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NeoZng
2022-10-20 17:13:02 +08:00
commit 78f85b7fda
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116
modules/remote/remote_control.c Normal file
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#include "remote_control.h"
#include "string.h"
#include "bsp_usart.h"
#define RC_CHANNAL_ERROR_VALUE 700
#define REMOTE_CONTROL_FRAME_SIZE 18u
#define RC_abs(x) (x)>0?(x):(-x)
#define RC_USART_SERVICE_ID 1
//remote control data
static RC_ctrl_t rc_ctrl;
static usart_instance rc_usart_instance;
/**
* @brief remote control protocol resolution
* @param[in] sbus_buf: raw data point
* @param[out] rc_ctrl: remote control data struct point
* @retval none
*/
static void sbus_to_rc(volatile const uint8_t *sbus_buf, RC_ctrl_t *rc_ctrl);
/**
* @brief protocol resolve callback
* this func would be called when usart3 idle interrupt happens
*
*/
static void ReceiveCallback()
{
sbus_to_rc(rc_usart_instance.recv_buff,&rc_ctrl);
}
void RC_init(UART_HandleTypeDef* rc_usart_handle)
{
rc_usart_instance.module_callback=ReceiveCallback;
rc_usart_instance.usart_handle=rc_usart_handle;
rc_usart_instance.recv_buff_size=REMOTE_CONTROL_FRAME_SIZE;
USARTRegister(&rc_usart_instance);
}
const RC_ctrl_t *get_remote_control_point(void)
{
return &rc_ctrl;
}
uint8_t RC_data_is_error(void)
{
if (RC_abs(rc_ctrl.rc.ch[0]) > RC_CHANNAL_ERROR_VALUE)
{
goto error;
}
if (RC_abs(rc_ctrl.rc.ch[1]) > RC_CHANNAL_ERROR_VALUE)
{
goto error;
}
if (RC_abs(rc_ctrl.rc.ch[2]) > RC_CHANNAL_ERROR_VALUE)
{
goto error;
}
if (RC_abs(rc_ctrl.rc.ch[3]) > RC_CHANNAL_ERROR_VALUE)
{
goto error;
}
if (rc_ctrl.rc.s[0] == 0)
{
goto error;
}
if (rc_ctrl.rc.s[1] == 0)
{
goto error;
}
return 0;
error:
rc_ctrl.rc.ch[0] = 0;
rc_ctrl.rc.ch[1] = 0;
rc_ctrl.rc.ch[2] = 0;
rc_ctrl.rc.ch[3] = 0;
rc_ctrl.rc.ch[4] = 0;
rc_ctrl.rc.s[0] = RC_SW_DOWN;
rc_ctrl.rc.s[1] = RC_SW_DOWN;
rc_ctrl.mouse.x = 0;
rc_ctrl.mouse.y = 0;
rc_ctrl.mouse.z = 0;
rc_ctrl.mouse.press_l = 0;
rc_ctrl.mouse.press_r = 0;
rc_ctrl.key.v = 0;
return 1;
}
static void sbus_to_rc(volatile const uint8_t *sbus_buf, RC_ctrl_t *rc_ctrl)
{
if (sbus_buf == NULL || rc_ctrl == NULL)
{
return;
}
rc_ctrl->rc.ch[0] = (sbus_buf[0] | (sbus_buf[1] << 8)) & 0x07ff; //!< Channel 0
rc_ctrl->rc.ch[1] = ((sbus_buf[1] >> 3) | (sbus_buf[2] << 5)) & 0x07ff; //!< Channel 1
rc_ctrl->rc.ch[2] = ((sbus_buf[2] >> 6) | (sbus_buf[3] << 2) | //!< Channel 2
(sbus_buf[4] << 10)) &0x07ff;
rc_ctrl->rc.ch[3] = ((sbus_buf[4] >> 1) | (sbus_buf[5] << 7)) & 0x07ff; //!< Channel 3
rc_ctrl->rc.s[0] = ((sbus_buf[5] >> 4) & 0x0003); //!< Switch left
rc_ctrl->rc.s[1] = ((sbus_buf[5] >> 4) & 0x000C) >> 2; //!< Switch right
rc_ctrl->mouse.x = sbus_buf[6] | (sbus_buf[7] << 8); //!< Mouse X axis
rc_ctrl->mouse.y = sbus_buf[8] | (sbus_buf[9] << 8); //!< Mouse Y axis
rc_ctrl->mouse.z = sbus_buf[10] | (sbus_buf[11] << 8); //!< Mouse Z axis
rc_ctrl->mouse.press_l = sbus_buf[12]; //!< Mouse Left Is Press ?
