186 lines
6.5 KiB
C
186 lines
6.5 KiB
C
/**
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****************************(C) COPYRIGHT 2019 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 该任务是通过串口中断启动，不是freeRTOS任务
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* @history
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* Version Date Author Modification
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* V1.0.0 Dec-01-2019 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 2019 DJI****************************
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*/
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#include "remote_control.h"
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#include "main.h"
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extern UART_HandleTypeDef huart3;
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extern DMA_HandleTypeDef hdma_usart3_rx;
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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;//遥控器准备完成
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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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//串口中断
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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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static uint16_t this_time_rx_len = 0;
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__HAL_UART_CLEAR_PEFLAG(&huart3);
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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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//disable dma to change dma register
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__HAL_DMA_DISABLE(&hdma_usart3_rx);
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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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//change memory0 to memory1
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hdma_usart3_rx.Instance->CR |= DMA_SxCR_CT;
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//enable dma
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__HAL_DMA_ENABLE(&hdma_usart3_rx);
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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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this_time_rx_len = SBUS_RX_BUF_NUM - hdma_usart3_rx.Instance->NDTR;
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hdma_usart3_rx.Instance->NDTR = SBUS_RX_BUF_NUM;
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//change memory1 to memory0
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DMA1_Stream1->CR &= ~(DMA_SxCR_CT);
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__HAL_DMA_ENABLE(&hdma_usart3_rx);
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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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rc_ctrl->ch[1] = (sbus_buf[1] | (sbus_buf[2] << 8)) & 0x07ff; //Channel 1
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rc_ctrl->ch[2] = ((sbus_buf[2] >> 3) | (sbus_buf[3] << 5)) & 0x07ff; //Channel 2
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rc_ctrl->ch[0] = ((sbus_buf[3] >> 6) | (sbus_buf[4] << 2) | //Channel 3
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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 4
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rc_ctrl->sw[0] = ((int16_t)sbus_buf[6] >> 4 | ((int16_t)sbus_buf[7] << 4 )) & 0x07FF; //Channel 5
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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; //Channel 6
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rc_ctrl->sw[2] = ((int16_t)sbus_buf[9] >> 2 | ((int16_t)sbus_buf[10] << 6 )) & 0x07FF;; //Channel 7
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rc_ctrl->sw[3] = ((int16_t)sbus_buf[10] >> 5 | ((int16_t)sbus_buf[11] << 3 )) & 0x07FF; //Channel 8
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rc_ctrl->sw[4] = ((int16_t)sbus_buf[12] << 0 | ((int16_t)sbus_buf[13] << 8 )) & 0x07FF; //Channel 9
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rc_ctrl->sw[5] = ((int16_t)sbus_buf[13] >> 3 | ((int16_t)sbus_buf[14] << 5 )) & 0x07FF; //Channel 10
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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; //Channel 11
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rc_ctrl->sw[7] = ((int16_t)sbus_buf[16] >> 1 | ((int16_t)sbus_buf[17] << 7 )) & 0x07FF; //Channel 12
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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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// //新遥控器
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rc_ctrl->ch[0] += 20; //y(-694,693)
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rc_ctrl->ch[1] += 20; //x(-693,694)
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rc_ctrl->ch[2] = -rc_ctrl->ch[2]+144; //m(-518,843)
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rc_ctrl->ch[3] += 4; //w(-694,693)
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rc_ctrl->sw[2] = map(rc_ctrl->sw[2],306,1694,1694,306);
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rc_ctrl->sw[3] = map(rc_ctrl->sw[3],306,1694,1694,306);
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// rc_ctrl->ch[1] = map(rc_ctrl->ch[1],656,-656,-700,700); //x
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rc_ctrl->ch[0] = map(rc_ctrl->ch[0],-800,796,700,-700); //y
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rc_ctrl->ch[2] = map(rc_ctrl->ch[2],-632,901,25,0); //m
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rc_ctrl->ch[3] = map(rc_ctrl->ch[3],-820,780,-700,700);
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rc_ctrl->ch[3] = 0.5*(rc_ctrl->ch[3]);
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rc_ctrl->ch[1] = 0.5*(rc_ctrl->ch[1]);
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rc_ctrl->ch[0] = 0.5*(rc_ctrl->ch[0]);
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//
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//死区(-30,30)
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if(rc_ctrl->ch[0]>-14&&rc_ctrl->ch[0]<10) rc_ctrl->ch[0]=0;
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if(rc_ctrl->ch[1]>-30&&rc_ctrl->ch[1]<20) rc_ctrl->ch[1]=0;
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if(rc_ctrl->ch[2]>=0&&rc_ctrl->ch[2]<=3) rc_ctrl->ch[2]=0;
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if(rc_ctrl->ch[3]>-22&&rc_ctrl->ch[3]<22) 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) //映射函数
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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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306 306
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sw[] sw[7]
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1694 1694
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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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54 -616------ch[3]770 -354---------ch[0] 339 0
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ch[2] ch[1]
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_699 38
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*/
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