From 0061ee66f88d2bb5f022e535b09596df3a790971 Mon Sep 17 00:00:00 2001
From: Baptiste Toussaint <baptiste.toussaint@polymtl.ca>
Date: Tue, 3 Mar 2020 10:34:30 -0500
Subject: [PATCH] [sync] merge code of Control Remote
---
Algorithm/pid.c | 13 +++-
Algorithm/pid.h | 4 +-
Device/Remote_Control.c | 90 ++++++++++++++++++++++
Device/Remote_Control.h | 70 +++++++++++++++++
Device/list_motor.c | 49 ++++++++++--
Device/list_motor.h | 2 +
Device/motor.c | 34 ++++-----
Driver/bsp_can.h | 2 +-
Driver/bsp_pwm.c | 14 ++--
Driver/bsp_uart.c | 165 ++++++++++++++++++++++++++++++++++++++++
Driver/bsp_uart.h | 41 ++++++++++
11 files changed, 441 insertions(+), 43 deletions(-)
create mode 100644 Device/Remote_Control.c
create mode 100644 Device/Remote_Control.h
create mode 100644 Driver/bsp_uart.c
create mode 100644 Driver/bsp_uart.h
diff --git a/Algorithm/pid.c b/Algorithm/pid.c
index fd82c7a..7e31acf 100644
--- a/Algorithm/pid.c
+++ b/Algorithm/pid.c
@@ -30,13 +30,15 @@ void pid_init(pid_struct_t *pid,
float ki,
float kd,
float i_max,
- float out_max)
+ float out_max,
+ int mode)
{
pid->kp = kp;
pid->ki = ki;
pid->kd = kd;
pid->i_max = i_max;
pid->out_max = out_max;
+ pid->mode = mode;
}
/**
@@ -52,9 +54,12 @@ float pid_calc(pid_struct_t *pid, float ref, float fdb)
pid->fdb = fdb;
pid->err[1] = pid->err[0];
pid->err[0] = pid->ref - pid->fdb;
- if(pid->err[0]>4096){pid->err[0] = pid->err[0] - 8192;}
- if(pid->err[0]<-4096){pid->err[0] = pid->err[0] + 8192;}
-
+ if (pid->mode == 0)
+ {
+ if(pid->err[0]>4096){pid->err[0] = pid->err[0] - 8192;}
+ if(pid->err[0]<-4096){pid->err[0] = pid->err[0] + 8192;}
+ }
+
pid->p_out = pid->kp * pid->err[0];
pid->i_out += pid->ki * pid->err[0];
pid->d_out = pid->kd * pid->err[0] - pid->err[1];
diff --git a/Algorithm/pid.h b/Algorithm/pid.h
index 69f6f47..ed449ac 100644
--- a/Algorithm/pid.h
+++ b/Algorithm/pid.h
@@ -22,6 +22,7 @@
typedef struct _pid_struct_t
{
+ int mode; // mode = 0 : position, 1 : speed
float kp;
float ki;
float kd;
@@ -43,7 +44,8 @@ void pid_init(pid_struct_t *pid,
float ki,
float kd,
float i_max,
- float out_max);
+ float out_max,
+ int mode);
float pid_calc(pid_struct_t *pid, float ref, float fdb);
diff --git a/Device/Remote_Control.c b/Device/Remote_Control.c
new file mode 100644
index 0000000..d6c3aaa
--- /dev/null
+++ b/Device/Remote_Control.c
@@ -0,0 +1,90 @@
+/**
+ ******************************************************************************
+ * @file Remote_Control.c
+ * @author DJI
+ * @version V1.0.0
+ * @date 2015/11/15
+ * @brief
+ ******************************************************************************
+ * @attention
+ *
+ ******************************************************************************
+ */
+#include "Remote_Control.h"
+#define LED2_Pin GPIO_PIN_7
+#define LED2_GPIO_Port GPIOE
+RC_Type remote_control;
+uint32_t Latest_Remote_Control_Pack_Time = 0;
+uint32_t LED_Flash_Timer_remote_control = 0;
+/*******************************************************************************************
+ * @Func void Callback_RC_Handle(RC_Type* rc, uint8_t* buff)
+ * @Brief DR16½ÓÊÕ»úÐÒé½âÂë³ÌÐò
+ * @Param RC_Type* rc¡¡´æ´¢Ò£¿ØÆ÷Êý¾ÝµÄ½á¹¹Ìå¡¡¡¡uint8_t* buff¡¡ÓÃÓÚ½âÂëµÄ»º´æ
+ * @Retval None
+ * @Date
+ *******************************************************************************************/
+void Callback_RC_Handle(RC_Type* rc, uint8_t* buff)
