209 lines
5.9 KiB
C
209 lines
5.9 KiB
C
/*
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VT13接收机
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Example：
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VT13_Init(&vt13);
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while (1) {
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VT13_StartDmaRecv(&vt13);
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if (VT13_WaitDmaCplt(20)) {
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if (VT13_Verify(&vt13)) {
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VT13_ParseData(&vt13);
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} else {
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VT13_Offline(&vt13);
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}
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} else {
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VT13_Offline(&vt13);
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}
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}
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*/
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/* Includes ----------------------------------------------------------------- */
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#include "vt13.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 "component/crc16.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 VT13_CH_VALUE_MIN (364u)
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#define VT13_CH_VALUE_MID (1024u)
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#define VT13_CH_VALUE_MAX (1684u)
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#define VT13_FRAMEHEADER1 0xA9
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#define VT13_FRAMEHEADER2 0x53
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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 VT13_RxCpltCallback(void) {
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osThreadFlagsSet(thread_alert, SIGNAL_VT13_RAW_REDY);
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}
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static bool VT13_Verify(VT13_t *vt13){
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if (vt13 == NULL) return DEVICE_ERR_NULL;
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if (vt13->raw_data.sof_1!=VT13_FRAMEHEADER1) {
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return false;
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}
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if (vt13->raw_data.sof_2!=VT13_FRAMEHEADER2) {
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return false;
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}
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if (!CRC16_Verify((const uint8_t *)&(vt13->raw_data),
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sizeof(VT13_RawData_t))) {
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return false;
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}
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return true;
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}
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static bool VT13_DataCorrupted(const VT13_t *vt13) {
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if (vt13 == NULL) return DEVICE_ERR_NULL;
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if ((vt13->raw_data.ch_0 < VT13_CH_VALUE_MIN) ||
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(vt13->raw_data.ch_0 > VT13_CH_VALUE_MAX))
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return DEVICE_ERR;
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if ((vt13->raw_data.ch_1 < VT13_CH_VALUE_MIN) ||
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(vt13->raw_data.ch_1 > VT13_CH_VALUE_MAX))
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return DEVICE_ERR;
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if ((vt13->raw_data.ch_2 < VT13_CH_VALUE_MIN) ||
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(vt13->raw_data.ch_2 > VT13_CH_VALUE_MAX))
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return DEVICE_ERR;
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if ((vt13->raw_data.ch_3 < VT13_CH_VALUE_MIN) ||
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(vt13->raw_data.ch_3 > VT13_CH_VALUE_MAX))
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return DEVICE_ERR;
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if ((vt13->raw_data.wheel < VT13_CH_VALUE_MIN) ||
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(vt13->raw_data.wheel > VT13_CH_VALUE_MAX))
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return DEVICE_ERR;
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if (vt13->raw_data.mode_sw == 0) return DEVICE_ERR;
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if (vt13->raw_data.pause == 0) return DEVICE_ERR;
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if (vt13->raw_data.fn_1 == 0) return DEVICE_ERR;
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if (vt13->raw_data.fn_2 == 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 VT13_Init(VT13_t *vt13) {
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if (vt13 == 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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VT13_RxCpltCallback);
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inited = true;
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return DEVICE_OK;
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}
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int8_t VT13_Restart(void) {
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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 VT13_StartDmaRecv(VT13_t *vt13) {
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if (HAL_UART_Receive_DMA(BSP_UART_GetHandle(BSP_UART_AT9S_PRO),
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(uint8_t *)&(vt13->raw_data),
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sizeof(vt13->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 VT13_WaitDmaCplt(uint32_t timeout) {
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return (osThreadFlagsWait(SIGNAL_VT13_RAW_REDY, osFlagsWaitAll, timeout) ==
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SIGNAL_VT13_RAW_REDY);
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}
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int8_t VT13_ParseData(VT13_t *vt13){
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if (vt13 == NULL) return DEVICE_ERR_NULL;
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if (!VT13_Verify(vt13)) {
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return DEVICE_ERR;
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}
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if (VT13_DataCorrupted(vt13)) {
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return DEVICE_ERR;
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}
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vt13->header.online = true;
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vt13->header.last_online_time = BSP_TIME_Get_us();
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memset(&(vt13->data), 0, sizeof(vt13->data));
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float full_range = (float)(VT13_CH_VALUE_MAX - VT13_CH_VALUE_MIN);
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// 解析摇杆数据
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vt13->data.ch_r_x = 2.0f * ((float)vt13->raw_data.ch_0 - VT13_CH_VALUE_MID) / full_range;
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vt13->data.ch_r_y = 2.0f * ((float)vt13->raw_data.ch_1 - VT13_CH_VALUE_MID) / full_range;
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vt13->data.ch_l_x = 2.0f * ((float)vt13->raw_data.ch_2 - VT13_CH_VALUE_MID) / full_range;
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vt13->data.ch_l_y = 2.0f * ((float)vt13->raw_data.ch_3 - VT13_CH_VALUE_MID) / full_range;
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// 解析拨杆位置
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vt13->data.sw_l = (VT13_SwitchPos_t)vt13->raw_data.fn_1;
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vt13->data.sw_r = (VT13_SwitchPos_t)vt13->raw_data.fn_2;
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vt13->data.sw_mode = (VT13_SwitchPos_t)vt13->raw_data.mode_sw;
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vt13->data.sw_pause = (VT13_SwitchPos_t)vt13->raw_data.pause;
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vt13->data.sw_trig = (VT13_SwitchPos_t)vt13->raw_data.trigger;
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// 解析鼠标数据
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vt13->data.mouse.x = vt13->raw_data.mouse_x;
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vt13->data.mouse.y = vt13->raw_data.mouse_y;
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vt13->data.mouse.z = vt13->raw_data.mouse_z;
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vt13->data.mouse.l_click = vt13->raw_data.mouse_left;
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vt13->data.mouse.m_click = vt13->raw_data.mouse_middle;
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vt13->data.mouse.r_click = vt13->raw_data.mouse_right;
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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 = vt13->raw_data.key;
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// 解析键盘位映射（W-B键，位0-15）
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for (int i = VT13_KEY_W; i <= VT13_KEY_B; i++) {
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vt13->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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vt13->data.keyboard.key[VT13_L_CLICK] = vt13->data.mouse.l_click;
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vt13->data.keyboard.key[VT13_R_CLICK] = vt13->data.mouse.r_click;
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// 解析第五通道
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vt13->data.ch_res = 2.0f * ((float)vt13->raw_data.wheel - VT13_CH_VALUE_MID) / full_range;
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return DEVICE_OK;
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}
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int8_t VT13_Offline(VT13_t *vt13){
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if (vt13 == NULL) return DEVICE_ERR_NULL;
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vt13->header.online = false;
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memset(&(vt13->data), 0, sizeof(vt13->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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