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遥控器控制电机转动，队列用法还没实现

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This commit is contained in:
Wei Zitong
2026-07-17 20:37:55 +08:00
parent 8b24a3da19
commit 15c5074a0a
23 changed files with 8065 additions and 36 deletions
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8
Core/Inc/bsp_rc.h Normal file
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@@ -0,0 +1,8 @@
#ifndef BSP_RC_H
#define BSP_RC_H
#include "main.h"
extern void RC_init(uint8_t *rx1_buf, uint8_t *rx2_buf, uint16_t dma_buf_num);
extern void RC_unable(void);
extern void RC_restart(uint16_t dma_buf_num);
#endif

52
Core/Inc/dma.h Normal file
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@@ -0,0 +1,52 @@
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file dma.h
* @brief This file contains all the function prototypes for
* the dma.c file
******************************************************************************
* @attention
*
* Copyright (c) 2026 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __DMA_H__
#define __DMA_H__
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "main.h"
/* DMA memory to memory transfer handles -------------------------------------*/
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
/* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */
void MX_DMA_Init(void);
/* USER CODE BEGIN Prototypes */
/* USER CODE END Prototypes */
#ifdef __cplusplus
}
#endif
#endif /* __DMA_H__ */

105
Core/Inc/remote_control.h Normal file
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@@ -0,0 +1,105 @@
/**
****************************(C) COPYRIGHT 2016 DJI****************************
* @file remote_control.c/h
* @brief ң<><D2A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ң<EFBFBD><D2A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͨ<EFBFBD><CDA8><EFBFBD><EFBFBD><EFBFBD><EFBFBD>SBUS<55><53>Э<EFBFBD>鴫<EFBFBD>䣬<EFBFBD><E4A3AC><EFBFBD><EFBFBD>DMA<4D><41><EFBFBD>䷽ʽ<E4B7BD><CABD>ԼCPU
* <20><>Դ<EFBFBD><D4B4><EFBFBD><EFBFBD><EFBFBD>ô<EFBFBD><C3B4>ڿ<EFBFBD><DABF><EFBFBD><EFBFBD>ж<EFBFBD><D0B6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͬʱ<CDAC>ṩһЩ<D2BB><D0A9><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>DMA<4D><41><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
* <20>ķ<EFBFBD>ʽ<EFBFBD><CABD>֤<EFBFBD>Ȳ<EFBFBD>ε<EFBFBD><CEB5>ȶ<EFBFBD><C8B6>ԡ<EFBFBD>
* @note
* @history
* Version Date Author Modification
* V1.0.0 Dec-26-2018 RM 1. <20><><EFBFBD>
*
@verbatim
==============================================================================
==============================================================================
@endverbatim
****************************(C) COPYRIGHT 2016 DJI****************************
*/
#ifndef REMOTE_CONTROL_H
#define REMOTE_CONTROL_H
#include "main.h"
#include "bsp_rc.h"
#define SBUS_RX_BUF_NUM 36u
#define RC_FRAME_LENGTH 18u
#define RC_CH_VALUE_MIN ((uint16_t)364)
#define RC_CH_VALUE_OFFSET ((uint16_t)1024)
#define RC_CH_VALUE_MAX ((uint16_t)1684)
/* ----------------------- RC Switch Definition----------------------------- */
#define RC_SW_UP ((uint16_t)1)
#define RC_SW_MID ((uint16_t)3)
#define RC_SW_DOWN ((uint16_t)2)
#define switch_is_down(s) (s == RC_SW_DOWN)
#define switch_is_mid(s) (s == RC_SW_MID)
#define switch_is_up(s) (s == RC_SW_UP)
/* ----------------------- PC Key Definition-------------------------------- */
#define KEY_PRESSED_OFFSET_W ((uint16_t)1 << 0)
#define KEY_PRESSED_OFFSET_S ((uint16_t)1 << 1)
#define KEY_PRESSED_OFFSET_A ((uint16_t)1 << 2)
#define KEY_PRESSED_OFFSET_D ((uint16_t)1 << 3)
#define KEY_PRESSED_OFFSET_SHIFT ((uint16_t)1 << 4)
#define KEY_PRESSED_OFFSET_CTRL ((uint16_t)1 << 5)
#define KEY_PRESSED_OFFSET_Q ((uint16_t)1 << 6)
#define KEY_PRESSED_OFFSET_E ((uint16_t)1 << 7)
#define KEY_PRESSED_OFFSET_R ((uint16_t)1 << 8)
#define KEY_PRESSED_OFFSET_F ((uint16_t)1 << 9)
#define KEY_PRESSED_OFFSET_G ((uint16_t)1 << 10)
#define KEY_PRESSED_OFFSET_Z ((uint16_t)1 << 11)
#define KEY_PRESSED_OFFSET_X ((uint16_t)1 << 12)
#define KEY_PRESSED_OFFSET_C ((uint16_t)1 << 13)
#define KEY_PRESSED_OFFSET_V ((uint16_t)1 << 14)
#define KEY_PRESSED_OFFSET_B ((uint16_t)1 << 15)
/* ----------------------- Data Struct ------------------------------------- */
typedef __packed struct
{
__packed struct
{
int16_t ch[5];
char s[2];
} rc;
__packed struct
{
int16_t x;
int16_t y;
int16_t z;
uint8_t press_l;
uint8_t press_r;
} mouse;
__packed struct
{
uint16_t v;
} key;
} RC_ctrl_t;
/* ----------------------- Internal Data ----------------------------------- */
/**
* @brief remote control init
* @param[in] none
* @retval none
*/
/**
* @brief ң<><D2A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC>
* @param[in] none
* @retval none
*/
extern void remote_control_init(void);
/**
* @brief get remote control data point
* @param[in] none
* @retval remote control data point
*/
/**
* @brief <20><>ȡң<C8A1><D2A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ָ<EFBFBD><D6B8>
* @param[in] none
* @retval ң<><D2A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ָ<EFBFBD><D6B8>
*/
extern const RC_ctrl_t *get_remote_control_point(void);
extern void RC_USART3_IRQHandler(void);
#endif

