122 lines
5.1 KiB
C
122 lines
5.1 KiB
C
/* Includes ----------------------------------------------------------------- */
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#include "LIGHTBRIDGE2.h"
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#include <string.h>
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#include "bsp/uart.h"
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#include "device.h"
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/* Private define ----------------------------------------------------------- */
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#define DEAD_AREA 0.05f
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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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/* Private function --------------------------------------------------------- */
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static void DEVICE_LIGHTBRIDGE2_RxCpltCallback(void) //DMA空闲接收完成回调函数
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{
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osThreadFlagsSet(thread_alert, SIGNAL_LIGHTBRIDGE2_RAW_REDY);
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}
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/* Exported functions ------------------------------------------------------- */
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int8_t DEVICE_LIGHTBRIDGE2_Init(DEVICE_LIGHTBRIDGE2_t *lightbridge2) //初始化
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{
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if (lightbridge2 == 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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BSP_UART_RegisterCallback(BSP_UART_LIGHTBRIDGE2, BSP_UART_RX_CPLT_CB,
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DEVICE_LIGHTBRIDGE2_RxCpltCallback);
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inited = true;
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return DEVICE_OK;
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}
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int8_t DEVICE_LIGHTBRIDGE2_Restart(void) //重启LIGHTBRIDGE2串口
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{
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__HAL_UART_DISABLE(BSP_UART_GetHandle(BSP_UART_LIGHTBRIDGE2));
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__HAL_UART_ENABLE(BSP_UART_GetHandle(BSP_UART_LIGHTBRIDGE2));
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return DEVICE_OK;
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}
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int8_t DEVICE_LIGHTBRIDGE2_StartDmaRecv(uint8_t *cmd_buffer) //启动LIGHTBRIDGE2 DMA接收
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{
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if (HAL_UART_Receive_DMA(BSP_UART_GetHandle(BSP_UART_LIGHTBRIDGE2),
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cmd_buffer,
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DEVICE_LIGHTBRIDGE2_FRAME_LEN) == 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 DEVICE_LIGHTBRIDGE2_WaitDmaCplt(uint32_t timeout) //等待LIGHTBRIDGE2 DMA接收完成
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{
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return (osThreadFlagsWait(SIGNAL_LIGHTBRIDGE2_RAW_REDY,
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osFlagsWaitAll, timeout) == SIGNAL_LIGHTBRIDGE2_RAW_REDY);
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}
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DEVICE_LIGHTBRIDGE2_Raw_t r;
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//解析LIGHTBRIDGE2原始数据
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void DEVICE_LIGHTBRIDGE2_ParseRaw(const uint8_t raw[DEVICE_LIGHTBRIDGE2_FRAME_LEN], DEVICE_LIGHTBRIDGE2_t *out)
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{
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// DEVICE_LIGHTBRIDGE2_Raw_t r;
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//解析遥控器数据
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r.ch[0] = ((raw[1] | raw[2] << 8) & 0x07FF);
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r.ch[1] = ((raw[2] >> 3 | raw[3] << 5) & 0x07FF);
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r.ch[2] = ((raw[3] >> 6 | raw[4] << 2 | raw[5] << 10) & 0x07FF);
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r.ch[3] = ((raw[5] >> 1 | raw[6] << 7) & 0x07FF);
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//解析开关数据
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r.sw[0] = ((raw[6] >> 4 | raw[7] << 4) & 0x07FF);
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r.sw[1] = ((raw[7] >> 7 | raw[8] << 1 | raw[9] << 9) & 0x07FF);
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r.sw[2] = ((raw[9] >> 2 | raw[10]<< 6) & 0x07FF);
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r.sw[3] = ((raw[10]>> 5 | raw[11]<< 3) & 0x07FF);
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r.sw[4] = ((raw[12] | raw[13]<< 8) & 0x07FF);
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r.sw[5] = ((raw[13]>> 3 | raw[14]<< 5) & 0x07FF);
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r.sw[6] = ((raw[14]>> 6 | raw[15]<< 2 | raw[16]<< 10) & 0x07FF);
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r.sw[7] = ((raw[16]>> 1 | raw[17]<< 7) & 0x07FF);
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//映射遥控器数据
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#define MAP_SWITCH(v) \
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((v) > 300 && (v) < 500) ? LIGHTBRIDGE2_CMD_SW_DOWN : \
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((v) >= 500 && (v) < 1500) ? LIGHTBRIDGE2_CMD_SW_MID : \
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((v) >= 1500 && (v) < 1700) ? LIGHTBRIDGE2_CMD_SW_UP : LIGHTBRIDGE2_CMD_SW_ERR
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#define MAP_SWITCH_2(v) \
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((v) > 300 && (v) < 500) ? LIGHTBRIDGE2_CMD_SW_UP : \
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((v) >= 500 && (v) < 1500) ? LIGHTBRIDGE2_CMD_SW_MID : \
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((v) >= 1500 && (v) < 1700) ? LIGHTBRIDGE2_CMD_SW_DOWN : LIGHTBRIDGE2_CMD_SW_ERR
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out->data.ch_l_x = 2.0f*(r.ch[3]-209.0f)/(1596.0f-209.0f)-1.0f;
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out->data.ch_l_y = 2.0f*(r.ch[2]-178.0f)/(1575.0f-198.0f)-1.0f;
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out->data.ch_r_x = 2.0f*(r.ch[0]-210.0f)/(1596.0f-210.0f)-1.0f;
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out->data.ch_r_y = 2.0f*(r.ch[1]-221.0f)/(1604.0f-217.0f)-1.0f;
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if(fabs(out->data.ch_l_x)<=DEAD_AREA)out->data.ch_l_x = 0;
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if(fabs(out->data.ch_l_y)<=4*DEAD_AREA)out->data.ch_l_y = 0;
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if(fabs(out->data.ch_r_x)<=DEAD_AREA)out->data.ch_r_x = 0;
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if(fabs(out->data.ch_r_y)<=DEAD_AREA)out->data.ch_r_y = 0;
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if(fabs(out->data.ch_l_x)>=1.0f)out->data.ch_l_x= out->data.ch_l_x>0?1.0f:-1.0f;
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if(fabs(out->data.ch_l_y)>=1.0f)out->data.ch_l_y= out->data.ch_l_y>0?1.0f:-1.0f;
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if(fabs(out->data.ch_r_x)>=1.0f)out->data.ch_r_x= out->data.ch_r_x>0?1.0f:-1.0f;
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if(fabs(out->data.ch_r_y)>=1.0f)out->data.ch_r_y= out->data.ch_r_y>0?1.0f:-1.0f;
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// out->data.ch_r_x = r.ch[0];
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// out->data.ch_r_y = r.ch[1];
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// out->data.ch_l_y = r.ch[2];
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// out->data.ch_l_x = r.ch[3];
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out->data.key_A = MAP_SWITCH_2(r.sw[0]);
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out->data.key_B = MAP_SWITCH_2(r.sw[1]);
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out->data.key_C = MAP_SWITCH_2(r.sw[2]);
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out->data.key_D = MAP_SWITCH(r.sw[3]);
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out->data.key_E = MAP_SWITCH(r.sw[4]);
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out->data.key_F = MAP_SWITCH(r.sw[5]);
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out->data.key_G = MAP_SWITCH_2(r.sw[6]);
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out->data.key_H = MAP_SWITCH(r.sw[7]);
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// out->knob_left = MAP_SWITCH(r.sw[6]);
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// out->knob_right = MAP_SWITCH(r.sw[7]);
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#undef MAP_SWITCH
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//check online.
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out->online = (r.sw[7] != 300&&r.ch[0] != 1000);
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}
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