TuxMonkey/bf_original_balance_chassis
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完成了LKmotor模块的重构，优化了DJIMotor的反馈计算

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This commit is contained in:
NeoZng
2022-12-11 20:48:24 +08:00
parent 78cc27ee1a
commit 2f41e67de0
15 changed files with 274 additions and 245 deletions
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25
modules/remote/remote_control.c
View File

@@ -9,22 +9,19 @@ static RC_ctrl_t rc_ctrl[2]; //[0]:当前数据,[1]:上一次的数据.用于按
// 遥控器拥有的串口实例
static USARTInstance *rc_usart_instance;
/**
* @brief 矫正遥控器摇杆的值
*
*
*/
static void RectifyRCjoystick()
{
for (uint8_t i = 0; i < 5; i++)
{
if(rc_ctrl[TEMP].rc.joystick[i]>660 || rc_ctrl[TEMP].rc.joystick[i]<-660)
rc_ctrl[TEMP].rc.joystick[i]=0;
if (*(&rc_ctrl[TEMP].rc.rocker_l_+i) > 660 || *(&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
@@ -35,15 +32,15 @@ static void sbus_to_rc(volatile const uint8_t *sbus_buf)
{
memcpy(&rc_ctrl[1], &rc_ctrl[TEMP], sizeof(RC_ctrl_t)); // 保存上一次的数据
// 摇杆,直接解算时减去偏置
rc_ctrl[TEMP].rc.joystick[0] = ((sbus_buf[0] | (sbus_buf[1] << 8)) & 0x07ff)- RC_CH_VALUE_OFFSET ; //!< Channel 0
rc_ctrl[TEMP].rc.joystick[1] = (((sbus_buf[1] >> 3) | (sbus_buf[2] << 5)) & 0x07ff)- RC_CH_VALUE_OFFSET ; //!< Channel 1
rc_ctrl[TEMP].rc.joystick[2] = (((sbus_buf[2] >> 6) | (sbus_buf[3] << 2) | (sbus_buf[4] << 10)) & 0x07ff)- RC_CH_VALUE_OFFSET ; //!< Channel 2
rc_ctrl[TEMP].rc.joystick[3] = (((sbus_buf[4] >> 1) | (sbus_buf[5] << 7)) & 0x07ff)- RC_CH_VALUE_OFFSET ; //!< Channel 3
rc_ctrl[TEMP].rc.joystick[4] = ((sbus_buf[16] | (sbus_buf[17] << 8)) & 0x07FF)- RC_CH_VALUE_OFFSET; // 左侧拨轮
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.s[0] = ((sbus_buf[5] >> 4) & 0x0003); //!< Switch left
rc_ctrl[TEMP].rc.s[1] = ((sbus_buf[5] >> 4) & 0x000C) >> 2; //!< Switch right
rc_ctrl[TEMP].rc.switch_right = ((sbus_buf[5] >> 4) & 0x0003); //!< Switch left
rc_ctrl[TEMP].rc.switch_left = ((sbus_buf[5] >> 4) & 0x000C) >> 2; //!< Switch right
// 鼠标解析
rc_ctrl[TEMP].mouse.x = sbus_buf[6] | (sbus_buf[7] << 8); //!< Mouse X axis
@@ -98,5 +95,5 @@ RC_ctrl_t *RemoteControlInit(UART_HandleTypeDef *rc_usart_handle)
conf.usart_handle = rc_usart_handle;
conf.recv_buff_size = REMOTE_CONTROL_FRAME_SIZE;
rc_usart_instance = USARTRegister(&conf);
return (RC_ctrl_t*)&rc_ctrl;
return (RC_ctrl_t *)&rc_ctrl;
}

18
modules/remote/remote_control.h
View File

@@ -17,7 +17,7 @@
#include "main.h"
#include "usart.h"
//
//
#define LAST 1
#define TEMP 0
@@ -27,7 +27,7 @@
#define KEY_PRESS_WITH_CTRL 2
#define KEY_PRESS_WITH_SHIFT 3
// 检查接受值是否出错
// 检查接收值是否出错
#define RC_CH_VALUE_MIN ((uint16_t)364)
#define RC_CH_VALUE_OFFSET ((uint16_t)1024)
#define RC_CH_VALUE_MAX ((uint16_t)1684)
@@ -87,8 +87,14 @@ typedef struct
{
struct
{
int16_t joystick[5]; // 右|0 ,右-1 ,左-2 ,左|3 ,拨轮4
uint8_t s[2]; //[0]:left [1]:right
int16_t rocker_l_; // 左水平
int16_t rocker_l1; // 左竖直
int16_t rocker_r_; // 右水平
int16_t rocker_r1; // 右竖直
int16_t dial; // 侧边拨轮
uint8_t switch_left; // 左侧开关
uint8_t switch_right; // 右侧开关
} rc;
struct
{
@@ -101,12 +107,10 @@ typedef struct
uint16_t key_temp;
uint8_t key[4][16]; // 当前使用的键盘索引
Key_t key_test[4]; // 改为位域后的键盘索引,空间减少8倍,速度增加16~倍
// Key_t key_test[4]; // 改为位域后的键盘索引,空间减少8倍,速度增加16~倍
} RC_ctrl_t;
/* ------------------------- Internal Data ----------------------------------- */
/**