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增加重启以及修改接收BOOT ID为0x21

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liumin
2026-05-02 07:27:52 +08:00
parent 2153bfcd1b
commit 2f94a8ecae
5 changed files with 145 additions and 164 deletions
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69
user.H
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@@ -2,19 +2,19 @@
#define _user_H_
#define SAMPLE_INTERVAL 50 // 50ms<6D><73><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define BLINK_TIMEOUT (1000 / SAMPLE_INTERVAL) // 1<><31><EFBFBD>ȶ<EFBFBD>ȷ<EFBFBD><C8B7>
#define BLINK_WINDOW (1000 / SAMPLE_INTERVAL) // 1<><31><EFBFBD><EFBFBD>˸<EFBFBD><CBB8><EFBFBD>ⴰ<EFBFBD><EFBFBD>
#define STABLE_CONFIRM_TIME (1000 / SAMPLE_INTERVAL) // 1<><31><EFBFBD><EFBFBD>˸<EFBFBD><CBB8><EFBFBD>ⴰ<EFBFBD><EFBFBD>
#define SAMPLE_INTERVAL 50 // 50ms<6D><73><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define BLINK_TIMEOUT (1000 / SAMPLE_INTERVAL) // 1<><31><EFBFBD>ȶ<EFBFBD>ȷ<EFBFBD><C8B7>
#define BLINK_WINDOW (1000 / SAMPLE_INTERVAL) // 1<><31><EFBFBD><EFBFBD>˸<EFBFBD><CBB8>ⴰ<EFBFBD><E2B4B0>
#define STABLE_CONFIRM_TIME (1000 / SAMPLE_INTERVAL) // 1<><31><EFBFBD><EFBFBD>˸<EFBFBD><CBB8>ⴰ<EFBFBD><E2B4B0>
#define MIN_BLINKS 2
#define MATCH_TIME (2000 / SAMPLE_INTERVAL)//<2F><>Ƶʱ<C6B5><CAB1>
#define MATCH_WAIT_TIME (1000 / SAMPLE_INTERVAL)//<2F><>Ƶ<EFBFBD>꣬<EFBFBD>ȴ<EFBFBD>ʱ<EFBFBD><CAB1>
#define MATCH_TIME (2000 / SAMPLE_INTERVAL)//<2F><>Ƶʱ<C6B5><CAB1>
#define MATCH_WAIT_TIME (1000 / SAMPLE_INTERVAL)//<2F><>Ƶ<EFBFBD>꣬<EFBFBD>ȴ<EFBFBD>ʱ<EFBFBD><CAB1>
#define CHANGE_TIME (200 / SAMPLE_INTERVAL)//<2F><>Ƶʱ<C6B5><CAB1>
#define CHANGE_TIME (200 / SAMPLE_INTERVAL)//<2F><>Ƶʱ<C6B5><CAB1>
#define MATCH_CMD 0xDB//<2F><>Ƶ<EFBFBD><C6B5><EFBFBD><EFBFBD>
#define CHANGE_CMD 0xBD//<2F>л<EFBFBD><D0BB><EFBFBD><EFBFBD><EFBFBD>
#define MATCH_CMD 0xDB//<2F><>Ƶ<EFBFBD><C6B5><EFBFBD><EFBFBD>
#define CHANGE_CMD 0xBD//<2F>л<EFBFBD><D0BB><EFBFBD><EFBFBD><EFBFBD>
#define uint32_t ulong
@@ -64,25 +64,25 @@
#define dfOut_15 SwOut11 //KGF15
#define dfOut_16 SwOut12 //KGF16
#define dfPwmH 10 //PWM<57><4D>???<3F><>???<3F><><EFBFBD><EFBFBD>??<3F><>?10<31><30>?10ms<6D><73><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>???<3F><>?D<><44><EFBFBD><EFBFBD>a2a<32><61>?20181227
#define dfPwmH 10 //PWM<57><4D>???<3F><>???<3F><><EFBFBD><EFBFBD>??<3F><>?10<31><30>?10ms<6D><73><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>???<3F><>?D<><44><EFBFBD><EFBFBD>a2a<32><61>?20181227
#define DF_ZeroValue 1000//?<3F><>?Y<><59><EFBFBD><EFBFBD>???<3F>¡<EFBFBD>???0<><30><EFBFBD><EFBFBD><EFBFBD><EFBFBD>y?Y?a1022
#define DF_ZeroValue 1000//?<3F><>?Y<><59><EFBFBD><EFBFBD>???<3F>¡<EFBFBD>???0<><30><EFBFBD><EFBFBD><EFBFBD><EFBFBD>y?Y?a1022
#define DF_Speed UnRemoteControlOutput_1.bit_data.speed//?<3F><>?<3F><>
#define DF_Curvature UnRemoteControlOutput_1.bit_data.curvature//<2F><>a<EFBFBD><61>?
