/****************************************************************************** 版权所有 (C), 2018-2099, Radkil ****************************************************************************** 文 件 名 : msp_MK32.c 版 本 号 : 初稿 作 者 : radkil 生成日期 : 2026年9月10日 最近修改 : 功能描述 : MK32驱动文件 修改历史 : 1.日 期 : 2026年9月10日 作 者 : radkil 修改内容 : 创建文件 ******************************************************************************/ #include "BHBF.h" #include "msg_center.h" #include "msp_MK32.pb.h" #include "rd_time.h" #include "msp_MK32.h" /*----------------------------------------------* * 外部变量说明 * *----------------------------------------------*/ /*----------------------------------------------* * 外部函数原型说明 * *----------------------------------------------*/ /*----------------------------------------------* * 内部函数原型说明 * *----------------------------------------------*/ /*----------------------------------------------* * 全局变量 * *----------------------------------------------*/ /*----------------------------------------------* * 模块级变量 * *----------------------------------------------*/ static SP_MSP_MK32_Button RB_MK32; /*----------------------------------------------* * 常量定义 * *----------------------------------------------*/ /*----------------------------------------------* * 宏定义 * *----------------------------------------------*/ int check_MK32(char *_pBuffer, uint32_t _iSize) { if (_iSize < 25) return 0; // 数据不足25字节，不读[24]不误判，等下一包 if (_pBuffer[0] != 0x0f) return -1; if (_pBuffer[24] != 0x00) return -1; return 25; } void decode_MK32(const char *buf, uint32_t _iSize) { static uint32_t uiLastSendTick = 0; int32_t CH[16]; int Start_byte = 0; CH[0] = ((buf[Start_byte + 1] | buf[Start_byte + 2] << 8) & 0x07FF); CH[1] = ((buf[Start_byte + 2] >> 3 | buf[Start_byte + 3] << 5) & 0x07FF); CH[2] = ((buf[Start_byte + 3] >> 6 | buf[Start_byte + 4] << 2 | buf[Start_byte + 5] << 10) & 0x07FF); CH[3] = ((buf[Start_byte + 5] >> 1 | buf[Start_byte + 6] << 7) & 0x07FF); CH[4] = ((buf[Start_byte + 6] >> 4 | buf[Start_byte + 7] << 4) & 0x07FF); CH[5] = ((buf[Start_byte + 7] >> 7 | buf[Start_byte + 8] << 1 | buf[Start_byte + 9] << 9) & 0x07FF); CH[6] = ((buf[Start_byte + 9] >> 2 | buf[Start_byte + 10] << 6) & 0x07FF); CH[7] = ((buf[Start_byte + 10] >> 5 | buf[Start_byte + 11] << 3) & 0x07FF); CH[8] = ((buf[Start_byte + 12] | buf[Start_byte + 13] << 8) & 0x07FF); CH[9] = ((buf[Start_byte + 13] >> 3 | buf[Start_byte + 14] << 5) & 0x07FF); CH[10] = ((buf[Start_byte + 14] >> 6 | buf[Start_byte + 15] << 2 | buf[Start_byte + 16] << 10) & 0x07FF); CH[11] = ((buf[Start_byte + 16] >> 1 | buf[Start_byte + 17] << 7) & 0x07FF); CH[12] = ((buf[Start_byte + 17] >> 4 | buf[Start_byte + 18] << 4) & 0x07FF); CH[13] = ((buf[Start_byte + 18] >> 7 | buf[Start_byte + 19] << 1 | buf[Start_byte + 20] << 9) & 0x07FF); CH[14] = ((buf[Start_byte + 20] >> 2 | buf[Start_byte + 21] << 6) & 0x07FF); CH[15] = ((buf[Start_byte + 21] >> 5 | buf[Start_byte + 22] << 3) & 0x07FF); // 按键数值转换：1050为中间值，272-1712 for (int i = 0; i < 16; i++) { CH[i] = (int32_t)((CH[i] - 992) * 1.388889); } RD_MEMCPY(&(RB_MK32.CH0_RY_H), CH, sizeof(CH)); if (buf[23] == 0) { RB_MK32.IsOnline = 1; } else { RB_MK32.IsOnline = 0; } RB_MK32.RxIndex++; uint32_t uiNowTick = Rd_GetTime(); if ((int32_t)(uiNowTick - uiLastSendTick) >= 10) { uiLastSendTick = uiNowTick; MsgCenter_SendTo(MODULE_NAME_CUSTOM, CUSTOM_GET_MK32, (void *)&RB_MK32, sizeof(RB_MK32)); MsgCenter_SendTo(MODULE_NAME_DAEMON, DAEMON_SET_MK32_SBUS, NULL, 0); } } void Read_MK32(void *argument) { char pcBuffer[52] = {0}; while (1) { rd_ComRead(g_ptSbus, pcBuffer, 25); } } void controller_init(void) { TUartUserData *ptSbus = UART_userdata_init(5, -1, 512); g_ptSbus = rd_ComCreate(check_MK32, decode_MK32, E28_SBUS_Send, ptSbus->m_buf_size, ptSbus); UART_IT_init(g_ptSbus); const osThreadAttr_t MK32_Task_attributes = { .name = "Read_MK32", .stack_size = THREAD_DEFAULT_STACK, .priority = (osPriority_t) osPriorityRealtime1, }; (void)osThreadNew(Read_MK32, NULL, &MK32_Task_attributes); } WEAK void MK32_Key_Func(SP_MSP_MK32_Button *_pstMK32, int _iMode, int _iSubMode) { if (_iMode <= MODE_NULL || _iMode >= MODE_MAX) return; // 急停 if (_pstMK32->CH8_SE == -1000 && _pstMK32->CH9_SF == -1000) { SAFE_DISPATCH(E_STOP); return; } // 根据模式判断换道（仅在竖直向左或向右生效） if (_pstMK32->CH4_SA == 1000) { SAFE_DISPATCH(KEY_SA_UP); return; } else if (_pstMK32->CH4_SA == -1000) { SAFE_DISPATCH(KEY_SA_DOWN); return; } else // 重置前进计时器以便下一次换道重新计数 { SAFE_DISPATCH(KEY_SA_DEFAULT); } // 自动巡航 if (_pstMK32->CH5_SB == -1000) { SAFE_DISPATCH(KEY_SB_UP); return; } else if(_pstMK32->CH5_SB == 1000) { SAFE_DISPATCH(KEY_SB_DOWN); return; } // 开关喷枪 if (_pstMK32->CH6_SC == -1000) { SAFE_DISPATCH(KEY_SC_UP); } else if (_pstMK32->CH6_SC == 1000) { SAFE_DISPATCH(KEY_SC_DOWN); } else { SAFE_DISPATCH(KEY_SC_DEFAULT); } // 【注意!!!】摇杆行程死区判断开始，除摇杆以外按键在上边都处理完，不然走不下去 if (abs(_pstMK32->CH2_LY_V) <= g_stCV.Joy_Sticker_Value_Allowance && abs(_pstMK32->CH3_LY_H) <= g_stCV.Joy_Sticker_Value_Allowance) { SAFE_DISPATCH(JOY_DEFAULT); return; } // 【注意!!!】摇杆行程死区判断结束，摇杆处理都放在这以后，否则行程死区可能不生效 // 摇杆角度死区判断 int angle = atan2(_pstMK32->CH2_LY_V, _pstMK32->CH3_LY_H) * 180 / M_PI; if (abs(angle - 90) <= g_stCV.Joy_Sticker_Angle_Allowance) { SAFE_DISPATCH(JOY_LEFT_UP); } else if (abs(angle - (-90)) <= g_stCV.Joy_Sticker_Angle_Allowance) { SAFE_DISPATCH(JOY_LEFT_DWON); } else if (abs(angle - 0) <= g_stCV.Joy_Sticker_Angle_Allowance) { SAFE_DISPATCH(JOY_LEFT_RIGHT); } else if (abs(angle - 180) <= g_stCV.Joy_Sticker_Angle_Allowance || abs(angle - (-180)) <= g_stCV.Joy_Sticker_Angle_Allowance) { SAFE_DISPATCH(JOY_LEFT_LEFT); } else { MsgCenter_SendTo(MODULE_NAME_MOTOR, CMD_STOP_ALL, NULL, 0); } }