125 lines
2.6 KiB
C
125 lines
2.6 KiB
C
#include "main.h"
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#include "dma.h"
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#include "gpio.h"
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#include "Remote.h"
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#include "usart.h"
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uint8_t Remote_Status=1;
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uint8_t Remote_StartFlag=1;
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uint8_t dbus_buf[DBUS_BUFLEN];
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rc_info_t rc = rc_Init;
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extern UART_HandleTypeDef huart3;//remote
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//作用：启动UART的DMA接收，不使用中断
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static int uart_receive_dma_no_it(UART_HandleTypeDef* huart, uint8_t* pData, uint32_t Size)
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{
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uint32_t tmp1 = 0;
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tmp1 = huart->RxState;
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if (tmp1 == HAL_UART_STATE_READY)
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{
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if ((pData == NULL) || (Size == 0))
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{
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return HAL_ERROR;
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}
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huart->pRxBuffPtr = pData;
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huart->RxXferSize = Size;
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huart->ErrorCode = HAL_UART_ERROR_NONE;
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HAL_DMA_Start(huart->hdmarx, (uint32_t)&huart->Instance->DR, (uint32_t)pData, Size);
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SET_BIT(huart->Instance->CR3, USART_CR3_DMAR);
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return HAL_OK;
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}
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else
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{
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return HAL_BUSY;
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}
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}
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//初始化
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void dbus_uart_init(void)
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{
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__HAL_UART_CLEAR_IDLEFLAG(&DBUS_HUART);
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__HAL_UART_ENABLE_IT(&DBUS_HUART, UART_IT_IDLE);
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uart_receive_dma_no_it(&DBUS_HUART, dbus_buf, DBUS_MAX_LEN);
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}
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//数据解析
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Remote_Data Remote_RxData = rc_Init;
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void rc_callback_handler(rc_info_t *rc, uint8_t *buff)
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{
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rc->ch0 = (buff[0] | buff[1] << 8) & 0x07FF;
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rc->ch0 -= 1024;
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rc->ch1 = (buff[1] >> 3 | buff[2] << 5) & 0x07FF;
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rc->ch1 -= 1024;
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rc->ch2 = (buff[2] >> 6 | buff[3] << 2 | buff[4] << 10) & 0x07FF;
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rc->ch2 -= 1024;
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rc->ch3 = (buff[4] >> 1 | buff[5] << 7) & 0x07FF;
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rc->ch3 -= 1024;
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rc->roll = (buff[16] | (buff[17] << 8)) & 0x07FF;
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rc->roll -= 1024;
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rc->sw1 = ((buff[5] >> 4) & 0x000C) >> 2;
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rc->sw2 = (buff[5] >> 4) & 0x0003;
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Remote_RxData.Remote_R_RL = rc->ch0 ;
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Remote_RxData.Remote_R_UD = rc->ch1;
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Remote_RxData.Remote_L_RL = rc->ch2 ;
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Remote_RxData.Remote_L_UD = rc->ch3;
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Remote_RxData.Remote_ThumbWheel = rc->roll ;
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Remote_RxData.Remote_LS = rc->sw1 ;
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Remote_RxData.Remote_RS = rc->sw2 ;
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}
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//获取DMA当前剩余数据计数
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uint16_t dma_current_data_counter(DMA_Stream_TypeDef *dma_stream)
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{
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return ((uint16_t)(dma_stream->NDTR));
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}
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//空闲中断接受
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static void uart_rx_idle_callback(UART_HandleTypeDef* huart)
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{
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__HAL_UART_CLEAR_IDLEFLAG(huart);
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if (huart == &DBUS_HUART)
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{
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__HAL_DMA_DISABLE(huart->hdmarx);
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if ((DBUS_MAX_LEN - dma_current_data_counter(huart->hdmarx->Instance)) == DBUS_BUFLEN)
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{
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rc_callback_handler(&rc, dbus_buf);
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}
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__HAL_DMA_SET_COUNTER(huart->hdmarx, DBUS_MAX_LEN);
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__HAL_DMA_ENABLE(huart->hdmarx);
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}
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}
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//中断接受
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void uart_receive_handler(UART_HandleTypeDef *huart)
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{
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if (__HAL_UART_GET_FLAG(huart, UART_FLAG_IDLE) &&
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__HAL_UART_GET_IT_SOURCE(huart, UART_IT_IDLE))
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{
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uart_rx_idle_callback(huart);
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}
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} |