#include "remote_control.h"
#include "main.h"
extern UART_HandleTypeDef huart3;
extern DMA_HandleTypeDef hdma_usart3_rx;
#if FREERTOS == 0
static void sbus_to_rc(volatile const uint8_t *sbus_buf, RC_ctrl_t *rc_ctrl);
static int map(int x, int in_min, int in_max, int out_min, int out_max);
RC_ctrl_t rc_ctrl;
static uint8_t sbus_rx_buf[2][RC_FRAME_LENGTH];
//串口dma双缓冲区初始化
#if FREERTOS == 0
//串口中断
void USART3_IRQHandler(void)
{
//have received data
if(huart3.Instance->SR & UART_FLAG_RXNE)
{
//如果是接收中断则通过读取dr寄存器清零
__HAL_UART_CLEAR_FEFLAG(&huart3);
}
if(USART3->SR & UART_FLAG_IDLE)
{
//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
static uint16_t this_time_rx_len = 0;
__HAL_UART_CLEAR_PEFLAG(&huart3);
if( (hdma_usart3_rx.Instance->CR & DMA_SxCR_CT) == RESET)
{
//current memory buffer used is memory0
//disable dma to change dma register
__HAL_DMA_DISABLE(&hdma_usart3_rx);
//get received data length, length = set_data_length - remain_length
this_time_rx_len = SBUS_RX_BUF_NUM - hdma_usart3_rx.Instance->NDTR;
//reset set_data_length
hdma_usart3_rx.Instance->NDTR = SBUS_RX_BUF_NUM;
//change memory0 to memory1
hdma_usart3_rx.Instance->CR |= DMA_SxCR_CT;
//enable dma
__HAL_DMA_ENABLE(&hdma_usart3_rx);
//1 frame length is correct data
if(this_time_rx_len == RC_FRAME_LENGTH)
{
sbus_to_rc(sbus_rx_buf[0], &rc_ctrl);
}
}
else
{
__HAL_DMA_DISABLE(&hdma_usart3_rx);
this_time_rx_len = SBUS_RX_BUF_NUM - hdma_usart3_rx.Instance->NDTR;
hdma_usart3_rx.Instance->NDTR = SBUS_RX_BUF_NUM;
//change memory1 to memory0
DMA1_Stream1->CR &= ~(DMA_SxCR_CT);
__HAL_DMA_ENABLE(&hdma_usart3_rx);
if(this_time_rx_len == RC_FRAME_LENGTH)
{
sbus_to_rc(sbus_rx_buf[1], &rc_ctrl);
}
}
}
}
#else
//如果打开了freertos，则只进行任务通知
void USART3_IRQHandler(void)
{
}
#endif
void RC_init(uint8_t *rx1_buf, uint8_t *rx2_buf, uint16_t dma_buf_num);
void remote_control_init(void)
{
// BSP_UART_RegisterCallback(BSP_UART_DR16,BSP_UART_IDLE_LINE_CB,DR16_IDLE_CB);//还没有移入嘉宁的架构，待测试
RC_init(sbus_rx_buf[0], sbus_rx_buf[1], RC_FRAME_LENGTH);
}
static void sbus_to_rc(volatile const uint8_t *sbus_buf, RC_ctrl_t *rc_ctrl)
{
if (sbus_buf == NULL || rc_ctrl == NULL)
{
return;
}
rc_ctrl->ch[0] = (sbus_buf[1] | (sbus_buf[2] << 8)) & 0x07ff; //Channel 1
rc_ctrl->ch[1] = ((sbus_buf[2] >> 3) | (sbus_buf[3] << 5)) & 0x07ff; //Channel 2
