43 lines
1.2 KiB
C
43 lines
1.2 KiB
C
/**
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****************************(C) COPYRIGHT 2016 DJI****************************
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* @file remote_control.c/h
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* @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
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* 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
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* 的方式保证热插拔的稳定性。
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* @note
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* @history
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* Version Date Author Modification
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* V1.0.0 Dec-26-2018 RM 1. 完成
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*
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@verbatim
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==============================================================================
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==============================================================================
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@endverbatim
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****************************(C) COPYRIGHT 2016 DJI****************************
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*/
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#ifndef REMOTE_CONTROL_H
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#define REMOTE_CONTROL_H
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#include "struct_typedef.h"
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#include "bsp_rc.h"
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#define SBUS_RX_BUF_NUM 50u
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#define RC_FRAME_LENGTH 25u
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#define RC_CH_VALUE_OFFSET ((uint16_t)1024)
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typedef struct
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{
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int16_t ch[4];
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int16_t sw[8];
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}__attribute__((packed)) RC_ctrl_t;
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extern void remote_control_init(void);
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static void sbus_to_rc(volatile const uint8_t *sbus_buf, RC_ctrl_t *rc_ctrl);
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int map(int x, int in_min, int in_max, int out_min, int out_max); //映射函数
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#endif
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