diff --git a/User_Code/module/algorithm/crc/crc.c b/User_Code/module/algorithm/crc/crc.c deleted file mode 100644 index 154d2db..0000000 --- a/User_Code/module/algorithm/crc/crc.c +++ /dev/null @@ -1,191 +0,0 @@ -/* USER CODE BEGIN Header */ -/** - ****************************************************************************** - * @file : CRC.c - * @brief : CRC check - * @author : - * @date : 2025/01/22 - * @version : v1.0 - ****************************************************************************** - * @attention : To be tested - ****************************************************************************** - */ -/* USER CODE END Header */ - -#include "CRC.h" -#include "string.h" - -//crc8 generator polynomial:G(x=x8+x5+x4+1 -const uint8_t CRC8_INIT = 0xff; - -const uint8_t CRC8_TAB[256] = -{ - 0x00, 0x5e, 0xbc, 0xe2, 0x61, 0x3f, 0xdd, 0x83, 0xc2, 0x9c, 0x7e, 0x20, 0xa3, 0xfd, 0x1f, 0x41, - 0x9d, 0xc3, 0x21, 0x7f, 0xfc, 0xa2, 0x40, 0x1e, 0x5f, 0x01, 0xe3, 0xbd, 0x3e, 0x60, 0x82, 0xdc, - 0x23, 0x7d, 0x9f, 0xc1, 0x42, 0x1c, 0xfe, 0xa0, 0xe1, 0xbf, 0x5d, 0x03, 0x80, 0xde, 0x3c, 0x62, - 0xbe, 0xe0, 0x02, 0x5c, 0xdf, 0x81, 0x63, 0x3d, 0x7c, 0x22, 0xc0, 0x9e, 0x1d, 0x43, 0xa1, 0xff, - 0x46, 0x18, 0xfa, 0xa4, 0x27, 0x79, 0x9b, 0xc5, 0x84, 0xda, 0x38, 0x66, 0xe5, 0xbb, 0x59, 0x07, - 0xdb, 0x85, 0x67, 0x39, 0xba, 0xe4, 0x06, 0x58, 0x19, 0x47, 0xa5, 0xfb, 0x78, 0x26, 0xc4, 0x9a, - 0x65, 0x3b, 0xd9, 0x87, 0x04, 0x5a, 0xb8, 0xe6, 0xa7, 0xf9, 0x1b, 0x45, 0xc6, 0x98, 0x7a, 0x24, - 0xf8, 0xa6, 0x44, 0x1a, 0x99, 0xc7, 0x25, 0x7b, 0x3a, 0x64, 0x86, 0xd8, 0x5b, 0x05, 0xe7, 0xb9, - 0x8c, 0xd2, 0x30, 0x6e, 0xed, 0xb3, 0x51, 0x0f, 0x4e, 0x10, 0xf2, 0xac, 0x2f, 0x71, 0x93, 0xcd, - 0x11, 0x4f, 0xad, 0xf3, 0x70, 0x2e, 0xcc, 0x92, 0xd3, 0x8d, 0x6f, 0x31, 0xb2, 0xec, 0x0e, 0x50, - 0xaf, 0xf1, 0x13, 0x4d, 0xce, 0x90, 0x72, 0x2c, 0x6d, 0x33, 0xd1, 0x8f, 0x0c, 0x52, 0xb0, 0xee, - 0x32, 0x6c, 0x8e, 0xd0, 0x53, 0x0d, 0xef, 0xb1, 0xf0, 0xae, 0x4c, 0x12, 0x91, 0xcf, 0x2d, 0x73, - 0xca, 0x94, 0x76, 0x28, 0xab, 0xf5, 0x17, 0x49, 0x08, 0x56, 0xb4, 0xea, 0x69, 0x37, 0xd5, 0x8b, - 0x57, 0x09, 0xeb, 0xb5, 0x36, 0x68, 0x8a, 0xd4, 0x95, 0xcb, 0x29, 0x77, 0xf4, 0xaa, 0x48, 0x16, - 0xe9, 0xb7, 0x55, 0x0b, 0x88, 0xd6, 0x34, 0x6a, 0x2b, 0x75, 0x97, 0xc9, 0x4a, 0x14, 0xf6, 0xa8, - 0x74, 0x2a, 0xc8, 0x96, 0x15, 0x4b, 0xa9, 0xf7, 0xb6, 0xe8, 0x0a, 0x54, 0xd7, 0x89, 0x6b, 0x35, -}; - - -const uint16_t CRC16_INIT = 0xffff; - -const uint16_t wCRC_Table[256] = -{ - 0x0000, 0x1189, 0x2312, 0x329b, 0x4624, 0x57ad, 0x6536, 0x74bf, - 0x8c48, 0x9dc1, 0xaf5a, 0xbed3, 0xca6c, 0xdbe5, 0xe97e, 0xf8f7, - 0x1081, 0x0108, 0x3393, 0x221a, 0x56a5, 0x472c, 0x75b7, 0x643e, - 0x9cc9, 0x8d40, 0xbfdb, 0xae52, 0xdaed, 0xcb64, 0xf9ff, 0xe876, - 0x2102, 0x308b, 0x0210, 0x1399, 0x6726, 0x76af, 0x4434, 0x55bd, - 0xad4a, 0xbcc3, 0x8e58, 0x9fd1, 0xeb6e, 0xfae7, 0xc87c, 0xd9f5, - 0x3183, 0x200a, 