2025-12-15 21:31:36 +08:00
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/*************************发射机DT7***************************
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* *
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* ----------------------------------------------------- *
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* | (上-1) (上-1) | *
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* |SW_L|(中-3) SW_R|(中-3) | *
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* | (下-2) (下-2) | *
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* | | *
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* | | ^ | | ^ | | *
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* | | 3 |左摇杆 右摇杆| 1 | | *
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* | --- --- --- --- | *
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* |< 2> < 0>| *
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* | --- --- --- --- | *
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* | | | | | | *
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* | | | | | | *
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* | | *
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* ----------------------------------------------------- *
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* *
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**************************遥控器信息**************************
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*域 通道0 通道1 通道2 通道3 S1 S2 *
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*偏移 0 11 22 33 44 46 *
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*长度(bit) 11 11 11 11 2 2 *
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*符号位 无 无 无 无 无 无 *
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*范围 ***********最大值1684********* *最大值3* *
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* * 中间值1024 * *最小值1* *
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* ***********最小值364********** *
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*功能 1:上 1:上 *
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* 2:下 2:下 *
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* 3:中 3:中 *
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* *
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***************************鼠标信息***************************
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*域 鼠标x轴 鼠标y轴 鼠标z轴 鼠标左键 鼠标右键*
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*偏移 48 64 80 86 94 *
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*长度 16 16 16 8 8 *
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*符号位 有 有 有 无 无 *
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*范围 ******最大值32767***** ***最大值1*** *
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* * 最小值-32768 * ***最小值0*** *
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* ******静止值0********* *
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*功能 ***鼠标在XYZ轴的移动速度*** *鼠标左右键是否按下*
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* * 负值表示往左移动 * * 0:没按下 *
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* ***正值表示往右移动******** *****1:按下*********
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* *
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* *
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***************************键盘信息***************************
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*域 按键 *
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*偏移 102 *
