Driver/bsp_uart.c

@@ -15,7 +15,7 @@
 #include "main.h"
 #include "oled.h"
 uint8_t   dbus_buf[DBUS_BUFLEN];
-rc_info_t rc;
+RC_ctrl_t rc_ctrl;
 
 
 /**
@@ -79,27 +79,27 @@ uint16_t dma_current_data_counter(DMA_Stream_TypeDef *dma_stream)
   * @param[in]   buff: the buff which saved raw rc data
   * @retval 
   */
-void rc_callback_handler(rc_info_t *rc, uint8_t *buff)
+void rc_callback_handler(RC_ctrl_t *rc_ctrl, 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;
+  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;
+  rc_ctrl->rc.sw[1] = (buff[5] >> 4) & 0x0003;
   
-  if ((abs(rc->ch1) > 660) || \
-      (abs(rc->ch2) > 660) || \
-      (abs(rc->ch3) > 660) || \
-      (abs(rc->ch4) > 660))
+  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, 0, sizeof(rc_info_t));
+    memset(&rc_ctrl->rc, 0, sizeof(rc_ctrl->rc));
   }		
 }
 
@@ -123,7 +123,7 @@ static void uart_rx_idle_callback(UART_HandleTypeDef* huart)
 		/* 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);	
+			rc_callback_handler(&rc_ctrl, dbus_buf);	
 		}
 		
 		/* restart dma transmission */

Driver/bsp_uart.h

@@ -18,21 +18,70 @@
 #define DBUS_MAX_LEN     (50)
 #define DBUS_BUFLEN      (18)
 #define DBUS_HUART       huart1 /* for dji remote controler reciever */
+
+/* ----------------------- RC Switch Definition----------------------------- */
+#define RC_SW_UP                ((uint16_t)1)
+#define RC_SW_MID               ((uint16_t)3)
+#define RC_SW_DOWN              ((uint16_t)2)
+#define switch_is_down(s)       (s == RC_SW_DOWN)
+#define switch_is_mid(s)        (s == RC_SW_MID)
+#define switch_is_up(s)         (s == RC_SW_UP)
+/* ----------------------- PC Key Definition-------------------------------- */
+#define KEY_PRESSED_OFFSET_W            ((uint16_t)1 << 0)
+#define KEY_PRESSED_OFFSET_S            ((uint16_t)1 << 1)
+#define KEY_PRESSED_OFFSET_A            ((uint16_t)1 << 2)
+#define KEY_PRESSED_OFFSET_D            ((uint16_t)1 << 3)
+#define KEY_PRESSED_OFFSET_SHIFT        ((uint16_t)1 << 4)
+#define KEY_PRESSED_OFFSET_CTRL         ((uint16_t)1 << 5)
+#define KEY_PRESSED_OFFSET_Q            ((uint16_t)1 << 6)
+#define KEY_PRESSED_OFFSET_E            ((uint16_t)1 << 7)
+#define KEY_PRESSED_OFFSET_R            ((uint16_t)1 << 8)
+#define KEY_PRESSED_OFFSET_F            ((uint16_t)1 << 9)
+#define KEY_PRESSED_OFFSET_G            ((uint16_t)1 << 10)
+#define KEY_PRESSED_OFFSET_Z            ((uint16_t)1 << 11)
+#define KEY_PRESSED_OFFSET_X            ((uint16_t)1 << 12)
+#define KEY_PRESSED_OFFSET_C            ((uint16_t)1 << 13)
+#define KEY_PRESSED_OFFSET_V            ((uint16_t)1 << 14)
+#define KEY_PRESSED_OFFSET_B            ((uint16_t)1 << 15)
+/* ----------------------- Data Struct ------------------------------------- */
+typedef __packed struct
+{
+        __packed struct
+        {
+                int16_t ch[5];
+                char sw[2];
+        } rc;
+        __packed struct
+        {
+                int16_t x;
+                int16_t y;
+                int16_t z;
+                uint8_t press_l;
+                uint8_t press_r;
+        } mouse;
+        __packed struct
+        {
+                uint16_t v;
+        } key;
+
+} RC_ctrl_t;
+
+
 /** 
   * @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;
+//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);