From 30303d366d1a0d857357c90bed876686f2d1e603 Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期二, 18 十一月 2025 19:44:21 +0800
Subject: [PATCH] 添加新的文件
---
STM32H743/Core/Src/main.c | 243 +++++++++++++++++++++++++++++++++++++++++++++---
1 files changed, 228 insertions(+), 15 deletions(-)
diff --git a/STM32H743/Core/Src/main.c b/STM32H743/Core/Src/main.c
index b467133..0ffb3b7 100644
--- a/STM32H743/Core/Src/main.c
+++ b/STM32H743/Core/Src/main.c
@@ -48,11 +48,17 @@
TIM_HandleTypeDef htim1;
TIM_HandleTypeDef htim2;
TIM_HandleTypeDef htim3;
+TIM_HandleTypeDef htim4;
+UART_HandleTypeDef huart4;
+UART_HandleTypeDef huart5;
UART_HandleTypeDef huart1;
UART_HandleTypeDef huart2;
UART_HandleTypeDef huart3;
UART_HandleTypeDef huart6;
+DMA_HandleTypeDef hdma_uart4_rx;
+DMA_HandleTypeDef hdma_uart5_rx;
+DMA_HandleTypeDef hdma_uart5_tx;
DMA_HandleTypeDef hdma_usart1_rx;
DMA_HandleTypeDef hdma_usart1_tx;
DMA_HandleTypeDef hdma_usart2_rx;
@@ -85,6 +91,9 @@
static void MX_TIM2_Init(void);
static void MX_TIM3_Init(void);
static void MX_USART6_UART_Init(void);
+static void MX_TIM4_Init(void);
+static void MX_UART4_Init(void);
+static void MX_UART5_Init(void);
void StartDefaultTask(void *argument);
/* USER CODE BEGIN PFP */
@@ -142,15 +151,23 @@
MX_TIM2_Init();
MX_TIM3_Init();
MX_USART6_UART_Init();
+ MX_TIM4_Init();
+ MX_UART4_Init();
+ MX_UART5_Init();
/* USER CODE BEGIN 2 */
+ UART6_StartReceive();
Uart_Register(UART_ID_DBG, &huart1);
Uart_Register(UART_ID_GPS, &huart2);
Uart_Register(UART_ID_4G, &huart3);
+ Uart_Register(UART_ID_SBUS, &huart4);
+ Uart_Register(UART_ID_PYTHON, &huart5);
Uart_Register(UART_ID_BT, &huart6);
- HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_1); // 电机
- HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_2); // 转向
- // 默认中立位置
+ HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_1); // MOTOR_TIM
+ HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_2); // STEERING_TIM
+ // TIM4 CH1 Capture
+ HAL_TIM_IC_Start_IT(&htim4, TIM_CHANNEL_1);
+ // HAL_TIM_Base_Start_IT(&htim4);
__HAL_TIM_SetCompare(&htim3, TIM_CHANNEL_1, 1500);
__HAL_TIM_SetCompare(&htim3, TIM_CHANNEL_2, 1500);
/* USER CODE END 2 */
@@ -161,7 +178,6 @@
/* USER CODE BEGIN RTOS_MUTEX */
/* add mutexes, ... */
DBG_Init();
- BT_Init();
/* USER CODE END RTOS_MUTEX */
/* USER CODE BEGIN RTOS_SEMAPHORES */
@@ -276,6 +292,7 @@
/* USER CODE END TIM1_Init 0 */
+ TIM_ClockConfigTypeDef sClockSourceConfig = {0};
TIM_MasterConfigTypeDef sMasterConfig = {0};
TIM_OC_InitTypeDef sConfigOC = {0};
TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0};
@@ -289,12 +306,21 @@
htim1.Init.Period = 13513;
htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim1.Init.RepetitionCounter = 0;
- htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
+ htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+ if (HAL_TIM_Base_Init(&htim1) != HAL_OK)
+ {
+ Error_Handler();
+ }
+ sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
+ if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK)
+ {
+ Error_Handler();
+ }
if (HAL_TIM_PWM_Init(&htim1) != HAL_OK)
{
Error_Handler();
}
- sMasterConfig.MasterOutputTrigger = TIM_TRGO_UPDATE;
+ sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterOutputTrigger2 = TIM_TRGO2_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK)
@@ -340,7 +366,7 @@
Error_Handler();
}
/* USER CODE BEGIN TIM1_Init 2 */
-
+ HAL_TIM_Base_Start_IT(&htim1); // 锟斤拷锟斤拷锟斤拷时锟斤拷锟斤拷使锟斤拷锟叫讹拷
/* USER CODE END TIM1_Init 2 */
HAL_TIM_MspPostInit(&htim1);
@@ -358,6 +384,7 @@
/* USER CODE END TIM2_Init 0 */
+ TIM_ClockConfigTypeDef sClockSourceConfig = {0};
TIM_MasterConfigTypeDef sMasterConfig = {0};
TIM_OC_InitTypeDef sConfigOC = {0};
@@ -369,12 +396,21 @@
htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
