chore: 导入 Simba-OmniInfantry 基线(云台/底盘双工程)
- 云台(ROBOT_TYPE_GIMBAL)与底盘(ROBOT_TYPE_CHASSIS)完整固件源码 - 新增根级 .gitignore,排除 Keil MDK-ARM 构建产物(.o/.d/.crf/.axf/.lnp/.map/.htm/.sct/.dep/.iex/.lst 等) 与 *.uvguix.* / DebugConfig/(与机器绑定的 UI 布局) - core.autocrlf=false,避免固件源码在检出时被改动换行符
This commit is contained in:
@@ -0,0 +1,79 @@
|
||||
/* =============================================================================
|
||||
* dr16.c - DT7 遥控器 + 图传键鼠数据解析
|
||||
* 输入: usart3 整帧回调(18 字节,100000-8E1,每 14ms 一帧) --> dr16_parse()
|
||||
* 输出: dr16 结构体(摇杆 364~1684 中值 1024 / 拨杆 1上2下3中 / 键鼠 /
|
||||
* 按键翻转边沿 key_push_*)/ dr16_status / dr16_start_flag
|
||||
* 边沿语义(与 legacy 一致): Q/E/Shift/Ctrl 按下瞬间翻转保持;鼠标右键按下瞬间置1
|
||||
* dr16_start_flag: 1-未连接 2-收到首帧(robot_cmd 借此触发云台角度复位)
|
||||
* 掉线: dr16_offline() = 超过 DR16_OFFLINE_TIME_MS(25ms) 无帧
|
||||
* ========================================================================== */
|
||||
#include "dr16.h"
|
||||
|
||||
dr16_t dr16;
|
||||
uint8_t dr16_status = 0;
|
||||
uint8_t dr16_start_flag = 1;
|
||||
uint32_t dr16_last_tick = 0;
|
||||
uint32_t dr16_frame_count = 0;
|
||||
|
||||
void dr16_parse(const uint8_t * data)
|
||||
{
|
||||
uint8_t last_key_q = dr16.key_q;
|
||||
uint8_t last_key_e = dr16.key_e;
|
||||
uint8_t last_key_shift = dr16.key_shift;
|
||||
uint8_t last_key_ctrl = dr16.key_ctrl;
|
||||
uint8_t last_mouse_r = dr16.mouse_key_r;
|
||||
|
||||
dr16.rc_r_RL = (((uint16_t)data[1] << 8) | data[0]) & 0x07FF; // B[0:10]
|
||||
dr16.rc_r_UD = (((uint16_t)data[2] << 5) | (data[1] >> 3)) & 0x07FF; // B[11:21]
|
||||
dr16.rc_l_RL = (((uint16_t)data[4] << 10) | (((uint16_t)data[3] << 2) | (data[2] >> 6))) & 0x07FF; // B[22:32]
|
||||
dr16.rc_l_UD = (((uint16_t)data[5] << 7) | (data[4] >> 1)) & 0x07FF; // B[33:43]
|
||||
|
||||
dr16.s2 = (data[5] >> 4) & 0x03; // B[44:45]
|
||||
dr16.s1 = (data[5] >> 6) & 0x03; // B[46:47]
|
||||
|
||||
dr16.mouse_rl = (int16_t)(((uint16_t)data[7] << 8) | data[6]); // B[48:63]
|
||||
dr16.mouse_du = (int16_t)(((uint16_t)data[9] << 8) | data[8]); // B[64:79]
|
||||
dr16.mouse_wheel = (int16_t)(((uint16_t)data[11] << 8) | data[10]); // B[80:95]
|
||||
dr16.mouse_key_l = data[12];
|
||||
dr16.mouse_key_r = data[13];
|
||||
|
||||
dr16.key_w = data[14] & 0x01;
|
||||
dr16.key_s = (data[14] >> 1) & 0x01;
|
||||
dr16.key_a = (data[14] >> 2) & 0x01;
|
||||
dr16.key_d = (data[14] >> 3) & 0x01;
|
||||
dr16.key_shift = (data[14] >> 4) & 0x01;
|
||||
dr16.key_ctrl = (data[14] >> 5) & 0x01;
|
||||
dr16.key_q = (data[14] >> 6) & 0x01;
|
||||
dr16.key_e = (data[14] >> 7) & 0x01;
|
||||
dr16.key_alpha1 = (data[14] >> 9) & 0x01;
|
||||
dr16.key_alpha2 = (data[14] >> 10) & 0x01;
|
||||
|
||||
dr16.thumb_wheel = (int16_t)(((uint16_t)data[17] << 8) | data[16]); // B[120:135]
|
||||
|
||||
