96 lines
3.4 KiB
C
96 lines
3.4 KiB
C
#include "Remote.h"
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#include "main.h"
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#include "BSP_USART.h"
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//===============变量区
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extern UART_HandleTypeDef huart3; //usart.c
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extern DMA_HandleTypeDef hdma_usart3_rx; //usart.c
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const RC_ctrl_t *local_rc_ctrl;
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static uint8_t sbus_rx_buf[2][SBUS_RX_BUF_NUM]; //双缓冲区
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RC_ctrl_t rc_ctrl;
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//===============内部函数
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const RC_ctrl_t *remote_GetControlPoint(void)
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{
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return &rc_ctrl;
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}
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static void remote_SbusToRC(volatile const uint8_t *sbus_buf, RC_ctrl_t *rc_ctrl)
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{
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if (sbus_buf == NULL || rc_ctrl == NULL)
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{
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return;
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}
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rc_ctrl->rc.ch[0] = (sbus_buf[0] | (sbus_buf[1] << 8)) & 0x07ff; //!< Channel 0
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rc_ctrl->rc.ch[1] = ((sbus_buf[1] >> 3) | (sbus_buf[2] << 5)) & 0x07ff; //!< Channel 1
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rc_ctrl->rc.ch[2] = ((sbus_buf[2] >> 6) | (sbus_buf[3] << 2) | //!< Channel 2
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(sbus_buf[4] << 10)) &0x07ff;
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rc_ctrl->rc.ch[3] = ((sbus_buf[4] >> 1) | (sbus_buf[5] << 7)) & 0x07ff; //!< Channel 3
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rc_ctrl->rc.s[0] = ((sbus_buf[5] >> 4) & 0x0003); //!< Switch left
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rc_ctrl->rc.s[1] = ((sbus_buf[5] >> 4) & 0x000C) >> 2; //!< Switch right
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rc_ctrl->mouse.x = sbus_buf[6] | (sbus_buf[7] << 8); //!< Mouse X axis
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rc_ctrl->mouse.y = sbus_buf[8] | (sbus_buf[9] << 8); //!< Mouse Y axis
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rc_ctrl->mouse.z = sbus_buf[10] | (sbus_buf[11] << 8); //!< Mouse Z axis
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rc_ctrl->mouse.press_l = sbus_buf[12]; //!< Mouse Left Is Press ?
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rc_ctrl->mouse.press_r = sbus_buf[13]; //!< Mouse Right Is Press ?
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rc_ctrl->key.v = sbus_buf[14] | (sbus_buf[15] << 8); //!< KeyBoard value
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rc_ctrl->rc.ch[4] = sbus_buf[16] | (sbus_buf[17] << 8); //NULL
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rc_ctrl->rc.ch[0] -= RC_CH_VALUE_OFFSET;
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rc_ctrl->rc.ch[1] -= RC_CH_VALUE_OFFSET;
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rc_ctrl->rc.ch[2] -= RC_CH_VALUE_OFFSET;
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rc_ctrl->rc.ch[3] -= RC_CH_VALUE_OFFSET;
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rc_ctrl->rc.ch[4] -= RC_CH_VALUE_OFFSET;
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}
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//===============公共函数
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void Remote_Init(void)//遥控器初始化
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{
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local_rc_ctrl = remote_GetControlPoint();
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DBUS_DMA_Init(sbus_rx_buf[0], sbus_rx_buf[1], SBUS_RX_BUF_NUM);
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}
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void Remote_UART_IDLE_Callback(void)
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{
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static uint16_t this_time_rx_len = 0;
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// 清除 IDLE 标志（注意：原代码误清 PEFLAG，应清 IDLE）
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__HAL_UART_CLEAR_IDLEFLAG(&huart3);
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if ((hdma_usart3_rx.Instance->CR & DMA_SxCR_CT) == RESET)
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{
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/* 当前使用的是 Memory 0 */
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__HAL_DMA_DISABLE(&hdma_usart3_rx);
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this_time_rx_len = SBUS_RX_BUF_NUM - hdma_usart3_rx.Instance->NDTR;
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hdma_usart3_rx.Instance->NDTR = SBUS_RX_BUF_NUM;
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hdma_usart3_rx.Instance->CR |= DMA_SxCR_CT; // 切换到 Memory 1
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__HAL_DMA_ENABLE(&hdma_usart3_rx);
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if (this_time_rx_len == RC_FRAME_LENGTH)
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{
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remote_SbusToRC(sbus_rx_buf[0], &rc_ctrl);
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}
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}
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else
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{
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/* 当前使用的是 Memory 1 */
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__HAL_DMA_DISABLE(&hdma_usart3_rx);
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this_time_rx_len = SBUS_RX_BUF_NUM - hdma_usart3_rx.Instance->NDTR;
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hdma_usart3_rx.Instance->NDTR = SBUS_RX_BUF_NUM;
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hdma_usart3_rx.Instance->CR &= ~DMA_SxCR_CT; // 切换回 Memory 0
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__HAL_DMA_ENABLE(&hdma_usart3_rx);
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if (this_time_rx_len == RC_FRAME_LENGTH)
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{
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remote_SbusToRC(sbus_rx_buf[1], &rc_ctrl);
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}
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}
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}
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