From b9aca884f88abdda860d5c62be841a9e21ce68a1 Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期四, 13 十一月 2025 17:07:26 +0800
Subject: [PATCH] 添加python 算法仿真代码
---
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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