TuxMonkey/bf_original_balance_chassis
1
0
Fork 0
mirror of https://gitee.com/dlmu-cone/bf_original_balance_chassis synced 2026-07-24 11:37:45 +08:00
Code Issues Packages Projects Releases Wiki Activity

优化了点击pid计算流程，修复了bsp未初始化的异常，修复了数个未定义和隐式声明的警告

Browse Source
This commit is contained in:
NeoZng
2022-12-09 18:25:35 +08:00
parent 02b3af15c7
commit 37c23ddb79
16 changed files with 104 additions and 75 deletions
Download Patch File Download Diff File Expand all files Collapse all files

12
modules/remote/remote_control.c
View File

@@ -19,11 +19,11 @@ 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)) - RC_CH_VALUE_OFFSET; // 左侧拨轮
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
// 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
@@ -81,5 +81,5 @@ 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;
return (RC_ctrl_t*)&rc_ctrl;
}