71 lines
1.6 KiB
C
71 lines
1.6 KiB
C
#ifndef REMOTE_CONTROL_h
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#define REMOTE_CONTROL_h
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/*
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***********使用这个代码需要将MRobot生成的DR16代码注释掉，因为DR16结构体是同一个*************
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***********但是你的Dr16串口是从MR直接加过来的**************
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*/
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/* Includes ----------------------------------------------------------------- */
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#include <cmsis_os2.h>
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#include "module/cmd.h"
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#include "component/user_math.h"
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#include "device/device.h"
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/* Exported constants ------------------------------------------------------- */
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/* Exported macro ----------------------------------------------------------- */
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/* Exported types ----------------------------------------------------------- */
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//大疆
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typedef struct __packed {
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uint16_t ch_r_x : 11;
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uint16_t ch_r_y : 11;
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uint16_t ch_l_x : 11;
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uint16_t ch_l_y : 11;
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uint8_t sw_r : 2;
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uint8_t sw_l : 2;
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int16_t x;
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int16_t y;
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int16_t z;
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uint8_t press_l;
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uint8_t press_r;
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uint16_t key;
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uint16_t res;
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} DR16_Data_t;
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typedef struct {
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DR16_Data_t data;
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} DR16_t;
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//乐迪
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typedef struct
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{
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float ch[4];
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int16_t sw[8];
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} LD_raw_t;
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typedef struct
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{
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float ch[4];
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int16_t sw[8];
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} ET16s_raw_t;
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/* Exported functions prototypes -------------------------------------------- */
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int8_t REMOTE_Restart(void);
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int8_t REMOTE_Init(void);
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int8_t REMOTE_StartDmaRecv(void);
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bool REMOTE_WaitDmaCplt(uint32_t timeout);
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int8_t REMOTE_ParseRC(DR16_t *dr16, CMD_RC_t *rc,ET16s_raw_t *ET16s,LD_raw_t *LD);
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int8_t DR16_HandleOffline(const DR16_t *dr16, CMD_RC_t *rc);
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int8_t LD_HandleOffline(const LD_raw_t *LD, CMD_RC_t *rc);
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int8_t ET16s_HandleOffline(const ET16s_raw_t *ET16s, CMD_RC_t *rc);
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#endif
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