0x1291, 0x0318, 0x77a7, 0x662e, 0x54b5, 0x453c, - 0xbdcb, 0xac42, 0x9ed9, 0x8f50, 0xfbef, 0xea66, 0xd8fd, 0xc974, - 0x4204, 0x538d, 0x6116, 0x709f, 0x0420, 0x15a9, 0x2732, 0x36bb, - 0xce4c, 0xdfc5, 0xed5e, 0xfcd7, 0x8868, 0x99e1, 0xab7a, 0xbaf3, - 0x5285, 0x430c, 0x7197, 0x601e, 0x14a1, 0x0528, 0x37b3, 0x263a, - 0xdecd, 0xcf44, 0xfddf, 0xec56, 0x98e9, 0x8960, 0xbbfb, 0xaa72, - 0x6306, 0x728f, 0x4014, 0x519d, 0x2522, 0x34ab, 0x0630, 0x17b9, - 0xef4e, 0xfec7, 0xcc5c, 0xddd5, 0xa96a, 0xb8e3, 0x8a78, 0x9bf1, - 0x7387, 0x620e, 0x5095, 0x411c, 0x35a3, 0x242a, 0x16b1, 0x0738, - 0xffcf, 0xee46, 0xdcdd, 0xcd54, 0xb9eb, 0xa862, 0x9af9, 0x8b70, - 0x8408, 0x9581, 0xa71a, 0xb693, 0xc22c, 0xd3a5, 0xe13e, 0xf0b7, - 0x0840, 0x19c9, 0x2b52, 0x3adb, 0x4e64, 0x5fed, 0x6d76, 0x7cff, - 0x9489, 0x8500, 0xb79b, 0xa612, 0xd2ad, 0xc324, 0xf1bf, 0xe036, - 0x18c1, 0x0948, 0x3bd3, 0x2a5a, 0x5ee5, 0x4f6c, 0x7df7, 0x6c7e, - 0xa50a, 0xb483, 0x8618, 0x9791, 0xe32e, 0xf2a7, 0xc03c, 0xd1b5, - 0x2942, 0x38cb, 0x0a50, 0x1bd9, 0x6f66, 0x7eef, 0x4c74, 0x5dfd, - 0xb58b, 0xa402, 0x9699, 0x8710, 0xf3af, 0xe226, 0xd0bd, 0xc134, - 0x39c3, 0x284a, 0x1ad1, 0x0b58, 0x7fe7, 0x6e6e, 0x5cf5, 0x4d7c, - 0xc60c, 0xd785, 0xe51e, 0xf497, 0x8028, 0x91a1, 0xa33a, 0xb2b3, - 0x4a44, 0x5bcd, 0x6956, 0x78df, 0x0c60, 0x1de9, 0x2f72, 0x3efb, - 0xd68d, 0xc704, 0xf59f, 0xe416, 0x90a9, 0x8120, 0xb3bb, 0xa232, - 0x5ac5, 0x4b4c, 0x79d7, 0x685e, 0x1ce1, 0x0d68, 0x3ff3, 0x2e7a, - 0xe70e, 0xf687, 0xc41c, 0xd595, 0xa12a, 0xb0a3, 0x8238, 0x93b1, - 0x6b46, 0x7acf, 0x4854, 0x59dd, 0x2d62, 0x3ceb, 0x0e70, 0x1ff9, - 0xf78f, 0xe606, 0xd49d, 0xc514, 0xb1ab, 0xa022, 0x92b9, 0x8330, - 0x7bc7, 0x6a4e, 0x58d5, 0x495c, 0x3de3, 0x2c6a, 0x1ef1, 0x0f78 -}; - -/** - * @brief calculate the crc8 - * @param[in] pch_message: data - * @param[in] dw_length: stream length = data + checksum - * @param[in] ucCRC8: init CRC8 - * @retval calculated crc8 - */ -uint8_t Get_CRC8_Check_Sum(unsigned char *pch_message, unsigned int dw_length, unsigned char ucCRC8) -{ - unsigned char uc_index; - while (dw_length--) - { - uc_index = ucCRC8 ^ (*pch_message++); - ucCRC8 = CRC8_TAB[uc_index]; - } - return (ucCRC8); -} - -/** - * @brief CRC8 verify function - * @param[in] pch_message: data - * @param[in] dw_length:stream length = data + checksum - * @retval true of false - */ -bool Verify_CRC8_Check_Sum(unsigned char *pch_message, unsigned int dw_length) -{ - unsigned char ucExpected = 0; - if ((pch_message == 0) || (dw_length <= 2)) - { - return 0; - } - ucExpected = Get_CRC8_Check_Sum(pch_message, dw_length - 1, CRC8_INIT); - return (ucExpected == pch_message[dw_length - 1]); -} - -/** - * @brief append CRC8 to the end of data - * @param[in] pch_message: data - * @param[in] dw_length:stream length = data + checksum - * @retval none - */ -void Append_CRC8_Check_Sum(unsigned char *pch_message, unsigned int dw_length) -{ - unsigned