70 lines
2.9 KiB
C
70 lines
2.9 KiB
C
/* Includes ----------------------------------------------------------------- */
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#include "at9s_pro_cmd.h"
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#include <string.h>
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#include <math.h>
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/* Private define ----------------------------------------------------------- */
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#define DEVICE_AT9S_CH_VALUE_MIN 364u
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#define DEVICE_AT9S_CH_VALUE_MID 1024u
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#define DEVICE_AT9S_CH_VALUE_MAX 1684u
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#define DEAD_AREA 0.05f
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/* Private macro ------------------------------------------------------------ */
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/* Private typedef ---------------------------------------------------------- */
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/* Private variables -------------------------------------------------------- */
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/* Private function -------------------------------------------------------- */
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/* Exported functions ------------------------------------------------------- */
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/**
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* @brief ????????
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*
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* @param rc ?????????
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* @param dr16_cmd ????
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* @param dt_sec ???<3F><>???????
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* @return int8_t 0?????<3F><>???
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*/
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int8_t COMP_AT9S_CMD_ParseRc(const DEVICE_AT9S_t *rc, COMP_AT9S_CMD_t *at9s_cmd) {
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/* ????? */
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if (rc == NULL) return -1;
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if (at9s_cmd == NULL) return -1;
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at9s_cmd->ch_l_x = 2.0f*(rc->data.ch_l_x-209.0f)/(1596.0f-209.0f)-1.0f;
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at9s_cmd->ch_l_y = 2.0f*(rc->data.ch_l_y-178.0f)/(1575.0f-198.0f)-1.0f;
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at9s_cmd->ch_r_x = 2.0f*(rc->data.ch_r_x-210.0f)/(1596.0f-210.0f)-1.0f;
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at9s_cmd->ch_r_y = 2.0f*(rc->data.ch_r_y-221.0f)/(1604.0f-217.0f)-1.0f;
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if(fabs(at9s_cmd->ch_l_x)<=DEAD_AREA)at9s_cmd->ch_l_x = 0;
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if(fabs(at9s_cmd->ch_l_y)<=DEAD_AREA)at9s_cmd->ch_l_y = 0;
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if(fabs(at9s_cmd->ch_r_x)<=DEAD_AREA)at9s_cmd->ch_r_x = 0;
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if(fabs(at9s_cmd->ch_r_y)<=DEAD_AREA)at9s_cmd->ch_r_y= 0;
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if(fabs(at9s_cmd->ch_l_x)>=1.0f)at9s_cmd->ch_l_x= at9s_cmd->ch_l_x>0?1.0f:-1.0f;
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if(fabs(at9s_cmd->ch_l_y)>=1.0f)at9s_cmd->ch_l_y= at9s_cmd->ch_l_y>0?1.0f:-1.0f;
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if(fabs(at9s_cmd->ch_r_x)>=1.0f)at9s_cmd->ch_r_x= at9s_cmd->ch_r_x>0?1.0f:-1.0f;
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if(fabs(at9s_cmd->ch_r_y)>=1.0f)at9s_cmd->ch_r_y= at9s_cmd->ch_r_y>0?1.0f:-1.0f;
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at9s_cmd->chassis_ctrl_vec.x = at9s_cmd->ch_r_x;
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at9s_cmd->chassis_ctrl_vec.y = at9s_cmd->ch_r_y;
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at9s_cmd->gimbal_yaw_ctrl_vec.w = at9s_cmd->ch_l_x;
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at9s_cmd->gimbal_pit_ctrl_vec.w = at9s_cmd->ch_l_y;
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if(rc->online == false ||rc->data.key_H == AT9S_CMD_SW_UP)at9s_cmd->mode = MODE_CMD_BREAKING_CONTROL;
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else if(rc->data.key_E == AT9S_CMD_SW_DOWN)at9s_cmd->mode = MODE_CMD_ONLT_GIMBAL;
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else if(rc->data.key_E == AT9S_CMD_SW_MID)at9s_cmd->mode = MODE_CMD_FOLLOW;
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else if(rc->data.key_E == AT9S_CMD_SW_UP)at9s_cmd->mode = MODE_CMD_SPIN;
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if(rc->data.key_C == AT9S_CMD_SW_DOWN)at9s_cmd->ai = true;
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else at9s_cmd->ai = false;
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if(rc->data.key_C == AT9S_CMD_SW_DOWN) at9s_cmd->shoot.ready = false;
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else if(rc->data.key_C == AT9S_CMD_SW_MID||rc->data.key_C == AT9S_CMD_SW_UP) at9s_cmd->shoot.ready = true;
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if(rc->data.key_C == AT9S_CMD_SW_UP)at9s_cmd->shoot.firecmd = true;
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else at9s_cmd->shoot.firecmd = false;
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at9s_cmd->online = rc->online;
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return 0;
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}
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