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*长度 16 *
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*符号位 无 *
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*范围 位值标识 *
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*功能 每个按键对应一个bit *
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* Bit 0:W键 *
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* Bit 1:S键 *
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* Bit 2:A键 *
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* Bit 3:D键 *
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* Bit 4:Shift键 *
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* Bit 5:Ctrl键 *
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* Bit 6:Q键 *
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* Bit 7:E键 *
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* Bit 8:R键 *
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* Bit 9:F键 *
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* Bit10:G键 *
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* Bit11:Z键 *
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* Bit12:X键 *
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* Bit13:C键 *
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* Bit14:V键 *
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* Bit15:B键 *
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**************************************************************/
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2025-11-17 16:27:19 +08:00
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#include "rc.h"
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2025-12-15 21:31:36 +08:00
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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 "indicator_app/ws2812status.h"
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#include "robot_def.h"
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#define REMOTE_CONTROL_FRAME_SIZE 25u // 遥控器接收的buffer大小
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//@todo：测试define
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#define REMOTE_FS_I6X
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// 定义SBUS协议的起始标志
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#define SBUS_HEAD 0X0F
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// 定义SBUS协议的结束标志
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#define SBUS_END 0X00
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// 遥控器数据
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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
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static uint8_t rc_init_flag = 0; // 遥控器初始化标志位
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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 USART_Instance *rc_usart_instance;
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static Daemon_Instance *rc_daemon_instance;
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#ifdef REMOTE_DJI_DT7
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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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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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/**
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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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static void 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;
