mirror of
https://gitee.com/dlmu-cone/bf_original_balance_chassis
synced 2026-10-23 15:32:20 +08:00
241 lines
9.5 KiB
C
241 lines
9.5 KiB
C
#include "remote_control.h"
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#include "string.h"
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#include "bsp_usart.h"
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#include "memory.h"
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#include "stdlib.h"
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#include "daemon.h"
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#include "bsp_log.h"
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#ifdef REMOTE_FS_I6
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#define REMOTE_CONTROL_FRAME_SIZE 25u
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#define SBUS_HEAD 0x0Fu
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#define SBUS_END 0x00u
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#define SBUS_FLAG_FRAME_LOST (1u << 2)
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#define SBUS_FLAG_FAILSAFE (1u << 3)
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#define FSI6_CHANNEL_VALID_MIN 172u
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#define FSI6_CHANNEL_VALID_MAX 1811u
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#define FSI6_SWITCH_UP_MAX 700u
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#define FSI6_SWITCH_DOWN_MIN 1350u
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#else
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#define REMOTE_CONTROL_FRAME_SIZE 18u
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#endif
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// 遥控器数据
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static RC_ctrl_t rc_ctrl[2] = {0}; //[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
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static uint8_t rc_init_flag = 0; // 遥控器初始化标志位
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static uint8_t rc_data_valid = 0;
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// 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
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static USARTInstance *rc_usart_instance;
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static DaemonInstance *rc_daemon_instance;
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/**
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* @brief 矫正遥控器摇杆的值,超过660或者小于-660的值都认为是无效值,置0
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*
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*/
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#ifdef REMOTE_DJI_DT7
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static void RectifyRCjoystick()
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{
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for (uint8_t i = 0; i < 5; ++i)
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if (abs(*(&rc_ctrl[TEMP].rc.rocker_l_ + i)) > 660)
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*(&rc_ctrl[TEMP].rc.rocker_l_ + i) = 0;
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}
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#endif
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/**
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* @brief 遥控器数据解析
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*
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* @param sbus_buf 接收buffer
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*/
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#ifdef REMOTE_DJI_DT7
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static uint8_t sbus_to_rc(const uint8_t *sbus_buf)
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{
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// 摇杆,直接解算时减去偏置
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rc_ctrl[TEMP].rc.rocker_r_ = ((sbus_buf[0] | (sbus_buf[1] << 8)) & 0x07ff) - RC_CH_VALUE_OFFSET; //!< Channel 0
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rc_ctrl[TEMP].rc.rocker_r1 = (((sbus_buf[1] >> 3) | (sbus_buf[2] << 5)) & 0x07ff) - RC_CH_VALUE_OFFSET; //!< Channel 1
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rc_ctrl[TEMP].rc.rocker_l_ = (((sbus_buf[2] >> 6) | (sbus_buf[3] << 2) | (sbus_buf[4] << 10)) & 0x07ff) - RC_CH_VALUE_OFFSET; //!< Channel 2
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rc_ctrl[TEMP].rc.rocker_l1 = (((sbus_buf[4] >> 1) | (sbus_buf[5] << 7)) & 0x07ff) - RC_CH_VALUE_OFFSET; //!< Channel 3
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rc_ctrl[TEMP].rc.dial = ((sbus_buf[16] | (sbus_buf[17] << 8)) & 0x07FF) - RC_CH_VALUE_OFFSET; // 左侧拨轮
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RectifyRCjoystick();
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// 开关,0左1右
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rc_ctrl[TEMP].rc.switch_right = ((sbus_buf[5] >> 4) & 0x0003); //!< Switch right
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rc_ctrl[TEMP].rc.switch_left = ((sbus_buf[5] >> 4) & 0x000C) >> 2; //!< Switch left
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// 鼠标解析
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rc_ctrl[TEMP].mouse.x = (sbus_buf[6] | (sbus_buf[7] << 8)); //!< Mouse X axis
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rc_ctrl[TEMP].mouse.y = (sbus_buf[8] | (sbus_buf[9] << 8)); //!< Mouse Y axis
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rc_ctrl[TEMP].mouse.press_l = sbus_buf[12]; //!< Mouse Left Is Press ?
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rc_ctrl[TEMP].mouse.press_r = sbus_buf[13]; //!< Mouse Right Is Press ?
