From a2b755804787483cfa578029dd3059518a8be931 Mon Sep 17 00:00:00 2001 From: NeoZng Date: Tue, 1 Nov 2022 22:32:15 +0800 Subject: [PATCH] finish all bsp utilities --- Src/main.c | 230 ++++++++++++++++---------------- bsp/bsp_usart.c | 31 +++-- bsp/bsp_usart.h | 33 +++-- modules/algorithm/controller.c | 49 +++---- modules/algorithm/controller.h | 106 +++++++-------- modules/imu/ins_task.c | 9 +- modules/imu/ins_task.h | 82 +++++++++++- modules/motor/dji_motor.c | 78 ++++++----- modules/motor/dji_motor.h | 38 +++--- modules/motor/motor_def.h | 28 +++- modules/motor/motor_task.h | 10 ++ modules/remote/remote_control.c | 117 +++++----------- modules/remote/remote_control.h | 139 +++++++++---------- 13 files changed, 514 insertions(+), 436 deletions(-) diff --git a/Src/main.c b/Src/main.c index 4b4ed16..1dd11d1 100644 --- a/Src/main.c +++ b/Src/main.c @@ -79,90 +79,90 @@ void MX_FREERTOS_Init(void); */ int main(void) { - /* USER CODE BEGIN 1 */ + /* USER CODE BEGIN 1 */ - /* USER CODE END 1 */ + /* USER CODE END 1 */ - /* MCU Configuration--------------------------------------------------------*/ + /* MCU Configuration--------------------------------------------------------*/ - /* Reset of all peripherals, Initializes the Flash interface and the Systick. */ - HAL_Init(); + /* Reset of all peripherals, Initializes the Flash interface and the Systick. */ + HAL_Init(); - /* USER CODE BEGIN Init */ + /* USER CODE BEGIN Init */ - /* USER CODE END Init */ + /* USER CODE END Init */ - /* Configure the system clock */ - SystemClock_Config(); + /* Configure the system clock */ + SystemClock_Config(); - /* USER CODE BEGIN SysInit */ + /* USER CODE BEGIN SysInit */ - /* USER CODE END SysInit */ + /* USER CODE END SysInit */ - /* Initialize all configured peripherals */ - MX_GPIO_Init(); - MX_DMA_Init(); - MX_ADC1_Init(); - MX_CAN1_Init(); - MX_CAN2_Init(); - MX_SPI1_Init(); - MX_TIM4_Init(); - MX_TIM5_Init(); - MX_USART3_UART_Init(); - MX_RNG_Init(); - MX_RTC_Init(); - MX_TIM1_Init(); - MX_TIM10_Init(); - MX_USART1_UART_Init(); - MX_USART6_UART_Init(); - /* USER CODE BEGIN 2 */ - RC_init(&huart3); - can_instance_config can_config = {.can_handle = &hcan1, - .tx_id = 1}; - Motor_Control_Setting_s motor_config = {.angle_feedback_source = MOTOR_FEED, - .close_loop_type = SPEED_LOOP | CURRENT_LOOP, - .speed_feedback_source = MOTOR_FEED, - .reverse_flag = MOTOR_DIRECTION_NORMAL}; - Motor_Controller_Init_s controller_init = {.current_PID = { - .Improve = 0, - .Kp = 1, - .Ki = 0, - .Kd = 0, - .DeadBand = 0, - .MaxOut = 4000, - }, - .speed_PID = { - .Improve = 0, - .Kp = 1, - .Ki = 0, - .Kd = 0, - .DeadBand = 0, - .MaxOut = 4000, - }}; - Motor_Type_e type = M3508; - DWT_Init(168); - dji_motor_instance *djimotor = DJIMotorInit(can_config, motor_config, controller_init, type); - /* USER CODE END 2 */ + /* Initialize all configured peripherals */ + MX_GPIO_Init(); + MX_DMA_Init(); + MX_ADC1_Init(); + MX_CAN1_Init(); + MX_CAN2_Init(); + MX_SPI1_Init(); + MX_TIM4_Init(); + MX_TIM5_Init(); + MX_USART3_UART_Init(); + MX_RNG_Init(); + MX_RTC_Init(); + MX_TIM1_Init(); + MX_TIM10_Init(); + MX_USART1_UART_Init(); + MX_USART6_UART_Init(); + /* USER CODE BEGIN 2 */ + RC_init(&huart3); + can_instance_config can_config = {.can_handle = &hcan1, + .tx_id = 1}; + Motor_Control_Setting_s motor_config = {.angle_feedback_source = MOTOR_FEED, + .close_loop_type = SPEED_LOOP | CURRENT_LOOP, + .speed_feedback_source = MOTOR_FEED, + .reverse_flag = MOTOR_DIRECTION_NORMAL}; + Motor_Controller_Init_s controller_init = {.current_PID = { + .Improve = 0, + .Kp = 1, + .Ki = 0, + .Kd = 0, + .DeadBand = 0, + .MaxOut = 4000, + }, + .speed_PID = { + .Improve = 0, + .Kp = 1, + .Ki = 0, + .Kd = 0, + .DeadBand = 0, + .MaxOut = 4000, + }}; + Motor_Type_e type = M3508; + DWT_Init(168); + dji_motor_instance *djimotor = DJIMotorInit(can_config, motor_config, controller_init, type); + /* USER CODE END 2 */ - /* Call init function for freertos objects (in freertos.c) */ - // MX_FREERTOS_Init(); + /* Call init function for freertos objects (in freertos.c) */ + // MX_FREERTOS_Init(); - // /* Start scheduler */ - // osKernelStart(); + // /* Start scheduler */ + // osKernelStart(); - /* We should never get here as control is now taken by the scheduler */ - /* Infinite loop */ - /* USER CODE BEGIN WHILE */ - while (1) - { - /* USER CODE END WHILE */ - - DJIMotorSetRef(djimotor, get_remote_control_point()->rc.ch[0]); - MotorControlTask(); - HAL_Delay(20); - /* USER