/** ****************************(C) COPYRIGHT 2019 DJI**************************** * @file remote_control.c/h * @brief 遥控器处理，遥控器是通过类似SBUS的协议传输，利用DMA传输方式节约CPU * 资源，利用串口空闲中断来拉起处理函数，同时提供一些掉线重启DMA，串口 * 的方式保证热插拔的稳定性。 * @note 该任务是通过串口中断启动，不是freeRTOS任务 * @history * Version Date Author Modification * V1.0.0 Dec-01-2019 RM 1. 完成 * @verbatim ============================================================================== ============================================================================== @endverbatim ****************************(C) COPYRIGHT 2019 DJI**************************** */ #include "remote_control.h" #include "main.h" extern UART_HandleTypeDef huart3; extern DMA_HandleTypeDef hdma_usart3_rx; static void sbus_to_rc(volatile const uint8_t *sbus_buf, RC_ctrl_t *rc_ctrl); RC_ctrl_t rc_ctrl; static uint8_t sbus_rx_buf[2][RC_FRAME_LENGTH]; uint8_t remote_ready = 0;//遥控器准备完成 void remote_control_init(void) { RC_init(sbus_rx_buf[0], sbus_rx_buf[1], RC_FRAME_LENGTH); } //串口中断 void USART3_IRQHandler(void) { //have received data ??? if(huart3.Instance->SR & UART_FLAG_RXNE) { __HAL_UART_CLEAR_FEFLAG(&huart3); } else if(USART3->SR & UART_FLAG_IDLE) { static uint16_t this_time_rx_len = 0; __HAL_UART_CLEAR_PEFLAG(&huart3); if( (hdma_usart3_rx.Instance->CR & DMA_SxCR_CT) == RESET) { //current memory buffer used is memory0 //disable dma to change dma register __HAL_DMA_DISABLE(&hdma_usart3_rx); //get received data length, length = set_data_length - remain_length this_time_rx_len = SBUS_RX_BUF_NUM - hdma_usart3_rx.Instance->NDTR; //reset set_data_length hdma_usart3_rx.Instance->NDTR = SBUS_RX_BUF_NUM; //change memory0 to memory1 hdma_usart3_rx.Instance->CR |= DMA_SxCR_CT; //enable dma __HAL_DMA_ENABLE(&hdma_usart3_rx); //1 frame length is correct data if(this_time_rx_len == RC_FRAME_LENGTH) { sbus_to_rc(sbus_rx_buf[0], &rc_ctrl); } } else { __HAL_DMA_DISABLE(&hdma_usart3_rx); this_time_rx_len = SBUS_RX_BUF_NUM - hdma_usart3_rx.Instance->NDTR; hdma_usart3_rx.Instance->NDTR = SBUS_RX_BUF_NUM; //change memory1 to memory0 DMA1_Stream1->CR &= ~(DMA_SxCR_CT); __HAL_DMA_ENABLE(&hdma_usart3_rx); if(this_time_rx_len == RC_FRAME_LENGTH) { sbus_to_rc(sbus_rx_buf[1], &rc_ctrl); } } } } static void sbus_to_rc(volatile const uint8_t *sbus_buf, RC_ctrl_t *rc_ctrl) { if (sbus_buf == NULL || rc_ctrl == NULL) { return; } rc_ctrl->ch[1] = (sbus_buf[1] | (sbus_buf[2] << 8)) & 0x07ff; //Channel 1 rc_ctrl->ch[2] = ((sbus_buf[2] >> 3) | (sbus_buf[3] << 5)) & 0x07ff; //Channel 2 