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增加了遥控器按键功能并修改所有函数和类型定义为标准格式

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NeoZng
2022-12-05 21:01:26 +08:00
parent 3947c48230
commit 9c9ea14bde
40 changed files with 352 additions and 251 deletions
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70
modules/remote/remote.md
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@@ -0,0 +1,70 @@
remote_control
<p align='right'>neozng1@hnu.edu.cn</p>
```
/*************************发射机DT7***************************
* *
* ----------------------------------------------------- *
* | (上-1) (上-1) | *
* |SW_L|(中-3) SW_R|(中-3) | *
* | (下-2) (下-2) | *
* | | *
* | | ^ | | ^ | | *
* | | 3 |左摇杆 右摇杆| 1 | | *
* | --- --- --- --- | *
* |< 2> < 0>| *
* | --- --- --- --- | *
* | | | | | | *
* | | | | | | *
* | | *
* ----------------------------------------------------- *
* *
**************************遥控器信息**************************
*域 通道0 通道1 通道2 通道3 S1 S2 *
*偏移 0 11 22 33 44 46 *
*长度(bit) 11 11 11 11 2 2 *
*符号位 无 无 无 无 无 无 *
*范围 ***********最大值1684********* *最大值3* *
* * 中间值1024 * *最小值1* *
* ***********最小值364********** *
*功能 1:上 1:上 *
* 2:下 2:下 *
* 3:中 3:中 *
* *
***************************鼠标信息***************************
*域 鼠标x轴 鼠标y轴 鼠标z轴 鼠标左键 鼠标右键*
*偏移 48 64 80 86 94 *
*长度 16 16 16 8 8 *
*符号位 有 有 有 无 无 *
*范围 ******最大值32767***** ***最大值1*** *
* * 最小值-32768 * ***最小值0*** *
* ******静止值0********* *
*功能 ***鼠标在XYZ轴的移动速度*** *鼠标左右键是否按下*
* * 负值表示往左移动 * * 0:没按下 *
* ***正值表示往右移动******** *****1:按下*********
* *
* *
***************************键盘信息***************************
*域 按键 *
*偏移 102 *
*长度 16 *
*符号位 无 *
*范围 位值标识 *
*功能 每个按键对应一个bit *
* Bit 0:W键 *
* Bit 1:S键 *
* Bit 2:A键 *
* Bit 3:D键 *
* Bit 4:Shift键 *
* Bit 5:Ctrl键 *
* Bit 6:Q键 *
* Bit 7:E键 *
* Bit 8:R键 *
* Bit 9:F键 *
* Bit10:G键 *
* Bit11:Z键 *
* Bit12:X键 *
* Bit13:C键 *
* Bit14:V键 *
* Bit15:B键 *
**************************************************************/
```

