add DMA remote control

User_Code/application/indicator_app/ws2812status.c

@@ -24,6 +24,7 @@
 #include "delayticks.h"
 
 #include "robot_def.h"
+#include "rc.h"
 
 /*---------------------VARIABLES---------------------*/
 uint8_t r = 0;
@@ -53,10 +54,13 @@ void robotSelfCheck(void)
 void ws2812Task(void *argument)
 {
     (void) argument;
-    RobotMode_t RobotMode = REMOTE_NOT_CONNECTED; // 初始状态为遥控器未连接
     while (1)
     {
-        switch (RobotMode)
+        RobotMode_t display_mode = RobotMode;
+        if (display_mode != SYS_ERROR_OCCURRED && !RemoteControlIsOnline())
+            display_mode = REMOTE_NOT_CONNECTED;
+
+        switch (display_mode)
         {
             case NORMAL_MODE:
                 BlinkGreen();

User_Code/application/robot.c

@@ -16,6 +16,8 @@
 
 #include "bsp_init.h"
 #include "robot.h"
+#include "rc.h"
+#include "robot_def.h"
 
 #include "cmsis_gcc.h"
 // #include "robot_def.h"
@@ -27,6 +29,8 @@
 // #pragma message "check if you have configured the parameters in robot_def.h, IF NOT, please refer to the comments AND DO IT, otherwise the robot will have FATAL ERRORS!!!"
 // #endif // !ROBOT_DEF_PARAM_WARNING
 
+volatile RobotMode_t RobotMode = REMOTE_NOT_CONNECTED;
+
 // #if defined(ONE_BOARD) || defined(CHASSIS_BOARD)
 // #include "chassis.h"
 // #endif
@@ -59,6 +63,9 @@ void RobotInit()
 
     BSPInit();
 
+    if (RemoteControlInit(&huart5) == NULL)
+        RobotMode = SYS_ERROR_OCCURRED;
+
 #if defined(ONE_BOARD) || defined(GIMBAL_BOARD)
     RobotCMDInit();
     // GimbalInit();