TuxMonkey/tronone-h7-scaffold
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add DMA remote control

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TuxMonkey
2026-07-14 21:56:46 +08:00
parent 591707d9fc
commit f4c0424c45
16 changed files with 371 additions and 191 deletions
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2
User_Code/module/paramdef/robot_def.h
View File

@@ -13,7 +13,7 @@ typedef enum
// 添加其他模式
} RobotMode_t; //机器人控制模式
extern RobotMode_t RobotMode;
extern volatile RobotMode_t RobotMode;
// #pragma pack() // 开启字节对齐,结束前面的#pragma pack(1)

4
User_Code/module/periph/buzzer/buzzer.cpp
View File

@@ -313,9 +313,9 @@ void systemstart_song(void)
// buzzer_note(120, 0.5); //高音sol
// HAL_Delay(550);
// SongSpring(); //为什么要演奏春日影！！！
//SongSpring(); //为什么要演奏春日影！！！
// SongLaoda();
//SongLaoda();
buzzer_off();
}

237
User_Code/module/periph/remote_control/rc.c
View File

@@ -77,23 +77,31 @@
#define REMOTE_CONTROL_FRAME_SIZE 25u // 遥控器接收的buffer大小
//@todo：测试define
#define REMOTE_FS_I6X
// 定义SBUS协议的起始标志
#define SBUS_HEAD 0X0F
// 定义SBUS协议的结束标志
#define SBUS_END 0X00
#define SBUS_FLAG_FRAME_LOST (1u << 2)
#define SBUS_FLAG_FAILSAFE (1u << 3)
// 遥控器数据
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
static uint8_t rc_init_flag = 0; // 遥控器初始化标志位
static volatile uint8_t rc_data_valid = 0;
static volatile uint32_t rc_valid_frame_count = 0;
static volatile uint32_t rc_invalid_frame_count = 0;
static volatile uint32_t rc_failsafe_count = 0;
// 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
static USART_Instance *rc_usart_instance;
static Daemon_Instance *rc_daemon_instance;
static uint8_t SBusEndByteIsValid(uint8_t value)
{
return value == SBUS_END || value == 0x04u || value == 0x14u || value == 0x24u || value == 0x34u;
}
#ifdef REMOTE_DJI_DT7
/**
@@ -112,8 +120,11 @@ static void RectifyRCjoystick()
*
* @param sbus_buf 接收buffer
*/
static void sbus_to_rc(const uint8_t *sbus_buf)
static uint8_t sbus_to_rc(const uint8_t *sbus_buf, uint16_t size)
{
if (size != 18u)
return 0;
// 摇杆,直接解算时减去偏置
rc_ctrl[TEMP].rc.rocker_r_ = ((sbus_buf[0] | (sbus_buf[1] << 8)) & 0x07ff) - RC_CH_VALUE_OFFSET; //!< Channel 0
rc_ctrl[TEMP].rc.rocker_r1 = (((sbus_buf[1] >> 3) | (sbus_buf[2] << 5)) & 0x07ff) - RC_CH_VALUE_OFFSET;
@@ -169,6 +180,7 @@ static void sbus_to_rc(const uint8_t *sbus_buf)
}
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
return 1;
}
#endif
@@ -178,7 +190,7 @@ static void sbus_to_rc(const uint8_t *sbus_buf)
*
* @param sbus_buf 接收buffer
*/
static void sbus_to_rc(const uint8_t *sbus_buf)
static uint8_t sbus_to_rc(const uint8_t *sbus_buf, uint16_t size)
{
// // 摇杆,直接解算时减去偏置
// rc_ctrl[TEMP].rc.rocker_r_ = ((sbus_buf[0] | (sbus_buf[1] << 8)) & 0x07ff) - RC_CH_VALUE_OFFSET; //!< Channel 0
