TuxMonkey/bf_original_balance_chassis
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增加了大量注释

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This commit is contained in:
NeoZng
2023-01-01 17:32:22 +08:00
parent c2f8b5c8c3
commit c05513587c
56 changed files with 773 additions and 598 deletions
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13
modules/remote/remote_control.c
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@@ -2,11 +2,12 @@
#include "string.h"
#include "bsp_usart.h"
#include "memory.h"
#include "stdlib.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[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 RC_ctrl_t rc_ctrl[2]; //[0]:当前数据TEMP,[1]:上一次的数据LAST.用于按键持续按下和切换的判断
// 遥控器拥有的串口实例,因为遥控器是单例,所以这里只有一个,就不封装了
static USARTInstance *rc_usart_instance;
/**
@@ -17,8 +18,8 @@ static void RectifyRCjoystick()
{
for (uint8_t i = 0; i < 5; ++i)
{
if (*(&rc_ctrl[TEMP].rc.rocker_l_+i) > 660 || *(&rc_ctrl[TEMP].rc.rocker_l_+i) < -660)
*(&rc_ctrl[TEMP].rc.rocker_l_+i) = 0;
if (abs(*(&rc_ctrl[TEMP].rc.rocker_l_ + i)) > 660)
*(&rc_ctrl[TEMP].rc.rocker_l_ + i) = 0;
}
}
@@ -28,7 +29,7 @@ static void RectifyRCjoystick()
* @param[out] rc_ctrl: remote control data struct point
* @retval none
*/
static void sbus_to_rc(volatile const uint8_t *sbus_buf)
static void sbus_to_rc(const uint8_t *sbus_buf)
{
memcpy(&rc_ctrl[1], &rc_ctrl[TEMP], sizeof(RC_ctrl_t)); // 保存上一次的数据
// 摇杆,直接解算时减去偏置
@@ -68,7 +69,7 @@ static void sbus_to_rc(volatile const uint8_t *sbus_buf)
rc_ctrl[TEMP].key[KEY_PRESS_WITH_CTRL][j] = rc_ctrl[TEMP].key_temp & i;
}
// 位域的按键值解算,直接memcpy即可,注意小端低字节在前,即lsb在第一位
// 位域的按键值解算,直接memcpy即可,注意小端低字节在前,即lsb在第一位,msb在最后. 尚未测试
// *(uint16_t *)&rc_ctrl[TEMP].key_test[KEY_PRESS] = (uint16_t)(sbus_buf[14] | (sbus_buf[15] << 8));
// *(uint16_t *)&rc_ctrl[TEMP].key_test[KEY_STATE] = *(uint16_t *)&rc_ctrl[TEMP].key_test[KEY_PRESS] & ~(*(uint16_t *)&(rc_ctrl[1].key_test[KEY_PRESS]));
// if (rc_ctrl[TEMP].key_test[KEY_PRESS].ctrl)