+{
+// rc->ch1 = (*buff | *(buff+1) << 8) & 0x07FF; offset = 1024
+ rc->ch1 = (buff[0] | buff[1]<<8) & 0x07FF;
+ rc->ch1 -= 1024;
+ rc->ch2 = (buff[1]>>3 | buff[2]<<5 ) & 0x07FF;
+ rc->ch2 -= 1024;
+ rc->ch3 = (buff[2]>>6 | buff[3]<<2 | buff[4]<<10) & 0x07FF;
+ rc->ch3 -= 1024;
+ rc->ch4 = (buff[4]>>1 | buff[5]<<7) & 0x07FF;
+ rc->ch4 -= 1024;
+
+ rc->switch_left = ( (buff[5] >> 4)& 0x000C ) >> 2;
+ rc->switch_right = (buff[5] >> 4)& 0x0003 ;
+
+ rc->mouse.x = buff[6] | (buff[7] << 8); //x axis
+ rc->mouse.y = buff[8] | (buff[9] << 8);
+ rc->mouse.z = buff[10]| (buff[11] << 8);
+
+ rc->mouse.press_left = buff[12]; // is pressed?
+ rc->mouse.press_right = buff[13];
+
+ rc->keyBoard.key_code = buff[14] | buff[15] << 8; //key borad code
+
+ Latest_Remote_Control_Pack_Time = HAL_GetTick();
+
+ if(Latest_Remote_Control_Pack_Time - LED_Flash_Timer_remote_control>500){
+
+ HAL_GPIO_TogglePin(LED2_GPIO_Port,LED2_Pin);
+
+ LED_Flash_Timer_remote_control = Latest_Remote_Control_Pack_Time;
+
+
+ }
+
+}
+
+extern uint16_t TIM_COUNT[];
+int16_t HighTime;
+
+
+/*******************************************************************************************
+ * @Func void HAL_TIM_IC_CaptureCallback(TIM_HandleTypeDef *htim)
+ * @Brief PWM½ÓÊÕ»úÂö¿í¼ÆËã
+ * @Param TIM_HandleTypeDef *htim ÓÃÓÚ²âÁ¿PWMÂö¿íµÄ¶¨Ê±Æ÷¡£
+ * @Retval None
+ * @Date
+ *******************************************************************************************/
+void HAL_TIM_IC_CaptureCallback(TIM_HandleTypeDef *htim)
+{
+
+ HighTime = (TIM_COUNT[1] - TIM_COUNT[0])>0?(TIM_COUNT[1] - TIM_COUNT[0]):((TIM_COUNT[1] - TIM_COUNT[0])+10000);
+
+ Latest_Remote_Control_Pack_Time = HAL_GetTick();
+
+ remote_control.ch4 = (HighTime - 4000)*660/4000;
+
+ if(Latest_Remote_Control_Pack_Time - LED_Flash_Timer_remote_control>500){
+
+ HAL_GPIO_TogglePin(LED2_GPIO_Port,LED2_Pin);
+ LED_Flash_Timer_remote_control = Latest_Remote_Control_Pack_Time;
+
+ }
+
+}
diff --git a/Device/Remote_Control.h b/Device/Remote_Control.h
new file mode 100644
index 0000000..5b3096e
--- /dev/null
+++ b/Device/Remote_Control.h
@@ -0,0 +1,70 @@
+/**
+ ******************************************************************************
+ * @file Remote_Control.h
+ * @author Ginger
+ * @version V1.0.0
+ * @date 2015/11/14
+ * @brief
+ ******************************************************************************
+ * @attention
+ *
+ ******************************************************************************
+ */
+
+#ifndef __RC__
+#define __RC__
+/* Includes ------------------------------------------------------------------*/
+#include "stm32f4xx_hal.h"
+
+#define RC_Frame_Lentgh 18
+
+typedef struct {
+ int16_t ch1; //each ch value from -364 -- +364
+ int16_t ch2;
+ int16_t ch3;
+ int16_t ch4;
+
+ uint8_t switch_left; //3 value
+ uint8_t switch_right;
+
+ struct {
+ int16_t x;
+ int16_t y;
+ int16_t z;
+
+ uint8_t press_left;
+ uint8_t press_right;
+ }mouse;
+
+ struct {
+ uint16_t key_code;
+/**********************************************************************************
+ * ¼üÅÌͨµÀ:15 14 13 12 11 10 9 8 7 6 5 4 3 2 1
+ * V C X Z G F R E Q CTRL SHIFT D A S W
+************************************************************************************/
+
+ }keyBoard;
+
+
+}RC_Type;
+
+
+
+enum{
+ Switch_Up = 1,
+ Switch_Middle = 3,
+ Switch_Down = 2,
+};
+
+enum{
+ Key_W,
+ Key_S,
+ //...
