179 lines
5.8 KiB
C
179 lines
5.8 KiB
C
/**
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* 协议层实现
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* NRF24 发射 / SBUS 接收 / USB HID Joystick
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*/
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#include "protocol.h"
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#include "usart.h"
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#include "usb.h"
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#include <string.h>
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/* 回传数据 */
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uint16_t telem_voltage = 0;
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uint8_t telem_rssi = 0;
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uint8_t telem_packet_loss = 0;
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uint16_t telem_temp = 0;
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/* 协议状态 */
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static uint32_t last_rf_send = 0;
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static uint32_t rf_interval_ms = 10; /* 默认 100Hz */
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/* SBUS 接收缓冲 */
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static uint8_t sbus_buf[SBUS_FRAME_SIZE];
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static uint8_t sbus_idx = 0;
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static uint8_t sbus_got_frame = 0;
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/* USB HID 报告缓冲 */
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static uint8_t hid_report[HID_REPORT_SIZE];
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void Protocol_Init(void) {
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last_rf_send = 0;
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sbus_idx = 0;
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sbus_got_frame = 0;
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memset(hid_report, 0, sizeof(hid_report));
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}
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/* ---- NRF24 协议 ---- */
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void Protocol_SendRFPacket(void) {
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uint8_t packet[RF_PACKET_SIZE];
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memset(packet, 0, RF_PACKET_SIZE);
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/* 包头 */
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packet[0] = RF_SYNC_BYTE0;
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packet[1] = RF_SYNC_BYTE1;
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/* 对频短语 (6字节) */
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memcpy(&packet[2], g_config.nrf_phrase, 6);
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/* 通道数据 (16通道 * 2字节 = 32字节, 但只取前16字节核心通道) */
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/* 每个通道用 int16_t, 压缩为 2 bytes */
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for (uint8_t i = 0; i < 8; i++) {
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int16_t val = g_channels[i];
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/* 范围 -1000 ~ +1000, 映射到 0~2000 */
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uint16_t mapped = (uint16_t)(val + 1000);
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packet[8 + i * 2] = (mapped >> 8) & 0xFF;
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packet[8 + i * 2 + 1] = mapped & 0xFF;
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}
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/* 校验和 (简单 XOR) */
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uint8_t checksum = 0;
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for (uint8_t i = 0; i < RF_PACKET_SIZE - 1; i++)
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checksum ^= packet[i];
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packet[RF_PACKET_SIZE - 1] = checksum;
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/* 发送 */
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NRF24L01_TxPacket(packet, RF_PACKET_SIZE);
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}
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void Protocol_ProcessRF(void) {
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/* 接收回传数据 */
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uint8_t rx_buf[32];
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if (NRF24L01_RxPacket(rx_buf)) {
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/* 解析回传包 */
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if (rx_buf[0] == 0xBB && rx_buf[1] == 0x44) {
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telem_voltage = (rx_buf[2] << 8) | rx_buf[3];
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telem_rssi = rx_buf[4];
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telem_packet_loss = rx_buf[5];
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telem_temp = (rx_buf[6] << 8) | rx_buf[7];
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}
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}
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}
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/* ---- SBUS 协议 ---- */
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void Protocol_SBUS_Init(void) {
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/* USART1 配置为 SBUS 模式 (100000 baud, 8E2) */
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huart1.Init.BaudRate = SBUS_BAUDRATE;
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huart1.Init.WordLength = UART_WORDLENGTH_9B;
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huart1.Init.Parity = UART_PARITY_EVEN;
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huart1.Init.StopBits = UART_STOPBITS_2;
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if (HAL_UART_Init(&huart1) != HAL_OK) {
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Error_Handler();
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}
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/* 启动接收中断 */
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HAL_UART_Receive_IT(&huart1, sbus_buf, SBUS_FRAME_SIZE);
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}