rc_ctrl->ch[2] = ((sbus_buf[3] >> 6) | (sbus_buf[4] << 2) | //Channel 3
(sbus_buf[5] << 10)) &0x07ff;
rc_ctrl->ch[3] = ((sbus_buf[5] >> 1) | (sbus_buf[6] << 7)) & 0x07ff; //Channel 4
rc_ctrl->sw[0] = ((int16_t)sbus_buf[6] >> 4 | ((int16_t)sbus_buf[7] << 4 )) & 0x07FF; //Channel 5
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
rc_ctrl->sw[2] = ((int16_t)sbus_buf[9] >> 2 | ((int16_t)sbus_buf[10] << 6 )) & 0x07FF;; //Channel 7
rc_ctrl->sw[3] = ((int16_t)sbus_buf[10] >> 5 | ((int16_t)sbus_buf[11] << 3 )) & 0x07FF; //Channel 8
rc_ctrl->sw[4] = ((int16_t)sbus_buf[12] << 0 | ((int16_t)sbus_buf[13] << 8 )) & 0x07FF; //Channel 9
rc_ctrl->sw[5] = ((int16_t)sbus_buf[13] >> 3 | ((int16_t)sbus_buf[14] << 5 )) & 0x07FF; //Channel 10
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
rc_ctrl->sw[7] = ((int16_t)sbus_buf[16] >> 1 | ((int16_t)sbus_buf[17] << 7 )) & 0x07FF; //Channel 12
rc_ctrl->sw[2] = map(rc_ctrl->sw[2],306,1694,1694,306);
rc_ctrl->sw[3] = map(rc_ctrl->sw[3],306,1694,1694,306);
rc_ctrl->ch[1] = map(rc_ctrl->ch[1],-693,694,-700,700); //x
rc_ctrl->ch[0] = map(rc_ctrl->ch[0],-694,693,-700,700); //y
//死区(-30,30)
if(rc_ctrl->ch[0]>-14&&rc_ctrl->ch[0]<6) rc_ctrl->ch[0]=0;
if(rc_ctrl->ch[1]>-30&&rc_ctrl->ch[1]<-10) rc_ctrl->ch[1]=0;
if(rc_ctrl->ch[2]>=0&&rc_ctrl->ch[2]<=7) rc_ctrl->ch[2]=7;
if(rc_ctrl->ch[3]>-22&&rc_ctrl->ch[3]<-2) rc_ctrl->ch[3]=0;
}
int map(int x, int in_min, int in_max, int out_min, int out_max) //映射函数
{
return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
}
/*
306 306
sw[] sw[7]
1694 1694
306 306
sw[6] sw[4]
1694 1694
306 306 306 306
sw[0] sw[2] sw[1]:306-1694 sw[5]:306-1694 sw[]1000 sw[3]
1694 1694 1694 1694
710
688 1425
| |
| |
54 -616------ch[3]770 -354---------ch[0] 339 0
| |
| |
ch[2] ch[1]
_699 38
*/
void RC_init(uint8_t *rx1_buf, uint8_t *rx2_buf, uint16_t dma_buf_num)
{
//enable the dma transfer for the receiver request
SET_BIT(huart3.Instance->CR3, USART_CR3_DMAR);
//enable idle interrupt
__HAL_UART_ENABLE_IT(&huart3, UART_IT_IDLE);
//disable dma, to change the dma register
__HAL_DMA_DISABLE(&hdma_usart3_rx);
while(hdma_usart3_rx.Instance->CR & DMA_SxCR_EN)
{
__HAL_DMA_DISABLE(&hdma_usart3_rx);
}
hdma_usart3_rx.Instance->PAR = (uint32_t) & (USART3->DR);
//memory buffer 1