char ucCRC = 0; - if ((pch_message == 0) || (dw_length <= 2)) - { - return; - } - ucCRC = Get_CRC8_Check_Sum((unsigned char *) pch_message, dw_length - 1, CRC8_INIT); - pch_message[dw_length - 1] = ucCRC; -} - -/** - * @brief calculate the crc16 - * @param[in] pch_message: data - * @param[in] dw_length: stream length = data + checksum - * @param[in] wCRC: init CRC16 - * @retval calculated crc16 - */ -uint16_t Get_CRC16_Check_Sum(uint8_t *pch_message, uint32_t dw_length, uint16_t wCRC) -{ - uint8_t chData; - if (pch_message == NULL) - { - return 0xFFFF; - } - while (dw_length--) - { - chData = *pch_message++; - (wCRC) = ((uint16_t) (wCRC) >> 8) ^ wCRC_Table[((uint16_t) (wCRC) ^ (uint16_t) (chData)) & 0x00ff]; - } - return wCRC; -} - -/** - * @brief CRC16 verify function - * @param[in] pch_message: data - * @param[in] dw_length:stream length = data + checksum - * @retval true of false - */ -bool Verify_CRC16_Check_Sum(uint8_t *pchMessage, uint32_t dwLength) -{ - uint16_t wExpected = 0; - if ((pchMessage == NULL) || (dwLength <= 2)) - { - return 0; - } - wExpected = Get_CRC16_Check_Sum(pchMessage, dwLength - 2, CRC16_INIT); - return ((wExpected & 0xff) == pchMessage[dwLength - 2] && ((wExpected >> 8) & 0xff) == pchMessage[dwLength - 1]); -} - -/** - * @brief append CRC16 to the end of data - * @param[in] pch_message: data - * @param[in] dw_length:stream length = data + checksum - * @retval none - */ -void Append_CRC16_Check_Sum(uint8_t *pchMessage, uint32_t dwLength) -{ - uint16_t wCRC = 0; - if ((pchMessage == NULL) || (dwLength <= 2)) - { - return; - } - wCRC = Get_CRC16_Check_Sum((uint8_t *) pchMessage, dwLength - 2, CRC16_INIT); - pchMessage[dwLength - 2] = (uint8_t) (wCRC & 0x00ff); - pchMessage[dwLength - 1] = (uint8_t) ((wCRC >> 8) & 0x00ff); -} - -//------------------------------------------------------------------------------ - - diff --git a/User_Code/module/algorithm/crc/crc.h b/User_Code/module/algorithm/crc/crc.h deleted file mode 100644 index 19e978a..0000000 --- a/User_Code/module/algorithm/crc/crc.h +++ /dev/null @@ -1,33 +0,0 @@ -/* USER CODE BEGIN Header */ -/** - ****************************************************************************** - * @file : crc.h - * @brief : crc check - * @author : - * @date : 2023/01/22 - * @version : v1.0 - ****************************************************************************** - * @attention : None - ****************************************************************************** - */ -/* USER CODE END Header */ - -#ifndef CRC_H -#define CRC_H - -#include "stdint.h" -#include "stdbool.h" - - -extern uint8_t Get_CRC8_Check_Sum(unsigned char *pchMessage, unsigned int dwLength, unsigned char ucCRC8); - -extern bool Verify_CRC8_Check_Sum(unsigned char *pchMessage, unsigned int dwLength); - -extern void Append_CRC8_Check_Sum(unsigned char *pchMessage, unsigned int dwLength); - -extern