83 lines
2.4 KiB
C
83 lines
2.4 KiB
C
#include "device/ai.h"
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#include "device/device.h"
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#include "bsp/uart.h"
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int8_t AI_Init(AI_t *ai) {
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if (ai == 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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// BSP_UART_RegisterCallback(BSP_UART_AI, BSP_UART_AI,
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// BSP_UART_RX_CPLT_CB);
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// inited = true;
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return 0;
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}
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int8_t AI_StartReceiving(AI_t *ai) {
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if (BSP_UART_Receive(BSP_UART_AI,&ai->RX,sizeof(ai->RX), true)==HAL_OK) {
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return DEVICE_OK;}
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return DEVICE_ERR;
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}
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int8_t AI_Get_NUC(AI_t *ai,AI_cmd_t* ai_cmd) {
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if(ai->RX.head[0]!='M'&&ai->RX.head[1]!='R'){
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return DEVICE_ERR;
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}
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// CRC16_Calc(&ai->RX,sizeof(ai->RX),ai->RX.crc16);
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// if(CRC16_Verify((const uint8_t*)&(ai->RX), sizeof(ai->RX.crc16))!=true){
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// return DEVICE_ERR;
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// }
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ai_cmd->gimbal_t.setpoint.pit=ai->RX.pitch;
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ai_cmd->gimbal_t.setpoint.yaw=ai->RX.yaw;
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ai_cmd->mode=ai->RX.mode;
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ai_cmd->gimbal_t.accl.pit=ai->RX.pitch_acc;
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ai_cmd->gimbal_t.vel.pit=ai->RX.pitch_vel;
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ai_cmd->gimbal_t.accl.yaw=ai->RX.yaw_acc;
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ai_cmd->gimbal_t.vel.yaw=ai->RX.yaw_vel;
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return DEVICE_OK;
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}
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int8_t AI_ParseHost(AI_t* ai,Gimbal_Feedback_t* g_feedback){
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ai->TX.head[0]='M';
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ai->TX.head[1]='R';
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// ai->TX.mode=2;
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ai->TX.pitch=g_feedback->motor.pit.rotor_abs_angle;
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ai->TX.yaw=g_feedback->motor.major_yaw.rotor_abs_angle;
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ai->TX.pitch_vel=g_feedback->motor.pit.rotor_speed;
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ai->TX.yaw_vel=g_feedback->motor.major_yaw.rotor_speed;
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ai->TX.q[0]=g_feedback->imu.quat.q1;
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ai->TX.q[1]=g_feedback->imu.quat.q2;
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ai->TX.q[2]=g_feedback->imu.quat.q3;
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ai->TX.q[3]=g_feedback->imu.quat.q0;
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ai->TX.bullet_count=10;
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ai->TX.bullet_speed=10;
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ai->TX.crc16=CRC16_Calc(((const uint8_t*)&(ai->TX)),sizeof(ai->TX)-sizeof(uint16_t),ai->TX.crc16);
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if(CRC16_Verify(((const uint8_t*)&(ai->TX)), sizeof(ai->TX))!=true){
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return DEVICE_ERR;
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}
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return DEVICE_OK;
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}
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int8_t AI_StartSend(AI_t *ai) {
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if (BSP_UART_Transmit(BSP_UART_AI,&ai->TX,sizeof(ai->TX), true)==HAL_OK)
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return DEVICE_OK;
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// else
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// return DEVICE_ERR;
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// } else {
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// if (HAL_UART_Transmit_DMA(BSP_UART_GetHandle(BSP_UART_AI),
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// (uint8_t *)&(ai->TX),
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// sizeof(ai->TX)) == HAL_OK)
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// return DEVICE_OK;
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// else
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// return DEVICE_ERR;
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// }
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}
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