215 lines
6.8 KiB
C
215 lines
6.8 KiB
C
/**
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****************************(C) COPYRIGHT 2019 DJI****************************
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* @file remote_control.c/h
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* @brief ?????????????????????????SBUS??<3F><>?<3F><>??????DMA????????CPU
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* ????????????????<3F><>????????????????????<3F><>????????DMA??????
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* ??????????<3F><>???????
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* @note ????????????????<3F><>???????????freeRTOS????
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* @history
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* Version Date Author Modification
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* V1.0.0 Dec-01-2019 RM 1. ???
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*
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@verbatim
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==============================================================================
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==============================================================================
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@endverbatim
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****************************(C) COPYRIGHT 2019 DJI****************************
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*/
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#include "remote_control.h"
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#include "main.h"
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extern UART_HandleTypeDef huart3;
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extern DMA_HandleTypeDef hdma_usart3_rx;
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/**
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* @brief remote control protocol resolution
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* @param[in] sbus_buf: raw data point
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* @param[out] rc_ctrl: remote control data struct point
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* @retval none
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*/
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/**
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* @brief ?????<3F><>?????
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* @param[in] sbus_buf: ??????????
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* @param[out] rc_ctrl: ??????????
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* @retval none
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*/
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static void sbus_to_rc(volatile const uint8_t *sbus_buf, RC_ctrl_t *rc_ctrl);
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//remote control data
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//????????????
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RC_ctrl_t rc_ctrl;
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//receive data, 18 bytes one frame, but set 36 bytes
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//????????????18??????????36????????????DMA???????
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static uint8_t sbus_rx_buf[2][SBUS_RX_BUF_NUM];
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//遥控器掉线检测：记录最后一次成功解析的时间戳(ms)
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static volatile uint32_t rc_last_update_tick = 0;
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/**
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* @brief remote control init
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* @param[in] none
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* @retval none
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*/
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/**
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* @brief ??????????
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* @param[in] none
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* @retval none
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*/
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void remote_control_init(void)
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{
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RC_init(sbus_rx_buf[0], sbus_rx_buf[1], SBUS_RX_BUF_NUM);
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}
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/**
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* @brief get remote control data point
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* @param[in] none
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* @retval remote control data point
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*/
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/**
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* @brief ???????????????
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* @param[in] none
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* @retval ????????????
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*/
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const RC_ctrl_t *get_remote_control_point(void)
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{
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return &rc_ctrl;
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}
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//?????<3F><>?
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void RC_USART3_IRQHandler(void)
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{
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if(huart3.Instance->SR & UART_FLAG_RXNE)//?????????
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{
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__HAL_UART_CLEAR_PEFLAG(&huart3);
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}
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else if(USART3->SR & UART_FLAG_IDLE)
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{
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static uint16_t this_time_rx_len = 0;
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__HAL_UART_CLEAR_PEFLAG(&huart3);
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if ((hdma_usart3_rx.Instance->CR & DMA_SxCR_CT) == RESET)
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{
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/* Current memory buffer used is Memory 0 */
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//disable DMA
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//?<3F><>DMA
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__HAL_DMA_DISABLE(&hdma_usart3_rx);
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//get receive data length, length = set_data_length - remain_length
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//??????????????,???? = ?څ???? - ?????
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this_time_rx_len = SBUS_RX_BUF_NUM - hdma_usart3_rx.Instance->NDTR;
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//reset set_data_lenght
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//?????څ???????
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hdma_usart3_rx.Instance->NDTR = SBUS_RX_BUF_NUM;
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//set memory buffer 1
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//?څ??????1
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hdma_usart3_rx.Instance->CR |= DMA_SxCR_CT;
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//enable DMA
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//???DMA
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__HAL_DMA_ENABLE(&hdma_usart3_rx);
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if(this_time_rx_len == RC_FRAME_LENGTH)
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{
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sbus_to_rc(sbus_rx_buf[0], &rc_ctrl);
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}
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}
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else
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{
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/* Current memory buffer used is Memory 1 */
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//disable DMA
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//?<3F><>DMA
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__HAL_DMA_DISABLE(&hdma_usart3_rx);
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//get receive data length, length = set_data_length - remain_length
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//??????????????,???? = ?څ???? - ?????
