bf_original_balance_chassis/modules/remote/remote_control.c

#include "remote_control.h"
#include "string.h"
#include "bsp_usart.h"
#include "memory.h"
#include "stdlib.h"
#include "daemon.h"
#include "bsp_log.h"

#ifdef REMOTE_FS_I6
#define REMOTE_CONTROL_FRAME_SIZE 25u
#define SBUS_HEAD 0x0Fu
#define SBUS_END 0x00u
#define SBUS_FLAG_FRAME_LOST (1u << 2)
#define SBUS_FLAG_FAILSAFE (1u << 3)
#define FSI6_CHANNEL_VALID_MIN 172u
#define FSI6_CHANNEL_VALID_MAX 1811u
#define FSI6_SWITCH_UP_MAX 700u
#define FSI6_SWITCH_DOWN_MIN 1350u
#else
#define REMOTE_CONTROL_FRAME_SIZE 18u
#endif

// 遥控器数据
static RC_ctrl_t rc_ctrl[2] = {0};     //[0]:当前数据TEMP,[1]:上一次的数据LAST.用于按键持续按下和切换的判断
static uint8_t rc_init_flag = 0; // 遥控器初始化标志位
static uint8_t rc_data_valid = 0;

// 遥控器拥有的串口实例,因为遥控器是单例,所以这里只有一个,就不封装了
static USARTInstance *rc_usart_instance;
static DaemonInstance *rc_daemon_instance;

/**
 * @brief 矫正遥控器摇杆的值,超过660或者小于-660的值都认为是无效值,置0
 *
 */
#ifdef REMOTE_DJI_DT7
static void RectifyRCjoystick()
{
    for (uint8_t i = 0; i < 5; ++i)
        if (abs(*(&rc_ctrl[TEMP].rc.rocker_l_ + i)) > 660)
            *(&rc_ctrl[TEMP].rc.rocker_l_ + i) = 0;
}
#endif

/**
 * @brief 遥控器数据解析
 *
 * @param sbus_buf 接收buffer
 */
#ifdef REMOTE_DJI_DT7
static uint8_t sbus_to_rc(const uint8_t *sbus_buf)
{
    // 摇杆,直接解算时减去偏置
    rc_ctrl[TEMP].rc.rocker_r_ = ((sbus_buf[0] | (sbus_buf[1] << 8)) & 0x07ff) - RC_CH_VALUE_OFFSET;                              //!< Channel 0
    rc_ctrl[TEMP].rc.rocker_r1 = (((sbus_buf[1] >> 3) | (sbus_buf[2] << 5)) & 0x07ff) - RC_CH_VALUE_OFFSET;                       //!< Channel 1
    rc_ctrl[TEMP].rc.rocker_l_ = (((sbus_buf[2] >> 6) | (sbus_buf[3] << 2) | (sbus_buf[4] << 10)) & 0x07ff) - RC_CH_VALUE_OFFSET; //!< Channel 2
    rc_ctrl[TEMP].rc.rocker_l1 = (((sbus_buf[4] >> 1) | (sbus_buf[5] << 7)) & 0x07ff) - RC_CH_VALUE_OFFSET;                       //!< Channel 3
    rc_ctrl[TEMP].rc.dial = ((sbus_buf[16] | (sbus_buf[17] << 8)) & 0x07FF) - RC_CH_VALUE_OFFSET;                                 // 左侧拨轮
    RectifyRCjoystick();
    // 开关,0左1右
    rc_ctrl[TEMP].rc.switch_right = ((sbus_buf[5] >> 4) & 0x0003);     //!< Switch right
    rc_ctrl[TEMP].rc.switch_left = ((sbus_buf[5] >> 4) & 0x000C) >> 2; //!< Switch left

    // 鼠标解析
    rc_ctrl[TEMP].mouse.x = (sbus_buf[6] | (sbus_buf[7] << 8)); //!< Mouse X axis
    rc_ctrl[TEMP].mouse.y = (sbus_buf[8] | (sbus_buf[9] << 8)); //!< Mouse Y axis
    rc_ctrl[TEMP].mouse.press_l = sbus_buf[12];                 //!< Mouse Left Is Press ?
    rc_ctrl[TEMP].mouse.press_r = sbus_buf[13];                 //!< Mouse Right Is Press ?

