init refactoring

2026-06-27 19:36:53 +08:00
parent b71a35dcd3
commit c9d25d7323
18 changed files with 1035 additions and 932 deletions
@@ -0,0 +1,83 @@
+#include "uart.h"
+
+/* ========================================================================
+ * UART1 - 串口通信 (使用Timer2做波特率发生器)
+ * ======================================================================== */
+
+static void UART1_Init(void) {
+    /* 使用 Timer2 做波特率发生器 */
+    /* 115200 @ 24MHz: T2 reload = 65536 - 52 = 0xFFCC */
+    T2H = 0xFF;
+    T2L = 0xCC;
+    AUXR |= T2x12;              /* T2: 1T模式 */
+    AUXR |= T2R;                /* 启动T2 */
+
+    /* UART1 配置: 8位可变波特率, 模式1 */
+    SCON = 0x50;                /* 模式1, REN=1 */
+    AUXR |= S1ST2;              /* UART1使用T2做波特率 */
+    PCON &= ~SMOD0;             /* SMOD0=0, 帧格式8位数据 */
+
+    /* 使能接收中断 */
+    ES = 1;
+    RI = 0;
+}
+
+/* UART1 中断服务 */
+void UART1_Interrupt(void) __interrupt(4) {
+    if (RI) {
+        RI = 0;
+        uint8_t dat = SBUF;
+
+        if (out_mode == OUT_MODE_CRFS) {
+            /* CRFS 模式: 接收飞控发来的 CRSF 帧并缓存转发 */
+            if (dat == 0xEE) {
+                /* CRSF 帧起始 */
+                crfs_forward_len = 0;
+                crfs_forward_buf[crfs_forward_len++] = dat;
+            } else if (crfs_forward_len > 0 && crfs_forward_len < sizeof(crfs_forward_buf)) {
+                crfs_forward_buf[crfs_forward_len++] = dat;
+                /* 如果收到完整帧 (根据长度字段), 标记为待转发 */
+                if (crfs_forward_len >= 3) {
+                    uint8_t frame_len = crfs_forward_buf[1] + 2;  /* type+payload+crc = length field */
+                    if (crfs_forward_len >= frame_len) {
+                        /* 完整帧已收到, 保持缓存, 主循环会处理转发 */
+                    }
+                }
+            }
+        } else {
+            /* 命令接收: 回车/换行结束 */
+            if (dat == '\r' || dat == '\n') {
+                if (uart_rx_idx > 0) {
+                    uart_rx_buf[uart_rx_idx] = '\0';
+                    uart_cmd_ready = 1;
+                }
+                uart_rx_idx = 0;
+            } else {
+                if (uart_rx_idx < UART_BUF_SIZE - 1) {
+                    uart_rx_buf[uart_rx_idx++] = dat;
+                }
+            }
+        }
+    }
+    if (TI) {
+        TI = 0;
+    }
+}
+
+static void UART1_SendByte(uint8_t dat) {
+    SBUF = dat;
+    while (!TI);
+    TI = 0;
+}
+
+static void UART1_SendString(const char *s) {
+    while (*s) {
+        UART1_SendByte((uint8_t)(*s++));
+    }
+}
+
+static void UART1_SendStringLen(const char *s, uint8_t len) {
+    for (uint8_t i = 0; i < len; i++) {
+        UART1_SendByte((uint8_t)s[i]);
+    }
+}