+};
+
+extern RC_Type remote_control;
+extern uint32_t Latest_Remote_Control_Pack_Time ;
+void Callback_RC_Handle(RC_Type* rc, uint8_t* buff);
+#endif
+
+
diff --git a/Device/list_motor.c b/Device/list_motor.c
index 1a000a3..b18aa65 100644
--- a/Device/list_motor.c
+++ b/Device/list_motor.c
@@ -3,18 +3,23 @@
#include "list_motor.h"
motor_t gm6020;
-const pid_struct_t M3508_pid_speed = {
- 2, 0.005, 2, 16000, 16000
+motor_t m3508_frontleft;
+motor_t m3508_frontright;
+motor_t m3508_backleft;
+motor_t m3508_backright;
+
+const pid_struct_t M3508_pid_speed = { //A VERIFIER
+ 1, 2, 0.005, 2, 16000, 16000
};
-const pid_struct_t M3508_pid_pos = {
- 0.1, 0.005, 0, 16000, 16000
+const pid_struct_t M3508_pid_pos = { //A VERIFIER
+ 0, 0.1, 0.005, 0, 16000, 16000
};
-const pid_struct_t GM6020_pid_speed = {
- 40, 3, 0, 30000, 30000
+const pid_struct_t GM6020_pid_speed = { //A VERIFIER
+ 1, 40, 10, 0, 30000, 30000
};
-const pid_struct_t GM6020_pid_pos = {
- 30, 4, 15, 10000, 10000
+const pid_struct_t GM6020_pid_pos = { //A VERIFIER
+ 0, 12, 3, 5, 10000, 10000
};
void motors_init(void){
@@ -24,5 +29,33 @@ void motors_init(void){
gm6020.can_info.rx_id = 0x205;
gm6020.pid_pos = GM6020_pid_pos;
gm6020.pid_speed = GM6020_pid_speed;
+
+ m3508_frontleft.type = M3508;
+ m3508_frontleft.can_info.can_id = 0;
+ m3508_frontleft.can_info.tx_id = 0;
+ m3508_frontleft.can_info.rx_id = 0x201;
+ m3508_frontleft.pid_pos = M3508_pid_pos;
+ m3508_frontleft.pid_speed = M3508_pid_speed;
+
+ m3508_frontright.type = M3508;
+ m3508_frontright.can_info.can_id = 0;
+ m3508_frontright.can_info.tx_id = 0;
+ m3508_frontright.can_info.rx_id = 0x202;
+ m3508_frontright.pid_pos = M3508_pid_pos;
+ m3508_frontright.pid_speed = M3508_pid_speed;
+
+ m3508_backleft.type = M3508;
+ m3508_backleft.can_info.can_id = 0;
+ m3508_backleft.can_info.tx_id = 0;
+ m3508_backleft.can_info.rx_id = 0x203;
+ m3508_backleft.pid_pos = M3508_pid_pos;
+ m3508_backleft.pid_speed = M3508_pid_speed;
+
+ m3508_backright.type = M3508;
+ m3508_backright.can_info.can_id = 0;
+ m3508_backright.can_info.tx_id = 0;
+ m3508_backright.can_info.rx_id = 0x204;
+ m3508_backright.pid_pos = M3508_pid_pos;
+ m3508_backright.pid_speed = M3508_pid_speed;
}
diff --git a/Device/list_motor.h b/Device/list_motor.h
index e0ea4d0..2090545 100644
--- a/Device/list_motor.h
+++ b/Device/list_motor.h
@@ -9,7 +9,9 @@ extern motor_t m3508_backright;
extern motor_t gm6020_down;
extern motor_t gm6020_up;
extern motor_t m2006;
+
extern motor_t gm6020;
+extern motor_t m3508;
extern const pid_struct_t M3508_pid_speed;
extern const pid_struct_t M3508_pid_pos;
diff --git a/Device/motor.c b/Device/motor.c
index 522851f..eae071c 100644
--- a/Device/motor.c
+++ b/Device/motor.c
@@ -1,7 +1,6 @@
#include "motor.h"
#include "oled.h"
#include "pid.h"
-//#include "list_motor.h"
void set_motor_voltage(uint8_t id, motor_t *motor1, motor_t *motor2, motor_t *motor3, motor_t *motor4) {
int16_t sp1, sp2, sp3, sp4;