2
Core/Inc/stm32f4xx_hal_conf.h
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@@ -64,7 +64,7 @@
/* #define HAL_MMC_MODULE_ENABLED */
/* #define HAL_SPI_MODULE_ENABLED */
#define HAL_TIM_MODULE_ENABLED
/* #define HAL_UART_MODULE_ENABLED */
#define HAL_UART_MODULE_ENABLED
/* #define HAL_USART_MODULE_ENABLED */
/* #define HAL_IRDA_MODULE_ENABLED */
/* #define HAL_SMARTCARD_MODULE_ENABLED */

2
Core/Inc/stm32f4xx_it.h
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@@ -52,7 +52,9 @@ void MemManage_Handler(void);
void BusFault_Handler(void);
void UsageFault_Handler(void);
void DebugMon_Handler(void);
void DMA1_Stream1_IRQHandler(void);
void CAN1_RX0_IRQHandler(void);
void USART3_IRQHandler(void);
void TIM6_DAC_IRQHandler(void);
/* USER CODE BEGIN EFP */

52
Core/Inc/usart.h Normal file
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@@ -0,0 +1,52 @@
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file usart.h
* @brief This file contains all the function prototypes for
* the usart.c file
******************************************************************************
* @attention
*
* Copyright (c) 2026 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __USART_H__
#define __USART_H__
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "main.h"
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
extern UART_HandleTypeDef huart3;
/* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */
void MX_USART3_UART_Init(void);
/* USER CODE BEGIN Prototypes */
/* USER CODE END Prototypes */
#ifdef __cplusplus
}
#endif
#endif /* __USART_H__ */

2
Core/Src/CAN_receive.c
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@@ -22,7 +22,7 @@
extern CAN_HandleTypeDef hcan1;
//motor data read
//motor data read读取电机数据，更新电机状态结构体
#define get_motor_measure(ptr, data) \
{ \
(ptr)->last_ecd = (ptr)->ecd; \

