/* Includes ----------------------------------------------------------------- */ #include "device/ET16s.h" #include "device/device.h" #include //#include "error_detect.h" #include "bsp/uart.h" #include "component/calc_lib.h" #define R12DS //#define DR16 /* 两个遥控器都是 x | | ———y */ #ifdef DR16 #define FRAME_LEN 36 #endif #ifdef R12DS #define FRAME_LEN 25u #endif /* Private define ----------------------------------------------------------- */ #define REMOTE_CH_VALUE_MIN (364u) #define REMOTE_CH_VALUE_MID (1024u) #define REMOTE_CH_VALUE_MAX (1684u) /* Private macro ------------------------------------------------------------ */ /* Private typedef ---------------------------------------------------------- */ /* Private variables -------------------------------------------------------- */ static osThreadId_t thread_alert; //uint8_t cbuf[FRAME_LEN]; //此处设置为两帧字节的长度 若为一帧会出现乱码的情况 //uint8_t cbuf[sizeof(LD_raw_t)]; uint8_t cbuf[25u]; /* Private function -------------------------------------------------------- */ int8_t REMOTE_Restart(void) { __HAL_UART_DISABLE(BSP_UART_GetHandle(BSP_UART_3)); __HAL_UART_ENABLE(BSP_UART_GetHandle(BSP_UART_3)); return DEVICE_OK; } static void REMOTE_RxCpltCallback(void) { osThreadFlagsSet(thread_alert, SIGNAL_DR16_RAW_REDY); // detect_hook(DR16_TOE); } //遥控器初始化 int8_t REMOTE_Init(void) { if ((thread_alert = osThreadGetId()) == NULL) return DEVICE_ERR_NULL; BSP_UART_RegisterCallback(BSP_UART_3,BSP_UART_RX_CPLT_CB, REMOTE_RxCpltCallback); memset(cbuf, 0, sizeof(cbuf));//初始化清空数据包 return DEVICE_OK; } int8_t REMOTE_StartDmaRecv(void) { if (HAL_UART_Receive_DMA(BSP_UART_GetHandle(BSP_UART_3), (uint8_t *)cbuf, sizeof(cbuf)) == HAL_OK) return DEVICE_OK; return DEVICE_ERR; } bool REMOTE_WaitDmaCplt(uint32_t timeout) { return (osThreadFlagsWait(SIGNAL_DR16_RAW_REDY, osFlagsWaitAll, timeout) == SIGNAL_DR16_RAW_REDY); } /*乐迪用的按键封装 */ ET16S_SwitchPos_t Keymap(int16_t value) { return (value == 353) ? ET16S_SW_UP : (value == 1024) ? ET16S_SW_MID : (value == 1695) ? ET16S_SW_DOWN : ET16S_SW_ERR; } int8_t ET16s_ParseRaw( ET16s_t *et16s){ //ET16s if(et16s==NULL)return ET16s_ERR_NULL; et16s->header.online = true; et16s->raw_data.ch[0] = (cbuf[1] | (cbuf[2] << 8)) & 0x07ff; //Channel 1 et16s->raw_data.ch[3] = ((cbuf[2] >> 3) | (cbuf[3] << 5)) & 0x07ff; //Channel 2 et16s->raw_data.ch[1] = ((cbuf[3] >> 6) | (cbuf[4] << 2) | //Channel 3 (cbuf[5] << 10)) &0x07ff; et16s->raw_data.ch[2] = ((cbuf[5] >> 1) | (cbuf[6] << 7)) & 0x07ff; //Channel 4 et16s->raw_data.sw[6] = ((int16_t)cbuf[6] >> 4 | ((int16_t)cbuf[7] << 4 )) & 0x07FF; //Channel 5 et16s->raw_data.sw[0] = ((int16_t)cbuf[7] >> 7 | ((int16_t)cbuf[8] << 1 ) | (int16_t)cbuf[9] << 9 ) & 0x07FF; //Channel 6 et16s->raw_data.sw[5] = ((int16_t)cbuf[9] >> 2 | ((int16_t)cbuf[10] << 6 )) & 0x07FF;; //Channel 7 et16s->raw_data.sw[4] = ((int16_t)cbuf[10] >> 5 | ((int16_t)cbuf[11] << 3 )) & 0x07FF; //Channel 8 et16s->raw_data.sw[3] = ((int16_t)cbuf[12] << 0 | ((int16_t)cbuf[13] << 8 )) & 0x07FF; //Channel 