diff --git a/MDK-ARM/R2.uvoptx b/MDK-ARM/R2.uvoptx index 7c29790..a44139d 100644 --- a/MDK-ARM/R2.uvoptx +++ b/MDK-ARM/R2.uvoptx @@ -153,112 +153,7 @@ 0 1 - chassis - - - 1 - 1 - ctrl - - - 2 - 1 - dr16,0x0A - - - 3 - 1 - UP_t,0x0A - - - 4 - 1 - UP,0x0A - - - 5 - 1 - can,0x0A - - - 6 - 1 - up_cmd,0x0A - - - 7 - 1 - rc_ctrl - - - 8 - 1 - up_cmd - - - 9 - 1 - cmd,0x0A - - - 10 - 1 - ctrl,0x0A - - - 11 - 1 - ctrl_up,0x0A - - - 12 - 1 - task_runtime,0x0A - - - 13 - 1 - can,0x0A - - - 14 - 1 - can_rx,0x0A - - - 15 - 1 - can_out,0x0A - - - 16 - 1 - gcan - - - 17 - 1 - raw_tx,0x0A - - - 18 - 1 - raw_rx2,0x0A - - - 19 - 1 - can_rx,0x0A - - - 20 - 1 - can_out - - - 21 - 1 - UP_CAN_out,0x0A + rc_ctrl,0x0A diff --git a/MDK-ARM/R2/R2.axf b/MDK-ARM/R2/R2.axf index 3d40118..4b82759 100644 Binary files a/MDK-ARM/R2/R2.axf and b/MDK-ARM/R2/R2.axf differ diff --git a/User/Algorithm/user_math.c b/User/Algorithm/user_math.c index 3d163b4..52b02c4 100644 --- a/User/Algorithm/user_math.c +++ b/User/Algorithm/user_math.c @@ -27,7 +27,10 @@ { return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min; } - +// 对摇杆输出做指数曲线映射，提升小范围操控精度 +float expo_map(float value, float expo_factor) { + return value * (1 - expo_factor) + value * fabs(value) * expo_factor; +} int Setint_Deadzone(int value,int deadzone) { if(value>=-deadzone&&value<=deadzone) diff --git a/User/Algorithm/user_math.h b/User/Algorithm/user_math.h index 766dc9a..8021299 100644 --- a/User/Algorithm/user_math.h +++ b/User/Algorithm/user_math.h @@ -159,5 +159,5 @@ PolarCoordinate_t addPolarVectors(PolarCoordinate_t v1, PolarCoordinate_t v2); uint8_t average(uint8_t arr[], uint8_t n); int abs_value(int num); - +float expo_map(float value, float expo_factor) ; #endif diff --git a/User/device/cmd.c b/User/device/cmd.c index d73c2f7..23636e3 100644 --- a/User/device/cmd.c +++ b/User/device/cmd.c @@ -29,37 +29,16 @@ 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 -// - - /*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); -// -// -// if(rc->ch_y<0) cmd->Vy =map_fp32(rc->ch_y,-260,0,-1,0); -// else cmd->Vy =map_fp32(rc->ch_y,0,312,0,1); - -// if(rc->ch_w<0) cmd->Vw =map_fp32(rc->ch_w,-308,0,-1,0); -// else cmd->Vw =map_fp32(rc->ch_w,0,291,0,1); -// cmd->key_ctrl_l = rc->key [0]; -// cmd->key_ctrl_r = rc->key [1]; -// + cmd->Vx = rc->dr16.ch_r_x; + cmd->Vy = rc->dr16.ch_r_y; + cmd->Vw = rc->dr16.ch_l_x; + cmd->poscamear = rc->dr16.ch_l_y; - cmd->Vx = rc->ch_r_x; - cmd->Vy = rc->ch_r_y; - cmd->Vw = rc->ch_l_x; - - cmd->poscamear = rc->ch_l_y; - - cmd->key_ctrl_l = rc->sw_l; - cmd->key_ctrl_r = rc->sw_r ; + cmd->key_ctrl_l = rc->dr16.sw_l; + cmd->key_ctrl_r = rc->dr16.sw_r ; } @@ -80,7 +59,7 @@ int8_t CMD_ParseRc(CMD_t *cmd,CMD_RC_t *rc){ if (rc == NULL) return -1; /*c当rc丢控时，恢复机器人至默认状态 */ - if ((rc->sw_l == CMD_SW_ERR) || (rc->sw_r == CMD_SW_ERR)) { + if ((rc->dr16.sw_l == CMD_SW_ERR) || (rc->dr16.sw_r == CMD_SW_ERR)) { CMD_RcLostLogic(cmd); } else { CMD_RcLogic(rc, cmd); @@ -123,69 +102,52 @@ int8_t CMD_ParseNuc(CMD_t *cmd,CMD_NUC_t *n){ -/* - 遥控器模式重新分配 - 这一部分没有设置具体的模式名，后期根据需要修改 - 遥控器模式(RC): - 左按键 --- 右按键 - mode1 - up no_mode - mode2 - - - mode3 - down no_mode - mode4 - - mid auto_navi(0x09)雷达导航 - -*/ /*遥控器，上下层通用，按键控制，统一到cmd*/ int8_t CMD_ParseRC(CMD_t *cmd,const CMD_RC_t *rc) { if(cmd == NULL) return -1; - cmd->Vx = rc->ch_r_x; - cmd->Vy = rc->ch_r_y; - cmd->Vw = rc->ch_l_x; + cmd->Vx = rc->dr16.ch_r_x; + cmd->Vy = rc->dr16.ch_r_y; + cmd->Vw = rc->dr16.ch_l_x; - cmd->poscamear = rc->ch_l_y; + cmd->poscamear = rc->dr16.ch_l_y; - cmd->key_ctrl_l = rc->sw_l; - cmd->key_ctrl_r = rc->sw_r ; + cmd->key_ctrl_l = rc->dr16.sw_l; + cmd->key_ctrl_r = rc->dr16.sw_r ; - if ((rc->sw_l == CMD_SW_ERR) || (rc->sw_r == CMD_SW_ERR)) { + if ((rc->dr16.sw_l == CMD_SW_ERR) || (rc->dr16.sw_r == CMD_SW_ERR)) { cmd->CMD_CtrlType =RELAXED; } - else if(rc->sw_l==CMD_SW_UP) + else if(rc->dr16.sw_l==CMD_SW_UP) { cmd ->CMD_CtrlType =RCcontrol; - if(rc->sw_r ==CMD_SW_UP) cmd ->CMD_mode =Pitch; //左上，右上，投篮，设置好的 + if(rc->dr16.sw_r ==CMD_SW_UP) cmd ->CMD_mode =Pitch; //左上，右上，投篮，设置好的 - if(rc->sw_r ==CMD_SW_MID) cmd ->CMD_mode =Normal; //左上，右中，无模式 + if(rc->dr16.sw_r ==CMD_SW_MID) cmd ->CMD_mode =Normal; //左上，右中，无模式 - if(rc->sw_r ==CMD_SW_DOWN) cmd ->CMD_mode =Normal; //左上，右上，手动调整 + if(rc->dr16.sw_r ==CMD_SW_DOWN) cmd ->CMD_mode =Normal; //左上，右上，手动调整 } - else if(rc->sw_l==CMD_SW_MID) + else if(rc->dr16.sw_l==CMD_SW_MID) { cmd ->CMD_CtrlType =AUTO; - if(rc->sw_r ==CMD_SW_UP) cmd ->CMD_mode =AUTO_NAVI; //左中，右中，雷达 + if(rc->dr16.sw_r ==CMD_SW_UP) cmd ->CMD_mode =AUTO_NAVI; //左中，右中，雷达 - if(rc->sw_r ==CMD_SW_MID) cmd ->CMD_mode =Normal; //左中，右中，无模式 + if(rc->dr16.sw_r ==CMD_SW_MID) cmd ->CMD_mode =Normal; //左中，右中，无模式 - if(rc->sw_r ==CMD_SW_DOWN) cmd ->CMD_mode =AUTO_PICK; //左中，右下，视觉 + if(rc->dr16.sw_r ==CMD_SW_DOWN) cmd ->CMD_mode =AUTO_PICK; //左中，右下，视觉 } - else if(rc->sw_l==CMD_SW_DOWN) + else if(rc->dr16.sw_l==CMD_SW_DOWN) { cmd ->CMD_CtrlType =RCcontrol; - if(rc->sw_r ==CMD_SW_UP) cmd ->CMD_mode =Normal; //左下，右上，投篮 - if(rc->sw_r ==CMD_SW_MID) cmd ->CMD_mode =Normal; //左下，右中，无模式 - if(rc->sw_r ==CMD_SW_DOWN) cmd ->CMD_mode =Normal; //左下，右上，无模式 + if(rc->dr16.sw_r ==CMD_SW_UP) cmd ->CMD_mode =Normal; //左下，右上，投篮 + if(rc->dr16.sw_r ==CMD_SW_MID) cmd ->CMD_mode =Normal; //左下，右中，无模式 + if(rc->dr16.sw_r ==CMD_SW_DOWN) cmd ->CMD_mode =Normal; //左下，右上，无模式 } diff --git a/User/device/cmd.h b/User/device/cmd.h index 986e80d..9efab0d 100644 --- a/User/device/cmd.h +++ b/User/device/cmd.h @@ -54,23 +54,36 @@ typedef enum { CMD_SW_MID = 3, CMD_SW_DOWN = 2, } CMD_SwitchPos_t; - +typedef enum{ + RC_DR16, + RC_LD +}rc_type_t; /*遥控器值，使用CMD_RcLogic函数传入CMD_t结构体*/ typedef struct { + + rc_type_t rc_type; + + struct { float ch_l_x; /* 遥控器左侧摇杆横轴值，上为正 */ float ch_l_y; /* 遥控器左侧摇杆纵轴值，右为正 */ float ch_r_x; /* 遥控器右侧摇杆横轴值，上为正 */ float ch_r_y; /* 遥控器右侧摇杆纵轴值，右为正 */ - float ch_res; /* 第五通道值 */ - CMD_SwitchPos_t sw_r; /* 右侧拨杆位置 */ CMD_SwitchPos_t sw_l; /* 左侧拨杆位置 */ - uint16_t key; /* 按键值 */ uint16_t res; /* 保留，未启用 */ + }__attribute__((packed))dr16; + + struct { + fp32 map_ch[4]; + int16_t ch[4]; + int16_t sw[8]; + + }__attribute__((packed))LD; + } __attribute__((packed))CMD_RC_t; diff --git a/User/device/dr16.c b/User/device/dr16.c index 04454d2..9e4394f 100644 --- a/User/device/dr16.c +++ b/User/device/dr16.c @@ -12,42 +12,132 @@ #include "error_detect.h" +//#define DR16_t +#define LD_t +#ifdef DR16 +#define FRAME_LEN 36 +#elif defined(LD_t) + +#define FRAME_LEN 25 + +#endif /* Private define ----------------------------------------------------------- */ -#define DR16_CH_VALUE_MIN (364u) -#define DR16_CH_VALUE_MID (1024u) -#define DR16_CH_VALUE_MAX (1684u) -/* Private macro ------------------------------------------------------------ */ -/* Private typedef ---------------------------------------------------------- */ -/* Private variables -------------------------------------------------------- */ +#define RC_CH_VALUE_MIN ((uint16_t)364) +#define RC_CH_VALUE_MID ((uint16_t)1024) +#define RC_CH_VALUE_MAX ((uint16_t)1684) static osThreadId_t thread_alert; -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 -/* Private function -------------------------------------------------------- */ -static void DR16_RxCpltCallback(void) { +static uint8_t cbuf[FRAME_LEN]; //此处设置为两帧字节的长度 若为一帧会出现乱码的情况 + +/*通用，初始化，串口回调注册，dma数据接收*/ +int8_t RC_SBUS_Init(void ) +{ + if ((thread_alert = osThreadGetId()) == NULL) return DEVICE_ERR_NULL; + + BSP_UART_RegisterCallback(BSP_UART_REMOTE, BSP_UART_IDLE_LINE_CB, + RC_SBUS_RxCpltCallback); + return DEVICE_OK; +} + +static void RC_SBUS_RxCpltCallback(void) { osThreadFlagsSet(thread_alert, SIGNAL_DR16_RAW_REDY); // detect_hook(DR16_TOE); } +int8_t