diff --git a/MDK-ARM/AUTO_CHASSIS.uvoptx b/MDK-ARM/AUTO_CHASSIS.uvoptx
index 528face..9f552dc 100644
--- a/MDK-ARM/AUTO_CHASSIS.uvoptx
+++ b/MDK-ARM/AUTO_CHASSIS.uvoptx
@@ -163,17 +163,27 @@
1
1
- rc_ctrl,0x0A
+ aaaaaaa,0x0A
2
1
- cmd,0x0A
+ cmd_rc,0x0A
3
1
- chassis,0x0A
+ cmd,0x0A
+
+
+ 4
+ 1
+ rc_ctrl,0x0A
+
+
+ 5
+ 1
+ buf0ready,0x0A
diff --git a/MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.axf b/MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.axf
index 4ba7c53..516a8b7 100644
Binary files a/MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.axf and b/MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.axf differ
diff --git a/User/device/cmd.c b/User/device/cmd.c
index bc481bc..973711c 100644
--- a/User/device/cmd.c
+++ b/User/device/cmd.c
@@ -38,10 +38,12 @@ return 0;
static void CMD_RcLogic(const CMD_RC_t *rc, CMD_t *cmd) {
/* 将操纵杆的对应值转换为底盘的控制向量和云台变化的欧拉角 */
-
-
+// RC_dr16 ,
+// RC_r12ds
+//
#ifdef r12ds_t
/*乐迪反馈值转换(-1 -- 1 )范围*/
+
if(rc->ch_x<0) cmd->Vx =map_fp32(rc->ch_x,-337,0,-1,0);
else cmd->Vx =map_fp32(rc->ch_x,0,310,0,1);
@@ -55,7 +57,10 @@ static void CMD_RcLogic(const CMD_RC_t *rc, CMD_t *cmd) {
cmd->key_ctrl_l = rc->key [0];
cmd->key_ctrl_r = rc->key [1];
+
#elif defined(dr16_t)
+
+
cmd->Vx = rc->ch_r_x;
cmd->Vy = -rc->ch_r_y;
@@ -66,14 +71,14 @@ static void CMD_RcLogic(const CMD_RC_t *rc, CMD_t *cmd) {
cmd->key_ctrl_l = rc->sw_l;
cmd->key_ctrl_r = rc->sw_r ;
-
-
#endif
+
+
}
@@ -90,15 +95,15 @@ static void CMD_RcLostLogic(CMD_t *cmd){
int8_t CMD_ParseRc(CMD_t *cmd,CMD_RC_t *rc){
if (cmd == NULL) return -1;
if (rc == NULL) return -1;
-#ifdef dr16_t
+//#ifdef dr16_t
/*c当rc丢控时，恢复机器人至默认状态 */
- if ((rc->ch_w == CMD_SW_ERR) || (rc->ch_y == CMD_SW_ERR)) {
- CMD_RcLostLogic(cmd);
- } else {
+// if ((rc->ch_w == CMD_SW_ERR) || (rc->ch_y == CMD_SW_ERR)) {
+// CMD_RcLostLogic(cmd);
+// } else {
CMD_RcLogic(rc, cmd);
- }
+// }
-#endif
+//#endif
return 0;
}
diff --git a/User/device/cmd.h b/User/device/cmd.h
index d4d80c3..dd0a713 100644
--- a/User/device/cmd.h
+++ b/User/device/cmd.h
@@ -71,16 +71,10 @@ typedef enum {
CMD_SW_DOWN = 2,
} CMD_SwitchPos_t;
-typedef enum
-{
- RC_dr16 ,
- RC_r12ds
-}remote_type;
/*遥控器值，使用CMD_RcLogic函数传入CMD_t结构体*/
typedef struct {
- remote_type RC_type;
#ifdef dr16_t
float ch_l_x; /* 遥控器左侧摇杆横轴值，上为正 */
diff --git a/User/device/dr16.c b/User/device/dr16.c
index e6d316b..a632fc3 100644
--- a/User/device/dr16.c
+++ b/User/device/dr16.c
@@ -60,7 +60,7 @@ static bool DR16_DataCorrupted(const DR16_t *dr16) {
int8_t DR16_Init(DR16_t *dr16) {
if (dr16 == NULL) return DEVICE_ERR_NULL;
if ((thread_alert = osThreadGetId()) == NULL) return DEVICE_ERR_NULL;
-
+
BSP_UART_RegisterCallback(BSP_UART_REMOTE, BSP_UART_IDLE_LINE_CB,
DR16_RxCpltCallback);
return DEVICE_OK;
@@ -106,7 +106,7 @@ int8_t DR16_ParseRC(const DR16_t *dr16, CMD_RC_t *rc) {
} else {
memset(rc, 0, sizeof(*rc));
}
-
+ rc->RC_type = RC_dr16;
float full_range = (float)(DR16_CH_VALUE_MAX - DR16_CH_VALUE_MIN);
rc->ch_r_x = 2 * ((float)dr16->data.ch_r_x - DR16_CH_VALUE_MID) / full_range;
diff --git a/User/device/dr16.h b/User/device/dr16.h
index db37183..0eca50c 100644