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// 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
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*(uint16_t *)&rc_ctrl[TEMP].key[KEY_PRESS] = (uint16_t)(sbus_buf[14] | (sbus_buf[15] << 8));
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if (rc_ctrl[TEMP].key[KEY_PRESS].ctrl) // ctrl键按下
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rc_ctrl[TEMP].key[KEY_PRESS_WITH_CTRL] = rc_ctrl[TEMP].key[KEY_PRESS];
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else
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memset(&rc_ctrl[TEMP].key[KEY_PRESS_WITH_CTRL], 0, sizeof(Key_t));
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if (rc_ctrl[TEMP].key[KEY_PRESS].shift) // shift键按下
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rc_ctrl[TEMP].key[KEY_PRESS_WITH_SHIFT] = rc_ctrl[TEMP].key[KEY_PRESS];
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else
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memset(&rc_ctrl[TEMP].key[KEY_PRESS_WITH_SHIFT], 0, sizeof(Key_t));
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uint16_t key_now = rc_ctrl[TEMP].key[KEY_PRESS].keys, // 当前按键是否按下
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key_last = rc_ctrl[LAST].key[KEY_PRESS].keys, // 上一次按键是否按下
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key_with_ctrl = rc_ctrl[TEMP].key[KEY_PRESS_WITH_CTRL].keys, // 当前ctrl组合键是否按下
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key_with_shift = rc_ctrl[TEMP].key[KEY_PRESS_WITH_SHIFT].keys, // 当前shift组合键是否按下
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key_last_with_ctrl = rc_ctrl[LAST].key[KEY_PRESS_WITH_CTRL].keys, // 上一次ctrl组合键是否按下
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key_last_with_shift = rc_ctrl[LAST].key[KEY_PRESS_WITH_SHIFT].keys; // 上一次shift组合键是否按下
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for (uint16_t i = 0, j = 0x1; i < 16; j <<= 1, i++)
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{
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if (i == 4 || i == 5) // 4,5位为ctrl和shift,直接跳过
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continue;
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// 如果当前按键按下,上一次按键没有按下,且ctrl和shift组合键没有按下,则按键按下计数加1(检测到上升沿)
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if ((key_now & j) && !(key_last & j) && !(key_with_ctrl & j) && !(key_with_shift & j))
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rc_ctrl[TEMP].key_count[KEY_PRESS][i]++;
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// 当前ctrl组合键按下,上一次ctrl组合键没有按下,则ctrl组合键按下计数加1(检测到上升沿)
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if ((key_with_ctrl & j) && !(key_last_with_ctrl & j))
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rc_ctrl[TEMP].key_count[KEY_PRESS_WITH_CTRL][i]++;
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// 当前shift组合键按下,上一次shift组合键没有按下,则shift组合键按下计数加1(检测到上升沿)
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if ((key_with_shift & j) && !(key_last_with_shift & j))
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rc_ctrl[TEMP].key_count[KEY_PRESS_WITH_SHIFT][i]++;
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}
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memcpy(&rc_ctrl[LAST], &rc_ctrl[TEMP], sizeof(RC_ctrl_t)); // 保存上一次的数据,用于按键持续按下和切换的判断
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return 1;
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}
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#endif
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#ifdef REMOTE_FS_I6
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static uint8_t FSi6EndByteIsValid(uint8_t value)
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{
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return value == SBUS_END || value == 0x04u || value == 0x14u ||
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value == 0x24u || value == 0x34u;
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}
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static uint16_t FSi6DecodeChannel(const uint8_t *sbus_buf, uint8_t channel)
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{
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uint16_t bit_index = (uint16_t)channel * 11u;
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uint8_t byte_index = (uint8_t)(1u + bit_index / 8u);
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uint8_t bit_offset = (uint8_t)(bit_index % 8u);
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uint32_t packed = (uint32_t)sbus_buf[byte_index] |
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((uint32_t)sbus_buf[byte_index + 1u] << 8u) |
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((uint32_t)sbus_buf[byte_index + 2u] << 16u);
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return (uint16_t)((packed >> bit_offset) & 0x07FFu);
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}
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static int16_t FSi6NormalizeChannel(uint16_t value)
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{
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int32_t normalized = ((int32_t)value - (int32_t)RC_CH_VALUE_OFFSET) * 660 / 784;
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if (normalized > 660)
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normalized = 660;
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else if (normalized < -660)
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normalized = -660;
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return (int16_t)normalized;
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}
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static uint8_t FSi6DecodeSwitch(uint16_t value)
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{
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if (value < FSI6_SWITCH_UP_MAX)
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return RC_SW_UP;
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if (value > FSI6_SWITCH_DOWN_MIN)
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return RC_SW_DOWN;
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return RC_SW_MID;
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}
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static uint8_t sbus_to_rc(const uint8_t *sbus_buf)
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{
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if (sbus_buf[0] != SBUS_HEAD || !FSi6EndByteIsValid(sbus_buf[24]) ||
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(sbus_buf[23] & (SBUS_FLAG_FRAME_LOST | SBUS_FLAG_FAILSAFE)) != 0u)
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return 0;
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for (uint8_t i = 0; i < 10u; i++)