htim2.Init.Period = 13513;
htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
- htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
+ htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+ if (HAL_TIM_Base_Init(&htim2) != HAL_OK)
+ {
+ Error_Handler();
+ }
+ sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
+ if (HAL_TIM_ConfigClockSource(&htim2, &sClockSourceConfig) != HAL_OK)
+ {
+ Error_Handler();
+ }
if (HAL_TIM_PWM_Init(&htim2) != HAL_OK)
{
Error_Handler();
}
- sMasterConfig.MasterOutputTrigger = TIM_TRGO_UPDATE;
+ sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK)
{
@@ -393,7 +429,7 @@
Error_Handler();
}
/* USER CODE BEGIN TIM2_Init 2 */
-
+ HAL_TIM_Base_Start_IT(&htim2); // 锟斤拷锟斤拷锟斤拷时锟斤拷锟斤拷使锟斤拷锟叫讹拷
/* USER CODE END TIM2_Init 2 */
HAL_TIM_MspPostInit(&htim2);
@@ -411,6 +447,7 @@
/* USER CODE END TIM3_Init 0 */
+ TIM_ClockConfigTypeDef sClockSourceConfig = {0};
TIM_MasterConfigTypeDef sMasterConfig = {0};
TIM_OC_InitTypeDef sConfigOC = {0};
@@ -422,12 +459,21 @@
htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
htim3.Init.Period = 13513;
htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
- htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
+ htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+ if (HAL_TIM_Base_Init(&htim3) != HAL_OK)
+ {
+ Error_Handler();
+ }
+ sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
+ if (HAL_TIM_ConfigClockSource(&htim3, &sClockSourceConfig) != HAL_OK)
+ {
+ Error_Handler();
+ }
if (HAL_TIM_PWM_Init(&htim3) != HAL_OK)
{
Error_Handler();
}
- sMasterConfig.MasterOutputTrigger = TIM_TRGO_UPDATE;
+ sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK)
{
@@ -446,9 +492,164 @@
Error_Handler();
}
/* USER CODE BEGIN TIM3_Init 2 */
-
+ HAL_TIM_Base_Start_IT(&htim3); // 锟斤拷锟斤拷锟斤拷时锟斤拷锟斤拷使锟斤拷锟叫讹拷
/* USER CODE END TIM3_Init 2 */
HAL_TIM_MspPostInit(&htim3);
+
+}
+
+/**
+ * @brief TIM4 Initialization Function
+ * @param None
+ * @retval None
+ */
+static void MX_TIM4_Init(void)
+{
+
+ /* USER CODE BEGIN TIM4_Init 0 */
+
+ /* USER CODE END TIM4_Init 0 */
+
+ TIM_ClockConfigTypeDef sClockSourceConfig = {0};
+ TIM_MasterConfigTypeDef sMasterConfig = {0};
+ TIM_IC_InitTypeDef sConfigIC = {0};
+
+ /* USER CODE BEGIN TIM4_Init 1 */
+
+ /* USER CODE END TIM4_Init 1 */
+ htim4.Instance = TIM4;
+ htim4.Init.Prescaler = 239;
+ htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
+ htim4.Init.Period = 65535;
+ htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+ htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+ if (HAL_TIM_Base_Init(&htim4) != HAL_OK)
+ {
+ Error_Handler();
+ }
+ sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
+ if (HAL_TIM_ConfigClockSource(&htim4, &sClockSourceConfig) != HAL_OK)
+ {
+ Error_Handler();
+ }
+ if (HAL_TIM_IC_Init(&htim4) != HAL_OK)
+ {
+ Error_Handler();
+ }
+ sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+ sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+ if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK)
+ {
+ Error_Handler();
+ }
+ sConfigIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_RISING;
+ sConfigIC.ICSelection = TIM_ICSELECTION_DIRECTTI;
+ sConfigIC.ICPrescaler = TIM_ICPSC_DIV1;
+ sConfigIC.ICFilter = 0xF;
+ if (HAL_TIM_IC_ConfigChannel(&htim4, &sConfigIC, TIM_CHANNEL_1) != HAL_OK)
+ {
+ Error_Handler();
+ }
+ /* USER CODE BEGIN TIM4_Init 2 */
+ HAL_TIM_Base_Start_IT(&htim4); // 锟斤拷锟斤拷锟斤拷时锟斤拷锟斤拷使锟斤拷锟叫讹拷
+ /* USER CODE END TIM4_Init 2 */
+
+}
+
+/**
+ * @brief UART4 Initialization Function
+ * @param None
+ * @retval None
+ */
+static void MX_UART4_Init(void)
+{
+
+ /* USER CODE BEGIN UART4_Init 0 */
+
+ /* USER CODE END UART4_Init 0 */
+
+ /* USER CODE BEGIN UART4_Init 1 */
+
+ /* USER CODE END UART4_Init 1 */
