#include "remote_control.h" #include "string.h" #include "bsp_usart.h" #include "memory.h" #include "stdlib.h" #include "daemon.h" #include "bsp_log.h" #define USE_DT7_REMOTE // #define USE_SBUS_REMOTE_FUS #ifdef USE_DT7_REMOTE #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[2]; //[0]:当前数据TEMP,[1]:上一次的数据LAST.用于按键持续按下和切换的判断 static uint8_t rc_init_flag = 0; // 遥控器初始化标志位 // 遥控器拥有的串口实例,因为遥控器是单例,所以这里只有一个,就不封装了 static USARTInstance *rc_usart_instance; static DaemonInstance *rc_daemon_instance; /** * @brief 矫正遥控器摇杆的值,超过660或者小于-660的值都认为是无效值,置0 * */ static void RectifyRCjoystick() { for (uint8_t i = 0; i < 5; ++i) if (abs(*(&rc_ctrl[TEMP].rc.rocker_l_ + i)) > 660) *(&rc_ctrl[TEMP].rc.rocker_l_ + i) = 0; } /** * @brief 遥控器数据解析 * * @param sbus_buf 接收buffer */ static void sbus_to_rc(const uint8_t *sbus_buf) { // 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 rc_ctrl[TEMP].rc.rocker_l_ = (((sbus_buf[2] >> 6) | (sbus_buf[3] << 2) | (sbus_buf[4] << 10)) & 0x07ff) - RC_CH_VALUE_OFFSET; //!< Channel 2 rc_ctrl[TEMP].rc.rocker_l1 = (((sbus_buf[4] >> 1) | (sbus_buf[5] << 7)) & 0x07ff) - RC_CH_VALUE_OFFSET; //!< Channel 3 rc_ctrl[TEMP].rc.dial = ((sbus_buf[16] | (sbus_buf[17] << 8)) & 0x07FF) - RC_CH_VALUE_OFFSET; // 左侧拨轮 RectifyRCjoystick(); // 开关,0左1右 rc_ctrl[TEMP].rc.switch_right = ((sbus_buf[5] >> 4) & 0x0003); //!< Switch right rc_ctrl[TEMP].rc.switch_left = ((sbus_buf[5] >> 4) & 0x000C) >> 2; //!< Switch left // 鼠标解析 rc_ctrl[TEMP].mouse.x = (sbus_buf[6] | (sbus_buf[7] << 8)); //!< Mouse X axis rc_ctrl[TEMP].mouse.y = (sbus_buf[8] | (sbus_buf[9] << 8)); //!< Mouse Y axis 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 ? // 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 *(uint16_t *)&rc_ctrl[TEMP].key[KEY_PRESS] = (uint16_t)(sbus_buf[14] | (sbus_buf[15] << 8)); if (rc_ctrl[TEMP].key[KEY_PRESS].ctrl) // ctrl键按下 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) // shift键按下 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)); uint16_t key_now = rc_ctrl[TEMP].key[KEY_PRESS].keys, // 当前按键是否按下 key_last = rc_ctrl[LAST].key[KEY_PRESS].keys, // 上一次按键是否按下 key_with_ctrl = rc_ctrl[TEMP].key[KEY_PRESS_WITH_CTRL].keys, // 当前ctrl组合键是否按下 key_with_shift = rc_ctrl[TEMP].key[KEY_PRESS_WITH_SHIFT].keys, // 当前shift组合键是否按下 key_last_with_ctrl = rc_ctrl[LAST].key[KEY_PRESS_WITH_CTRL].keys, // 上一次ctrl组合键是否按下 key_last_with_shift = rc_ctrl[LAST].key[KEY_PRESS_WITH_SHIFT].keys; // 上一次shift组合键是否按下 for (uint16_t i = 0, j = 0x1; i < 16; j <<= 1, i++) { if (i == 4 || i == 5) // 4,5位为ctrl和shift,直接跳过 continue; // 如果当前按键按下,上一次按键没有按下,且ctrl和shift组合键没有按下,则按键按下计数加1(检测到上升沿) if ((key_now & j) && !