底盘能进行前后左右运动

Core/Src/remote_control.c

@@ -1,10 +1,10 @@
 /**
   ****************************(C) COPYRIGHT 2019 DJI****************************
   * @file       remote_control.c/h
-  * @brief      ?????????????????????????SBUS??<3F><>?<3F><>??????DMA????????CPU
-  *             ????????????????<3F><>????????????????????<3F><>????????DMA??????
-  *             ??????????<3F><>???????
-  * @note       ????????????????<3F><>???????????freeRTOS????
+  * @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. ???
@@ -32,7 +32,7 @@ extern DMA_HandleTypeDef hdma_usart3_rx;
   * @retval         none
   */
 /**
-  * @brief          ?????<3F><>?????
+  * @brief          ?????<3F><>?????
   * @param[in]      sbus_buf: ??????????
   * @param[out]     rc_ctrl: ??????????
   * @retval         none
@@ -47,6 +47,9 @@ RC_ctrl_t rc_ctrl;
 //????????????18??????????36????????????DMA???????
 static uint8_t sbus_rx_buf[2][SBUS_RX_BUF_NUM];
 
+//遥控器掉线检测：记录最后一次成功解析的时间戳(ms)
+static volatile uint32_t rc_last_update_tick = 0;
+
 /**
   * @brief          remote control init
   * @param[in]      none
@@ -77,7 +80,7 @@ const RC_ctrl_t *get_remote_control_point(void)
 }
 
 
-//?????<3F><>?
+//?????<3F><>?
 void RC_USART3_IRQHandler(void)
 {
     if(huart3.Instance->SR & UART_FLAG_RXNE)//?????????
@@ -95,7 +98,7 @@ void RC_USART3_IRQHandler(void)
             /* Current memory buffer used is Memory 0 */
     
             //disable DMA
-            //?<3F><>DMA
+            //?<3F><>DMA
             __HAL_DMA_DISABLE(&hdma_usart3_rx);
 
             //get receive data length, length = set_data_length - remain_length
@@ -123,7 +126,7 @@ void RC_USART3_IRQHandler(void)
         {
             /* Current memory buffer used is Memory 1 */
             //disable DMA
-            //?<3F><>DMA
+            //?<3F><>DMA
             __HAL_DMA_DISABLE(&hdma_usart3_rx);
 
             //get receive data length, length = set_data_length - remain_length
@@ -159,7 +162,7 @@ void RC_USART3_IRQHandler(void)
   * @retval         none
   */
 /**
-  * @brief          ?????<3F><>?????
+  * @brief          ?????<3F><>?????
   * @param[in]      sbus_buf: ??????????
   * @param[out]     rc_ctrl: ??????????
   * @retval         none
@@ -191,4 +194,22 @@ static void sbus_to_rc(volatile const uint8_t *sbus_buf, RC_ctrl_t *rc_ctrl)
     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;
+
+    //更新遥控器最后一次在线时间戳，用于掉线检测
+    rc_last_update_tick = HAL_GetTick();
+}
+
+/**
+  * @brief          check if remote control is online
+  * @param[in]      none
+  * @retval         1: online, 0: offline (no data for > 100ms)
+  */
+/**
+  * @brief          检测遥控器是否在线
+  * @param[in]      none
+  * @retval         1: 在线, 0: 掉线(超过100ms无数据)
+  */
+uint8_t is_rc_online(void)
+{
+    return (HAL_GetTick() - rc_last_update_tick) < 100;
 }