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更新了一些代码

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admin
2026-06-29 02:29:16 +08:00
parent 2d25f6bb06
commit ef3601f9e8
12 changed files with 354 additions and 110 deletions
Download Patch File Download Diff File Expand all files Collapse all files
rx/STC8H-cn.pdf → STC8H-cn.pdf
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rx/src/STC8_SDCC.H → rx/STC8_SDCC.H
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rx/config.h
+31 -6
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@@ -1,5 +1,4 @@
#include "STC8_SDCC.H"
#include <string.h>
/* ========================================================================
* 系统常量
@@ -30,10 +29,41 @@
#define CONNECTED 2 /* 常亮 - 已连接 */
#define NRF_ERROR 4 /* 双闪 - NRF硬件错误 */
/* UART运行模式 */
#define UART_UART 0
#define UART_SBUS 1
#define UART_CRFS 2
/* ========================================================================
* 全局变量
* ======================================================================== */
// 配置信息
struct CONFIG
{
// 运行模式
uint8 runModel;
// nrf24使用的通道
uint8 nrf_ch;
// nrf24使用的对频短语
uint8 nrf_bindphr[6];
// nrf24地址，40位
uint8 nrf_addr[5];
// 对频标志
uint8 tx_magic;
// 记录的发射机地址
uint8 tx_addr[5];
} config;
// nrf24l01接收的数据
struct RFDATA
{
// nrf24l01一次性接收32byte数据
uint8 RefreshRate;
uint16 CH[15];
uint8 end;
} RF_Data;
// 系统滴答定时器计数 (用于LED闪烁)
static uint8 sys_tick = 0;
@@ -68,11 +98,6 @@ static uint8_t telem_rate_hz = 2; /* 回传频率 1-10Hz, 默认2Hz */
static uint8_t __xdata crfs_forward_buf[24];
static uint8_t crfs_forward_len = 0;
/* UART 接收缓冲 (放在 xdata) */
static uint8_t __xdata uart_rx_buf[UART_BUF_SIZE];
static uint8_t uart_rx_idx = 0;
static volatile uint8_t uart_cmd_ready = 0;
/* 定时器计数 (用于LED闪烁) */
static volatile uint16_t sys_tick = 0;
rx/main.c
+6
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@@ -150,6 +150,12 @@ void SystemInit() {
SPSTAT = 0xC0;
// 3. (可选) 使能SPI中断
// IE2 |= ESPI;
// ADC_Init()
ADCCFG = ADC_RESFMT; /* 右对齐, 12位结果 */
ADC_CONTR = ADC_POWER; /* 开启ADC电源 */
/* 选择通道11 (P3.3) */
ADC_CONTR = (ADC_CONTR & 0xF0) | 0x0B;
}
void PWMBInit() {
// 1. 使能访问扩展特殊功能寄存器 (XFR)
rx/src/nrf24.c → rx/nrf24.c
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rx/src/nrf24.h → rx/nrf24.h
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rx/src/uart.c
-65
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@@ -1,65 +0,0 @@
#include "uart.h"
/* ========================================================================
* UART1 - 串口通信 (使用Timer2做波特率发生器)
* ======================================================================== */
/* 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]);
}
}
rx/src/uart.h
-27
