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Починен приём данных с пульта

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Раджаб Бисултанов
2026-04-20 17:56:36 +03:00
parent 1a7491c4f6
commit 9cc3f1ba51
3 changed files with 15 additions and 9 deletions
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14
Source/Devices/RadioReceiver.cpp
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@@ -17,6 +17,9 @@ void receiver_gpio_init()
GPIOA->AFR[0] &= ~(0xF << (3 * 4)); GPIOA->AFR[0] &= ~(0xF << (3 * 4));
GPIOA->AFR[0] |= 12 << (3 * 4); GPIOA->AFR[0] |= 12 << (3 * 4);
GPIOA->OSPEEDR &= ~(3 << (3 * 2));
GPIOA->OSPEEDR |= 2 << (3 * 2);
// pull-up // pull-up
GPIOA->PUPDR &= ~(3 << (3 * 2)); GPIOA->PUPDR &= ~(3 << (3 * 2));
GPIOA->PUPDR |= 1 << (3 * 2); GPIOA->PUPDR |= 1 << (3 * 2);
@@ -37,7 +40,7 @@ void receiver_uart_init()
LPUART1->CR2 = 0; LPUART1->CR2 = 0;
LPUART1->CR3 = 0; LPUART1->CR3 = 0;
LPUART1->BRR = (256 * 16000000UL) / 100000UL; LPUART1->BRR = SystemCoreClock / (100000UL / 256);
// parity control enable // parity control enable
LPUART1->CR1 |= USART_CR1_PCE | USART_CR1_M0; LPUART1->CR1 |= USART_CR1_PCE | USART_CR1_M0;
@@ -59,10 +62,13 @@ void receiver_uart_init()
// receiver enable // receiver enable
// interrupt generated whenever ORE = 1 or RXNE = 1 // interrupt generated whenever ORE = 1 or RXNE = 1
LPUART1->CR1 |= USART_CR1_RE | USART_CR1_RXNEIE; LPUART1->CR1 |= USART_CR1_RE | USART_CR1_RXNEIE;
LPUART1->CR3 |= USART_CR3_OVRDIS;
// uart enable // uart enable
LPUART1->CR1 |= USART_CR1_UE; LPUART1->CR1 |= USART_CR1_UE;
NVIC_SetPriority(LPUART1_IRQn, 0);
NVIC_EnableIRQ(LPUART1_IRQn); NVIC_EnableIRQ(LPUART1_IRQn);
} }
@@ -72,11 +78,11 @@ void receiver_init()
receiver_uart_init(); receiver_uart_init();
} }
void LPUART1_IRQHandler() extern "C" void LPUART1_IRQHandler()
{ {
if (LPUART1->ISR & USART_ISR_RXNE) if (LPUART1->ISR & USART_ISR_RXNE)
{ {
uint8_t b = LPUART1->RDR; char b = LPUART1->RDR;
if (b == SBUS_START_BYTE) if (b == SBUS_START_BYTE)
sbus_index = 0; sbus_index = 0;

2
Source/Devices/RadioReceiver.h
View File

@@ -4,7 +4,6 @@
#define RADIO_RECEIVER_H #define RADIO_RECEIVER_H
#include "stm32g431xx.h" #include "stm32g431xx.h"
#include <stdint.h>
#define SBUS_FRAME_SIZE 25 #define SBUS_FRAME_SIZE 25
#define SBUS_START_BYTE 0X0F #define SBUS_START_BYTE 0X0F
@@ -22,7 +21,6 @@ void receiver_gpio_init();
void receiver_lpuart_clock_init(); void receiver_lpuart_clock_init();
void receiver_uart_init(); void receiver_uart_init();
void receiver_init(); void receiver_init();
void LPUART1_IRQHandler();
void receiver_update(rc_channels* chs); void receiver_update(rc_channels* chs);
void receiver_parse_frame(); void receiver_parse_frame();
rc_channels normalize_channels(rc_channels chs); rc_channels normalize_channels(rc_channels chs);

8
Source/main.cpp
View File

@@ -130,6 +130,8 @@ int main()
SystemClock_Config(); // 170MHz SystemClock_Config(); // 170MHz
IMU_InitPower(); IMU_InitPower();
TICK_Init(); TICK_Init();
TIM6_Init(TIM_PRIORITY, 500, TimerUpdateSensor, TimerUpdateMain); TIM6_Init(TIM_PRIORITY, 500, TimerUpdateSensor, TimerUpdateMain);
@@ -140,9 +142,9 @@ int main()
TIM6_Enable(); TIM6_Enable();
TIM7_Enable(); TIM7_Enable();
attitude_t attitude; static attitude_t attitude;
rc_channels rx_chs_raw; static rc_channels rx_chs_raw;
rc_channels rx_chs_normalized; static rc_channels rx_chs_normalized;
static control_channels_t ctrl_chs; static control_channels_t ctrl_chs;
attitude_init(&attitude); attitude_init(&attitude);