(key_last & j) && !(key_with_ctrl & j) && !(key_with_shift & j)) rc_ctrl[TEMP].key_count[KEY_PRESS][i]++; // 当前ctrl组合键按下,上一次ctrl组合键没有按下,则ctrl组合键按下计数加1(检测到上升沿) if ((key_with_ctrl & j) && !(key_last_with_ctrl & j)) rc_ctrl[TEMP].key_count[KEY_PRESS_WITH_CTRL][i]++; // 当前shift组合键按下,上一次shift组合键没有按下,则shift组合键按下计数加1(检测到上升沿) if ((key_with_shift & j) && !(key_last_with_shift & j)) rc_ctrl[TEMP].key_count[KEY_PRESS_WITH_SHIFT][i]++; } memcpy(&rc_ctrl[LAST], &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 } /** * @brief 对sbus_to_rc的简单封装,用于注册到bsp_usart的回调函数中 * */ static void RemoteControlRxCallback() { DaemonReload(rc_daemon_instance); // 先喂狗 sbus_to_rc(rc_usart_instance->recv_buff); // 进行协议解析 } #endif #ifdef USE_SBUS_REMOTE_FUS #define REMOTE_CONTROL_FRAME_SIZE 25u // 遥控器接收的buffer大小 // 遥控器数据 static RC_ctrl_t rc_ctrl[2]; //[0]:当前数据TEMP,[1]:上一次的数据LAST.用于按键持续按下和切换的判断 static uint8_t rc_init_flag = 0; // 遥控器初始化标志位 // static uint8_t sbus_rc_buf[25]; // 遥控器拥有的串口实例,因为遥控器是单例,所以这里只有一个,就不封装了 static USARTInstance *rc_usart_instance; static DaemonInstance *rc_daemon_instance; static int16_t sRecvChanelData[16]; /** * @brief 矫正遥控器摇杆的值,超过660或者小于-660的值都认为是无效值,置0 * */ static void RectifyRCjoystick() { for (uint8_t i = 0; i < 5; ++i) if (abs(*(&rc_ctrl[TEMP].rc.rocker_l_ + i)) > 785) *(&rc_ctrl[TEMP].rc.rocker_l_ + i) = 0; } /** * @brief 遥控器数据解析 * * @param sbus_buf 接收buffer */ static void sbus_to_rc(const uint8_t *sbus_buf) { // LOGINFO("[rc] sbus_to_rc"); // memcpy(sbus_rc_buf, sbus_buf, REMOTE_CONTROL_FRAME_SIZE); const int channel_bits = 11; const int channel_mask = (1 << channel_bits) - 1; // 读取左右摇杆和开关状态 sRecvChanelData[ 0 ] = ( (sbus_buf[ 2] & 0x07) << 8 ) + ((sbus_buf[ 1] >> 0) & 0xFF); //右水平 sRecvChanelData[ 1 ] = ( (sbus_buf[ 3] & 0x3F) << 5 ) + ((sbus_buf[ 2] >> 3) & 0x1F); //右竖直 sRecvChanelData[ 2 ] = ( (sbus_buf[ 5] & 0x01) << 10) + ((sbus_buf[ 4] & 0xFF) << 2) + ((sbus_buf[ 3] >> 6) & 0x03); //左竖直 sRecvChanelData[ 3 ] = ( (sbus_buf[ 6] & 0x0F) << 7 ) + ((sbus_buf[ 5] >> 1) & 0x7F); //左水平 sRecvChanelData[ 4 ] = ( (sbus_buf[ 7] & 0x7F) << 4 ) + ((sbus_buf[ 6] >> 4) & 0x0F); //左侧拨轮 sRecvChanelData[ 5 ] = ( (sbus_buf[ 9] & 0x03) << 9 ) + ((sbus_buf[ 8] & 0xFF) << 1 ) + ((sbus_buf[ 7] >> 7) & 0x01); //右侧拨轮 sRecvChanelData[ 6 ] = ( (sbus_buf[10] & 0x1F) << 6 ) + ((sbus_buf[ 9] >> 2) & 0x3F); //开关A