/* 按键边沿检测(legacy 语义:Q/E/Shift/Ctrl 按下翻转,鼠标右键按下瞬间置 1) */
|
||||
if (last_key_q == 0 && dr16.key_q == 1)
|
||||
dr16.key_push_q = !dr16.key_push_q;
|
||||
if (last_key_e == 0 && dr16.key_e == 1)
|
||||
dr16.key_push_e = !dr16.key_push_e;
|
||||
if (last_key_shift == 0 && dr16.key_shift == 1)
|
||||
dr16.key_push_shift = !dr16.key_push_shift;
|
||||
if (last_key_ctrl == 0 && dr16.key_ctrl == 1)
|
||||
dr16.key_push_ctrl = !dr16.key_push_ctrl;
|
||||
if (last_mouse_r == 0 && dr16.mouse_key_r == 1)
|
||||
dr16.mouse_key_push_r = 1;
|
||||
else
|
||||
dr16.mouse_key_push_r = 0;
|
||||
|
||||
dr16_last_tick = HAL_GetTick();
|
||||
dr16_status = 1;
|
||||
dr16_frame_count++;
|
||||
|
||||
/* 首次收到数据:置启动标志,触发云台角度复位(与 legacy Remote_StartFlag 语义一致) */
|
||||
if (dr16_start_flag == 1)
|
||||
dr16_start_flag = 2;
|
||||
}
|
||||
|
||||
uint8_t dr16_offline(void)
|
||||
{
|
||||
return (dr16_status == 0 || HAL_GetTick() - dr16_last_tick > DR16_OFFLINE_TIME_MS);
|
||||
}
|
||||
@@ -0,0 +1,63 @@
|
||||
#ifndef DR16_H
|
||||
#define DR16_H
|
||||
|
||||
#include <stdint.h>
|
||||
#include "stm32f4xx_hal.h"
|
||||
|
||||
#define DR16_OFFLINE_TIME_MS 25 // 遥控器掉线判定时间(legacy 25ms)
|
||||
|
||||
/* DT7 遥控器 + 图传键鼠数据结构,自 legacy Remote 模块移植
|
||||
* S1/S2 拨杆:1-上 2-下 3-中(与 legacy 解析保持一致)
|
||||
* 摇杆:364~1684,中值 1024 */
|
||||
|
||||
typedef struct
|
||||
{
|
||||
uint16_t rc_r_RL; // 通道0-右摇杆左右
|
||||
uint16_t rc_r_UD; // 通道1-右摇杆上下
|
||||
uint16_t rc_l_RL; // 通道2-左摇杆左右
|
||||
uint16_t rc_l_UD; // 通道3-左摇杆上下
|
||||
|
||||
uint8_t s1; // 左侧拨杆
|
||||
uint8_t s2; // 右侧拨杆
|
||||
|
||||
int16_t mouse_rl; // 鼠标X轴速度
|
||||
int16_t mouse_du; // 鼠标Y轴速度
|
||||
int16_t mouse_wheel; // 鼠标滚轮
|
||||
uint8_t mouse_key_l;
|
||||
uint8_t mouse_key_r;
|
||||
|
||||
uint8_t key_w;
|
||||
uint8_t key_s;
|
||||
uint8_t key_a;
|
||||
uint8_t key_d;
|
||||
uint8_t key_shift;
|
||||
uint8_t key_ctrl;
|
||||
uint8_t key_q;
|
||||
uint8_t key_e;
|
||||
uint8_t key_alpha1; // 图传扩展键
|
||||
uint8_t key_alpha2;
|
||||
|
||||
int16_t thumb_wheel; // 遥控器拨轮
|
||||
|
||||
/* 按键边沿检测(legacy 语义) */
|
||||
uint8_t key_push_q; // Q 键按下翻转
|
||||
uint8_t key_push_e; // E 键按下翻转
|
||||
uint8_t key_push_shift; // Shift 按下翻转
|
||||
uint8_t key_push_ctrl; // Ctrl 按下翻转
|
||||
uint8_t mouse_key_push_r; // 鼠标右键按下瞬间为 1
|
||||
} dr16_t;
|
||||
|
||||
extern dr16_t dr16;
|
||||
extern uint8_t dr16_status; // 1-已连接 0-掉线
|
||||
extern uint8_t dr16_start_flag; // 1-准备启动 2-收到首帧(与 legacy Remote_StartFlag 一致)
|
||||
|
||||
/* 解析一帧 18 字节原始数据(usart3 接收回调/中断上下文调用) */
|
||||
extern void dr16_parse(const uint8_t * data);
|
||||
|
||||
/* 最近收帧 tick(HAL_GetTick),用于掉线检测 */
|
||||
extern uint32_t dr16_last_tick;
|
||||
|
||||
/* 判定遥控器是否掉线 */
|
||||
extern uint8_t dr16_offline(void);
|
||||
|
||||
#endif
|
||||
Reference in New Issue
Block a user