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videotransmiter

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TuxMonkey
2025-12-05 21:47:00 +08:00
parent 7522bc9974
commit c021b4794c
15 changed files with 2164 additions and 239 deletions
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144
User_Code/module/periph/remote_control/videotransmiter.c Normal file
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//
// 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;
}

179
User_Code/module/periph/remote_control/videotransmiter.h Normal file
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/* 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 <stdio.h>
#include <string.h>
#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