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/STM32H743.ioc | 120 ++++++++++++++++++++++++++++++++++++++++++++++-------------- 1 files changed, 92 insertions(+), 28 deletions(-) diff --git a/STM32H743/STM32H743.ioc b/STM32H743/STM32H743.ioc index 5f30a6e..e4dcf6b 100644 --- a/STM32H743/STM32H743.ioc +++ b/STM32H743/STM32H743.ioc @@ -12,7 +12,26 @@ Dma.Request5=USART3_TX Dma.Request6=USART6_RX Dma.Request7=USART6_TX -Dma.RequestsNb=8 +Dma.Request8=UART4_RX +Dma.RequestsNb=9 +Dma.UART4_RX.8.Direction=DMA_PERIPH_TO_MEMORY +Dma.UART4_RX.8.EventEnable=DISABLE +Dma.UART4_RX.8.FIFOMode=DMA_FIFOMODE_DISABLE +Dma.UART4_RX.8.Instance=DMA2_Stream0 +Dma.UART4_RX.8.MemDataAlignment=DMA_MDATAALIGN_BYTE +Dma.UART4_RX.8.MemInc=DMA_MINC_ENABLE +Dma.UART4_RX.8.Mode=DMA_CIRCULAR +Dma.UART4_RX.8.PeriphDataAlignment=DMA_PDATAALIGN_BYTE +Dma.UART4_RX.8.PeriphInc=DMA_PINC_DISABLE +Dma.UART4_RX.8.Polarity=HAL_DMAMUX_REQ_GEN_RISING +Dma.UART4_RX.8.Priority=DMA_PRIORITY_LOW +Dma.UART4_RX.8.RequestNumber=1 +Dma.UART4_RX.8.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,SignalID,Polarity,RequestNumber,SyncSignalID,SyncPolarity,SyncEnable,EventEnable,SyncRequestNumber +Dma.UART4_RX.8.SignalID=NONE +Dma.UART4_RX.8.SyncEnable=DISABLE +Dma.UART4_RX.8.SyncPolarity=HAL_DMAMUX_SYNC_NO_EVENT +Dma.UART4_RX.8.SyncRequestNumber=1 +Dma.UART4_RX.8.SyncSignalID=NONE Dma.USART1_RX.0.Direction=DMA_PERIPH_TO_MEMORY Dma.USART1_RX.0.EventEnable=DISABLE Dma.USART1_RX.0.FIFOMode=DMA_FIFOMODE_DISABLE @@ -169,10 +188,12 @@ Mcu.IP0=CORTEX_M7 Mcu.IP1=DEBUG Mcu.IP10=TIM3 -Mcu.IP11=USART1 -Mcu.IP12=USART2 -Mcu.IP13=USART3 -Mcu.IP14=USART6 +Mcu.IP11=TIM4 +Mcu.IP12=UART4 +Mcu.IP13=USART1 +Mcu.IP14=USART2 +Mcu.IP15=USART3 +Mcu.IP16=USART6 Mcu.IP2=DMA Mcu.IP3=FREERTOS Mcu.IP4=MEMORYMAP @@ -181,7 +202,7 @@ Mcu.IP7=SYS Mcu.IP8=TIM1 Mcu.IP9=TIM2 -Mcu.IPNb=15 +Mcu.IPNb=17 Mcu.Name=STM32H743VITx Mcu.Package=LQFP100 Mcu.Pin0=PC13 @@ -194,24 +215,31 @@ Mcu.Pin15=PE14 Mcu.Pin16=PB10 Mcu.Pin17=PB11 -Mcu.Pin18=PC6 -Mcu.Pin19=PC7 +Mcu.Pin18=PD12 +Mcu.Pin19=PC6 Mcu.Pin2=PH1-OSC_OUT (PH1) -Mcu.Pin20=PA9 -Mcu.Pin21=PA10 -Mcu.Pin22=PA13 (JTMS/SWDIO) -Mcu.Pin23=PA14 (JTCK/SWCLK) -Mcu.Pin24=VP_FREERTOS_VS_CMSIS_V2 -Mcu.Pin25=VP_SYS_VS_tim17 -Mcu.Pin26=VP_MEMORYMAP_VS_MEMORYMAP +Mcu.Pin20=PC7 +Mcu.Pin21=PA9 +Mcu.Pin22=PA10 +Mcu.Pin23=PA11 +Mcu.Pin24=PA12 +Mcu.Pin25=PA13 (JTMS/SWDIO) +Mcu.Pin26=PA14 (JTCK/SWCLK) +Mcu.Pin27=VP_FREERTOS_VS_CMSIS_V2 +Mcu.Pin28=VP_SYS_VS_tim17 +Mcu.Pin29=VP_TIM1_VS_ClockSourceINT Mcu.Pin3=PC0 +Mcu.Pin30=VP_TIM2_VS_ClockSourceINT +Mcu.Pin31=VP_TIM3_VS_ClockSourceINT +Mcu.Pin32=VP_TIM4_VS_ClockSourceINT +Mcu.Pin33=VP_MEMORYMAP_VS_MEMORYMAP Mcu.Pin4=PC1 Mcu.Pin5=PC2_C Mcu.Pin6=PA0 Mcu.Pin7=PA1 Mcu.Pin8=PA2 Mcu.Pin9=PA3 -Mcu.PinsNb=27 +Mcu.PinsNb=34 Mcu.ThirdPartyNb=0 Mcu.UserConstants= Mcu.UserName=STM32H743VITx @@ -226,6 +254,7 @@ NVIC.DMA1_Stream5_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true NVIC.DMA1_Stream6_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true NVIC.DMA1_Stream7_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true +NVIC.DMA2_Stream0_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false NVIC.ForceEnableDMAVector=true NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false @@ -239,11 +268,12 @@ NVIC.SavedSystickIrqHandlerGenerated=true NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:false\:true\:false\:true\:false NVIC.TIM17_IRQn=true\:15\:0\:false\:false\:true\:false\:false\:true\:true -NVIC.TIM1_UP_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true NVIC.TIM2_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true NVIC.TIM3_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true +NVIC.TIM4_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true NVIC.TimeBase=TIM17_IRQn NVIC.TimeBaseIP=TIM17 +NVIC.UART4_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true NVIC.USART1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true NVIC.USART2_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true NVIC.USART3_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true @@ -254,6 +284,10 @@ PA10.Locked=true PA10.Mode=Asynchronous PA10.Signal=USART1_RX +PA11.Mode=Asynchronous +PA11.Signal=UART4_RX +PA12.Mode=Asynchronous +PA12.Signal=UART4_TX PA13\ (JTMS/SWDIO).Mode=Serial_Wire PA13\ (JTMS/SWDIO).Signal=DEBUG_JTMS-SWDIO PA14\ (JTCK/SWCLK).Mode=Serial_Wire @@ -298,6 +332,7 @@ PC6.Signal=USART6_TX PC7.Mode=Asynchronous PC7.Signal=USART6_RX +PD12.Signal=S_TIM4_CH1 PE11.Signal=S_TIM1_CH2 PE13.Signal=S_TIM1_CH3 PE14.Signal=S_TIM1_CH4 @@ -338,7 +373,7 @@ ProjectManager.UAScriptAfterPath= ProjectManager.UAScriptBeforePath= ProjectManager.UnderRoot=false -ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA_Init-DMA-false-HAL-true,4-MX_USART1_UART_Init-USART1-false-HAL-true,5-MX_USART2_UART_Init-USART2-false-HAL-true,6-MX_USART3_UART_Init-USART3-false-HAL-true,7-MX_TIM1_Init-TIM1-false-HAL-true,8-MX_TIM2_Init-TIM2-false-HAL-true,9-MX_TIM3_Init-TIM3-false-HAL-true,10-MX_USART6_UART_Init-USART6-false-HAL-true,0-MX_CORTEX_M7_Init-CORTEX_M7-false-HAL-true +ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA_Init-DMA-false-HAL-true,4-MX_USART1_UART_Init-USART1-false-HAL-true,5-MX_USART2_UART_Init-USART2-false-HAL-true,6-MX_USART3_UART_Init-USART3-false-HAL-true,7-MX_TIM1_Init-TIM1-false-HAL-true,8-MX_TIM2_Init-TIM2-false-HAL-true,9-MX_TIM3_Init-TIM3-false-HAL-true,10-MX_USART6_UART_Init-USART6-false-HAL-true,11-MX_TIM4_Init-TIM4-false-HAL-true,12-MX_UART4_Init-UART4-false-HAL-true,0-MX_CORTEX_M7_Init-CORTEX_M7-false-HAL-true RCC.ADCFreq_Value=129000000 RCC.AHB12Freq_Value=240000000 RCC.AHB4Freq_Value=240000000 @@ -432,43 +467,64 @@ SH.S_TIM3_CH1.ConfNb=1 SH.S_TIM3_CH2.0=TIM3_CH2,PWM Generation2 CH2 SH.S_TIM3_CH2.ConfNb=1 -TIM1.AutoReloadPreload=TIM_AUTORELOAD_PRELOAD_ENABLE +SH.S_TIM4_CH1.0=TIM4_CH1,Input_Capture1_from_TI1 +SH.S_TIM4_CH1.ConfNb=1 +TIM1.AutoReloadPreload=TIM_AUTORELOAD_PRELOAD_DISABLE TIM1.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1 TIM1.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2 TIM1.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3 TIM1.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4 -TIM1.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2,Channel-PWM Generation3 CH3,Channel-PWM Generation4 CH4,Period,TIM_MasterOutputTrigger,Pulse-PWM Generation4 CH4,Pulse-PWM Generation3 CH3,Pulse-PWM Generation2 CH2,Pulse-PWM Generation1 CH1,AutoReloadPreload,Prescaler +TIM1.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2,Channel-PWM Generation3 CH3,Channel-PWM Generation4 CH4,Period,TIM_MasterOutputTrigger,Pulse-PWM Generation4 CH4,Pulse-PWM Generation3 CH3,Pulse-PWM Generation2 CH2,Pulse-PWM Generation1 CH1,AutoReloadPreload,Prescaler,OCPolarity_1,OCPolarity_2,OCPolarity_3,OCPolarity_4 +TIM1.OCPolarity_1=TIM_OCPOLARITY_HIGH +TIM1.OCPolarity_2=TIM_OCPOLARITY_HIGH +TIM1.OCPolarity_3=TIM_OCPOLARITY_HIGH +TIM1.OCPolarity_4=TIM_OCPOLARITY_HIGH TIM1.Period=13513 TIM1.Prescaler=239 TIM1.Pulse-PWM\ Generation1\ CH1=1500 TIM1.Pulse-PWM\ Generation2\ CH2=1500 TIM1.Pulse-PWM\ Generation3\ CH3=1500 TIM1.Pulse-PWM\ Generation4\ CH4=1500 -TIM1.TIM_MasterOutputTrigger=TIM_TRGO_UPDATE -TIM2.AutoReloadPreload=TIM_AUTORELOAD_PRELOAD_ENABLE +TIM1.TIM_MasterOutputTrigger=TIM_TRGO_RESET +TIM2.AutoReloadPreload=TIM_AUTORELOAD_PRELOAD_DISABLE TIM2.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1 TIM2.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2 -TIM2.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2,Prescaler,Period,AutoReloadPreload,TIM_MasterOutputTrigger,Pulse-PWM Generation1 CH1,Pulse-PWM Generation2 CH2 +TIM2.