49
Core/Src/bsp_rc.c Normal file
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@@ -0,0 +1,49 @@
#include "bsp_rc.h"
#include "main.h"
extern UART_HandleTypeDef huart3;
extern DMA_HandleTypeDef hdma_usart3_rx;
void RC_init(uint8_t *rx1_buf, uint8_t *rx2_buf, uint16_t dma_buf_num)
{
//enable the DMA transfer for the receiver request
//ʹ<><CAB9>DMA<4D><41><EFBFBD>ڽ<EFBFBD><DABD><EFBFBD>
SET_BIT(huart3.Instance->CR3, USART_CR3_DMAR);
//enalbe idle interrupt
//ʹ<>ܿ<EFBFBD><DCBF><EFBFBD><EFBFBD>ж<EFBFBD>
__HAL_UART_ENABLE_IT(&huart3, UART_IT_IDLE);
//disable DMA
//ʧЧDMA
__HAL_DMA_DISABLE(&hdma_usart3_rx);
while(hdma_usart3_rx.Instance->CR & DMA_SxCR_EN)
{
__HAL_DMA_DISABLE(&hdma_usart3_rx);
}
hdma_usart3_rx.Instance->PAR = (uint32_t) & (USART3->DR);
//memory buffer 1
//<2F>ڴ滺<DAB4><E6BBBA><EFBFBD><EFBFBD>1
hdma_usart3_rx.Instance->M0AR = (uint32_t)(rx1_buf);
//memory buffer 2
//<2F>ڴ滺<DAB4><E6BBBA><EFBFBD><EFBFBD>2
hdma_usart3_rx.Instance->M1AR = (uint32_t)(rx2_buf);
//data length
//<2F><><EFBFBD>ݳ<EFBFBD><DDB3><EFBFBD>
hdma_usart3_rx.Instance->NDTR = dma_buf_num;
//enable double memory buffer
//ʹ<><CAB9>˫<EFBFBD><CBAB><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
SET_BIT(hdma_usart3_rx.Instance->CR, DMA_SxCR_DBM);
//enable DMA
//ʹ<><CAB9>DMA
__HAL_DMA_ENABLE(&hdma_usart3_rx);
}

8
Core/Src/chassis_control.c
View File

@@ -17,10 +17,10 @@ static int16_t target_speed_m4;
*/
void chassis_control_init(void)
{
pid_init(&pid_motor1, 15.0f, 0.1f, 2.0f, 16384.0f, 1000.0f);//底盘电机1
pid_init(&pid_motor2, 15.0f, 0.1f, 2.0f, 16384.0f, 1000.0f);//底盘电机2
pid_init(&pid_motor3, 15.0f, 0.1f, 2.0f, 16384.0f, 1000.0f);//底盘电机3
pid_init(&pid_motor4, 15.0f, 0.1f, 2.0f, 16384.0f, 1000.0f);//底盘电机4
pid_init(&pid_motor1, 15.0f, 0.1f, 2.0f, 4000.0f, 1000.0f);//底盘电机1
pid_init(&pid_motor2, 15.0f, 0.1f, 2.0f, 4000.0f, 1000.0f);//底盘电机2
pid_init(&pid_motor3, 15.0f, 0.1f, 2.0f, 4000.0f, 1000.0f);//底盘电机3
pid_init(&pid_motor4, 15.0f, 0.1f, 2.0f, 4000.0f, 1000.0f);//底盘电机4
}
/**

55
Core/Src/dma.c Normal file
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@@ -0,0 +1,55 @@
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file dma.c
* @brief This file provides code for the configuration
* of all the requested memory to memory DMA transfers.
******************************************************************************
* @attention
*
* Copyright (c) 2026 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "dma.h"
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
/*----------------------------------------------------------------------------*/
/* Configure DMA */
/*----------------------------------------------------------------------------*/
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/**
* Enable DMA controller clock
*/
void MX_DMA_Init(void)
{
/* DMA controller clock enable */
__HAL_RCC_DMA1_CLK_ENABLE();
/* DMA interrupt init */
/* DMA1_Stream1_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA1_Stream1_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(DMA1_Stream1_IRQn);
}
/* USER CODE BEGIN 2 */
/* USER CODE END 2 */

