66 lines
2.6 KiB
C
66 lines
2.6 KiB
C
#include "remote_control.h"
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#include "string.h"
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#include "bsp_usart.h"
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#define REMOTE_CONTROL_FRAME_SIZE 18u // 遥控器接收的buffer大小
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// 遥控器数据
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static RC_ctrl_t rc_ctrl;
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// 遥控器拥有的串口实例
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static usart_instance* rc_usart_instance;
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/**
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* @brief remote control protocol resolution
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* @param[in] sbus_buf: raw data point
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* @param[out] rc_ctrl: remote control data struct point
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* @retval none
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*/
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static void sbus_to_rc(volatile const uint8_t *sbus_buf, RC_ctrl_t *rc_ctrl)
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{
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if (sbus_buf == NULL || rc_ctrl == NULL)
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{
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return;
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}
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rc_ctrl->rc.ch[0] = (sbus_buf[0] | (sbus_buf[1] << 8)) & 0x07ff; //!< Channel 0
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rc_ctrl->rc.ch[1] = ((sbus_buf[1] >> 3) | (sbus_buf[2] << 5)) & 0x07ff; //!< Channel 1
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rc_ctrl->rc.ch[2] = ((sbus_buf[2] >> 6) | (sbus_buf[3] << 2) | //!< Channel 2
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(sbus_buf[4] << 10)) &
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0x07ff;
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rc_ctrl->rc.ch[3] = ((sbus_buf[4] >> 1) | (sbus_buf[5] << 7)) & 0x07ff; //!< Channel 3
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rc_ctrl->rc.s[0] = ((sbus_buf[5] >> 4) & 0x0003); //!< Switch left
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rc_ctrl->rc.s[1] = ((sbus_buf[5] >> 4) & 0x000C) >> 2; //!< Switch right
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rc_ctrl->mouse.x = sbus_buf[6] | (sbus_buf[7] << 8); //!< Mouse X axis
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rc_ctrl->mouse.y = sbus_buf[8] | (sbus_buf[9] << 8); //!< Mouse Y axis
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rc_ctrl->mouse.z = sbus_buf[10] | (sbus_buf[11] << 8); //!< Mouse Z axis
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rc_ctrl->mouse.press_l = sbus_buf[12]; //!< Mouse Left Is Press ?
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rc_ctrl->mouse.press_r = sbus_buf[13]; //!< Mouse Right Is Press ?
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rc_ctrl->key.v = sbus_buf[14] | (sbus_buf[15] << 8); //!< KeyBoard value
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rc_ctrl->rc.ch[4] = sbus_buf[16] | (sbus_buf[17] << 8); // NULL
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rc_ctrl->rc.ch[0] -= RC_CH_VALUE_OFFSET;
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rc_ctrl->rc.ch[1] -= RC_CH_VALUE_OFFSET;
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rc_ctrl->rc.ch[2] -= RC_CH_VALUE_OFFSET;
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rc_ctrl->rc.ch[3] -= RC_CH_VALUE_OFFSET;
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rc_ctrl->rc.ch[4] -= RC_CH_VALUE_OFFSET;
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}
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/**
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* @brief protocol resolve callback
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* this func would be called when usart3 idle interrupt happens
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* 对sbus_to_rc的简单封装
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*
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*/
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static void ReceiveCallback()
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{
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sbus_to_rc(rc_usart_instance->recv_buff, &rc_ctrl);
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}
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RC_ctrl_t *RC_init(UART_HandleTypeDef *rc_usart_handle)
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{
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USART_Init_Config_s conf;
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conf.module_callback = ReceiveCallback;
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conf.usart_handle = rc_usart_handle;
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conf.recv_buff_size = REMOTE_CONTROL_FRAME_SIZE;
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rc_usart_instance = USARTRegister(&conf);
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return &rc_ctrl;
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} |