一、前言

本章主要实现 simpleFoc 里的 Serial.print功能，建立setup、loop函数，并且调用Serial.print功能。

一、建立目录，提取文件

1、建立 arduino文件夹，如图：

2、提取必要的文件

将Arduino_Core_STM32\cores\arduino目录下的Print.cpp、Print.h、Printable.h、wiring.h、WString.h、arduino.h六个文件复制到刚建立的arduino目录，并新添加hwSerial.cpp、hwSerial.h两个文件

二、修改源码

1.屏蔽arduino.h、wiring.h里代码

主要目的不要带入太多arduino底层代码。

arduino.h

// Include pins variant
//#include "pins_arduino.h"

wiring.h

#ifndef _WIRING_H_
#define _WIRING_H_

#include <stdint.h>
#include <stdlib.h>
#include <stdbool.h>
#include <string.h>
#include <math.h>

// #include "avr/dtostrf.h"
// #include "binary.h"
// #include "itoa.h"

// #include "wiring_analog.h"
// #include "wiring_constants.h"
// #include "wiring_digital.h"
// #include "wiring_pulse.h"
// #include "wiring_shift.h"
// #include "wiring_time.h"

// #include <board.h>

#ifdef __cplusplus
  // #include "HardwareTimer.h"
  // #include "Tone.h"
  // #include "WCharacter.h"
  // #include "WInterrupts.h"
  // #include "WMath.h"
  // #include "WSerial.h"
  // #include "WString.h"
#endif // __cplusplus


#define clockCyclesPerMicrosecond() ( SystemCoreClock / 1000000L )
#define clockCyclesToMicroseconds(a) ( ((a) * 1000L) / (SystemCoreClock / 1000L) )
#define microsecondsToClockCycles(a) ( (a) * (SystemCoreClock / 1000000L) )

#endif /* _WIRING_H_ */

2.修改Print.cpp文件

在文件开始处添加代码如下：

#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <math.h>
#include "Arduino.h"
#include "Print.h"

#include "stm32f1xx_hal.h"
extern UART_HandleTypeDef huart1;
extern UART_HandleTypeDef huart2;

修改 int _write(int file, char *ptr, int len) 函数，该接口的添加，即是实现Print类的printf功能

添加hwSerial.cpp、hwSerial.h源文件

#ifndef HW_SERIAL_H
#define HW_SERIAL_H

#include "Print.h"


class HardwareSerial : public Print
{
  public:   
   
    // size_t write(uint8_t);
    virtual size_t write(uint8_t);
    inline size_t write(unsigned long n) { return write((uint8_t)n); }
    inline size_t write(long n) { return write((uint8_t)n); }
    inline size_t write(unsigned int n) { return write((uint8_t)n); }
    inline size_t write(int n) { return write((uint8_t)n); }
    size_t write(const uint8_t *buffer, size_t size);
    using Print::write; // pull in write(str) and write(buf, size) from Print
    // operator bool() { return true; }
};

#endif

该函数主要实现Print类的write功能

#include "hwSerial.h"
#include "stm32f1xx_hal.h"

extern UART_HandleTypeDef huart1;
extern UART_HandleTypeDef huart2;

HardwareSerial  Serial;


size_t HardwareSerial::write(const uint8_t *buffer, size_t size)
{
  HAL_UART_Transmit(&huart2, buffer, size, 0xFFFF);
  return size;
}
size_t HardwareSerial::write(uint8_t c)
{
    uint8_t buff = c;
    return write(&buff, 1);    
}

3、建立setup() 、Loop()函数并调用

在MotorControl目录下新建main.cpp,源码如下

#define __MAIN_CPP__

#include "simpleFoc_main.h"
#include "Print.h"
#include "hwSerial.h"

extern HardwareSerial  Serial2;
#define Serial Serial2



extern "C" {


void setup() {

  Serial.write('c');
  Serial.write("123456789",9);
  Serial.print("hello simpleFoc print\r\n");
  Serial.printf("hello world\r\n");
  
}


void loop() {
  
}



}