sentry_chassis_hzz/modules/remote/remote_control.c

#include "remote_control.h"
#include "string.h"
#include "bsp_usart.h"

#define REMOTE_CONTROL_FRAME_SIZE 18u // 遥控器接收的buffer大小

// 遥控器数据
static RC_ctrl_t rc_ctrl;
// 遥控器拥有的串口实例
static usart_instance rc_usart_instance;

/**
 * @brief          remote control protocol resolution
 * @param[in]      sbus_buf: raw data point
 * @param[out]     rc_ctrl: remote control data struct point
 * @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;
}

/**
 * @brief protocol resolve callback
 *        this func would be called when usart3 idle interrupt happens
 *        对sbus_to_rc的简单封装
 *
 */
static void ReceiveCallback()
{
    sbus_to_rc(rc_usart_instance.recv_buff, &rc_ctrl);
}

RC_ctrl_t *RC_init(UART_HandleTypeDef *rc_usart_handle)
{
    rc_usart_instance.module_callback = ReceiveCallback;
    rc_usart_instance.usart_handle = rc_usart_handle;
    rc_usart_instance.recv_buff_size = REMOTE_CONTROL_FRAME_SIZE;
    USARTRegister(&rc_usart_instance);
    return &rc_ctrl;
}

const RC_ctrl_t *get_remote_control_point(void)
{
    return &rc_ctrl;
}