From 511b9809c9d5f50404ed167719659a9bf17cf6a5 Mon Sep 17 00:00:00 2001
From: Robofish <1683502971@qq.com>
Date: Sat, 14 Mar 2026 17:24:48 +0800
Subject: [PATCH] fix dr16

---
 User/device/dr16.c | 53 ++++++++++++++++++++++++++++++++++++++++++++--
 1 file changed, 51 insertions(+), 2 deletions(-)

diff --git a/User/device/dr16.c b/User/device/dr16.c
index 120997b..650f748 100644
--- a/User/device/dr16.c
+++ b/User/device/dr16.c
@@ -41,12 +41,26 @@
 
 static osThreadId_t thread_alert;
 static bool inited = false;
+static DR16_t *dr16_instance = NULL;  /* 用于空闲中断回调中访问实例 */
+static uint8_t sync_buf[32];         /* 帧同步时的丢弃缓冲区 */
 
 /* Private function  -------------------------------------------------------- */
 static void DR16_RxCpltCallback(void) {
   osThreadFlagsSet(thread_alert, SIGNAL_DR16_RAW_REDY);
 }
 
+/**
+ * @brief 空闲中断回调 - 用于帧同步
+ * 空闲中断表示一帧传输结束（总线空闲），此时停止当前DMA接收，
+ * 丢弃不完整的数据，这样下一次 StartDmaRecv 就能从帧头开始。
+ */
+static void DR16_IdleCallback(void) {
+  /* 停止当前DMA接收（无论收了多少字节） */
+  HAL_UART_AbortReceive(BSP_UART_GetHandle(BSP_UART_DR16));
+  /* 通知任务：可以启动下一次对齐的接收了 */
+  osThreadFlagsSet(thread_alert, SIGNAL_DR16_RAW_REDY);
+}
+
 static bool DR16_DataCorrupted(const DR16_t *dr16) {
   if (dr16 == NULL) return DEVICE_ERR_NULL;
 
@@ -79,16 +93,49 @@ int8_t DR16_Init(DR16_t *dr16) {
   if (inited) return DEVICE_ERR_INITED;
   if ((thread_alert = osThreadGetId()) == NULL) return DEVICE_ERR_NULL;
 
+  dr16_instance = dr16;
+
+  /* 注册 DMA 接收完成回调 */
   BSP_UART_RegisterCallback(BSP_UART_DR16, BSP_UART_RX_CPLT_CB,
                             DR16_RxCpltCallback);
 
+  /* 注册空闲中断回调并使能空闲中断，用于帧同步 */
+  BSP_UART_RegisterCallback(BSP_UART_DR16, BSP_UART_IDLE_LINE_CB,
+                            DR16_IdleCallback);
+  __HAL_UART_ENABLE_IT(BSP_UART_GetHandle(BSP_UART_DR16), UART_IT_IDLE);
+
+  /*
+   * 首次帧同步：启动一次丢弃式DMA接收。
+   * 如果遥控器已经在发送，DMA会从帧中间开始收，空闲中断到来时
+   * IdleCallback 会 Abort 这次接收并通知任务，下一次 StartDmaRecv
+   * 就能从完整帧头开始。
+   */
+  HAL_UART_Receive_DMA(BSP_UART_GetHandle(BSP_UART_DR16),
+                       sync_buf, sizeof(sync_buf));
+  /* 等待空闲中断完成首次同步（最多50ms，足够等一帧） */
+  osThreadFlagsWait(SIGNAL_DR16_RAW_REDY, osFlagsWaitAll, 50);
+
   inited = true;
   return DEVICE_OK;
 }
 
 int8_t DR16_Restart(void) {
-  __HAL_UART_DISABLE(BSP_UART_GetHandle(BSP_UART_DR16));
-  __HAL_UART_ENABLE(BSP_UART_GetHandle(BSP_UART_DR16));
+  UART_HandleTypeDef *huart = BSP_UART_GetHandle(BSP_UART_DR16);
+
+  /* 先终止当前DMA接收 */
+  HAL_UART_AbortReceive(huart);
+
+  /* 重置串口 */
+  __HAL_UART_DISABLE(huart);
+  __HAL_UART_ENABLE(huart);
+
+  /* 重新使能空闲中断 */
+  __HAL_UART_ENABLE_IT(huart, UART_IT_IDLE);
+
+  /* 重新做帧同步：丢弃式接收，等空闲中断对齐 */
+  HAL_UART_Receive_DMA(huart, sync_buf, sizeof(sync_buf));
+  osThreadFlagsWait(SIGNAL_DR16_RAW_REDY, osFlagsWaitAll, 50);
+
   return DEVICE_OK;
 }
 
@@ -109,6 +156,8 @@ int8_t DR16_ParseData(DR16_t *dr16){
   if (dr16 == NULL) return DEVICE_ERR_NULL;
 
   if (DR16_DataCorrupted(dr16)) {
+    /* 数据损坏说明帧错位了，重启串口并重新同步 */
+    DR16_Restart();
     return DEVICE_ERR;
   }