150 lines
3.7 KiB
C
150 lines
3.7 KiB
C
/**
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* @file remote_control.h
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* @author DJI 2016
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* @author modified by neozng
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* @brief 遥控器模块定义头文件
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* @version beta
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* @date 2022-11-01
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*
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* @copyright Copyright (c) 2016 DJI corp
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* @copyright Copyright (c) 2022 HNU YueLu EC all rights reserved
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*
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*/
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#ifndef REMOTE_CONTROL_H
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#define REMOTE_CONTROL_H
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#include <stdint.h>
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#include "main.h"
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#include "usart.h"
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// 用于遥控器数据读取,遥控器数据是一个大小为2的数组
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#define LAST 1
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#define TEMP 0
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// 获取按键操作
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#define KEY_PRESS 0
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#define KEY_STATE 1
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#define KEY_PRESS_WITH_CTRL 1
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#define KEY_PRESS_WITH_SHIFT 2
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// 检查接收值是否出错
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#define RC_CH_VALUE_MIN ((uint16_t)364)
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#define RC_CH_VALUE_OFFSET ((uint16_t)1024)
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#define RC_CH_VALUE_MAX ((uint16_t)1684)
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/* ----------------------- RC Switch Definition----------------------------- */
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#define RC_SW_UP ((uint16_t)1) // 开关向上时的值
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#define RC_SW_MID ((uint16_t)3) // 开关中间时的值
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#define RC_SW_DOWN ((uint16_t)2) // 开关向下时的值
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// 三个判断开关状态的宏
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#define switch_is_down(s) (s == RC_SW_DOWN)
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#define switch_is_mid(s) (s == RC_SW_MID)
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#define switch_is_up(s) (s == RC_SW_UP)
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/* ----------------------- PC Key Definition-------------------------------- */
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// 对应key[x][0~16],获取对应的键;例如通过key[KEY_PRESS][Key_W]获取W键是否按下,后续改为位域后删除
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#define Key_W 0
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#define Key_S 1
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#define Key_D 2
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#define Key_A 3
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#define Key_Shift 4
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#define Key_Ctrl 5
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#define Key_Q 6
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#define Key_E 7
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#define Key_R 8
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#define Key_F 9
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#define Key_G 10
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#define Key_Z 11
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#define Key_X 12
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#define Key_C 13
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#define Key_V 14
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#define Key_B 15
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/* ----------------------- Data Struct ------------------------------------- */
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// 待测试的位域结构体,可以极大提升解析速度
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typedef union
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{
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struct // 用于访问键盘状态
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{
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uint16_t w : 1;
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uint16_t s : 1;
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uint16_t d : 1;
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uint16_t a : 1;
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uint16_t shift : 1;
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uint16_t ctrl : 1;
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uint16_t q : 1;
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uint16_t e : 1;
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uint16_t r : 1;
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uint16_t f : 1;
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uint16_t g : 1;
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uint16_t z : 1;
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uint16_t x : 1;
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uint16_t c : 1;
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uint16_t v : 1;
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uint16_t b : 1;
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};
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uint16_t keys; // 用于memcpy而不需要进行强制类型转换
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} Key_t;
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// @todo 当前结构体嵌套过深,需要进行优化
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typedef struct
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{
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struct
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{
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int16_t rocker_l_; // 左水平
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int16_t rocker_l1; // 左竖直
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int16_t rocker_r_; // 右水平
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int16_t rocker_r1; // 右竖直
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int16_t dial; // 侧边拨轮
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uint8_t switch_left; // 左侧开关
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uint8_t switch_right; // 右侧开关
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} rc;
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struct
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{
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int16_t x;
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int16_t y;
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uint8_t press_l;
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uint8_t press_r;
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} mouse;
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Key_t key[3]; // 改为位域后的键盘索引,空间减少8倍,速度增加16~倍
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uint8_t key_count[3][16];
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} RC_ctrl_t;
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typedef struct
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{
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struct
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{
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int16_t x;
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int16_t y;
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uint8_t press_l;
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uint8_t press_r;
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} mouse;
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Key_t key[3];
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uint8_t key_count[3][16];
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}VT_ctrl_t; //图传链路下发的遥控数据
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/* ------------------------- Internal Data ----------------------------------- */
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/**
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* @brief 初始化遥控器,该函数会将遥控器注册到串口
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*
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* @attention 注意分配正确的串口硬件,遥控器在C板上使用USART3
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*
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*/
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RC_ctrl_t *RemoteControlInit(UART_HandleTypeDef *rc_usart_handle);
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//VT_ctrl_t *RemoteControlInit(UART_HandleTypeDef *vt_usart_handle);
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/**
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* @brief 检查遥控器是否在线,若尚未初始化也视为离线
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*
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* @return uint8_t 1:在线 0:离线
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*/
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uint8_t RemoteControlIsOnline();
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#endif
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