CODE BEGIN 3 */ - } - /* USER CODE END 3 */ + /* We should never get here as control is now taken by the scheduler */ + /* Infinite loop */ + /* USER CODE BEGIN WHILE */ + while (1) + { + /* USER CODE END WHILE */ + + DJIMotorSetRef(djimotor, get_remote_control_point()->rc.ch[0]); + MotorControlTask(); + HAL_Delay(20); + /* USER CODE BEGIN 3 */ + } + /* USER CODE END 3 */ } /** @@ -171,42 +171,42 @@ int main(void) */ void SystemClock_Config(void) { - RCC_OscInitTypeDef RCC_OscInitStruct = {0}; - RCC_ClkInitTypeDef RCC_ClkInitStruct = {0}; + RCC_OscInitTypeDef RCC_OscInitStruct = {0}; + RCC_ClkInitTypeDef RCC_ClkInitStruct = {0}; - /** Configure the main internal regulator output voltage - */ - __HAL_RCC_PWR_CLK_ENABLE(); - __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1); + /** Configure the main internal regulator output voltage + */ + __HAL_RCC_PWR_CLK_ENABLE(); + __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1); - /** Initializes the RCC Oscillators according to the specified parameters - * in the RCC_OscInitTypeDef structure. - */ - RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE; - RCC_OscInitStruct.HSEState = RCC_HSE_ON; - RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON; - RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE; - RCC_OscInitStruct.PLL.PLLM = 6; - RCC_OscInitStruct.PLL.PLLN = 168; - RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2; - RCC_OscInitStruct.PLL.PLLQ = 7; - if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) - { - Error_Handler(); - } + /** Initializes the RCC Oscillators according to the specified parameters + * in the RCC_OscInitTypeDef structure. + */ + RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE; + RCC_OscInitStruct.HSEState = RCC_HSE_ON; + RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON; + RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE; + RCC_OscInitStruct.PLL.PLLM = 6; + RCC_OscInitStruct.PLL.PLLN = 168; + RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2; + RCC_OscInitStruct.PLL.PLLQ = 7; + if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) + { + Error_Handler(); + } - /** Initializes the CPU, AHB and APB buses clocks - */ - RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2; - RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK; - RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1; - RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4; - RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2; + /** Initializes the CPU, AHB and APB buses clocks + */ + RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2; + RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK; + RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1; + RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4; + RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2; - if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK) - { - Error_Handler(); - } + if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK) + { + Error_Handler(); + } } /* USER CODE BEGIN 4 */ @@ -219,13 +219,13 @@ void SystemClock_Config(void) */ void Error_Handler(void) { - /* USER CODE BEGIN Error_Handler_Debug */ - /* User can add his own implementation to report the HAL error return state */ - __disable_irq(); - while (1) - { - } - /* USER CODE END Error_Handler_Debug */ + /* USER CODE BEGIN Error_Handler_Debug */ + /* User can add his own implementation to report the HAL error return state */ + __disable_irq(); + while (1) + { + } + /* USER CODE END Error_Handler_Debug */ } #ifdef USE_FULL_ASSERT @@ -238,9 +238,9 @@ void Error_Handler(void) */ void assert_failed(uint8_t *file, uint32_t line) { - /* USER CODE BEGIN 6 */ - /* User can add his own implementation to report the file name and line number, - ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */ - /* USER CODE END 6 */ + /* USER CODE BEGIN 6 */ + /* User can add his own implementation to report the file name and line number, + ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */ + /* USER CODE END 6 */ } #endif /* USE_FULL_ASSERT */ diff --git a/bsp/bsp_usart.c b/bsp/bsp_usart.c index 59acb60..7a78b7d 100644 --- a/bsp/bsp_usart.c +++ b/bsp/bsp_usart.c @@ -1,17 +1,30 @@ +/** + * @file bsp_usart.c + * @author neozng + * @brief 串口bsp层的实现 + * @version beta + * @date 2022-11-01 + * + * @copyright Copyright (c) 2022 + * + */ #include "bsp_usart.h" #include "stdlib.h" -/* usart service instance,modules' info