329 lines
10 KiB
C
329 lines
10 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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#include "calc_lib.h"
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extern UART_HandleTypeDef huart3;
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extern DMA_HandleTypeDef hdma_usart3_rx;
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#if DT7==1
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uint8_t dbus_buf[DBUS_BUFLEN];
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RC_ctrl_t rc_ctrl = rc_Init;//所有数据初始化
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// 使用 DMA 接收 UART 数据的函数
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static int uart_receive_dma_no_it(UART_HandleTypeDef* huart, uint8_t* pData, uint32_t Size) {
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uint32_t tmp1 = huart->RxState;
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if (tmp1 == HAL_UART_STATE_READY) {
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if ((pData == NULL) || (Size == 0)) {
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return HAL_ERROR;
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}
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huart->pRxBuffPtr = pData;
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huart->RxXferSize = Size;
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huart->ErrorCode = HAL_UART_ERROR_NONE;
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HAL_DMA_Start(huart->hdmarx, (uint32_t)&huart->Instance->DR, (uint32_t)pData, Size);
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SET_BIT(huart->Instance->CR3, USART_CR3_DMAR);
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return HAL_OK;
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}
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return HAL_BUSY;
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}
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// DBUS 串口初始化
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void dbus_uart_init(void) {
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__HAL_UART_CLEAR_IDLEFLAG(&DBUS_HUART);
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__HAL_UART_ENABLE_IT(&DBUS_HUART, UART_IT_IDLE);
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uart_receive_dma_no_it(&DBUS_HUART, dbus_buf, DBUS_MAX_LEN);
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}
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// 串口中断处理函数
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void USART3_IRQHandler(void)
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{
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uart_receive_handler(&huart3);//调用之前定义的函数，传入DBUS串口的地址，以处理接收事件
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}
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// 遥控器数据解码函数
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void rc_callback_handler(RC_ctrl_t *rc_ctrl, uint8_t *buff) {
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rc_ctrl->ch0 = (buff[0] | (buff[1] << 8)) & 0x07FF;
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rc_ctrl->ch0 -= 1024;
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rc_ctrl->ch1 = (buff[1] >> 3 | buff[2] << 5) & 0x07FF;
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rc_ctrl->ch1 -= 1024;
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rc_ctrl->ch2 = (buff[2] >> 6 | buff[3] << 2 | buff[4] << 10) & 0x07FF;
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rc_ctrl->ch2 -= 1024;
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rc_ctrl->ch3 = (buff[4] >> 1 | buff[5] << 7) & 0x07FF;
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rc_ctrl->ch3 -= 1024;
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rc_ctrl->roll = (buff[16] | (buff[17] << 8)) & 0x07FF;
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rc_ctrl->roll -= 1024;
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rc_ctrl->sw1 = ((buff[5] >> 4) & 0x000C) >> 2;
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rc_ctrl->sw2 = (buff[5] >> 4) & 0x0003;
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// if ((abs(rc_ctrl->ch0) > 660) || (abs(rc_ctrl->ch1) > 660) || (abs(rc_ctrl->ch2) > 660) || (abs(rc_ctrl->ch3) > 660))
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// {
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// memset(rc_ctrl, 0, sizeof(RC_ctrl_t));
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// }
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}
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// 计算 DMA 剩余的数据长度
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uint16_t dma_current_data_counter(DMA_Stream_TypeDef *dma_stream) {
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return ((uint16_t)(dma_stream->NDTR));
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}
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// 处理 UART 空闲中断，处理接收到的数据
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static void uart_rx_idle_callback(UART_HandleTypeDef* huart) {
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__HAL_UART_CLEAR_IDLEFLAG(huart);
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if (huart == &DBUS_HUART) {
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__HAL_DMA_DISABLE(huart->hdmarx);
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if ((DBUS_MAX_LEN - dma_current_data_counter(huart->hdmarx->Instance)) == DBUS_BUFLEN) {
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rc_callback_handler(&rc_ctrl, dbus_buf);
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}
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__HAL_DMA_SET_COUNTER(huart->hdmarx, DBUS_MAX_LEN);
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__HAL_DMA_ENABLE(huart->hdmarx);
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}
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}
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// 检查 UART 接收状态，处理空闲状态
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void uart_receive_handler(UART_HandleTypeDef *huart) {
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if (__HAL_UART_GET_FLAG(huart, UART_FLAG_IDLE) &&
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__HAL_UART_GET_IT_SOURCE(huart, UART_IT_IDLE)) {
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uart_rx_idle_callback(huart);
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}
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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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s1 s2
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1/3/2 1/3/2
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660 660
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-660 -- --ch[2]660 -660 -- --ch[0]660
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ch[3] ch[1]
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-660 -660
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*/
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#else
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static void sbus_to_rc(volatile const uint8_t *sbus_buf, RC_ctrl_t *rc_ctrl);
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void RC_init(uint8_t *rx1_buf, uint8_t *rx2_buf, uint16_t dma_buf_num);
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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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//串口dma双缓冲区初始化
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//串口中断
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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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static uint16_t this_time_rx_len = 0;
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////////////////////////////////////////
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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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//如果是接收中断则通过读取dr寄存器清零
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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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//使用清除pe标志位的函数是因为pe idle等几个中断都是靠先读取sr再读取dr清零的
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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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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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void RC_init(uint8_t *rx1_buf, uint8_t *rx2_buf, uint16_t dma_buf_num)
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{
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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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//enable idle interrupt
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__HAL_UART_ENABLE_IT(&huart3, UART_IT_IDLE);
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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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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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hdma_usart3_rx.Instance->PAR = (uint32_t) & (USART3->DR);
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//memory buffer 1
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hdma_usart3_rx.Instance->M0AR = (uint32_t)(rx1_buf);
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//momory buffer 2
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hdma_usart3_rx.Instance->M1AR = (uint32_t)(rx2_buf);
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//data length
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hdma_usart3_rx.Instance->NDTR = dma_buf_num;
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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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//enable dma
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__HAL_DMA_ENABLE(&hdma_usart3_rx);
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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[0] = (sbus_buf[1] | (sbus_buf[2] << 8)) & 0x07ff; //Channel 1
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rc_ctrl->ch[1] = ((sbus_buf[2] >> 3) | (sbus_buf[3] << 5)) & 0x07ff; //Channel 2
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rc_ctrl->ch[2] = ((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->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],-693,694,-700,700); //x
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rc_ctrl->ch[0] = map(rc_ctrl->ch[0],-694,693,-700,700); //y
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//死区(-30,30)
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if(rc_ctrl->ch[0]>-14&&rc_ctrl->ch[0]<6) rc_ctrl->ch[0]=0;
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if(rc_ctrl->ch[1]>-30&&rc_ctrl->ch[1]<-10) rc_ctrl->ch[1]=0;
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if(rc_ctrl->ch[2]>=0&&rc_ctrl->ch[2]<=7) rc_ctrl->ch[2]=7;
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if(rc_ctrl->ch[3]>-22&&rc_ctrl->ch[3]<-2) rc_ctrl->ch[3]=0;
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remote_ready = 1;
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}
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#endif
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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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