dr16好了

CMakeLists.txt

@@ -57,20 +57,10 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
 
     # User/component sources
     User/component/ahrs.c
-
-    # User/component/ahrs sources
-    User/component/ahrs/ahrs.c
-
-    # User/component sources
     User/component/crc16.c
     User/component/crc8.c
     User/component/error_detect.c
     User/component/filter.c
-
-    # User/component/filter sources
-    User/component/filter/filter.c
-
-    # User/component sources
     User/component/freertos_cli.c
     User/component/limiter.c
     User/component/pid.c
@@ -92,6 +82,7 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
     # User/task sources
     User/task/ai.c
     User/task/init.c
+    User/task/rc.c
     User/task/user_task.c
 )
 

Core/Src/freertos.c

@@ -1,127 +1,127 @@
-/* USER CODE BEGIN Header */
+/* USER CODE BEGIN Header */
-/**
+/**
-  ******************************************************************************
+  ******************************************************************************
-  * File Name          : freertos.c
+  * File Name          : freertos.c
-  * Description        : Code for freertos applications
+  * Description        : Code for freertos applications
-  ******************************************************************************
+  ******************************************************************************
-  * @attention
+  * @attention
-  *
+  *
-  * Copyright (c) 2026 STMicroelectronics.
+  * Copyright (c) 2026 STMicroelectronics.
-  * All rights reserved.
+  * All rights reserved.
-  *
+  *
-  * This software is licensed under terms that can be found in the LICENSE file
+  * This software is licensed under terms that can be found in the LICENSE file
-  * in the root directory of this software component.
+  * in the root directory of this software component.
-  * If no LICENSE file comes with this software, it is provided AS-IS.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
-  *
+  *
-  ******************************************************************************
+  ******************************************************************************
-  */
+  */
-/* USER CODE END Header */
+/* USER CODE END Header */
-
+
-/* Includes ------------------------------------------------------------------*/
+/* Includes ------------------------------------------------------------------*/
-#include "FreeRTOS.h"
+#include "FreeRTOS.h"
-#include "task.h"
+#include "task.h"
-#include "main.h"
+#include "main.h"
-#include "cmsis_os.h"
+#include "cmsis_os.h"
-
+
-/* Private includes ----------------------------------------------------------*/
+/* Private includes ----------------------------------------------------------*/
-/* USER CODE BEGIN Includes */
+/* USER CODE BEGIN Includes */
-
+
-#include "task/user_task.h"
+#include "task/user_task.h"
-/* USER CODE END Includes */
+/* USER CODE END Includes */
-
+
-/* Private typedef -----------------------------------------------------------*/
+/* Private typedef -----------------------------------------------------------*/
-/* USER CODE BEGIN PTD */
+/* USER CODE BEGIN PTD */
-
+
-/* USER CODE END PTD */
+/* USER CODE END PTD */
-
+
-/* Private define ------------------------------------------------------------*/
+/* Private define ------------------------------------------------------------*/
-/* USER CODE BEGIN PD */
+/* USER CODE BEGIN PD */
-
+
-/* USER CODE END PD */
+/* USER CODE END PD */
-
+
-/* Private macro -------------------------------------------------------------*/
+/* Private macro -------------------------------------------------------------*/
-/* USER CODE BEGIN PM */
+/* USER CODE BEGIN PM */
-
+
-/* USER CODE END PM */
+/* USER CODE END PM */
-
+
-/* Private variables ---------------------------------------------------------*/
+/* Private variables ---------------------------------------------------------*/
-/* USER CODE BEGIN Variables */
+/* USER CODE BEGIN Variables */
-
+
-/* USER CODE END Variables */
+/* USER CODE END Variables */
-/* Definitions for defaultTask */
