356 lines
12 KiB
C
356 lines
12 KiB
C
#include "remote_control.h"
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#include "main.h"
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extern UART_HandleTypeDef huart3;
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extern DMA_HandleTypeDef hdma_usart3_rx;
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#if FREERTOS == 0
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static void sbus_to_rc(volatile const uint8_t *sbus_buf, RC_ctrl_t *rc_ctrl);
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static int map(int x, int in_min, int in_max, int out_min, int out_max);
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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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//串口dma双缓冲区初始化
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#if FREERTOS == 0
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//串口中断
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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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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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static uint16_t this_time_rx_len = 0;
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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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//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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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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#else
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//如果打开了freertos，则只进行任务通知
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void USART3_IRQHandler(void)
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{
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}
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#endif
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void RC_init(uint8_t *rx1_buf, uint8_t *rx2_buf, uint16_t dma_buf_num);
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void remote_control_init(void)
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{
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// 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
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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 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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}
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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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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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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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#else
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//DMA双缓冲区+串口空闲中断
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static osEventFlagsId_t eventReceive;
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RC_mess_t RC_mess;
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#define hdma_rc hdma_usart3_rx
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#define uart_rc huart3
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#define per_rc USART3
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/* Private function -------------------------------------------------------- */
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static void RC_RxCpltCallback(void) {
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osEventFlagsSet(eventReceive, EVENT_RC);
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if((hdma_rc.Instance->CR & DMA_SxCR_CT) == 0u)//DMA_SxM0AR
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RC_mess.dma_buffer = DMA_SxM0AR;
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else RC_mess.dma_buffer = DMA_SxM1AR;
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}
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static 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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#if DEBUG == 0
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static RC_data_t rc_buff;
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#else
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RC_data_t rc_buff;
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#endif
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//sbus协议解析
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static int8_t sbus_to_rc( uint8_t *sbus_buf, RC_data_t *rc_ctrl)
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{
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if (sbus_buf == NULL || rc_ctrl == NULL)
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return DEVICE_ERR_NULL;
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rc_buff.ch[0] = (sbus_buf[1] | (sbus_buf[2] << 8)) & 0x07ff; //!< Channel 0
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rc_buff.ch[1] = ((sbus_buf[2] >> 3) | (sbus_buf[3] << 5)) & 0x07ff; //!< Channel 1
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rc_buff.ch[2] = ((sbus_buf[3] >> 6) | (sbus_buf[4] << 2) | //!< Channel 2
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(sbus_buf[5] << 10)) &0x07ff;
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rc_buff.ch[3] = ((sbus_buf[5] >> 1) | (sbus_buf[6] << 7)) & 0x07ff; //!< Channel 3
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rc_ctrl->sw[0] = ((int16_t)sbus_buf[6] >> 4 | ((int16_t)sbus_buf[7] << 4 )) & 0x07FF; //!< Switch left
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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; //!< Switch right
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rc_ctrl->sw[2] = ((int16_t)sbus_buf[9] >> 2 | ((int16_t)sbus_buf[10] << 6 )) & 0x07FF;; //!< Mouse X axis
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rc_ctrl->sw[3] = ((int16_t)sbus_buf[10] >> 5 | ((int16_t)sbus_buf[11] << 3 )) & 0x07FF; //!< Mouse Y axis
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rc_ctrl->sw[4] = ((int16_t)sbus_buf[12] << 0 | ((int16_t)sbus_buf[13] << 8 )) & 0x07FF; //!< Mouse Z axis
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rc_ctrl->sw[5] = ((int16_t)sbus_buf[13] >> 3 | ((int16_t)sbus_buf[14] << 5 )) & 0x07FF; //!< Mouse Left Is Press ?
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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; //!< Mouse Right Is Press ?
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rc_ctrl->sw[7] = ((int16_t)sbus_buf[16] >> 1 | ((int16_t)sbus_buf[17] << 7 )) & 0x07FF; //!< KeyBoard value
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rc_buff.ch[0] = map(rc_buff.ch[0],1693,306,-800,800);//x
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rc_buff.ch[1] = map(rc_buff.ch[1],1659,272,-800,800);//y
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rc_buff.ch[2] = map(rc_buff.ch[2],1693,337,0,100);//mul
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rc_buff.ch[3] = map(rc_buff.ch[3],1690,314,-800,800);//w
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if(rc_buff.ch[0]>-30&&rc_buff.ch[0]<30) rc_buff.ch[0]=0;
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if(rc_buff.ch[1]>-30&&rc_buff.ch[1]<30) rc_buff.ch[1]=0;
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if(rc_buff.ch[2]>-30&&rc_buff.ch[2]<30) rc_buff.ch[2]=0;
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if(rc_buff.ch[3]>-30&&rc_buff.ch[3]<30) rc_buff.ch[3]=0;
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rc_ctrl->ch[0] = rc_buff.ch[0];
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rc_ctrl->ch[1] = rc_buff.ch[1];
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rc_ctrl->ch[2] = rc_buff.ch[2];
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rc_ctrl->ch[3] = rc_buff.ch[3];
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return DEVICE_OK;
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}
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static void RC_restart(int8_t *Error_count)
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{
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__HAL_UART_DISABLE(&uart_rc);
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__HAL_DMA_DISABLE(&hdma_rc);
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hdma_rc.Instance->NDTR = 25u;
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__HAL_DMA_ENABLE(&hdma_rc);
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__HAL_UART_ENABLE(&uart_rc);
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*Error_count = 0;
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}
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/* Exported functions ------------------------------------------------------- */
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int8_t RC_init()
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{
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uart_rc.Instance->CR3 |= USART_CR3_DMAR; //接收使能DMA模式
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__HAL_UART_ENABLE_IT(&uart_rc, UART_IT_IDLE); //串口空闲中断使能
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// uart_rc.Instance->CR1 |= USART_CR1_IDLEIE;//中断使能
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// DMA1_Stream1->CR |= (1<<4); //DMA传输完成中断
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while(hdma_rc.Instance->CR & DMA_SxCR_EN)
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{
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__HAL_DMA_DISABLE(&hdma_rc);
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}
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hdma_rc.Instance->PAR = (uint32_t)&(per_rc->DR);
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hdma_rc.Instance->M0AR= (uint32_t)&RC_mess.sbus_rx_buffer[0][0];
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hdma_rc.Instance->M1AR= (uint32_t)&RC_mess.sbus_rx_buffer[1][0];
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hdma_rc.Instance->NDTR= 25u;
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hdma_rc.Instance->CR |= DMA_SxCR_DBM;//使用双缓冲区
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hdma_rc.Instance->CR &= ~DMA_SxCR_CT;//使用DMA_SxMOAR指针寻址
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__HAL_DMA_ENABLE(&hdma_rc);
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BSP_UART_RegisterCallback(BSP_UART_DR16, BSP_UART_IDLE_LINE_CB,
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RC_RxCpltCallback);
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return DEVICE_OK;
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}
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uint32_t RC_WaitNew() {
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return osEventFlagsWait(
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eventReceive, EVENT_RC,osFlagsWaitAny, osWaitForever);
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}
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int8_t RC_rx_analysis(){
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switch(RC_mess.dma_buffer)
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{
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case DMA_SxM0AR:
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if(RC_mess.sbus_rx_buffer[0][0] == 0x0F){
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sbus_to_rc(RC_mess.sbus_rx_buffer[1], &RC_mess.RC_data);
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RC_mess.Error_flag = DATA_OK;
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}else{
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RC_mess.Error_flag = DATA_ERROR;
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}
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break;
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case DMA_SxM1AR:
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if(RC_mess.sbus_rx_buffer[1][0] == 0x0F){
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sbus_to_rc(RC_mess.sbus_rx_buffer[0], &RC_mess.RC_data);
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RC_mess.Error_flag = DATA_OK;
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}else{
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RC_mess.Error_flag = DATA_ERROR;
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}
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break;
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}
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//累计三次数据错误，重启
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RC_mess.Error_flag == DATA_OK ? RC_mess.Error_count-- : RC_mess.Error_count++;
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if(RC_mess.Error_count>3) RC_restart(&RC_mess.Error_count);
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if(RC_mess.Error_count<0) RC_mess.Error_count=0;
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RC_mess.Error_flag = 0;
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return DEVICE_OK;
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}
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RC_data_t* get_rc_data()
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{
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return &RC_mess.RC_data;
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}
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#endif
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