uint16_t Get_CRC16_Check_Sum(uint8_t *pchMessage, uint32_t dwLength, uint16_t wCRC); - -extern bool Verify_CRC16_Check_Sum(uint8_t *pchMessage, uint32_t dwLength); - -extern void Append_CRC16_Check_Sum(uint8_t *pchMessage, uint32_t dwLength); -#endif diff --git a/User_Code/module/periph/remote_control/videotransmiter.c b/User_Code/module/periph/remote_control/videotransmiter.c deleted file mode 100644 index 32eb621..0000000 --- a/User_Code/module/periph/remote_control/videotransmiter.c +++ /dev/null @@ -1,144 +0,0 @@ -// -// Created by ASUS on 2025/12/5. -// - - -/* USER CODE BEGIN Header */ -/** - ****************************************************************************** - * @file : Image_Transmission.c - * @brief : Image_Transmission_Info interfaces functions - * @author : - * @date : 2025/4/20 - * @version : v1.0 - ****************************************************************************** - * @attention : to be tested - ****************************************************************************** - */ -/* USER CODE END Header */ -#include "videotransmiter.h" -#include "CRC.h" -#include "usart.h" - -__attribute__((section (".AXI_SRAM"))) uint8_t Image_Trans_MultiRx_Buff[2][39]; - -Image_Transmission_Info_TypeDef Image_Transmission_Info; -VT13_Info_TypeDef VT13_Info; - -static int16_t bit8TObit16(uint8_t change_info[2]); - -void Image_Transmission_Info_Update(uint8_t *Buff) -{ - Image_Transmission_Info.Index = 0; - Image_Transmission_Info.DataLength = 0; - /*Check the header frame */ - - if (Buff[0] == 0xA5) - { - - if (Verify_CRC8_Check_Sum(&Buff[0], 5) == true) - { - - Image_Transmission_Info.DataLength = - (uint16_t) (Buff[Image_Transmission_Info.Index + 2] << 8 | Buff[Image_Transmission_Info.Index + 1]) - + FrameHeader_Length + CMDID_Length + CRC16_Length; - - if (Verify_CRC16_Check_Sum(&Buff[Image_Transmission_Info.Index], Image_Transmission_Info.DataLength) == - true) - { - -#ifdef CUSTOM_ROBOT_DATA_ID - - if (Image_Transmission_Info.DataLength == 39) - { - for (uint8_t i = 0; i < 30; i++) - { - Image_Transmission_Info.custom_robot_data.data[i] = Buff[ - Image_Transmission_Info.Index + FrameHeader_Length + CMDID_Length + i]; - } - } -#endif - -#ifdef REMOTE_CONTROL_ID - - if (Image_Transmission_Info.DataLength == 21) - { - Image_Transmission_Info.remote_control.mouse_x = bit8TObit16( - &Buff[Image_Transmission_Info.Index + FrameHeader_Length + CMDID_Length]); - Image_Transmission_Info.remote_control.mouse_y = bit8TObit16( - &Buff[Image_Transmission_Info.Index + FrameHeader_Length + CMDID_Length + 2]); - Image_Transmission_Info.remote_control.mouse_z = bit8TObit16( - &Buff[Image_Transmission_Info.Index + FrameHeader_Length + CMDID_Length + 4]); - Image_Transmission_Info.remote_control.left_button_down = Buff[ - Image_Transmission_Info.Index + FrameHeader_Length + CMDID_Length + 