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/stm32h7xx_hal_msp.c |   91 +++++++++++++++++++++++++++++++++++++++++++--
 1 files changed, 86 insertions(+), 5 deletions(-)

diff --git a/STM32H743/Core/Src/stm32h7xx_hal_msp.c b/STM32H743/Core/Src/stm32h7xx_hal_msp.c
index ddba16c..3f936ef 100644
--- a/STM32H743/Core/Src/stm32h7xx_hal_msp.c
+++ b/STM32H743/Core/Src/stm32h7xx_hal_msp.c
@@ -23,6 +23,8 @@
 /* USER CODE BEGIN Includes */
 
 /* USER CODE END Includes */
+extern DMA_HandleTypeDef hdma_uart4_rx;
+
 extern DMA_HandleTypeDef hdma_usart1_rx;
 
 extern DMA_HandleTypeDef hdma_usart1_tx;
@@ -123,7 +125,7 @@
     /* Peripheral clock enable */
     __HAL_RCC_TIM2_CLK_ENABLE();
     /* TIM2 interrupt Init */
-    HAL_NVIC_SetPriority(TIM2_IRQn, 0, 0);
+    HAL_NVIC_SetPriority(TIM2_IRQn, 5, 0);
     HAL_NVIC_EnableIRQ(TIM2_IRQn);
     /* USER CODE BEGIN TIM2_MspInit 1 */
 
@@ -137,7 +139,7 @@
     /* Peripheral clock enable */
     __HAL_RCC_TIM3_CLK_ENABLE();
     /* TIM3 interrupt Init */
-    HAL_NVIC_SetPriority(TIM3_IRQn, 0, 0);
+    HAL_NVIC_SetPriority(TIM3_IRQn, 5, 0);
     HAL_NVIC_EnableIRQ(TIM3_IRQn);
     /* USER CODE BEGIN TIM3_MspInit 1 */
 
@@ -163,7 +165,7 @@
     HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
 
     /* TIM4 interrupt Init */
-    HAL_NVIC_SetPriority(TIM4_IRQn, 0, 0);
+    HAL_NVIC_SetPriority(TIM4_IRQn, 5, 0);
     HAL_NVIC_EnableIRQ(TIM4_IRQn);
     /* USER CODE BEGIN TIM4_MspInit 1 */
 
@@ -323,7 +325,63 @@
 {
   GPIO_InitTypeDef GPIO_InitStruct = {0};
   RCC_PeriphCLKInitTypeDef PeriphClkInitStruct = {0};
-  if(huart->Instance==USART1)
+  if(huart->Instance==UART4)
+  {
+    /* USER CODE BEGIN UART4_MspInit 0 */
+
+    /* USER CODE END UART4_MspInit 0 */
+
+  /** Initializes the peripherals clock
+  */
+    PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_UART4;
+    PeriphClkInitStruct.Usart234578ClockSelection = RCC_USART234578CLKSOURCE_D2PCLK1;
+    if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
+    {
+      Error_Handler();
+    }
+
+    /* Peripheral clock enable */
+    __HAL_RCC_UART4_CLK_ENABLE();
+
+    __HAL_RCC_GPIOA_CLK_ENABLE();
+    /**UART4 GPIO Configuration
+    PA11     ------> UART4_RX
+    PA12     ------> UART4_TX
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_11|GPIO_PIN_12;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    GPIO_InitStruct.Alternate = GPIO_AF6_UART4;
+    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+
+    /* UART4 DMA Init */
+    /* UART4_RX Init */
+    hdma_uart4_rx.Instance = DMA2_Stream0;
+    hdma_uart4_rx.Init.Request = DMA_REQUEST_UART4_RX;
+    hdma_uart4_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
+    hdma_uart4_rx.Init.PeriphInc = DMA_PINC_DISABLE;
+    hdma_uart4_rx.Init.MemInc = DMA_MINC_ENABLE;
+    hdma_uart4_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
+    hdma_uart4_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
+    hdma_uart4_rx.Init.Mode = DMA_CIRCULAR;
+    hdma_uart4_rx.Init.Priority = DMA_PRIORITY_LOW;
+    hdma_uart4_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
+    if (HAL_DMA_Init(&hdma_uart4_rx) != HAL_OK)
+    {
+      Error_Handler();
+    }
+
+    __HAL_LINKDMA(huart,hdmarx,hdma_uart4_rx);
+
+    /* UART4 interrupt Init */
+    HAL_NVIC_SetPriority(UART4_IRQn, 5, 0);
+    HAL_NVIC_EnableIRQ(UART4_IRQn);
+    /* USER CODE BEGIN UART4_MspInit 1 */
+
+    /* USER CODE END UART4_MspInit 1 */
+  }
+  else if(huart->Instance==USART1)
   {
     /* USER CODE BEGIN USART1_MspInit 0 */
 
@@ -630,7 +688,30 @@
   */
 void HAL_UART_MspDeInit(UART_HandleTypeDef* huart)
 {
-  if(huart->Instance==USART1)
+  if(huart->Instance==UART4)
+  {
+    /* USER CODE BEGIN UART4_MspDeInit 0 */
+
+    /* USER CODE END UART4_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_UART4_CLK_DISABLE();
+
+    /**UART4 GPIO Configuration
+    PA11     ------> UART4_RX
+    PA12     ------> UART4_TX
+    */
+    HAL_GPIO_DeInit(GPIOA, GPIO_PIN_11|GPIO_PIN_12);
+
+    /* UART4 DMA DeInit */
+    HAL_DMA_DeInit(huart->hdmarx);
+
+    /* UART4 interrupt DeInit */
+    HAL_NVIC_DisableIRQ(UART4_IRQn);
+    /* USER CODE BEGIN UART4_MspDeInit 1 */
+
+    /* USER CODE END UART4_MspDeInit 1 */
+  }
+  else if(huart->Instance==USART1)
   {
     /* USER CODE BEGIN USART1_MspDeInit 0 */
 

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