@@ -23,42 +22,37 @@ static int16_t correct_output(motor_t *motor) {
}
-static void get_6020_data(motor_t* motor, uint8_t buf[CAN_DATA_SIZE]){
- motor->info.GM6020_info.angle = (int16_t)(buf[0] << 8 | buf[1]);
- motor->info.GM6020_info.speed = (int16_t)(buf[2] << 8 | buf[3]);
- motor->info.GM6020_info.current = (int16_t)(buf[4] << 8 | buf[5]);
- motor->info.GM6020_info.temp = (int8_t)(buf[6]);
- /*
- oled_clear(Pen_Clear);
- oled_printf(1,1,"Val: %i", motor->info.GM6020_info.angle);
- */
+static void get_6020_data(motor_t* motor, uint8_t motor_buf[CAN_DATA_SIZE]){
+ motor->info.GM6020_info.angle = (int16_t)(motor_buf[0] << 8 | motor_buf[1]);
+ motor->info.GM6020_info.speed = (int16_t)(motor_buf[2] << 8 | motor_buf[3]);
+ motor->info.GM6020_info.current = (int16_t)(motor_buf[4] << 8 | motor_buf[5]);
+ motor->info.GM6020_info.temp = (int8_t)(motor_buf[6]);
}
-static void get_3508_data(motor_t* motor, uint8_t buf[CAN_DATA_SIZE]){
- motor->info.M3508_info.angle = (int16_t)(buf[0] << 8 | buf[1]);
- motor->info.M3508_info.speed = (int16_t)(buf[2] << 8 | buf[3]);
- motor->info.M3508_info.current = (int16_t)(buf[4] << 8 | buf[5]);
- motor->info.M3508_info.temp = (int8_t)(buf[6]);
+static void get_3508_data(motor_t* motor, uint8_t motor_buf[CAN_DATA_SIZE]){
+ motor->info.M3508_info.angle = (int16_t)(motor_buf[0] << 8 | motor_buf[1]);
+ motor->info.M3508_info.speed = (int16_t)(motor_buf[2] << 8 | motor_buf[3]);
+ motor->info.M3508_info.current = (int16_t)(motor_buf[4] << 8 | motor_buf[5]);
+ motor->info.M3508_info.temp = (int8_t)(motor_buf[6]);
}
void run_motor_from_command(motor_t *motor, pid_struct_t pid_param, float target, float fdb)
{
-
motor->voltage = pid_calc(&pid_param, target, fdb);
}
uint8_t get_motor_data(motor_t *motor) {
- uint8_t buf[CAN_DATA_SIZE];
- can1_read(motor->can_info.rx_id, buf);
+ static uint8_t motor_buf[CAN_DATA_SIZE];
+ can1_read(motor->can_info.rx_id, motor_buf);
switch (motor->type) {
case GM6020:
- get_6020_data(motor, buf);
+ get_6020_data(motor, motor_buf);
return 1;
case M3508:
- get_3508_data(motor, buf);
+ get_3508_data(motor, motor_buf);
return 1;
default:
return 0;
diff --git a/Driver/bsp_can.h b/Driver/bsp_can.h
index 7f8b125..8a796c4 100644
--- a/Driver/bsp_can.h
+++ b/Driver/bsp_can.h
@@ -22,7 +22,7 @@
#include <stdio.h>
#include <string.h>
-#define FEEDBACK_ID_BASE 0x204
+#define FEEDBACK_ID_BASE 0x201
#define CAN_CONTROL_ID_BASE 0x200
#define CAN_CONTROL_ID_EXTEND 0x1ff
#define MOTOR_MAX_NUM 7
diff --git a/Driver/bsp_pwm.c b/Driver/bsp_pwm.c
index 36d4cf4..dee836b 100644
--- a/Driver/bsp_pwm.c
+++ b/Driver/bsp_pwm.c
@@ -68,18 +68,14 @@ void PWM_SetAllDuty(TIM_HandleTypeDef *tim, float duty_ch1, float duty_ch2, floa
* @retval None
*/
void PWM_ScaleAll(TIM_HandleTypeDef *tim){ //il faudrait jouer sur l'allumage des ports d'alimentation des snails (voir Nathan pour plus de détails)
- tim->Instance->CCR1 = (PWM_RESOLUTION*0.2) - 1;
- tim->Instance->CCR2 = (PWM_RESOLUTION*0.2) - 1;