rc_ctrl->ch[0] = ((sbus_buf[3] >> 6) | (sbus_buf[4] << 2) | //Channel 3 (sbus_buf[5] << 10)) &0x07ff; rc_ctrl->ch[3] = ((sbus_buf[5] >> 1) | (sbus_buf[6] << 7)) & 0x07ff; //Channel 4 rc_ctrl->sw[0] = ((int16_t)sbus_buf[6] >> 4 | ((int16_t)sbus_buf[7] << 4 )) & 0x07FF; //Channel 5 rc_ctrl->sw[1] = ((int16_t)sbus_buf[7] >> 7 | ((int16_t)sbus_buf[8] << 1 ) | (int16_t)sbus_buf[9] << 9 ) & 0x07FF; //Channel 6 rc_ctrl->sw[2] = ((int16_t)sbus_buf[9] >> 2 | ((int16_t)sbus_buf[10] << 6 )) & 0x07FF;; //Channel 7 rc_ctrl->sw[3] = ((int16_t)sbus_buf[10] >> 5 | ((int16_t)sbus_buf[11] << 3 )) & 0x07FF; //Channel 8 rc_ctrl->sw[4] = ((int16_t)sbus_buf[12] << 0 | ((int16_t)sbus_buf[13] << 8 )) & 0x07FF; //Channel 9 rc_ctrl->sw[5] = ((int16_t)sbus_buf[13] >> 3 | ((int16_t)sbus_buf[14] << 5 )) & 0x07FF; //Channel 10 rc_ctrl->sw[6] = ((int16_t)sbus_buf[14] >> 6 | ((int16_t)sbus_buf[15] << 2 ) | (int16_t)sbus_buf[16] << 10 ) & 0x07FF; //Channel 11 rc_ctrl->sw[7] = ((int16_t)sbus_buf[16] >> 1 | ((int16_t)sbus_buf[17] << 7 )) & 0x07FF; //Channel 12 rc_ctrl->ch[0] -= RC_CH_VALUE_OFFSET; rc_ctrl->ch[1] -= RC_CH_VALUE_OFFSET; rc_ctrl->ch[2] -= RC_CH_VALUE_OFFSET; rc_ctrl->ch[3] -= RC_CH_VALUE_OFFSET; // //新遥控器 rc_ctrl->ch[0] += 20; //y(-694,693) rc_ctrl->ch[1] += 20; //x(-693,694) rc_ctrl->ch[2] = -rc_ctrl->ch[2]+144; //m(-518,843) rc_ctrl->ch[3] += 4; //w(-694,693) rc_ctrl->sw[2] = map(rc_ctrl->sw[2],306,1694,1694,306); rc_ctrl->sw[3] = map(rc_ctrl->sw[3],306,1694,1694,306); // rc_ctrl->ch[1] = map(rc_ctrl->ch[1],656,-656,-700,700); //x rc_ctrl->ch[0] = map(rc_ctrl->ch[0],-800,796,700,-700); //y rc_ctrl->ch[2] = map(rc_ctrl->ch[2],-632,901,25,0); //m rc_ctrl->ch[3] = map(rc_ctrl->ch[3],-820,780,-700,700); rc_ctrl->ch[3] = 0.5*(rc_ctrl->ch[3]); rc_ctrl->ch[1] = 0.5*(rc_ctrl->ch[1]); rc_ctrl->ch[0] = 0.5*(rc_ctrl->ch[0]); // //死区(-30,30) if(rc_ctrl->ch[0]>-14&&rc_ctrl->ch[0]<10) rc_ctrl->ch[0]=0; if(rc_ctrl->ch[1]>-30&&rc_ctrl->ch[1]<20) rc_ctrl->ch[1]=0; if(rc_ctrl->ch[2]>=0&&rc_ctrl->ch[2]<=3) rc_ctrl->ch[2]=0; if(rc_ctrl->ch[3]>-22&&rc_ctrl->ch[3]<22) rc_ctrl->ch[3]=0; remote_ready = 1; } int map(int x, int in_min, int in_max, int out_min, int out_max) //映射函数 { return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min; } /* 306 306 sw[] sw[7] 1694 1694 306 306 sw[6] sw[4] 1694 1694 306 306 306 306 sw[0] sw[2] sw[1]:306-1694 sw[5]:306-1694 sw[]1000 sw[3] 1694 1694 1694 1694 710 688 1425 | | | | 54 -616------ch[3]770 -354---------ch[0] 339 0 | | | | ch[2] ch[1] _699 38 */