sentry_chassis_hzz/modules/remote/remote_control.h

/**
 * @file remote_control.h
 * @author DJI 2016
 * @author modified by neozng
 * @brief  遥控器模块定义头文件
 * @version beta
 * @date 2022-11-01
 *
 * @copyright Copyright (c) 2016 DJI corp
 * @copyright Copyright (c) 2022 HNU YueLu EC all rights reserved
 *
 */
#ifndef REMOTE_CONTROL_H
#define REMOTE_CONTROL_H

#include <stdint-gcc.h>
#include "main.h"
#include "usart.h"

// 
#define LAST 1
#define TEMP 0

// 获取按键操作
#define KEY_PRESS 0
#define KEY_STATE 1
#define KEY_PRESS_WITH_CTRL 2
#define KEY_PRESS_WITH_SHIFT 3

// 检查接受值是否出错
#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)
#define LEFT_SW 1
#define RIGHT_SW 0

/* ----------------------- PC Key Definition-------------------------------- */
// 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
#define Key_W 0
#define Key_S 1
#define Key_D 2
#define Key_A 3
#define Key_Shift 4
#define Key_Ctrl 5
#define Key_Q 6
#define Key_E 7
#define Key_R 8
#define Key_F 9
#define Key_G 10
#define Key_Z 11
#define Key_X 12
#define Key_C 13
#define Key_V 14
#define Key_B 15

/* ----------------------- Data Struct ------------------------------------- */
// 待测试的位域结构体,可以极大提升解析速度
typedef struct
{
    uint16_t w : 1;
    uint16_t s : 1;
    uint16_t d : 1;
    uint16_t a : 1;
    uint16_t shift : 1;
    uint16_t ctrl : 1;
    uint16_t q : 1;
    uint16_t e : 1;
    uint16_t r : 1;
    uint16_t f : 1;
    uint16_t g : 1;
    uint16_t z : 1;
    uint16_t x : 1;
    uint16_t c : 1;
    uint16_t v : 1;
    uint16_t b : 1;
} Key_t;

typedef struct
{
    struct
    {
        int16_t joystick[5]; // 右|0 ,右-1 ,左-2 ,左|3 ,拨轮4
        uint8_t s[2];  //[0]:left [1]:right
    } rc;
    struct
    {
        int16_t x;
        int16_t y;
        int16_t z;
        uint8_t press_l;
        uint8_t press_r;
    } mouse;

    uint16_t key_temp;
    uint8_t key[4][16]; // 当前使用的键盘索引
    Key_t key_test[4];  // 改为位域后的键盘索引,空间减少8倍,速度增加16~倍

} RC_ctrl_t;



/* ------------------------- Internal Data ----------------------------------- */

/**
 * @brief 初始化遥控器,该函数会将遥控器注册到串口
 *
 * @attention 注意分配正确的串口硬件,遥控器在C板上使用USART3
 *
 */
RC_ctrl_t *RemoteControlInit(UART_HandleTypeDef *rc_usart_handle);

#endif