#define DF_Reserve UnRemoteControlOutput_1.bit_data.reserve1//<2F><><EFBFBD>ꨢ?
#define DF_Speed UnRemoteControlOutput_1.bit_data.speed//?<3F><>?<3F><>
#define DF_Curvature UnRemoteControlOutput_1.bit_data.curvature//<2F><>a<EFBFBD><61>?
#define DF_Reserve UnRemoteControlOutput_1.bit_data.reserve1//<2F><><EFBFBD>ꨢ?
#define DF_SwA UnRemoteControlOutput_1.bit_data.switch_a//DF_SwA
#define DF_SwB UnRemoteControlOutput_1.bit_data.switch_b//DF_SwB
#define DF_SwC UnRemoteControlOutput_1.bit_data.switch_c//DF_SwC
#define DF_SwD UnRemoteControlOutput_1.bit_data.switch_d//DF_SwD
#define DF_RCHSta UnRemoteControlOutput_1.bit_data.enable//<2F><>?<3F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>1?<3F><><EFBFBD><EFBFBD><EFBFBD>䨬?
#define DF_RCHSta UnRemoteControlOutput_1.bit_data.enable//<2F><>?<3F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>1?<3F><><EFBFBD><EFBFBD><EFBFBD>䨬?
//#define DF_RCHEmSwSta UnRCH_1.BitData.RCHBit07//?<3F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>?a1?<3F><><EFBFBD>䨬?<3F><>1?<3F><><EFBFBD><EFBFBD><EFBFBD>䨬?
//#define DF_RCHEmSwSta UnRCH_1.BitData.RCHBit07//?<3F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>?a1?<3F><><EFBFBD>䨬?<3F><>1?<3F><><EFBFBD><EFBFBD><EFBFBD>䨬?
@@ -98,10 +98,10 @@
// ?<3F><><EFBFBD><EFBFBD>?2<><32>3?<3F><>??<3F><> SBus ?a???<3F><>11<31><31>?
// ?<3F><><EFBFBD><EFBFBD>?2<><32>3?<3F><>??<3F><> SBus ?a???<3F><>11<31><31>?
typedef struct {
uint16_t channels[16]; // <20><>?<3F><><EFBFBD><EFBFBD>16??<3F><><EFBFBD><EFBFBD><EFBFBD>̨<EFBFBD><CCA8><EFBFBD>??a???<3F><>1?
uint8_t flags; // <20><><EFBFBD><EFBFBD>??<3F><>??<3F><>
uint16_t channels[16]; // <20><>?<3F><><EFBFBD>16??<3F><><EFBFBD><EFBFBD><EFBFBD>̨<EFBFBD><CCA8><EFBFBD>??a???<3F><>1?
uint8_t flags; // <20><><EFBFBD><EFBFBD>??<3F><>??<3F><>
} SBusData;
@@ -109,30 +109,30 @@ typedef struct {
// ?<3F><><EFBFBD><EFBFBD>?<3F><><EFBFBD><EFBFBD>???<3F>¨<EFBFBD>?<3F><>?