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@@ -1,27 +0,0 @@
# ifndef CONFIG
# define CONFIG
# include "CONFIG.h"
# endif
/*
uart初始化，
uart发送，
uart接收，
uart命令解析，
uart命令响应，
uart接收缓冲区，
uart发送缓冲区，
uart接收索引，
uart命令就绪标志，
uart中断服务程序，
uart波特率设置
*/
void UART1_Init(void);
void UART1_Interrupt(void) __interrupt(4);
void UART1_Send(void);
void UART1_Receive(void);
void UART1_ParseCommand(void);
void UART1_Response(void);
void UART1_SetBaudRate(void);
rx/test.ihx
-12
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@@ -1,12 +0,0 @@
:03000000020006F5
:03005F0002000399
:0300030002006296
:0700620075B20075B1002228
:06003500E478FFF6D8FD9F
:200013007900E94400601B7A0090006D780175A000E493F2A308B8000205A0D9F4DAF27526
:02003300A0FF2C
:20003B007800E84400600A790175A000E4F309D8FC7800E84400600C7900900001E4F0A3C3
:04005B00D8FCD9FAFA
:0D000600758107120069E5826003020003A6
:04006900758200227A
:00000001FF
rx/uart.c
+250
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@@ -0,0 +1,250 @@
#include "uart.h"
/* ========================================================================
* UART1 - 串口通信 (使用Timer2做波特率发生器)
* ========================================================================
# 串口驱动，需要包含以下内容
* UART模式，波特率115200
* 数据解析，命令表：
模式切换 MODEL(UART | SBUS | CRFS)
模块地址 ADDR(0x00 00 00 00 00)
对频短语 PHRASE(xxxxxx)
切换频道 TUN(40)
清除信息 DEL(DATA)
* SBUS模式，波特率100000
* CRFS模式，波特率420000，功能占位，暂不实现
*/
static void Cmd_Parse(void) {
if (!uart_cmd_ready) return;
uart_cmd_ready = 0;
char *cmd = (char *)uart_rx_buf;
/* MODEL(SBUS) - 切换到SBUS模式 */
if (strcmp(cmd, "MODEL(SBUS)") == 0) {
out_mode = OUT_MODE_SBUS;
SBUS_Init();
Cmd_Respond("OK");
return;
}
/* MODEL(PWM) - 切换到PWM模式 */
if (strcmp(cmd, "MODEL(PWM)") == 0) {
out_mode = OUT_MODE_PWM;
/* 重新初始化UART1为115200 */
UART1_Init();
Cmd_Respond("OK");
return;
}
/* MODEL(UART) - 切换到UART模式 (占位) */
if (strcmp(cmd, "MODEL(UART)") == 0) {
out_mode = OUT_MODE_UART;
UART1_Init();
Cmd_Respond("OK");
return;
}
/* MODEL(CRFS) - 切换到CRFS/CRSF输出模式 */
if (strcmp(cmd, "MODEL(CRFS)") == 0) {
out_mode = OUT_MODE_CRFS;
CRFS_Init();
Cmd_Respond("OK");
return;
}
/* ADDR(0xHH HH HH HH HH) - 切换NRF24L01地址 */
if (cmd[0] == 'A' && cmd[1] == 'D' && cmd[2] == 'D' && cmd[3] == 'R') {
/* 解析: ADDR(0xHH HH HH HH HH) */
static uint8_t __xdata new_addr[NRF_ADDR_WIDTH];
uint8_t ok = 1;
char *p = cmd + 5; /* 跳过 "ADDR(" */
for (uint8_t i = 0; i < NRF_ADDR_WIDTH; i++) {
/* 跳过 "0x" */
if (*p == '0' && (*(p+1) == 'x' || *(p+1) == 'X')) p += 2;
/* 跳过空格 */
while (*p == ' ') p++;
/* 解析两位十六进制 */
uint8_t hi = 0, lo = 0;
if (*p >= '0' && *p <= '9') hi = *p - '0';
else if (*p >= 'A' && *p <= 'F') hi = *p - 'A' + 10;
else if (*p >= 'a' && *p <= 'f') hi = *p - 'a' + 10;
