遥控器控制电机转动，队列用法还没实现

2026-07-17 20:37:55 +08:00
parent 8b24a3da19
commit 15c5074a0a
23 changed files with 8065 additions and 36 deletions
@@ -0,0 +1,105 @@
+/**
+  ****************************(C) COPYRIGHT 2016 DJI****************************
+  * @file       remote_control.c/h
+  * @brief      ң����������ң������ͨ������SBUS��Э�鴫�䣬����DMA���䷽ʽ��ԼCPU
+  *             ��Դ�����ô��ڿ����ж���������������ͬʱ�ṩһЩ��������DMA������
+  *             �ķ�ʽ��֤�Ȳ�ε��ȶ��ԡ�
+  * @note       
+  * @history
+  *  Version    Date            Author          Modification
+  *  V1.0.0     Dec-26-2018     RM              1. ���
+  *
+  @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������ʼ��
+  * @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          ��ȡң��������ָ��
+  * @param[in]      none
+  * @retval         ң��������ָ��
+  */
+extern const RC_ctrl_t *get_remote_control_point(void);
+extern void RC_USART3_IRQHandler(void);
+
+#endif