217 lines
6.9 KiB
C
217 lines
6.9 KiB
C
/*
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乐迪r12ds遥控器。
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需要根据实际的遥控器通道修改解析的函数 该遥控器采用sbus 用的uart3
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*/
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///* Includes ----------------------------------------------------------------- */
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//#include "r12ds.h"
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//#include "main.h"
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//#include "error_detect.h"
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//#include <string.h>
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//extern UART_HandleTypeDef huart3;
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//extern DMA_HandleTypeDef hdma_usart3_rx;
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//osThreadId_t thread_alert;
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//int buf0ready =0;
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//int buf1ready =0;
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///* Private function -------------------------------------------------------- */
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//static void R12DS_IdleCallback(void) {
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// static uint16_t this_time_rx_len = 0;
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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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//// osThreadFlagsSet(thread_alert,SIGNAL_R12DS_BUF0_REDY);
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// buf0ready = 1;
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// detect_hook(R12DS_TOE);
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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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//// osThreadFlagsSet(thread_alert,SIGNAL_R12DS_BUF1_REDY);
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// buf1ready = 1;
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// detect_hook(R12DS_TOE);
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// }
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// }
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//}
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///* Exported functions ------------------------------------------------------- */
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//int8_t R12ds_DMA_Init(uint8_t *rx1_buf, uint8_t *rx2_buf, uint16_t dma_buf_num)
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//{
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// if((thread_alert = osThreadGetId()) == NULL ) return DEVICE_ERR_NULL;
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// //enable the dma transfer for the receiver request
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// SET_BIT(huart3.Instance->CR3, USART_CR3_DMAR);
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//
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// //enable idle interrupt
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// __HAL_UART_ENABLE_IT(&huart3, UART_IT_IDLE);
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//
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// //disable dma, to change the dma register
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// __HAL_DMA_DISABLE(&hdma_usart3_rx);
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//
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// //disable dma again but why?
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// //what's the condition?
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// while(hdma_usart3_rx.Instance->CR & DMA_SxCR_EN)
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// {
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// __HAL_DMA_DISABLE(&hdma_usart3_rx);
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// }
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//
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// //??
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// hdma_usart3_rx.Instance->PAR = (uint32_t) & (USART3->DR);
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//
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// //memory buffer 1
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// hdma_usart3_rx.Instance->M0AR = (uint32_t)(rx1_buf);
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//
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// //momory buffer 2
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// hdma_usart3_rx.Instance->M1AR = (uint32_t)(rx2_buf);
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//
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// //data length
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// hdma_usart3_rx.Instance->NDTR = dma_buf_num;
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//
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// //enable double memory buffer
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// SET_BIT(hdma_usart3_rx.Instance->CR, DMA_SxCR_DBM);
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//
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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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// BSP_UART_RegisterCallback(BSP_UART_R12DS, BSP_UART_IDLE_LINE_CB,
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// R12DS_IdleCallback);
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// return 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) //ӳʤگ˽
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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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//int8_t sbus_to_rc(volatile const uint8_t *sbus_buf, CMD_RC_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 0;
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// }
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//
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// rc_ctrl->ch_x = (sbus_buf[1] | (sbus_buf[2] << 8)) & 0x07ff; //Channel 1 x
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// rc_ctrl->mul= ((sbus_buf[2] >> 3) | (sbus_buf[3] << 5)) & 0x07ff; //Channel 2 mul
