增加键鼠控制
This commit is contained in:
chenfu
parent
cce87bcccd
commit
f3ad804048
|
|
@ -122,7 +122,7 @@ void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle)
|
|||
HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
|
||||
|
||||
/* CAN1 interrupt Init */
|
||||
HAL_NVIC_SetPriority(CAN1_RX0_IRQn, 6, 0);
|
||||
HAL_NVIC_SetPriority(CAN1_RX0_IRQn, 5, 0);
|
||||
HAL_NVIC_EnableIRQ(CAN1_RX0_IRQn);
|
||||
HAL_NVIC_SetPriority(CAN1_RX1_IRQn, 5, 0);
|
||||
HAL_NVIC_EnableIRQ(CAN1_RX1_IRQn);
|
||||
|
|
@ -155,7 +155,7 @@ void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle)
|
|||
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
|
||||
|
||||
/* CAN2 interrupt Init */
|
||||
HAL_NVIC_SetPriority(CAN2_RX0_IRQn, 6, 0);
|
||||
HAL_NVIC_SetPriority(CAN2_RX0_IRQn, 5, 0);
|
||||
HAL_NVIC_EnableIRQ(CAN2_RX0_IRQn);
|
||||
HAL_NVIC_SetPriority(CAN2_RX1_IRQn, 5, 0);
|
||||
HAL_NVIC_EnableIRQ(CAN2_RX1_IRQn);
|
||||
|
|
|
|||
|
|
@ -19,7 +19,7 @@
|
|||
|
||||
// referee需要移动到module层
|
||||
/////////////////////////
|
||||
#include "referee.h"
|
||||
|
||||
#include "rm_referee.h"
|
||||
/////////////////////////
|
||||
|
||||
|
|
@ -68,16 +68,16 @@ void ChassisInit()
|
|||
.can_init_config.can_handle = &hcan1,
|
||||
.controller_param_init_config = {
|
||||
.speed_PID = {
|
||||
.Kp = 4.5,//9
|
||||
.Ki = 0,//0.02
|
||||
.Kd = 0.01,//0.01
|
||||
.Kp = 10,//4.5
|
||||
.Ki = 0,//0
|
||||
.Kd = 0,//0
|
||||
.IntegralLimit = 3000,
|
||||
.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit |PID_Derivative_On_Measurement,
|
||||
.MaxOut = 12000,
|
||||
},
|
||||
.current_PID = {
|
||||
.Kp = 0.4,//0.7
|
||||
.Ki = 0,//0.1
|
||||
.Kp = 0.5,//0.4
|
||||
.Ki = 0,//0
|
||||
.Kd = 0,
|
||||
.IntegralLimit = 3000,
|
||||
.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit |PID_Derivative_On_Measurement,
|
||||
|
|
|
|||
|
|
@ -26,6 +26,7 @@ static Subscriber_t *chassis_feed_sub; // 底盘反馈信息订阅者
|
|||
static Chassis_Ctrl_Cmd_s chassis_cmd_send; // 发送给底盘应用的信息,包括控制信息和UI绘制相关
|
||||
static Chassis_Upload_Data_s chassis_fetch_data; // 从底盘应用接收的反馈信息信息,底盘功率枪口热量与底盘运动状态等
|
||||
|
||||
|
||||
static RC_ctrl_t *rc_data; // 遥控器数据,初始化时返回
|
||||
static Vision_Recv_s *vision_recv_data; // 视觉接收数据指针,初始化时返回
|
||||
static Vision_Send_s vision_send_data; // 视觉发送数据
|
||||
|
|
@ -100,17 +101,6 @@ static void CalcOffsetAngle()
|
|||
#endif
|
||||
}
|
||||
|
||||
static void OffsetAnglePidCalc()
|
||||
{
|
||||
// float pid_measure,pid_ref;
|
||||
// static PIDInstance AngleCal = {
|
||||
// .Kp = -1,
|
||||
// .Ki = 0,
|
||||
// .Kd = 0,
|
||||
// .MaxOut = 10000,
|
||||
// };
|
||||
// chassis_cmd_send.offset_angle = PIDCalculate(&AngleCal,chassis_cmd_send.offset_angle,0);
|
||||
}
|
||||
/**
|
||||
* @brief 控制输入为遥控器(调试时)的模式和控制量设置
|
||||
*
|
||||
|
|
@ -119,11 +109,15 @@ static void RemoteControlSet()
|
|||
{
|
||||
// 控制底盘和云台运行模式,云台待添加,云台是否始终使用IMU数据?
