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https://gitee.com/dlmu-cone/bf_original_balance_chassis
synced 2026-07-24 11:37:45 +08:00
finish all bsp utilities
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NeoZng
@@ -1,98 +1,91 @@
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/**
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****************************(C) COPYRIGHT 2016 DJI****************************
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* @file remote_control.c/h
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* @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
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* 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
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* 的方式保证热插拔的稳定性。
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* @note
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* @history
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* Version Date Author Modification
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* V1.0.0 Dec-26-2018 RM 1. done
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* V1.0.0 Nov-11-2019 RM 1. support development board tpye c
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*
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@verbatim
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==============================================================================
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==============================================================================
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@endverbatim
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****************************(C) COPYRIGHT 2016 DJI****************************
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*/
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* @file remote_control.h
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* @author DJI 2016
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* @author modified by neozng
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* @brief 遥控器模块定义头文件
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* @version beta
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* @date 2022-11-01
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*
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* @copyright Copyright (c) 2016 DJI corp
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* @copyright Copyright (c) 2022 HNU YueLu EC all rights reserved
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*
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*/
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#ifndef REMOTE_CONTROL_H
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#define REMOTE_CONTROL_H
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#include "struct_typedef.h"
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#include "main.h"
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#define RC_CH_VALUE_MIN ((uint16_t)364)
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#define RC_CH_VALUE_OFFSET ((uint16_t)1024)
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#define RC_CH_VALUE_MAX ((uint16_t)1684)
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#define RC_CH_VALUE_MIN ((uint16_t)364)
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#define RC_CH_VALUE_OFFSET ((uint16_t)1024)
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#define RC_CH_VALUE_MAX ((uint16_t)1684)
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/* ----------------------- RC Switch Definition----------------------------- */
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#define RC_SW_UP ((uint16_t)1)
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#define RC_SW_MID ((uint16_t)3)
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#define RC_SW_DOWN ((uint16_t)2)
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#define switch_is_down(s) (s == RC_SW_DOWN)
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#define switch_is_mid(s) (s == RC_SW_MID)
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#define switch_is_up(s) (s == RC_SW_UP)
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#define RC_SW_UP ((uint16_t)1)
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#define RC_SW_MID ((uint16_t)3)
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#define RC_SW_DOWN ((uint16_t)2)
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#define switch_is_down(s) (s == RC_SW_DOWN)
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#define switch_is_mid(s) (s == RC_SW_MID)
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#define switch_is_up(s) (s == RC_SW_UP)
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/* ----------------------- PC Key Definition-------------------------------- */
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#define KEY_PRESSED_OFFSET_W ((uint16_t)1 << 0)
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#define KEY_PRESSED_OFFSET_S ((uint16_t)1 << 1)
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#define KEY_PRESSED_OFFSET_A ((uint16_t)1 << 2)
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#define KEY_PRESSED_OFFSET_D ((uint16_t)1 << 3)
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#define KEY_PRESSED_OFFSET_SHIFT ((uint16_t)1 << 4)
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#define KEY_PRESSED_OFFSET_CTRL ((uint16_t)1 << 5)
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#define KEY_PRESSED_OFFSET_E ((uint16_t)1 << 7)
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#define KEY_PRESSED_OFFSET_Q ((uint16_t)1 << 6)
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#define KEY_PRESSED_OFFSET_R ((uint16_t)1 << 8)
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#define KEY_PRESSED_OFFSET_F ((uint16_t)1 << 9)
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#define KEY_PRESSED_OFFSET_G ((uint16_t)1 << 10)
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#define KEY_PRESSED_OFFSET_Z ((uint16_t)1 << 11)
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#define KEY_PRESSED_OFFSET_X ((uint16_t)1 << 12)
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#define KEY_PRESSED_OFFSET_C ((uint16_t)1 << 13)
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#define KEY_PRESSED_OFFSET_V ((uint16_t)1 << 14)
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#define KEY_PRESSED_OFFSET_B ((uint16_t)1 << 15)
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#define KEY_PRESSED_OFFSET_W ((uint16_t)1 << 0)
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#define KEY_PRESSED_OFFSET_S ((uint16_t)1 << 1)
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#define KEY_PRESSED_OFFSET_A ((uint16_t)1 << 2)
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#define KEY_PRESSED_OFFSET_D ((uint16_t)1 << 3)
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#define KEY_PRESSED_OFFSET_SHIFT ((uint16_t)1 << 4)
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#define KEY_PRESSED_OFFSET_CTRL ((uint16_t)1 << 5)
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#define KEY_PRESSED_OFFSET_E ((uint16_t)1 << 7)
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#define KEY_PRESSED_OFFSET_Q ((uint16_t)1 << 6)
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#define KEY_PRESSED_OFFSET_R ((uint16_t)1 << 8)
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#define KEY_PRESSED_OFFSET_F ((uint16_t)1 << 9)
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#define KEY_PRESSED_OFFSET_G ((uint16_t)1 << 10)
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#define KEY_PRESSED_OFFSET_Z ((uint16_t)1 << 11)
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#define KEY_PRESSED_OFFSET_X ((uint16_t)1 << 12)
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#define KEY_PRESSED_OFFSET_C ((uint16_t)1 << 13)
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#define KEY_PRESSED_OFFSET_V ((uint16_t)1 << 14)
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#define KEY_PRESSED_OFFSET_B ((uint16_t)1 << 15)
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/* ----------------------- Data Struct ------------------------------------- */
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typedef struct
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{
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struct
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{
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int16_t ch[5];
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char s[2];
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} rc;
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struct
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{
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int16_t x;
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int16_t y;
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int16_t z;
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uint8_t press_l;
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uint8_t press_r;
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} mouse;
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struct
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{
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uint16_t v;
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} key;
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struct
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{
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int16_t ch[5];
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char s[2];
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} rc;
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struct
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{
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int16_t x;
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int16_t y;
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int16_t z;
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uint8_t press_l;
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uint8_t press_r;
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} mouse;
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struct
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{
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uint16_t v;
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} key;
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} RC_ctrl_t;
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/* ----------------------- Internal Data ----------------------------------- */
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/* ------------------------- Internal Data ----------------------------------- */
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/**
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* @brief register remote control into usart_serive
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*
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* @attention remember to assign the correct handler
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*
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* @brief 初始化遥控器,该函数会将遥控器注册到串口
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*
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* @attention 注意分配正确的串口硬件,遥控器在C板上使用USART3
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*
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*/
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void RC_init(UART_HandleTypeDef* rc_usart_handle);
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void RC_init(UART_HandleTypeDef *rc_usart_handle);
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/**
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* @brief Get the remote control point object,then you can access data
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*
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* @return const RC_ctrl_t*
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* @brief 获取遥控器的数据指针
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*
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* @return const RC_ctrl_t*
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*/
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extern const RC_ctrl_t *get_remote_control_point(void);
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/**
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* @brief check whether there is an error in rc data
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*
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* @return uint8_t
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* @brief 检查遥控器数据是否出错
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*
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* @return uint8_t
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*/
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extern uint8_t RC_data_is_error(void);
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