RC_SBUS_Restart(void) { + __HAL_UART_DISABLE(BSP_UART_GetHandle(BSP_UART_REMOTE)); + __HAL_UART_ENABLE(BSP_UART_GetHandle(BSP_UART_REMOTE)); + return DEVICE_OK; +} +int8_t RC_SBUS_StartDmaRecv(void) { + + if (HAL_UARTEx_ReceiveToIdle_DMA(BSP_UART_GetHandle(BSP_UART_REMOTE), + (uint8_t *)cbuf, + sizeof(cbuf)) == HAL_OK) + return DEVICE_OK; + return DEVICE_ERR; +} +bool RC_SBUS_WaitDmaCplt(uint32_t timeout) { + return (osThreadFlagsWait(SIGNAL_DR16_RAW_REDY, osFlagsWaitAll, timeout) == + SIGNAL_DR16_RAW_REDY); +} +/*乐迪数据解析 */ +int8_t LD_ParseRaw( RC_ctrl_t *rc_ctrl) +{ + rc_ctrl->ch[0] = (cbuf[1] | (cbuf[2] << 8)) & 0x07ff; //!< Channel 0 + rc_ctrl->ch[1] = ((cbuf[2] >> 3) | (cbuf[3] << 5)) & 0x07ff; //!< Channel 1 + rc_ctrl->ch[2] = ((cbuf[3] >> 6) | (cbuf[4] << 2) | //!< Channel 2 + (cbuf[5] << 10)) &0x07ff; + rc_ctrl->ch[3] = ((cbuf[5] >> 1) | (cbuf[6] << 7)) & 0x07ff; //!< Channel 3 + + rc_ctrl->sw[0] = ((int16_t)cbuf[6] >> 4 | ((int16_t)cbuf[7] << 4 )) & 0x07FF; //!< Switch left + rc_ctrl->sw[1] = ((int16_t)cbuf[7] >> 7 | ((int16_t)cbuf[8] << 1 ) | (int16_t)cbuf[9] << 9 ) & 0x07FF; //!< Switch right + rc_ctrl->sw[2] = ((int16_t)cbuf[9] >> 2 | ((int16_t)cbuf[10] << 6 )) & 0x07FF;; //!< Mouse X axis + rc_ctrl->sw[3] = ((int16_t)cbuf[10] >> 5 | ((int16_t)cbuf[11] << 3 )) & 0x07FF; //!< Mouse Y axis + rc_ctrl->sw[4] = ((int16_t)cbuf[12] << 0 | ((int16_t)cbuf[13] << 8 )) & 0x07FF; //!< Mouse Z axis + rc_ctrl->sw[5] = ((int16_t)cbuf[13] >> 3 | ((int16_t)cbuf[14] << 5 )) & 0x07FF; //!< Mouse Left Is Press ? + rc_ctrl->sw[6] = ((int16_t)cbuf[14] >> 6 | ((int16_t)cbuf[15] << 2 ) | (int16_t)cbuf[16] << 10 ) & 0x07FF; //!< Mouse Right Is Press ? + rc_ctrl->sw[7] = ((int16_t)cbuf[16] >> 1 | ((int16_t)cbuf[17] << 7 )) & 0x07FF; //!< KeyBoard value + rc_ctrl->ch[0] -= RC_CH_VALUE_MID; + rc_ctrl->ch[1] -= RC_CH_VALUE_MID; + rc_ctrl->ch[2] -= RC_CH_VALUE_MID; + rc_ctrl->ch[3] -= RC_CH_VALUE_MID; + + + rc_ctrl->ch[0] += 24; //y(-694,693)左右 + rc_ctrl->ch[1] = -rc_ctrl->ch[1]-24; //x(-693,694)前后 + rc_ctrl->ch[2] = -rc_ctrl->ch[2]+764; //m(95,1482)油门 + rc_ctrl->ch[3] += 24; //w(-694,693)旋转 + + rc_ctrl->ch[1] = map_int(rc_ctrl->ch[1],-693,694,-700,700); //x映射到(-700,700) + rc_ctrl->ch[0] = map_int(rc_ctrl->ch[0],-694,693,-700,700); //y映射到(-700,700) + rc_ctrl->ch[3] = 0.5*(rc_ctrl->ch[3]); //w + +// //死区(-30,30) +// if(rc_ctrl->ch[0]>-50&&rc_ctrl->ch[0]<50) rc_ctrl->ch[0]=0; +// if(rc_ctrl->ch[1]>-50&&rc_ctrl->ch[1]<50) rc_ctrl->ch[1]=0; +// if(rc_ctrl->ch[2]>-50&&rc_ctrl->ch[2]<50) rc_ctrl->ch[2]=0; +// if(rc_ctrl->ch[3]>-50&&rc_ctrl->ch[3]<50) rc_ctrl->ch[3]=0; +// + + rc_ctrl->map_ch[0]=map_fp32(rc_ctrl->ch[0],-719,680,-1,1); + rc_ctrl->map_ch[1]=map_fp32(rc_ctrl->ch[1],-567,832,-1,1); + rc_ctrl->map_ch[2]=map_fp32(rc_ctrl->ch[2],95,1482,0,1); + rc_ctrl->map_ch[3]=map_fp32(rc_ctrl->ch[3],-317,375,-1,1); + + rc_ctrl->map_ch[0]=expo_map(rc_ctrl->map_ch[0], 0.7f); + rc_ctrl->map_ch[1]=expo_map(rc_ctrl->map_ch[1],0.7f); + rc_ctrl->map_ch[2]=expo_map(rc_ctrl->map_ch[2],0.7f); + rc_ctrl->map_ch[3]=expo_map(rc_ctrl->map_ch[3],0.7f); + + //死区(-30,30) + if(rc_ctrl->map_ch[0]>-0.05&&rc_ctrl->map_ch[0]<0.05) rc_ctrl->map_ch[0]=0; + if(rc_ctrl->map_ch[1]>-0.05&&rc_ctrl->map_ch[1]<0.05) rc_ctrl->map_ch[1]=0; + if(rc_ctrl->map_ch[2]>-0.05&&rc_ctrl->map_ch[2]<0.05) rc_ctrl->map_ch[2]=0; + if(rc_ctrl->map_ch[3]>-0.05&&rc_ctrl->map_ch[3]<0.05) rc_ctrl->map_ch[3]=0; + +} +/*dr16数据解析+校验 */ static bool DR16_DataCorrupted(const DR16_t *dr16) { if (dr16 == NULL) return DEVICE_ERR_NULL; - if ((dr16->data.ch_r_x < DR16_CH_VALUE_MIN) || - (dr16->data.ch_r_x > DR16_CH_VALUE_MAX)) + if ((dr16->data.ch_r_x < RC_CH_VALUE_MIN) || + (dr16->data.ch_r_x > RC_CH_VALUE_MAX)) return true; - if ((dr16->data.ch_r_y < DR16_CH_VALUE_MIN) || - (dr16->data.ch_r_y > DR16_CH_VALUE_MAX)) + if ((dr16->data.ch_r_y < RC_CH_VALUE_MIN) || + (dr16->data.ch_r_y > RC_CH_VALUE_MAX)) return true; - if ((dr16->data.ch_l_x < DR16_CH_VALUE_MIN) || - (dr16->data.ch_l_x > DR16_CH_VALUE_MAX)) + if ((dr16->data.ch_l_x < RC_CH_VALUE_MIN) || + (dr16->data.ch_l_x > RC_CH_VALUE_MAX)) return true; if ((dr16->data.ch_l_y < 1000u) || - (dr16->data.ch_l_y > DR16_CH_VALUE_MAX)) + (dr16->data.ch_l_y > RC_CH_VALUE_MAX)) return true; if (dr16->data.sw_l == 0) return true; @@ -56,35 +146,6 @@ static bool DR16_DataCorrupted(const DR16_t *dr16) { return false; } -/* Exported functions ------------------------------------------------------- */ -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; -} - -int8_t DR16_Restart(void) { - __HAL_UART_DISABLE(BSP_UART_GetHandle(BSP_UART_REMOTE)); - __HAL_UART_ENABLE(BSP_UART_GetHandle(BSP_UART_REMOTE)); - return DEVICE_OK; -} - -int8_t DR16_StartDmaRecv(DR16_t *dr16) { - if (HAL_UARTEx_ReceiveToIdle_DMA(BSP_UART_GetHandle(BSP_UART_REMOTE), - (uint8_t *)cbuf, - sizeof(cbuf)) == HAL_OK) - return DEVICE_OK; - return DEVICE_ERR; -} - -bool DR16_WaitDmaCplt(uint32_t timeout) { - return (osThreadFlagsWait(SIGNAL_DR16_RAW_REDY, osFlagsWaitAll, timeout) == - SIGNAL_DR16_RAW_REDY); -} - int8_t DR16_ParseRaw(DR16_t *dr16) { if(dr16 ==NULL) return DEVICE_ERR_NULL; @@ -97,31 +158,48 @@ int8_t DR16_ParseRaw(DR16_t *dr16) return 1; } - -int8_t DR16_ParseRC(const DR16_t *dr16, CMD_RC_t *rc) { +int8_t RC_ParseRC( DR16_t *dr16, RC_ctrl_t *rc_ctrl, CMD_RC_t *rc) { if (dr16 == NULL) return DEVICE_ERR_NULL; - + if (rc_ctrl == NULL) return DEVICE_ERR_NULL; +#ifdef DR16 + /*DR16部分*/ + rc->rc_type=RC_DR16; + DR16_ParseRaw(dr16); if (DR16_DataCorrupted(dr16)) { return DEVICE_ERR; } else { memset(rc, 0, sizeof(*rc)); } - 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; - rc->ch_r_y = 2 * ((float)dr16->data.ch_r_y - DR16_CH_VALUE_MID) / full_range; - rc->ch_l_x = 2 * ((float)dr16->data.ch_l_x - DR16_CH_VALUE_MID) / full_range; - rc->ch_l_y = 2 * ((float)dr16->data.ch_l_y - DR16_CH_VALUE_MID) / full_range; + float full_range = (float)(RC_CH_VALUE_MAX - RC_CH_VALUE_MIN); - rc->sw_l = (CMD_SwitchPos_t)dr16->data.sw_l; - rc->sw_r = (CMD_SwitchPos_t)dr16->data.sw_r; + rc->dr16.ch_r_x = 2 * ((float)dr16->data.ch_r_x - RC_CH_VALUE_MID) / full_range; + rc->dr16.ch_r_y = 2 * ((float)dr16->data.ch_r_y - RC_CH_VALUE_MID) / full_range; + rc->dr16.ch_l_x = 2 * ((float)dr16->data.ch_l_x - RC_CH_VALUE_MID) / full_range; + rc->dr16.ch_l_y = 2 * ((float)dr16->data.ch_l_y - RC_CH_VALUE_MID) / full_range; - rc->key = dr16->data.key; + rc->dr16.sw_l = (CMD_SwitchPos_t)dr16->data.sw_l; + rc->dr16.sw_r = (CMD_SwitchPos_t)dr16->data.sw_r; + + rc->dr16.key = dr16->data.key; // rc->ch_res = ((float)dr16->data.res - DR16_CH_VALUE_MID) / full_range; + + +#elif defined(LD_t) + + /*乐迪*/ + rc->rc_type=RC_LD; + LD_ParseRaw(rc_ctrl); + + memcpy(&rc->LD, rc_ctrl, sizeof(RC_ctrl_t)); +#endif return DEVICE_OK; + } + +/*离线处理*/ int8_t DR16_HandleOffline(const DR16_t *dr16, CMD_RC_t *rc) { if (dr16 == NULL) return DEVICE_ERR_NULL; if (rc == NULL) return DEVICE_ERR_NULL; @@ -129,8 +207,4 @@ int8_t DR16_HandleOffline(const DR16_t *dr16, CMD_RC_t *rc) { (void)dr16; memset(rc, 0, sizeof(*rc)); return 0; -} - - - - +} \ No newline at end of file diff --git a/User/device/dr16.h b/User/device/dr16.h index 2b99679..037c81f 100644 --- a/User/device/dr16.h +++ b/User/device/dr16.h @@ -11,11 +11,6 @@ /* Exported constants ------------------------------------------------------- */ /* Exported macro ----------------------------------------------------------- */ /* Exported types ----------------------------------------------------------- */ - - - - - typedef __packed struct { uint16_t ch_r_x : 11; @@ -37,17 +32,39 @@ typedef struct { DR16_Data_t