+/* Definitions for defaultTask */
-osThreadId_t defaultTaskHandle;
+osThreadId_t defaultTaskHandle;
-const osThreadAttr_t defaultTask_attributes = {
+const osThreadAttr_t defaultTask_attributes = {
-  .name = "defaultTask",
+  .name = "defaultTask",
-  .stack_size = 128 * 4,
+  .stack_size = 128 * 4,
-  .priority = (osPriority_t) osPriorityNormal,
+  .priority = (osPriority_t) osPriorityNormal,
-};
+};
-
+
-/* Private function prototypes -----------------------------------------------*/
+/* Private function prototypes -----------------------------------------------*/
-/* USER CODE BEGIN FunctionPrototypes */
+/* USER CODE BEGIN FunctionPrototypes */
-
+
-/* USER CODE END FunctionPrototypes */
+/* USER CODE END FunctionPrototypes */
-
+
-void StartDefaultTask(void *argument);
+void StartDefaultTask(void *argument);
-
+
-void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */
+void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */
-
+
-/**
+/**
-  * @brief  FreeRTOS initialization
+  * @brief  FreeRTOS initialization
-  * @param  None
+  * @param  None
-  * @retval None
+  * @retval None
-  */
+  */
-void MX_FREERTOS_Init(void) {
+void MX_FREERTOS_Init(void) {
-  /* USER CODE BEGIN Init */
+  /* USER CODE BEGIN Init */
-
+
-  /* USER CODE END Init */
+  /* USER CODE END Init */
-
+
-  /* USER CODE BEGIN RTOS_MUTEX */
+  /* USER CODE BEGIN RTOS_MUTEX */
-  /* add mutexes, ... */
+  /* add mutexes, ... */
-  /* USER CODE END RTOS_MUTEX */
+  /* USER CODE END RTOS_MUTEX */
-
+
-  /* USER CODE BEGIN RTOS_SEMAPHORES */
+  /* USER CODE BEGIN RTOS_SEMAPHORES */
-  /* add semaphores, ... */
+  /* add semaphores, ... */
-  /* USER CODE END RTOS_SEMAPHORES */
+  /* USER CODE END RTOS_SEMAPHORES */
-
+
-  /* USER CODE BEGIN RTOS_TIMERS */
+  /* USER CODE BEGIN RTOS_TIMERS */
-  /* start timers, add new ones, ... */
+  /* start timers, add new ones, ... */
-  /* USER CODE END RTOS_TIMERS */
+  /* USER CODE END RTOS_TIMERS */
-
+
-  /* USER CODE BEGIN RTOS_QUEUES */
+  /* USER CODE BEGIN RTOS_QUEUES */
-  /* add queues, ... */
+  /* add queues, ... */
-  /* USER CODE END RTOS_QUEUES */
+  /* USER CODE END RTOS_QUEUES */
-
+
-  /* Create the thread(s) */
+  /* Create the thread(s) */
-  /* creation of defaultTask */
+  /* creation of defaultTask */
-  defaultTaskHandle = osThreadNew(StartDefaultTask, NULL, &defaultTask_attributes);
+  defaultTaskHandle = osThreadNew(StartDefaultTask, NULL, &defaultTask_attributes);
-
+
-  /* USER CODE BEGIN RTOS_THREADS */
+  /* USER CODE BEGIN RTOS_THREADS */
-  /* add threads, ... */
+  /* add threads, ... */
-   osThreadNew(Task_Init, NULL, &attr_init); // 创建初始化任务
+   osThreadNew(Task_Init, NULL, &attr_init); // 创建初始化任务
-/* USER CODE END RTOS_THREADS */
+  /* USER CODE END RTOS_THREADS */
-
+
-  /* USER CODE BEGIN RTOS_EVENTS */
+  /* USER CODE BEGIN RTOS_EVENTS */
-  /* add events, ... */
+  /* add events, ... */
-  /* USER CODE END RTOS_EVENTS */
+  /* USER CODE END RTOS_EVENTS */
-
+
-}
+}
-
+
-/* USER CODE BEGIN Header_StartDefaultTask */
+/* USER CODE BEGIN Header_StartDefaultTask */
-/**
+/**
-  * @brief  Function implementing the defaultTask thread.
+  * @brief  Function implementing the defaultTask thread.
-  * @param  argument: Not used
+  * @param  argument: Not used
-  * @retval None
+  * @retval None
-  */
+  */
-/* USER CODE END Header_StartDefaultTask */
+/* USER CODE END Header_StartDefaultTask */
-void StartDefaultTask(void *argument)
+void StartDefaultTask(void *argument)
-{
+{
-  /* USER CODE BEGIN StartDefaultTask */
+  /* USER CODE BEGIN StartDefaultTask */
-    osThreadTerminate(osThreadGetId());
+    osThreadTerminate(osThreadGetId());
-/* USER CODE END StartDefaultTask */
+  /* USER CODE END StartDefaultTask */
-}
+}
-
+
-/* Private application code --------------------------------------------------*/
+/* Private application code --------------------------------------------------*/
-/* USER CODE BEGIN Application */
+/* USER CODE BEGIN Application */
-
+
-/* USER CODE END Application */
+/* USER CODE END Application */
-
+

