Fix DR16 cache invalidation and UART IRQ hooking

Core/Src/stm32h7xx_it.c

@@ -304,7 +304,8 @@ void EXTI15_10_IRQHandler(void)
 void UART5_IRQHandler(void)
 {
   /* USER CODE BEGIN UART5_IRQn 0 */
-
+#include "bsp/uart.h"
+  BSP_UART_IRQHandler(&huart5);
   /* USER CODE END UART5_IRQn 0 */
   HAL_UART_IRQHandler(&huart5);
   /* USER CODE BEGIN UART5_IRQn 1 */
@@ -360,7 +361,8 @@ void DMA2_Stream5_IRQHandler(void)
 void USART10_IRQHandler(void)
 {
   /* USER CODE BEGIN USART10_IRQn 0 */
-
+#include "bsp/uart.h"
+  BSP_UART_IRQHandler(&huart10);
   /* USER CODE END USART10_IRQn 0 */
   HAL_UART_IRQHandler(&huart10);
   /* USER CODE BEGIN USART10_IRQn 1 */

User/device/dr16.c

@@ -155,6 +155,16 @@ bool DR16_WaitDmaCplt(uint32_t timeout) {
 int8_t DR16_ParseData(DR16_t *dr16){
   if (dr16 == NULL) return DEVICE_ERR_NULL;
 
+  // STM32H7 D-Cache一致性处理：使DMA接收的数据对CPU可见
+  // D-Cache按32字节对齐，需要对齐处理
+  uint32_t addr = (uint32_t)&(dr16->raw_data);
+  uint32_t size = sizeof(dr16->raw_data);
+  // 向下对齐到32字节边界
+  uint32_t aligned_addr = addr & ~0x1FU;
+  // 计算对齐后的大小
+  uint32_t aligned_size = ((size + (addr - aligned_addr) + 31) & ~0x1FU);    
+  SCB_InvalidateDCache_by_Addr((uint32_t *)aligned_addr, aligned_size);      
+
   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();

User/task/user_task.h

@@ -25,7 +25,7 @@ extern "C" {
 #define REFEREE_FREQ (500.0)
 /* 任务初始化延时ms */
 #define TASK_INIT_DELAY (100u)
-#define RC_INIT_DELAY (0)
+#define RC_INIT_DELAY (500)
 #define ATTI_ESTI_INIT_DELAY (0)
 #define BLINK_INIT_DELAY (0)
 #define CTRL_CHASSIS_INIT_DELAY (0)