- tim->Instance->CCR3 = (PWM_RESOLUTION*0.2) - 1;
- tim->Instance->CCR4 = (PWM_RESOLUTION*0.2) - 1;
+ HAL_GPIO_WritePin(GPIOH, POWER1_CTRL_Pin, GPIO_PIN_RESET); // switch off 24v power
+ PWM_SetAllDuty(&htim1,1,1,1,1);
+ HAL_Delay(10);
+ HAL_GPIO_WritePin(GPIOH, POWER1_CTRL_Pin, GPIO_PIN_SET); // switch on 24v power
HAL_Delay(3500);
- tim->Instance->CCR1 = (PWM_RESOLUTION*0.1) - 1;
- tim->Instance->CCR2 = (PWM_RESOLUTION*0.1) - 1;
- tim->Instance->CCR3 = (PWM_RESOLUTION*0.1) - 1;
- tim->Instance->CCR4 = (PWM_RESOLUTION*0.1) - 1;
-
+ PWM_SetAllDuty(&htim1,0,0,0,0);
HAL_Delay(500);
}
diff --git a/Driver/bsp_uart.c b/Driver/bsp_uart.c
new file mode 100644
index 0000000..7d61823
--- /dev/null
+++ b/Driver/bsp_uart.c
@@ -0,0 +1,165 @@
+/**
+ ***************************************(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];
+rc_info_t rc;
+
+
+/**
+ * @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_info_t *rc, uint8_t *buff)
+{
+
+ rc->ch4 = (buff[0] | buff[1] << 8) & 0x07FF; //0x07FF met la commande sur 11 bits (donc 2048 max)
+ rc->ch4 -= 1024; //on centre sur 0
+ rc->ch3 = (buff[1] >> 3 | buff[2] << 5) & 0x07FF;
+ rc->ch3 -= 1024;
+ rc->ch2 = (buff[2] >> 6 | buff[3] << 2 | buff[4] << 10) & 0x07FF;
+ rc->ch2 -= 1024;
+ rc->ch1 = (buff[4] >> 1 | buff[5] << 7) & 0x07FF;
+ rc->ch1 -= 1024;
+
+ rc->sw1 = ((buff[5] >> 4) & 0x000C) >> 2;
+ rc->sw2 = (buff[5] >> 4) & 0x0003;
+
+ if ((abs(rc->ch1) > 660) || \
+ (abs(rc->ch2) > 660) || \
+ (abs(rc->ch3) > 660) || \
+ (abs(rc->ch4) > 660))
+ {
+ memset(rc, 0, sizeof(rc_info_t));
+ }
+}
+
+/**
+ * @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, dbus_buf);
+ }
+
+ /* 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);
+}
+
+
+
diff --git a/Driver/bsp_uart.h b/Driver/bsp_uart.h
new file mode 100644
index 0000000..0064e20
--- /dev/null
+++ b/Driver/bsp_uart.h
@@ -0,0 +1,41 @@
+/**
+ ***************************************(C) COPYRIGHT 2018 DJI***************************************
+ * @file bsp_uart.h
+ * @brief this file contains the common defines and functions prototypes for
+ * the bsp_uart.c driver
+ * @note
+ * @Version V1.0.0
+ * @Date Jan-30-2018
+ ***************************************(C) COPYRIGHT 2018 DJI***************************************
+ */
+
+#ifndef __BSP_UART_H__
+#define __BSP_UART_H__
+
+#include "usart.h"
+
+#define UART_RX_DMA_SIZE (1024)
+#define DBUS_MAX_LEN (50)
+#define DBUS_BUFLEN (18)
+#define DBUS_HUART huart1 /* for dji remote controler reciever */
+/**
+ * @brief remote control information
+ */
+typedef __packed struct
+{
+ /* rocker channel information */
+ int16_t ch1;
+ int16_t ch2;
+ int16_t ch3;
+ int16_t ch4;
+
+ /* left and right lever information */
+ uint8_t sw1;
+ uint8_t sw2;
+} rc_info_t;
+
+void uart_receive_handler(UART_HandleTypeDef *huart);
+void dbus_uart_init(void);
+void USART_SendData(USART_TypeDef* USARTx, uint16_t Data);
+#endif
+
--
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