TuxMonkey/bf_original_balance_chassis
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增加robot_cmd的总控制和急停处理,添加遥控器位域处理,待测试

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This commit is contained in:
NeoZng
2022-12-06 22:58:42 +08:00
parent a235aec5df
commit df356cf675
4 changed files with 72 additions and 24 deletions
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16
modules/remote/remote_control.c
View File

@@ -36,9 +36,10 @@ static void sbus_to_rc(volatile const uint8_t *sbus_buf)
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
// 使用位域后不再需要这一中间操作
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
// @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? 位域方案在下面,尚未测试
// 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
{
@@ -53,6 +54,15 @@ static void sbus_to_rc(volatile const uint8_t *sbus_buf)
rc_ctrl[0].key[KEY_PRESS_WITH_CTRL][j] = rc_ctrl[0].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
*(uint16_t*)&rc_ctrl[0].key_test[KEY_PRESS]= (uint16_t)(sbus_buf[14] | (sbus_buf[15] << 8));
*(uint16_t*)&rc_ctrl[0].key_test[KEY_STATE]=*(uint16_t*)&rc_ctrl[0].key_test[KEY_PRESS] & ~(*(uint16_t*)&(rc_ctrl[1].key_test[KEY_PRESS]));
if(rc_ctrl[0].key_test[KEY_PRESS].ctrl)
rc_ctrl[0].key_test[KEY_PRESS_WITH_CTRL]=rc_ctrl[0].key_test[KEY_PRESS];
if(rc_ctrl[0].key_test[KEY_PRESS].shift)
rc_ctrl[0].key_test[Key_Shift]=rc_ctrl[0].key_test[KEY_PRESS];
// 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;
@@ -67,7 +77,7 @@ static void sbus_to_rc(volatile const uint8_t *sbus_buf)
* 对sbus_to_rc的简单封装
*
*/
static void RefereeRxCallback()
static void RemoteControlRxCallback()
{
sbus_to_rc(rc_usart_instance->recv_buff);
}
@@ -75,7 +85,7 @@ static void RefereeRxCallback()
RC_ctrl_t *RemoteControlInit(UART_HandleTypeDef *rc_usart_handle)
{
USART_Init_Config_s conf;
conf.module_callback = RefereeRxCallback;
conf.module_callback = RemoteControlRxCallback;
conf.usart_handle = rc_usart_handle;
conf.recv_buff_size = REMOTE_CONTROL_FRAME_SIZE;
rc_usart_instance = USARTRegister(&conf);

45
modules/remote/remote_control.h
View File

@@ -55,27 +55,6 @@
#define Key_B 15
/* ----------------------- Data Struct ------------------------------------- */
typedef struct
{
struct
{
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;
int16_t y;
int16_t z;
uint8_t press_l;
uint8_t press_r;
} mouse;
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
{
@@ -97,6 +76,30 @@ typedef struct
uint16_t b : 1;
} Key_t;
typedef struct
{
struct
{
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;
int16_t y;
int16_t z;
uint8_t press_l;
uint8_t press_r;
} mouse;
uint16_t key_temp;
uint8_t key[4][16]; // 当前使用的键盘索引
Key_t key_test[4]; // 改为位域后的键盘索引,空间减少8倍,速度增加16~倍
} RC_ctrl_t;
/* ------------------------- Internal Data ----------------------------------- */
/**