sRecvChanelData[ 7 ] = ( (sbus_buf[11] & 0xFF) << 3 ) + ((sbus_buf[10] >> 5) & 0x07); //开关B sRecvChanelData[ 8 ] = ( (sbus_buf[13] & 0x07) << 8 ) + ((sbus_buf[12] >> 0) & 0xFF); //开关C sRecvChanelData[ 9 ] = ( (sbus_buf[14] & 0x3F) << 5 ) + ((sbus_buf[13] >> 3) & 0x1F); //开关D rc_ctrl[TEMP].rc.rocker_r_ = sRecvChanelData[0] - RC_CH_VALUE_OFFSET; rc_ctrl[TEMP].rc.rocker_r1 = sRecvChanelData[1] - RC_CH_VALUE_OFFSET; rc_ctrl[TEMP].rc.rocker_l1 = sRecvChanelData[2] - RC_CH_VALUE_OFFSET; rc_ctrl[TEMP].rc.rocker_l_ = sRecvChanelData[3] - RC_CH_VALUE_OFFSET; rc_ctrl[TEMP].rc.dial1 = sRecvChanelData[4] - RC_CH_VALUE_OFFSET; rc_ctrl[TEMP].rc.dial2 = sRecvChanelData[5] - RC_CH_VALUE_OFFSET; if(sRecvChanelData[ 6 ] == 240) { rc_ctrl[TEMP].rc.swa = RC_SW_UP; } else { rc_ctrl[TEMP].rc.swa = RC_SW_DOWN; } if(sRecvChanelData[ 7 ] == 240) { rc_ctrl[TEMP].rc.swb = RC_SW_UP; } else { rc_ctrl[TEMP].rc.swb = RC_SW_DOWN; } if(sRecvChanelData[ 8 ] == 240) { rc_ctrl[TEMP].rc.swc = RC_SW_UP; } else if(sRecvChanelData[ 8 ] == 1024) { rc_ctrl[TEMP].rc.swc = RC_SW_MID; } else { rc_ctrl[TEMP].rc.swc = RC_SW_DOWN; } if(sRecvChanelData[ 9 ] == 240) { rc_ctrl[TEMP].rc.swd = RC_SW_UP; } else { rc_ctrl[TEMP].rc.swd = RC_SW_DOWN; } RectifyRCjoystick(); // memcpy(&rc_ctrl[LAST], &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 } /** * @brief 对sbus_to_rc的简单封装,用于注册到bsp_usart的回调函数中 * */ static void RemoteControlRxCallback() { DaemonReload(rc_daemon_instance); // 先喂狗 if (rc_usart_instance->recv_buff[0] == 0x0f) // 遥控器的帧头 { sbus_to_rc(rc_usart_instance->recv_buff); // 进行协议解析 } } #endif /** * @brief 遥控器离线的回调函数,注册到守护进程中,串口掉线时调用 * */ static void RCLostCallback(void *id) { // memset(rc_ctrl, 0, sizeof(rc_ctrl)); // 清空遥控器数据 USARTServiceInit(rc_usart_instance); // 尝试重新启动接收 LOGWARNING("[rc] remote control lost"); } RC_ctrl_t *RemoteControlInit(UART_HandleTypeDef *rc_usart_handle) { USART_Init_Config_s conf; conf.module_callback = RemoteControlRxCallback; conf.usart_handle = rc_usart_handle; conf.recv_buff_size = REMOTE_CONTROL_FRAME_SIZE; rc_usart_instance = USARTRegister(&conf); // 进行守护进程的注册,用于定时检查遥控器是否正常工作 Daemon_Init_Config_s daemon_conf = { .reload_count = 10, // 100ms未收到数据视为离线,遥控器的接收频率实际上是1000/14Hz(大约70Hz) .callback = RCLostCallback, .owner_id = NULL, // 只有1个遥控器,不需要owner_id }; rc_daemon_instance = DaemonRegister(&daemon_conf); rc_init_flag = 1; return rc_ctrl; } uint8_t RemoteControlIsOnline() { if (rc_init_flag) return DaemonIsOnline(rc_daemon_instance); return 0; }