TuxMonkey/bf_original_balance_chassis
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发布beta版本,目前基本功能都可用

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NeoZng
2022-12-11 14:59:45 +08:00
parent 37c23ddb79
commit 78cc27ee1a
19 changed files with 320 additions and 115 deletions
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17
modules/remote/remote_control.c
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@@ -9,6 +9,22 @@ 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;
}
}
/**
* @brief remote control protocol resolution
* @param[in] sbus_buf: raw data point
@@ -24,6 +40,7 @@ static void sbus_to_rc(volatile const uint8_t *sbus_buf)
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
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