116 lines
2.7 KiB
C
116 lines
2.7 KiB
C
/*
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* 云台模组
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*/
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#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 <stdbool.h>
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#include <stdint.h>
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/* Exported constants ------------------------------------------------------- */
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#define ET16s_OK (0) /* 运行正常 */
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#define ET16s_ERR (-1) /* 运行时发现了其他错误 */
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#define ET16s_ERR_NULL (-2) /* 运行时发现NULL指针 */
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#define ET16s_ERR_MODE (-3) /* 运行时配置了错误的CMD_GimbalMode_t */
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/* Exported macro ----------------------------------------------------------- */
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/* Exported types ----------------------------------------------------------- */
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/* 遥控器类型 */
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// 遥控器状态
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typedef enum
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{
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RC_DR16,
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RC_LD,
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RC_ET16s,
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Control_loss
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} rc_type_t;
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/* 拨杆位置 */
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typedef enum
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{
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ET16S_SW_ERR = 0,
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ET16S_SW_UP = 1,
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ET16S_SW_MID = 3,
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ET16S_SW_DOWN = 2,
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} ET16S_SwitchPos_t;
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//乐迪
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typedef struct
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{
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float ch[4];
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int16_t sw[8];
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} LD_raw_t;
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typedef struct
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{
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float ch[4];
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int16_t sw[8];
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} ET16s_raw_t;
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// 遥控器数据
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typedef struct
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{
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rc_type_t rc_type;
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struct
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{
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float ch_l_x; /* 遥控器左侧摇杆横轴值，上为正 */
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float ch_l_y; /* 遥控器左侧摇杆纵轴值，右为正 */
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float ch_r_x; /* 遥控器右侧摇杆横轴值，上为正 */
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float ch_r_y; /* 遥控器右侧摇杆纵轴值，右为正 */
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ET16S_SwitchPos_t sw_r; /* 右侧拨杆位置 */
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ET16S_SwitchPos_t sw_l; /* 左侧拨杆位置 */
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} __attribute__((packed)) DJ;
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struct
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{
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float ch_l_x; /* 遥控器左侧摇杆横轴值，上为正 */
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float ch_l_y; /* 遥控器左侧摇杆纵轴值，右为正 */
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float ch_r_x; /* 遥控器右侧摇杆横轴值，上为正 */
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float ch_r_y; /* 遥控器右侧摇杆纵轴值，右为正 */
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ET16S_SwitchPos_t key_A;
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ET16S_SwitchPos_t key_B;
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ET16S_SwitchPos_t key_C;
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ET16S_SwitchPos_t key_D;
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ET16S_SwitchPos_t key_E;
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ET16S_SwitchPos_t key_F;
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ET16S_SwitchPos_t key_G;
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ET16S_SwitchPos_t key_H;
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int16_t knob_left; // 左旋钮
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int16_t knob_right; // 右旋钮
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} __attribute__((packed)) ET16s;
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ET16s_raw_t raw_data;
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} __attribute__((packed)) ET16s_t;
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/* Exported functions prototypes -------------------------------------------- */
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int8_t REMOTE_Restart(void);
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int8_t REMOTE_Init(void);
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int8_t REMOTE_StartDmaRecv(void);
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bool REMOTE_WaitDmaCplt(uint32_t timeout);
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int8_t ET16S_ParseRC(ET16s_t *et16s);
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int8_t LD_HandleOffline(const LD_raw_t *LD, ET16s_t *rc);
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int8_t ET16s_HandleOffline(ET16s_t *rc);
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#ifdef __cplusplus
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}
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#endif
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