hpm6750/controller_yy_app/hardware/hard_rc_subs.c

#include "board.h"
#include "hard_rc_sbus.h"
#include "stdbool.h"
#include "hpm_uart_drv.h"
#include "test.h"
// 与串口3一致
// 如果使用发送和接收都是串口2 那就不需要在sbus_out里面再次进行串口初始化
/*hpm6750没有串口空闲中断 不能使用UART iRQ+DMA 这里采用的是FIFO+超时中断*/
#define SBUS_UART2_RX                  HPM_UART2
#define SBUS_UART2_CLK_NAME            clock_uart2
#define SBUS_UART2_IRQ                 IRQn_UART2
#define SBUS_UART2_BAUD                115200
#define SBUS_UART2_IRQ_RANK            2

/* 接收缓冲区 */
ATTR_PLACE_AT_NONCACHEABLE uint8_t uart2_dma_rx_buf[UART2_RX_LENDTH_MAX];

/* 全局变量 */
static volatile uint16_t sbus_rx_index = 0;
static volatile bool sbus_frame_ready = false;
static volatile uint16_t sbus_frame_length = 0;
static volatile uint32_t rx_interrupt_count = 0;

/* 外部函数声明 */
extern void recv_rcsbus_data_hookfunction(unsigned int len, uint8_t *data);

/**
 * @brief UART中断服务函数
 */
SDK_DECLARE_EXT_ISR_M(SBUS_UART2_IRQ, uart2_sbus_isr)
void uart2_sbus_isr(void)
{
    uint8_t irq_id = uart_get_irq_id(SBUS_UART2_RX);
    uint8_t count = 0;
    
    /* 处理FIFO阈值中断 - 批量读取数据 */
    if (irq_id == uart_intr_id_rx_data_avail) {
        rx_interrupt_count++;
        
        /* 从FIFO中读取数据 */
        while (uart_check_status(SBUS_UART2_RX, uart_stat_data_ready)) {
            count++;
            uart2_dma_rx_buf[sbus_rx_index++] = uart_read_byte(SBUS_UART2_RX);
            
            /* 防止缓冲区溢出 */
            if (sbus_rx_index >= UART2_RX_LENDTH_MAX) {
                sbus_rx_index = 0;  /* 环形缓冲，溢出后从头开始 */
            }
            
            /*in order to ensure rx fifo there are remaining bytes*/
            if (count > 12) {
                break;
            }
        }
    }
    
    /* 处理FIFO超时中断 - 一帧数据接收完成 */
    if (irq_id == uart_intr_id_rx_timeout) {
        rx_interrupt_count++;
        
        /* 读取FIFO中剩余的所有数据 */
        while (uart_check_status(SBUS_UART2_RX, uart_stat_data_ready)) {
            uart2_dma_rx_buf[sbus_rx_index++] = uart_read_byte(SBUS_UART2_RX);
            // 回调解析数据   
        }
        recv_rcsbus_data_hookfunction(sbus_rx_index, uart2_dma_rx_buf);
        // recv_rcsbus_data_hookfunction(sbus_rx_index, sbus_rx_buf);
        /* 标记一帧SBUS数据接收完成 */

        sbus_frame_ready = true;
        sbus_frame_length = sbus_rx_index;  /* 记录当前帧长度 */
        sbus_rx_index = 0;
    }
}

static void rc_uart2_pin_config(void) // 如果使用的是同一个串口的rx 和tx 就初始化1次 
{
    HPM_IOC->PAD[IOC_PAD_PB21].FUNC_CTL = IOC_PB21_FUNC_CTL_UART2_RXD;

    HPM_IOC->PAD[IOC_PAD_PB22].FUNC_CTL = IOC_PB22_FUNC_CTL_UART2_TXD;
}
/**
 * @brief SBUS初始化
 */
void rc_sbus_init(uint32_t baud)
{
    uart_config_t config = {0};
    hpm_stat_t stat;
    
    /* 初始化UART */
    rc_uart2_pin_config();

    clock_set_source_divider(SBUS_UART2_CLK_NAME, clk_src_osc24m, 1);
    clock_add_to_group(SBUS_UART2_CLK_NAME, 0);
    uint32_t freq = clock_get_frequency(SBUS_UART2_CLK_NAME);
    printf("uart2 clk fre %d\r\n", freq);
    /* UART默认配置 */
    uart_default_config(SBUS_UART2_RX, &config);
    
    /* SBUS参数配置 */
    config.baudrate = baud;                    /* 100000bps */
    config.word_length = word_length_8_bits;       /* 9位数据（8位+偶校验） */
    config.num_of_stop_bits = stop_bits_2;                 /* 2停止位 */
    config.parity = parity_even;                     /* 偶校验 */
    config.fifo_enable = true;                       /* 使能FIFO */
    config.src_freq_in_hz = clock_get_frequency(SBUS_UART2_CLK_NAME);
    
    /*  设置FIFO阈值 - 设为接近一帧的长度 要小于实际期望接收的字节数 25 */
    config.rx_fifo_level = uart_rx_fifo_trg_gt_three_quarters; /* 约24字节 */

    
    stat = uart_init(SBUS_UART2_RX, &config);
    if (stat != status_success) {
        printf("SBUS UART2 RX init failed\n");
        while (1);
    }
    
    /* 使能UART中断（FIFO阈值+超时） */
    uart_enable_irq(SBUS_UART2_RX, uart_intr_rx_data_avail_or_timeout);
    
    /* 使能中断控制器 */
    intc_m_enable_irq_with_priority(SBUS_UART2_IRQ, SBUS_UART2_IRQ_RANK);
    
    /* 初始化变量 */
    sbus_rx_index = 0;
    sbus_frame_ready = false;
    rx_interrupt_count = 0;
    
    printf("SBUS initialized with FIFO + timeout interrupt\n");
}


/* uart2 rx_irq  demo 2026/03/15 pass*/
#ifdef UART2_RX_TEST

void uart2_sbus_test(void)
{
  // char c = 0;
  rc_sbus_init(SBUS_UART2_BAUD);

  while(1)
  {
      // c++;
      board_delay_ms(500);
      if(sbus_frame_ready)
      {
        sbus_frame_ready = false;

        while(sbus_frame_length--)
        {
            printf(" %c ",uart2_dma_rx_buf[sbus_frame_length]);
        }
      }
    
      // UART3_Put_Char(c); // pass
    
  }

}
#endif