hdma_usart3_rx.Instance->M0AR = (uint32_t)(rx1_buf);
//momory buffer 2
hdma_usart3_rx.Instance->M1AR = (uint32_t)(rx2_buf);
//data length
hdma_usart3_rx.Instance->NDTR = dma_buf_num;
//enable double memory buffer
SET_BIT(hdma_usart3_rx.Instance->CR, DMA_SxCR_DBM);
//enable dma
__HAL_DMA_ENABLE(&hdma_usart3_rx);
}
#else
//DMA双缓冲区+串口空闲中断
static osEventFlagsId_t eventReceive;
RC_mess_t RC_mess;
#define hdma_rc hdma_usart3_rx
#define uart_rc huart3
#define per_rc USART3
/* Private function -------------------------------------------------------- */
static void RC_RxCpltCallback(void) {
osEventFlagsSet(eventReceive, EVENT_RC);
if((hdma_rc.Instance->CR & DMA_SxCR_CT) == 0u)//DMA_SxM0AR
RC_mess.dma_buffer = DMA_SxM0AR;
else RC_mess.dma_buffer = DMA_SxM1AR;
}
static int map(int x, int in_min, int in_max, int out_min, int out_max) //映射函数
{
return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
}
#if DEBUG == 0
static RC_data_t rc_buff;
#else
RC_data_t rc_buff;
#endif
//sbus协议解析
static int8_t sbus_to_rc( uint8_t *sbus_buf, RC_data_t *rc_ctrl)
{
if (sbus_buf == NULL || rc_ctrl == NULL)
return DEVICE_ERR_NULL;
rc_buff.ch[0] = (sbus_buf[1] | (sbus_buf[2] << 8)) & 0x07ff; //!< Channel 0
rc_buff.ch[1] = ((sbus_buf[2] >> 3) | (sbus_buf[3] << 5)) & 0x07ff; //!< Channel 1
rc_buff.ch[2] = ((sbus_buf[3] >> 6) | (sbus_buf[4] << 2) | //!< Channel 2
(sbus_buf[5] << 10)) &0x07ff;
rc_buff.ch[3] = ((sbus_buf[5] >> 1) | (sbus_buf[6] << 7)) & 0x07ff; //!< Channel 3
rc_ctrl->sw[0] = ((int16_t)sbus_buf[6] >> 4 | ((int16_t)sbus_buf[7] << 4 )) & 0x07FF; //!< Switch left
rc_ctrl->sw[1] = ((int16_t)sbus_buf[7] >> 7 | ((int16_t)sbus_buf[8] << 1 ) | (int16_t)sbus_buf[9] << 9 ) & 0x07FF; //!< Switch right
rc_ctrl->sw[2] = ((int16_t)sbus_buf[9] >> 2 | ((int16_t)sbus_buf[10] << 6 )) & 0x07FF;; //!< Mouse X axis
rc_ctrl->sw[3] = ((int16_t)sbus_buf[10] >> 5 | ((int16_t)sbus_buf[11] << 3 )) & 0x07FF; //!< Mouse Y axis
rc_ctrl->sw[4] = ((int16_t)sbus_buf[12] << 0 | ((int16_t)sbus_buf[13] << 8 )) & 0x07FF; //!< Mouse Z axis
rc_ctrl->sw[5] = ((int16_t)sbus_buf[13] >> 3 | ((int16_t)sbus_buf[14] << 5 )) & 0x07FF; //!< Mouse Left Is Press ?
rc_ctrl->sw[6] = ((int16_t)sbus_buf[14] >> 6 | ((int16_t)sbus_buf[15] << 2 ) | (int16_t)sbus_buf[16] << 10 ) & 0x07FF; //!< Mouse Right Is Press ?
