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113 lines
4.8 KiB
113 lines
4.8 KiB
#include "remote.h"
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#include "app.h"
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RC_Ctl_t RC_Ctl;
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uint8_t sbus_rx_buffer[25];
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/********************************************************************************************
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*函数名称：void Remote_Init(void)
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*函数功能：遥控器初始化
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*输入参数：无
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*输出参数：无
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********************************************************************************************/
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void Remote_Init(void)
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{
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//GPIO端口设置
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GPIO_InitTypeDef GPIO_InitStructure;
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USART_InitTypeDef USART_InitStructure;
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NVIC_InitTypeDef NVIC_InitStructure;
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DMA_InitTypeDef DMA_InitStructure;
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RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA1 ,ENABLE); //使能DMA1
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RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART2, ENABLE); //使能USART1，GPIOA时钟
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RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE); //使能GPIOA时钟
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//USART1_TX PA.2
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GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2; //PA.2
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GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; //复用推挽输出
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GPIO_Init(GPIOA, &GPIO_InitStructure); //初始化PA2
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//USART1_RX PA.3
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GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3;
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;//浮空输入
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GPIO_Init(GPIOA, &GPIO_InitStructure); //初始化PA10
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//Usart1 NVIC 配置
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NVIC_InitStructure.NVIC_IRQChannel = DMA1_Channel6_IRQn;
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NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
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NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
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NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
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NVIC_Init(&NVIC_InitStructure);
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//USART 初始化设置
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USART_DeInit(USART2); //复位串口1
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USART_InitStructure.USART_BaudRate = 100000;//一般设置为9600;
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USART_InitStructure.USART_WordLength = USART_WordLength_9b;//字长为8位数据格式
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USART_InitStructure.USART_StopBits = USART_StopBits_1;//一个停止位
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USART_InitStructure.USART_Parity = USART_Parity_Even;//偶校验位
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USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;//无硬件数据流控制
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USART_InitStructure.USART_Mode = USART_Mode_Rx|USART_Mode_Tx ; //收发模式
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USART_Init(USART2, &USART_InitStructure); //初始化串口
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USART_DMACmd(USART2,USART_DMAReq_Rx,ENABLE); //开启USART1接收DMA
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USART_Cmd(USART2, ENABLE); //使能串口
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DMA_DeInit(DMA1_Channel6);
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DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)&(USART2->DR);
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DMA_InitStructure.DMA_MemoryBaseAddr = (uint32_t)sbus_rx_buffer;
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DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralSRC;
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DMA_InitStructure.DMA_BufferSize = 18;
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DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
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DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
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DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte;
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DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte;
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DMA_InitStructure.DMA_Mode = DMA_Mode_Circular;
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DMA_InitStructure.DMA_Priority = DMA_Priority_VeryHigh;
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DMA_InitStructure.DMA_M2M = DMA_M2M_Disable;
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DMA_Init(DMA1_Channel6,&DMA_InitStructure);
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DMA_ITConfig(DMA1_Channel6, DMA_IT_TC, ENABLE); //DMA通道1传输完成中断
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DMA_Cmd(DMA1_Channel6,ENABLE);
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}
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/********************************************************************************************
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*函数名称：void DMA1_Channel5_IRQHandler(void)
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*函数功能：串口DMA接收中断
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*输入参数：无
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*输出参数：无
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********************************************************************************************/
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extern float distance;
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extern int Movement;
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extern TurnPid TurnPidA;
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extern SpeedPid SpeedPidA;
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void DMA1_Channel6_IRQHandler(void)
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{
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if(DMA_GetITStatus(DMA1_IT_TC6))
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{
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DMA_ClearFlag(DMA1_IT_TC6);
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DMA_ClearITPendingBit(DMA1_IT_GL6); //清除全部中断标志
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RC_Ctl.rc.ch0 = (sbus_rx_buffer[0]| (sbus_rx_buffer[1] << 8)) & 0x07ff; //!< Channel 0
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RC_Ctl.rc.ch1 = ((sbus_rx_buffer[1] >> 3) | (sbus_rx_buffer[2] << 5)) & 0x07ff; //!< Channel 1
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RC_Ctl.rc.ch2 = ((sbus_rx_buffer[2] >> 6) | (sbus_rx_buffer[3] << 2) | //!< Channel 2
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(sbus_rx_buffer[4] << 10)) & 0x07ff;
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RC_Ctl.rc.ch3 = ((sbus_rx_buffer[4] >> 1) | (sbus_rx_buffer[5] << 7)) & 0x07ff; //!< Channel 3
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RC_Ctl.rc.s1 = ((sbus_rx_buffer[5] >> 4)& 0x000C) >> 2; //!< Switch left
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RC_Ctl.rc.s2 = ((sbus_rx_buffer[5] >> 4)& 0x0003); //!< Switch right
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RC_Ctl.mouse.x = sbus_rx_buffer[6] | (sbus_rx_buffer[7] << 8); //!< Mouse X axis
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RC_Ctl.mouse.y = sbus_rx_buffer[8] | (sbus_rx_buffer[9] << 8); //!< Mouse Y axis
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RC_Ctl.mouse.z = sbus_rx_buffer[10] | (sbus_rx_buffer[11] << 8); //!< Mouse Z axis
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RC_Ctl.mouse.press_l = sbus_rx_buffer[12]; //!< Mouse Left Is Press ?
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RC_Ctl.mouse.press_r = sbus_rx_buffer[13]; //!< Mouse Right Is Press ?
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RC_Ctl.key.v = sbus_rx_buffer[14] | (sbus_rx_buffer[15] << 8); //!< KeyBoard value
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Movement = (RC_Ctl.rc.ch1 - 1024)*1.5;
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if(RC_Ctl.rc.s1==1) //加入超声波
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{
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if(Movement>=0 && distance <100.0f)
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Movement=-600;
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}
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if(RC_Ctl.rc.ch0-1024>30 || RC_Ctl.rc.ch0-1024<-30)
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TurnPidA.SetSpeedSum -= (RC_Ctl.rc.ch0-1024)/14.67;
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}
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}
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