/* DR16接收机 */ /* Includes ----------------------------------------------------------------- */ #include "dr16.h" #include #include "bsp\uart.h" /* Private define ----------------------------------------------------------- */ #define DR16_CH_VALUE_MIN (364u) #define DR16_CH_VALUE_MID (1024u) #define DR16_CH_VALUE_MAX (1684u) /* Private macro ------------------------------------------------------------ */ /* Private typedef ---------------------------------------------------------- */ /* Private variables -------------------------------------------------------- */ static osThreadId_t thread_alert; static bool inited = false; /* Private function -------------------------------------------------------- */ static void DR16_RxCpltCallback(void) { osThreadFlagsSet(thread_alert, SIGNAL_DR16_RAW_REDY); } static bool DR16_DataCorrupted(const DR16_t *dr16) { if (dr16 == NULL) return DEVICE_ERR_NULL; if ((dr16->data.ch_r_x < DR16_CH_VALUE_MIN) || (dr16->data.ch_r_x > DR16_CH_VALUE_MAX)) return true; if ((dr16->data.ch_r_y < DR16_CH_VALUE_MIN) || (dr16->data.ch_r_y > DR16_CH_VALUE_MAX)) return true; if ((dr16->data.ch_l_x < DR16_CH_VALUE_MIN) || (dr16->data.ch_l_x > DR16_CH_VALUE_MAX)) return true; if ((dr16->data.ch_l_y < DR16_CH_VALUE_MIN) || (dr16->data.ch_l_y > DR16_CH_VALUE_MAX)) return true; if (dr16->data.sw_l == 0) return true; if (dr16->data.sw_r == 0) return true; return false; } /* Exported functions ------------------------------------------------------- */ int8_t DR16_Init(DR16_t *dr16) { if (dr16 == NULL) return DEVICE_ERR_NULL; if (inited) return DEVICE_ERR_INITED; if ((thread_alert = osThreadGetId()) == NULL) return DEVICE_ERR_NULL; BSP_UART_RegisterCallback(BSP_UART_DR16, BSP_UART_RX_CPLT_CB, DR16_RxCpltCallback); inited = true; return DEVICE_OK; } int8_t DR16_Restart(void) { __HAL_UART_DISABLE(BSP_UART_GetHandle(BSP_UART_DR16)); __HAL_UART_ENABLE(BSP_UART_GetHandle(BSP_UART_DR16)); return DEVICE_OK; } int8_t DR16_StartDmaRecv(DR16_t *dr16) { if (HAL_UART_Receive_DMA(BSP_UART_GetHandle(BSP_UART_DR16), (uint8_t *)&(dr16->data), sizeof(dr16->data)) == HAL_OK) return DEVICE_OK; return DEVICE_ERR; } bool DR16_WaitDmaCplt(uint32_t timeout) { return (osThreadFlagsWait(SIGNAL_DR16_RAW_REDY, osFlagsWaitAll, timeout) == SIGNAL_DR16_RAW_REDY); } int8_t DR16_ParseRC(const DR16_t *dr16, CMD_RC_t *rc) { if (dr16 == NULL) return DEVICE_ERR_NULL; if (DR16_DataCorrupted(dr16)) { return DEVICE_ERR; } else { memset(rc, 0, sizeof(*rc)); } float full_range = (float)(DR16_CH_VALUE_MAX - DR16_CH_VALUE_MIN); rc->ch_r_x = 2 * ((float)dr16->data.ch_r_x - DR16_CH_VALUE_MID) / full_range; rc->ch_r_y = 2 * ((float)dr16->data.ch_r_y - DR16_CH_VALUE_MID) / full_range; rc->ch_l_x = 2 * ((float)dr16->data.ch_l_x - DR16_CH_VALUE_MID) / full_range; rc->ch_l_y = 2 * ((float)dr16->data.ch_l_y - DR16_CH_VALUE_MID) / full_range; rc->sw_l = (CMD_SwitchPos_t)dr16->data.sw_l; rc->sw_r = (CMD_SwitchPos_t)dr16->data.sw_r; rc->mouse.x = dr16->data.x; rc->mouse.y = dr16->data.y; rc->mouse.z = dr16->data.z; rc->mouse.l_click = dr16->data.press_l; rc->mouse.r_click = dr16->data.press_r; rc->key = dr16->data.key; rc->ch_res = ((float)dr16->data.res - DR16_CH_VALUE_MID) / full_range; return DEVICE_OK; } int8_t DR16_HandleOffline(const DR16_t *dr16, CMD_RC_t *rc) { if (dr16 == NULL) return DEVICE_ERR_NULL; if (rc == NULL) return DEVICE_ERR_NULL; (void)dr16; memset(rc, 0, sizeof(*rc)); return 0; }