#include "main.h"
/*-----USART2_RX-----PA3----*/
//for D-BUS
volatile unsigned char sbus_rx_buffer[25];
void USART2_Configuration(void)
{
{
GPIO_InitTypeDef gpio;
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA,ENABLE);
GPIO_PinAFConfig(GPIOA,GPIO_PinSource3 ,GPIO_AF_USART2);
gpio.GPIO_Pin = GPIO_Pin_3 ;
gpio.GPIO_Mode = GPIO_Mode_AF;
gpio.GPIO_OType = GPIO_OType_PP;
gpio.GPIO_Speed = GPIO_Speed_100MHz;
gpio.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(GPIOA,&gpio);
}
{
USART_InitTypeDef usart2;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART2,ENABLE);
USART_DeInit(USART2);
usart2.USART_BaudRate = 100000; //SBUS 100K baudrate
usart2.USART_WordLength = USART_WordLength_8b;
usart2.USART_StopBits = USART_StopBits_1;
usart2.USART_Parity = USART_Parity_Even;
usart2.USART_Mode = USART_Mode_Rx;
usart2.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
USART_Init(USART2,&usart2);
USART_ITConfig(USART2, USART_IT_RXNE ,ENABLE);
USART_Cmd(USART2,ENABLE);
USART_DMACmd(USART2,USART_DMAReq_Rx,ENABLE);
}
{
NVIC_InitTypeDef nvic;
nvic.NVIC_IRQChannel = DMA1_Stream5_IRQn;
nvic.NVIC_IRQChannelPreemptionPriority = 1;
nvic.NVIC_IRQChannelSubPriority = 1;
nvic.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&nvic);
/*nvic.NVIC_IRQChannel = USART2_IRQn;
nvic.NVIC_IRQChannelPreemptionPriority = 0;
nvic.NVIC_IRQChannelSubPriority = 1;
nvic.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&nvic);*/
}
{
DMA_InitTypeDef dma;
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_DMA1,ENABLE);
DMA_DeInit(DMA1_Stream5);
dma.DMA_Channel= DMA_Channel_4;
dma.DMA_PeripheralBaseAddr = (uint32_t)&(USART2->DR);
dma.DMA_Memory0BaseAddr = (uint32_t)sbus_rx_buffer;
dma.DMA_DIR = DMA_DIR_PeripheralToMemory;
dma.DMA_BufferSize = 18;
dma.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
dma.DMA_MemoryInc = DMA_MemoryInc_Enable;
dma.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte;
dma.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte;
dma.DMA_Mode = DMA_Mode_Circular;
dma.DMA_Priority = DMA_Priority_VeryHigh;
dma.DMA_FIFOMode = DMA_FIFOMode_Disable;
dma.DMA_FIFOThreshold = DMA_FIFOThreshold_1QuarterFull;
dma.DMA_MemoryBurst = DMA_Mode_Normal;
dma.DMA_PeripheralBurst = DMA_PeripheralBurst_Single;
DMA_Init(DMA1_Stream5,&dma);
DMA_ITConfig(DMA1_Stream5,DMA_IT_TC,ENABLE);
DMA_Cmd(DMA1_Stream5,ENABLE);
}
}
uint16_t sbus_channel_temp[15];
RC_Ctl_t RC_Ctl;
void DMA1_Stream5_IRQHandler(void)
{
if(DMA_GetITStatus(DMA1_Stream5, DMA_IT_TCIF5))
{
DMA_ClearFlag(DMA1_Stream5, DMA_FLAG_TCIF5);
DMA_ClearITPendingBit(DMA1_Stream5, DMA_IT_TCIF5);
RC_Ctl.rc.ch0 = (sbus_rx_buffer[0]| (sbus_rx_buffer[1] << 8)) & 0x07ff; //!< Channel 0
RC_Ctl.rc.ch1 = ((sbus_rx_buffer[1] >> 3) | (sbus_rx_buffer[2] << 5)) & 0x07ff; //!< Channel 1
RC_Ctl.rc.ch2 = ((sbus_rx_buffer[2] >> 6) | (sbus_rx_buffer[3] << 2) | (sbus_rx_buffer[4] << 10)) & 0x07ff;//!< Channel 2
RC_Ctl.rc.ch3 = ((sbus_rx_buffer[4] >> 1) | (sbus_rx_buffer[5] << 7)) & 0x07ff; //!< Channel 3
RC_Ctl.rc.s1 = ((sbus_rx_buffer[5] >> 4)& 0x000C) >> 2; //!< Switch left
RC_Ctl.rc.s2 = ((sbus_rx_buffer[5] >> 4)& 0x0003);
RC_Ctl.mouse.x = sbus_rx_buffer[6] | (sbus_rx_buffer[7] << 8); //!< Mouse X axis
RC_Ctl.mouse.y = sbus_rx_buffer[8] | (sbus_rx_buffer[9] << 8); //!< Mouse Y axis
RC_Ctl.mouse.z = sbus_rx_buffer[10] | (sbus_rx_buffer[11] << 8); //!< Mouse Z axis
RC_Ctl.mouse.press_l = sbus_rx_buffer[12]; //!< Mouse Left Is Press ?
RC_Ctl.mouse.press_r = sbus_rx_buffer[13]; //!< Mouse Right Is Press ?
RC_Ctl.key.v = sbus_rx_buffer[14] | (sbus_rx_buffer[15] << 8); //!< KeyBoard value
}
}
|
分享
顶
踩
照妖镜