@@ -230,8 +242,11 @@ static void sbus_to_rc(const uint8_t *sbus_buf)
// rc_ctrl[TEMP].key_count[KEY_PRESS_WITH_SHIFT][i]++;
// }
if ((sbus_buf[0] != SBUS_HEAD) || (sbus_buf[24] != SBUS_END))
return;
if (size != REMOTE_CONTROL_FRAME_SIZE || sbus_buf[0] != SBUS_HEAD || !SBusEndByteIsValid(sbus_buf[24]))
return 0;
if ((sbus_buf[23] & (SBUS_FLAG_FRAME_LOST | SBUS_FLAG_FAILSAFE)) != 0u)
return 0;
// if (sbus_buf[23] == 0x0C)
// rc_ctrl->online = 0;
@@ -261,20 +276,18 @@ static void sbus_to_rc(const uint8_t *sbus_buf)
// 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)
if (rc_ctrl[TEMP].rc.ch[5] == 0x00F0)
{
rc_ctrl[TEMP].sw_b = RC_SW_UP;
}
else if (rc_ctrl[TEMP].rc.ch[6] == 0x0400)
else if (rc_ctrl[TEMP].rc.ch[5] == 0x0400)
{
rc_ctrl[TEMP].sw_b = RC_SW_MID;
}
else if (rc_ctrl[TEMP].rc.ch[6] == 0x070F)
else if (rc_ctrl[TEMP].rc.ch[5] == 0x070F)
{
rc_ctrl[TEMP].sw_b = RC_SW_DOWN;
}
@@ -283,27 +296,14 @@ static void sbus_to_rc(const uint8_t *sbus_buf)
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_midtoup_flag =
rc_ctrl[TEMP].sw_b_last == RC_SW_MID && rc_ctrl[TEMP].sw_b == RC_SW_UP;
rc_ctrl[TEMP].sw_b_uptomid_flag =
rc_ctrl[TEMP].sw_b_last == RC_SW_UP && rc_ctrl[TEMP].sw_b == RC_SW_MID;
rc_ctrl[TEMP].sw_b_midtodown_flag =
rc_ctrl[TEMP].sw_b_last == RC_SW_MID && rc_ctrl[TEMP].sw_b == RC_SW_DOWN;
rc_ctrl[TEMP].sw_b_downtomid_flag =
rc_ctrl[TEMP].sw_b_last == RC_SW_DOWN && rc_ctrl[TEMP].sw_b == RC_SW_MID;
rc_ctrl[TEMP].sw_b_last = rc_ctrl[TEMP].sw_b;
// 解析SWC状态
@@ -324,46 +324,22 @@ static void sbus_to_rc(const uint8_t *sbus_buf)
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_midtoup_flag =
rc_ctrl[TEMP].sw_c_last == RC_SW_MID && rc_ctrl[TEMP].sw_c == RC_SW_UP;
rc_ctrl[TEMP].sw_c_uptomid_flag =
rc_ctrl[TEMP].sw_c_last == RC_SW_UP && rc_ctrl[TEMP].sw_c == RC_SW_MID;
rc_ctrl[TEMP].sw_c_midtodown_flag =
rc_ctrl[TEMP].sw_c_last == RC_SW_MID && rc_ctrl[TEMP].sw_c == RC_SW_DOWN;
rc_ctrl[TEMP].sw_c_downtomid_flag =
rc_ctrl[TEMP].sw_c_last == RC_SW_DOWN && rc_ctrl[TEMP].sw_c == RC_SW_MID;
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;
}
// SWA和SWD的下降沿
rc_ctrl[TEMP].sw_a_up_to_down_flag =
rc_ctrl[TEMP].sw_a_last == RC_SW_UP && rc_ctrl[TEMP].sw_a == RC_SW_DOWN;
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_up_to_down_flag =
rc_ctrl[TEMP].sw_d_last == RC_SW_UP && rc_ctrl[TEMP].sw_d == RC_SW_DOWN;
rc_ctrl[TEMP].sw_d_last = rc_ctrl[TEMP].sw_d;
// 修正 ch1~ch4
@@ -374,17 +350,54 @@ static void sbus_to_rc(const uint8_t *sbus_buf)
// ...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
return 1;
}
#endif
static void RemoteControlPublishOffline(uint8_t force)
{
uint32_t primask = __get_PRIMASK();
__disable_irq();
uint8_t daemon_expired = rc_daemon_instance != NULL && rc_daemon_instance->temp_count == 0;
