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修复了total angle计算异常的问题

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This commit is contained in:
NeoZng
2022-12-08 12:08:49 +08:00
parent 2dd39f9815
commit f043d5e265
4 changed files with 70 additions and 67 deletions
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4
modules/remote/remote.md
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@@ -73,12 +73,12 @@ remote_control
拨轮向下打到底进入紧急停止模式;拨轮向上打开启摩擦轮,超过一半开始发射(速度环,连发)
左侧开关:
左侧开关`s[1]`:
- 上:键鼠控制
- 中:视觉控制(没有识别到目标的时候仍然可以使用遥控器控制云台)
- 下:遥控器控制
右侧开关:
右侧开关`s[0]`:
- 上:弹舱开
- 中:底盘云台分离(底盘不旋转,全向移动)
- 下:底盘跟随云台

64
modules/remote/remote_control.c
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@@ -17,57 +17,57 @@ static USARTInstance *rc_usart_instance;
*/
static void sbus_to_rc(volatile const uint8_t *sbus_buf)
{
memcpy(&rc_ctrl[1], &rc_ctrl[0], sizeof(RC_ctrl_t)); // 保存上一次的数据
memcpy(&rc_ctrl[1], &rc_ctrl[TEMP], sizeof(RC_ctrl_t)); // 保存上一次的数据
// 摇杆
rc_ctrl[0].rc.joystick[0] = (sbus_buf[0] | (sbus_buf[1] << 8)) & 0x07ff; //!< Channel 0
rc_ctrl[0].rc.joystick[1] = ((sbus_buf[1] >> 3) | (sbus_buf[2] << 5)) & 0x07ff; //!< Channel 1
rc_ctrl[0].rc.joystick[2] = ((sbus_buf[2] >> 6) | (sbus_buf[3] << 2) | (sbus_buf[4] << 10)) & 0x07ff; //!< Channel 2
rc_ctrl[0].rc.joystick[3] = ((sbus_buf[4] >> 1) | (sbus_buf[5] << 7)) & 0x07ff; //!< Channel 3
rc_ctrl[0].rc.joystick[4] = sbus_buf[16] | (sbus_buf[17] << 8); // 拨轮
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
// 开关,0左1右
rc_ctrl[0].rc.s[0] = ((sbus_buf[5] >> 4) & 0x0003); //!< Switch left
rc_ctrl[0].rc.s[1] = ((sbus_buf[5] >> 4) & 0x000C) >> 2; //!< Switch right
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
// 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 ?
rc_ctrl[TEMP].mouse.x = sbus_buf[6] | (sbus_buf[7] << 8); //!< Mouse X axis
rc_ctrl[TEMP].mouse.y = sbus_buf[8] | (sbus_buf[9] << 8); //!< Mouse Y axis
rc_ctrl[TEMP].mouse.z = sbus_buf[10] | (sbus_buf[11] << 8); //!< Mouse Z axis
rc_ctrl[TEMP].mouse.press_l = sbus_buf[12]; //!< Mouse Left Is Press ?
rc_ctrl[TEMP].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
rc_ctrl[TEMP].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? 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 != 0x8000; 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];
rc_ctrl[TEMP].key[KEY_PRESS][j] = rc_ctrl[TEMP].key_temp & i;
// 如果当前按下且上一次没按下,切换按键状态.一些模式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[TEMP].key[KEY_STATE][j] = rc_ctrl[TEMP].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;
if (rc_ctrl[TEMP].key_temp & 0x0001u << Key_Shift) // 按下ctrl
rc_ctrl[TEMP].key[KEY_PRESS_WITH_SHIFT][j] = rc_ctrl[TEMP].key_temp & i;
if (rc_ctrl[TEMP].key_temp & 0x0001u << Key_Ctrl) // 按下shift
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
*(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];
// *(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)
// 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[0].rc.joystick[0] -= RC_CH_VALUE_OFFSET;
rc_ctrl[0].rc.joystick[1] -= RC_CH_VALUE_OFFSET;
rc_ctrl[0].rc.joystick[2] -= RC_CH_VALUE_OFFSET;
rc_ctrl[0].rc.joystick[3] -= RC_CH_VALUE_OFFSET;
rc_ctrl[0].rc.joystick[4] -= RC_CH_VALUE_OFFSET;
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;
}
/**

7
modules/remote/remote_control.h
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@@ -17,12 +17,17 @@
#include "main.h"
#include "usart.h"
//
#define LAST 1
#define TEMP 0
// 获取按键操作
#define KEY_PRESS 0
#define KEY_STATE 1
#define KEY_PRESS_WITH_CTRL 2
#define KEY_PRESS_WITH_SHIFT 3
// 检查接受值是否出错
#define RC_CH_VALUE_MIN ((uint16_t)364)
#define RC_CH_VALUE_OFFSET ((uint16_t)1024)
#define RC_CH_VALUE_MAX ((uint16_t)1684)
@@ -34,6 +39,8 @@
#define switch_is_down(s) (s == RC_SW_DOWN)
#define switch_is_mid(s) (s == RC_SW_MID)
#define switch_is_up(s) (s == RC_SW_UP)
#define LEFT_SW 1
#define RIGHT_SW 0
/* ----------------------- PC Key Definition-------------------------------- */
// 对应key[x][0~16],获取对应的键;例如通过key[KEY_PRESS][Key_W]获取W键是否按下