81
modules/remote/remote_control.c
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@@ -1,13 +1,13 @@
#include "remote_control.h"
#include "string.h"
#include "bsp_usart.h"
#include "memory.h"
#define REMOTE_CONTROL_FRAME_SIZE 18u // 遥控器接收的buffer大小
// 遥控器数据
static RC_ctrl_t rc_ctrl;
static RC_ctrl_t rc_ctrl[2]; //[0]:当前数据,[1]:上一次的数据.用于按键判断
// 遥控器拥有的串口实例
static usart_instance* rc_usart_instance;
static USARTInstance *rc_usart_instance;
/**
* @brief remote control protocol resolution
@@ -15,33 +15,50 @@ static usart_instance* rc_usart_instance;
* @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)
static void sbus_to_rc(volatile const uint8_t *sbus_buf)
{
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
memcpy(&rc_ctrl[1], &rc_ctrl[0], sizeof(RC_ctrl_t)); // 保存上一次的数据
// 摇杆
rc_ctrl[0].joy_stick.ch[0] = (sbus_buf[0] | (sbus_buf[1] << 8)) & 0x07ff; //!< Channel 0
rc_ctrl[0].joy_stick.ch[1] = ((sbus_buf[1] >> 3) | (sbus_buf[2] << 5)) & 0x07ff; //!< Channel 1
rc_ctrl[0].joy_stick.ch[2] = ((sbus_buf[2] >> 6) | (sbus_buf[3] << 2) | (sbus_buf[4] << 10)) & 0x07ff; //!< Channel 2
rc_ctrl[0].joy_stick.ch[3] = ((sbus_buf[4] >> 1) | (sbus_buf[5] << 7)) & 0x07ff; //!< Channel 3
rc_ctrl[0].joy_stick.ch[4] = sbus_buf[16] | (sbus_buf[17] << 8); // 拨轮
// 开关,0左1右
rc_ctrl[0].joy_stick.s[0] = ((sbus_buf[5] >> 4) & 0x0003); //!< Switch left
rc_ctrl[0].joy_stick.s[1] = ((sbus_buf[5] >> 4) & 0x000C) >> 2; //!< Switch right
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;
// 鼠标解析
rc_ctrl[0].mouse.x = sbus_buf[6] | (sbus_buf[7] << 8); //!< Mouse X axis
rc_ctrl[0].mouse.y = sbus_buf[8] | (sbus_buf[9] << 8); //!< Mouse Y axis
rc_ctrl[0].mouse.z = sbus_buf[10] | (sbus_buf[11] << 8); //!< Mouse Z axis
rc_ctrl[0].mouse.press_l = sbus_buf[12]; //!< Mouse Left Is Press ?
rc_ctrl[0].mouse.press_r = sbus_buf[13]; //!< Mouse Right Is Press ?
// 按键值,每个键1bit,key_temp共16位;按键顺序在remote_control.h的宏定义中可见
rc_ctrl[0].key_temp = sbus_buf[14] | (sbus_buf[15] << 8); //!< KeyBoard value
// @todo 似乎可以直接用位域操作进行,把key_temp通过强制类型转换变成key类型? 方案见remote_control.md
// 按键值解算,利用宏+循环减少代码长度
for (uint16_t i = 0x0001, j = 0; i < 0x8001; i *= 2, j++) // 依次查看每一个键
{
// 如果键按下,对应键的key press状态置1,否则为0
rc_ctrl[0].key[KEY_PRESS][j] = rc_ctrl[0].key_temp & i;
// 如果当前按下且上一次没按下,切换按键状态.一些工作要通过按键状态而不是按键是否按下来确定(实际上是大部分)
rc_ctrl[0].key[KEY_STATE][j] = rc_ctrl[0].key[KEY_PRESS][j] && !rc_ctrl[1].key[KEY_PRESS][j];
// 检查是否有组合键按下
if (rc_ctrl[0].key_temp & 0x0001u << Key_Shift) // 按下ctrl
rc_ctrl[0].key[KEY_PRESS_WITH_SHIFT][j] = rc_ctrl[0].key_temp & i;
if (rc_ctrl[0].key_temp & 0x0001u << Key_Ctrl) // 按下shift
rc_ctrl[0].key[KEY_PRESS_WITH_CTRL][j] = rc_ctrl[0].key_temp & i;
}
// 减去偏置值
rc_ctrl[0].joy_stick.ch[0] -= RC_CH_VALUE_OFFSET;
rc_ctrl[0].joy_stick.ch[1] -= RC_CH_VALUE_OFFSET;
rc_ctrl[0].joy_stick.ch[2] -= RC_CH_VALUE_OFFSET;
rc_ctrl[0].joy_stick.ch[3] -= RC_CH_VALUE_OFFSET;
rc_ctrl[0].joy_stick.ch[4] -= RC_CH_VALUE_OFFSET;
}
/**
@@ -50,15 +67,15 @@ static void sbus_to_rc(volatile const uint8_t *sbus_buf, RC_ctrl_t *rc_ctrl)
* 对sbus_to_rc的简单封装
*
*/
static void ReceiveCallback()
static void RCRxCallback()
{
sbus_to_rc(rc_usart_instance->recv_buff, &rc_ctrl);
sbus_to_rc(rc_usart_instance->recv_buff);
}
RC_ctrl_t *RC_init(UART_HandleTypeDef *rc_usart_handle)
RC_ctrl_t *RemoteControlInit(UART_HandleTypeDef *rc_usart_handle)
{
USART_Init_Config_s conf;
conf.module_callback = ReceiveCallback;
conf.module_callback = RCRxCallback;
conf.usart_handle = rc_usart_handle;
conf.recv_buff_size = REMOTE_CONTROL_FRAME_SIZE;
rc_usart_instance = USARTRegister(&conf);

79
modules/remote/remote_control.h
View File

@@ -17,9 +17,16 @@
#include "main.h"
#include "usart.h"
// 获取按键操作
#define KEY_PRESS 0
#define KEY_STATE 1
#define KEY_PRESS_WITH_CTRL 2
#define KEY_PRESS_WITH_SHIFT 3
#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)
@@ -27,31 +34,34 @@
#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)
// 对应key[x][0~16],获取对应的键;例如通过key[KEY_PRESS][Key_W]获取W键是否按下
#define Key_W 0
#define Key_S 1
#define Key_D 2
#define Key_A 3
#define Key_Shift 4
#define Key_Ctrl 5
#define Key_Q 6
#define Key_E 7
#define Key_R 8
#define Key_F 9
#define Key_G 10
#define Key_Z 11
#define Key_X 12
#define Key_C 13
#define Key_V 14
#define Key_B 15
/* ----------------------- Data Struct ------------------------------------- */
typedef struct
{
struct
{
int16_t ch[5];
char s[2];
} rc;
int16_t ch[5]; // 右|0 ,右-1 ,左-2 ,左|3 ,拨轮4
uint8_t s[2]; //[0]:left [1]:right
} joy_stick;
struct
{
int16_t x;
@@ -60,12 +70,33 @@ typedef struct
uint8_t press_l;
uint8_t press_r;
} mouse;
struct
{
uint16_t v;
} key;
uint16_t key_temp;
uint8_t key[4][16];
} RC_ctrl_t;
// 待测试的位域结构体,可以极大提升解析速度
typedef struct
{
uint16_t w : 1;
uint16_t s : 1;
uint16_t d : 1;
uint16_t a : 1;
uint16_t shift : 1;
uint16_t ctrl : 1;
uint16_t q : 1;
uint16_t e : 1;
uint16_t r : 1;
uint16_t f : 1;
uint16_t g : 1;
uint16_t z : 1;
uint16_t x : 1;
uint16_t c : 1;
uint16_t v : 1;
uint16_t b : 1;
} Key_t;
/* ------------------------- Internal Data ----------------------------------- */
/**
@@ -74,6 +105,6 @@ typedef struct
* @attention 注意分配正确的串口硬件,遥控器在C板上使用USART3
*
*/
RC_ctrl_t *RC_init(UART_HandleTypeDef *rc_usart_handle);
RC_ctrl_t *RemoteControlInit(UART_HandleTypeDef *rc_usart_handle);
#endif