rc_ctrl->mouse.press_r = sbus_buf[13]; //!< Mouse Right Is Press ?
rc_ctrl->key.v = sbus_buf[14] | (sbus_buf[15] << 8); //!< KeyBoard value
rc_ctrl->rc.ch[4] = sbus_buf[16] | (sbus_buf[17] << 8); //NULL
rc_ctrl->rc.ch[0] -= RC_CH_VALUE_OFFSET;
rc_ctrl->rc.ch[1] -= RC_CH_VALUE_OFFSET;
rc_ctrl->rc.ch[2] -= RC_CH_VALUE_OFFSET;
rc_ctrl->rc.ch[3] -= RC_CH_VALUE_OFFSET;
rc_ctrl->rc.ch[4] -= RC_CH_VALUE_OFFSET;
}

99
modules/remote/remote_control.h Normal file
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/**
****************************(C) COPYRIGHT 2016 DJI****************************
* @file remote_control.c/h
* @brief 遥控器处理，遥控器是通过类似SBUS的协议传输，利用DMA传输方式节约CPU
* 资源，利用串口空闲中断来拉起处理函数，同时提供一些掉线重启DMA，串口
* 的方式保证热插拔的稳定性。
* @note
* @history
* Version Date Author Modification
* V1.0.0 Dec-26-2018 RM 1. done
* V1.0.0 Nov-11-2019 RM 1. support development board tpye c
*
@verbatim
==============================================================================
==============================================================================
@endverbatim
****************************(C) COPYRIGHT 2016 DJI****************************
*/
#ifndef REMOTE_CONTROL_H
#define REMOTE_CONTROL_H
#include "struct_typedef.h"
#include "main.h"
#define RC_CH_VALUE_MIN ((uint16_t)364)
#define RC_CH_VALUE_OFFSET ((uint16_t)1024)
#define RC_CH_VALUE_MAX ((uint16_t)1684)
/* ----------------------- RC Switch Definition----------------------------- */
#define RC_SW_UP ((uint16_t)1)
#define RC_SW_MID ((uint16_t)3)
#define RC_SW_DOWN ((uint16_t)2)
#define switch_is_down(s) (s == RC_SW_DOWN)
#define switch_is_mid(s) (s == RC_SW_MID)
#define switch_is_up(s) (s == RC_SW_UP)
/* ----------------------- PC Key Definition-------------------------------- */
#define KEY_PRESSED_OFFSET_W ((uint16_t)1 << 0)
#define KEY_PRESSED_OFFSET_S ((uint16_t)1 << 1)
#define KEY_PRESSED_OFFSET_A ((uint16_t)1 << 2)
#define KEY_PRESSED_OFFSET_D ((uint16_t)1 << 3)
#define KEY_PRESSED_OFFSET_SHIFT ((uint16_t)1 << 4)
#define KEY_PRESSED_OFFSET_CTRL ((uint16_t)1 << 5)
#define KEY_PRESSED_OFFSET_E ((uint16_t)1 << 7)
#define KEY_PRESSED_OFFSET_Q ((uint16_t)1 << 6)
#define KEY_PRESSED_OFFSET_R ((uint16_t)1 << 8)
#define KEY_PRESSED_OFFSET_F ((uint16_t)1 << 9)
#define KEY_PRESSED_OFFSET_G ((uint16_t)1 << 10)
#define KEY_PRESSED_OFFSET_Z ((uint16_t)1 << 11)
#define KEY_PRESSED_OFFSET_X ((uint16_t)1 << 12)
#define KEY_PRESSED_OFFSET_C ((uint16_t)1 << 13)
#define KEY_PRESSED_OFFSET_V ((uint16_t)1 << 14)
#define KEY_PRESSED_OFFSET_B ((uint16_t)1 << 15)
/* ----------------------- Data Struct ------------------------------------- */
typedef __packed struct
{
__packed struct
{
int16_t ch[5];
char s[2];
} rc;
__packed struct
{
int16_t x;
int16_t y;
int16_t z;
uint8_t press_l;
uint8_t press_r;
} mouse;
__packed struct
{
uint16_t v;
} key;
} RC_ctrl_t;
/* ----------------------- Internal Data ----------------------------------- */
/**
* @brief register remote control into usart_serive
*
* @attention remember to assign the correct handler
*
*/
void RC_init(UART_HandleTypeDef* rc_usart_handle);
/**
* @brief Get the remote control point object,then you can access data
*
* @return const RC_ctrl_t*
*/
extern const RC_ctrl_t *get_remote_control_point(void);
/**
* @brief check whether there is an error in rc data
*
* @return uint8_t
*/
extern uint8_t RC_data_is_error(void);
#endif