136 lines
4.1 KiB
C
136 lines
4.1 KiB
C
///*
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// DR16接收机
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//*/
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///* Includes ----------------------------------------------------------------- */
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//#include "dr16.h"
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//#include <string.h>
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//#include "bsp_usart.h"
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//#include "error_detect.h"
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///* Private define ----------------------------------------------------------- */
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//#define DR16_CH_VALUE_MIN (364u)
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//#define DR16_CH_VALUE_MID (1024u)
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//#define DR16_CH_VALUE_MAX (1684u)
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///* Private macro ------------------------------------------------------------ */
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///* Private typedef ---------------------------------------------------------- */
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///* Private variables -------------------------------------------------------- */
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//static osThreadId_t thread_alert;
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//uint8_t cbuf[36]; //此处设置为两帧字节的长度 若为一帧会出现乱码的情况
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///* Private function -------------------------------------------------------- */
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//static void DR16_RxCpltCallback(void) {
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// osThreadFlagsSet(thread_alert, SIGNAL_DR16_RAW_REDY);
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//// detect_hook(DR16_TOE);
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//}
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//static bool DR16_DataCorrupted(const DR16_t *dr16) {
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// if (dr16 == NULL) return DEVICE_ERR_NULL;
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// if ((dr16->data.ch_r_x < DR16_CH_VALUE_MIN) ||
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// (dr16->data.ch_r_x > DR16_CH_VALUE_MAX))
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// return true;
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// if ((dr16->data.ch_r_y < DR16_CH_VALUE_MIN) ||
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// (dr16->data.ch_r_y > DR16_CH_VALUE_MAX))
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// return true;
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// if ((dr16->data.ch_l_x < DR16_CH_VALUE_MIN) ||
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// (dr16->data.ch_l_x > DR16_CH_VALUE_MAX))
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// return true;
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// if ((dr16->data.ch_l_y < 1000u) ||
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// (dr16->data.ch_l_y > DR16_CH_VALUE_MAX))
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// return true;
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// if (dr16->data.sw_l == 0) return true;
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// if (dr16->data.sw_r == 0) return true;
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// return false;
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//}
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///* Exported functions ------------------------------------------------------- */
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//int8_t DR16_Init(DR16_t *dr16) {
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// if (dr16 == NULL) return DEVICE_ERR_NULL;
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// if ((thread_alert = osThreadGetId()) == NULL) return DEVICE_ERR_NULL;
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// BSP_UART_RegisterCallback(BSP_UART_REMOTE, BSP_UART_IDLE_LINE_CB,
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// DR16_RxCpltCallback);
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// return DEVICE_OK;
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//}
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//int8_t DR16_Restart(void) {
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// __HAL_UART_DISABLE(BSP_UART_GetHandle(BSP_UART_REMOTE));
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// __HAL_UART_ENABLE(BSP_UART_GetHandle(BSP_UART_REMOTE));
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// return DEVICE_OK;
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//}
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//int8_t DR16_StartDmaRecv(DR16_t *dr16) {
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// if (HAL_UARTEx_ReceiveToIdle_DMA(BSP_UART_GetHandle(BSP_UART_REMOTE),
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// (uint8_t *)cbuf,
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// sizeof(cbuf)) == HAL_OK)
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// return DEVICE_OK;
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// return DEVICE_ERR;
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//}
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//bool DR16_WaitDmaCplt(uint32_t timeout) {
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// return (osThreadFlagsWait(SIGNAL_DR16_RAW_REDY, osFlagsWaitAll, timeout) ==
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// SIGNAL_DR16_RAW_REDY);
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//}
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//int8_t DR16_ParseRaw(DR16_t *dr16)
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//{
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// if(dr16 ==NULL) return DEVICE_ERR_NULL;
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// dr16->data.ch_r_x = (cbuf[0] | (cbuf[1] <<8));
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// dr16->data.ch_r_y = ((cbuf[1] >> 3)| (cbuf[2] << 5));
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// dr16->data.ch_l_x = ((cbuf[2] >>6) | (cbuf[3] << 2) | (cbuf[4] <<10));
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// dr16->data.ch_l_y = ((cbuf[4] >>1) | (cbuf[5] <<7));
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// dr16->data.sw_r = ((cbuf[5] >>4));
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// dr16->data.sw_l = ((cbuf[5] >> 4) & 0x000C) >> 2;
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//
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// return 1;
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//}
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//int8_t DR16_ParseRC(const DR16_t *dr16, CMD_RC_t *rc) {
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// if (dr16 == NULL) return DEVICE_ERR_NULL;
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//
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// if (DR16_DataCorrupted(dr16)) {
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// return DEVICE_ERR;
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// } else {
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// memset(rc, 0, sizeof(*rc));
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// }
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// float full_range = (float)(DR16_CH_VALUE_MAX - DR16_CH_VALUE_MIN);
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// rc->ch_r_x = 2 * ((float)dr16->data.ch_r_x - DR16_CH_VALUE_MID) / full_range;
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// rc->ch_r_y = 2 * ((float)dr16->data.ch_r_y - DR16_CH_VALUE_MID) / full_range;
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// rc->ch_l_x = 2 * ((float)dr16->data.ch_l_x - DR16_CH_VALUE_MID) / full_range;
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// rc->ch_l_y = 2 * ((float)dr16->data.ch_l_y - DR16_CH_VALUE_MID) / full_range;
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// rc->sw_l = (CMD_SwitchPos_t)dr16->data.sw_l;
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// rc->sw_r = (CMD_SwitchPos_t)dr16->data.sw_r;
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// rc->key = dr16->data.key;
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//// rc->ch_res = ((float)dr16->data.res - DR16_CH_VALUE_MID) / full_range;
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// return DEVICE_OK;
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//}
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//int8_t DR16_HandleOffline(const DR16_t *dr16, CMD_RC_t *rc) {
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// if (dr16 == NULL) return DEVICE_ERR_NULL;
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// if (rc == NULL) return DEVICE_ERR_NULL;
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// (void)dr16;
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// memset(rc, 0, sizeof(*rc));
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// return 0;
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//}
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