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 | 161 +++++++++++++++++++++++++++++++++++++++++++++++------
1 files changed, 141 insertions(+), 20 deletions(-)
diff --git a/STM32H743/Core/Src/stm32h7xx_hal_msp.c b/STM32H743/Core/Src/stm32h7xx_hal_msp.c
index 2d52c76..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;
@@ -96,28 +98,26 @@
}
/**
- * @brief TIM_PWM MSP Initialization
+ * @brief TIM_Base MSP Initialization
* This function configures the hardware resources used in this example
- * @param htim_pwm: TIM_PWM handle pointer
+ * @param htim_base: TIM_Base handle pointer
* @retval None
*/
-void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef* htim_pwm)
+void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base)
{
- if(htim_pwm->Instance==TIM1)
+ GPIO_InitTypeDef GPIO_InitStruct = {0};
+ if(htim_base->Instance==TIM1)
{
/* USER CODE BEGIN TIM1_MspInit 0 */
/* USER CODE END TIM1_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM1_CLK_ENABLE();
- /* TIM1 interrupt Init */
- HAL_NVIC_SetPriority(TIM1_UP_IRQn, 5, 0);
- HAL_NVIC_EnableIRQ(TIM1_UP_IRQn);
/* USER CODE BEGIN TIM1_MspInit 1 */
/* USER CODE END TIM1_MspInit 1 */
}
- else if(htim_pwm->Instance==TIM2)
+ else if(htim_base->Instance==TIM2)
{
/* USER CODE BEGIN TIM2_MspInit 0 */
@@ -131,7 +131,7 @@
/* USER CODE END TIM2_MspInit 1 */
}
- else if(htim_pwm->Instance==TIM3)
+ else if(htim_base->Instance==TIM3)
{
/* USER CODE BEGIN TIM3_MspInit 0 */
@@ -144,6 +144,32 @@
/* USER CODE BEGIN TIM3_MspInit 1 */
/* USER CODE END TIM3_MspInit 1 */
+ }
+ else if(htim_base->Instance==TIM4)
+ {
+ /* USER CODE BEGIN TIM4_MspInit 0 */
+
+ /* USER CODE END TIM4_MspInit 0 */
+ /* Peripheral clock enable */
+ __HAL_RCC_TIM4_CLK_ENABLE();
+
+ __HAL_RCC_GPIOD_CLK_ENABLE();
+ /**TIM4 GPIO Configuration
+ PD12 ------> TIM4_CH1
+ */
+ GPIO_InitStruct.Pin = 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_AF2_TIM4;
+ HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
+
+ /* TIM4 interrupt Init */
+ HAL_NVIC_SetPriority(TIM4_IRQn, 5, 0);
+ HAL_NVIC_EnableIRQ(TIM4_IRQn);
+ /* USER CODE BEGIN TIM4_MspInit 1 */
+
+ /* USER CODE END TIM4_MspInit 1 */
}
}
@@ -221,28 +247,25 @@
}
/**
- * @brief TIM_PWM MSP De-Initialization
+ * @brief TIM_Base MSP De-Initialization
* This function freeze the hardware resources used in this example
- * @param htim_pwm: TIM_PWM handle pointer
+ * @param htim_base: TIM_Base handle pointer
* @retval None
*/
-void HAL_TIM_PWM_MspDeInit(TIM_HandleTypeDef* htim_pwm)
+void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* htim_base)
{
- if(htim_pwm->Instance==TIM1)
+ if(htim_base->Instance==TIM1)
{
/* USER CODE BEGIN TIM1_MspDeInit 0 */
/* USER CODE END TIM1_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_TIM1_CLK_DISABLE();
-
- /* TIM1 interrupt DeInit */
- HAL_NVIC_DisableIRQ(TIM1_UP_IRQn);
/* USER CODE BEGIN TIM1_MspDeInit 1 */
/* USER CODE END TIM1_MspDeInit 1 */
}
- else if(htim_pwm->Instance==TIM2)
+ else if(htim_base->Instance==TIM2)
{
/* USER CODE BEGIN TIM2_MspDeInit 0 */
@@ -256,7 +279,7 @@
/* USER CODE END TIM2_MspDeInit 1 */
}
- else if(htim_pwm->Instance==TIM3)
+ else if(htim_base->Instance==TIM3)
{
/* USER CODE BEGIN TIM3_MspDeInit 0 */
@@ -269,6 +292,25 @@
/* USER CODE BEGIN TIM3_MspDeInit 1 */
/* USER CODE END TIM3_MspDeInit 1 */
+ }
+ else if(htim_base->Instance==TIM4)
+ {
+ /* USER CODE BEGIN TIM4_MspDeInit 0 */
+
+ /* USER CODE END TIM4_MspDeInit 0 */
+ /* Peripheral clock disable */
+ __HAL_RCC_TIM4_CLK_DISABLE();
+
+ /**TIM4 GPIO Configuration
+ PD12 ------> TIM4_CH1
+ */
+ HAL_GPIO_DeInit(GPIOD, GPIO_PIN_12);
+
+ /* TIM4 interrupt DeInit */
+ HAL_NVIC_DisableIRQ(TIM4_IRQn);
+ /* USER CODE BEGIN TIM4_MspDeInit 1 */
+
+ /* USER CODE END TIM4_MspDeInit 1 */
}
}
@@ -283,7 +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 */
@@ -590,7 +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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