Core/Src/main.c

@@ -80,14 +80,6 @@ int main(void)
 
   /* USER CODE END 1 */
 
-  /* Enable the CPU Cache */
-
-  /* Enable I-Cache---------------------------------------------------------*/
-  SCB_EnableICache();
-
-  /* Enable D-Cache---------------------------------------------------------*/
-  SCB_EnableDCache();
-
   /* MCU Configuration--------------------------------------------------------*/
 
   /* Reset of all peripherals, Initializes the Flash interface and the Systick. */

STM32H723XG_FLASH.ld

@@ -229,6 +229,17 @@ SECTIONS
   PROVIDE( __bss_start = __tbss_start );
   PROVIDE( __bss_size = __bss_end - __bss_start );
 
+  /* DMA buffer section in RAM_D2 (SRAM1/2) for STM32H7 DMA access */
+  .dma_buffer (NOLOAD) : ALIGN(32)
+  {
+    . = ALIGN(32);
+    _sdma_buffer = .;
+    *(.dma_buffer)
+    *(.dma_buffer*)
+    . = ALIGN(32);
+    _edma_buffer = .;
+  } >RAM_D2
+
   /* User_heap_stack section, used to check that there is enough RAM left */
   ._user_heap_stack (NOLOAD) :
   {

User/task/config.yaml

@@ -5,3 +5,10 @@
   function: Task_ai
   name: ai
   stack: 256
+- delay: 0
+  description: ''
+  freq_control: true
+  frequency: 500.0
+  function: Task_rc
+  name: rc
+  stack: 256

User/task/init.c

@@ -31,6 +31,7 @@ void Task_Init(void *argument) {
   
   /* 创建任务线程 */
   task_runtime.thread.ai = osThreadNew(Task_ai, NULL, &attr_ai);
+  task_runtime.thread.rc = osThreadNew(Task_rc, NULL, &attr_rc);
 
   // 创建消息队列
   /* USER MESSAGE BEGIN */

User/task/rc.c

@@ -0,0 +1,56 @@
+/*
+    rc Task
+    遥控器接收任务 - 处理DR16遥控器数据接收
+*/
+
+/* Includes ----------------------------------------------------------------- */
+#include "task/user_task.h"
+/* USER INCLUDE BEGIN */
+#include "device/dr16.h"
+/* USER INCLUDE END */
+
+/* Private typedef ---------------------------------------------------------- */
+/* Private define ----------------------------------------------------------- */
+/* Private macro ------------------------------------------------------------ */
+/* Private variables -------------------------------------------------------- */
+/* USER STRUCT BEGIN */
+/* STM32H7: 整个DR16结构体放在DMA可访问的SRAM区域 */
+static DR16_t dr16 __attribute__((section(".dma_buffer"))) __attribute__((aligned(32)));
+/* USER STRUCT END */
+
+/* Private function --------------------------------------------------------- */
+/* Exported functions ------------------------------------------------------- */
+void Task_rc(void *argument) {
+  (void)argument; /* 未使用argument，消除警告 */
+
+  
+  /* 计算任务运行到指定频率需要等待的tick数 */
+  const uint32_t delay_tick = osKernelGetTickFreq() / RC_FREQ;
+
+  osDelay(RC_INIT_DELAY); /* 延时一段时间再开启任务 */
+
+  uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
+  /* USER CODE INIT BEGIN */
+  /* 初始化DR16遥控器 */
+  DR16_Init(&dr16);
+  /* USER CODE INIT END */
+  
+  while (1) {
+    tick += delay_tick; /* 计算下一个唤醒时刻 */
+    /* USER CODE BEGIN */
+    /* 启动DMA接收 */
+    DR16_StartDmaRecv(&dr16);
+    
+    /* 等待DMA接收完成，超时时间20ms */
+    if (DR16_WaitDmaCplt(20)) {
+      /* DMA接收成功，解析数据 */
+      DR16_ParseData(&dr16);
+    } else {
+      /* DMA接收超时，标记离线 */
+      DR16_Offline(&dr16);
+    }
+    /* USER CODE END */
+    osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
+  }
+  
+}

