242 lines
7.9 KiB
C
242 lines
7.9 KiB
C
/* Includes ----------------------------------------------------------------- */
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#include "remote_control.h"
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#include <string.h>
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//#include "error_detect.h"
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#include "bsp/uart.h"
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#include "module/cmd.h"
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#include "bsp/calc_lib.h"
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#define R12DS
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//#define DR16
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/*
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两个遥控器都是
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x
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———y
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*/
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#ifdef DR16
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#define FRAME_LEN 36
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#endif
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#ifdef R12DS
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#define FRAME_LEN 25u
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#endif
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/* Private define ----------------------------------------------------------- */
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#define REMOTE_CH_VALUE_MIN (364u)
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#define REMOTE_CH_VALUE_MID (1024u)
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#define REMOTE_CH_VALUE_MAX (1684u)
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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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//uint8_t cbuf[FRAME_LEN]; //此处设置为两帧字节的长度 若为一帧会出现乱码的情况
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//uint8_t cbuf[sizeof(LD_raw_t)];
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uint8_t cbuf[25u];
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/* Private function -------------------------------------------------------- */
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int8_t REMOTE_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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static void REMOTE_RxCpltCallback(void) {
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osThreadFlagsSet(thread_alert, SIGNAL_DR16_RAW_REDY);
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// detect_hook(DR16_TOE);
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}
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//遥控器初始化
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int8_t REMOTE_Init(void) {
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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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REMOTE_RxCpltCallback);
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memset(cbuf, 0, sizeof(cbuf));//初始化清空数据包
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return DEVICE_OK;
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}
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int8_t REMOTE_StartDmaRecv(void) {
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if (HAL_UART_Receive_DMA(BSP_UART_GetHandle(BSP_UART_DR16),
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(uint8_t *)cbuf,
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sizeof(cbuf)) == HAL_OK)
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// if (HAL_UARTEx_ReceiveToIdle_DMA(BSP_UART_GetHandle(BSP_UART_DR16),
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// (uint8_t *)cbuf,
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// sizeof(cbuf)) == 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 REMOTE_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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/*大疆数据解析 */
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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->data.ch_r_x < REMOTE_CH_VALUE_MIN) ||
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(dr16->data.ch_r_x > REMOTE_CH_VALUE_MAX))
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return true;
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if ((dr16->data.ch_r_y < REMOTE_CH_VALUE_MIN) ||
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(dr16->data.ch_r_y > REMOTE_CH_VALUE_MAX))
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return true;
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if ((dr16->data.ch_l_x < REMOTE_CH_VALUE_MIN) ||
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(dr16->data.ch_l_x > REMOTE_CH_VALUE_MAX))
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return true;
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if ((dr16->data.ch_l_y < REMOTE_CH_VALUE_MIN) ||
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(dr16->data.ch_l_y > REMOTE_CH_VALUE_MAX))
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return true;
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if (dr16->data.sw_l == 0) return true;
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if (dr16->data.sw_r == 0) return true;
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return false;
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}
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int8_t DR16_ParseRaw(DR16_t *dr16){
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if(dr16 ==NULL) return DEVICE_ERR_NULL;
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dr16->data.ch_r_x = (cbuf[0] | (cbuf[1] <<8));
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dr16->data.ch_r_y = ((cbuf[1] >> 3)| (cbuf[2] << 5));
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dr16->data.ch_l_x = ((cbuf[2] >>6) | (cbuf[3] << 2) | (cbuf[4] <<10));
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dr16->data.ch_l_y = ((cbuf[4] >>1) | (cbuf[5] <<7));
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dr16->data.sw_r = ((cbuf[5] >>4));
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dr16->data.sw_l = ((cbuf[5] >> 4) & 0x000C) >> 2;
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return 1;
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}
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/*乐迪数据解析 */
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/*乐迪用的按键封装 */
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CMD_SwitchPos_t Keymap(int16_t value) {
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return (value == 353) ? CMD_SW_UP :
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(value == 1024) ? CMD_SW_MID :
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(value == 1695) ? CMD_SW_DOWN : CMD_SW_ERR;
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}
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int8_t LD_ParseRaw( LD_raw_t *raw){
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//ET16s
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raw->ch[0] = (cbuf[1] | (cbuf[2] << 8)) & 0x07ff; //Channel 1
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raw->ch[3] = ((cbuf[2] >> 3) | (cbuf[3] << 5)) & 0x07ff; //Channel 2
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raw->ch[1] = ((cbuf[3] >> 6) | (cbuf[4] << 2) | //Channel 3
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(cbuf[5] << 10)) &0x07ff;
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raw->ch[2] = ((cbuf[5] >> 1) | (cbuf[6] << 7)) & 0x07ff; //Channel 4
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raw->sw[6] = ((int16_t)cbuf[6] >> 4 | ((int16_t)cbuf[7] << 4 )) & 0x07FF; //Channel 5
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raw->sw[0] = ((int16_t)cbuf[7] >> 7 | ((int16_t)cbuf[8] << 1 ) | (int16_t)cbuf[9] << 9 ) & 0x07FF; //Channel 6