--- a/User/device/dr16.h
+++ b/User/device/dr16.h
@@ -49,4 +49,5 @@ int8_t DR16_HandleOffline(const DR16_t *dr16, CMD_RC_t *rc);
#endif
-#endif
\ No newline at end of file
+#endif
+
diff --git a/User/device/r12ds.c b/User/device/r12ds.c
index 3bc7b8e..e5bbe97 100644
--- a/User/device/r12ds.c
+++ b/User/device/r12ds.c
@@ -21,7 +21,7 @@ extern DMA_HandleTypeDef hdma_usart3_rx;
osThreadId_t thread_alert;
-int buf0ready =0;
+int buf0ready =0; /*不起作用*/
int buf1ready =0;
/* Private function -------------------------------------------------------- */
@@ -124,6 +124,7 @@ int8_t R12ds_DMA_Init(uint8_t *rx1_buf, uint8_t *rx2_buf, uint16_t dma_buf_num)
}
+
int8_t sbus_to_rc(volatile const uint8_t *sbus_buf, CMD_RC_t *rc_ctrl)
{
if (sbus_buf == NULL || rc_ctrl == NULL)
@@ -131,6 +132,7 @@ int8_t sbus_to_rc(volatile const uint8_t *sbus_buf, CMD_RC_t *rc_ctrl)
return 0;
}
+
rc_ctrl->ch_x = (sbus_buf[1] | (sbus_buf[2] << 8)) & 0x07ff; //Channel 1 x
rc_ctrl->ch_y = ((sbus_buf[2] >> 3) | (sbus_buf[3] << 5)) & 0x07ff; //Channel 2 mul
rc_ctrl->mul= ((sbus_buf[3] >> 6) | (sbus_buf[4] << 2) | //Channel 3 y
@@ -172,10 +174,19 @@ int8_t sbus_to_rc(volatile const uint8_t *sbus_buf, CMD_RC_t *rc_ctrl)
if(rc_ctrl->ch_y>-15&&rc_ctrl->ch_y<15) rc_ctrl->ch_y=0;
if(rc_ctrl->ch_x>-15&&rc_ctrl->ch_x<15) rc_ctrl->ch_x=0;
if(rc_ctrl->mul>=0&&rc_ctrl->mul<=3) rc_ctrl->mul=0;
- if(rc_ctrl->ch_w>-15&&rc_ctrl->ch_w<15) rc_ctrl->ch_w=0;
+ if(rc_ctrl->ch_w>-15&&rc_ctrl->ch_w<15) rc_ctrl->ch_w=0;
+
+
+ if( (((int16_t)sbus_buf[16] >> 1 | ((int16_t)sbus_buf[17] << 7 )) & 0x07FF )<380) rc_ctrl->offline =1; //遥控器掉线
+ else rc_ctrl->offline =0;
+
return 0;
}
+
+
+
+
#endif
diff --git a/User/device/r12ds.h b/User/device/r12ds.h
index 389aa59..111c3bc 100644
--- a/User/device/r12ds.h
+++ b/User/device/r12ds.h
@@ -21,8 +21,6 @@ int8_t R12ds_DMA_Init(uint8_t *rx1_buf, uint8_t *rx2_buf, uint16_t dma_buf_num);
int8_t sbus_to_rc(volatile const uint8_t *sbus_buf,CMD_RC_t *rc_ctrl);
-//void R12ds_HandleOffline(void);
-
diff --git a/User/task/r12ds_task.c b/User/task/r12ds_task.c
index d12f02c..5dd5771 100644
--- a/User/task/r12ds_task.c
+++ b/User/task/r12ds_task.c
@@ -25,13 +25,11 @@ CMD_RC_t *R12ds_DataGet(){
}
-//void R12ds_HandleOffline(void) {
-// CMD_RC_t *rc;
-// rc = R12ds_DataGet();
-
-// memset(rc, 0, sizeof(*rc));
-// rc->offline = 1;//用作遥控器断电后急停使用
-//}
+void R12ds_HandleOffline(void) {
+ CMD_RC_t *rc;
+ rc = R12ds_DataGet();
+ memset(rc, 0, sizeof(rc->ch_x) + sizeof(rc->mul) + sizeof(rc->ch_y) + sizeof(rc->ch_w) + sizeof(rc->key));
+}
#endif
@@ -54,19 +52,17 @@ void Task_r12ds(void *argument)
#endif
-// if(R12Buf0_WaitDmaCplt(1))
-// {
- sbus_to_rc(sbus_rx_buf[0],&cmd_rc);
-// R12ds_HandleOffline();
-// }
-// else if(R12Buf1_WaitDmaCplt(1))
-// {
-// sbus_to_rc(sbus_rx_buf[1],&cmd_rc);
-// }
+ sbus_to_rc(sbus_rx_buf[0],&cmd_rc);
+
+ if(cmd_rc.offline ==1)
+ {
+ R12ds_HandleOffline();
+ }
+
osMessageQueueReset(task_runtime.msgq.cmd.raw.rc);
osMessageQueuePut(task_runtime.msgq.cmd.raw.rc,(&cmd_rc),0,0);
- tick += delay_tick; /* 计算下一个唤醒时刄1ķ*/
+ tick += delay_tick; /* 计算下一个唤醒时*/
osDelay(10);
}