|
||||
if (switch_is_down(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[下],底盘跟随云台
|
||||
{chassis_cmd_send.chassis_mode = CHASSIS_ROTATE;
|
||||
gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;}
|
||||
{
|
||||
chassis_cmd_send.chassis_mode = CHASSIS_ROTATE;
|
||||
gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
|
||||
}
|
||||
else if (switch_is_mid(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[中],底盘和云台分离,底盘保持不转动
|
||||
{chassis_cmd_send.chassis_mode = CHASSIS_NO_FOLLOW;
|
||||
gimbal_cmd_send.gimbal_mode = GIMBAL_FREE_MODE;}
|
||||
{
|
||||
chassis_cmd_send.chassis_mode = CHASSIS_NO_FOLLOW;
|
||||
gimbal_cmd_send.gimbal_mode = GIMBAL_FREE_MODE;
|
||||
}
|
||||
|
||||
// 云台参数,确定云台控制数据
|
||||
if (switch_is_mid(rc_data[TEMP].rc.switch_left)) // 左侧开关状态为[中],视觉模式
|
||||
|
|
@ -136,21 +130,20 @@ static void RemoteControlSet()
|
|||
{ // 按照摇杆的输出大小进行角度增量,增益系数需调整
|
||||
gimbal_cmd_send.yaw += 0.005f * (float)rc_data[TEMP].rc.rocker_l_;
|
||||
gimbal_cmd_send.pitch += 0.001f * (float)rc_data[TEMP].rc.rocker_l1;
|
||||
// if (gimbal_cmd_send.pitch <= 122)
|
||||
// 摇杆控制的软件限位
|
||||
// if (gimbal_cmd_send.pitch <= PITCH_MIN_ECD)
|
||||
// {
|
||||
// gimbal_cmd_send.pitch =125;
|
||||
// gimbal_cmd_send.pitch = PITCH_MIN_ECD;
|
||||
// }
|
||||
// else if (gimbal_cmd_send.pitch >= 175)
|
||||
// else if (gimbal_cmd_send.pitch >= PITCH_MAX_ECD)
|
||||
// {
|
||||
// gimbal_cmd_send.pitch = 174;
|
||||
// gimbal_cmd_send.pitch = PITCH_MAX_ECD;
|
||||
// }
|
||||
|
||||
}
|
||||
|
||||
// 底盘参数,目前没有加入小陀螺(调试似乎暂时没有必要),系数需要调整
|
||||
chassis_cmd_send.vx = 10.0f * (float)rc_data[TEMP].rc.rocker_r_; // _水平方向
|
||||
chassis_cmd_send.vy = 10.0f * (float)rc_data[TEMP].rc.rocker_r1; // 1数值方向
|
||||
//chassis_cmd_send.wz = 300;
|
||||
|
||||
// 发射参数
|
||||
if (switch_is_up(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[上],弹舱打开
|
||||
|
|
@ -163,7 +156,7 @@ static void RemoteControlSet()
|
|||
shoot_cmd_send.friction_mode = FRICTION_ON;
|
||||
else
|
||||
shoot_cmd_send.friction_mode = FRICTION_OFF;
|
||||
// 拨弹控制,目前固定为连发
|
||||
// 拨弹控制,遥控器固定为一种拨弹模式,可自行选择
|
||||
if (rc_data[TEMP].rc.dial < -500)
|
||||
shoot_cmd_send.load_mode = LOAD_BURSTFIRE;
|
||||
else
|
||||
|
|
@ -178,8 +171,83 @@ static void RemoteControlSet()
|
|||
*/
|
||||
static void MouseKeySet()
|
||||
{
|
||||
// 待添加键鼠控制
|
||||
// ...