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{
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uint16_t value = FSi6DecodeChannel(sbus_buf, i);
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if (value < FSI6_CHANNEL_VALID_MIN || value > FSI6_CHANNEL_VALID_MAX)
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return 0;
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rc_ctrl[TEMP].rc.ch[i] = value;
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}
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/* Keep the app-facing layout compatible with DT7 control semantics. */
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rc_ctrl[TEMP].rc.rocker_l_ = FSi6NormalizeChannel(rc_ctrl[TEMP].rc.ch[0]);
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rc_ctrl[TEMP].rc.rocker_l1 = FSi6NormalizeChannel(rc_ctrl[TEMP].rc.ch[1]);
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rc_ctrl[TEMP].rc.rocker_r1 = FSi6NormalizeChannel(rc_ctrl[TEMP].rc.ch[2]);
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rc_ctrl[TEMP].rc.rocker_r_ = FSi6NormalizeChannel(rc_ctrl[TEMP].rc.ch[3]);
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rc_ctrl[TEMP].rc.dial = FSi6NormalizeChannel(rc_ctrl[TEMP].rc.ch[8]);
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rc_ctrl[TEMP].sw_a = FSi6DecodeSwitch(rc_ctrl[TEMP].rc.ch[4]);
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rc_ctrl[TEMP].sw_b = FSi6DecodeSwitch(rc_ctrl[TEMP].rc.ch[5]);
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rc_ctrl[TEMP].sw_c = FSi6DecodeSwitch(rc_ctrl[TEMP].rc.ch[6]);
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rc_ctrl[TEMP].sw_d = FSi6DecodeSwitch(rc_ctrl[TEMP].rc.ch[7]);
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/* SWC selects the auxiliary app mode; SWD is the rightmost safety switch. */
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rc_ctrl[TEMP].rc.switch_left = rc_ctrl[TEMP].sw_c;
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rc_ctrl[TEMP].rc.switch_right = rc_ctrl[TEMP].sw_d;
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memset(&rc_ctrl[TEMP].mouse, 0, sizeof(rc_ctrl[TEMP].mouse));
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memset(&rc_ctrl[TEMP].key, 0, sizeof(rc_ctrl[TEMP].key));
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memset(&rc_ctrl[TEMP].key_count, 0, sizeof(rc_ctrl[TEMP].key_count));
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memcpy(&rc_ctrl[LAST], &rc_ctrl[TEMP], sizeof(RC_ctrl_t));
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return 1;
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}
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#endif
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/**
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* @brief 对sbus_to_rc的简单封装,用于注册到bsp_usart的回调函数中
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*
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*/
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static void RemoteControlRxCallback()
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{
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if (sbus_to_rc(rc_usart_instance->recv_buff))
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{
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rc_data_valid = 1;
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DaemonReload(rc_daemon_instance);
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}
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#ifdef REMOTE_FS_I6
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else
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{
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rc_data_valid = 0;
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memset(rc_ctrl, 0, sizeof(rc_ctrl));
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}
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#endif
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}
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/**
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* @brief 遥控器离线的回调函数,注册到守护进程中,串口掉线时调用
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*
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*/
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static void RCLostCallback(void *id)
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{
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rc_data_valid = 0;
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memset(rc_ctrl, 0, sizeof(rc_ctrl)); // 清空遥控器数据
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USARTServiceInit(rc_usart_instance); // 尝试重新启动接收
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LOGWARNING("[rc] remote control lost");
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}
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RC_ctrl_t *RemoteControlInit(UART_HandleTypeDef *rc_usart_handle)
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{
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USART_Init_Config_s conf;
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conf.module_callback = RemoteControlRxCallback;
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conf.usart_handle = rc_usart_handle;
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conf.recv_buff_size = REMOTE_CONTROL_FRAME_SIZE;
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rc_usart_instance = USARTRegister(&conf);
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// 进行守护进程的注册,用于定时检查遥控器是否正常工作
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Daemon_Init_Config_s daemon_conf = {
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.reload_count = 10, // 100ms未收到数据视为离线,遥控器的接收频率实际上是1000/14Hz(大约70Hz)
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.callback = RCLostCallback,
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.owner_id = NULL, // 只有1个遥控器,不需要owner_id
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};
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rc_daemon_instance = DaemonRegister(&daemon_conf);
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rc_init_flag = 1;
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return rc_ctrl;
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}
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uint8_t RemoteControlIsOnline()
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{
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if (rc_init_flag)
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return rc_data_valid && DaemonIsOnline(rc_daemon_instance);
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return 0;
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}
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