68
Core/Src/freertos.c
View File

@@ -28,9 +28,12 @@
#include "bsp_can.h"
#include "CAN_receive.h"
#include "chassis_control.h"
#include "bsp_rc.h"
#include "remote_control.h"
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
typedef StaticQueue_t osStaticMessageQDef_t;
/* USER CODE BEGIN PTD */
/* USER CODE END PTD */
@@ -63,6 +66,24 @@ const osThreadAttr_t Chassis_Control_attributes = {
.stack_size = 128 * 4,
.priority = (osPriority_t) osPriorityNormal,
};
/* Definitions for Command_Task */
osThreadId_t Command_TaskHandle;
const osThreadAttr_t Command_Task_attributes = {
.name = "Command_Task",
.stack_size = 128 * 4,
.priority = (osPriority_t) osPriorityNormal,
};
/* Definitions for chassis_speed_queue */
osMessageQueueId_t chassis_speed_queueHandle;
uint8_t chassis_speed_queueBuffer[ 5 * sizeof( uint16_t ) ];
osStaticMessageQDef_t chassis_speed_queueControlBlock;
const osMessageQueueAttr_t chassis_speed_queue_attributes = {
.name = "chassis_speed_queue",
.cb_mem = &chassis_speed_queueControlBlock,
.cb_size = sizeof(chassis_speed_queueControlBlock),
.mq_mem = &chassis_speed_queueBuffer,
.mq_size = sizeof(chassis_speed_queueBuffer)
};
/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN FunctionPrototypes */
@@ -71,6 +92,7 @@ const osThreadAttr_t Chassis_Control_attributes = {
void StartCAN_Receive_Task(void *argument);
void StartChassis_Control_Task(void *argument);
void StartCommand_Task(void *argument);
void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */
@@ -96,6 +118,10 @@ void MX_FREERTOS_Init(void) {
/* start timers, add new ones, ... */
/* USER CODE END RTOS_TIMERS */
/* Create the queue(s) */
/* creation of chassis_speed_queue */
chassis_speed_queueHandle = osMessageQueueNew (5, sizeof(uint16_t), &chassis_speed_queue_attributes);
/* USER CODE BEGIN RTOS_QUEUES */
/* add queues, ... */
/* USER CODE END RTOS_QUEUES */
@@ -107,6 +133,9 @@ void MX_FREERTOS_Init(void) {
/* creation of Chassis_Control */
Chassis_ControlHandle = osThreadNew(StartChassis_Control_Task, NULL, &Chassis_Control_attributes);
/* creation of Command_Task */
Command_TaskHandle = osThreadNew(StartCommand_Task, NULL, &Command_Task_attributes);
/* USER CODE BEGIN RTOS_THREADS */
/* add threads, ... */
/* USER CODE END RTOS_THREADS */
@@ -147,18 +176,49 @@ void StartChassis_Control_Task(void *argument)
{
/* USER CODE BEGIN StartChassis_Control_Task */
chassis_control_init();
chassis_set_speed(100, 0, 0, 0);
int16_t speed = 0;
/* Infinite loop */
for(;;)
{
chassis_control_task();//电机控制
if (osMessageQueueGet(chassis_speed_queueHandle, &speed, NULL, 0) == osOK)
{
chassis_set_speed(speed, 0, 0, 0);
}
chassis_control_task();
osDelay(1);
}
/* USER CODE END StartChassis_Control_Task */
}
/* USER CODE BEGIN Header_StartCommand_Task */
/**
* @brief Function implementing the Command_Task thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_StartCommand_Task */
void StartCommand_Task(void *argument)
{
/* USER CODE BEGIN StartCommand_Task */
remote_control_init();
const RC_ctrl_t *rc;
int16_t speed;
/* Infinite loop */
for(;;)
{
rc = get_remote_control_point();//rc=获取遥控器数据
speed = (int16_t)((float)rc->rc.ch[3] * 5000.0f / 660.0f);//根据通道三的值，映射到-5000到5000之间
if (speed > 5000)
speed = 5000;
if (speed < -5000)
speed = -5000;
osMessageQueuePut(chassis_speed_queueHandle, &speed, 0, 0);
osDelay(10);
}
/* USER CODE END StartCommand_Task */
}
/* Private application code --------------------------------------------------*/
/* USER CODE BEGIN Application */
/* USER CODE END Application */
/* USER CODE END Application */

1
Core/Src/gpio.c
View File

@@ -45,6 +45,7 @@ void MX_GPIO_Init(void)
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOD_CLK_ENABLE();
__HAL_RCC_GPIOC_CLK_ENABLE();
__HAL_RCC_GPIOH_CLK_ENABLE();
}

4
Core/Src/main.c
View File

@@ -20,6 +20,8 @@
#include "main.h"
#include "cmsis_os.h"
#include "can.h"
#include "dma.h"
#include "usart.h"
#include "gpio.h"
/* Private includes ----------------------------------------------------------*/
@@ -91,7 +93,9 @@ int main(void)
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_DMA_Init();
MX_CAN1_Init();
MX_USART3_UART_Init();
/* USER CODE BEGIN 2 */
can_filter_init();
/* USER CODE END 2 */

