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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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This commit is contained in:
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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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);