Вроде все

Core/Src/main.c

@@ -19,6 +19,8 @@
 /* Includes ------------------------------------------------------------------*/
 #include "main.h"
 #include "cmsis_os.h"
+#include "gyro_mes.h"
+#include "stdio.h"
 
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
@@ -73,7 +75,6 @@ void StartCalcsUartTask(void const * argument);
 
 /* Private user code ---------------------------------------------------------*/
 /* USER CODE BEGIN 0 */
-uint8_t data_in[6] = {0};
 uint8_t data_out[6] = {0};
 uint8_t flag_receive = 0;
 uint8_t flag_cs = 0;
@@ -88,7 +89,7 @@ xSemaphoreHandle semaphoreBin;
 int main(void)
 {
   /* USER CODE BEGIN 1 */
-
+	uint8_t data_in[6] = {0};
   /* USER CODE END 1 */
 
   /* MCU Configuration--------------------------------------------------------*/
@@ -149,12 +150,15 @@ int main(void)
   /* We should never get here as control is now taken by the scheduler */
   /* Infinite loop */
   /* USER CODE BEGIN WHILE */
+  int8_t res = comand_mes(data_in, sizeof(data_in) / sizeof(data_in[0]));
+  if(res != 0) return res;
   while (1)
   {
 	  flag_cs = 1;
 	  CS1_ON();
 	  HAL_SPI_Transmit_DMA(&hspi1, data_in, sizeof(data_in));
 	  while(!flag_receive) {
+		  HAL_Delay(1);
 	  }
 	  CS1_OFF();
 	  flag_receive = 0;
@@ -162,6 +166,7 @@ int main(void)
 	  CS2_ON();
 	  HAL_SPI_Transmit_DMA(&hspi1, data_in, sizeof(data_in));
 	  while(!flag_receive) {
+		  HAL_Delay(1);
 	  }
 	  CS2_OFF();
 	  flag_receive = 0;
@@ -169,6 +174,7 @@ int main(void)
 	  CS3_ON();
 	  HAL_SPI_Transmit_DMA(&hspi1, data_in, sizeof(data_in));
 	  while(!flag_receive) {
+		  HAL_Delay(1);
 	  }
 	  flag_receive = 0;
     /* USER CODE END WHILE */
@@ -377,30 +383,23 @@ void StartCalcsUartTask(void const * argument)
 {
   /* USER CODE BEGIN 5 */
 	/* Infinite loop */
+	struct sData data;
 	for(;;)
 	{
+
 		xSemaphoreTake(semaphoreBin, portMAX_DELAY);
-		if(flag_cs == 1) {
-			if(xSemaphoreTake(mutex, portMAX_DELAY) == pdTRUE) {
-				//ЗАПИСЬ ДЛЯ ПЕРВОГО ГИРОСКОПА
-				HAL_UART_Transmit_DMA(&huart1, data_in, sizeof(data_in));
+		if(xSemaphoreTake(mutex, portMAX_DELAY) == pdTRUE) {
+			int8_t res = status_mes(data_out, sizeof(data_out) / sizeof(data_out), &data);
+			if(res == 0)
+			{
+				char str[30];
+				sprintf (str, "Gyro%u! Temp = %i; Rate = %i.", flag_cs, data.temp, data.rate);
+				HAL_UART_Transmit_DMA(&huart1, (uint8_t*)str, sizeof(str));
 			}
-			xSemaphoreGive(mutex);
-		}
-		else if(flag_cs == 2) {
-			if(xSemaphoreTake(mutex, portMAX_DELAY) == pdTRUE ) {
-				//ЗАПИСЬ ДЛЯ ВТОРОГО ГИРОСКОПА
-				HAL_UART_Transmit_DMA(&huart1, data_in, sizeof(data_in));
-			}
-			xSemaphoreGive(mutex);
-		}
-		else if(flag_cs == 3) {
-			if(xSemaphoreTake(mutex, portMAX_DELAY) == pdTRUE ) {
-				//ЗАПИСЬ ДЛЯ ВТОРОГО ГИРОСКОПА
-				HAL_UART_Transmit_DMA(&huart1, data_in, sizeof(data_in));
-			}
-			xSemaphoreGive(mutex);
+
 		}
+		xSemaphoreGive(mutex);
+
 		osDelay(1);
 	}
   /* USER CODE END 5 */