实现电机，按键，虚拟串口，未验证

source/interface/if_vuart.c

@@ -0,0 +1,111 @@
+#include "board.h"
+#include "lock_resource.h"
+#include "openamp.h"
+#include "string.h"
+
+
+
+// 与a7通信的虚拟串口
+// 系统启动的时候自动依次初始化，为了保证顺序
+
+
+
+
+
+typedef struct{
+  VIRT_UART_HandleTypeDef huart;
+  void (*irq_fun)(void *t,uint8_t d);
+  void *t;
+  void *mutex;
+}self_def;
+
+
+static self_def g_self[3];
+
+
+static int vuart_init(void)
+{
+  self_def *s=g_self;
+  
+  log_info("Virtual UART0 OpenAMP-rpmsg channel creation\r\n");
+  if (VIRT_UART_Init(&s[0].huart) != VIRT_UART_OK) {
+    log_err("VIRT_UART_Init UART0 failed.\r\n");
+  }
+
+  log_info("Virtual UART1 OpenAMP-rpmsg channel creation\r\n");
+  if (VIRT_UART_Init(&s[1].huart) != VIRT_UART_OK) {
+    log_err("VIRT_UART_Init UART1 failed.\r\n");
+  }
+
+  log_info("Virtual UART2 OpenAMP-rpmsg channel creation\r\n");
+  if (VIRT_UART_Init(&s[2].huart) != VIRT_UART_OK) {
+    log_err("VIRT_UART_Init UART2 failed.\r\n");
+  }
+}
+
+app_init_export(vuart_init);
+
+
+
+
+static int init(uart_def *u)
+{
+  self_def *s=g_self;
+  if(strcmp(u->name,"vuart0")==0)
+  {
+    u->private_data=&s[0].huart;
+  }else if(strcmp(u->name,"vuart1")==0)
+  {
+    u->private_data=&s[1].huart;
+  }else if(strcmp(u->name,"vuart2")==0)
+  {
+    u->private_data=&s[2].huart;
+  }
+  return 0;
+}
+
+
+static int deinit(uart_def *u)
+{
+  return 0;
+}
+
+
+
+static int set_irq(uart_def *u,void (*irq)(void *t,uint8_t d),void *t)
+{
+  param_check(u);
+  param_check(u->private_data);
+  self_def *self=u->private_data;
+  irq_disable();
+  self->irq_fun=irq;
+  
+  
+  self->t=t;
+  irq_enable();
+  return 0;
+}
+static int read(uart_def *u,uint8_t *b,int len)
+{
+  param_check(u);
+  param_check(u->private_data);
+  return 0;
+}
+static int write(uart_def *u,const uint8_t *b,int len)
+{
+  param_check(u);
+  param_check(u->private_data);
+  self_def *self=u->private_data;
+  rt_mutex_take(self->mutex,RT_WAITING_FOREVER);
+  VIRT_UART_Transmit(&self->huart, (uint8_t *)b, len);
+  rt_mutex_release(self->mutex);
+  return len;
+}
+
+
+
+
+
+
+
+