177 lines
6.4 KiB
C
177 lines
6.4 KiB
C
/*
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乐迪遥控器
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*/
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/* Includes ----------------------------------------------------------------- */
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#include "LD_remote.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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#include "LD_remote.h"
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//static void sbus_to_rc(volatile const uint8_t *sbus_buf, RC_ctrl_t *rc_ctrl);
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//RC_ctrl_t rc_ctrl;
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//static uint8_t sbus_rx_buf[2][RC_FRAME_LENGTH];
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//uint8_t remote_ready = 0;//Ò£¿ØÆ÷×¼±¸Íê³É
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//void remote_control_init(void)
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//{
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// RC_init(sbus_rx_buf[0], sbus_rx_buf[1], RC_FRAME_LENGTH);
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//}
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// int map_int(int x, int in_min, int in_max, int out_min, int out_max)
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//{
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// return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
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//}
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////´®¿ÚÖжÏ
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//void USART3_IRQHandler(void)
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//{
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// //have received data ???
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// if(huart3.Instance->SR & UART_FLAG_RXNE)
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// {
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// __HAL_UART_CLEAR_FEFLAG(&huart3);
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// }
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// else if(USART3->SR & UART_FLAG_IDLE)
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// {
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//
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// static uint16_t this_time_rx_len = 0;
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// __HAL_UART_CLEAR_PEFLAG(&huart3);
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//
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// if( (hdma_usart3_rx.Instance->CR & DMA_SxCR_CT) == RESET)
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// {
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// //current memory buffer used is memory0
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//
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// //disable dma to change dma register
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// __HAL_DMA_DISABLE(&hdma_usart3_rx);
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//
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// //get received data length, length = set_data_length - remain_length
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// this_time_rx_len = SBUS_RX_BUF_NUM - hdma_usart3_rx.Instance->NDTR;
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// //reset set_data_length
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// hdma_usart3_rx.Instance->NDTR = SBUS_RX_BUF_NUM;
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//
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// //change memory0 to memory1
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// hdma_usart3_rx.Instance->CR |= DMA_SxCR_CT;
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//
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// //enable dma
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// __HAL_DMA_ENABLE(&hdma_usart3_rx);
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//
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// //1 frame length is correct data
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// if(this_time_rx_len == RC_FRAME_LENGTH)
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// {
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// sbus_to_rc(sbus_rx_buf[0], &rc_ctrl);
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// }
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// }
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// else
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// {
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// __HAL_DMA_DISABLE(&hdma_usart3_rx);
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//
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// this_time_rx_len = SBUS_RX_BUF_NUM - hdma_usart3_rx.Instance->NDTR;
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//
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// hdma_usart3_rx.Instance->NDTR = SBUS_RX_BUF_NUM;
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//
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// //change memory1 to memory0
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// DMA1_Stream1->CR &= ~(DMA_SxCR_CT);
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//
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// __HAL_DMA_ENABLE(&hdma_usart3_rx);
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//
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// if(this_time_rx_len == RC_FRAME_LENGTH)
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// {
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// sbus_to_rc(sbus_rx_buf[1], &rc_ctrl);
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// }
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// }
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// }
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//}
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//static void sbus_to_rc(volatile const uint8_t *sbus_buf, RC_ctrl_t *rc_ctrl)
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//{
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// if (sbus_buf == NULL || rc_ctrl == NULL)
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// {
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// return;
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// }
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//
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// rc_ctrl->ch[0] = (sbus_buf[1] | (sbus_buf[2] << 8)) & 0x07ff; //!< Channel 0
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// rc_ctrl->ch[1] = ((sbus_buf[2] >> 3) | (sbus_buf[3] << 5)) & 0x07ff; //!< Channel 1
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// rc_ctrl->ch[2] = ((sbus_buf[3] >> 6) | (sbus_buf[4] << 2) | //!< Channel 2
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// (sbus_buf[5] << 10)) &0x07ff;
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// rc_ctrl->ch[3] = ((sbus_buf[5] >> 1) | (sbus_buf[6] << 7)) & 0x07ff; //!< Channel 3
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//
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// rc_ctrl->sw[0] = ((int16_t)sbus_buf[6] >> 4 | ((int16_t)sbus_buf[7] << 4 )) & 0x07FF; //!< Switch left
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// rc_ctrl->sw[1] = ((int16_t)sbus_buf[7] >> 7 | ((int16_t)sbus_buf[8] << 1 ) | (int16_t)sbus_buf[9] << 9 ) & 0x07FF; //!< Switch right
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// rc_ctrl->sw[2] = ((int16_t)sbus_buf[9] >> 2 | ((int16_t)sbus_buf[10] << 6 )) & 0x07FF;; //!< Mouse X axis
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// rc_ctrl->sw[3] = ((int16_t)sbus_buf[10] >> 5 | ((int16_t)sbus_buf[11] << 3 )) & 0x07FF; //!< Mouse Y axis
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// rc_ctrl->sw[4] = ((int16_t)sbus_buf[12] << 0 | ((int16_t)sbus_buf[13] << 8 )) & 0x07FF; //!< Mouse Z axis
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// rc_ctrl->sw[5] = ((int16_t)sbus_buf[13] >> 3 | ((int16_t)sbus_buf[14] << 5 )) & 0x07FF; //!< Mouse Left Is Press ?
