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修改can解析

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This commit is contained in:
Robofish 2025-10-01 03:39:08 +08:00
parent c024cb537e
commit 7aa5148a2b
1 changed files with 41 additions and 25 deletions
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66
User/device/rc_can.c
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@ -93,46 +93,60 @@ int8_t RC_CAN_SendData(RC_CAN_t *rc_can, RC_CAN_DataType_t data_type) {
}
BSP_CAN_StdDataFrame_t frame;
frame.dlc = 8;
// 边界裁剪宏
#define RC_CAN_CLAMP(x, min, max) ((x) < (min) ? (min) : ((x) > (max) ? (max) : (x)))
switch (data_type) {
case RC_CAN_DATA_JOYSTICK:
case RC_CAN_DATA_JOYSTICK: {
frame.id = rc_can->param.joy_id;
frame.data[0] = (uint8_t)((int16_t)(rc_can->data.joy.ch_l_x * 32768.0f) & 0xFF);
frame.data[1] =
(uint8_t)(((int16_t)(rc_can->data.joy.ch_l_x * 32768.0f) >> 8) & 0xFF);
frame.data[2] = (uint8_t)((int16_t)(rc_can->data.joy.ch_l_y * 32768.0f) & 0xFF);
frame.data[3] =
(uint8_t)(((int16_t)(rc_can->data.joy.ch_l_y * 32768.0f) >> 8) & 0xFF);
frame.data[4] = (uint8_t)((int16_t)(rc_can->data.joy.ch_r_x * 32768.0f) & 0xFF);
frame.data[5] =
(uint8_t)(((int16_t)(rc_can->data.joy.ch_r_x * 32768.0f) >> 8) & 0xFF);
frame.data[6] = (uint8_t)((int16_t)(rc_can->data.joy.ch_r_y * 32768.0f) & 0xFF);
frame.data[7] =
(uint8_t)(((int16_t)(rc_can->data.joy.ch_r_y * 32768.0f) >> 8) & 0xFF);
float l_x = RC_CAN_CLAMP(rc_can->data.joy.ch_l_x, -0.999969f, 0.999969f);
float l_y = RC_CAN_CLAMP(rc_can->data.joy.ch_l_y, -0.999969f, 0.999969f);
float r_x = RC_CAN_CLAMP(rc_can->data.joy.ch_r_x, -0.999969f, 0.999969f);
float r_y = RC_CAN_CLAMP(rc_can->data.joy.ch_r_y, -0.999969f, 0.999969f);
int16_t l_x_i = (int16_t)(l_x * 32768.0f);
int16_t l_y_i = (int16_t)(l_y * 32768.0f);
int16_t r_x_i = (int16_t)(r_x * 32768.0f);
int16_t r_y_i = (int16_t)(r_y * 32768.0f);
frame.data[0] = (uint8_t)(l_x_i & 0xFF);
frame.data[1] = (uint8_t)((l_x_i >> 8) & 0xFF);
frame.data[2] = (uint8_t)(l_y_i & 0xFF);
frame.data[3] = (uint8_t)((l_y_i >> 8) & 0xFF);
frame.data[4] = (uint8_t)(r_x_i & 0xFF);
frame.data[5] = (uint8_t)((r_x_i >> 8) & 0xFF);
frame.data[6] = (uint8_t)(r_y_i & 0xFF);
frame.data[7] = (uint8_t)((r_y_i >> 8) & 0xFF);
break;
case RC_CAN_DATA_SWITCH:
}
case RC_CAN_DATA_SWITCH: {
frame.id = rc_can->param.sw_id;
frame.data[0] = (uint8_t)(rc_can->data.sw.sw_l);
frame.data[1] = (uint8_t)(rc_can->data.sw.sw_r);
frame.data[2] = (uint8_t)((int16_t)(rc_can->data.sw.ch_res * 32768.0f) & 0xFF);
frame.data[3] =
(uint8_t)(((int16_t)(rc_can->data.sw.ch_res * 32768.0f) >> 8) & 0xFF);
float ch_res = RC_CAN_CLAMP(rc_can->data.sw.ch_res, -0.999969f, 0.999969f);
int16_t ch_res_i = (int16_t)(ch_res * 32768.0f);
frame.data[2] = (uint8_t)(ch_res_i & 0xFF);
frame.data[3] = (uint8_t)((ch_res_i >> 8) & 0xFF);
frame.data[4] = 0; // 保留字节
frame.data[5] = 0; // 保留字节
frame.data[6] = 0; // 保留字节
frame.data[7] = 0; // 保留字节
break;
case RC_CAN_DATA_MOUSE:
}
case RC_CAN_DATA_MOUSE: {
frame.id = rc_can->param.mouse_id;
frame.data[0] = (uint8_t)((int16_t)(rc_can->data.mouse.x) & 0xFF);
frame.data[1] = (uint8_t)(((int16_t)(rc_can->data.mouse.x) >> 8) & 0xFF);
frame.data[2] = (uint8_t)((int16_t)(rc_can->data.mouse.y) & 0xFF);
frame.data[3] = (uint8_t)(((int16_t)(rc_can->data.mouse.y) >> 8) & 0xFF);
frame.data[4] = (uint8_t)((int16_t)(rc_can->data.mouse.z) & 0xFF);
frame.data[5] = (uint8_t)(((int16_t)(rc_can->data.mouse.z) >> 8) & 0xFF);
// 鼠标x/y/z一般为增量，若有极限也可加clamp
int16_t x = (int16_t)(rc_can->data.mouse.x);
int16_t y = (int16_t)(rc_can->data.mouse.y);
int16_t z = (int16_t)(rc_can->data.mouse.z);
frame.data[0] = (uint8_t)(x & 0xFF);
frame.data[1] = (uint8_t)((x >> 8) & 0xFF);
frame.data[2] = (uint8_t)(y & 0xFF);
frame.data[3] = (uint8_t)((y >> 8) & 0xFF);
frame.data[4] = (uint8_t)(z & 0xFF);
frame.data[5] = (uint8_t)((z >> 8) & 0xFF);
frame.data[6] = (uint8_t)(rc_can->data.mouse.mouse_l ? 1 : 0);
frame.data[7] = (uint8_t)(rc_can->data.mouse.mouse_r ? 1 : 0);
break;
case RC_CAN_DATA_KEYBOARD:
}
case RC_CAN_DATA_KEYBOARD: {
frame.id = rc_can->param.keyboard_id;
frame.data[0] = (uint8_t)(rc_can->data.keyboard.key_value & 0xFF);
frame.data[1] = (uint8_t)((rc_can->data.keyboard.key_value >> 8) & 0xFF);
@ -140,9 +154,11 @@ int8_t RC_CAN_SendData(RC_CAN_t *rc_can, RC_CAN_DataType_t data_type) {
frame.data[2 + i] = (i < 6) ? (uint8_t)(rc_can->data.keyboard.keys[i]) : 0;
}
break;
}
default:
return DEVICE_ERR;
}
#undef RC_CAN_CLAMP
if (BSP_CAN_Transmit(rc_can->param.can, BSP_CAN_FORMAT_STD_DATA, frame.id,
frame.data, frame.dlc) != BSP_OK) {
return DEVICE_ERR;