乐迪遥控器，急停，已测试

MDK-ARM/AUTO_CHASSIS.uvoptx

@@ -163,17 +163,27 @@
         <Ww>
           <count>1</count>
           <WinNumber>1</WinNumber>
-          <ItemText>rc_ctrl,0x0A</ItemText>
+          <ItemText>aaaaaaa,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>2</count>
           <WinNumber>1</WinNumber>
-          <ItemText>cmd,0x0A</ItemText>
+          <ItemText>cmd_rc,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>3</count>
           <WinNumber>1</WinNumber>
-          <ItemText>chassis,0x0A</ItemText>
+          <ItemText>cmd,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>4</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>rc_ctrl,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>5</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>buf0ready,0x0A</ItemText>
         </Ww>
       </WatchWindow1>
       <WatchWindow2>

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);
 	
@@ -55,8 +57,11 @@ 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;  
   cmd->Vw = rc->ch_l_x;
@@ -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)) {
+//  if ((rc->ch_w == CMD_SW_ERR) || (rc->ch_y  == CMD_SW_ERR)) {
-    CMD_RcLostLogic(cmd);
+//    CMD_RcLostLogic(cmd);
-  } else {
+//  } else {
       CMD_RcLogic(rc, cmd);
-  }
+//  }
 	
-#endif	
+//#endif	
 return 0;
 }
 

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 */

User/device/dr16.c

@@ -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;

User/device/dr16.h

@@ -50,3 +50,4 @@ int8_t DR16_HandleOffline(const DR16_t *dr16, CMD_RC_t *rc);
 #endif
 
 #endif
+

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
@@ -174,8 +176,17 @@ int8_t sbus_to_rc(volatile const uint8_t *sbus_buf, CMD_RC_t *rc_ctrl)
 		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( (((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
 

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);
-
 
 
 

User/task/r12ds_task.c

@@ -25,13 +25,11 @@ CMD_RC_t *R12ds_DataGet(){
 }
 
 
-//void R12ds_HandleOffline(void) {
+void R12ds_HandleOffline(void) {
-//	 CMD_RC_t *rc;
+	 CMD_RC_t *rc;
-//	 rc = R12ds_DataGet();
+	 rc = R12ds_DataGet();
-
+    memset(rc, 0, sizeof(rc->ch_x) + sizeof(rc->mul) + sizeof(rc->ch_y) + sizeof(rc->ch_w) + sizeof(rc->key));
-//  memset(rc, 0, sizeof(*rc));
+}
-//  rc->offline  = 1;//用作遥控器断电后急停使用
-//}
 
 #endif
 	
@@ -54,19 +52,17 @@ void Task_r12ds(void *argument)
 		 
 #endif
 		 
-//      if(R12Buf0_WaitDmaCplt(1))
+		 sbus_to_rc(sbus_rx_buf[0],&cmd_rc);
-//			{
+				 
-			 sbus_to_rc(sbus_rx_buf[0],&cmd_rc);
+		 if(cmd_rc.offline ==1)
-//		   R12ds_HandleOffline();
+		 {
-//			}
+			 R12ds_HandleOffline();
-//		  else if(R12Buf1_WaitDmaCplt(1))	
+		 }
-//			{
+		 
-//				sbus_to_rc(sbus_rx_buf[1],&cmd_rc);
-//			}
       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);
    }