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增加了遥控器控制,待测试

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This commit is contained in:
NeoZng
2022-12-07 21:56:34 +08:00
parent 3eba5b1c07
commit 2dd39f9815
6 changed files with 95 additions and 40 deletions
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16
modules/remote/remote.md
View File

@@ -67,4 +67,18 @@ remote_control
* Bit14:V键 *
* Bit15:B键 *
**************************************************************/
```
```
拨轮向下打到底进入紧急停止模式;拨轮向上打开启摩擦轮,超过一半开始发射(速度环,连发)
左侧开关:
- 上:键鼠控制
- 中:视觉控制(没有识别到目标的时候仍然可以使用遥控器控制云台)
- 下:遥控器控制
右侧开关:
- 上:弹舱开
- 中:底盘云台分离(底盘不旋转,全向移动)
- 下:底盘跟随云台

37
modules/remote/remote_control.c
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@@ -19,14 +19,14 @@ static void sbus_to_rc(volatile const uint8_t *sbus_buf)
{
memcpy(&rc_ctrl[1], &rc_ctrl[0], sizeof(RC_ctrl_t)); // 保存上一次的数据
// 摇杆
rc_ctrl[0].joy_stick.ch[0] = (sbus_buf[0] | (sbus_buf[1] << 8)) & 0x07ff; //!< Channel 0
rc_ctrl[0].joy_stick.ch[1] = ((sbus_buf[1] >> 3) | (sbus_buf[2] << 5)) & 0x07ff; //!< Channel 1
rc_ctrl[0].joy_stick.ch[2] = ((sbus_buf[2] >> 6) | (sbus_buf[3] << 2) | (sbus_buf[4] << 10)) & 0x07ff; //!< Channel 2
rc_ctrl[0].joy_stick.ch[3] = ((sbus_buf[4] >> 1) | (sbus_buf[5] << 7)) & 0x07ff; //!< Channel 3
rc_ctrl[0].joy_stick.ch[4] = sbus_buf[16] | (sbus_buf[17] << 8); // 拨轮
rc_ctrl[0].rc.joystick[0] = (sbus_buf[0] | (sbus_buf[1] << 8)) & 0x07ff; //!< Channel 0
rc_ctrl[0].rc.joystick[1] = ((sbus_buf[1] >> 3) | (sbus_buf[2] << 5)) & 0x07ff; //!< Channel 1
rc_ctrl[0].rc.joystick[2] = ((sbus_buf[2] >> 6) | (sbus_buf[3] << 2) | (sbus_buf[4] << 10)) & 0x07ff; //!< Channel 2
rc_ctrl[0].rc.joystick[3] = ((sbus_buf[4] >> 1) | (sbus_buf[5] << 7)) & 0x07ff; //!< Channel 3
rc_ctrl[0].rc.joystick[4] = sbus_buf[16] | (sbus_buf[17] << 8); // 拨轮
// 开关,0左1右
rc_ctrl[0].joy_stick.s[0] = ((sbus_buf[5] >> 4) & 0x0003); //!< Switch left
rc_ctrl[0].joy_stick.s[1] = ((sbus_buf[5] >> 4) & 0x000C) >> 2; //!< Switch right
rc_ctrl[0].rc.s[0] = ((sbus_buf[5] >> 4) & 0x0003); //!< Switch left
rc_ctrl[0].rc.s[1] = ((sbus_buf[5] >> 4) & 0x000C) >> 2; //!< Switch right
// 鼠标解析
rc_ctrl[0].mouse.x = sbus_buf[6] | (sbus_buf[7] << 8); //!< Mouse X axis
@@ -55,20 +55,19 @@ static void sbus_to_rc(volatile const uint8_t *sbus_buf)
}
// 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
*(uint16_t*)&rc_ctrl[0].key_test[KEY_PRESS]= (uint16_t)(sbus_buf[14] | (sbus_buf[15] << 8));
*(uint16_t*)&rc_ctrl[0].key_test[KEY_STATE]=*(uint16_t*)&rc_ctrl[0].key_test[KEY_PRESS] & ~(*(uint16_t*)&(rc_ctrl[1].key_test[KEY_PRESS]));
if(rc_ctrl[0].key_test[KEY_PRESS].ctrl)
rc_ctrl[0].key_test[KEY_PRESS_WITH_CTRL]=rc_ctrl[0].key_test[KEY_PRESS];
if(rc_ctrl[0].key_test[KEY_PRESS].shift)
rc_ctrl[0].key_test[Key_Shift]=rc_ctrl[0].key_test[KEY_PRESS];
*(uint16_t *)&rc_ctrl[0].key_test[KEY_PRESS] = (uint16_t)(sbus_buf[14] | (sbus_buf[15] << 8));
*(uint16_t *)&rc_ctrl[0].key_test[KEY_STATE] = *(uint16_t *)&rc_ctrl[0].key_test[KEY_PRESS] & ~(*(uint16_t *)&(rc_ctrl[1].key_test[KEY_PRESS]));
if (rc_ctrl[0].key_test[KEY_PRESS].ctrl)
rc_ctrl[0].key_test[KEY_PRESS_WITH_CTRL] = rc_ctrl[0].key_test[KEY_PRESS];
if (rc_ctrl[0].key_test[KEY_PRESS].shift)
rc_ctrl[0].key_test[Key_Shift] = rc_ctrl[0].key_test[KEY_PRESS];
// 减去偏置值
rc_ctrl[0].joy_stick.ch[0] -= RC_CH_VALUE_OFFSET;
rc_ctrl[0].joy_stick.ch[1] -= RC_CH_VALUE_OFFSET;
rc_ctrl[0].joy_stick.ch[2] -= RC_CH_VALUE_OFFSET;
rc_ctrl[0].joy_stick.ch[3] -= RC_CH_VALUE_OFFSET;
rc_ctrl[0].joy_stick.ch[4] -= RC_CH_VALUE_OFFSET;
rc_ctrl[0].rc.joystick[0] -= RC_CH_VALUE_OFFSET;
rc_ctrl[0].rc.joystick[1] -= RC_CH_VALUE_OFFSET;
rc_ctrl[0].rc.joystick[2] -= RC_CH_VALUE_OFFSET;
rc_ctrl[0].rc.joystick[3] -= RC_CH_VALUE_OFFSET;
rc_ctrl[0].rc.joystick[4] -= RC_CH_VALUE_OFFSET;
}
/**

4
modules/remote/remote_control.h
View File

@@ -80,9 +80,9 @@ typedef struct
{
struct
{
int16_t ch[5]; // 右|0 ,右-1 ,左-2 ,左|3 ,拨轮4
int16_t joystick[5]; // 右|0 ,右-1 ,左-2 ,左|3 ,拨轮4
uint8_t s[2]; //[0]:left [1]:right
} joy_stick;
} rc;
struct
{
int16_t x;