9 et16s->raw_data.sw[2] = ((int16_t)cbuf[13] >> 3 | ((int16_t)cbuf[14] << 5 )) & 0x07FF; //Channel 10 et16s->raw_data.sw[1] = ((int16_t)cbuf[14] >> 6 | ((int16_t)cbuf[15] << 2 ) | (int16_t)cbuf[16] << 10 ) & 0x07FF; //Channel 11 et16s->raw_data.sw[7] = ((int16_t)cbuf[16] >> 1 | ((int16_t)cbuf[17] << 7 )) & 0x07FF; et16s->raw_data.ch[1] = map_fp32( et16s->raw_data.ch[1],353,1695,-1,1); //lx et16s->raw_data.ch[0] = map_fp32( et16s->raw_data.ch[0],353,1695,-1,1); //ly et16s->raw_data.ch[2] = map_fp32( et16s->raw_data.ch[2],353,1695,-1,1); //rx et16s->raw_data.ch[3] = map_fp32( et16s->raw_data.ch[3],353,1695,-1,1); //ry if( et16s->raw_data.ch[0]>-0.01&&et16s->raw_data.ch[0]<=0.01) et16s->raw_data.ch[0]=0; if( et16s->raw_data.ch[1]>-0.01&&et16s->raw_data.ch[1]<=0.01) et16s->raw_data.ch[1]=0; if( et16s->raw_data.ch[2]>-0.01&&et16s->raw_data.ch[2]<=0.01) et16s->raw_data.ch[2]=0; if( et16s->raw_data.ch[3]>-0.01&&et16s->raw_data.ch[3]<=0.01) et16s->raw_data.ch[3]=0; return ET16s_OK; } int8_t ET16S_ParseRC(ET16s_t *et16s) { if (et16s == NULL) return DEVICE_ERR_NULL; #ifdef DR16 rc->rc_type=RC_DR16; DR16_ParseRaw(dr16); if (DR16_DataCorrupted(dr16)) { return DEVICE_ERR; } else { memset(rc, 0, sizeof(*rc)); } float full_range = (float)(REMOTE_CH_VALUE_MAX - REMOTE_CH_VALUE_MIN); rc->DJ.ch_r_x = 2 * ((float)dr16->data.ch_r_y - REMOTE_CH_VALUE_MID) / full_range; rc->DJ.ch_r_y = 2 * ((float)dr16->data.ch_r_x - REMOTE_CH_VALUE_MID) / full_range; rc->DJ.ch_l_x = 2 * ((float)dr16->data.ch_l_y - REMOTE_CH_VALUE_MID) / full_range; rc->DJ.ch_l_y = 2 * ((float)dr16->data.ch_l_x - REMOTE_CH_VALUE_MID) / full_range; rc->DJ.sw_l = (ET16S_SwitchPos_t)dr16->data.sw_l; rc->DJ.sw_r = (ET16S_SwitchPos_t)dr16->data.sw_r; // rc->dr16.key = dr16->data.key; // rc->ch_res = ((float)dr16->data.res - DR16_CH_VALUE_MID) / full_range; #elif defined(R12DS) /*天地飞*/ et16s->rc_type=RC_ET16s; ET16s_ParseRaw(et16s); et16s->ET16s.ch_r_x = et16s->raw_data.ch[2] ; et16s->ET16s.ch_r_y = et16s->raw_data.ch[3] ; et16s->ET16s.ch_l_x = et16s->raw_data.ch[0] ; et16s->ET16s.ch_l_y = et16s->raw_data.ch[1] ; et16s->ET16s.key_A = Keymap(et16s->raw_data.sw[0]); et16s->ET16s.key_B = Keymap(et16s->raw_data.sw[1]); et16s->ET16s.key_C = Keymap(et16s->raw_data.sw[2]); et16s->ET16s.key_D = Keymap(et16s->raw_data.sw[3]); et16s->ET16s.key_E = Keymap(et16s->raw_data.sw[4]); et16s->ET16s.key_F = Keymap(et16s->raw_data.sw[5]); et16s->ET16s.key_G = Keymap(et16s->raw_data.sw[6]); et16s->ET16s.key_H = Keymap(et16s->raw_data.sw[7]); // rc->ET16s.knob_left = ET16s->sw[7]; //200 330 479 629 778 928 1075 1224 1373 1522 1670 1800 // /*离线处理，和dr16位置不同*/ if(et16s->raw_data.sw[6]==1695) { // ET16s_HandleOffline(et16s); memset(cbuf, 0, sizeof(cbuf)); //有时候会出现消息数组错位，所以直接清空，在离线和指定按键不对的情况下，原数据不可信 } #endif return DEVICE_OK; } int8_t ET16s_HandleOffline(ET16s_t *rc) { if (rc == NULL) return DEVICE_ERR_NULL; rc->rc_type =Control_loss ; rc->header.online = false; memset(&rc->ET16s , 0, sizeof(ET16s_raw_t)); return 0; }