|
||||
chassis_cmd_send.vx = rc_data[TEMP].key[KEY_PRESS].w * 300 - rc_data[TEMP].key[KEY_PRESS].s * 300; // 系数待测
|
||||
chassis_cmd_send.vy = rc_data[TEMP].key[KEY_PRESS].s * 300 - rc_data[TEMP].key[KEY_PRESS].d * 300;
|
||||
|
||||
gimbal_cmd_send.yaw += (float)rc_data[TEMP].mouse.x / 660 * 10; // 系数待测
|
||||
gimbal_cmd_send.pitch += (float)rc_data[TEMP].mouse.y / 660 * 10;
|
||||
|
||||
switch (rc_data[TEMP].key_count[KEY_PRESS][Key_Z] % 3) // Z键设置弹速
|
||||
{
|
||||
case 0:
|
||||
shoot_cmd_send.bullet_speed = 15;
|
||||
break;
|
||||
case 1:
|
||||
shoot_cmd_send.bullet_speed = 18;
|
||||
break;
|
||||
default:
|
||||
shoot_cmd_send.bullet_speed = 30;
|
||||
break;
|
||||
}
|
||||
switch (rc_data[TEMP].key_count[KEY_PRESS][Key_E] % 4) // E键设置发射模式
|
||||
{
|
||||
case 0:
|
||||
shoot_cmd_send.load_mode = LOAD_STOP;
|
||||
break;
|
||||
case 1:
|
||||
shoot_cmd_send.load_mode = LOAD_1_BULLET;
|
||||
break;
|
||||
case 2:
|
||||
shoot_cmd_send.load_mode = LOAD_3_BULLET;
|
||||
break;
|
||||
default:
|
||||
shoot_cmd_send.load_mode = LOAD_BURSTFIRE;
|
||||
break;
|
||||
}
|
||||
switch (rc_data[TEMP].key_count[KEY_PRESS][Key_R] % 2) // R键开关弹舱
|
||||
{
|
||||
case 0:
|
||||
shoot_cmd_send.lid_mode = LID_OPEN;
|
||||
break;
|
||||
default:
|
||||
shoot_cmd_send.lid_mode = LID_CLOSE;
|
||||
break;
|
||||
}
|
||||
switch (rc_data[TEMP].key_count[KEY_PRESS][Key_F] % 2) // F键开关摩擦轮
|
||||
{
|
||||
case 0:
|
||||
shoot_cmd_send.friction_mode = FRICTION_OFF;
|
||||
break;
|
||||
default:
|
||||
shoot_cmd_send.friction_mode = FRICTION_ON;
|
||||
break;
|
||||
}
|
||||
switch (rc_data[TEMP].key_count[KEY_PRESS][Key_C] % 4) // C键设置底盘速度
|
||||
{
|
||||
case 0:
|
||||
chassis_cmd_send.chassis_speed_buff = 40;
|
||||
break;
|
||||
case 1:
|
||||
chassis_cmd_send.chassis_speed_buff = 60;
|
||||
break;
|
||||
case 2:
|
||||
chassis_cmd_send.chassis_speed_buff = 80;
|
||||
break;
|
||||
default:
|
||||
chassis_cmd_send.chassis_speed_buff = 100;
|
||||
break;
|
||||
}
|
||||
switch (rc_data[TEMP].key[KEY_PRESS].shift) //待添加 按shift允许超功率 消耗缓冲能量
|
||||
{
|
||||
case 1:
|
||||
|
||||
break;
|
||||
|
||||
default:
|
||||
|
||||
break;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
/**
|
||||
|
|
@ -207,6 +275,22 @@ static void EmergencyHandler()
|
|||
robot_state = ROBOT_READY;
|
||||
shoot_cmd_send.shoot_mode = SHOOT_ON;
