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https://gitee.com/dlmu-cone/tronone-h7-scaffold
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155 lines
3.7 KiB
C
155 lines
3.7 KiB
C
/**
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* @file remote.h
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* @author TuxMonkey (nqx_2004@qq.com)
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* @brief 遥控器模块
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* @version 0.1
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* @date 2025-01-06
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*
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* @copyright Copyright (c) 2025
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*
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*/
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#ifndef TRONONEH7_SCAFFOLD_RC_H
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#define TRONONEH7_SCAFFOLD_RC_H
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//@todo：测试define
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#define REMOTE_FS_I6X
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#include "stdint.h"
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#include "main.h"
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#include "usart.h"
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#include "key_define.h"
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#include "robot_def.h"
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// 检查接收值是否出错
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#define RC_CH_VALUE_MIN ((uint16_t)0)
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#define RC_CH_VALUE_OFFSET ((uint16_t)1024)
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#define RC_CH_VALUE_MAX ((uint16_t)2048)
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/* ----------------------- RC Switch Definition----------------------------- */
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#define RC_SW_UP ((uint16_t)1) // 开关向上时的值
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#define RC_SW_MID ((uint16_t)3) // 开关中间时的值
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#define RC_SW_DOWN ((uint16_t)2) // 开关向下时的值
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// 三个判断开关状态的宏
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#define switch_is_down(s) (s == RC_SW_DOWN)
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#define switch_is_mid(s) (s == RC_SW_MID)
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#define switch_is_up(s) (s == RC_SW_UP)
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#ifdef REMOTE_DJI_DT7
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typedef struct
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{
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struct
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{
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int16_t rocker_l_; // 左水平
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int16_t rocker_l1; // 左竖直
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int16_t rocker_r_; // 右水平
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int16_t rocker_r1; // 右竖直
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int16_t dial; // 侧边拨轮
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uint8_t switch_left; // 左侧开关
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uint8_t switch_right; // 右侧开关
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} rc;
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struct
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{
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int16_t x;
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int16_t y;
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int16_t z;
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uint8_t press_l;
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uint8_t press_r;
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} mouse;
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Key_t key[3]; // 改为位域后的键盘索引,空间减少8倍,速度增加16~倍
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uint8_t key_count[3][16];
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} RC_ctrl_t;
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#endif // REMOTE_DJI_DT7
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// @todo 当前结构体嵌套过深,需要进行优化
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#ifdef REMOTE_FS_I6X
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typedef struct
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{
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struct
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{
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// int16_t rocker_l_; // 左水平
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// int16_t rocker_l1; // 左竖直
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// int16_t rocker_r_; // 右水平
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// int16_t rocker_r1; // 右竖直
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// int16_t dial; // 侧边拨轮
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// uint8_t switch_left; // 左侧开关
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// uint8_t switch_right; // 右侧开关
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int16_t ch[10];
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} rc;
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struct
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{
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int16_t x;
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int16_t y;
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int16_t z;
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uint8_t press_l;
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uint8_t press_r;
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} mouse;
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uint8_t sw_a; // SWA
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uint8_t sw_b; // SWB
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uint16_t sw_c; // SWC 3
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uint8_t sw_d; // SWD
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int16_t ch1; // 通道1 (云台yaw)
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int16_t ch2; // 通道2 (云台pitch)
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int16_t ch3; // 通道3 (前后)
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int16_t ch4; // 通道4 (左右)
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uint8_t sw_a_last;
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uint8_t sw_b_last;
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uint16_t sw_c_last;
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uint8_t sw_d_last;
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uint8_t sw_a_up_to_down_flag;
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uint8_t sw_b_midtoup_flag;
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uint8_t sw_b_uptomid_flag;
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uint8_t sw_b_midtodown_flag;
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uint8_t sw_b_downtomid_flag;
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uint8_t sw_c_midtoup_flag;
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uint8_t sw_c_uptomid_flag;
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uint8_t sw_c_midtodown_flag;
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uint8_t sw_c_downtomid_flag;
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uint8_t sw_d_up_to_down_flag;
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uint16_t online;
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Key_t key[3]; // 改为位域后的键盘索引,空间减少8倍,速度增加16~倍
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uint8_t key_count[3][16];
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} RC_ctrl_t;
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#endif // FSI6X
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/* ------------------------- Internal Data ----------------------------------- */
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/**
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* @brief 初始化遥控器,该函数会将遥控器注册到串口
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*
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* @attention 当前板级配置使用UART5/PD2接收SBUS
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*
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*/
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RC_ctrl_t *RemoteControlInit(UART_HandleTypeDef *rc_usart_handle);
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/**
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* @brief 原子复制当前遥控器数据
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*
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* @param out 接收遥控器数据快照
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* @return uint8_t 1:快照有效 0:未初始化、离线或参数无效
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*/
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uint8_t RemoteControlReadSnapshot(RC_ctrl_t *out);
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/**
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* @brief 检查遥控器是否在线,若尚未初始化也视为离线
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*
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* @return uint8_t 1:在线 0:离线
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*/
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uint8_t RemoteControlIsOnline(void);
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#endif // REMOTE_H
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