    //  位域的按键值解算,直接memcpy即可,注意小端低字节在前,即lsb在第一位,msb在最后
    *(uint16_t *)&rc_ctrl[TEMP].key[KEY_PRESS] = (uint16_t)(sbus_buf[14] | (sbus_buf[15] << 8));
    if (rc_ctrl[TEMP].key[KEY_PRESS].ctrl) // ctrl键按下
        rc_ctrl[TEMP].key[KEY_PRESS_WITH_CTRL] = rc_ctrl[TEMP].key[KEY_PRESS];
    else
        memset(&rc_ctrl[TEMP].key[KEY_PRESS_WITH_CTRL], 0, sizeof(Key_t));
    if (rc_ctrl[TEMP].key[KEY_PRESS].shift) // shift键按下
        rc_ctrl[TEMP].key[KEY_PRESS_WITH_SHIFT] = rc_ctrl[TEMP].key[KEY_PRESS];
    else
        memset(&rc_ctrl[TEMP].key[KEY_PRESS_WITH_SHIFT], 0, sizeof(Key_t));

    uint16_t key_now = rc_ctrl[TEMP].key[KEY_PRESS].keys,                   // 当前按键是否按下
        key_last = rc_ctrl[LAST].key[KEY_PRESS].keys,                       // 上一次按键是否按下
        key_with_ctrl = rc_ctrl[TEMP].key[KEY_PRESS_WITH_CTRL].keys,        // 当前ctrl组合键是否按下
        key_with_shift = rc_ctrl[TEMP].key[KEY_PRESS_WITH_SHIFT].keys,      //  当前shift组合键是否按下
        key_last_with_ctrl = rc_ctrl[LAST].key[KEY_PRESS_WITH_CTRL].keys,   // 上一次ctrl组合键是否按下
        key_last_with_shift = rc_ctrl[LAST].key[KEY_PRESS_WITH_SHIFT].keys; // 上一次shift组合键是否按下

    for (uint16_t i = 0, j = 0x1; i < 16; j <<= 1, i++)
    {
        if (i == 4 || i == 5) // 4,5位为ctrl和shift,直接跳过
            continue;
        // 如果当前按键按下,上一次按键没有按下,且ctrl和shift组合键没有按下,则按键按下计数加1(检测到上升沿)
        if ((key_now & j) && !(key_last & j) && !(key_with_ctrl & j) && !(key_with_shift & j))
            rc_ctrl[TEMP].key_count[KEY_PRESS][i]++;
        // 当前ctrl组合键按下,上一次ctrl组合键没有按下,则ctrl组合键按下计数加1(检测到上升沿)
        if ((key_with_ctrl & j) && !(key_last_with_ctrl & j))
            rc_ctrl[TEMP].key_count[KEY_PRESS_WITH_CTRL][i]++;
        // 当前shift组合键按下,上一次shift组合键没有按下,则shift组合键按下计数加1(检测到上升沿)
        if ((key_with_shift & j) && !(key_last_with_shift & j))
            rc_ctrl[TEMP].key_count[KEY_PRESS_WITH_SHIFT][i]++;
    }

    memcpy(&rc_ctrl[LAST], &rc_ctrl[TEMP], sizeof(RC_ctrl_t)); // 保存上一次的数据,用于按键持续按下和切换的判断
    return 1;
}
#endif

#ifdef REMOTE_FS_I6
static uint8_t FSi6EndByteIsValid(uint8_t value)
{
    return value == SBUS_END || value == 0x04u || value == 0x14u ||
           value == 0x24u || value == 0x34u;
}

static uint16_t FSi6DecodeChannel(const uint8_t *sbus_buf, uint8_t channel)
{
    uint16_t bit_index = (uint16_t)channel * 11u;
    uint8_t byte_index = (uint8_t)(1u + bit_index / 8u);
    uint8_t bit_offset = (uint8_t)(bit_index % 8u);
    uint32_t packed = (uint32_t)sbus_buf[byte_index] |
                      ((uint32_t)sbus_buf[byte_index + 1u] << 8u) |
                      ((uint32_t)sbus_buf[byte_index + 2u] << 16u);
    return (uint16_t)((packed >> bit_offset) & 0x07FFu);
}

static int16_t FSi6NormalizeChannel(uint16_t value)
{
    int32_t normalized = ((int32_t)value - (int32_t)RC_CH_VALUE_OFFSET) * 660 / 784;
    if (normalized > 660)
        normalized = 660;
    else if (normalized < -660)
        normalized = -660;
    return (int16_t)normalized;
}

static uint8_t FSi6DecodeSwitch(uint16_t value)
{
    if (value < FSI6_SWITCH_UP_MAX)
        return RC_SW_UP;
    if (value > FSI6_SWITCH_DOWN_MIN)
        return RC_SW_DOWN;
    return RC_SW_MID;
}

static uint8_t sbus_to_rc(const uint8_t *sbus_buf)
{
    if (sbus_buf[0] != SBUS_HEAD || !FSi6EndByteIsValid(sbus_buf[24]) ||
        (sbus_buf[23] & (SBUS_FLAG_FRAME_LOST | SBUS_FLAG_FAILSAFE)) != 0u)
        return 0;

    for (uint8_t i = 0; i < 10u; i++)
    {
        uint16_t value = FSi6DecodeChannel(sbus_buf, i);
        if (value < FSI6_CHANNEL_VALID_MIN || value > FSI6_CHANNEL_VALID_MAX)
            return 0;
        rc_ctrl[TEMP].rc.ch[i] = value;
    }