|
||||
}
|
||||
switch (rc_data[TEMP].key_count[KEY_PRESS_WITH_CTRL][Key_C]%2) //ctrl+c 进入急停
|
||||
{
|
||||
case 0:
|
||||
robot_state = ROBOT_READY;
|
||||
shoot_cmd_send.shoot_mode = SHOOT_ON;
|
||||
break;
|
||||
|
||||
default:
|
||||
robot_state = ROBOT_STOP;
|
||||
gimbal_cmd_send.gimbal_mode = GIMBAL_ZERO_FORCE;
|
||||
chassis_cmd_send.chassis_mode = CHASSIS_ZERO_FORCE;
|
||||
shoot_cmd_send.shoot_mode = SHOOT_OFF;
|
||||
shoot_cmd_send.friction_mode = FRICTION_OFF;
|
||||
shoot_cmd_send.load_mode = LOAD_STOP;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
/* 机器人核心控制任务,200Hz频率运行(必须高于视觉发送频率) */
|
||||
|
|
@ -237,7 +321,8 @@ void RobotCMDTask()
|
|||
vision_send_data.enemy_color = 0;
|
||||
vision_send_data.pitch = gimbal_fetch_data.gimbal_imu_data.Pitch;
|
||||
vision_send_data.yaw = gimbal_fetch_data.gimbal_imu_data.Yaw;
|
||||
vision_send_data.roll = gimbal_fetch_data.gimbal_imu_data.Roll;;
|
||||
vision_send_data.roll = gimbal_fetch_data.gimbal_imu_data.Roll;
|
||||
;
|
||||
|
||||
// 推送消息,双板通信,视觉通信等
|
||||
// 其他应用所需的控制数据在remotecontrolsetmode和mousekeysetmode中完成设置
|
||||
|
|
|
|||
|
|
@ -74,8 +74,8 @@ void GimbalInit()
|
|||
.MaxOut = 500,
|
||||
},
|
||||
.speed_PID = {
|
||||
.Kp = 50,//40
|
||||
.Ki = 200,
|
||||
.Kp = 50,//50
|
||||
.Ki = 200,//200
|
||||
.Kd = 0,
|
||||
.Improve = PID_Trapezoid_Intergral |PID_Integral_Limit |PID_Derivative_On_Measurement,
|
||||
.IntegralLimit = 3000,
|
||||
|
|
@ -111,7 +111,7 @@ void GimbalInit()
|
|||
.speed_PID = {
|
||||
.Kp=50,//50
|
||||
.Ki =350,//350
|
||||
.Kd =0,//0.1
|
||||
.Kd =0,//0
|
||||
.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit |PID_Derivative_On_Measurement,
|
||||
.IntegralLimit =2500,
|
||||
.MaxOut = 20000,
|
||||
|
|
@ -136,7 +136,7 @@ void GimbalInit()
|
|||
gimbal_pub = PubRegister("gimbal_feed", sizeof(Gimbal_Upload_Data_s));
|
||||
gimbal_sub = SubRegister("gimbal_cmd", sizeof(Gimbal_Ctrl_Cmd_s));
|
||||
}
|
||||
|
||||
int aaaaaaa;
|
||||
/* 机器人云台控制核心任务,后续考虑只保留IMU控制,不再需要电机的反馈 */
|
||||
void GimbalTask()
|
||||
{
|
||||
|
|
@ -178,7 +178,10 @@ void GimbalTask()
|
|||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
// if(yaw_motor->motor_measure.total_angle>120)
|
||||
// {
|
||||
// aaaaaaa++;
|
||||
// }
|
||||
// 在合适的地方添加pitch重力补偿前馈力矩
|
||||
// 根据IMU姿态/pitch电机角度反馈计算出当前配重下的重力矩
|
||||
// ...
