160 lines
5.7 KiB
C
160 lines
5.7 KiB
C
#include "remote_control.h"
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#include "bsp/uart.h"
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#include "main.h"
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extern UART_HandleTypeDef huart3;
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extern DMA_HandleTypeDef hdma_usart3_rx;
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static void sbus_to_rc(volatile const uint8_t *sbus_buf, RC_ctrl_t *rc_ctrl);
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RC_ctrl_t rc_ctrl = { .ch = { 1 , 1 , 1 , 1 } } ;
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static uint8_t sbus_rx_buf[2][RC_FRAME_LENGTH];
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uint8_t remote_ready = 0;
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void remote_control_init(void)
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{
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RC_init(sbus_rx_buf[0], sbus_rx_buf[1], RC_FRAME_LENGTH);
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BSP_UART_RegisterCallback(BSP_UART_AT9S_PRO,BSP_UART_IDLE_LINE_CB,USART3_IRQHandlerCallBack);
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}
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void USART3_IRQHandlerCallBack(void)
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{
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static uint16_t this_time_rx_len = 0;
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uint8_t current_buffer = 0;
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__HAL_DMA_DISABLE(&hdma_usart3_rx);
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current_buffer = (hdma_usart3_rx.Instance->CR & DMA_SxCR_CT) ? 1 : 0;
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this_time_rx_len = SBUS_RX_BUF_NUM - hdma_usart3_rx.Instance->NDTR;
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hdma_usart3_rx.Instance->NDTR = SBUS_RX_BUF_NUM;
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if (current_buffer == 0)
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{
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hdma_usart3_rx.Instance->CR |= DMA_SxCR_CT;
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}
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else
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{
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hdma_usart3_rx.Instance->CR &= ~DMA_SxCR_CT;
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}
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__HAL_DMA_ENABLE(&hdma_usart3_rx);
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if (this_time_rx_len == RC_FRAME_LENGTH)
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{
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if (current_buffer == 0)
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{
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sbus_to_rc(sbus_rx_buf[0], &rc_ctrl);
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}
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else
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{
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sbus_to_rc(sbus_rx_buf[1], &rc_ctrl);
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}
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}
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}
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static void sbus_to_rc(volatile const uint8_t *sbus_buf, RC_ctrl_t *rc_ctrl)
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{
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if (sbus_buf == NULL || rc_ctrl == NULL)
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{
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return;
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}
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rc_ctrl->ch[1] = (sbus_buf[1] | (sbus_buf[2] << 8)) & 0x07ff; //Channel 1
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rc_ctrl->ch[2] = ((sbus_buf[2] >> 3) | (sbus_buf[3] << 5)) & 0x07ff; //Channel 2
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rc_ctrl->ch[0] = ((sbus_buf[3] >> 6) | (sbus_buf[4] << 2) | //Channel 3
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(sbus_buf[5] << 10)) &0x07ff;
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rc_ctrl->ch[3] = ((sbus_buf[5] >> 1) | (sbus_buf[6] << 7)) & 0x07ff; //Channel 4
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rc_ctrl->sw[0] = ((int16_t)sbus_buf[6] >> 4 | ((int16_t)sbus_buf[7] << 4 )) & 0x07FF; //Channel 5
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rc_ctrl->sw[1] = ((int16_t)sbus_buf[7] >> 7 | ((int16_t)sbus_buf[8] << 1 ) | (int16_t)sbus_buf[9] << 9 ) & 0x07FF; //Channel 6
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rc_ctrl->sw[2] = ((int16_t)sbus_buf[9] >> 2 | ((int16_t)sbus_buf[10] << 6 )) & 0x07FF;; //Channel 7
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rc_ctrl->sw[3] = ((int16_t)sbus_buf[10] >> 5 | ((int16_t)sbus_buf[11] << 3 )) & 0x07FF; //Channel 8