else { ok = 0; break; }
p++;
if (*p >= '0' && *p <= '9') lo = *p - '0';
else if (*p >= 'A' && *p <= 'F') lo = *p - 'A' + 10;
else if (*p >= 'a' && *p <= 'f') lo = *p - 'a' + 10;
else { ok = 0; break; }
p++;
new_addr[i] = (hi << 4) | lo;
}
if (ok) {
for (uint8_t i = 0; i < NRF_ADDR_WIDTH; i++)
tx_addr[i] = new_addr[i];
NRF24L01_WriteBuf(NRF_TX_ADDR, tx_addr, NRF_ADDR_WIDTH);
NRF24L01_WriteBuf(NRF_RX_ADDR_P0, tx_addr, NRF_ADDR_WIDTH);
Cmd_Respond("OK");
} else {
Cmd_Respond("ERR_ADDR");
}
return;
}
/* TUN(N) - 切换RF频道 */
if (cmd[0] == 'T' && cmd[1] == 'U' && cmd[2] == 'N') {
uint8_t ch = 0;
char *p = cmd + 4; /* 跳过 "TUN(" */
while (*p >= '0' && *p <= '9') {
ch = ch * 10 + (*p - '0');
p++;
}
if (ch <= NRF_MAX_CHANNEL) {
NRF24L01_SetChannel(ch);
Cmd_Respond("OK");
} else {
Cmd_Respond("ERR_RANGE");
}
return;
}
/* DEL(BIND) - 清除对频信息 */
if (strcmp(cmd, "DEL(BIND)") == 0) {
/* 擦除EEPROM中的对频标志 */
IAP_EraseSector(0x0000);
IAP_WriteByte(EEPROM_ADDR_BIND_FLAG, 0x00);
rx_state = RX_STATE_BINDING;
NRF_EnterBindMode();
Cmd_Respond("OK");
return;
}
/* PHRASE(xxxxxx) - 设置对频短语, 1~6位字母数字 */
if (cmd[0] == 'P' && cmd[1] == 'H' && cmd[2] == 'R' && cmd[3] == 'A'
&& cmd[4] == 'S' && cmd[5] == 'E') {
uint8_t i;
char *p = cmd + 7; /* 跳过 "PHRASE(" */
/* 计算短语长度 (直到 ')' 或结束) */
uint8_t len = 0;
while (p[len] && p[len] != ')' && len < RF_PHRASE_LEN) {
char c = p[len];
/* 只允许字母和数字 */
if (!((c >= '0' && c <= '9') ||
(c >= 'A' && c <= 'Z') ||
(c >= 'a' && c <= 'z'))) {
Cmd_Respond("ERR");
return;
}
len++;
}
if (len < 1 || len > RF_PHRASE_LEN) {
Cmd_Respond("ERR_RANGE");
return;
}
/* 复制新短语 */
for (i = 0; i < len; i++)
bind_phrase[i] = (uint8_t)p[i];
/* 剩余部分用空格填充 */
for (i = len; i < RF_PHRASE_LEN; i++)
bind_phrase[i] = ' ';
/* 保存到EEPROM */
IAP_EraseSector(0x0000);
IAP_WriteByte(EEPROM_ADDR_BIND_FLAG, EEPROM_BIND_MAGIC);
for (i = 0; i < NRF_ADDR_WIDTH; i++)
IAP_WriteByte(EEPROM_ADDR_TX_ADDR + i, tx_addr[i]);
IAP_WriteByte(EEPROM_ADDR_RF_CH, rf_channel);
for (i = 0; i < RF_PHRASE_LEN; i++)
IAP_WriteByte(EEPROM_ADDR_BIND_PHRASE + i, bind_phrase[i]);
/* 重新初始化NRF以使用新短语 */
NRF24L01_Init();
NRF24L01_RXMode();
Cmd_Respond("OK");
return;
}
/* TELEM(N) - 设置回传频率 1~10Hz */
if (cmd[0] == 'T' && cmd[1] == 'E' && cmd[2] == 'L' && cmd[3] == 'E'
&& cmd[4] == 'M') {
uint8_t hz = 0;
char *p = cmd + 6; /* 跳过 "TELEM(" */
while (*p >= '0' && *p <= '9') {
hz = hz * 10 + (*p - '0');
p++;
}
if (hz >= 1 && hz <= 10) {
telem_rate_hz = hz;
Cmd_Respond("OK");
} else {
Cmd_Respond("ERR_RANGE");
}
return;
}
/* 未知命令 */
Cmd_Respond("UNK");
}
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]);
}
}
static void SBUS_Init(void) {
/* 切换到 SBUS 波特率 100kbps */
/* 100000 @ 24MHz: T2 reload = 65536 - 60 = 0xFFC4 */