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2,Prescaler,Period,AutoReloadPreload,TIM_MasterOutputTrigger,Pulse-PWM Generation1 CH1,Pulse-PWM Generation2 CH2,OCPolarity_1,OCPolarity_2 +TIM2.OCPolarity_1=TIM_OCPOLARITY_HIGH +TIM2.OCPolarity_2=TIM_OCPOLARITY_HIGH TIM2.Period=13513 TIM2.Prescaler=239 TIM2.Pulse-PWM\ Generation1\ CH1=1500 TIM2.Pulse-PWM\ Generation2\ CH2=1500 -TIM2.TIM_MasterOutputTrigger=TIM_TRGO_UPDATE -TIM3.AutoReloadPreload=TIM_AUTORELOAD_PRELOAD_ENABLE +TIM2.TIM_MasterOutputTrigger=TIM_TRGO_RESET +TIM3.AutoReloadPreload=TIM_AUTORELOAD_PRELOAD_DISABLE TIM3.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1 TIM3.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2 -TIM3.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2,Pulse-PWM Generation2 CH2,Pulse-PWM Generation1 CH1,Prescaler,Period,AutoReloadPreload,TIM_MasterOutputTrigger +TIM3.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2,Pulse-PWM Generation2 CH2,Pulse-PWM Generation1 CH1,Prescaler,Period,AutoReloadPreload,TIM_MasterOutputTrigger,OCPolarity_1,OCPolarity_2 +TIM3.OCPolarity_1=TIM_OCPOLARITY_HIGH +TIM3.OCPolarity_2=TIM_OCPOLARITY_HIGH TIM3.Period=13513 TIM3.Prescaler=239 TIM3.Pulse-PWM\ Generation1\ CH1=1500 TIM3.Pulse-PWM\ Generation2\ CH2=1500 -TIM3.TIM_MasterOutputTrigger=TIM_TRGO_UPDATE +TIM3.TIM_MasterOutputTrigger=TIM_TRGO_RESET +TIM4.Channel-Input_Capture1_from_TI1=TIM_CHANNEL_1 +TIM4.ICFilter_CH1=0xF +TIM4.IPParameters=Channel-Input_Capture1_from_TI1,Prescaler,ICFilter_CH1 +TIM4.Prescaler=239 +UART4.BaudRate=100000 +UART4.IPParameters=BaudRate,RxPinLevelInvertParam,WordLength,Parity,StopBits +UART4.Parity=PARITY_EVEN +UART4.RxPinLevelInvertParam=UART_ADVFEATURE_RXINV_ENABLE +UART4.StopBits=UART_STOPBITS_2 +UART4.WordLength=WORDLENGTH_9B USART1.BaudRate=921600 USART1.IPParameters=VirtualMode-Asynchronous,BaudRate USART1.VirtualMode-Asynchronous=VM_ASYNC USART2.IPParameters=VirtualMode-Asynchronous USART2.VirtualMode-Asynchronous=VM_ASYNC -USART3.IPParameters=VirtualMode-Asynchronous +USART3.IPParameters=VirtualMode-Asynchronous,SwapParam +USART3.SwapParam=ADVFEATURE_SWAP_DISABLE USART3.VirtualMode-Asynchronous=VM_ASYNC USART6.IPParameters=VirtualMode USART6.VirtualMode=VM_ASYNC @@ -478,5 +534,13 @@ VP_MEMORYMAP_VS_MEMORYMAP.Signal=MEMORYMAP_VS_MEMORYMAP VP_SYS_VS_tim17.Mode=TIM17 VP_SYS_VS_tim17.Signal=SYS_VS_tim17 +VP_TIM1_VS_ClockSourceINT.Mode=Internal +VP_TIM1_VS_ClockSourceINT.Signal=TIM1_VS_ClockSourceINT +VP_TIM2_VS_ClockSourceINT.Mode=Internal +VP_TIM2_VS_ClockSourceINT.Signal=TIM2_VS_ClockSourceINT +VP_TIM3_VS_ClockSourceINT.Mode=Internal +VP_TIM3_VS_ClockSourceINT.Signal=TIM3_VS_ClockSourceINT +VP_TIM4_VS_ClockSourceINT.Mode=Internal +VP_TIM4_VS_ClockSourceINT.Signal=TIM4_VS_ClockSourceINT board=custom rtos.0.ip=FREERTOS -- Gitblit v1.9.3