From 68c43c5adef03f00836d83b37cb83a294d8b0354 Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期四, 13 十一月 2025 17:04:28 +0800
Subject: [PATCH] 晚上SBUS信号解析，成功控制车走

---
 STM32H743/Core/Src/main.c |   66 +++++++++++++++++++++++++++++++--
 1 files changed, 62 insertions(+), 4 deletions(-)

diff --git a/STM32H743/Core/Src/main.c b/STM32H743/Core/Src/main.c
index ab74734..369d1f7 100644
--- a/STM32H743/Core/Src/main.c
+++ b/STM32H743/Core/Src/main.c
@@ -50,10 +50,12 @@
 TIM_HandleTypeDef htim3;
 TIM_HandleTypeDef htim4;
 
+UART_HandleTypeDef huart4;
 UART_HandleTypeDef huart1;
 UART_HandleTypeDef huart2;
 UART_HandleTypeDef huart3;
 UART_HandleTypeDef huart6;
+DMA_HandleTypeDef hdma_uart4_rx;
 DMA_HandleTypeDef hdma_usart1_rx;
 DMA_HandleTypeDef hdma_usart1_tx;
 DMA_HandleTypeDef hdma_usart2_rx;
@@ -87,6 +89,7 @@
 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);
 void StartDefaultTask(void *argument);
 
 /* USER CODE BEGIN PFP */
@@ -145,11 +148,13 @@
   MX_TIM3_Init();
   MX_USART6_UART_Init();
   MX_TIM4_Init();
+  MX_UART4_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_BT, &huart6);
 
 	 HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_1);   // MOTOR_TIM
@@ -295,7 +300,7 @@
   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();
@@ -448,7 +453,7 @@
   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();
@@ -511,7 +516,7 @@
   htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
   htim4.Init.Period = 65535;
   htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
-  htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
+  htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
   if (HAL_TIM_Base_Init(&htim4) != HAL_OK)
   {
     Error_Handler();
@@ -531,7 +536,7 @@
   {
     Error_Handler();
   }
-  sConfigIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_BOTHEDGE;
+  sConfigIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_RISING;
   sConfigIC.ICSelection = TIM_ICSELECTION_DIRECTTI;
   sConfigIC.ICPrescaler = TIM_ICPSC_DIV1;
   sConfigIC.ICFilter = 0xF;
@@ -542,6 +547,55 @@
   /* 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 */
 
 }
 
@@ -747,6 +801,7 @@
 
   /* DMA controller clock enable */
   __HAL_RCC_DMA1_CLK_ENABLE();
+  __HAL_RCC_DMA2_CLK_ENABLE();
 
   /* DMA interrupt init */
   /* DMA1_Stream0_IRQn interrupt configuration */
@@ -773,6 +828,9 @@
   /* 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);
 
 }
 

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