would be recoreded here using ModuleRegister() */ +/* usart service instance, modules' info would be recoreded here using USARTRegister() */ +/* usart服务实例,所有注册了usart的模块信息会被保存在这里 */ static usart_instance *instance[DEVICE_USART_CNT]; /** * @brief usart service will start automatically, after each module registered + * 串口服务会在每个实例注册之后自动启用 * - * @param _instance instance owned by module + * @param _instance instance owned by module,模块拥有的串口实例 */ static void USARTServiceInit(usart_instance *_instance) { HAL_UARTEx_ReceiveToIdle_DMA(_instance->usart_handle, _instance->recv_buff, _instance->recv_buff_size); + // 关闭dma half transfer中断防止两次进入HAL_UARTEx_RxEventCallback() __HAL_DMA_DISABLE_IT(_instance->usart_handle->hdmarx, DMA_IT_HT); } @@ -22,21 +35,21 @@ void USARTRegister(usart_instance *_instance) instance[instance_idx++] = _instance; } +/* @todo 当前仅进行了形式上的封装,后续要进一步考虑是否将module的行为与bsp完全分离 */ void USARTSend(usart_instance *_instance, uint8_t *send_buf, uint16_t send_size) { HAL_UART_Transmit_DMA(_instance->usart_handle, send_buf, send_size); } /** - * @brief everytiem when dma/idle happens,this function will be called - * here, for each uart, specific callback is refered for further process - * etc:visual protocol resolve/remote control resolve/referee protocol resolve + * @brief 每次dma/idle中断发生时，都会调用此函数.对于每个uart实例会调用对应的回调进行进一步的处理 + * 例如:视觉协议解析/遥控器解析/裁判系统解析 * - * @note because DMA half transfer iterrupt(DMA_IT_HT) would call this function too, so we just + * @note because DMA half transfer iterrupt(DMA_IT_HT) would call this callback function too, so we just * disable it when transfer complete using macro: __HAL_DMA_DISABLE_IT(huart->hdmarx,DMA_IT_HT) * - * @param huart uart handle indicate which uart is being handled - * @param Size not used temporarily + * @param huart uart handle indicate which uart is being handled 发生中断的串口 + * @param Size not used temporarily,此次接收到的总数居量,暂时没用 */ void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size) { @@ -58,7 +71,7 @@ void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size) * * @note most frequent error ex: parity/overrrun/frame error * - * @param huart uart handle type,indicate where error comes from + * @param huart uart handle type, indicate where error comes from */ void HAL_UART_ErrorCallback(UART_HandleTypeDef *huart) { diff --git a/bsp/bsp_usart.h b/bsp/bsp_usart.h index ea637bf..9447fe8 100644 --- a/bsp/bsp_usart.h +++ b/bsp/bsp_usart.h @@ -4,41 +4,38 @@ #include "struct_typedef.h" #include "main.h" -#define DEVICE_USART_CNT 3 -#define USART_RX_LIMIT 128 // if your protocol needs bigger buff, modify here +#define DEVICE_USART_CNT 3 // C板至多分配3个串口 +#define USART_RXBUFF_LIMIT 128 // if your protocol needs bigger buff, modify here -/* application callback,which resolves specific protocol */ +/* application callback,which resolves specific protocol,解析协议的回调函数 */ typedef void (*usart_module_callback)(); /* usart_instance struct,each app would have one instance */ typedef struct { - uint8_t recv_buff[USART_RX_LIMIT]; - uint8_t recv_buff_size; - UART_HandleTypeDef *usart_handle; - usart_module_callback module_callback; + uint8_t recv_buff[USART_RXBUFF_LIMIT]; // 预先定义的最大buff大小,如果太小请修改USART_RXBUFF_LIMIT + uint8_t recv_buff_size; // 模块接收一包数据的大小 + UART_HandleTypeDef *usart_handle; // 实例对应的usart_handle + usart_module_callback module_callback; // 解析收到的数据的回调函数 } usart_instance; /** - * @brief calling this func would regiter a module to usart_service - * this function provides completely wrap and abstract for those module who use usart as commu method - * - * @param id module id.attention,each id is mapped to a specific usart port(ex:remote control->usart3) - * @param prbuff pointer to where the raw recv data stored - * @param rbuffsize size of recv data buff - * @param psbuff pointer to where the data to be sent stored - * @param callback func pointer,this func would be called in USART_service.c/HAL_UARTEx_RxEventCallback() - * to resolve raw data using protocol provides by specific app calling Moduleregister() + * @brief 注册一个串口实例. * + * @param _instance 传入一个由module拥有的串口实例,注意在传入前进行基本信息的配置,详见usart_instance的struct定义 */ -void USARTRegister(usart_instance* _instance); +void USARTRegister(usart_instance *_instance); /** + * @todo 是否需要进一步封装发送buff和size,并创建一个串口任务以一定频率自动发送? + * 若采用此方法,则串口实例的拥有者仅需要在自己的任务中设置发送值,不需要关心发送buffer大小以及何时发送. + * * @brief api for sending data through a specific serial port,indicated by the first parameter:id + * 