data; } DR16_t; -/* Exported functions prototypes -------------------------------------------- */ -int8_t DR16_Init(DR16_t *dr16); -int8_t DR16_Restart(void); -int8_t DR16_StartDmaRecv(DR16_t *dr16); -bool DR16_WaitDmaCplt(uint32_t timeout); + +#define SBUS_RX_BUF_NUM 25u + +#define RC_FRAME_LENGTH 18u + + + +typedef __packed struct +{ + fp32 map_ch[4]; + int16_t ch[4]; + int16_t sw[8]; + +} RC_ctrl_t; + + + + + + + + +int8_t RC_SBUS_Init(void ); +static void RC_SBUS_RxCpltCallback(void) ; +int8_t RC_SBUS_Restart(void) ; +int8_t RC_SBUS_StartDmaRecv(void) ; +bool RC_SBUS_WaitDmaCplt(uint32_t timeout) ; +int8_t LD_ParseRaw( RC_ctrl_t *rc_ctrl); +static bool DR16_DataCorrupted(const DR16_t *dr16) ; int8_t DR16_ParseRaw(DR16_t *dr16); -int8_t DR16_ParseRC(const DR16_t *dr16, CMD_RC_t *rc); -int8_t DR16_HandleOffline(const DR16_t *dr16, CMD_RC_t *rc); +int8_t RC_ParseRC( DR16_t *dr16, RC_ctrl_t *rc_ctrl, CMD_RC_t *rc) ; +int8_t DR16_HandleOffline(const DR16_t *dr16, CMD_RC_t *rc) ; #endif - - diff --git a/User/task/dr16_task.c b/User/task/dr16_task.c index d465e15..7ad1e7e 100644 --- a/User/task/dr16_task.c +++ b/User/task/dr16_task.c @@ -12,19 +12,17 @@ /* Private define ----------------------------------------------------------- */ /* Private macro ------------------------------------------------------------ */ /* Private variables -------------------------------------------------------- */ - - - #ifdef DEBUG DR16_t dr16; CMD_RC_t cmd_rc; +RC_ctrl_t ld; #else static DR16_t dr16; static CMD_RC_t cmd_rc; + static RC_ctrl_t cc; + #endif - - /* Private function --------------------------------------------------------- */ /* Exported functions ------------------------------------------------------- */ @@ -35,29 +33,20 @@ static CMD_RC_t cmd_rc; */ void Task_dr16(void *argument) { (void)argument; /* 未使用，消除警告 */ - const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_DR16; - uint32_t tick = osKernelGetTickCount(); - - - - DR16_Init(&dr16); /* 初始化dr16 */ + RC_SBUS_Init(); /* 初始化dr16 */ while (1) { - - #ifdef DEBUG /* */ task_runtime.stack_water_mark.dr16 = osThreadGetStackSpace(osThreadGetId()); #endif - /* 开启DMA */ - DR16_StartDmaRecv(&dr16); + RC_SBUS_StartDmaRecv(); - if (DR16_WaitDmaCplt(30)) { - /* 转换 */ - DR16_ParseRaw(&dr16); - DR16_ParseRC(&dr16, &cmd_rc); + if (RC_SBUS_WaitDmaCplt(30)) { + + RC_ParseRC(&dr16,&ld, &cmd_rc); } else { /* 处理遥控器离线 */ DR16_HandleOffline(&dr16, &cmd_rc); @@ -65,10 +54,4 @@ void Task_dr16(void *argument) { 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*/ - - osDelay(10); - }