96 lines
3.2 KiB
C
96 lines
3.2 KiB
C
/**
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****************************(C) COPYRIGHT 2016 DJI****************************
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* @file remote_control.c/h
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* @brief 遥控器处理，遥控器是通过类似SBUS的协议传输，利用DMA传输方式节约CPU
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* 资源，利用串口空闲中断来拉起处理函数，同时提供一些掉线重启DMA，串口
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* 的方式保证热插拔的稳定性。
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* @note
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* @history
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* Version Date Author Modification
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* V1.0.0 Dec-26-2018 RM 1. 完成
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*
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@verbatim
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==============================================================================
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==============================================================================
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@endverbatim
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****************************(C) COPYRIGHT 2016 DJI****************************
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*/
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#ifndef REMOTE_CONTROL_H
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#define REMOTE_CONTROL_H
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#include "struct_typedef.h"
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#include "bsp_rc.h"
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#define SBUS_RX_BUF_NUM 25u
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#define RC_FRAME_LENGTH 18u
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#define RC_CH_VALUE_MIN ((uint16_t)364)
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#define RC_CH_VALUE_OFFSET ((uint16_t)1024)
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#define RC_CH_VALUE_MAX ((uint16_t)1684)
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/* ----------------------- RC Switch Definition----------------------------- */
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#define RC_SW_UP ((uint16_t)1)
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#define RC_SW_MID ((uint16_t)3)
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#define RC_SW_DOWN ((uint16_t)2)
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#define switch_is_down(s) (s == RC_SW_DOWN)
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#define switch_is_mid(s) (s == RC_SW_MID)
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#define switch_is_up(s) (s == RC_SW_UP)
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/* ----------------------- PC Key Definition-------------------------------- */
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#define KEY_PRESSED_OFFSET_W ((uint16_t)1 << 0)
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#define KEY_PRESSED_OFFSET_S ((uint16_t)1 << 1)
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#define KEY_PRESSED_OFFSET_A ((uint16_t)1 << 2)
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#define KEY_PRESSED_OFFSET_D ((uint16_t)1 << 3)
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#define KEY_PRESSED_OFFSET_SHIFT ((uint16_t)1 << 4)
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#define KEY_PRESSED_OFFSET_CTRL ((uint16_t)1 << 5)
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#define KEY_PRESSED_OFFSET_Q ((uint16_t)1 << 6)
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#define KEY_PRESSED_OFFSET_E ((uint16_t)1 << 7)
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#define KEY_PRESSED_OFFSET_R ((uint16_t)1 << 8)
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#define KEY_PRESSED_OFFSET_F ((uint16_t)1 << 9)
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#define KEY_PRESSED_OFFSET_G ((uint16_t)1 << 10)
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#define KEY_PRESSED_OFFSET_Z ((uint16_t)1 << 11)
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#define KEY_PRESSED_OFFSET_X ((uint16_t)1 << 12)
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#define KEY_PRESSED_OFFSET_C ((uint16_t)1 << 13)
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#define KEY_PRESSED_OFFSET_V ((uint16_t)1 << 14)
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#define KEY_PRESSED_OFFSET_B ((uint16_t)1 << 15)
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/* ----------------------- Data Struct ------------------------------------- */
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#define OFF 1694
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#define ON 306
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#define MID 1000
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#define MAX 306
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#define MID 1000
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#define MIN 1694
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#define ADD 1694
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#define MINUS 1694
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typedef __packed struct
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{
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int16_t ch[4];
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int16_t sw[8];
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} RC_ctrl_t;
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/* ----------------------- Internal Data ----------------------------------- */
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/**
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* @brief remote control init
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* @param[in] none
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* @retval none
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*/
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extern void remote_control_init(void);
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/**
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* @brief get remote control data point
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* @param[in] none
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* @retval remote control data point
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*/
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void USART3_IRQHandler1(void);
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void DMA1_Stream1_IRQHandler1(void);
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extern const RC_ctrl_t *get_remote_control_point(void);
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#endif
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