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/**
***************************************(C) COPYRIGHT 2018 DJI***************************************
* @file bsp_uart.c
* @brief this file contains rc data receive and processing function
* @note
* @Version V1.0.0
* @Date Jan-30-2018
***************************************(C) COPYRIGHT 2018 DJI***************************************
*/
#include "string.h"
#include "stdlib.h"
#include "bsp_uart.h"
#include "usart.h"
#include "main.h"
#include "oled.h"
uint8_t dbus_buf[DBUS_BUFLEN];
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/**
* @brief enable global uart it and do not use DMA transfer done it
* @param[in] huart: uart IRQHandler id
* @param[in] pData: receive buff
* @param[in] Size: buff size
* @retval set success or fail
*/
static int uart_receive_dma_no_it(UART_HandleTypeDef* huart, uint8_t* pData, uint32_t Size)
{
uint32_t tmp1 = 0;
tmp1 = huart->RxState;
if (tmp1 == HAL_UART_STATE_READY)
{
if ((pData == NULL) || (Size == 0))
{
return HAL_ERROR;
}
huart->pRxBuffPtr = pData;
huart->RxXferSize = Size;
huart->ErrorCode = HAL_UART_ERROR_NONE;
/* Enable the DMA Stream */
HAL_DMA_Start(huart->hdmarx, (uint32_t)&huart->Instance->DR, (uint32_t)pData, Size);
/*
* Enable the DMA transfer for the receiver request by setting the DMAR bit
* in the UART CR3 register
*/
SET_BIT(huart->Instance->CR3, USART_CR3_DMAR);
return HAL_OK;
}
else
{
return HAL_BUSY;
}
}
/**
* @brief returns the number of remaining data units in the current DMAy Streamx transfer.
* @param[in] dma_stream: where y can be 1 or 2 to select the DMA and x can be 0
* to 7 to select the DMA Stream.
* @retval The number of remaining data units in the current DMAy Streamx transfer.
*/
uint16_t dma_current_data_counter(DMA_Stream_TypeDef *dma_stream)
{
/* Return the number of remaining data units for DMAy Streamx */
return ((uint16_t)(dma_stream->NDTR));
}
/**
* @brief handle received rc data
* @param[out] rc: structure to save handled rc data
* @param[in] buff: the buff which saved raw rc data
* @retval
*/
void rc_callback_handler(RC_ctrl_t *rc_ctrl, uint8_t *buff)
rc_ctrl->rc.ch[3] = (buff[0] | buff[1] << 8) & 0x07FF; //0x07FF met la commande sur 11 bits (donc 2048 max)
rc_ctrl->rc.ch[3] -= 1024; //on centre sur 0
rc_ctrl->rc.ch[2] = (buff[1] >> 3 | buff[2] << 5) & 0x07FF;
rc_ctrl->rc.ch[2] -= 1024;
rc_ctrl->rc.ch[1] = (buff[2] >> 6 | buff[3] << 2 | buff[4] << 10) & 0x07FF;
rc_ctrl->rc.ch[1] -= 1024;
rc_ctrl->rc.ch[0] = (buff[4] >> 1 | buff[5] << 7) & 0x07FF;
rc_ctrl->rc.ch[0] -= 1024;
rc_ctrl->rc.sw[0] = ((buff[5] >> 4) & 0x000C) >> 2; //!< Switch right
rc_ctrl->rc.sw[1] = (buff[5] >> 4) & 0x0003; //!< Switch left
rc_ctrl->mouse.x = buff[6] | (buff[7] << 8); //!< Mouse X axis
rc_ctrl->mouse.y = buff[8] | (buff[9] << 8); //!< Mouse Y axis
rc_ctrl->mouse.z = buff[10] | (buff[11] << 8); //!< Mouse Z axis
rc_ctrl->mouse.press_l = buff[12]; //!< Mouse Left Is Press ?
rc_ctrl->mouse.press_r = buff[13]; //!< Mouse Right Is Press ?
rc_ctrl->key.v = buff[14] | (buff[15] << 8); //!< KeyBoard value
rc_ctrl->rc.ch[4] = buff[16] | (buff[17] << 8); //!< Left Dial
rc_ctrl->rc.ch[4] -= 1024;
if ((abs(rc_ctrl->rc.ch[0]) > 660) || \
(abs(rc_ctrl->rc.ch[1]) > 660) || \
(abs(rc_ctrl->rc.ch[2]) > 660) || \
(abs(rc_ctrl->rc.ch[3]) > 660))
memset(&rc_ctrl->rc, 0, sizeof(rc_ctrl->rc));
}
}
/**
* @brief clear idle it flag after uart receive a frame data
* @param[in] huart: uart IRQHandler id
* @retval
*/
static void uart_rx_idle_callback(UART_HandleTypeDef* huart)
{
/* clear idle it flag avoid idle interrupt all the time */
__HAL_UART_CLEAR_IDLEFLAG(huart);
/* handle received data in idle interrupt */
if (huart == &DBUS_HUART)
{
/* clear DMA transfer complete flag */
__HAL_DMA_DISABLE(huart->hdmarx);
/* handle dbus data dbus_buf from DMA */
if ((DBUS_MAX_LEN - dma_current_data_counter(huart->hdmarx->Instance)) == DBUS_BUFLEN)
{
rc_callback_handler(&rc_ctrl, dbus_buf);
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}
/* restart dma transmission */
__HAL_DMA_SET_COUNTER(huart->hdmarx, DBUS_MAX_LEN);
__HAL_DMA_ENABLE(huart->hdmarx);
}
}
/**
* @brief callback this function when uart interrupt
* @param[in] huart: uart IRQHandler id
* @retval
*/
void uart_receive_handler(UART_HandleTypeDef *huart)
{
if (__HAL_UART_GET_FLAG(huart, UART_FLAG_IDLE) &&
__HAL_UART_GET_IT_SOURCE(huart, UART_IT_IDLE))
{
uart_rx_idle_callback(huart);
}
}
/**
* @brief initialize dbus uart device
* @param
* @retval
*/
void dbus_uart_init(void)
{
/* open uart idle it */
__HAL_UART_CLEAR_IDLEFLAG(&DBUS_HUART);
__HAL_UART_ENABLE_IT(&DBUS_HUART, UART_IT_IDLE);
uart_receive_dma_no_it(&DBUS_HUART, dbus_buf, DBUS_MAX_LEN);
}