRate=921600
 USART1.IPParameters=VirtualMode,BaudRate
 USART1.VirtualMode=VM_ASYNC
-USART2.IPParameters=VirtualMode
+USART2.BaudRate=921600
+USART2.IPParameters=VirtualMode,BaudRate
 USART2.VirtualMode=VM_ASYNC
 VP_FREERTOS_VS_CMSIS_V2.Mode=CMSIS_V2
 VP_FREERTOS_VS_CMSIS_V2.Signal=FREERTOS_VS_CMSIS_V2