通过调用该函数可以发送一帧数据,需要传入一个usart实例,发送buff以及这一帧的长度 * * @param id specify which usart would be used * @param send_size how many bytes to send */ -void USARTSend(usart_instance* _instance, uint8_t* send_buf,uint16_t send_size); +void USARTSend(usart_instance *_instance, uint8_t *send_buf, uint16_t send_size); #endif diff --git a/modules/algorithm/controller.c b/modules/algorithm/controller.c index 1a4fdd2..4b0648e 100644 --- a/modules/algorithm/controller.c +++ b/modules/algorithm/controller.c @@ -1,37 +1,38 @@ - +/** + * @file controller.c + * @author wanghongxi + * @author modified by neozng + * @brief PID控制器定义 + * @version beta + * @date 2022-11-01 + * + * @copyrightCopyright (c) 2022 HNU YueLu EC all rights reserved + */ #include "controller.h" #include -/******************************* PID CONTROL *********************************/ // PID优化环节函数声明 -static void f_Trapezoid_Intergral(PID_t *pid); -static void f_Integral_Limit(PID_t *pid); -static void f_Derivative_On_Measurement(PID_t *pid); -static void f_Changing_Integration_Rate(PID_t *pid); -static void f_Output_Filter(PID_t *pid); -static void f_Derivative_Filter(PID_t *pid); -static void f_Output_Limit(PID_t *pid); -static void f_Proportion_Limit(PID_t *pid); -static void f_PID_ErrorHandle(PID_t *pid); +static void f_Trapezoid_Intergral(PID_t *pid); // 梯形积分 +static void f_Integral_Limit(PID_t *pid); // 积分限幅 +static void f_Derivative_On_Measurement(PID_t *pid); // 微分先行(仅使用反馈微分) +static void f_Changing_Integration_Rate(PID_t *pid); // 变速积分 +static void f_Output_Filter(PID_t *pid); // 输出滤波 +static void f_Derivative_Filter(PID_t *pid); // 微分滤波(采集时) +static void f_Output_Limit(PID_t *pid); // 输出限幅 +static void f_PID_ErrorHandle(PID_t *pid); // 堵转保护 /** - * @brief + * @brief 初始化PID,设置参数和启用的优化环节,将其他数据置零 * - * @param pid - * @param config + * @param pid PID实例 + * @param config PID初始化设置 */ -void PID_Init(PID_t* pid,PID_Init_config_s *config) +void PID_Init(PID_t *pid, PID_Init_config_s *config) { + // utilize the quality of struct that its memeory is continuous memcpy(pid, config, sizeof(PID_Init_config_s)); - memset(&pid->Measure,0,sizeof(PID_t)-sizeof(PID_Init_config_s)); - - // // DWT定时器计数变量清零 - // // reset DWT Timer count counter - // pid->DWT_CNT = 0; - - // // 设置PID异常处理 目前仅包含电机堵转保护 - // pid->ERRORHandler.ERRORCount = 0; - // pid->ERRORHandler.ERRORType = PID_ERROR_NONE; + // set rest of memory to 0 + memset(&pid->Measure, 0, sizeof(PID_t) - sizeof(PID_Init_config_s)); } /** diff --git a/modules/algorithm/controller.h b/modules/algorithm/controller.h index 544d754..bf51b1f 100644 --- a/modules/algorithm/controller.h +++ b/modules/algorithm/controller.h @@ -1,19 +1,18 @@ /** - ****************************************************************************** - * @file controller.h - * @author Wang Hongxi - * @version V1.1.3 - * @date 2021/7/3 - * @brief - ****************************************************************************** - * @attention - * - ****************************************************************************** - */ + ****************************************************************************** + * @file controller.h + * @author Wang Hongxi + * @version V1.1.3 + * @date 2021/7/3 + * @brief + ****************************************************************************** + * @attention + * + ****************************************************************************** + */ #ifndef _CONTROLLER_H #define _CONTROLLER_H - #include "main.h" #include "stdint.h" #include "string.h" @@ -26,36 +25,37 @@ #define abs(x) ((x > 0) ? x : -x) #endif - -/******************************* PID CONTROL *********************************/ +// PID 优化环节使能标志位 typedef enum pid_Improvement_e { - NONE = 0X00, //0000 0000 - Integral_Limit = 0x01, //0000 0001 - Derivative_On_Measurement = 0x02, //0000 0010 - Trapezoid_Intergral = 0x04, //0000 0100 - Proportional_On_Measurement = 0x08, //0000 1000 - OutputFilter = 0x10, //0001 0000 - ChangingIntegrationRate = 0x20, //0010 0000 - DerivativeFilter = 0x40, //0100 0000 - ErrorHandle = 0x80, //1000 0000 + NONE = 0b00000000, // 0000 0000 + Integral_Limit = 0b00000001, // 0000 0001 + Derivative_On_Measurement = 0b00000010, // 0000 0010 + Trapezoid_Intergral = 0b00000100, // 0000 0100 + Proportional_On_Measurement = 0b00001000, // 0000 1000 + OutputFilter = 0b00010000, // 0001 0000 + ChangingIntegrationRate = 0b00100000, // 0010 0000 + DerivativeFilter = 0b01000000, // 0100 0000 + ErrorHandle = 