太虚剑形——遥控

太虚四形二十一式，

启，化，守，开。

残月，断海，裂空。

飞鹘，玄隼，雨燕，藤雀，云鹰，月鹭。

垂柳，幽兰，劲竹，墨菊，净莲，青松。

岩破，乱雷，霹雳，山崩，瞬尘，震风。

新人写帖子，仅供内部人员参照，

        使用DJI遥控协议，DBUS，初始配置如前文在下A板杀手，请赐教，uart配置可以看这篇文章，相关协议的介绍也在里头http://t.csdn.cn/rVp9A大疆A型板使用经验分享（五）—— DMA配置和遥控器使用

下面进入正题，由本人改编的代码奉上

LSS_UART.c

/**
 ***************************************(C) COPYRIGHT 2020 DJI***************************************
 * @file       LLS_USART.c
 * @brief      this file contains rc data receive and processing function
 * @note
 * @Version    V1.0.0
 * @Date       June-30-2022
 ***************************************(C) COPYRIGHT 2020 DJI***************************************
 */
#include "LSS_USART.h"


/*
*****移植了DJI的中断逻辑处理函数
*****使用串口空闲中断来接收数据比较合理
*/

#define abs(x) ((x)>0? (x):(-(x)))
	
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));
}


/************************************空闲中断回调函数功能函数区************************************/

void rc_callback_handler(rc_info_t *rc, uint8_t *buff)
{
  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->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));
  }
}

/************************************END************************************/



/**
  * @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);
    if (huart == &DBUS_HUART)
    {
      __HAL_DMA_DISABLE(huart->hdmarx);

		if ((DBUS_MAX_LEN - dma_current_data_counter(huart->hdmarx->Instance)) == DBUS_BUFLEN)
		{
			rc_callback_handler(&rc, dbus_buf);	
		}		
		__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);
    }

}

/**
**空闲中断初始化函数，main里面调用，选择串口即可初始化
**/
void uart_receive_init(UART_HandleTypeDef *huart)
{
	if(huart == &DBUS_HUART)
    {
			__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);
    }
		
}

//void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)//中断回调函数
//{
//	HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin,GPIO_PIN_SET);
//	
//	UNUSED(huart);
//	if(huart->Instance == USART1)//判断串口号
//	{
//		LIDAR_USART(rx_buffer);
//  	HAL_UART_Transmit(&huart1,(uint8_t *)&rx_buffer,1,100); // 将接收到的数据再通过串口发送出去
//		HAL_UART_Receive_IT(&huart1, (uint8_t *)&rx_buffer, 1);   //重新使能接收中断
//	}
//}

LSS_UART.h

#ifndef __LSS_USART__H
#define __LSS_USART__H

#include "stm32f4xx_hal.h"
#include "LSS_USART.h"
#include "usart.h"
#include <string.h>
#include <stdio.h>
#include <stdarg.h>
#include  "stdint.h"
#include  "math.h"

#define BYTE0(dwTemp)       ( *( (char *)(&dwTemp)	  ) )
#define BYTE1(dwTemp)       ( *( (char *)(&dwTemp) + 1) )
#define BYTE2(dwTemp)       ( *( (char *)(&dwTemp) + 2) )
#define BYTE3(dwTemp)       ( *( (char *)(&dwTemp) + 3) )
	
#define posit_clear					"ACT0"	//数据清零 重新开始计算

#define UART_RX_DMA_SIZE (1024)

#define DBUS_MAX_LEN     (50)
#define DBUS_BUFLEN      (18)
#define DBUS_HUART       huart1 

#define USART4_MAX_LEN     (50)
#define USART4_BUFLEN      (27)
#define LeDar_HUART       huart4 

typedef struct lidar//激光雷达
{
	float pos_x;
	float pos_y;
	float zangle;
	float xangle;
  float yangle;
  float w_z;
}lidar;//全场地位结构体

typedef __packed struct
{
  
  int16_t ch1;
  int16_t ch2;
  int16_t ch3;
  int16_t ch4;

  uint8_t sw1;
  uint8_t sw2;
	uint8_t last_sw;
} rc_info_t;

extern uint8_t  usart4_buf[USART4_BUFLEN];
extern rc_info_t rc;

void LIDAR_USART(uint8_t ch);
void usart_printf(const char *fmt,...);
void uart_receive_handler(UART_HandleTypeDef *huart);
void imu_uart_init(void);
void openmv_uart_init(void);
void uart_receive_init(UART_HandleTypeDef *huart);
void USART_SendData(USART_TypeDef* USARTx, uint16_t Data);
void Send_dat_HMI(uint8_t *date);

#endif

main.c

/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2022 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "dma.h"
#include "usart.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "LSS_USART.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{
  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_DMA_Init();
  MX_USART1_UART_Init();
  MX_USART6_UART_Init();
  /* USER CODE BEGIN 2 */
uart_receive_init(&huart1);//接收初始化
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Configure the main internal regulator output voltage
  */
  __HAL_RCC_PWR_CLK_ENABLE();
  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLM = 6;
  RCC_OscInitStruct.PLL.PLLN = 180;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  RCC_OscInitStruct.PLL.PLLQ = 4;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }
  /** Activate the Over-Drive mode
  */
  if (HAL_PWREx_EnableOverDrive() != HAL_OK)
  {
    Error_Handler();
  }
  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */

编写完后在debug里调试

查看rc

使用大疆的DR16接收机和RoboMaster 遥控器，会有数值的变化，之后可以在里面编写一些程序。

以上便是DBUS快速代码入门。下一篇更新山外上位机的使用