194
Core/Src/remote_control.c Normal file
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@@ -0,0 +1,194 @@
/**
****************************(C) COPYRIGHT 2019 DJI****************************
* @file remote_control.c/h
* @brief ?????????????????????????SBUS??<3F><>?<3F><>??????DMA????????CPU
* ????????????????<3F><>????????????????????<3F><>????????DMA??????
* ??????????<3F><>???????
* @note ????????????????<3F><>???????????freeRTOS????
* @history
* Version Date Author Modification
* V1.0.0 Dec-01-2019 RM 1. ???
*
@verbatim
==============================================================================
==============================================================================
@endverbatim
****************************(C) COPYRIGHT 2019 DJI****************************
*/
#include "remote_control.h"
#include "main.h"
extern UART_HandleTypeDef huart3;
extern DMA_HandleTypeDef hdma_usart3_rx;
/**
* @brief remote control protocol resolution
* @param[in] sbus_buf: raw data point
* @param[out] rc_ctrl: remote control data struct point
* @retval none
*/
/**
* @brief ?????<3F><>?????
* @param[in] sbus_buf: ??????????
* @param[out] rc_ctrl: ??????????
* @retval none
*/
static void sbus_to_rc(volatile const uint8_t *sbus_buf, RC_ctrl_t *rc_ctrl);
//remote control data
//????????????
RC_ctrl_t rc_ctrl;
//receive data, 18 bytes one frame, but set 36 bytes
//????????????18??????????36????????????DMA???????
static uint8_t sbus_rx_buf[2][SBUS_RX_BUF_NUM];
/**
* @brief remote control init
* @param[in] none
* @retval none
*/
/**
* @brief ??????????
* @param[in] none
* @retval none
*/
void remote_control_init(void)
{
RC_init(sbus_rx_buf[0], sbus_rx_buf[1], SBUS_RX_BUF_NUM);
}
/**
* @brief get remote control data point
* @param[in] none
* @retval remote control data point
*/
/**
* @brief ???????????????
* @param[in] none
* @retval ????????????
*/
const RC_ctrl_t *get_remote_control_point(void)
{
return &rc_ctrl;
}
//?????<3F><>?
void RC_USART3_IRQHandler(void)
{
if(huart3.Instance->SR & UART_FLAG_RXNE)//?????????
{
__HAL_UART_CLEAR_PEFLAG(&huart3);
}
else if(USART3->SR & UART_FLAG_IDLE)
{
static uint16_t this_time_rx_len = 0;
__HAL_UART_CLEAR_PEFLAG(&huart3);
if ((hdma_usart3_rx.Instance->CR & DMA_SxCR_CT) == RESET)
{
/* Current memory buffer used is Memory 0 */
//disable DMA
//?<3F><>DMA
__HAL_DMA_DISABLE(&hdma_usart3_rx);
//get receive data length, length = set_data_length - remain_length
//??????????????,???? = ?څ???? - ?????
this_time_rx_len = SBUS_RX_BUF_NUM - hdma_usart3_rx.Instance->NDTR;
//reset set_data_lenght
//?????څ???????
hdma_usart3_rx.Instance->NDTR = SBUS_RX_BUF_NUM;
//set memory buffer 1
//?څ??????1
hdma_usart3_rx.Instance->CR |= DMA_SxCR_CT;
//enable DMA
//???DMA
__HAL_DMA_ENABLE(&hdma_usart3_rx);
if(this_time_rx_len == RC_FRAME_LENGTH)
{
sbus_to_rc(sbus_rx_buf[0], &rc_ctrl);
}
}
else
{
/* Current memory buffer used is Memory 1 */
//disable DMA
//?<3F><>DMA
__HAL_DMA_DISABLE(&hdma_usart3_rx);
//get receive data length, length = set_data_length - remain_length
//??????????????,???? = ?څ???? - ?????
this_time_rx_len = SBUS_RX_BUF_NUM - hdma_usart3_rx.Instance->NDTR;
//reset set_data_lenght
//?????څ???????
hdma_usart3_rx.Instance->NDTR = SBUS_RX_BUF_NUM;
//set memory buffer 0
//?څ??????0
DMA1_Stream1->CR &= ~(DMA_SxCR_CT);
//enable DMA
//???DMA
__HAL_DMA_ENABLE(&hdma_usart3_rx);
if(this_time_rx_len == RC_FRAME_LENGTH)
{
//?????????????
sbus_to_rc(sbus_rx_buf[1], &rc_ctrl);
}
}
}
}
/**
* @brief remote control protocol resolution
* @param[in] sbus_buf: raw data point
* @param[out] rc_ctrl: remote control data struct point
* @retval none
*/
/**
* @brief ?????<3F><>?????
* @param[in] sbus_buf: ??????????
* @param[out] rc_ctrl: ??????????
* @retval none
*/
static void sbus_to_rc(volatile const uint8_t *sbus_buf, RC_ctrl_t *rc_ctrl)
{
if (sbus_buf == NULL || rc_ctrl == NULL)
{
return;
}
rc_ctrl->rc.ch[0] = (sbus_buf[0] | (sbus_buf[1] << 8)) & 0x07ff; //!< Channel 0 ???????
rc_ctrl->rc.ch[1] = ((sbus_buf[1] >> 3) | (sbus_buf[2] << 5)) & 0x07ff; //!< Channel 1 ???????
rc_ctrl->rc.ch[2] = ((sbus_buf[2] >> 6) | (sbus_buf[3] << 2) | //!< Channel 2 ???????
(sbus_buf[4] << 10)) &0x07ff;
rc_ctrl->rc.ch[3] = ((sbus_buf[4] >> 1) | (sbus_buf[5] << 7)) & 0x07ff; //!< Channel 3 ???????
rc_ctrl->rc.s[0] = ((sbus_buf[5] >> 4) & 0x0003); //!< Switch left
rc_ctrl->rc.s[1] = ((sbus_buf[5] >> 4) & 0x000C) >> 2; //!< Switch right
rc_ctrl->mouse.x = sbus_buf[6] | (sbus_buf[7] << 8); //!< Mouse X axis
rc_ctrl->mouse.y = sbus_buf[8] | (sbus_buf[9] << 8); //!< Mouse Y axis
rc_ctrl->mouse.z = sbus_buf[10] | (sbus_buf[11] << 8); //!< Mouse Z axis
rc_ctrl->mouse.press_l = sbus_buf[12]; //!< Mouse Left Is Press ?
rc_ctrl->mouse.press_r = sbus_buf[13]; //!< Mouse Right Is Press ?
rc_ctrl->key.v = sbus_buf[14] | (sbus_buf[15] << 8); //!< KeyBoard value
rc_ctrl->rc.ch[4] = sbus_buf[16] | (sbus_buf[17] << 8); //NULL
rc_ctrl->rc.ch[0] -= RC_CH_VALUE_OFFSET;
rc_ctrl->rc.ch[1] -= RC_CH_VALUE_OFFSET;
rc_ctrl->rc.ch[2] -= RC_CH_VALUE_OFFSET;
rc_ctrl->rc.ch[3] -= RC_CH_VALUE_OFFSET;
rc_ctrl->rc.ch[4] -= RC_CH_VALUE_OFFSET;
}