T2H = 0xFF;
T2L = 0xC4;
AUXR |= T2x12;
AUXR |= T2R;
/* 8E2: 8数据位, 偶校验, 2停止位 */
PCON |= SMOD0; /* SMOD0=1, 帧格式由SM2控制 */
SCON &= ~0x0E; /* 清除SM2, TB8 */
/* 注意: 对于SBUS, 标准是8E2, 但这里通过三极管反相,
* 所以实际发送的是反相SBUS信号 */
}
/* UART1 中断服务 */
void UART1_Interrupt(void) __interrupt(4) {
if (RI) {
RI = 0;
uint8_t dat = SBUF;
if (config.runModel == UART_CRFS) {
/* CRFS 模式: 接收飞控发来的 CRSF 帧并缓存转发 */
// 占位，暂不实现
} 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;
}
}
rx/uart.h
+67
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@@ -0,0 +1,67 @@
# ifndef CONFIG
# define CONFIG
# include "config.h"
# endif
/* UART 接收缓冲 (放在 xdata) */
static uint8 __xdata uart_rx_buf[UART_BUF_SIZE];
static uint8 uart_rx_idx = 0;
static bool uart_cmd_ready = 0;
/*
uart初始化，
uart发送，
uart接收，
uart命令解析，
uart命令响应，
uart接收缓冲区，
uart发送缓冲区，
uart接收索引，
uart命令就绪标志，
uart中断服务程序，
uart波特率设置
*/
void UART1_Init(void);
void UART1_Interrupt(void) __interrupt(4);
void UART1_Send(void);
void UART1_Receive(void);
void UART1_ParseCommand(void);
void UART1_Response(void);
void UART1_SetBaudRate(void);
0x00, 0xD5, 0x7F, 0xAA, 0xFE, 0x2B, 0x81, 0x54,
0x29, 0xFC, 0x56, 0x83, 0xD7, 0x02, 0xA8, 0x7D,
0x52, 0x87, 0x2D, 0xF8, 0xAC, 0x79, 0xD3, 0x06,
0x7B, 0xAE, 0x04, 0xD1, 0x85, 0x50, 0xFA, 0x2F,
0xA4, 0x71, 0xDB, 0x0E, 0x5A, 0x8F, 0x25, 0xF0,
0x8D, 0x58, 0xF2, 0x27, 0x73, 0xA6, 0x0C, 0xD9,
0xF6, 0x23, 0x89, 0x5C, 0x08, 0xDD, 0x77, 0xA2,
0xDF, 0x0A, 0xA0, 0x75, 0x21, 0xF4, 0x5E, 0x8B,
0x9D, 0x48, 0xE2, 0x37, 0x63, 0xB6, 0x1C, 0xC9,
0xB4, 0x61, 0xCB, 0x1E, 0x4A, 0x9F, 0x35, 0xE0,
0xCF, 0x1A, 0xB0, 0x65, 0x31, 0xE4, 0x4E, 0x9B,
0xE6, 0x33, 0x99, 0x4C, 0x18, 0xCD, 0x67, 0xB2,
0x39, 0xEC, 0x46, 0x93, 0xC7, 0x12, 0xB8, 0x6D,
0x10, 0xC5, 0x6F, 0xBA, 0xEE, 0x3B, 0x91, 0x44,
0x6B, 0xBE, 0x14, 0xC1, 0x95, 0x40, 0xEA, 0x3F,
0x42, 0x97, 0x3D, 0xE8, 0xBC, 0x69, 0xC3, 0x16,
0xEF, 0x3A, 0x90, 0x45, 0x11, 0xC4, 0x6E, 0xBB,
0xC6, 0x13, 0xB9, 0x6C, 0x38, 0xED, 0x47, 0x92,
0xBD, 0x68, 0xC2, 0x17, 0x43, 0x96, 0x3C, 0xE9,
0x94, 0x41, 0xEB, 0x3E, 0x6A, 0xBF, 0x15, 0xC0,
0x4B, 0x9E, 0x34, 0xE1, 0xB5, 0x60, 0xCA, 0x1F,
0x62, 0xB7, 0x1D, 0xC8, 0x9C, 0x49, 0xE3, 0x36,
0x19, 0xCC, 0x66, 0xB3, 0xE7, 0x32, 0x98, 0x4D,
0x30, 0xE5, 0x4F, 0x9A, 0xCE, 0x1B, 0xB1, 0x64,
0x72, 0xA7, 0x0D, 0xD8, 0x8C, 0x59, 0xF3, 0x26,
0x5B, 0x8E, 0x24, 0xF1, 0xA5, 0x70, 0xDA, 0x0F,
0x20, 0xF5, 0x5F, 0x8A, 0xDE, 0x0B, 0xA1, 0x74,
0x09, 0xDC, 0x76, 0xA3, 0xF7, 0x22, 0x88, 0x5D,
0xD6, 0x03, 0xA9, 0x7C, 0x28, 0xFD, 0x57, 0x82,
0xFF, 0x2A, 0x80, 0x55, 0x01, 0xD4, 0x7E, 0xAB,
0x84, 0x51, 0xFB, 0x2E, 0x7A, 0xAF, 0x05, 0xD0,
0xAD, 0x78, 0xD2, 0x07, 0x53, 0x86, 0x2C, 0xF9
};
rx/操作指南.pdf → 接收机操作指南.pdf
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