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修复dr16
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@ -1,14 +1,27 @@
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/*
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DR16接收机
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Example：
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DR16_Init(&dr16);
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while (1) {
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DR16_StartDmaRecv(&dr16);
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if (DR16_WaitDmaCplt(20)) {
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DR16_ParseData(&dr16);
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} else {
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DR16_Offline(&dr16);
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}
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}
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*/
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/* Includes ----------------------------------------------------------------- */
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#include "dr16.h"
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#include <string.h>
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#include "bsp/uart.h"
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#include "bsp/time.h"
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#include "device.h"
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#include <string.h>
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#include <stdbool.h>
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/* USER INCLUDE BEGIN */
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@ -37,27 +50,27 @@ static void DR16_RxCpltCallback(void) {
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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 < DR16_CH_VALUE_MIN) ||
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(dr16->data.ch_r_x > DR16_CH_VALUE_MAX))
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return true;
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if ((dr16->raw_data.ch_r_x < DR16_CH_VALUE_MIN) ||
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(dr16->raw_data.ch_r_x > DR16_CH_VALUE_MAX))
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return DEVICE_ERR;
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if ((dr16->data.ch_r_y < DR16_CH_VALUE_MIN) ||
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(dr16->data.ch_r_y > DR16_CH_VALUE_MAX))
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return true;
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if ((dr16->raw_data.ch_r_y < DR16_CH_VALUE_MIN) ||
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(dr16->raw_data.ch_r_y > DR16_CH_VALUE_MAX))
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return DEVICE_ERR;
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if ((dr16->data.ch_l_x < DR16_CH_VALUE_MIN) ||
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(dr16->data.ch_l_x > DR16_CH_VALUE_MAX))
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return true;
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if ((dr16->raw_data.ch_l_x < DR16_CH_VALUE_MIN) ||
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(dr16->raw_data.ch_l_x > DR16_CH_VALUE_MAX))
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return DEVICE_ERR;
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if ((dr16->data.ch_l_y < DR16_CH_VALUE_MIN) ||
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(dr16->data.ch_l_y > DR16_CH_VALUE_MAX))
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return true;
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if ((dr16->raw_data.ch_l_y < DR16_CH_VALUE_MIN) ||
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(dr16->raw_data.ch_l_y > DR16_CH_VALUE_MAX))
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return DEVICE_ERR;
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if (dr16->data.sw_l == 0) return true;
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if (dr16->raw_data.sw_l == 0) return DEVICE_ERR;
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if (dr16->data.sw_r == 0) return true;
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if (dr16->raw_data.sw_r == 0) return DEVICE_ERR;
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return false;
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return DEVICE_OK;
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}
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/* Exported functions ------------------------------------------------------- */
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@ -81,8 +94,8 @@ int8_t DR16_Restart(void) {
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int8_t DR16_StartDmaRecv(DR16_t *dr16) {
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if (HAL_UART_Receive_DMA(BSP_UART_GetHandle(BSP_UART_DR16),
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(uint8_t *)&(dr16->data),
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sizeof(dr16->data)) == HAL_OK)
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(uint8_t *)&(dr16->raw_data),
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sizeof(dr16->raw_data)) == HAL_OK)
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return DEVICE_OK;
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return DEVICE_ERR;
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}
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@ -92,6 +105,65 @@ bool DR16_WaitDmaCplt(uint32_t timeout) {
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SIGNAL_DR16_RAW_REDY);
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}
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int8_t DR16_ParseData(DR16_t *dr16){
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if (dr16 == NULL) return DEVICE_ERR_NULL;
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if (DR16_DataCorrupted(dr16)) {
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return DEVICE_ERR;
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}
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dr16->header.online = true;
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dr16->header.last_online_time = BSP_TIME_Get_us();
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memset(&(dr16->data), 0, sizeof(dr16->data));
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float full_range = (float)(DR16_CH_VALUE_MAX - DR16_CH_VALUE_MIN);
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// 解析摇杆数据
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dr16->data.ch_r_x = 2.0f * ((float)dr16->raw_data.ch_r_x - DR16_CH_VALUE_MID) / full_range;
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dr16->data.ch_r_y = 2.0f * ((float)dr16->raw_data.ch_r_y - DR16_CH_VALUE_MID) / full_range;
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dr16->data.ch_l_x = 2.0f * ((float)dr16->raw_data.ch_l_x - DR16_CH_VALUE_MID) / full_range;
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dr16->data.ch_l_y = 2.0f * ((float)dr16->raw_data.ch_l_y - DR16_CH_VALUE_MID) / full_range;
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// 解析拨杆位置
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dr16->data.sw_l = (DR16_SwitchPos_t)dr16->raw_data.sw_l;
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dr16->data.sw_r = (DR16_SwitchPos_t)dr16->raw_data.sw_r;
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// 解析鼠标数据
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dr16->data.mouse.x = dr16->raw_data.x;
