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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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194
Core/Src/remote_control.c Normal file
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/**
****************************(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;
}