0b10000000, // 1000 0000 } PID_Improvement_e; +/* PID 报错类型枚举*/ typedef enum errorType_e { PID_ERROR_NONE = 0x00U, Motor_Blocked = 0x01U } ErrorType_e; -typedef struct +typedef struct { uint64_t ERRORCount; ErrorType_e ERRORType; } PID_ErrorHandler_t; -typedef struct +/* PID结构体 */ +typedef struct { -//---------------------------------- init config block + //---------------------------------- init config block // config parameter float Kp; float Ki; @@ -64,13 +64,13 @@ typedef struct float MaxOut; float IntegralLimit; float DeadBand; - float CoefA; //For Changing Integral - float CoefB; //ITerm = Err*((A-abs(err)+B)/A) when B<|err|rx_id = 0x200 + motor_id+1; + config->rx_id = 0x200 + motor_id + 1; sender_enable_flag[motor_grouping] = 1; dji_motor_info[idx]->message_num = motor_send_num; dji_motor_info[idx]->sender_group = motor_grouping; @@ -76,7 +79,7 @@ static void MotorSenderGrouping(can_instance_config *config) for (size_t i = 0; i < idx; i++) { if (dji_motor_info[i]->motor_can_instance.can_handle == config->can_handle && dji_motor_info[i]->motor_can_instance.rx_id == config->rx_id) - IDcrash_Handler(); + IDcrash_Handler(i, idx); } break; @@ -100,7 +103,7 @@ static void MotorSenderGrouping(can_instance_config *config) for (size_t i = 0; i < idx; i++) { if (dji_motor_info[i]->motor_can_instance.can_handle == config->can_handle && dji_motor_info[i]->motor_can_instance.rx_id == config->rx_id) - IDcrash_Handler(); + IDcrash_Handler(i, idx); } break; @@ -110,22 +113,33 @@ static void MotorSenderGrouping(can_instance_config *config) } /** + * @todo 是否可以简化多圈角度的计算？ * @brief 根据返回的can_instance对反馈报文进行解析 * * @param _instance 收到数据的instance,通过遍历与所有电机进行对比以选择正确的实例 */ static void DecodeDJIMotor(can_instance *_instance) { - uint8_t *rxbuff = _instance->rx_buff; + static uint8_t *rxbuff; + static dji_motor_measure *measure; for (size_t i = 0; i < DJI_MOTOR_CNT; i++) { if (&dji_motor_info[i]->motor_can_instance == _instance) { - dji_motor_info[i]->motor_measure.last_ecd = dji_motor_info[i]->motor_measure.ecd; - dji_motor_info[i]->motor_measure.ecd = (uint16_t)(rxbuff[0] << 8 | rxbuff[1]); - dji_motor_info[i]->motor_measure.speed_rpm = (uint16_t)(rxbuff[2] << 8 | rxbuff[3]); - dji_motor_info[i]->motor_measure.given_current = (uint16_t)(rxbuff[4] << 8 | rxbuff[5]); - dji_motor_info[i]->motor_measure.temperate = rxbuff[6]; + rxbuff = _instance->rx_buff; + measure = &dji_motor_info[i]->motor_measure; + // resolve data and apply filter to current and speed + measure->last_ecd = measure->ecd; + measure->ecd = (uint16_t)(rxbuff[0] << 8 | rxbuff[1]); + measure->speed_rpm = (1 - SPEED_SMOOTH_COEF) * measure->speed_rpm + SPEED_SMOOTH_COEF * (int16_t)(rxbuff[2] << 8 | rxbuff[3]); + measure->given_current = (1 - CURRENT_SMOOTH_COEF) * measure->given_current + CURRENT_SMOOTH_COEF * (uint16_t)(rxbuff[4] << 8 | rxbuff[5]); + measure->temperate = rxbuff[6]; + // multi round calc + if (measure->ecd - measure->last_ecd > 4096) + measure->total_round--; + else if (measure->ecd - measure->last_ecd < -4096) + measure->total_round++; + measure->total_angle = measure->total_round * PI2 + measure->ecd * ECD_ANGLE_COEF; // @todo simplify the calculation break; } } @@ -138,6 +152,7 @@ dji_motor_instance *DJIMotorInit(can_instance_config can_config, Motor_Type_e type) { dji_motor_info[idx] = (dji_motor_instance *)malloc(sizeof(dji_motor_instance)); + memset(dji_motor_info[idx], 0, sizeof(dji_motor_instance)); // motor basic setting dji_motor_info[idx]->motor_type = type; @@ -159,15 +174,15 @@ dji_motor_instance *DJIMotorInit(can_instance_config can_config, } // 改变反馈来源 -void DJIMotorChangeFeed(dji_motor_instance *motor,Closeloop_Type_e loop,Feedback_Source_e type) +void DJIMotorChangeFeed(dji_motor_instance *motor, Closeloop_Type_e loop, Feedback_Source_e type) { - if(loop==ANGLE_LOOP) + if (loop == ANGLE_LOOP) { - motor->motor_settings.angle_feedback_source=type; + motor->motor_settings.angle_feedback_source = type; } - if(loop==SPEED_LOOP) + if (loop == SPEED_LOOP) { - motor->motor_settings.speed_feedback_source=type; + motor->motor_settings.speed_feedback_source = type; } } @@ -176,14 +191,13 @@ void DJIMotorSetRef(dji_motor_instance *motor, float ref) { motor->motor_controller.pid_ref = ref; } - - +// 计算三环PID,发送控制报文 void DJIMotorControl() -{ +{ // 预先通过静态变量定义避免反复释放分配栈空间,直接保存一次指针引用从而减小访存的开销 static uint8_t group, num; static int16_t set; - static dji_motor_instance* motor; + static dji_motor_instance *motor; static