rc_ctrl->sw[7] = ((int16_t)sbus_buf[16] >> 1 | ((int16_t)sbus_buf[17] << 7 )) & 0x07FF; //!< KeyBoard value
rc_buff.ch[0] = map(rc_buff.ch[0],1693,306,-800,800);//x
rc_buff.ch[1] = map(rc_buff.ch[1],1659,272,-800,800);//y
rc_buff.ch[2] = map(rc_buff.ch[2],1693,337,0,100);//mul
rc_buff.ch[3] = map(rc_buff.ch[3],1690,314,-800,800);//w
if(rc_buff.ch[0]>-30&&rc_buff.ch[0]<30) rc_buff.ch[0]=0;
if(rc_buff.ch[1]>-30&&rc_buff.ch[1]<30) rc_buff.ch[1]=0;
if(rc_buff.ch[2]>-30&&rc_buff.ch[2]<30) rc_buff.ch[2]=0;
if(rc_buff.ch[3]>-30&&rc_buff.ch[3]<30) rc_buff.ch[3]=0;
rc_ctrl->ch[0] = rc_buff.ch[0];
rc_ctrl->ch[1] = rc_buff.ch[1];
rc_ctrl->ch[2] = rc_buff.ch[2];
rc_ctrl->ch[3] = rc_buff.ch[3];
return DEVICE_OK;
}
static void RC_restart(int8_t *Error_count)
{
__HAL_UART_DISABLE(&uart_rc);
__HAL_DMA_DISABLE(&hdma_rc);
hdma_rc.Instance->NDTR = 25u;
__HAL_DMA_ENABLE(&hdma_rc);
__HAL_UART_ENABLE(&uart_rc);
*Error_count = 0;
}
/* Exported functions ------------------------------------------------------- */
int8_t RC_init()
{
uart_rc.Instance->CR3 |= USART_CR3_DMAR; //接收使能DMA模式
__HAL_UART_ENABLE_IT(&uart_rc, UART_IT_IDLE); //串口空闲中断使能
// uart_rc.Instance->CR1 |= USART_CR1_IDLEIE;//中断使能
// DMA1_Stream1->CR |= (1<<4); //DMA传输完成中断
while(hdma_rc.Instance->CR & DMA_SxCR_EN)
{
__HAL_DMA_DISABLE(&hdma_rc);
}
hdma_rc.Instance->PAR = (uint32_t)&(per_rc->DR);
hdma_rc.Instance->M0AR= (uint32_t)&RC_mess.sbus_rx_buffer[0][0];
hdma_rc.Instance->M1AR= (uint32_t)&RC_mess.sbus_rx_buffer[1][0];
hdma_rc.Instance->NDTR= 25u;
hdma_rc.Instance->CR |= DMA_SxCR_DBM;//使用双缓冲区
hdma_rc.Instance->CR &= ~DMA_SxCR_CT;//使用DMA_SxMOAR指针寻址
__HAL_DMA_ENABLE(&hdma_rc);
BSP_UART_RegisterCallback(BSP_UART_DR16, BSP_UART_IDLE_LINE_CB,
RC_RxCpltCallback);
return DEVICE_OK;
}
uint32_t RC_WaitNew() {
return osEventFlagsWait(
eventReceive, EVENT_RC,osFlagsWaitAny, osWaitForever);
}
int8_t RC_rx_analysis(){
switch(RC_mess.dma_buffer)
{
case DMA_SxM0AR:
if(RC_mess.sbus_rx_buffer[0][0] == 0x0F){
sbus_to_rc(RC_mess.sbus_rx_buffer[1], &RC_mess.RC_data);
RC_mess.Error_flag = DATA_OK;
}else{
RC_mess.Error_flag = DATA_ERROR;
}
break;
case DMA_SxM1AR:
if(RC_mess.sbus_rx_buffer[1][0] == 0x0F){
sbus_to_rc(RC_mess.sbus_rx_buffer[0], &RC_mess.RC_data);
RC_mess.Error_flag = DATA_OK;
}else{
RC_mess.Error_flag = DATA_ERROR;
}
break;
}
//累计三次数据错误，重启
RC_mess.Error_flag == DATA_OK ? RC_mess.Error_count-- : RC_mess.Error_count++;
if(RC_mess.Error_count>3) RC_restart(&RC_mess.Error_count);
if(RC_mess.Error_count<0) RC_mess.Error_count=0;
RC_mess.Error_flag = 0;
return DEVICE_OK;
}
RC_data_t* get_rc_data()
{
return &RC_mess.RC_data;
}
#endif