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// rc_ctrl->ch_y= ((sbus_buf[3] >> 6) | (sbus_buf[4] << 2) | //Channel 3 y
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// (sbus_buf[5] << 10)) &0x07ff;
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// rc_ctrl->ch_w = ((sbus_buf[5] >> 1) | (sbus_buf[6] << 7)) & 0x07ff; //Channel 4 w
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//
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// rc_ctrl->key[0] = ((int16_t)sbus_buf[6] >> 4 | ((int16_t)sbus_buf[7] << 4 )) & 0x07FF; //Channel 5
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// rc_ctrl->key[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->key[2] = ((int16_t)sbus_buf[9] >> 2 | ((int16_t)sbus_buf[10] << 6 )) & 0x07FF;; //Channel 7
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// rc_ctrl->key[3] = ((int16_t)sbus_buf[10] >> 5 | ((int16_t)sbus_buf[11] << 3 )) & 0x07FF; //Channel 8
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// rc_ctrl->key[4] = ((int16_t)sbus_buf[12] << 0 | ((int16_t)sbus_buf[13] << 8 )) & 0x07FF; //Channel 9
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// rc_ctrl->key[5] = ((int16_t)sbus_buf[13] >> 3 | ((int16_t)sbus_buf[14] << 5 )) & 0x07FF; //Channel 10
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// rc_ctrl->key[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->key[7] = ((int16_t)sbus_buf[16] >> 1 | ((int16_t)sbus_buf[17] << 7 )) & 0x07FF; //Channel 12
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// rc_ctrl->ch_y -= RC_CH_VALUE_OFFSET;
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// rc_ctrl->ch_x -= RC_CH_VALUE_OFFSET;
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// rc_ctrl->mul -= RC_CH_VALUE_OFFSET;
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// rc_ctrl->ch_w -= RC_CH_VALUE_OFFSET;
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//
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// rc_ctrl->ch_y -= 4; //y(-694,693)
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// rc_ctrl->ch_x += 3; //x(-693,694)
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// rc_ctrl->mul = rc_ctrl->mul; //m(-518,843)
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// rc_ctrl->ch_w += 4; //w(-694,693)
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//
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// rc_ctrl->key[2] = map(rc_ctrl->key[2],306,1694,1694,306);
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// rc_ctrl->key[3] = map(rc_ctrl->key[3],306,1694,1694,306);
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// rc_ctrl->ch_x = map(rc_ctrl->ch_x,700,-800,-700,700); //x
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// rc_ctrl->ch_y = map(rc_ctrl->ch_y,-900,796,700,-700); //y
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// rc_ctrl->mul = map(rc_ctrl->mul,-632,901,25,0); //m
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// rc_ctrl->ch_w = map(rc_ctrl->ch_w,-820,780,-700,700);
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// rc_ctrl->ch_w = 0.5f*(rc_ctrl->ch_w);
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// rc_ctrl->ch_x = -0.5f*(rc_ctrl->ch_x);
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// rc_ctrl->ch_y = -0.5f*(rc_ctrl->ch_y);
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////
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////̀死区(-5,5)
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// if(rc_ctrl->ch_y>-15&&rc_ctrl->ch_y<15) rc_ctrl->ch_y=0;
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// if(rc_ctrl->ch_x>-15&&rc_ctrl->ch_x<15) rc_ctrl->ch_x=0;
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// if(rc_ctrl->mul>=0&&rc_ctrl->mul<=3) rc_ctrl->mul=0;
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// if(rc_ctrl->ch_w>-15&&rc_ctrl->ch_w<15) rc_ctrl->ch_w=0;
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// return 0;
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//}
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//bool_t R12Buf0_WaitDmaCplt(int32_t timeout) {
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//
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// if(buf0ready == 1)
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// {
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// buf0ready =0;
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// return 1;
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// }
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// else
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// return 0;
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//// return(osThreadFlagsWait(SIGNAL_R12DS_BUF0_REDY, osFlagsWaitAll,timeout) ==
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//// SIGNAL_R12DS_BUF0_REDY);
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//}
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//bool_t R12Buf1_WaitDmaCplt(int32_t timeout) {
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// if(buf1ready == 1)
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// {
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// buf1ready =0;
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// return 1;
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// }
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// else
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// return 0;
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//// return(osThreadFlagsWait(SIGNAL_R12DS_BUF1_REDY, osFlagsWaitAll,timeout) ==
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//// SIGNAL_R12DS_BUF1_REDY);
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//
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//}
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//void R12ds_HandleOffline(void) {
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// CMD_RC_t *rc;
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// rc = R12ds_DataGet();
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// memset(rc, 0, sizeof(*rc));
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// rc->key[3] = 2000;//用作遥控器断电后急停使用
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//}
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