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this_time_rx_len = SBUS_RX_BUF_NUM - hdma_usart3_rx.Instance->NDTR;
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//reset set_data_lenght
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//?????څ???????
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hdma_usart3_rx.Instance->NDTR = SBUS_RX_BUF_NUM;
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//set memory buffer 0
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//?څ??????0
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DMA1_Stream1->CR &= ~(DMA_SxCR_CT);
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//enable DMA
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//???DMA
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__HAL_DMA_ENABLE(&hdma_usart3_rx);
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if(this_time_rx_len == RC_FRAME_LENGTH)
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{
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//?????????????
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sbus_to_rc(sbus_rx_buf[1], &rc_ctrl);
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}
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}
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}
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}
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/**
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* @brief remote control protocol resolution
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* @param[in] sbus_buf: raw data point
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* @param[out] rc_ctrl: remote control data struct point
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* @retval none
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*/
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/**
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* @brief ?????<3F><>?????
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* @param[in] sbus_buf: ??????????
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* @param[out] rc_ctrl: ??????????
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* @retval none
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*/
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static void sbus_to_rc(volatile const uint8_t *sbus_buf, RC_ctrl_t *rc_ctrl)
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{
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if (sbus_buf == NULL || rc_ctrl == NULL)
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{
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return;
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}
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rc_ctrl->rc.ch[0] = (sbus_buf[0] | (sbus_buf[1] << 8)) & 0x07ff; //!< Channel 0 ???????
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rc_ctrl->rc.ch[1] = ((sbus_buf[1] >> 3) | (sbus_buf[2] << 5)) & 0x07ff; //!< Channel 1 ???????
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rc_ctrl->rc.ch[2] = ((sbus_buf[2] >> 6) | (sbus_buf[3] << 2) | //!< Channel 2 ???????
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(sbus_buf[4] << 10)) &0x07ff;
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rc_ctrl->rc.ch[3] = ((sbus_buf[4] >> 1) | (sbus_buf[5] << 7)) & 0x07ff; //!< Channel 3 ???????
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rc_ctrl->rc.s[0] = ((sbus_buf[5] >> 4) & 0x0003); //!< Switch left
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rc_ctrl->rc.s[1] = ((sbus_buf[5] >> 4) & 0x000C) >> 2; //!< Switch right
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rc_ctrl->mouse.x = sbus_buf[6] | (sbus_buf[7] << 8); //!< Mouse X axis
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rc_ctrl->mouse.y = sbus_buf[8] | (sbus_buf[9] << 8); //!< Mouse Y axis
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rc_ctrl->mouse.z = sbus_buf[10] | (sbus_buf[11] << 8); //!< Mouse Z axis
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rc_ctrl->mouse.press_l = sbus_buf[12]; //!< Mouse Left Is Press ?
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rc_ctrl->mouse.press_r = sbus_buf[13]; //!< Mouse Right Is Press ?
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rc_ctrl->key.v = sbus_buf[14] | (sbus_buf[15] << 8); //!< KeyBoard value
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rc_ctrl->rc.ch[4] = sbus_buf[16] | (sbus_buf[17] << 8); //NULL
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rc_ctrl->rc.ch[0] -= RC_CH_VALUE_OFFSET;
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rc_ctrl->rc.ch[1] -= RC_CH_VALUE_OFFSET;
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rc_ctrl->rc.ch[2] -= RC_CH_VALUE_OFFSET;
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rc_ctrl->rc.ch[3] -= RC_CH_VALUE_OFFSET;
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rc_ctrl->rc.ch[4] -= RC_CH_VALUE_OFFSET;
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//更新遥控器最后一次在线时间戳，用于掉线检测
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rc_last_update_tick = HAL_GetTick();
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}
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/**
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* @brief check if remote control is online
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* @param[in] none
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* @retval 1: online, 0: offline (no data for > 100ms)
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*/
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/**
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* @brief 检测遥控器是否在线
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* @param[in] none
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* @retval 1: 在线, 0: 掉线(超过100ms无数据)
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*/
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uint8_t is_rc_online(void)
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{
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return (HAL_GetTick() - rc_last_update_tick) < 100;
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} |