219 lines
6.7 KiB
C
219 lines
6.7 KiB
C
/*
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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 "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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/* USER INCLUDE END */
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/* Private define ----------------------------------------------------------- */
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#define DR16_CH_VALUE_MIN (364u)
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#define DR16_CH_VALUE_MID (1024u)
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#define DR16_CH_VALUE_MAX (1684u)
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/* USER DEFINE BEGIN */
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/* USER DEFINE END */
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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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static bool inited = false;
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static DR16_t *dr16_instance = NULL; /* 用于空闲中断回调中访问实例 */
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static uint8_t sync_buf[32]; /* 帧同步时的丢弃缓冲区 */
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/* Private function -------------------------------------------------------- */
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static void DR16_RxCpltCallback(void) {
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osThreadFlagsSet(thread_alert, SIGNAL_DR16_RAW_REDY);
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}
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/**
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* @brief 空闲中断回调 - 用于帧同步
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* 空闲中断表示一帧传输结束（总线空闲），此时停止当前DMA接收，
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* 丢弃不完整的数据，这样下一次 StartDmaRecv 就能从帧头开始。
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*/
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static void DR16_IdleCallback(void) {
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/* 停止当前DMA接收（无论收了多少字节） */
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HAL_UART_AbortReceive(BSP_UART_GetHandle(BSP_UART_DR16));
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/* 通知任务：可以启动下一次对齐的接收了 */
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osThreadFlagsSet(thread_alert, SIGNAL_DR16_RAW_REDY);
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}
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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->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->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->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->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->raw_data.sw_l == 0) return DEVICE_ERR;
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if (dr16->raw_data.sw_r == 0) return DEVICE_ERR;
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return DEVICE_OK;
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}
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/* Exported functions ------------------------------------------------------- */
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int8_t DR16_Init(DR16_t *dr16) {
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if (dr16 == NULL) return DEVICE_ERR_NULL;
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if (inited) return DEVICE_ERR_INITED;
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if ((thread_alert = osThreadGetId()) == NULL) return DEVICE_ERR_NULL;
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dr16_instance = dr16;
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/* 注册 DMA 接收完成回调 */
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BSP_UART_RegisterCallback(BSP_UART_DR16, BSP_UART_RX_CPLT_CB,
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DR16_RxCpltCallback);
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/* 注册空闲中断回调并使能空闲中断，用于帧同步 */
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BSP_UART_RegisterCallback(BSP_UART_DR16, BSP_UART_IDLE_LINE_CB,
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DR16_IdleCallback);
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__HAL_UART_ENABLE_IT(BSP_UART_GetHandle(BSP_UART_DR16), UART_IT_IDLE);
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/*
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* 首次帧同步：启动一次丢弃式DMA接收。
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* 如果遥控器已经在发送，DMA会从帧中间开始收，空闲中断到来时
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* IdleCallback 会 Abort 这次接收并通知任务，下一次 StartDmaRecv
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* 就能从完整帧头开始。
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*/
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HAL_UART_Receive_DMA(BSP_UART_GetHandle(BSP_UART_DR16),
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sync_buf, sizeof(sync_buf));
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/* 等待空闲中断完成首次同步（最多50ms，足够等一帧） */
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osThreadFlagsWait(SIGNAL_DR16_RAW_REDY, osFlagsWaitAll, 50);
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inited = true;
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return DEVICE_OK;
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}
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int8_t DR16_Restart(void) {
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UART_HandleTypeDef *huart = BSP_UART_GetHandle(BSP_UART_DR16);
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/* 先终止当前DMA接收 */
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HAL_UART_AbortReceive(huart);
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/* 重置串口 */
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__HAL_UART_DISABLE(huart);
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__HAL_UART_ENABLE(huart);
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/* 重新使能空闲中断 */
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__HAL_UART_ENABLE_IT(huart, UART_IT_IDLE);
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/* 重新做帧同步：丢弃式接收，等空闲中断对齐 */
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HAL_UART_Receive_DMA(huart, sync_buf, sizeof(sync_buf));
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osThreadFlagsWait(SIGNAL_DR16_RAW_REDY, osFlagsWaitAll, 50);
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return DEVICE_OK;
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}
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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->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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bool DR16_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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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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/* 数据损坏说明帧错位了，重启串口并重新同步 */
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DR16_Restart();
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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 = DR16_KEY_W; i <= DR16_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[DR16_L_CLICK] = dr16->data.mouse.l_click;
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dr16->data.keyboard.key[DR16_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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