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Core/Src/remote.c

@@ -0,0 +1,137 @@
+#include "main.h"
+#include "can.h"
+#include "dma.h"
+#include "usart.h"
+#include "gpio.h"
+#include "math.h"
+#include "remote.h"
+#include "string.h"
+#include "stdlib.h"
+
+#define DBUS_MAX_LEN     (50)
+#define DBUS_BUFLEN      (18)
+#define DBUS_HUART       huart3
+
+typedef __packed struct
+{
+  int16_t ch0;
+  int16_t ch1;
+  int16_t ch2;
+  int16_t ch3;
+  int16_t roll;
+  uint8_t sw1;
+  uint8_t sw2;
+} rc_info_t; 
+#define rc_Init   \
+{                 \
+		0,            \
+		0,            \
+		0,            \
+		0,            \
+		0,            \
+		0,            \
+		0,            \
+}
+
+uint8_t   dbus_buf[DBUS_BUFLEN];
+rc_info_t rc = rc_Init;
+extern UART_HandleTypeDef huart3;
+
+static int uart_receive_dma_no_it(UART_HandleTypeDef* huart, uint8_t* pData, uint32_t Size)
+{
+  uint32_t tmp1 = 0;
+  tmp1 = huart->RxState;
+	
+	if (tmp1 == HAL_UART_STATE_READY)
+	{
+		if ((pData == NULL) || (Size == 0))
+		{
+			return HAL_ERROR;
+		}
+ 
+		huart->pRxBuffPtr = pData;
+		huart->RxXferSize = Size;
+		huart->ErrorCode  = HAL_UART_ERROR_NONE;
+ 
+		HAL_DMA_Start(huart->hdmarx, (uint32_t)&huart->Instance->DR, (uint32_t)pData, Size);
+		
+	
+		SET_BIT(huart->Instance->CR3, USART_CR3_DMAR);
+		
+		return HAL_OK;
+	}
+	else
+	{
+		return HAL_BUSY;
+	}
+}
+
+void dbus_uart_init(void)
+{
+	__HAL_UART_CLEAR_IDLEFLAG(&DBUS_HUART);
+	
+	__HAL_UART_ENABLE_IT(&DBUS_HUART, UART_IT_IDLE);
+	
+	uart_receive_dma_no_it(&DBUS_HUART, dbus_buf, DBUS_MAX_LEN);
+}
+
+
+
+
+
+void rc_callback_handler(rc_info_t *rc, uint8_t *buff)
+{
+  rc->ch0 = (buff[0] | buff[1] << 8) & 0x07FF;
+  rc->ch0 -= 1024;
+  rc->ch1 = (buff[1] >> 3 | buff[2] << 5) & 0x07FF;
+  rc->ch1 -= 1024;
+  rc->ch2 = (buff[2] >> 6 | buff[3] << 2 | buff[4] << 10) & 0x07FF;
+  rc->ch2 -= 1024;
+  rc->ch3 = (buff[4] >> 1 | buff[5] << 7) & 0x07FF;
+  rc->ch3 -= 1024;
+  rc->roll = (buff[16] | (buff[17] << 8)) & 0x07FF;  
+  rc->roll -= 1024;
+ 
+  rc->sw1 = ((buff[5] >> 4) & 0x000C) >> 2;
+  rc->sw2 = (buff[5] >> 4) & 0x0003;
+	
+  if ((abs(rc->ch0) > 660) || \
+      (abs(rc->ch1) > 660) || \
+      (abs(rc->ch2) > 660) || \
+      (abs(rc->ch3) > 660))
+	  
+  {
+    memset(rc, 0, sizeof(rc_info_t));
+  }		
+}
+
+uint16_t dma_current_data_counter(DMA_Stream_TypeDef *dma_stream)
+{
+  return ((uint16_t)(dma_stream->NDTR));
+}
+ 
+static void uart_rx_idle_callback(UART_HandleTypeDef* huart)
+{
+	__HAL_UART_CLEAR_IDLEFLAG(huart);
+	
+	
+	if (huart == &DBUS_HUART)
+	{
+		__HAL_DMA_DISABLE(huart->hdmarx);
+ 
+		if ((DBUS_MAX_LEN - dma_current_data_counter(huart->hdmarx->Instance)) == DBUS_BUFLEN)
+		{
+			rc_callback_handler(&rc, dbus_buf);	
+		}
+		__HAL_DMA_SET_COUNTER(huart->hdmarx, DBUS_MAX_LEN);
+		__HAL_DMA_ENABLE(huart->hdmarx);
+	}
+}
+void uart_receive_handler(UART_HandleTypeDef *huart)
+{
+	if (__HAL_UART_GET_FLAG(huart, UART_FLAG_IDLE) && 
+			__HAL_UART_GET_IT_SOURCE(huart, UART_IT_IDLE))
+	{
+		uart_rx_idle_callback(huart);
+	}
+}