|
||||
|
|
|
|||
|
|
@ -37,6 +37,8 @@
|
|||
#define YAW_CHASSIS_ALIGN_ECD 2711 // 云台和底盘对齐指向相同方向时的电机编码器值,若对云台有机械改动需要修改
|
||||
#define YAW_ECD_GREATER_THAN_4096 0 // ALIGN_ECD值是否大于4096,是为1,否为0;用于计算云台偏转角度
|
||||
#define PITCH_HORIZON_ECD 3412 // 云台处于水平位置时编码器值,若对云台有机械改动需要修改
|
||||
#define PITCH_MAX_ANGLE 0 //云台竖直方向最大角度 (注意反馈如果是陀螺仪，则填写陀螺仪的角度)
|
||||
#define PITCH_MIN_ANGLE 0 //云台竖直方向最小角度 (注意反馈如果是陀螺仪，则填写陀螺仪的角度)
|
||||
// 发射参数
|
||||
#define ONE_BULLET_DELTA_ANGLE 36 // 发射一发弹丸拨盘转动的距离,由机械设计图纸给出
|
||||
#define REDUCTION_RATIO_LOADER 49.0f // 拨盘电机的减速比,英雄需要修改为3508的19.0f
|
||||
|
|
@ -132,6 +134,7 @@ typedef enum
|
|||
// 功率限制,从裁判系统获取
|
||||
typedef struct
|
||||
{ // 功率控制
|
||||
float chassis_power_mx;
|
||||
} Chassis_Power_Data_s;
|
||||
|
||||
/* ----------------CMD应用发布的控制数据,应当由gimbal/chassis/shoot订阅---------------- */
|
||||
|
|
@ -148,7 +151,7 @@ typedef struct
|
|||
float wz; // 旋转速度
|
||||
float offset_angle; // 底盘和归中位置的夹角
|
||||
chassis_mode_e chassis_mode;
|
||||
|
||||
int chassis_speed_buff;
|
||||
// UI部分
|
||||
// ...
|
||||
|
||||
|
|
|
|||
|
|
@ -84,7 +84,7 @@ void VisionSend(Vision_Send_s *send)
|
|||
static uint8_t send_buff[VISION_SEND_SIZE];
|
||||
static uint16_t tx_len;
|
||||
// TODO: code to set flag_register
|
||||
|
||||
flag_register = 30<<8|0b00000001;
|
||||
// 将数据转化为seasky协议的数据包
|
||||
get_protocol_send_data(0x02, flag_register, &send->yaw, 3, send_buff, &tx_len);
|
||||
USARTSend(vision_usart_instance, send_buff, tx_len, USART_TRANSFER_DMA); // 和视觉通信使用IT,防止和接收使用的DMA冲突
|
||||
|
|
|
|||
|
|
@ -32,9 +32,10 @@ static void RectifyRCjoystick()
|
|||
* @param[out] rc_ctrl: remote control data struct point
|
||||
* @retval none
|
||||
*/
|
||||
uint16_t aaaaa;
|
||||
static void sbus_to_rc(const uint8_t *sbus_buf)
|
||||
{
|
||||
memcpy(&rc_ctrl[1], &rc_ctrl[TEMP], sizeof(RC_ctrl_t)); // 保存上一次的数据,用于按键持续按下和切换的判断
|
||||
|
||||
// 摇杆,直接解算时减去偏置
|
||||
rc_ctrl[TEMP].rc.rocker_r_ = ((sbus_buf[0] | (sbus_buf[1] << 8)) & 0x07ff) - RC_CH_VALUE_OFFSET; //!< Channel 0
|
||||
rc_ctrl[TEMP].rc.rocker_r1 = (((sbus_buf[1] >> 3) | (sbus_buf[2] << 5)) & 0x07ff) - RC_CH_VALUE_OFFSET; //!< Channel 1
|
||||
|
|
@ -53,32 +54,51 @@ static void sbus_to_rc(const uint8_t *sbus_buf)
|
|||
rc_ctrl[TEMP].mouse.press_l = sbus_buf[12]; //!< Mouse Left Is Press ?
|
||||
rc_ctrl[TEMP].mouse.press_r = sbus_buf[13]; //!< Mouse Right Is Press ?
