TuxMonkey/bf_original_balance_chassis
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添加了can的发送超时控制,添加了所有application层的文档和注释

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NeoZng
2023-01-03 22:53:49 +08:00
parent f37d813bcd
commit 48370d4411
16 changed files with 160 additions and 40 deletions
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11
modules/remote/remote_control.c
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@@ -11,7 +11,7 @@ static RC_ctrl_t rc_ctrl[2]; //[0]:当前数据TEMP,[1]:上一次的数据LAST.
static USARTInstance *rc_usart_instance;
/**
* @brief 矫正遥控器摇杆的值
* @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
*
*/
static void RectifyRCjoystick()
@@ -31,7 +31,7 @@ static void RectifyRCjoystick()
*/
static void sbus_to_rc(const uint8_t *sbus_buf)
{
memcpy(&rc_ctrl[1], &rc_ctrl[TEMP], sizeof(RC_ctrl_t)); // 保存上一次的数据
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
// 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
@@ -40,8 +40,8 @@ static void sbus_to_rc(const uint8_t *sbus_buf)
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 left
rc_ctrl[TEMP].rc.switch_left = ((sbus_buf[5] >> 4) & 0x000C) >> 2; //!< Switch right
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
@@ -81,8 +81,7 @@ static void sbus_to_rc(const uint8_t *sbus_buf)
/**
* @brief protocol resolve callback
* this func would be called when usart3 idle interrupt happens
* 对sbus_to_rc的简单封装
*
* 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()
{