70 lines
1.7 KiB
C
70 lines
1.7 KiB
C
#pragma once
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#ifdef __cplusplus
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extern "C" {
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#endif
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/* Includes ----------------------------------------------------------------- */
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#include <cmsis_os2.h>
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#include "component/user_math.h"
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#include "device.h"
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/* Exported constants ------------------------------------------------------- */
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#define AT9S_FRAME_LEN 25u
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/* Exported types ----------------------------------------------------------- */
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typedef struct __attribute__((packed))
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{
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int16_t ch[4]; /* 摇杆原始值 */
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int16_t sw[8]; /* 开关/旋钮原始值 */
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} AT9S_Raw_t;
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/* 拨杆位置 */
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typedef enum {
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AT9S_CMD_SW_ERR = 0,
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AT9S_CMD_SW_UP = 1,
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AT9S_CMD_SW_MID = 3,
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AT9S_CMD_SW_DOWN = 2,
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} AT9S_CMD_SwitchPos_t;
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typedef struct
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{
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float ch_l_x; /* 左摇杆 X */
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float ch_l_y; /* 左摇杆 Y（油门） */
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float ch_r_x; /* 右摇杆 X */
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float ch_r_y; /* 右摇杆 Y */
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/* 开关/旋钮离散化后状态 */
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AT9S_CMD_SwitchPos_t key_A;
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AT9S_CMD_SwitchPos_t key_B;
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AT9S_CMD_SwitchPos_t key_C;
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AT9S_CMD_SwitchPos_t key_D;
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AT9S_CMD_SwitchPos_t key_E;
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AT9S_CMD_SwitchPos_t key_F;
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AT9S_CMD_SwitchPos_t key_G;
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AT9S_CMD_SwitchPos_t key_H;
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float knob_left;
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float knob_right;
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float back_left;
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float back_right;
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} AT9S_DataRC_t;
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typedef struct
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{
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AT9S_DataRC_t rc;
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} AT9S_Data_t;
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typedef struct{
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DEVICE_Header_t header;
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AT9S_Data_t data;
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} AT9S_t;
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/* Exported functions prototypes -------------------------------------------- */
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int8_t AT9S_Init(AT9S_t *at9s);
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int8_t AT9S_Restart(void);
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int8_t AT9S_StartDmaRecv(uint8_t *cmd_buffer);
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bool AT9S_WaitDmaCplt(uint32_t timeout);
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void AT9S_ParseRaw(const uint8_t raw[AT9S_FRAME_LEN], AT9S_t *out);
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#ifdef __cplusplus
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}
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#endif |