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rc_ctrl->sw[4] = ((int16_t)sbus_buf[12] << 0 | ((int16_t)sbus_buf[13] << 8 )) & 0x07FF; //Channel 9
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rc_ctrl->sw[5] = ((int16_t)sbus_buf[13] >> 3 | ((int16_t)sbus_buf[14] << 5 )) & 0x07FF; //Channel 10
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rc_ctrl->sw[6] = ((int16_t)sbus_buf[14] >> 6 | ((int16_t)sbus_buf[15] << 2 ) | (int16_t)sbus_buf[16] << 10 ) & 0x07FF; //Channel 11
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rc_ctrl->sw[7] = ((int16_t)sbus_buf[16] >> 1 | ((int16_t)sbus_buf[17] << 7 )) & 0x07FF; //Channel 12
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rc_ctrl->ch[0] -= RC_CH_VALUE_OFFSET;
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rc_ctrl->ch[1] -= RC_CH_VALUE_OFFSET;
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rc_ctrl->ch[2] -= RC_CH_VALUE_OFFSET;
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rc_ctrl->ch[3] -= RC_CH_VALUE_OFFSET;
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// //<2F><>ң<EFBFBD><D2A3><EFBFBD><EFBFBD>
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rc_ctrl->ch[0] += 20; //y(-694,693)
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rc_ctrl->ch[1] += 20; //x(-693,694)
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rc_ctrl->ch[2] = -rc_ctrl->ch[2]+144; //m(-518,843)
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rc_ctrl->ch[3] += 4; //w(-694,693)
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rc_ctrl->sw[2] = map_rc(rc_ctrl->sw[2],306,1694,1694,306);
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rc_ctrl->sw[3] = map_rc(rc_ctrl->sw[3],306,1694,1694,306);
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// rc_ctrl->ch[1] = map(rc_ctrl->ch[1],656,-656,-700,700); //x
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rc_ctrl->ch[0] = map_rc(rc_ctrl->ch[0],-800,796,700,-700); //y
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rc_ctrl->ch[2] = map_rc(rc_ctrl->ch[2],-632,901,1500,0); //m
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rc_ctrl->ch[3] = map_rc(rc_ctrl->ch[3],-820,780,-700,700);
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rc_ctrl->ch[3] = 0.5*(rc_ctrl->ch[3]);
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rc_ctrl->ch[1] = 0.5*(rc_ctrl->ch[1]);
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rc_ctrl->ch[0] = 0.5*(rc_ctrl->ch[0]);
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//
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//<2F><><EFBFBD><EFBFBD>(-30,30)
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if(rc_ctrl->ch[0]>-14&&rc_ctrl->ch[0]<10) rc_ctrl->ch[0]=0;
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if(rc_ctrl->ch[1]>-30&&rc_ctrl->ch[1]<20) rc_ctrl->ch[1]=0;
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if(rc_ctrl->ch[2]>=0&&rc_ctrl->ch[2]<=3) rc_ctrl->ch[2]=0;
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if(rc_ctrl->ch[3]>-22&&rc_ctrl->ch[3]<22) rc_ctrl->ch[3]=0;
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remote_ready = 1;
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}
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int map_rc(int x, int in_min, int in_max, int out_min, int out_max) //ӳ<>亯<EFBFBD><E4BAAF>
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{
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return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
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}
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/*
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306 306
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sw[] sw[7]
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1694 1694
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306 306
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sw[6] sw[4]
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1694 1694
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306 306 306 306
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sw[0] sw[2] sw[1]:306-1694 sw[5]:306-1694 sw[]1000 sw[3]
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1694 1694 1694 1694
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710
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688 1425
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54 -616------ch[3]770 -354---------ch[0] 339 0
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ch[2] ch[1]
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_699 38
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chu li hou shu ju
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25 351
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-344------ch[3]350 -402---------ch[0] 388
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ch[2] ch[1]
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-1 -344
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*/
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