108 lines
3.8 KiB
C
108 lines
3.8 KiB
C
/* Includes ----------------------------------------------------------------- */
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#include "AT9S_Pro.h"
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#include <string.h>
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#include "bsp/uart.h"
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#include "device/device.h"
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/* Private define ----------------------------------------------------------- */
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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_AT9S_RxCpltCallback(void)
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{
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osThreadFlagsSet(thread_alert, SIGNAL_AT9S_RAW_REDY);
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}
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/* Exported functions ------------------------------------------------------- */
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int8_t DEVICE_AT9S_Init(DEVICE_AT9S_t *at9s)
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{
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if (at9s == 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_AT9S_PRO, BSP_UART_RX_CPLT_CB,
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DEVICE_AT9S_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_AT9S_Restart(void)
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{
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__HAL_UART_DISABLE(BSP_UART_GetHandle(BSP_UART_AT9S_PRO));
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__HAL_UART_ENABLE(BSP_UART_GetHandle(BSP_UART_AT9S_PRO));
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return DEVICE_OK;
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}
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int8_t DEVICE_AT9S_StartDmaRecv(uint8_t *cmd_buffer)
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{
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if (HAL_UART_Receive_DMA(BSP_UART_GetHandle(BSP_UART_AT9S_PRO),
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cmd_buffer,
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DEVICE_AT9S_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_AT9S_WaitDmaCplt(uint32_t timeout)
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{
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return (osThreadFlagsWait(SIGNAL_AT9S_RAW_REDY,
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osFlagsWaitAll, timeout) == SIGNAL_AT9S_RAW_REDY);
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}
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DEVICE_AT9S_Raw_t r;
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/* 解析 25 字节原始帧并填充结构体 */
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void DEVICE_AT9S_ParseRaw(const uint8_t raw[DEVICE_AT9S_FRAME_LEN], DEVICE_AT9S_t *out)
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{
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// DEVICE_AT9S_Raw_t r;
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/* 摇杆 */
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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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/* 开关/旋钮 */
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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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/* 开关映射 */
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#define MAP_SWITCH(v) \
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((v) > 300 && (v) < 500) ? AT9S_CMD_SW_DOWN : \
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((v) >= 500 && (v) < 1500) ? AT9S_CMD_SW_MID : \
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((v) >= 1500 && (v) < 1700) ? AT9S_CMD_SW_UP : AT9S_CMD_SW_ERR
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#define MAP_SWITCH_2(v) \
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((v) > 300 && (v) < 500) ? AT9S_CMD_SW_UP : \
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((v) >= 500 && (v) < 1500) ? AT9S_CMD_SW_MID : \
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((v) >= 1500 && (v) < 1700) ? AT9S_CMD_SW_DOWN : AT9S_CMD_SW_ERR
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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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