82 lines
2.1 KiB
C
82 lines
2.1 KiB
C
/**
|
||
****************************(C) COPYRIGHT 2016 DJI****************************
|
||
* @file remote_control.c/h
|
||
* @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
|
||
* 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
|
||
* 的方式保证热插拔的稳定性。
|
||
* @note
|
||
* @history
|
||
* Version Date Author Modification
|
||
* V1.0.0 Dec-26-2018 RM 1. 完成
|
||
*
|
||
@verbatim
|
||
==============================================================================
|
||
|
||
==============================================================================
|
||
@endverbatim
|
||
****************************(C) COPYRIGHT 2016 DJI****************************
|
||
*/
|
||
#ifndef REMOTE_CONTROL_H
|
||
#define REMOTE_CONTROL_H
|
||
#ifdef __cplusplus
|
||
extern "C"{
|
||
#endif
|
||
|
||
#include "struct_typedef.h"
|
||
#include "usart.h"
|
||
#include <string.h>
|
||
#include <stdlib.h>
|
||
|
||
#define DT7 0
|
||
|
||
#if DT7==1
|
||
|
||
#define DBUS_MAX_LEN (50)//通过 UART 串口接收的最大数据长度
|
||
#define DBUS_BUFLEN (18)//每个数据帧的长度，即每次从遥控器接收的数据的长度
|
||
#define DBUS_HUART huart3
|
||
|
||
typedef __packed struct
|
||
{
|
||
int16_t ch0;
|
||
int16_t ch1;
|
||
int16_t ch2;
|
||
int16_t ch3;
|
||
int16_t roll;
|
||
uint8_t sw1;
|
||
uint8_t sw2;
|
||
} RC_ctrl_t;
|
||
|
||
#define rc_Init {0, 0, 0, 0, 0, 0, 0} // 初始化为 0
|
||
|
||
// 外部变量声明
|
||
extern uint8_t dbus_buf[DBUS_BUFLEN];
|
||
extern RC_ctrl_t rc;
|
||
|
||
extern void dbus_uart_init(void);
|
||
void rc_callback_handler(RC_ctrl_t *rc, uint8_t *buff);
|
||
void uart_receive_handler(UART_HandleTypeDef *huart);
|
||
static int uart_receive_dma_no_it(UART_HandleTypeDef *huart, uint8_t *pData, uint32_t Size);
|
||
|
||
|
||
#else
|
||
|
||
#define SBUS_RX_BUF_NUM 50u
|
||
#define RC_FRAME_LENGTH 25u
|
||
|
||
typedef struct
|
||
{
|
||
int16_t ch[4];
|
||
int16_t sw[8];
|
||
|
||
}__attribute__((packed)) RC_ctrl_t;
|
||
|
||
extern void remote_control_init(void);
|
||
static void sbus_to_rc(volatile const uint8_t *sbus_buf, RC_ctrl_t *rc_ctrl);
|
||
|
||
#endif
|
||
|
||
#ifdef __cplusplus
|
||
}
|
||
#endif
|
||
#endif
|