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//!< 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) -
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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;
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//!< 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.z = (sbus_buf[10] | (sbus_buf[11] << 8)); //!< Mouse Z axis // 滚轮
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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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}
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#endif
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#ifdef REMOTE_FS_I6X
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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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static void 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.z = (sbus_buf[10] | (sbus_buf[11] << 8)); //!< Mouse Z axis // 滚轮
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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
|
|
|
|
|
|
// key_last_with_shift = rc_ctrl[LAST].key[KEY_PRESS_WITH_SHIFT].keys; // 上一次shift组合键是否按下
|
|
|
|
|
|
|
|
|
|
|
|
// for (uint16_t i = 0, j = 0x1; i < 16; j <<= 1, i++) {
|
|
|
|
|
|
// if (i == 4 || i == 5) // 4,5位为ctrl和shift,直接跳过
|
|
|
|
|
|
// continue;
|
|
|
|
|
|
// // 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)
|
|
|
|
|
|
// if ((key_now & j) && !(key_last & j) && !(key_with_ctrl & j) && !(key_with_shift & j))
|
|
|
|
|
|
// rc_ctrl[TEMP].key_count[KEY_PRESS][i]++;
|
|
|
|
|
|
// // 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)
|
|
|
|
|
|
// if ((key_with_ctrl & j) && !(key_last_with_ctrl & j))
|
|
|
|
|
|
// rc_ctrl[TEMP].key_count[KEY_PRESS_WITH_CTRL][i]++;
|
|
|
|
|
|
// // 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)
|
|
|
|
|
|
// if ((key_with_shift & j) && !(key_last_with_shift & j))
|
|
|
|
|
|
// rc_ctrl[TEMP].key_count[KEY_PRESS_WITH_SHIFT][i]++;
|
|
|
|
|
|
// }
|
|
|
|
|
|
|
|
|
|
|
|
if ((sbus_buf[0] != SBUS_HEAD) || (sbus_buf[24] != SBUS_END))
|
|
|
|
|
|
return;
|
|
|
|
|
|
|
|
|
|
|
|
// if (sbus_buf[23] == 0x0C)
|
|
|
|
|
|
// rc_ctrl->online = 0;
|
|
|
|
|
|
// else
|
|
|
|
|
|
// rc_ctrl->online = 1;
|
|
|
|
|
|
|
|
|
|
|
|
rc_ctrl[TEMP].rc.ch[0] = ((sbus_buf[1] | sbus_buf[2] << 8) & 0x07FF); // 通道1 (云台yaw)
|
|
|
|
|
|
rc_ctrl[TEMP].rc.ch[1] = ((sbus_buf[2] >> 3 | sbus_buf[3] << 5) & 0x07FF); // 通道2 (云台pitch)
|
|
|
|
|
|
rc_ctrl[TEMP].rc.ch[2] = ((sbus_buf[3] >> 6 | sbus_buf[4] << 2 | sbus_buf[5] << 10) & 0x07FF); // 通道3 (前后)
|
|
|
|
|
|
rc_ctrl[TEMP].rc.ch[3] = ((sbus_buf[5] >> 1 | sbus_buf[6] << 7) & 0x07FF); // 通道4 (左右)
|
|
|
|
|
|
rc_ctrl[TEMP].rc.ch[4] = ((sbus_buf[6] >> 4 | sbus_buf[7] << 4) & 0x07FF); // 通道5 (SWA)
|
|
|
|
|
|
rc_ctrl[TEMP].rc.ch[5] = ((sbus_buf[7] >> 7 | sbus_buf[8] << 1 | sbus_buf[9] << 9) & 0x07FF); // 通道6 (SWB)
|
|
|
|
|
|
rc_ctrl[TEMP].rc.ch[6] = ((sbus_buf[9] >> 2 | sbus_buf[10] << 6) & 0x07FF); // 通道7 (SWC)
|
|
|
|
|
|
rc_ctrl[TEMP].rc.ch[7] = ((sbus_buf[10] >> 5 | sbus_buf[11] << 3) & 0x07FF); // 通道8 (SWD)
|
|
|
|
|
|
rc_ctrl[TEMP].rc.ch[8] = ((sbus_buf[12] | sbus_buf[13] << 8) & 0x07FF); // 通道9 (VrA旋钮)
|
|
|
|
|
|
rc_ctrl[TEMP].rc.ch[9] = ((sbus_buf[13] >> 3 | sbus_buf[14] << 5) & 0x07FF); // 通道10 (VrB旋钮)
|
|
|
|
|
|
|
|
|
|
|
|
// rc_ctrl[TEMP].rc.ch[0] = ((sbus_buf[0] | sbus_buf[1] << 8) & 0x07FF); // 通道1 (云台yaw)
|
|
|
|
|
|
// rc_ctrl[TEMP].rc.ch[1] = ((sbus_buf[1] >> 3 | sbus_buf[2] << 5) & 0x07FF); // 通道2 (云台pitch)
