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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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105
Core/Inc/remote_control.h Normal file
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/**
****************************(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