6]; - Image_Transmission_Info.remote_control.right_button_down = Buff[ - Image_Transmission_Info.Index + FrameHeader_Length + CMDID_Length + 7]; - Image_Transmission_Info.remote_control.Key.keyboard_value = bit8TObit16( - &Buff[Image_Transmission_Info.Index + FrameHeader_Length + CMDID_Length + 8]); - } -#endif - } - } - - } - else if (Buff[0] == 0xA9) - { - - if (Buff[1] == 0x53) - { - - VT13_Info_Update(Buff, &VT13_Info); - - } - } -} - -void VT13_Info_Update(uint8_t *Buff, VT13_Info_TypeDef *VT13_Info) -{ - - if (Verify_CRC16_Check_Sum(&Buff[0], 21) == true) - { - - VT13_Info->RC.Channel[0] = ((Buff[2]) | (Buff[3] << 8)) & 0x07FF; - VT13_Info->RC.Channel[1] = ((Buff[3] >> 3) | (Buff[4] << 5)) & 0x07FF; - VT13_Info->RC.Channel[2] = ((Buff[4] >> 6) | (Buff[5] << 2) | (Buff[6] << 10)) & 0x07FF; - VT13_Info->RC.Channel[3] = ((Buff[6] >> 1) | (Buff[7] << 7)) & 0x07FF; - VT13_Info->RC.Switch = (Buff[7] >> 4) & 0x03; - VT13_Info->RC.Stop = (Buff[7] >> 6) & 0x01; - VT13_Info->RC.Left = (Buff[7] >> 7) & 0x01; - VT13_Info->RC.Right = (Buff[8]) & 0x01; - VT13_Info->RC.Wheel = ((Buff[8] >> 1) | (Buff[9] << 7)) & 0x07FF; - VT13_Info->RC.Trigger = (Buff[9] >> 4) & 0x01; - - VT13_Info->RC.Channel[0] -= 1024; - VT13_Info->RC.Channel[1] -= 1024; - VT13_Info->RC.Channel[2] -= 1024; - VT13_Info->RC.Channel[3] -= 1024; - VT13_Info->RC.Wheel -= 1024; - - VT13_Info->Mouse.X = (Buff[10] | (Buff[11] << 8)); - VT13_Info->Mouse.Y = (Buff[12] | (Buff[13] << 8)); - VT13_Info->Mouse.Z = (Buff[14] | (Buff[15] << 8)); - - VT13_Info->Mouse.Press_L = (Buff[16]) & 0x03; - VT13_Info->Mouse.Press_R = (Buff[16] >> 2) & 0x03; - VT13_Info->Mouse.Press_M = (Buff[16] >> 4) & 0x03; - - VT13_Info->Key.V = (Buff[17] | (Buff[18] << 8)); - } - -} - -static int16_t bit8TObit16(uint8_t change_info[2]) -{ - union - { - int16_t bit16; - uint8_t byte[2]; - } u16val; - - u16val.byte[0] = change_info[0]; - u16val.byte[1] = change_info[1]; - - return u16val.bit16; -} diff --git a/User_Code/module/periph/remote_control/videotransmiter.h b/User_Code/module/periph/remote_control/videotransmiter.h deleted file mode 100644 index f0c5a2d..0000000 --- a/User_Code/module/periph/remote_control/videotransmiter.h +++ /dev/null @@ -1,179 +0,0 @@ -/* USER CODE BEGIN Header */ -/** - ****************************************************************************** - * @file : Image_Transmission.h - * @brief : The header file of Image_Transmission.c - * @author : - * @date : 2025/04/20 - * @version : v1.0 - ****************************************************************************** - * @attention : None - ****************************************************************************** - */ -/* USER CODE END Header */ - -#ifndef VIDEOTRANSMITER_H -#define VIDEOTRANSMITER_H - -#include "stdint.h" -#include "stdbool.h" -#include "stdlib.h" -#include "string.h" -#include "math.h" -#include -#include - -#define IMAGE_TRANS_RX_LENGTH 39 //frame_header 5bytes , cmd_id 2bytes , data_max 30bytes , crc16 2bytes = bytes - -#define FrameHeader_Length 5U /*!