|
|
|
|
|
|
// rc_ctrl[TEMP].rc.ch[2] = ((sbus_buf[2] >> 6 | sbus_buf[3] << 2 | sbus_buf[4] << 10) & 0x07FF); // 通道3 (前后)
|
|
|
|
|
|
// rc_ctrl[TEMP].rc.ch[3] = ((sbus_buf[4] >> 1 | sbus_buf[5] << 7) & 0x07FF); // 通道4 (左右)
|
|
|
|
|
|
// rc_ctrl[TEMP].rc.ch[4] = ((sbus_buf[5] >> 4 | sbus_buf[6] << 4) & 0x07FF); // 通道5 (SWA)
|
|
|
|
|
|
// rc_ctrl[TEMP].rc.ch[5] = ((sbus_buf[6] >> 7 | sbus_buf[7] << 1 | sbus_buf[8] << 9) & 0x07FF); // 通道6 (SWB)
|
|
|
|
|
|
// rc_ctrl[TEMP].rc.ch[6] = ((sbus_buf[8] >> 2 | sbus_buf[9] << 6) & 0x07FF); // 通道7 (SWC)
|
|
|
|
|
|
// rc_ctrl[TEMP].rc.ch[7] = ((sbus_buf[9] >> 5 | sbus_buf[10] << 3) & 0x07FF); // 通道8 (SWD)
|
|
|
|
|
|
// rc_ctrl[TEMP].rc.ch[8] = ((sbus_buf[11] | sbus_buf[12] << 8) & 0x07FF); // 通道9 (VrA旋钮)
|
|
|
|
|
|
// rc_ctrl[TEMP].rc.ch[9] = ((sbus_buf[12] >> 3 | sbus_buf[13] << 5) & 0x07FF); // 通道10 (VrB旋钮)
|
|
|
|
|
|
|
|
|
|
|
|
rc_ctrl[TEMP].sw_a = (rc_ctrl[TEMP].rc.ch[4] == 0x00F0) ? RC_SW_UP : RC_SW_DOWN;
|
|
|
|
|
|
rc_ctrl[TEMP].sw_b = rc_ctrl[TEMP].rc.ch[5]; //3档
|
|
|
|
|
|
rc_ctrl[TEMP].sw_c = rc_ctrl[TEMP].rc.ch[6]; //3档
|
|
|
|
|
|
rc_ctrl[TEMP].sw_d = (rc_ctrl[TEMP].rc.ch[7] == 0x00F0) ? RC_SW_UP : RC_SW_DOWN;
|
|
|
|
|
|
|
|
|
|
|
|
// 解析SWB状态
|
|
|
|
|
|
if (rc_ctrl[TEMP].rc.ch[6] == 0x00F0)
|
|
|
|
|
|
{
|
|
|
|
|
|
rc_ctrl[TEMP].sw_b = RC_SW_UP;
|
|
|
|
|
|
}
|
|
|
|
|
|
else if (rc_ctrl[TEMP].rc.ch[6] == 0x0400)
|
|
|
|
|
|
{
|
|
|
|
|
|
rc_ctrl[TEMP].sw_b = RC_SW_MID;
|
|
|
|
|
|
}
|
|
|
|
|
|
else if (rc_ctrl[TEMP].rc.ch[6] == 0x070F)
|
|
|
|
|
|
{
|
|
|
|
|
|
rc_ctrl[TEMP].sw_b = RC_SW_DOWN;
|
|
|
|
|
|
}
|
|
|
|
|
|
else
|
|
|
|
|
|
{
|
|
|
|
|
|
rc_ctrl[TEMP].sw_b = 0;
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
if (rc_ctrl[TEMP].sw_b != rc_ctrl[TEMP].sw_b_last)
|
|
|
|
|
|
{
|
|
|
|
|
|
if (rc_ctrl[TEMP].sw_b == RC_SW_UP)
|
|
|
|
|
|
{
|
|
|
|
|
|
rc_ctrl[TEMP].sw_b_midtoup_flag = 1;
|
|
|
|
|
|
rc_ctrl[TEMP].sw_b_uptomid_flag = 0;
|
|
|
|
|
|
rc_ctrl[TEMP].sw_b_midtodown_flag = 0;
|
|
|
|
|
|
}
|
|
|
|
|
|
else if (rc_ctrl[TEMP].sw_b == RC_SW_MID)
|
|
|
|
|
|
{
|
|
|
|
|
|
rc_ctrl[TEMP].sw_b_midtoup_flag = 0;
|
|
|
|
|
|
rc_ctrl[TEMP].sw_b_uptomid_flag = 1;
|
|
|
|
|
|
rc_ctrl[TEMP].sw_b_midtodown_flag = 0;
|
|
|
|
|
|
}
|
|
|
|
|
|
else if (rc_ctrl[TEMP].sw_b == RC_SW_DOWN)
|
|
|
|
|
|
{
|
|
|
|
|
|
rc_ctrl[TEMP].sw_b_midtoup_flag = 0;
|
|
|
|
|
|
rc_ctrl[TEMP].sw_b_uptomid_flag = 0;
|
|
|
|
|
|
rc_ctrl[TEMP].sw_b_midtodown_flag = 1;
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
rc_ctrl[TEMP].sw_b_last = rc_ctrl[TEMP].sw_b;
|
|
|
|
|
|
|
|
|
|
|
|
// 解析SWC状态
|
|
|
|
|
|
if (rc_ctrl[TEMP].rc.ch[6] == 0x00F0)
|
|
|
|
|
|
{
|
|
|
|
|
|
rc_ctrl[TEMP].sw_c = RC_SW_UP;
|
|
|
|
|
|
}
|
|
|
|
|
|
else if (rc_ctrl[TEMP].rc.ch[6] == 0x0400)
|
|
|
|
|
|
{
|
|
|
|
|
|
rc_ctrl[TEMP].sw_c = RC_SW_MID;
|
|
|
|
|
|
}
|
|
|
|
|
|
else if (rc_ctrl[TEMP].rc.ch[6] == 0x070F)
|
|
|
|
|
|
{
|
|
|
|
|
|
rc_ctrl[TEMP].sw_c = RC_SW_DOWN;
|
|
|
|
|
|
}
|
|
|
|
|
|
else
|
|
|
|
|
|
{
|
|
|
|
|
|
rc_ctrl[TEMP].sw_c = 0;
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
if (rc_ctrl[TEMP].sw_c != rc_ctrl[TEMP].sw_c_last)
|
|
|
|
|
|
{
|
|
|
|
|
|
if (rc_ctrl[TEMP].sw_c == RC_SW_UP)
|
|
|
|
|
|
{
|
|
|
|
|
|
rc_ctrl[TEMP].sw_c_midtoup_flag = 1;
|
|
|
|
|
|
rc_ctrl[TEMP].sw_c_uptomid_flag = 0;
|
|
|
|
|
|
rc_ctrl[TEMP].sw_c_midtodown_flag = 0;
|
|
|
|
|
|
}
|
|
|
|
|
|
else if (rc_ctrl[TEMP].sw_c == RC_SW_MID)
|
|
|
|
|
|
{
|
|
|
|
|
|