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uint8_t Protocol_SBUS_Parse(const uint8_t *frame, int16_t *channels) {
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/* SBUS 帧: 0x0F 起始, 0x00 结束 */
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if (frame[0] != 0x0F || frame[24] != 0x00) return 0;
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/* 解析 16 通道 (11-bit each) */
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channels[0] = ((frame[1] | frame[2]<<8) & 0x07FF);
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channels[1] = ((frame[2]>>3 | frame[3]<<5) & 0x07FF);
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channels[2] = ((frame[3]>>6 | frame[4]<<2 | frame[5]<<10) & 0x07FF);
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channels[3] = ((frame[5]>>1 | frame[6]<<7) & 0x07FF);
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channels[4] = ((frame[6]>>4 | frame[7]<<4) & 0x07FF);
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channels[5] = ((frame[7]>>7 | frame[8]<<1 | frame[9]<<9) & 0x07FF);
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channels[6] = ((frame[9]>>2 | frame[10]<<6) & 0x07FF);
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channels[7] = ((frame[10]>>5 | frame[11]<<3) & 0x07FF);
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channels[8] = ((frame[12] | frame[13]<<8) & 0x07FF);
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channels[9] = ((frame[13]>>3 | frame[14]<<5) & 0x07FF);
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channels[10] = ((frame[14]>>6 | frame[15]<<2 | frame[16]<<10) & 0x07FF);
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channels[11] = ((frame[16]>>1 | frame[17]<<7) & 0x07FF);
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channels[12] = ((frame[17]>>4 | frame[18]<<4) & 0x07FF);
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channels[13] = ((frame[18]>>7 | frame[19]<<1 | frame[20]<<9) & 0x07FF);
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channels[14] = ((frame[20]>>2 | frame[21]<<6) & 0x07FF);
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channels[15] = ((frame[21]>>5 | frame[22]<<3) & 0x07FF);
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/* SBUS 范围: 172~1811, 映射到 -1000~+1000 */
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for (uint8_t i = 0; i < 16; i++) {
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channels[i] = (int16_t)((int32_t)(channels[i] - 992) * 1000 / 819);
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if (channels[i] > 1000) channels[i] = 1000;
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if (channels[i] < -1000) channels[i] = -1000;
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}
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return 1;
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}
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/* ---- USB HID Joystick ---- */
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void Protocol_HID_Init(void) {
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/* USB 已在 MX_USB_PCD_Init 中初始化 */
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/* HID 描述符需在 usbd_hid.c 中配置 (通常由 CubeMX 生成) */
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}
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void Protocol_HID_Send(void) {
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/* 构造 HID Joystick 报告 */
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/* 标准 Joystick 报告: 8 axis (16-bit) + buttons */
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memset(hid_report, 0, HID_REPORT_SIZE);
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/* X, Y, Z, Rx, Ry, Rz, Slider, Dial */
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for (uint8_t i = 0; i < 8 && i < CHANNEL_COUNT; i++) {
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/* 映射 -1000~+1000 到 16-bit */
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int16_t val = g_channels[i];
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hid_report[i * 2] = val & 0xFF;
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hid_report[i * 2 + 1] = (val >> 8) & 0xFF;
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}
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/* 发送 HID 报告 (需要 USB HID 库支持) */
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/* USBD_HID_SendReport(&hUsbDeviceFS, hid_report, HID_REPORT_SIZE); */
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}
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/* ---- 主循环 ---- */
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void Protocol_Run(void) {
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uint32_t now = HAL_GetTick();
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/* 根据刷新率发送 RF 数据 */
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if (now - last_rf_send >= rf_interval_ms) {
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last_rf_send = now;
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if (g_config.rf_type == 0) {
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/* NRF24 模式 */
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Protocol_SendRFPacket();
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/* 短暂切换到接收模式收遥测 */
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NRF24L01_RXMode();
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HAL_Delay(1);
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Protocol_ProcessRF();
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NRF24L01_TXMode();
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} else {
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/* CRFS 模式 (通过 USART3 发送) */
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/* TODO: CRFS 协议实现 */
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}
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}
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/* USB HID 发送 (每 10ms) */
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static uint32_t last_hid = 0;
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if (now - last_hid >= 10) {
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last_hid = now;
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Protocol_HID_Send();
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}
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}
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