Motor_Control_Setting_s *motor_setting; static Motor_Controller_s *motor_controller; static dji_motor_measure *motor_measure; @@ -193,33 +207,33 @@ void DJIMotorControl() { if (dji_motor_info[i]) { - motor=dji_motor_info[i]; - motor_setting=&motor->motor_settings; - motor_controller=&motor->motor_controller; - motor_measure=&motor->motor_measure; - + motor = dji_motor_info[i]; + motor_setting = &motor->motor_settings; + motor_controller = &motor->motor_controller; + motor_measure = &motor->motor_measure; + if (motor_setting->close_loop_type & ANGLE_LOOP) // 计算位置环 { if (motor_setting->angle_feedback_source == OTHER_FEED) - pid_measure=*motor_controller->other_angle_feedback_ptr; + pid_measure = *motor_controller->other_angle_feedback_ptr; else // MOTOR_FEED - pid_measure=motor_measure->total_angle; + pid_measure = motor_measure->total_angle; // 更新pid_ref进入下一个环 - motor_controller->pid_ref=PID_Calculate(&motor_controller->angle_PID,pid_measure,motor_controller->pid_ref); + motor_controller->pid_ref = PID_Calculate(&motor_controller->angle_PID, pid_measure, motor_controller->pid_ref); } if (motor_setting->close_loop_type & SPEED_LOOP) // 计算速度环 { if (motor_setting->speed_feedback_source == OTHER_FEED) - pid_measure=*motor_controller->other_speed_feedback_ptr; + pid_measure = *motor_controller->other_speed_feedback_ptr; else - pid_measure=motor_measure->speed_rpm; - motor_controller->pid_ref=PID_Calculate(&motor_controller->speed_PID,pid_measure,motor_controller->pid_ref); + pid_measure = motor_measure->speed_rpm; + motor_controller->pid_ref = PID_Calculate(&motor_controller->speed_PID, pid_measure, motor_controller->pid_ref); } if (motor_setting->close_loop_type & CURRENT_LOOP) //计算电流环 { - motor_controller->pid_ref=PID_Calculate(&motor_controller->current_PID,motor_measure->given_current,motor_controller->pid_ref); + motor_controller->pid_ref = PID_Calculate(&motor_controller->current_PID, motor_measure->given_current, motor_controller->pid_ref); } set = (int16_t)motor_controller->pid_ref; @@ -230,7 +244,7 @@ void DJIMotorControl() group = motor->sender_group; num = motor->message_num; sender_assignment[group].tx_buff[num] = 0xff & set >> 8; - sender_assignment[group].tx_buff[num+1] = 0xff & set; + sender_assignment[group].tx_buff[num + 1] = 0xff & set; } else // 遇到空指针说明所有遍历结束,退出循环 break; diff --git a/modules/motor/dji_motor.h b/modules/motor/dji_motor.h index 5916b9e..fab5d5c 100644 --- a/modules/motor/dji_motor.h +++ b/modules/motor/dji_motor.h @@ -1,7 +1,20 @@ +/** + * @file dji_motor.h + * @author neozng + * @brief DJI智能电机头文件 + * @version 0.1 + * @date 2022-11-01 + * + * @copyright Copyright (c) 2022 HNU YueLu EC all rights reserved + * + */ + #ifndef DJI_MOTOR_H #define DJI_MOTOR_H #define DJI_MOTOR_CNT 12 +#define SPEED_SMOOTH_COEF 0.85f // better to be greater than 0.8 +#define CURRENT_SMOOTH_COEF 0.98f // this coef must be greater than 0.95 #include "bsp_can.h" #include "controller.h" @@ -45,7 +58,6 @@ typedef struct } dji_motor_instance; - /** * @brief 调用此函数注册一个DJI智能电机,需要传递较多的初始化参数,请在application初始化的时候调用此函数 * 推荐传参时像标准库一样构造initStructure然后传入此函数. @@ -55,20 +67,20 @@ typedef struct * ....}; * 请注意不要在一条总线上挂载过多的电机(超过6个),若一定要这么做,请降低每个电机的反馈频率(设为500Hz), * 并减小DJIMotorControl()任务的运行频率. - * + * * @attention M3508和M2006的反馈报文都是0x200+id,而GM6020的反馈是0x204+id,请注意前两者和后者的id不要冲突. * 如果产生冲突,在初始化电机的时候会进入IDcrash_Handler(),可以通过debug来判断是否出现冲突. - * + * * @param config 电机can设置,对于DJI电机仅需要将tx_id设置为电调闪动次数(c620,615,610)或拨码开关的值(GM6020) * 你不需要自己查表计算发送和接收id,我们会帮你处理好! - * + * * @param motor_setting 电机的控制设置,包括是否反转,闭环类型和是否使用编码器之外的反馈值 - * + * * @param controller_init 电机控制器的参数设置,包括其他的反馈来源数据指针和三环PID的参数. * 如果不需要其他数据来源或不需要三个环,将不需要指针置为NULL即可 - * + * * @param type 电机的类型枚举,包括m2006,m3508和gm6020 - * + * * @return dji_motor_instance* 返回一个电机实例指针给应用,方便其对电机的参考值进行设置,即调用DJIMotorSetRef() */ dji_motor_instance *DJIMotorInit(can_instance_config config, @@ -76,32 +88,28 @@ dji_motor_instance *DJIMotorInit(can_instance_config config, Motor_Controller_Init_s controller_init, Motor_Type_e type); - /** * @brief 被application层的应用调用,给电机设定参考值. * 对于应用,可以将电机视为传递函数为1的设备,不需要关心底层的闭环 - * + * * @param motor 要设置的电机 * @param ref 设定参考值 */ void DJIMotorSetRef(dji_motor_instance *motor, float ref); - /** * @brief 切换反馈的目标来源,如将角速度和角度的来源换为IMU(小陀螺模式常用) - * + * * @param motor 要切换反馈数据来源的电机 * @param loop 要切换反馈数据来源的控制闭环 * @param type 目标反馈模式 */ -void DJIMotorChangeFeed(dji_motor_instance *motor,Closeloop_Type_e loop,Feedback_Source_e type); - +void