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raw->sw[5] = ((int16_t)cbuf[9] >> 2 | ((int16_t)cbuf[10] << 6 )) & 0x07FF;; //Channel 7
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raw->sw[4] = ((int16_t)cbuf[10] >> 5 | ((int16_t)cbuf[11] << 3 )) & 0x07FF; //Channel 8
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raw->sw[3] = ((int16_t)cbuf[12] << 0 | ((int16_t)cbuf[13] << 8 )) & 0x07FF; //Channel 9
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raw->sw[2] = ((int16_t)cbuf[13] >> 3 | ((int16_t)cbuf[14] << 5 )) & 0x07FF; //Channel 10
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raw->sw[1] = ((int16_t)cbuf[14] >> 6 | ((int16_t)cbuf[15] << 2 ) | (int16_t)cbuf[16] << 10 ) & 0x07FF; //Channel 11
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raw->sw[7] = ((int16_t)cbuf[16] >> 1 | ((int16_t)cbuf[17] << 7 )) & 0x07FF;
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raw->ch[1] = map_fp32(raw->ch[1],353,1695,-1,1); //lx
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raw->ch[0] = map_fp32(raw->ch[0],353,1695,-1,1); //ly
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raw->ch[2] = map_fp32(raw->ch[2],353,1695,-1,1); //rx
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raw->ch[3] = map_fp32(raw->ch[3],353,1695,-1,1); //ry
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if(raw->ch[0]>-0.01&&raw->ch[0]<=0.01) raw->ch[0]=0;
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if(raw->ch[1]>-0.01&&raw->ch[1]<=0.01) raw->ch[1]=0;
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if(raw->ch[2]>-0.01&&raw->ch[2]<=0.01) raw->ch[2]=0;
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if(raw->ch[3]>-0.01&&raw->ch[3]<=0.01) raw->ch[3]=0;
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return 1;
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}
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int8_t REMOTE_ParseRC(DR16_t *dr16, CMD_RC_t *rc,LD_raw_t *LD) {
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if (dr16 == NULL) return DEVICE_ERR_NULL;
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if (LD == NULL) return DEVICE_ERR_NULL;
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#ifdef DR16
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rc->rc_type=RC_DR16;
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DR16_ParseRaw(dr16);
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if (DR16_DataCorrupted(dr16)) {
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return DEVICE_ERR;
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} else {
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memset(rc, 0, sizeof(*rc));
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}
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float full_range = (float)(REMOTE_CH_VALUE_MAX - REMOTE_CH_VALUE_MIN);
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rc->DJ.ch_r_x = 2 * ((float)dr16->data.ch_r_y - REMOTE_CH_VALUE_MID) / full_range;
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rc->DJ.ch_r_y = 2 * ((float)dr16->data.ch_r_x - REMOTE_CH_VALUE_MID) / full_range;
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rc->DJ.ch_l_x = 2 * ((float)dr16->data.ch_l_y - REMOTE_CH_VALUE_MID) / full_range;
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rc->DJ.ch_l_y = 2 * ((float)dr16->data.ch_l_x - REMOTE_CH_VALUE_MID) / full_range;
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rc->DJ.sw_l = (CMD_SwitchPos_t)dr16->data.sw_l;
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rc->DJ.sw_r = (CMD_SwitchPos_t)dr16->data.sw_r;
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// rc->dr16.key = dr16->data.key;
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// rc->ch_res = ((float)dr16->data.res - DR16_CH_VALUE_MID) / full_range;
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#elif defined(R12DS)
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/*天地飞*/
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rc->rc_type=RC_LD;
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LD_ParseRaw(LD);
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rc->LD.ch_r_x = LD->ch[2] ;
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rc->LD.ch_r_y = LD->ch[3] ;
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rc->LD.ch_l_x = LD->ch[0] ;
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rc->LD.ch_l_y = LD->ch[1] ;
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//
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// rc->LD.key_A = (LD->sw[0]);
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// rc->LD.key_B = (LD->sw[1]);
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// rc->LD.key_C = (LD->sw[2]);
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// rc->LD.key_D = (LD->sw[3]);
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// rc->LD.key_E = (LD->sw[4]);
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// rc->LD.key_F = (LD->sw[5]);
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// rc->LD.key_G = (LD->sw[6]);
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// rc->LD.key_H = (LD->sw[7]);
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rc->LD.key_A = Keymap(LD->sw[0]);
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rc->LD.key_B = Keymap(LD->sw[1]);
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rc->LD.key_C = Keymap(LD->sw[2]);
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rc->LD.key_D = Keymap(LD->sw[3]);
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rc->LD.key_E = Keymap(LD->sw[4]);
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rc->LD.key_F = Keymap(LD->sw[5]);
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rc->LD.key_G = Keymap(LD->sw[6]);
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rc->LD.key_H = Keymap(LD->sw[7]);
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// rc->LD.knob_left = LD->sw[7]; //200 330 479 629 778 928 1075 1224 1373 1522 1670 1800
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// /*离线处理，和dr16位置不同*/
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if(LD->sw[3]==1695)
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{
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LD_HandleOffline(LD,rc);
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// memset(cbuf, 0, sizeof(cbuf)); //有时候会出现消息数组错位，所以直接清空，在离线和指定按键不对的情况下，原数据不可信
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}
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#endif
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return DEVICE_OK;
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}
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int8_t DR16_HandleOffline(const DR16_t *dr16, CMD_RC_t *rc) {
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if (dr16 == NULL) return DEVICE_ERR_NULL;
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if (rc == NULL) return DEVICE_ERR_NULL;
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rc->rc_type =Control_loss ;
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memset(&rc->DJ , 0, sizeof(DR16_t));
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return 0;
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}
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int8_t LD_HandleOffline(const LD_raw_t *LD, CMD_RC_t *rc) {
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if (LD == NULL) return DEVICE_ERR_NULL;
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if (rc == NULL) return DEVICE_ERR_NULL;
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rc->rc_type =Control_loss ;
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memset(&rc->LD , 0, sizeof(LD_raw_t));
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return 0;
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}
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