222 lines
6.6 KiB
C
222 lines
6.6 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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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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//#define DR16_FRAME_SIZE (18u) // DR16数据帧固定18字节
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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 void DR16_ErrorCallback(void) {
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// UART_HandleTypeDef *huart = BSP_UART_GetHandle(BSP_UART_RC);
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//
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// // 清除所有错误标志（包括FIFO错误）
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// __HAL_UART_CLEAR_OREFLAG(huart);
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// __HAL_UART_CLEAR_NEFLAG(huart);
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// __HAL_UART_CLEAR_FEFLAG(huart);
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// __HAL_UART_CLEAR_PEFLAG(huart);
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//
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// // 清除FIFO超时标志（STM32H7特有）
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// if (__HAL_UART_GET_FLAG(huart, UART_FLAG_RTOF)) {
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// __HAL_UART_CLEAR_FLAG(huart, UART_CLEAR_RTOF);
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// }
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//
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// // 中止并清除当前DMA传输
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// HAL_UART_AbortReceive(huart);
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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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// // 清零结构体
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// memset(dr16, 0, sizeof(DR16_t));
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BSP_UART_RegisterCallback(BSP_UART_RC, BSP_UART_RX_CPLT_CB,
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DR16_RxCpltCallback);
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// BSP_UART_RegisterCallback(BSP_UART_RC, BSP_UART_ERROR_CB,
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// DR16_ErrorCallback);
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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_RC));
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__HAL_UART_ENABLE(BSP_UART_GetHandle(BSP_UART_RC));
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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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UART_HandleTypeDef *huart = BSP_UART_GetHandle(BSP_UART_RC);
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// // 确保之前的DMA接收已停止
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// if (huart->RxState != HAL_UART_STATE_READY) {
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// HAL_UART_AbortReceive(huart);
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// }
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//
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// // 清除所有可能的错误标志和IDLE标志
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// __HAL_UART_CLEAR_OREFLAG(huart);
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// __HAL_UART_CLEAR_NEFLAG(huart);
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// __HAL_UART_CLEAR_FEFLAG(huart);
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// __HAL_UART_CLEAR_PEFLAG(huart);
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// __HAL_UART_CLEAR_IDLEFLAG(huart);
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//
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// // 清除FIFO超时标志
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// if (__HAL_UART_GET_FLAG(huart, UART_FLAG_RTOF)) {
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// __HAL_UART_CLEAR_FLAG(huart, UART_CLEAR_RTOF);
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// }
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if (HAL_UART_Receive_DMA(huart, (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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// // STM32H7 D-Cache一致性处理：使DMA接收的数据对CPU可见
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// // D-Cache按32字节对齐，需要对齐处理
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// uint32_t addr = (uint32_t)&(dr16->raw_data);
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// uint32_t size = sizeof(dr16->raw_data);
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// // 向下对齐到32字节边界
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// uint32_t aligned_addr = addr & ~0x1FU;
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// // 计算对齐后的大小
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// uint32_t aligned_size = ((size + (addr - aligned_addr) + 31) & ~0x1FU);
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// SCB_InvalidateDCache_by_Addr((uint32_t *)aligned_addr, aligned_size);
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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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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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// 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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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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