|
||||
|
||||
// 按键值,每个键1bit,key_temp共16位;按键顺序在remote_control.h的宏定义中可见
|
||||
// 使用位域后不再需要这一中间操作
|
||||
rc_ctrl[TEMP].key_temp = sbus_buf[14] | (sbus_buf[15] << 8); //!< KeyBoard value
|
||||
// 位域的按键值解算,直接memcpy即可,注意小端低字节在前,即lsb在第一位,msb在最后. 尚未测试
|
||||
*(uint16_t *)&rc_ctrl[TEMP].key[KEY_PRESS] = (uint16_t)(sbus_buf[14] | (sbus_buf[15] << 8));
|
||||
|
||||
// @todo 似乎可以直接用位域操作进行,把key_temp通过强制类型转换变成key类型? 位域方案在下面,尚未测试
|
||||
// 按键值解算,利用宏+循环减少代码长度
|
||||
for (uint16_t i = 0x0001, j = 0; i != 0x8000; i *= 2, j++) // 依次查看每一个键
|
||||
if (rc_ctrl[TEMP].key[KEY_PRESS].ctrl)
|
||||
rc_ctrl[TEMP].key[KEY_PRESS_WITH_CTRL] = rc_ctrl[TEMP].key[KEY_PRESS];
|
||||
else
|
||||
memset(&rc_ctrl[TEMP].key[KEY_PRESS_WITH_CTRL], 0, sizeof(Key_t));
|
||||
if (rc_ctrl[TEMP].key[KEY_PRESS].shift)
|
||||
rc_ctrl[TEMP].key[KEY_PRESS_WITH_SHIFT] = rc_ctrl[TEMP].key[KEY_PRESS];
|
||||
else
|
||||
memset(&rc_ctrl[TEMP].key[KEY_PRESS_WITH_SHIFT], 0, sizeof(Key_t));
|
||||
|
||||
for (uint32_t i = 0, j = 0x1; i < 16; j <<= 1, i++)
|
||||
{
|
||||
// 如果键按下,对应键的key press状态置1,否则为0
|
||||
rc_ctrl[TEMP].key[KEY_PRESS][j] = rc_ctrl[TEMP].key_temp & i;
|
||||
// 如果当前按下且上一次没按下,切换按键状态.一些模式要通过按键状态而不是按键是否按下来确定(实际上是大部分)
|
||||
rc_ctrl[TEMP].key[KEY_STATE][j] = rc_ctrl[TEMP].key[KEY_PRESS][j] && !rc_ctrl[1].key[KEY_PRESS][j];
|
||||
// 检查是否有组合键按下
|
||||
if (rc_ctrl[TEMP].key_temp & 0x0001u << Key_Shift) // 按下ctrl
|
||||
rc_ctrl[TEMP].key[KEY_PRESS_WITH_SHIFT][j] = rc_ctrl[TEMP].key_temp & i;
|
||||
if (rc_ctrl[TEMP].key_temp & 0x0001u << Key_Ctrl) // 按下shift
|
||||
rc_ctrl[TEMP].key[KEY_PRESS_WITH_CTRL][j] = rc_ctrl[TEMP].key_temp & i;
|
||||
if (((*(uint16_t *)&rc_ctrl[TEMP].key[KEY_PRESS] & j) == j) && ((*(uint16_t *)&rc_ctrl[1].key[KEY_PRESS] & j) == 0) && ((*(uint16_t *)&rc_ctrl[TEMP].key[KEY_PRESS_WITH_CTRL] & j) != j) && ((*(uint16_t *)&rc_ctrl[TEMP].key[KEY_PRESS_WITH_SHIFT] & j) != j))
|
||||
{
|
||||
rc_ctrl[TEMP].key_count[KEY_PRESS][i]++;
|
||||
|
||||
if (rc_ctrl[TEMP].key_count[KEY_PRESS][i] >= 240)
|
||||
{
|
||||
rc_ctrl[TEMP].key_count[KEY_PRESS][i] = 0;
|
||||
}
|
||||
|
||||
// 位域的按键值解算,直接memcpy即可,注意小端低字节在前,即lsb在第一位,msb在最后. 尚未测试
|
||||
// *(uint16_t *)&rc_ctrl[TEMP].key_test[KEY_PRESS] = (uint16_t)(sbus_buf[14] | (sbus_buf[15] << 8));
|
||||
// *(uint16_t *)&rc_ctrl[TEMP].key_test[KEY_STATE] = *(uint16_t *)&rc_ctrl[TEMP].key_test[KEY_PRESS] & ~(*(uint16_t *)&(rc_ctrl[1].key_test[KEY_PRESS]));
