TuxMonkey/bf_original_balance_chassis
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更新了部分文档，提升了遥控器解析的可读性，增加了dji电机守护线程，修复裁判系统未初始化导致任务超时

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This commit is contained in:
NeoZng
2023-06-08 15:53:53 +08:00
parent 72884ef96b
commit 12796f8e70
16 changed files with 119 additions and 117 deletions
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72
modules/remote/remote_control.c
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@@ -5,8 +5,8 @@
#include "stdlib.h"
#include "daemon.h"
#define RC_MOUSE_SMOOTH_COEF 0.9 // 鼠标平滑滤波器的阶数
#define REMOTE_CONTROL_FRAME_SIZE 18u // 遥控器接收的buffer大小
// 遥控器数据
static RC_ctrl_t rc_ctrl[2]; //[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
@@ -14,6 +14,7 @@ static uint8_t rc_init_flag = 0; // 遥控器初始化标志位
// 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
*
@@ -21,22 +22,17 @@ static DaemonInstance *rc_daemon_instance;
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;
}
}
/**
* @brief remote control protocol resolution
* @param[in] sbus_buf: raw data point
* @param[out] rc_ctrl: remote control data struct point
* @retval none
* @brief 遥控器数据解析
*
* @param sbus_buf 接收buffer
*/
static void 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
@@ -49,56 +45,45 @@ static void sbus_to_rc(const uint8_t *sbus_buf)
rc_ctrl[TEMP].rc.switch_left = ((sbus_buf[5] >> 4) & 0x000C) >> 2; //!< Switch left
// 鼠标解析
rc_ctrl[TEMP].mouse.x = (float)(sbus_buf[6] | (sbus_buf[7] << 8))*RC_MOUSE_SMOOTH_COEF + (1-RC_MOUSE_SMOOTH_COEF)*(float)(rc_ctrl[LAST].mouse.x); //!< Mouse X axis
rc_ctrl[TEMP].mouse.y = (float)(sbus_buf[8] | (sbus_buf[9] << 8))*RC_MOUSE_SMOOTH_COEF + (1-RC_MOUSE_SMOOTH_COEF)*(float)(rc_ctrl[TEMP].mouse.y); //!< Mouse Y axis
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. 尚未测试
// 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)
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)
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));
for (uint32_t i = 0, j = 0x1; i < 16; j <<= 1, i++)
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 (((*(uint16_t *)&rc_ctrl[TEMP].key[KEY_PRESS] & j) == j) && ((*(uint16_t *)&rc_ctrl[1].key[KEY_PRESS] & j) == 0) && ((*(uint16_t *)&rc_ctrl[TEMP].key[KEY_PRESS_WITH_CTRL] & j) != j) && ((*(uint16_t *)&rc_ctrl[TEMP].key[KEY_PRESS_WITH_SHIFT] & j) != j))
{
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]++;
if (rc_ctrl[TEMP].key_count[KEY_PRESS][i] >= 240)
{
rc_ctrl[TEMP].key_count[KEY_PRESS][i] = 0;
}
}
if (((*(uint16_t *)&rc_ctrl[TEMP].key[KEY_PRESS_WITH_CTRL] & j) == j) && ((*(uint16_t *)&rc_ctrl[1].key[KEY_PRESS_WITH_CTRL] & j) == 0))
{
// 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]++;
if (rc_ctrl[TEMP].key_count[KEY_PRESS_WITH_CTRL][i] >= 240)
{
rc_ctrl[TEMP].key_count[KEY_PRESS_WITH_CTRL][i] = 0;
}
}
if (((*(uint16_t *)&rc_ctrl[TEMP].key[KEY_PRESS_WITH_SHIFT] & j) == j) && ((*(uint16_t *)&rc_ctrl[1].key[KEY_PRESS_WITH_SHIFT] & j) == 0))
{
// 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]++;
if (rc_ctrl[TEMP].key_count[KEY_PRESS_WITH_SHIFT][i] >= 240)
{
rc_ctrl[TEMP].key_count[KEY_PRESS_WITH_SHIFT][i] = 0;
}
}
}
memcpy(&rc_ctrl[1], &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
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
}
/**
@@ -117,6 +102,7 @@ static void RemoteControlRxCallback()
*/
static void RCLostCallback(void *id)
{
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
}
@@ -137,7 +123,7 @@ RC_ctrl_t *RemoteControlInit(UART_HandleTypeDef *rc_usart_handle)
rc_daemon_instance = DaemonRegister(&daemon_conf);
rc_init_flag = 1;
return (RC_ctrl_t *)&rc_ctrl;
return rc_ctrl;
}
uint8_t RemoteControlIsOnline()