if (force || daemon_expired)
{
rc_data_valid = 0;
memset(rc_ctrl, 0, sizeof(rc_ctrl));
if (RobotMode != SYS_ERROR_OCCURRED)
RobotMode = REMOTE_NOT_CONNECTED;
}
__set_PRIMASK(primask);
}
/**
* @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()
static void RemoteControlRxCallback(USART_Instance *instance, const uint8_t *recv_data, uint16_t recv_size)
{
sbus_to_rc(rc_usart_instance->recv_buff); // 进行协议解析
DaemonReload(rc_daemon_instance); // 先喂狗
(void) instance;
if (recv_size == REMOTE_CONTROL_FRAME_SIZE && recv_data[0] == SBUS_HEAD &&
SBusEndByteIsValid(recv_data[24]) && (recv_data[23] & SBUS_FLAG_FAILSAFE) != 0u)
{
rc_failsafe_count++;
RemoteControlPublishOffline(1);
return;
}
if (!sbus_to_rc(recv_data, recv_size))
{
rc_invalid_frame_count++;
return;
}
rc_valid_frame_count++;
rc_data_valid = 1;
DaemonReload(rc_daemon_instance);
if (RobotMode == REMOTE_NOT_CONNECTED)
RobotMode = REMOTE_CONNECTED;
}
/**
@@ -393,38 +406,74 @@ static void RemoteControlRxCallback()
*/
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;
(void) id;
RemoteControlPublishOffline(0);
// 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;
if (rc_init_flag)
return &rc_ctrl[TEMP];
if (rc_usart_handle == NULL || rc_usart_handle->hdmarx == NULL)
return NULL;
rc_usart_instance = USARTRegister(&conf);
memset(rc_ctrl, 0, sizeof(rc_ctrl));
rc_data_valid = 0;
// 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);
if (rc_usart_instance == NULL)
{
USART_Init_Config_s conf = {
.module_callback = RemoteControlRxCallback,
.usart_handle = rc_usart_handle,
.recv_buff_size = REMOTE_CONTROL_FRAME_SIZE,
};
rc_usart_instance = USARTRegister(&conf);
if (rc_usart_instance == NULL)
return NULL;
}
if (rc_daemon_instance == NULL)
{
// 100ms未收到有效数据视为离线,SBUS接收频率约70Hz.
Daemon_Init_Config_s daemon_conf = {
.reload_count = 10,
.callback = RCLostCallback,
.owner_id = NULL,
};
rc_daemon_instance = DaemonRegister(&daemon_conf);
}
rc_init_flag = 1;
return rc_ctrl;
if (USARTServiceInit(rc_usart_instance) != HAL_OK)
rc_usart_instance->rx_restart_error_count++;
return &rc_ctrl[TEMP];
}
uint8_t RemoteControlIsOnline()
uint8_t RemoteControlReadSnapshot(RC_ctrl_t *out)
{
if (rc_init_flag)
return DaemonIsOnline(rc_daemon_instance);
return 0;
if (out == NULL)
return 0;
uint32_t primask = __get_PRIMASK();
__disable_irq();
uint8_t valid = rc_init_flag && rc_data_valid && rc_daemon_instance != NULL &&
rc_daemon_instance->temp_count > 0;
if (valid)
memcpy(out, &rc_ctrl[TEMP], sizeof(*out));
__set_PRIMASK(primask);
return valid;
}
uint8_t RemoteControlIsOnline(void)
{
uint32_t primask = __get_PRIMASK();
__disable_irq();
uint8_t online = rc_init_flag && rc_data_valid && rc_daemon_instance != NULL &&
rc_daemon_instance->temp_count > 0;
__set_PRIMASK(primask);
return online;
}

