86 lines
1.9 KiB
C
86 lines
1.9 KiB
C
#ifndef RC_h
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#define RC_h
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/* Includes ----------------------------------------------------------------- */
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#include <cmsis_os2.h>
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#include "bsp_usart.h"
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#include "cmd.h"
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#include "user_math.h"
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#include "device.h"
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/* Exported constants ------------------------------------------------------- */
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/* Exported macro ----------------------------------------------------------- */
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/* Exported types ----------------------------------------------------------- */
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typedef __packed struct
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{
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uint16_t ch_r_x : 11;
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uint16_t ch_r_y : 11;
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uint16_t ch_l_x : 11;
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uint16_t ch_l_y : 11;
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uint8_t sw_r : 2;
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uint8_t sw_l : 2;
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int16_t x;
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int16_t y;
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int16_t z;
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uint8_t press_l;
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uint8_t press_r;
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uint16_t key;
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uint16_t res;
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} DR16_Data_t;
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typedef struct {
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DR16_Data_t data;
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} DR16_t;
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/*ԭʼ<D4AD><CABC><EFBFBD><EFBFBD>*/
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typedef __packed struct
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{
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fp32 map_ch[4];
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int16_t ch[4];
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int16_t sw[8];
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} LD_raw_t;
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typedef __packed struct
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{
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fp32 ch_r_x ;
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fp32 ch_r_y ;
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fp32 ch_l_x ;
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fp32 ch_l_y ;
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CMD_SwitchPos_t key_A ;
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// int16_t key_B ;//<2F><>
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CMD_SwitchPos_t key_C ;
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// int16_t key_D ;//<2F><>
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CMD_SwitchPos_t key_E ;
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CMD_SwitchPos_t key_F;
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CMD_SwitchPos_t key_G ;
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CMD_SwitchPos_t key_H ;
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int16_t knob_left;//<2F><><EFBFBD><EFBFBD>ť
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int16_t knob_right;//<2F><><EFBFBD><EFBFBD>ť
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} LD_Data_t;
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int8_t RC_SBUS_Init(void );
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static void RC_SBUS_RxCpltCallback(void) ;
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int8_t RC_SBUS_Restart(void) ;
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int8_t RC_SBUS_StartDmaRecv(void) ;
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bool RC_SBUS_WaitDmaCplt(uint32_t timeout) ;
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int8_t LD_ParseRaw( LD_raw_t *raw, LD_Data_t *LD);
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static bool DR16_DataCorrupted(const DR16_t *dr16) ;
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int8_t DR16_ParseRaw(DR16_t *dr16);
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int8_t RC_ParseRC( DR16_t *dr16,LD_raw_t *LD_raw, LD_Data_t *LD, CMD_RC_t *rc) ;
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int8_t DR16_HandleOffline(const DR16_t *dr16, CMD_RC_t *rc) ;
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int8_t LD_HandleOffline(const LD_Data_t *LD, CMD_RC_t *rc) ;
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CMD_SwitchPos_t MapSwitchState(int16_t value) ;
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#endif
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