// ?<3F><><EFBFBD><EFBFBD>?<3F><><EFBFBD><EFBFBD>???<3F>¨<EFBFBD>?<3F><>?
typedef struct _StrRemoteControlOutput
{
//-----<2D><><EFBFBD><EFBFBD>?<3F><><EFBFBD><EFBFBD>y?Y0x12000023----------------------------------------------
signed int speed : 16; // ?<3F><>?<3F><>
signed int curvature : 16; // ?<3F><>?<3F><>
//-----<2D><><EFBFBD><EFBFBD>?<3F><><EFBFBD><EFBFBD>y?Y0x12000023----------------------------------------------
signed int speed : 16; // ?<3F><>?<3F><>
signed int curvature : 16; // ?<3F><>?<3F><>
unsigned int reserve1 : 16; // <20><><EFBFBD><EFBFBD>???<3F><>
unsigned int reserve1 : 16; // <20><><EFBFBD><EFBFBD>???<3F><>
unsigned int switch_a : 1; // SwA
unsigned int switch_b : 2; // SwB ?<3F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>?a1? 1<><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD>? 0/2<><32>??<3F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
unsigned int switch_c : 2; // SwC ?<3F>꨺??a1? 1<><31>??<3F><> 0/2<><32>?<3F><>??<3F><>
unsigned int switch_d : 1; // SwD <20><>?<3F><>??a1? ?<3F><>?<3F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>?<3F><>3<EFBFBD><33><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
unsigned int reserve2 : 1; // <20><><EFBFBD>ꨢ?
unsigned int reserve3 : 1; // <20><><EFBFBD>ꨢ?
unsigned int switch_b : 2; // SwB ?<3F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>?a1? 1<><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD>? 0/2<><32>??<3F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
unsigned int switch_c : 2; // SwC ?<3F>꨺??a1? 1<><31>??<3F><> 0/2<><32>?<3F><>??<3F><>
unsigned int switch_d : 1; // SwD <20><>?<3F><>??a1? ?<3F><>?<3F><><EFBFBD><EFBFBD><EFBFBD>?<3F><>3<EFBFBD><33><EFBFBD><EFBFBD>
unsigned int reserve2 : 1; // <20><><EFBFBD>ꨢ?
unsigned int reserve3 : 1; // <20><><EFBFBD>ꨢ?
unsigned int enable : 8; // <20><>1?<3F><>
unsigned int enable : 8; // <20><>1?<3F><>
} StrRemoteControlInput;
typedef union _UnRemoteControlInput
{
StrRemoteControlInput bit_data; // <20><>1<EFBFBD><31>??<3F><><EFBFBD><EFBFBD>?<3F><>??<3F><>11<31><31>?<3F><>?<3F><>???
uint8_t arr[sizeof(StrRemoteControlInput)]; // <20><><EFBFBD><EFBFBD>1y?<3F><>11<31><31>?<3F><><EFBFBD><EFBFBD>D<EFBFBD><44><EFBFBD><EFBFBD><EFBFBD><EFBFBD>?<3F><><EFBFBD>䨮D?
StrRemoteControlInput bit_data; // <20><>1<EFBFBD><31>??<3F><><EFBFBD><EFBFBD>?<3F><>??<3F><>11<31><31>?<3F><>?<3F><>???
uint8_t arr[sizeof(StrRemoteControlInput)]; // <20><><EFBFBD><EFBFBD>1y?<3F><>11<31><31>?<3F><><EFBFBD><EFBFBD>D<EFBFBD><44><EFBFBD><EFBFBD><EFBFBD><EFBFBD>?<3F><><EFBFBD>䨮D?
} UnRemoteControlOutput;
@@ -141,7 +141,7 @@ typedef union _UnRemoteControlInput
//---<2D><>a2?<3F><>a<EFBFBD><61>1<EFBFBD><31>?<3F><>?<3F><>?<3F><><EFBFBD><EFBFBD>?<3F><>---------------------------------------------------------------------
//---<2D><>a2?<3F><>a<EFBFBD><61>1<EFBFBD><31>?<3F><>?<3F><>?<3F><><EFBFBD><EFBFBD>?<3F><>---------------------------------------------------------------------
extern UnSwOut UnSwOut_1;
extern UnInfCan UnInfCan_1;
extern uword CntCan_1;
@@ -150,7 +150,8 @@ extern bit FlgCan_1;
extern ubyte rxbuf[25];
extern ubyte uart2RxFlag;
extern ubyte can_error_cnt;
extern ubyte RestartDataFlg1;
extern ubyte RestartDataFlg2;
void CanRXTX(void);
void SwSample(void);