LSMushui
a4da5ad17c
- 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
80 lines
3.4 KiB
C
80 lines
3.4 KiB
C
/* =============================================================================
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* dr16.c - DT7 遥控器 + 图传键鼠数据解析
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* 输入: usart3 整帧回调(18 字节,100000-8E1,每 14ms 一帧) --> dr16_parse()
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* 输出: dr16 结构体(摇杆 364~1684 中值 1024 / 拨杆 1上2下3中 / 键鼠 /
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* 按键翻转边沿 key_push_*)/ dr16_status / dr16_start_flag
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* 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
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* dr16_start_flag: 1-未连接 2-收到首帧(robot_cmd 借此触发云台角度复位)
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* 掉线: dr16_offline() = 超过 DR16_OFFLINE_TIME_MS(25ms) 无帧
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* ========================================================================== */
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#include "dr16.h"
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dr16_t dr16;
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uint8_t dr16_status = 0;
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uint8_t dr16_start_flag = 1;
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uint32_t dr16_last_tick = 0;
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uint32_t dr16_frame_count = 0;
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void dr16_parse(const uint8_t * data)
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{
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uint8_t last_key_q = dr16.key_q;
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uint8_t last_key_e = dr16.key_e;
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uint8_t last_key_shift = dr16.key_shift;
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uint8_t last_key_ctrl = dr16.key_ctrl;
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uint8_t last_mouse_r = dr16.mouse_key_r;
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dr16.rc_r_RL = (((uint16_t)data[1] << 8) | data[0]) & 0x07FF; // B[0:10]
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dr16.rc_r_UD = (((uint16_t)data[2] << 5) | (data[1] >> 3)) & 0x07FF; // B[11:21]
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dr16.rc_l_RL = (((uint16_t)data[4] << 10) | (((uint16_t)data[3] << 2) | (data[2] >> 6))) & 0x07FF; // B[22:32]
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dr16.rc_l_UD = (((uint16_t)data[5] << 7) | (data[4] >> 1)) & 0x07FF; // B[33:43]
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dr16.s2 = (data[5] >> 4) & 0x03; // B[44:45]
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dr16.s1 = (data[5] >> 6) & 0x03; // B[46:47]
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dr16.mouse_rl = (int16_t)(((uint16_t)data[7] << 8) | data[6]); // B[48:63]
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dr16.mouse_du = (int16_t)(((uint16_t)data[9] << 8) | data[8]); // B[64:79]
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dr16.mouse_wheel = (int16_t)(((uint16_t)data[11] << 8) | data[10]); // B[80:95]
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dr16.mouse_key_l = data[12];
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dr16.mouse_key_r = data[13];
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dr16.key_w = data[14] & 0x01;
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dr16.key_s = (data[14] >> 1) & 0x01;
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dr16.key_a = (data[14] >> 2) & 0x01;
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dr16.key_d = (data[14] >> 3) & 0x01;
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dr16.key_shift = (data[14] >> 4) & 0x01;
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dr16.key_ctrl = (data[14] >> 5) & 0x01;
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dr16.key_q = (data[14] >> 6) & 0x01;
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dr16.key_e = (data[14] >> 7) & 0x01;
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dr16.key_alpha1 = (data[14] >> 9) & 0x01;
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dr16.key_alpha2 = (data[14] >> 10) & 0x01;
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dr16.thumb_wheel = (int16_t)(((uint16_t)data[17] << 8) | data[16]); // B[120:135]
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/* 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) */
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if (last_key_q == 0 && dr16.key_q == 1)
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dr16.key_push_q = !dr16.key_push_q;
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if (last_key_e == 0 && dr16.key_e == 1)
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dr16.key_push_e = !dr16.key_push_e;
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if (last_key_shift == 0 && dr16.key_shift == 1)
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dr16.key_push_shift = !dr16.key_push_shift;
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if (last_key_ctrl == 0 && dr16.key_ctrl == 1)
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dr16.key_push_ctrl = !dr16.key_push_ctrl;
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if (last_mouse_r == 0 && dr16.mouse_key_r == 1)
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dr16.mouse_key_push_r = 1;
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else
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dr16.mouse_key_push_r = 0;
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dr16_last_tick = HAL_GetTick();
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dr16_status = 1;
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dr16_frame_count++;
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/* 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) */
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if (dr16_start_flag == 1)
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dr16_start_flag = 2;
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}
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uint8_t dr16_offline(void)
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{
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return (dr16_status == 0 || HAL_GetTick() - dr16_last_tick > DR16_OFFLINE_TIME_MS);
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}
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