User/task/user_task.c

@@ -13,4 +13,9 @@ const osThreadAttr_t attr_ai = {
     .name = "ai",
     .priority = osPriorityNormal,
     .stack_size = 256 * 4,
+};
+const osThreadAttr_t attr_rc = {
+    .name = "rc",
+    .priority = osPriorityNormal,
+    .stack_size = 256 * 4,
 };

User/task/user_task.h

@@ -14,10 +14,12 @@ extern "C" {
 /* Exported constants ------------------------------------------------------- */
 /* 任务运行频率 */
 #define AI_FREQ (500.0)
+#define RC_FREQ (500.0)
 
 /* 任务初始化延时ms */
 #define TASK_INIT_DELAY (100u)
 #define AI_INIT_DELAY (0)
+#define RC_INIT_DELAY (0)
 
 /* Exported defines --------------------------------------------------------- */
 /* Exported macro ----------------------------------------------------------- */
@@ -28,6 +30,7 @@ typedef struct {
     /* 各任务，也可以叫做线程 */
     struct {
         osThreadId_t ai;
+        osThreadId_t rc;
     } thread;
 
     /* USER MESSAGE BEGIN */
@@ -50,16 +53,19 @@ typedef struct {
     /* 各任务的stack使用 */
     struct {
         UBaseType_t ai;
+        UBaseType_t rc;
     } stack_water_mark;
 
     /* 各任务运行频率 */
     struct {
         float ai;
+        float rc;
     } freq;
 
     /* 任务最近运行时间 */
     struct {
         float ai;
+        float rc;
     } last_up_time;
 
 } Task_Runtime_t;
@@ -70,10 +76,12 @@ extern Task_Runtime_t task_runtime;
 /* 初始化任务句柄 */
 extern const osThreadAttr_t attr_init;
 extern const osThreadAttr_t attr_ai;
+extern const osThreadAttr_t attr_rc;
 
 /* 任务函数声明 */
 void Task_Init(void *argument);
 void Task_ai(void *argument);
+void Task_rc(void *argument);
 
 #ifdef __cplusplus
 }

balance_infantry.ioc

@@ -38,8 +38,8 @@ Bdma.SPI6_TX.0.SyncSignalID=NONE
 CAD.formats=
 CAD.pinconfig=
 CAD.provider=
-CORTEX_M7.CPU_DCache=Enabled
+CORTEX_M7.CPU_DCache=Disabled
-CORTEX_M7.CPU_ICache=Enabled
+CORTEX_M7.CPU_ICache=Disabled
 CORTEX_M7.Enable-Cortex_Memory_Protection_Unit_Region0_Settings=MPU_REGION_ENABLE
 CORTEX_M7.IPParameters=CPU_DCache,CPU_ICache,MPU_Control,Enable-Cortex_Memory_Protection_Unit_Region0_Settings,default_mode_Activation
 CORTEX_M7.MPU_Control=__NULL
@@ -900,3 +900,4 @@ VP_MEMORYMAP_VS_MEMORYMAP.Signal=MEMORYMAP_VS_MEMORYMAP
 VP_SYS_VS_tim4.Mode=TIM4
 VP_SYS_VS_tim4.Signal=SYS_VS_tim4
 board=custom
+rtos.0.ip=FREERTOS