    /* Keep the app-facing layout compatible with DT7 control semantics. */
    rc_ctrl[TEMP].rc.rocker_l_ = FSi6NormalizeChannel(rc_ctrl[TEMP].rc.ch[0]);
    rc_ctrl[TEMP].rc.rocker_l1 = FSi6NormalizeChannel(rc_ctrl[TEMP].rc.ch[1]);
    rc_ctrl[TEMP].rc.rocker_r1 = FSi6NormalizeChannel(rc_ctrl[TEMP].rc.ch[2]);
    rc_ctrl[TEMP].rc.rocker_r_ = FSi6NormalizeChannel(rc_ctrl[TEMP].rc.ch[3]);
    rc_ctrl[TEMP].rc.dial = FSi6NormalizeChannel(rc_ctrl[TEMP].rc.ch[8]);

    rc_ctrl[TEMP].sw_a = FSi6DecodeSwitch(rc_ctrl[TEMP].rc.ch[4]);
    rc_ctrl[TEMP].sw_b = FSi6DecodeSwitch(rc_ctrl[TEMP].rc.ch[5]);
    rc_ctrl[TEMP].sw_c = FSi6DecodeSwitch(rc_ctrl[TEMP].rc.ch[6]);
    rc_ctrl[TEMP].sw_d = FSi6DecodeSwitch(rc_ctrl[TEMP].rc.ch[7]);

    /* SWC selects the auxiliary app mode; SWD is the rightmost safety switch. */
    rc_ctrl[TEMP].rc.switch_left = rc_ctrl[TEMP].sw_c;
    rc_ctrl[TEMP].rc.switch_right = rc_ctrl[TEMP].sw_d;

    memset(&rc_ctrl[TEMP].mouse, 0, sizeof(rc_ctrl[TEMP].mouse));
    memset(&rc_ctrl[TEMP].key, 0, sizeof(rc_ctrl[TEMP].key));
    memset(&rc_ctrl[TEMP].key_count, 0, sizeof(rc_ctrl[TEMP].key_count));
    memcpy(&rc_ctrl[LAST], &rc_ctrl[TEMP], sizeof(RC_ctrl_t));
    return 1;
}
#endif

/**
 * @brief 对sbus_to_rc的简单封装,用于注册到bsp_usart的回调函数中
 *
 */
static void RemoteControlRxCallback()
{
    if (sbus_to_rc(rc_usart_instance->recv_buff))
    {
        rc_data_valid = 1;
        DaemonReload(rc_daemon_instance);
    }
#ifdef REMOTE_FS_I6
    else
    {
        rc_data_valid = 0;
        memset(rc_ctrl, 0, sizeof(rc_ctrl));
    }
#endif
}

/**
 * @brief 遥控器离线的回调函数,注册到守护进程中,串口掉线时调用
 *
 */
static void RCLostCallback(void *id)
{
    rc_data_valid = 0;
    memset(rc_ctrl, 0, sizeof(rc_ctrl)); // 清空遥控器数据
    USARTServiceInit(rc_usart_instance); // 尝试重新启动接收
    LOGWARNING("[rc] remote control lost");
}

RC_ctrl_t *RemoteControlInit(UART_HandleTypeDef *rc_usart_handle)
{
    USART_Init_Config_s conf;
    conf.module_callback = RemoteControlRxCallback;
    conf.usart_handle = rc_usart_handle;
    conf.recv_buff_size = REMOTE_CONTROL_FRAME_SIZE;
    rc_usart_instance = USARTRegister(&conf);

    // 进行守护进程的注册,用于定时检查遥控器是否正常工作
    Daemon_Init_Config_s daemon_conf = {
        .reload_count = 10, // 100ms未收到数据视为离线,遥控器的接收频率实际上是1000/14Hz(大约70Hz)
        .callback = RCLostCallback,
        .owner_id = NULL, // 只有1个遥控器,不需要owner_id
    };
    rc_daemon_instance = DaemonRegister(&daemon_conf);

    rc_init_flag = 1;
    return rc_ctrl;
}

uint8_t RemoteControlIsOnline()
{
    if (rc_init_flag)
        return rc_data_valid && DaemonIsOnline(rc_daemon_instance);
    return 0;
}