13
User_Code/module/periph/remote_control/rc.h
View File

@@ -125,21 +125,30 @@ typedef struct
uint8_t key_count[3][16];
} RC_ctrl_t;
#endif // FSI6X
/* ------------------------- Internal Data ----------------------------------- */
/**
* @brief 初始化遥控器,该函数会将遥控器注册到串口
*
* @attention 注意分配正确的串口硬件,遥控器在C板上使用USART3
* @attention 当前板级配置使用UART5/PD2接收SBUS
*
*/
RC_ctrl_t *RemoteControlInit(UART_HandleTypeDef *rc_usart_handle);
/**
* @brief 原子复制当前遥控器数据
*
* @param out 接收遥控器数据快照
* @return uint8_t 1:快照有效 0:未初始化、离线或参数无效
*/
uint8_t RemoteControlReadSnapshot(RC_ctrl_t *out);
/**
* @brief 检查遥控器是否在线,若尚未初始化也视为离线
*
* @return uint8_t 1:在线 0:离线
*/
uint8_t RemoteControlIsOnline();
uint8_t RemoteControlIsOnline(void);
#endif // REMOTE_H

29
User_Code/module/software/daemon/daemon.c
View File

@@ -1,6 +1,7 @@
#include "daemon.h"
#include "bsp_dwt.h"
#include "cmsis_os2.h"
#include "main.h"
#include "memory.h"
#include "stdlib.h"
@@ -16,8 +17,7 @@ Daemon_Instance *DaemonRegister(Daemon_Init_Config_s *config)
daemon_instance->id = config->owner_id;
daemon_instance->reload_count = config->reload_count == 0 ? 100 : config->reload_count; // 默认重载值为100
daemon_instance->callback = config->callback;
daemon_instance->temp_count = config->init_count == 0 ? 100 : config->init_count; // 默认上线等待时间为100
daemon_instance->temp_count = config->reload_count;
daemon_instance->temp_count = config->init_count == 0 ? daemon_instance->reload_count : config->init_count;
daemon_instances[idx++] = daemon_instance;
@@ -31,7 +31,13 @@ Daemon_Instance *DaemonRegister(Daemon_Init_Config_s *config)
*/
void DaemonReload(Daemon_Instance *daemon)
{
if (daemon == NULL)
return;
uint32_t primask = __get_PRIMASK();
__disable_irq();
daemon->temp_count = daemon->reload_count;
__set_PRIMASK(primask);
}
/**
@@ -42,7 +48,14 @@ void DaemonReload(Daemon_Instance *daemon)
*/
uint8_t DaemonIsOnline(Daemon_Instance *daemon)
{
return daemon->temp_count > 0;
if (daemon == NULL)
return 0;
uint32_t primask = __get_PRIMASK();
__disable_irq();
uint8_t online = daemon->temp_count > 0;
__set_PRIMASK(primask);
return online;
}
/**
@@ -61,9 +74,17 @@ void Daemon_Update(void) // 名字改掉，不要叫 Task，避免和 RTOS 线
for (uint8_t i = 0; i < idx; i++)
{
daemon = daemon_instances[i];
uint8_t expired = 0;
uint32_t primask = __get_PRIMASK();
__disable_irq();
if (daemon->temp_count > 0)
daemon->temp_count--;
else if (daemon->callback != NULL)
else
expired = 1;
__set_PRIMASK(primask);
if (expired && daemon->callback != NULL)
daemon->callback(daemon->id);
}
}

2
User_Code/module/software/daemon/daemon.h
View File

@@ -25,7 +25,7 @@ typedef struct daemon_ins
uint16_t reload_count; // 重载值
offline_callback callback; // 离线处理函数,当模块离线时调用
uint16_t temp_count; // 当前值,减为零说明模块离线或异常
volatile uint16_t temp_count; // 当前值,减为零说明模块离线或异常
void *id; // 模块id,用于标识模块,初始化时传入
} Daemon_Instance;