+ huart4.Instance = UART4;
+ huart4.Init.BaudRate = 100000;
+ huart4.Init.WordLength = UART_WORDLENGTH_9B;
+ huart4.Init.StopBits = UART_STOPBITS_2;
+ huart4.Init.Parity = UART_PARITY_EVEN;
+ huart4.Init.Mode = UART_MODE_TX_RX;
+ huart4.Init.HwFlowCtl = UART_HWCONTROL_NONE;
+ huart4.Init.OverSampling = UART_OVERSAMPLING_16;
+ huart4.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
+ huart4.Init.ClockPrescaler = UART_PRESCALER_DIV1;
+ huart4.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_RXINVERT_INIT;
+ huart4.AdvancedInit.RxPinLevelInvert = UART_ADVFEATURE_RXINV_ENABLE;
+ if (HAL_UART_Init(&huart4) != HAL_OK)
+ {
+ Error_Handler();
+ }
+ if (HAL_UARTEx_SetTxFifoThreshold(&huart4, UART_TXFIFO_THRESHOLD_1_8) != HAL_OK)
+ {
+ Error_Handler();
+ }
+ if (HAL_UARTEx_SetRxFifoThreshold(&huart4, UART_RXFIFO_THRESHOLD_1_8) != HAL_OK)
+ {
+ Error_Handler();
+ }
+ if (HAL_UARTEx_DisableFifoMode(&huart4) != HAL_OK)
+ {
+ Error_Handler();
+ }
+ /* USER CODE BEGIN UART4_Init 2 */
+
+ /* USER CODE END UART4_Init 2 */
+
+}
+
+/**
+ * @brief UART5 Initialization Function
+ * @param None
+ * @retval None
+ */
+static void MX_UART5_Init(void)
+{
+
+ /* USER CODE BEGIN UART5_Init 0 */
+
+ /* USER CODE END UART5_Init 0 */
+
+ /* USER CODE BEGIN UART5_Init 1 */
+
+ /* USER CODE END UART5_Init 1 */
+ huart5.Instance = UART5;
+ huart5.Init.BaudRate = 921600;
+ huart5.Init.WordLength = UART_WORDLENGTH_8B;
+ huart5.Init.StopBits = UART_STOPBITS_1;
+ huart5.Init.Parity = UART_PARITY_NONE;
+ huart5.Init.Mode = UART_MODE_TX_RX;
+ huart5.Init.HwFlowCtl = UART_HWCONTROL_NONE;
+ huart5.Init.OverSampling = UART_OVERSAMPLING_16;
+ huart5.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
+ huart5.Init.ClockPrescaler = UART_PRESCALER_DIV1;
+ huart5.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
+ if (HAL_UART_Init(&huart5) != HAL_OK)
+ {
+ Error_Handler();
+ }
+ if (HAL_UARTEx_SetTxFifoThreshold(&huart5, UART_TXFIFO_THRESHOLD_1_8) != HAL_OK)
+ {
+ Error_Handler();
+ }
+ if (HAL_UARTEx_SetRxFifoThreshold(&huart5, UART_RXFIFO_THRESHOLD_1_8) != HAL_OK)
+ {
+ Error_Handler();
+ }
+ if (HAL_UARTEx_DisableFifoMode(&huart5) != HAL_OK)
+ {
+ Error_Handler();
+ }
+ /* USER CODE BEGIN UART5_Init 2 */
+
+ /* USER CODE END UART5_Init 2 */
}
@@ -639,10 +840,11 @@
Error_Handler();
}
/* USER CODE BEGIN USART6_Init 2 */
- __HAL_UART_ENABLE_IT(&huart6, UART_IT_IDLE);
+ //__HAL_UART_ENABLE_IT(&huart6, UART_IT_IDLE);
- HAL_UART_Receive_DMA(&huart6,uart6_dma_rxbuf,UART6_DMA_RX_BUF_SIZE);
+ //HAL_UART_Receive_DMA(&huart6,uart6_dma_rxbuf,UART6_DMA_RX_BUF_SIZE);
/* USER CODE END USART6_Init 2 */
+
}
/**
@@ -653,6 +855,7 @@
/* DMA controller clock enable */
__HAL_RCC_DMA1_CLK_ENABLE();
+ __HAL_RCC_DMA2_CLK_ENABLE();
/* DMA interrupt init */
/* DMA1_Stream0_IRQn interrupt configuration */
@@ -679,6 +882,15 @@
/* DMA1_Stream7_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA1_Stream7_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(DMA1_Stream7_IRQn);
+ /* DMA2_Stream0_IRQn interrupt configuration */
+ HAL_NVIC_SetPriority(DMA2_Stream0_IRQn, 5, 0);
+ HAL_NVIC_EnableIRQ(DMA2_Stream0_IRQn);
+ /* DMA2_Stream1_IRQn interrupt configuration */
+ HAL_NVIC_SetPriority(DMA2_Stream1_IRQn, 5, 0);
+ HAL_NVIC_EnableIRQ(DMA2_Stream1_IRQn);
+ /* DMA2_Stream2_IRQn interrupt configuration */
+ HAL_NVIC_SetPriority(DMA2_Stream2_IRQn, 5, 0);
+ HAL_NVIC_EnableIRQ(DMA2_Stream2_IRQn);
}
@@ -700,6 +912,7 @@
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOE_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
+ __HAL_RCC_GPIOD_CLK_ENABLE();
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOC, RED_Pin|GREEN_Pin|BLUE_Pin, GPIO_PIN_SET);
--
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