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// rc_ctrl->sw[6] = ((int16_t)sbus_buf[14] >> 6 | ((int16_t)sbus_buf[15] << 2 ) | (int16_t)sbus_buf[16] << 10 ) & 0x07FF; //!< Mouse Right Is Press ?
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// rc_ctrl->sw[7] = ((int16_t)sbus_buf[16] >> 1 | ((int16_t)sbus_buf[17] << 7 )) & 0x07FF; //!< KeyBoard value
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// rc_ctrl->ch[0] -= RC_CH_VALUE_OFFSET;
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// rc_ctrl->ch[1] -= RC_CH_VALUE_OFFSET;
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// rc_ctrl->ch[2] -= RC_CH_VALUE_OFFSET;
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// rc_ctrl->ch[3] -= RC_CH_VALUE_OFFSET;
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//
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// //µ÷ÕûÒ¡¸ËÖÐֵʹң¿ØÆ÷΢µ÷Á¿Îª0ʱҡ¸ËÖÐÖµ½Ó½ü0£¬ÓÍÃųýÍâ
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// //µÚÒ»´Îµ÷³µÇ°ÏÈÈ·ÈÏͨµÀÖµÊÇ·ñÕýÈ·£¡£¡Èç²»·ûºÏ¸ù¾Ýʵ¼ÊͨµÀÖµ½øÐÐÐÞ¸Ä
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// //Ð޸Ĵ˴¦¼°omni_chassis.cÖÐͨµÀÖµ²¿·Ö
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// rc_ctrl->ch[0] += 24; //y(-694,693)×óÓÒ
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// rc_ctrl->ch[1] = -rc_ctrl->ch[1]-24; //x(-693,694)Ç°ºó
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// rc_ctrl->ch[2] = -rc_ctrl->ch[2]+764; //m(95,1482)ÓÍÃÅ
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// rc_ctrl->ch[3] += 24; //w(-694,693)Ðýת
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//
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// rc_ctrl->ch[1] = map_int(rc_ctrl->ch[1],-693,694,-700,700); //xÓ³Éäµ½(-700,700)
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// rc_ctrl->ch[0] = map_int(rc_ctrl->ch[0],-694,693,-700,700); //yÓ³Éäµ½(-700,700)
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// rc_ctrl->ch[3] = 0.5*(rc_ctrl->ch[3]); //w
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//
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// //ËÀÇø(-30,30)
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// if(rc_ctrl->ch[0]>-30&&rc_ctrl->ch[0]<30) rc_ctrl->ch[0]=0;
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// if(rc_ctrl->ch[1]>-30&&rc_ctrl->ch[1]<30) rc_ctrl->ch[1]=0;
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// if(rc_ctrl->ch[2]>-30&&rc_ctrl->ch[2]<30) rc_ctrl->ch[2]=0;
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// if(rc_ctrl->ch[3]>-30&&rc_ctrl->ch[3]<30) rc_ctrl->ch[3]=0;
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// remote_ready = 1;
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//}
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//int map(int x, int in_min, int in_max, int out_min, int out_max) //Ó³É亯Êý
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//{
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// return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
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//}
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///*
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//
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//306 306
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// sw[] sw[7]
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//1694 1694
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//
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//306 306
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//sw[6] sw[4]
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//1694 1694
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//306 306 306 306
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//sw[0] sw[2] sw[1]:306-1694 sw[5]:306-1694 sw[]1000 sw[3]
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//1694 1694 1694 1694
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// 710
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// 688 1425
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// | |
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// | |
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// 54 -616------ch[3]770 -354---------ch[0] 339 0
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// | |
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// | |
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// ch[2] ch[1]
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// _699 38
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//*/
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