Gimbal/modules/remote/remote_control.c

#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;
    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;
}