TuxMonkey/bf_original_balance_chassis
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增加了daemon模块

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This commit is contained in:
NeoZng
2022-12-08 17:36:12 +08:00
parent f043d5e265
commit c1a22e6f68
12 changed files with 157 additions and 106 deletions
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19
modules/remote/remote_control.c
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@@ -18,12 +18,12 @@ static USARTInstance *rc_usart_instance;
static void sbus_to_rc(volatile 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
rc_ctrl[TEMP].rc.joystick[0] = (sbus_buf[0] | (sbus_buf[1] << 8)) & 0x07ff; //!< Channel 0
rc_ctrl[TEMP].rc.joystick[1] = ((sbus_buf[1] >> 3) | (sbus_buf[2] << 5)) & 0x07ff; //!< Channel 1
rc_ctrl[TEMP].rc.joystick[2] = ((sbus_buf[2] >> 6) | (sbus_buf[3] << 2) | (sbus_buf[4] << 10)) & 0x07ff; //!< Channel 2
rc_ctrl[TEMP].rc.joystick[3] = ((sbus_buf[4] >> 1) | (sbus_buf[5] << 7)) & 0x07ff; //!< Channel 3
rc_ctrl[TEMP].rc.joystick[4] = sbus_buf[16] | (sbus_buf[17] << 8); // 拨轮
// 摇杆,直接解算时减去偏置
rc_ctrl[TEMP].rc.joystick[0] = (sbus_buf[0] | (sbus_buf[1] << 8)) & 0x07ff - RC_CH_VALUE_OFFSET; //!< Channel 0
rc_ctrl[TEMP].rc.joystick[1] = ((sbus_buf[1] >> 3) | (sbus_buf[2] << 5)) & 0x07ff - RC_CH_VALUE_OFFSET; //!< Channel 1
rc_ctrl[TEMP].rc.joystick[2] = ((sbus_buf[2] >> 6) | (sbus_buf[3] << 2) | (sbus_buf[4] << 10)) & 0x07ff - RC_CH_VALUE_OFFSET; //!< Channel 2
rc_ctrl[TEMP].rc.joystick[3] = ((sbus_buf[4] >> 1) | (sbus_buf[5] << 7)) & 0x07ff - RC_CH_VALUE_OFFSET; //!< Channel 3
rc_ctrl[TEMP].rc.joystick[4] = sbus_buf[16] | (sbus_buf[17] << 8) - RC_CH_VALUE_OFFSET; // 左侧拨轮
// 开关,0左1右
rc_ctrl[TEMP].rc.s[0] = ((sbus_buf[5] >> 4) & 0x0003); //!< Switch left
rc_ctrl[TEMP].rc.s[1] = ((sbus_buf[5] >> 4) & 0x000C) >> 2; //!< Switch right
@@ -61,13 +61,6 @@ static void sbus_to_rc(volatile const uint8_t *sbus_buf)
// rc_ctrl[TEMP].key_test[KEY_PRESS_WITH_CTRL] = rc_ctrl[TEMP].key_test[KEY_PRESS];
// if (rc_ctrl[TEMP].key_test[KEY_PRESS].shift)
// rc_ctrl[TEMP].key_test[Key_Shift] = rc_ctrl[TEMP].key_test[KEY_PRESS];
// 减去偏置值
rc_ctrl[TEMP].rc.joystick[0] -= RC_CH_VALUE_OFFSET;
rc_ctrl[TEMP].rc.joystick[1] -= RC_CH_VALUE_OFFSET;
rc_ctrl[TEMP].rc.joystick[2] -= RC_CH_VALUE_OFFSET;
rc_ctrl[TEMP].rc.joystick[3] -= RC_CH_VALUE_OFFSET;
rc_ctrl[TEMP].rc.joystick[4] -= RC_CH_VALUE_OFFSET;
}
/**