STM32F429连接USB飞行摇杆 (二) 摇杆协议

黑脚印_DarkSpoor

已于 2023-01-12 11:38:20 修改

阅读量1.4k

点赞数 4

分类专栏： STM32cubeIDE 文章标签： stm32 单片机摇杆 JoyStick USB Powered by 金山文档

于 2023-01-11 16:49:28 首次发布

本文链接：https://blog.csdn.net/softlove03/article/details/128646031

版权

STM32cubeIDE 专栏收录该内容

5 篇文章 2 订阅

订阅专栏

本文介绍摇杆的协议和示例工程源码下载地址。

摇杆功能说明：

摇杆的数据长度是8个字节。这个值是从描述符中读取到的。

下图是功能与字节的对应关系：

用结构体描述的协议

    struct {
        //byte0
        uint8_t asix_x;  //左右翻滚
        //byte1
        uint8_t asix_y;  // 上俯 下俯
        //byte2
        uint8_t : 8;  //保留
        //byte3
        uint8_t power;  // 加速 减速
        //byte4
        uint8_t asix_rz: 8;   //扭动，平移
        //byte5
        uint8_t hat_pov : 4;  //8方向 苦力帽 0-7
        uint8_t key1 : 1;
        uint8_t key2 : 1;
        uint8_t key3 : 1;
        uint8_t key4 : 1;
        //byte6
        uint8_t key5 : 1;
        uint8_t key6 : 1;
        uint8_t key7 : 1;
        uint8_t key8 : 1;
        uint8_t key9 : 1;
        uint8_t key10 : 1;
        uint8_t key11 : 1;
        uint8_t key12 : 1;
        //byte7
        uint8_t : 8;  //保留
    }

读取摇杆数据，解析数据，执行回调：

static USBH_StatusTypeDef USBH_HID_JoyStickDecode(USBH_HandleTypeDef *phost)
{
  HID_HandleTypeDef *HID_Handle = (HID_HandleTypeDef *) phost->pActiveClass->pData;

  if (HID_Handle->length == 0U)
  {
    return USBH_FAIL;
  }

    //读取USB摇杆数据
  if (USBH_HID_FifoRead(&HID_Handle->fifo, &joystick_report_data, HID_Handle->length) ==  HID_Handle->length)
  {
      //解析USB摇杆数据
      joystick_info.new_joystick.full = joystick_report_data;

      if(joystick_info.old_joystick.full ==0)
      {
          joystick_info.old_joystick.full = joystick_info.new_joystick.full;
      }
      else
      {
        if(joystick_info.old_joystick.full != joystick_info.new_joystick.full)
        {
            //判断 X,Y,Z
            if(joystick_info.old_joystick.data.asix_x != joystick_info.new_joystick.data.asix_x)
            {
                if(abs(joystick_info.old_joystick.data.asix_x - joystick_info.new_joystick.data.asix_x) > 1)
                {
                    on_JoyStick_X_Moved(&joystick_info);
                    joystick_info.old_joystick.data.asix_x = joystick_info.new_joystick.data.asix_x;
                }
            }
            if(joystick_info.old_joystick.data.asix_y != joystick_info.new_joystick.data.asix_y)
            {
                if(abs(joystick_info.old_joystick.data.asix_y - joystick_info.new_joystick.data.asix_y) > 1)
                {
                    on_JoyStick_Y_Moved(&joystick_info);
                    joystick_info.old_joystick.data.asix_y = joystick_info.new_joystick.data.asix_y;
                }
            }
            if(joystick_info.old_joystick.data.asix_rz != joystick_info.new_joystick.data.asix_rz)
            {
                if(abs(joystick_info.old_joystick.data.asix_rz - joystick_info.new_joystick.data.asix_rz) > 2)
                {
                    on_JoyStick_RZ_Moved(&joystick_info);
                    joystick_info.old_joystick.data.asix_rz = joystick_info.new_joystick.data.asix_rz;
                }
            }

            //power 加减速
            if(joystick_info.old_joystick.data.power != joystick_info.new_joystick.data.power)
            {
                if(abs(joystick_info.old_joystick.data.power - joystick_info.new_joystick.data.power) > 3)
                {
                    on_JoyStick_Power_Changed(&joystick_info);
                    joystick_info.old_joystick.data.power = joystick_info.new_joystick.data.power;
                }
            }

            //苦力帽方向
            if(joystick_info.old_joystick.data.hat_pov != joystick_info.new_joystick.data.hat_pov)
            {
                on_JoyStick_POV_Changed(&joystick_info);
                joystick_info.old_joystick.data.hat_pov = joystick_info.new_joystick.data.hat_pov;
            }

            //按键
            joystick_info.old_keys =  joystick_info.old_joystick.data32[1] & 0x00FFF000;
            joystick_info.new_keys =  joystick_info.new_joystick.data32[1] & 0x00FFF000;
            if(joystick_info.old_keys != joystick_info.new_keys)
            {
                on_JoyStick_Key_Changed(&joystick_info);
                joystick_info.old_joystick.data32[1] = joystick_info.old_joystick.data32[1] & (0xFF000FFF);
                joystick_info.old_joystick.data32[1] = joystick_info.old_joystick.data32[1] | (joystick_info.new_keys);
            }
        }
      }

    return USBH_OK;
  }
  return   USBH_FAIL;
}

回调函数使用了__weak 修饰符，方便重写。

重写方法的示例user_it.c文件

#include <user_it.h>
#include <stdio.h>
#include "main.h"
#include "joystickprotocol.h"

struct UsbControler usb;

void USBH_HID_EventCallback(USBH_HandleTypeDef *phost)
{
    if(Appli_state == APPLICATION_READY)
    {
        USBH_HID_GetJoyStickInfo(&hUsbHostFS);
    }
}

void on_JoyStick_Key1_Down(joystick_event_t * e)
{
    sprintf(usb.uartbuffer,"key1 down  ");
    HAL_UART_Transmit(&huart2, (unsigned char *)usb.uartbuffer, strlen(usb.uartbuffer), 1000);
}

void on_JoyStick_Key1_Up(joystick_event_t * e)
{
    sprintf(usb.uartbuffer,"key1 up  ");
    HAL_UART_Transmit(&huart2, (unsigned char *)usb.uartbuffer, strlen(usb.uartbuffer), 1000);
}

void on_JoyStick_Key2_Down(joystick_event_t * e)
{
    sprintf(usb.uartbuffer,"key2 down  ");
    HAL_UART_Transmit(&huart2, (unsigned char *)usb.uartbuffer, strlen(usb.uartbuffer), 1000);
}

void on_JoyStick_Key2_Up(joystick_event_t * e)
{
    sprintf(usb.uartbuffer,"key2 up  ");
    HAL_UART_Transmit(&huart2, (unsigned char *)usb.uartbuffer, strlen(usb.uartbuffer), 1000);
}

void on_JoyStick_Power_Changed(joystick_event_t * e)
{
    sprintf(usb.uartbuffer," power = %d  ", e->new_joystick.data.power);
    HAL_UART_Transmit(&huart2, (unsigned char *)usb.uartbuffer, strlen(usb.uartbuffer), 1000);
}

完整代码请下载工程文件源码。

工程使用CubeIDE 1.11创建，使用了FreeRTOS。