32
Core/Src/stm32f4xx_it.c
View File

@@ -22,6 +22,7 @@
#include "stm32f4xx_it.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "remote_control.h"
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
@@ -56,6 +57,8 @@
/* External variables --------------------------------------------------------*/
extern CAN_HandleTypeDef hcan1;
extern DMA_HandleTypeDef hdma_usart3_rx;
extern UART_HandleTypeDef huart3;
extern TIM_HandleTypeDef htim6;
/* USER CODE BEGIN EV */
@@ -160,6 +163,20 @@ void DebugMon_Handler(void)
/* please refer to the startup file (startup_stm32f4xx.s). */
/******************************************************************************/
/**
* @brief This function handles DMA1 stream1 global interrupt.
*/
void DMA1_Stream1_IRQHandler(void)
{
/* USER CODE BEGIN DMA1_Stream1_IRQn 0 */
/* USER CODE END DMA1_Stream1_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_usart3_rx);
/* USER CODE BEGIN DMA1_Stream1_IRQn 1 */
/* USER CODE END DMA1_Stream1_IRQn 1 */
}
/**
* @brief This function handles CAN1 RX0 interrupts.
*/
@@ -174,6 +191,21 @@ void CAN1_RX0_IRQHandler(void)
/* USER CODE END CAN1_RX0_IRQn 1 */
}
/**
* @brief This function handles USART3 global interrupt.
*/
void USART3_IRQHandler(void)
{
/* USER CODE BEGIN USART3_IRQn 0 */
RC_USART3_IRQHandler();
return;
/* USER CODE END USART3_IRQn 0 */
HAL_UART_IRQHandler(&huart3);
/* USER CODE BEGIN USART3_IRQn 1 */
/* USER CODE END USART3_IRQn 1 */
}
/**
* @brief This function handles TIM6 global interrupt, DAC1 and DAC2 underrun error interrupts.
*/