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dr16->data.mouse.y = dr16->raw_data.y;
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dr16->data.mouse.z = dr16->raw_data.z;
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dr16->data.mouse.l_click = dr16->raw_data.press_l;
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dr16->data.mouse.r_click = dr16->raw_data.press_r;
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// 解析键盘按键 - 使用union简化代码
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uint16_t key_value = dr16->raw_data.key;
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// 解析键盘位映射（W-B键，位0-15）
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for (int i = CMD_KEY_W; i <= CMD_KEY_B; i++) {
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dr16->data.keyboard.key[i] = (key_value & (1 << i)) != 0;
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}
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// 解析鼠标点击
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dr16->data.keyboard.key[CMD_L_CLICK] = dr16->data.mouse.l_click;
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dr16->data.keyboard.key[CMD_R_CLICK] = dr16->data.mouse.r_click;
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// 解析第五通道
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dr16->data.ch_res = 2.0f * ((float)dr16->raw_data.res - DR16_CH_VALUE_MID) / full_range;
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return DEVICE_OK;
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}
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int8_t DR16_Offline(DR16_t *dr16){
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if (dr16 == NULL) return DEVICE_ERR_NULL;
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dr16->header.online = false;
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memset(&(dr16->data), 0, sizeof(dr16->data));
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return DEVICE_OK;
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}
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/* USER FUNCTION BEGIN */
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/* USER FUNCTION END */
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@ -8,7 +8,7 @@ extern "C" {
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#include <cmsis_os2.h>
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#include "component/user_math.h"
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#include "device/device.h"
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#include "device.h"
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/* USER INCLUDE BEGIN */
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@ -35,19 +35,78 @@ typedef struct __packed {
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uint8_t press_r;
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uint16_t key;
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uint16_t res;
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} DR16_RawData_t;
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typedef enum {
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CMD_SW_ERR = 0,
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CMD_SW_UP = 1,
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CMD_SW_MID = 3,
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CMD_SW_DOWN = 2,
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} DR16_SwitchPos_t;
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/* 键盘按键值 */
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typedef enum {
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CMD_KEY_W = 0,
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CMD_KEY_S,
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CMD_KEY_A,
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CMD_KEY_D,
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CMD_KEY_SHIFT,
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CMD_KEY_CTRL,
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CMD_KEY_Q,
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CMD_KEY_E,
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CMD_KEY_R,
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CMD_KEY_F,
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CMD_KEY_G,
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CMD_KEY_Z,
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CMD_KEY_X,
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CMD_KEY_C,
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CMD_KEY_V,
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CMD_KEY_B,
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CMD_L_CLICK,
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CMD_R_CLICK,
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CMD_KEY_NUM,
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} DR16_Key_t;
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typedef struct {
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float ch_l_x; /* 遥控器左侧摇杆横轴值，上为正 */
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float ch_l_y; /* 遥控器左侧摇杆纵轴值，右为正 */
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float ch_r_x; /* 遥控器右侧摇杆横轴值，上为正 */
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float ch_r_y; /* 遥控器右侧摇杆纵轴值，右为正 */
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float ch_res; /* 第五通道值 */
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DR16_SwitchPos_t sw_r; /* 右侧拨杆位置 */
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DR16_SwitchPos_t sw_l; /* 左侧拨杆位置 */
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struct {
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int16_t x;
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int16_t y;
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int16_t z;
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bool l_click; /* 左键 */
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bool r_click; /* 右键 */
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} mouse; /* 鼠标值 */
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union {
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bool key[CMD_KEY_NUM]; /* 键盘按键值 */
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uint16_t value; /* 键盘按键值的位映射 */
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} keyboard;
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uint16_t res; /* 保留，未启用 */
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} DR16_Data_t;
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typedef struct {
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DEVICE_Header_t header;
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DR16_RawData_t raw_data;
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DR16_Data_t data;
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} DR16_t;
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/* Exported functions prototypes -------------------------------------------- */
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int8_t DR16_Init(DR16_t *dr16);
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int8_t DR16_Restart(void);
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int8_t DR16_StartDmaRecv(DR16_t *dr16);
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bool DR16_WaitDmaCplt(uint32_t timeout);
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int8_t DR16_ParseData(DR16_t *dr16);
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int8_t DR16_Offline(DR16_t *dr16);
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/* USER FUNCTION BEGIN */
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