DJIMotorChangeFeed(dji_motor_instance *motor, Closeloop_Type_e loop, Feedback_Source_e type); /** * @brief 该函数被motor_task调用运行在rtos上,motor_stask内通过osDelay()确定控制频率 - * @todo 增加前馈功能 + * @todo 增加前馈功能 */ void DJIMotorControl(); - #endif // !DJI_MOTOR_H diff --git a/modules/motor/motor_def.h b/modules/motor/motor_def.h index 78ff10f..3ba6e75 100644 --- a/modules/motor/motor_def.h +++ b/modules/motor/motor_def.h @@ -1,6 +1,21 @@ +/** + * @file motor_def.h + * @author neozng + * @brief 电机通用的数据结构定义 + * @version beta + * @date 2022-11-01 + * + * @copyright Copyright (c) 2022 HNU YueLu EC all rights reserved + * + */ + #ifndef MOTOR_DEF_H #define MOTOR_DEF_H +/** + * @brief 闭环类型,如果需要多个闭环,则使用或运算 + * 例如需要速度环和电流环: CURRENT_LOOP|SPEED_LOOP + */ typedef enum { CURRENT_LOOP = 0b0001, @@ -13,18 +28,21 @@ typedef enum ___ = 0b0111 } Closeloop_Type_e; +/* 反馈来源设定,若设为OTHER_FEED则需要指定数据来源指针,详见Motor_Controller_s*/ typedef enum { MOTOR_FEED = 0, OTHER_FEED = 1 } Feedback_Source_e; +/* 电机正反转标志 */ typedef enum { MOTOR_DIRECTION_NORMAL = 0, MOTOR_DIRECTION_REVERSE = 1 } Reverse_Flag_e; +/* 电机控制设置,包括闭环类型,反转标志和反馈来源 */ typedef struct { Closeloop_Type_e close_loop_type; @@ -34,6 +52,7 @@ typedef struct } Motor_Control_Setting_s; +/* 电机控制器,包括其他来源的反馈数据指针,3环控制器和电机的参考输入*/ typedef struct { float *other_angle_feedback_ptr; @@ -43,10 +62,10 @@ typedef struct PID_t speed_PID; PID_t angle_PID; - // 将会作为每个环的输入和输出 - float pid_ref; + float pid_ref; // 将会作为每个环的输入和输出顺次通过串级闭环 } Motor_Controller_s; +/* 电机类型枚举 */ typedef enum { GM6020 = 0, @@ -56,6 +75,11 @@ typedef enum HT04 = 4 } Motor_Type_e; +/** + * @brief 电机控制器初始化结构体,包括三环PID的配置以及两个反馈数据来源指针 + * 如果不需要某个控制环,可以不设置对应的pid config + * 需要其他数据来源进行反馈闭环,不仅要设置这里的指针还需要在Motor_Control_Setting_s启用其他数据来源标志 + */ typedef struct { float *other_angle_feedback_ptr; diff --git a/modules/motor/motor_task.h b/modules/motor/motor_task.h index 1f6f81b..14bea69 100644 --- a/modules/motor/motor_task.h +++ b/modules/motor/motor_task.h @@ -1,3 +1,13 @@ +/** + * @file motor_task.h + * @author neozng + * @brief 对所有电机,舵机等控制任务的进一步封装,MotorControlTask()将在操作系统中按一定频率调用 + * @version beta + * @date 2022-11-01 + * + * @copyright Copyright (c) 2022 + * + */ #ifndef MOTOR_TASK_H #define MOTOR_TASK_H diff --git a/modules/remote/remote_control.c b/modules/remote/remote_control.c index 426b0fa..12517da 100644 --- a/modules/remote/remote_control.c +++ b/modules/remote/remote_control.c @@ -2,90 +2,19 @@ #include "string.h" #include "bsp_usart.h" -#define RC_CHANNAL_ERROR_VALUE 700 -#define REMOTE_CONTROL_FRAME_SIZE 18u -#define RC_abs(x) (x)>0?(x):(-x) -#define RC_USART_SERVICE_ID 1 +#define REMOTE_CONTROL_FRAME_SIZE 18u // 遥控器接收的buffer大小 -//remote control data +// 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); - -/** - * @brief protocol resolve callback - * this func would be called when usart3 idle interrupt happens - * + * @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 ReceiveCallback() -{ - sbus_to_rc(rc_usart_instance.recv_buff,&rc_ctrl); -} - -void 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); -} - -const RC_ctrl_t *get_remote_control_point(void) -{ - return &rc_ctrl; -} - -uint8_t RC_data_is_error(void) -{ - if (RC_abs(rc_ctrl.rc.ch[0]) > RC_CHANNAL_ERROR_VALUE) - { - goto error; - } - if (RC_abs(rc_ctrl.rc.ch[1]) > RC_CHANNAL_ERROR_VALUE) - { - goto error; - } - if (RC_abs(rc_ctrl.rc.ch[2]) > RC_CHANNAL_ERROR_VALUE) - { - goto error; - } - if (RC_abs(rc_ctrl.rc.ch[3]) > RC_CHANNAL_ERROR_VALUE) - { - goto error; - } - if (rc_ctrl.rc.s[0] == 0) - { - goto error; - } - if (rc_ctrl.rc.s[1] == 0) - { - goto error; - } - return 0; -error: - rc_ctrl.rc.ch[0] = 0; - rc_ctrl.rc.ch[1] = 0; - rc_ctrl.rc.ch[2] = 0; - rc_ctrl.rc.ch[3] = 0; - rc_ctrl.rc.ch[4] = 0; - rc_ctrl.rc.s[0] = RC_SW_DOWN; - rc_ctrl.rc.s[1] = RC_SW_DOWN; - rc_ctrl.mouse.x = 0; - rc_ctrl.mouse.y = 0; - rc_ctrl.mouse.z = 0; - rc_ctrl.mouse.press_l = 0; - rc_ctrl.mouse.press_r = 0; - rc_ctrl.key.v = 0; - return 1; -} - static void sbus_to_rc(volatile const uint8_t *sbus_buf, RC_ctrl_t *rc_ctrl) { if (sbus_buf == NULL || rc_ctrl == NULL) @@ -95,17 +24,18 @@ static void sbus_to_rc(volatile const uint8_t *sbus_buf, RC_ctrl_t *rc_ctrl) 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; + (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->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[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; @@ -114,3 +44,26 @@ static void sbus_to_rc(volatile const uint8_t *sbus_buf, RC_ctrl_t *rc_ctrl) 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); +} + +void 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); +} + +const RC_ctrl_t *get_remote_control_point(void) +{ + return &rc_ctrl; +} \ No newline at end of file diff --git a/modules/remote/remote_control.h b/modules/remote/remote_control.h index d7ba9b6..b985162 100644 --- a/modules/remote/remote_control.h +++ b/modules/remote/remote_control.h @@ -1,98 +1,91 @@ /** - ****************************(C) COPYRIGHT 2016 DJI**************************** - * @file remote_control.c/h - * @brief 遥控器处理，遥控器是通过类似SBUS的协议传输，利用DMA传输方式节约CPU - * 资源，利用串口空闲中断来拉起处理函数，同时提供一些掉线重启DMA，串口 - * 的方式保证热插拔的稳定性。 - * @note - * @history - * Version Date Author Modification - * V1.0.0 Dec-26-2018 RM 1. done - * V1.0.0 Nov-11-2019 RM 1. support development board tpye c - * - @verbatim - ============================================================================== - - ============================================================================== - @endverbatim - ****************************(C) COPYRIGHT 2016 DJI**************************** - */ + * @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 "struct_typedef.h" #include "main.h" -#define RC_CH_VALUE_MIN ((uint16_t)364) -#define RC_CH_VALUE_OFFSET ((uint16_t)1024) -#define RC_CH_VALUE_MAX ((uint16_t)1684) +#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 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) /* ----------------------- PC Key Definition-------------------------------- */ -#define KEY_PRESSED_OFFSET_W ((uint16_t)1 << 0) -#define KEY_PRESSED_OFFSET_S ((uint16_t)1 << 1) -#define KEY_PRESSED_OFFSET_A ((uint16_t)1 << 2) -#define KEY_PRESSED_OFFSET_D ((uint16_t)1 << 3) -#define KEY_PRESSED_OFFSET_SHIFT ((uint16_t)1 << 4) -#define KEY_PRESSED_OFFSET_CTRL ((uint16_t)1 << 5) -#define KEY_PRESSED_OFFSET_E ((uint16_t)1 << 7) -#define KEY_PRESSED_OFFSET_Q ((uint16_t)1 << 6) -#define KEY_PRESSED_OFFSET_R ((uint16_t)1 << 8) -#define KEY_PRESSED_OFFSET_F ((uint16_t)1 << 9) -#define KEY_PRESSED_OFFSET_G ((uint16_t)1 << 10) -#define KEY_PRESSED_OFFSET_Z ((uint16_t)1 << 11) -#define KEY_PRESSED_OFFSET_X ((uint16_t)1 << 12) -#define KEY_PRESSED_OFFSET_C ((uint16_t)1 << 13) -#define KEY_PRESSED_OFFSET_V ((uint16_t)1 << 14) -#define KEY_PRESSED_OFFSET_B ((uint16_t)1 << 15) +#define KEY_PRESSED_OFFSET_W ((uint16_t)1 << 0) +#define KEY_PRESSED_OFFSET_S ((uint16_t)1 << 1) +#define KEY_PRESSED_OFFSET_A ((uint16_t)1 << 2) +#define KEY_PRESSED_OFFSET_D ((uint16_t)1 << 3) +#define KEY_PRESSED_OFFSET_SHIFT ((uint16_t)1 << 4) +#define KEY_PRESSED_OFFSET_CTRL ((uint16_t)1 << 5) +#define KEY_PRESSED_OFFSET_E ((uint16_t)1 << 7) +#define KEY_PRESSED_OFFSET_Q ((uint16_t)1 << 6) +#define KEY_PRESSED_OFFSET_R ((uint16_t)1 << 8) +#define KEY_PRESSED_OFFSET_F ((uint16_t)1 << 9) +#define KEY_PRESSED_OFFSET_G ((uint16_t)1 << 10) +#define KEY_PRESSED_OFFSET_Z ((uint16_t)1 << 11) +#define KEY_PRESSED_OFFSET_X ((uint16_t)1 << 12) +#define KEY_PRESSED_OFFSET_C ((uint16_t)1 << 13) +#define KEY_PRESSED_OFFSET_V ((uint16_t)1 << 14) +#define KEY_PRESSED_OFFSET_B ((uint16_t)1 << 15) /* ----------------------- Data Struct ------------------------------------- */ typedef struct { - struct - { - int16_t ch[5]; - char s[2]; - } rc; - struct - { - int16_t x; - int16_t y; - int16_t z; - uint8_t press_l; - uint8_t press_r; - } mouse; - struct - { - uint16_t v; - } key; - + struct + { + int16_t ch[5]; + char s[2]; + } rc; + struct + { + int16_t x; + int16_t y; + int16_t z; + uint8_t press_l; + uint8_t press_r; + } mouse; + struct + { + uint16_t v; + } key; } RC_ctrl_t; -/* ----------------------- Internal Data ----------------------------------- */ + +/* ------------------------- Internal Data ----------------------------------- */ /** - * @brief register remote control into usart_serive - * - * @attention remember to assign the correct handler - * + * @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 + * */ -void RC_init(UART_HandleTypeDef* rc_usart_handle); +void RC_init(UART_HandleTypeDef *rc_usart_handle); /** - * @brief Get the remote control point object,then you can access data - * - * @return const RC_ctrl_t* + * @brief 获取遥控器的数据指针 + * + * @return const RC_ctrl_t* */ extern const RC_ctrl_t *get_remote_control_point(void); /** - * @brief check whether there is an error in rc data - * - * @return uint8_t + * @brief 检查遥控器数据是否出错 + * + * @return uint8_t */ extern uint8_t RC_data_is_error(void);