142
Core/Src/usart.c Normal file
View File

@@ -0,0 +1,142 @@
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file usart.c
* @brief This file provides code for the configuration
* of the USART instances.
******************************************************************************
* @attention
*
* Copyright (c) 2026 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "usart.h"
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
UART_HandleTypeDef huart3;
DMA_HandleTypeDef hdma_usart3_rx;
/* USART3 init function */
void MX_USART3_UART_Init(void)
{
/* USER CODE BEGIN USART3_Init 0 */
/* USER CODE END USART3_Init 0 */
/* USER CODE BEGIN USART3_Init 1 */
/* USER CODE END USART3_Init 1 */
huart3.Instance = USART3;
huart3.Init.BaudRate = 100000;
huart3.Init.WordLength = UART_WORDLENGTH_8B;
huart3.Init.StopBits = UART_STOPBITS_1;
huart3.Init.Parity = UART_PARITY_EVEN;
huart3.Init.Mode = UART_MODE_TX_RX;
huart3.Init.HwFlowCtl = UART_HWCONTROL_NONE;
huart3.Init.OverSampling = UART_OVERSAMPLING_16;
if (HAL_UART_Init(&huart3) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN USART3_Init 2 */
/* USER CODE END USART3_Init 2 */
}
void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
if(uartHandle->Instance==USART3)
{
/* USER CODE BEGIN USART3_MspInit 0 */
/* USER CODE END USART3_MspInit 0 */
/* USART3 clock enable */
__HAL_RCC_USART3_CLK_ENABLE();
__HAL_RCC_GPIOC_CLK_ENABLE();
/**USART3 GPIO Configuration
PC11 ------> USART3_RX
PC10 ------> USART3_TX
*/
GPIO_InitStruct.Pin = GPIO_PIN_11|GPIO_PIN_10;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF7_USART3;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/* USART3 DMA Init */
/* USART3_RX Init */
hdma_usart3_rx.Instance = DMA1_Stream1;
hdma_usart3_rx.Init.Channel = DMA_CHANNEL_4;
hdma_usart3_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
hdma_usart3_rx.Init.PeriphInc = DMA_PINC_DISABLE;
hdma_usart3_rx.Init.MemInc = DMA_MINC_ENABLE;
hdma_usart3_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
hdma_usart3_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
hdma_usart3_rx.Init.Mode = DMA_CIRCULAR;
hdma_usart3_rx.Init.Priority = DMA_PRIORITY_VERY_HIGH;
hdma_usart3_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
if (HAL_DMA_Init(&hdma_usart3_rx) != HAL_OK)
{
Error_Handler();
}
__HAL_LINKDMA(uartHandle,hdmarx,hdma_usart3_rx);
/* USART3 interrupt Init */
HAL_NVIC_SetPriority(USART3_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(USART3_IRQn);
/* USER CODE BEGIN USART3_MspInit 1 */
/* USER CODE END USART3_MspInit 1 */
}
}
void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
{
if(uartHandle->Instance==USART3)
{
/* USER CODE BEGIN USART3_MspDeInit 0 */
/* USER CODE END USART3_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_USART3_CLK_DISABLE();
/**USART3 GPIO Configuration
PC11 ------> USART3_RX
PC10 ------> USART3_TX
*/
HAL_GPIO_DeInit(GPIOC, GPIO_PIN_11|GPIO_PIN_10);
/* USART3 DMA DeInit */
HAL_DMA_DeInit(uartHandle->hdmarx);
/* USART3 interrupt Deinit */
HAL_NVIC_DisableIRQ(USART3_IRQn);
/* USER CODE BEGIN USART3_MspDeInit 1 */
/* USER CODE END USART3_MspDeInit 1 */
}
}
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */