257 lines
8.3 KiB
C
257 lines
8.3 KiB
C
/* Includes ----------------------------------------------------------------- */
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#include "remote_control.h"
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#include <string.h>
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#include "bsp_usart.h"
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#include "error_detect.h"
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//两个遥控器都是
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// x
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// |
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// |
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// ———y
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//在这下面更换遥控器
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#define DR16
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//#define R12DS
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#ifdef DR16
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#define FRAME_LEN 36
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#endif
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#ifdef R12DS
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#define FRAME_LEN 25
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#endif
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/* Private define ----------------------------------------------------------- */
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#define REMOTE_CH_VALUE_MIN (364u)
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#define REMOTE_CH_VALUE_MID (1024u)
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#define REMOTE_CH_VALUE_MAX (1684u)
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/* Private macro ------------------------------------------------------------ */
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/* Private typedef ---------------------------------------------------------- */
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/* Private variables -------------------------------------------------------- */
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static osThreadId_t thread_alert;
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uint8_t cbuf[FRAME_LEN]; //此处设置为两帧字节的长度 若为一帧会出现乱码的情况
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/* Private function -------------------------------------------------------- */
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int8_t REMOTE_Restart(void) {
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__HAL_UART_DISABLE(BSP_UART_GetHandle(BSP_UART_REMOTE));
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__HAL_UART_ENABLE(BSP_UART_GetHandle(BSP_UART_REMOTE));
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return DEVICE_OK;
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}
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static void REMOTE_RxCpltCallback(void) {
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osThreadFlagsSet(thread_alert, SIGNAL_DR16_RAW_REDY);
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//detect_hook(DR16_TOE);
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}
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//遥控器初始化
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int8_t REMOTE_Init(void) {
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if ((thread_alert = osThreadGetId()) == NULL) return DEVICE_ERR_NULL;
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BSP_UART_RegisterCallback(BSP_UART_REMOTE, BSP_UART_IDLE_LINE_CB,
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REMOTE_RxCpltCallback);
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memset(cbuf, 0, sizeof(cbuf));//初始化清空数据包
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return DEVICE_OK;
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}
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int8_t REMOTE_StartDmaRecv(void) {
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if (HAL_UARTEx_ReceiveToIdle_DMA(BSP_UART_GetHandle(BSP_UART_REMOTE),
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(uint8_t *)cbuf,
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sizeof(cbuf)) == HAL_OK)
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return DEVICE_OK;
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return DEVICE_ERR;
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}
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bool REMOTE_WaitDmaCplt(uint32_t timeout) {
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return (osThreadFlagsWait(SIGNAL_DR16_RAW_REDY, osFlagsWaitAll, timeout) ==
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SIGNAL_DR16_RAW_REDY);
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}
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/*大疆数据解析 */
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static bool DR16_DataCorrupted(const DR16_t *dr16) {
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if (dr16 == NULL) return DEVICE_ERR_NULL;
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if ((dr16->data.ch_r_x < REMOTE_CH_VALUE_MIN) ||
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(dr16->data.ch_r_x > REMOTE_CH_VALUE_MAX))
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return true;
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if ((dr16->data.ch_r_y < REMOTE_CH_VALUE_MIN) ||
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(dr16->data.ch_r_y > REMOTE_CH_VALUE_MAX))
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return true;
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if ((dr16->data.ch_l_x < REMOTE_CH_VALUE_MIN) ||
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(dr16->data.ch_l_x > REMOTE_CH_VALUE_MAX))
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return true;
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if ((dr16->data.ch_l_y < REMOTE_CH_VALUE_MIN) ||
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(dr16->data.ch_l_y > REMOTE_CH_VALUE_MAX))
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return true;
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if (dr16->data.sw_l == 0) return true;
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if (dr16->data.sw_r == 0) return true;
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return false;
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}
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int8_t DR16_ParseRaw(DR16_t *dr16){
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if(dr16 ==NULL) return DEVICE_ERR_NULL;
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dr16->data.ch_r_x = (cbuf[0] | (cbuf[1] <<8));
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dr16->data.ch_r_y = ((cbuf[1] >> 3)| (cbuf[2] << 5));
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dr16->data.ch_l_x = ((cbuf[2] >>6) | (cbuf[3] << 2) | (cbuf[4] <<10));
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dr16->data.ch_l_y = ((cbuf[4] >>1) | (cbuf[5] <<7));
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dr16->data.sw_r = ((cbuf[5] >>4));
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dr16->data.sw_l = ((cbuf[5] >> 4) & 0x000C) >> 2;
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return 1;
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}
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/*乐迪数据解析 */
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/*乐迪用的按键封装 */
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CMD_SwitchPos_t Keymap(int16_t value) {
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return (value > 300 && value < 500) ? CMD_SW_DOWN :
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(value >= 500 && value < 1500) ? CMD_SW_MID :
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(value >= 1500 && value < 1700) ? CMD_SW_UP : CMD_SW_ERR;
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}
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int8_t LD_ParseRaw( LD_raw_t *raw){
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raw->ch[0] = (cbuf[1] | (cbuf[2] << 8)) & 0x07ff; //Channel 1
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raw->ch[1] = ((cbuf[2] >> 3) | (cbuf[3] << 5)) & 0x07ff; //Channel 2
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raw->ch[2] = ((cbuf[3] >> 6) | (cbuf[4] << 2) | (cbuf[5] << 10)) &0x07ff; //Channel 3
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raw->ch[3] = ((cbuf[5] >> 1) | (cbuf[6] << 7)) & 0x07ff; //Channel 4
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raw->sw[0] = ((int16_t)cbuf[6] >> 4 | ((int16_t)cbuf[7] << 4 )) & 0x07FF;//Channel 5
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raw->sw[1] = ((int16_t)cbuf[7] >> 7 | ((int16_t)cbuf[8] << 1 ) | (int16_t)cbuf[9] << 9 ) & 0x07FF;//Channel 6
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raw->sw[2] = ((int16_t)cbuf[9] >> 2 | ((int16_t)cbuf[10] << 6 )) & 0x07FF;;//Channel 7
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raw->sw[3] = ((int16_t)cbuf[10] >> 5 | ((int16_t)cbuf[11] << 3 )) & 0x07FF;//Channel 8
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raw->sw[4] = ((int16_t)cbuf[12] << 0 | ((int16_t)cbuf[13] << 8 )) & 0x07FF;//Channel 9
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raw->sw[5] = ((int16_t)cbuf[13] >> 3 | ((int16_t)cbuf[14] << 5 )) & 0x07FF;//Channel 10
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raw->sw[6] = ((int16_t)cbuf[14] >> 6 | ((int16_t)cbuf[15] << 2 ) | (int16_t)cbuf[16] << 10 ) & 0x07FF;//Channel 11
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raw->sw[7] = ((int16_t)cbuf[16] >> 1 | ((int16_t)cbuf[17] << 7 )) & 0x07FF;//Channel 12
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raw->ch[0] -= REMOTE_CH_VALUE_MID;
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raw->ch[1] -= REMOTE_CH_VALUE_MID;
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raw->ch[2] -= REMOTE_CH_VALUE_MID;
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raw->ch[3] -= REMOTE_CH_VALUE_MID;
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raw->ch[0] = +raw->ch[0];
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raw->ch[1] = -raw->ch[1];
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raw->ch[2] = -raw->ch[2];
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raw->ch[3] = +raw->ch[3];
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//中心平移
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raw->ch[0] += 24.5; //(-693.5,693.5)
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raw->ch[1] -= 24.5; //(-693.5,693.5)
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raw->ch[2] -= 125; //(-693,693)
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raw->ch[3] += 24.5; //(-693.5,693.5)
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return 1;
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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] sw[5] sw[]1000 nsw[3]
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1694 1694 306-1694 306-1694 1694 1694
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818 718
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-718----------ch[3]669 -718---------ch[0] 669
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ch[2] ch[1]
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-568 -669
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*/
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}
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int8_t REMOTE_ParseRC(DR16_t *dr16, CMD_RC_t *rc,LD_raw_t *LD) {
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if (dr16 == NULL) return DEVICE_ERR_NULL;
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if (LD == NULL) return DEVICE_ERR_NULL;
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#ifdef DR16
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rc->rc_type=RC_DR16;
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DR16_ParseRaw(dr16);
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if (DR16_DataCorrupted(dr16)) {
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return DEVICE_ERR;
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} else {
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memset(rc, 0, sizeof(*rc));
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}
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float full_range = (float)(REMOTE_CH_VALUE_MAX - REMOTE_CH_VALUE_MIN);
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rc->DJ.ch_r_x = 2 * ((float)dr16->data.ch_r_y - REMOTE_CH_VALUE_MID) / full_range;
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rc->DJ.ch_r_y = 2 * ((float)dr16->data.ch_r_x - REMOTE_CH_VALUE_MID) / full_range;
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rc->DJ.ch_l_x = 2 * ((float)dr16->data.ch_l_y - REMOTE_CH_VALUE_MID) / full_range;
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rc->DJ.ch_l_y = 2 * ((float)dr16->data.ch_l_x - REMOTE_CH_VALUE_MID) / full_range;
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rc->DJ.sw_l = (CMD_SwitchPos_t)dr16->data.sw_l;
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rc->DJ.sw_r = (CMD_SwitchPos_t)dr16->data.sw_r;
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// rc->dr16.key = dr16->data.key;
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// rc->ch_res = ((float)dr16->data.res - DR16_CH_VALUE_MID) / full_range;
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#elif defined(R12DS)
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/*乐迪*/
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rc->rc_type=RC_LD;
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LD_ParseRaw(LD);
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//memcpy(&rc->LD, LD, sizeof(LD_Data_t));
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rc->LD.ch_r_x = (float)LD->ch[1] /693.5f;
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rc->LD.ch_r_y = (float)LD->ch[0] /693.5f;
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rc->LD.ch_l_x = (float)LD->ch[2] /693;
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rc->LD.ch_l_y = (float)LD->ch[3] /693.5f;
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rc->LD.key_A = Keymap(LD->sw[0]);
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rc->LD.key_C = Keymap(LD->sw[2]);
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rc->LD.key_E = Keymap(LD->sw[5]);
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rc->LD.key_F = Keymap(LD->sw[3]);
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rc->LD.key_G = Keymap(LD->sw[7]);
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rc->LD.key_H = Keymap(LD->sw[4]);
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rc->LD.knob_left = Keymap(LD->sw[1]);
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rc->LD.knob_right = Keymap(LD->sw[6]);
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// /*离线处理，和dr16位置不同*/
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if(LD->sw[6]!=1694)
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{
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LD_HandleOffline(LD,rc);
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// memset(cbuf, 0, sizeof(cbuf)); //有时候会出现消息数组错位，所以直接清空，在离线和指定按键不对的情况下，原数据不可信
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}
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#endif
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return DEVICE_OK;
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}
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int8_t DR16_HandleOffline(const DR16_t *dr16, CMD_RC_t *rc) {
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if (dr16 == NULL) return DEVICE_ERR_NULL;
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if (rc == NULL) return DEVICE_ERR_NULL;
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rc->rc_type =Control_loss ;
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memset(&rc->DJ , 0, sizeof(DR16_t));
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return 0;
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}
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int8_t LD_HandleOffline(const LD_raw_t *LD, CMD_RC_t *rc) {
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if (LD == NULL) return DEVICE_ERR_NULL;
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if (rc == NULL) return DEVICE_ERR_NULL;
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rc->rc_type =Control_loss ;
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memset(&rc->LD , 0, sizeof(LD_raw_t));
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return 0;
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}
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