< the length of frame header */ -#define CMDID_Length 2U /*!< the length of CMD ID */ -#define CRC16_Length 2U /*!< the length of CRC ID */ - -#define CUSTOM_ROBOT_DATA_ID 0x0302U -#define ROBOT_CUSTOM_DATA_ID 0x0309U -#define REMOTE_CONTROL_ID 0x0304U - -/** - * @brief The custom controller sends data to the corresponding robot through the image transmission, id: 0x0302U - */ -typedef struct -{ - - uint8_t data[30]; - -} custom_robot_data_t; - -/** - * @brief The robot sends data to the custom controller connected to the player end through the image transmission, id: 0x0309U - */ -typedef struct -{ - - uint8_t data[30]; - -} robot_custom_data_t; - -/** - * @brief The keyboard and mouse remote control data sent to the robot through the image transmission, id: 0x0304U - */ -typedef struct -{ - - int16_t mouse_x; - int16_t mouse_y; - int16_t mouse_z; - int8_t left_button_down; - int8_t right_button_down; - - union - { - uint16_t keyboard_value; - - struct - { - uint16_t W: 1; - uint16_t S: 1; - uint16_t A: 1; - uint16_t D: 1; - uint16_t SHIFT: 1; - uint16_t CTRL: 1; - uint16_t Q: 1; - uint16_t E: 1; - uint16_t R: 1; - uint16_t F: 1; - uint16_t G: 1; - uint16_t Z: 1; - uint16_t X: 1; - uint16_t C: 1; - uint16_t V: 1; - uint16_t B: 1; - } Set; - } Key; - - uint16_t reserved; - -} remote_control_t; - -typedef struct -{ - - uint8_t Index; - uint16_t DataLength; - -#ifdef CUSTOM_ROBOT_DATA_ID - custom_robot_data_t custom_robot_data; -#endif - -#ifdef ROBOT_CUSTOM_DATA_ID - robot_custom_data_t robot_custom_data; -#endif - -#ifdef REMOTE_CONTROL_ID - remote_control_t remote_control; -#endif -} Image_Transmission_Info_TypeDef; - - -typedef struct -{ - - struct - { - int16_t Channel[4]; - uint8_t Switch; - uint8_t Stop; - uint8_t Left; - uint8_t Right; - int16_t Wheel; - uint8_t Trigger; - } RC; - - struct - { - int16_t X; - int16_t Y; - int16_t Z; - uint8_t Press_L; - uint8_t Press_R; - uint8_t Press_M; - } Mouse; - - union - { - uint16_t V; - - struct - { - uint16_t W: 1; - uint16_t S: 1; - uint16_t A: 1; - uint16_t D: 1; - uint16_t SHIFT: 1; - uint16_t CTRL: 1; - uint16_t Q: 1; - uint16_t E: 1; - uint16_t R: 1; - uint16_t F: 1; - uint16_t G: 1; - uint16_t Z: 1; - uint16_t X: 1; - uint16_t C: 1; - uint16_t V: 1; - uint16_t B: 1; - } Set; - } Key; - -} VT13_Info_TypeDef; - -/* Exported variables ---------------------------------------------------------*/ -extern uint8_t Image_Trans_MultiRx_Buff[2][39]; -extern VT13_Info_TypeDef VT13_Info; -extern Image_Transmission_Info_TypeDef Image_Transmission_Info; - -extern void Robot_Data_to_Custom_(uint8_t *Data); - -extern void Image_Transmission_Info_Update(uint8_t *Buff); - -extern void VT13_Info_Update(uint8_t *Data, VT13_Info_TypeDef *VT13_Info); - -#endif