|
||||
// if (rc_ctrl[TEMP].key_test[KEY_PRESS].ctrl)
|
||||
// rc_ctrl[TEMP].key_test[KEY_PRESS_WITH_CTRL] = rc_ctrl[TEMP].key_test[KEY_PRESS];
|
||||
// if (rc_ctrl[TEMP].key_test[KEY_PRESS].shift)
|
||||
// rc_ctrl[TEMP].key_test[Key_Shift] = rc_ctrl[TEMP].key_test[KEY_PRESS];
|
||||
}
|
||||
if (((*(uint16_t *)&rc_ctrl[TEMP].key[KEY_PRESS_WITH_CTRL] & j) == j) && ((*(uint16_t *)&rc_ctrl[1].key[KEY_PRESS_WITH_CTRL] & j) == 0))
|
||||
{
|
||||
rc_ctrl[TEMP].key_count[KEY_PRESS_WITH_CTRL][i]++;
|
||||
|
||||
if (rc_ctrl[TEMP].key_count[KEY_PRESS_WITH_CTRL][i] >= 240)
|
||||
{
|
||||
rc_ctrl[TEMP].key_count[KEY_PRESS_WITH_CTRL][i] = 0;
|
||||
}
|
||||
}
|
||||
if (((*(uint16_t *)&rc_ctrl[TEMP].key[KEY_PRESS_WITH_SHIFT] & j) == j) && ((*(uint16_t *)&rc_ctrl[1].key[KEY_PRESS_WITH_SHIFT] & j) == 0))
|
||||
{
|
||||
rc_ctrl[TEMP].key_count[KEY_PRESS_WITH_SHIFT][i]++;
|
||||
|
||||
if (rc_ctrl[TEMP].key_count[KEY_PRESS_WITH_SHIFT][i] >= 240)
|
||||
{
|
||||
rc_ctrl[TEMP].key_count[KEY_PRESS_WITH_SHIFT][i] = 0;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
memcpy(&rc_ctrl[1], &rc_ctrl[TEMP], sizeof(RC_ctrl_t)); // 保存上一次的数据,用于按键持续按下和切换的判断
|
||||
}
|
||||
|
||||
/**
|
||||
|
|
@ -126,5 +146,4 @@ uint8_t RemotecontrolIsOnline()
|
|||
if (rc_init_flag)
|
||||
return DaemonIsOnline(rc_daemon_instance);
|
||||
return 0;
|
||||
|
||||
}
|
||||
|
|
@ -24,8 +24,8 @@
|
|||
// 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
|
||||
#define KEY_PRESS_WITH_CTRL 1
|
||||
#define KEY_PRESS_WITH_SHIFT 2
|
||||
|
||||
// 检查接收值是否出错
|
||||
#define RC_CH_VALUE_MIN ((uint16_t)364)
|
||||
|
|
@ -42,6 +42,9 @@
|
|||
#define switch_is_up(s) (s == RC_SW_UP)
|
||||
#define LEFT_SW 1 // 左侧开关
|
||||
#define RIGHT_SW 0 // 右侧开关
|
||||
//键盘状态的宏
|
||||
#define key_is_press(s) (s == 1)
|
||||
#define key_not_press(s) (s == 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,后续改为位域后删除
|
||||
|
|
@ -106,10 +109,9 @@ typedef struct
|
|||
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
|
||||
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
|
||||
|
||||
uint8_t key_count[3][16];
|
||||
} RC_ctrl_t;
|
||||
|
||||
/* ------------------------- Internal Data ----------------------------------- */
|
||||
|
|
|
|||
Loading…
Reference in New Issue