rc_ctrl[TEMP].sw_c_midtoup_flag = 0;
|
|
|
|
|
|
rc_ctrl[TEMP].sw_c_uptomid_flag = 1;
|
|
|
|
|
|
rc_ctrl[TEMP].sw_c_midtodown_flag = 0;
|
|
|
|
|
|
}
|
|
|
|
|
|
else if (rc_ctrl[TEMP].sw_c == RC_SW_DOWN)
|
|
|
|
|
|
{
|
|
|
|
|
|
rc_ctrl[TEMP].sw_c_midtoup_flag = 0;
|
|
|
|
|
|
rc_ctrl[TEMP].sw_c_uptomid_flag = 0;
|
|
|
|
|
|
rc_ctrl[TEMP].sw_c_midtodown_flag = 1;
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
rc_ctrl[TEMP].sw_c_last = rc_ctrl[TEMP].sw_c;
|
|
|
|
|
|
|
|
|
|
|
|
// SWA和SWB的状态变化
|
|
|
|
|
|
if (rc_ctrl[TEMP].sw_a != rc_ctrl[TEMP].sw_a_last)
|
|
|
|
|
|
{
|
|
|
|
|
|
rc_ctrl[TEMP].sw_a_up_to_down_flag = (rc_ctrl[TEMP].sw_a == RC_SW_UP) ? 1 : 0;
|
|
|
|
|
|
}
|
|
|
|
|
|
rc_ctrl[TEMP].sw_a_last = rc_ctrl[TEMP].sw_a;
|
|
|
|
|
|
|
|
|
|
|
|
// if (rc_ctrl[TEMP].sw_b != rc_ctrl[TEMP].sw_b_last) {
|
|
|
|
|
|
// rc_ctrl[TEMP].sw_b_up_to_down_flag = (rc_ctrl[TEMP].sw_b == RC_SW_UP) ? 1 : 0;
|
|
|
|
|
|
// }
|
|
|
|
|
|
// rc_ctrl[TEMP].sw_b_last = rc_ctrl[TEMP].sw_b;
|
|
|
|
|
|
|
|
|
|
|
|
// SWD的状态变化
|
|
|
|
|
|
if (rc_ctrl[TEMP].sw_d != rc_ctrl[TEMP].sw_d_last)
|
|
|
|
|
|
{
|
|
|
|
|
|
rc_ctrl[TEMP].sw_d_up_to_down_flag = (rc_ctrl[TEMP].sw_d == RC_SW_UP) ? 1 : 0;
|
|
|
|
|
|
}
|
|
|
|
|
|
rc_ctrl[TEMP].sw_d_last = rc_ctrl[TEMP].sw_d;
|
|
|
|
|
|
|
|
|
|
|
|
// 修正 ch1~ch4
|
|
|
|
|
|
rc_ctrl[TEMP].ch1 = rc_ctrl[TEMP].rc.ch[0] - 1024;
|
|
|
|
|
|
rc_ctrl[TEMP].ch2 = rc_ctrl[TEMP].rc.ch[1] - 1024;
|
|
|
|
|
|
rc_ctrl[TEMP].ch3 = rc_ctrl[TEMP].rc.ch[2] - 1024;
|
|
|
|
|
|
rc_ctrl[TEMP].ch4 = rc_ctrl[TEMP].rc.ch[3] - 1024;
|
|
|
|
|
|
// ...existing code...
|
|
|
|
|
|
|
|
|
|
|
|
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
|
|
|
|
|
|
}
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
|
|
/**
|
|
|
|
|
|
* @brief 对sbus_to_rc的简单封装,用于注册到bsp_usart的回调函数中
|
|
|
|
|
|
*
|
|
|
|
|
|
*/
|
|
|
|
|
|
static void RemoteControlRxCallback()
|
|
|
|
|
|
{
|
|
|
|
|
|
sbus_to_rc(rc_usart_instance->recv_buff); // 进行协议解析
|
|
|
|
|
|
DaemonReload(rc_daemon_instance); // 先喂狗
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
/**
|
|
|
|
|
|
* @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
|
|
|
|
|
|
*
|
|
|
|
|
|
*/
|
|
|
|
|
|
static void RCLostCallback(void *id)
|
|
|
|
|
|
{
|
|
|
|
|
|
memset(rc_ctrl, 0, sizeof(rc_ctrl)); // 清空遥控器数据
|
|
|
|
|
|
USARTServiceInit(rc_usart_instance); // 尝试重新启动接收
|
|
|
|
|
|
|
|
|
|
|
|
RobotMode = REMOTE_NOT_CONNECTED;
|
|
|
|
|
|
|
|
|
|
|
|
// LEDErrLog(0, LED_COLOR_R); // 红灯常亮 表示遥控器离线
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
RC_ctrl_t *RemoteControlInit(UART_HandleTypeDef *rc_usart_handle)
|
|
|
|
|
|
{
|
|
|
|
|
|
USART_Init_Config_s conf;
|
|
|
|
|
|
conf.module_callback = RemoteControlRxCallback;
|
|
|
|
|
|
conf.usart_handle = rc_usart_handle;
|
|
|
|
|
|
conf.recv_buff_size = REMOTE_CONTROL_FRAME_SIZE;
|
|
|
|
|
|
|
|
|
|
|
|
rc_usart_instance = USARTRegister(&conf);
|
|
|
|
|
|
|
|
|
|
|
|
// 进行守护进程的注册,用于定时检查遥控器是否正常工作
|
|
|
|
|
|
Daemon_Init_Config_s daemon_conf = {
|
|
|
|
|
|
.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)
|
|
|
|
|
|
.callback = RCLostCallback,
|
|
|
|
|
|
.owner_id = NULL, // 只有1个遥控器,不需要owner_id
|
|
|
|
|
|
};
|
|
|
|
|
|
rc_daemon_instance = DaemonRegister(&daemon_conf);
|
|
|
|
|
|
|
|
|
|
|
|
rc_init_flag = 1;
|
|
|
|
|
|
return rc_ctrl;
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
uint8_t RemoteControlIsOnline()
|
|
|
|
|
|
{
|
|
|
|
|
|
if (rc_init_flag)
|
|
|
|
|
|
return DaemonIsOnline(rc_daemon_instance);
|
|
|
|
|
|
return 0;
|
|
|
|
|
|
}
|
