170 lines
5.0 KiB
C
170 lines
5.0 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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//
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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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///* 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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//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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// BSP_UART_RegisterCallback(BSP_UART_DR16, BSP_UART_RX_CPLT_CB,
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// DR16_RxCpltCallback);
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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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// __HAL_UART_DISABLE(BSP_UART_GetHandle(BSP_UART_DR16));
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// __HAL_UART_ENABLE(BSP_UART_GetHandle(BSP_UART_DR16));
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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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// 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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//
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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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//
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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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//
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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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