164 lines
5.4 KiB
C
164 lines
5.4 KiB
C
#ifndef _user_H_
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#define _user_H_
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#define SAMPLE_INTERVAL 50 // 50ms采样周期
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#define BLINK_TIMEOUT (1000 / SAMPLE_INTERVAL) // 1秒稳定确认
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#define BLINK_WINDOW (1000 / SAMPLE_INTERVAL) // 1秒闪烁检测窗口
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#define STABLE_CONFIRM_TIME (1000 / SAMPLE_INTERVAL) // 1秒闪烁检测窗口
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#define MIN_BLINKS 2
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#define MATCH_TIME (2000 / SAMPLE_INTERVAL)//对频时间
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#define MATCH_WAIT_TIME (1000 / SAMPLE_INTERVAL)//对频完，等待时间
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#define CHANGE_TIME (200 / SAMPLE_INTERVAL)//对频时间
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#define MATCH_CMD 0xDB//对频命令
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#define CHANGE_CMD 0xBD//切换命令
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#define uint32_t ulong
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#define uint16_t uword
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#define uint8_t ubyte
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#define int16_t signed int
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#define DF_SwTx 6
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#define DF_SwRx 7
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#define DF_SwRxPwm 8
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#define DF_SwTx1 10
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#define dfCmd_01 UnInfCan_1.BitData.D21 //KGF1
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#define dfCmd_02 UnInfCan_1.BitData.D22 //KGF2
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#define dfCmd_03 UnInfCan_1.BitData.D23 //KGF3
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#define dfCmd_04 UnInfCan_1.BitData.D24 //KGF4
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#define dfCmd_05 UnInfCan_1.BitData.D25 //KGF5
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#define dfCmd_06 UnInfCan_1.BitData.D26 //KGF6
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#define dfCmd_07 UnInfCan_1.BitData.D27 //KGF7
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#define dfCmd_08 UnInfCan_1.BitData.D28 //KGF8
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#define dfCmd_09 UnInfCan_1.BitData.D29 //KGF9
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#define dfCmd_10 UnInfCan_1.BitData.D30 //KGF10
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#define dfCmd_11 UnInfCan_1.BitData.D31 //KGF11
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#define dfCmd_12 UnInfCan_1.BitData.D32 //KGF12
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#define dfCmd_13 UnInfCan_1.BitData.D33 //KGF13
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#define dfCmd_14 UnInfCan_1.BitData.D34 //KGF14
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#define dfCmd_15 UnInfCan_1.BitData.D35 //KGF15
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#define dfCmd_16 UnInfCan_1.BitData.D36 //KGF16
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#define dfOut_01 SwOut09 //KGF1
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#define dfOut_02 SwOut10 //KGF2
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#define dfOut_03 SwOut04 //KGF3
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#define dfOut_04 SwOut03 //KGF4
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#define dfOut_05 SwOut06 //KGF5
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#define dfOut_06 SwOut05 //KGF6
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#define dfOut_07 SwOut15 //KGF7
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#define dfOut_08 SwOut16 //KGF8
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#define dfOut_09 SwOut13 //KGF9
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#define dfOut_10 SwOut14 //KGF10
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#define dfOut_11 SwOut08 //KGF11
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#define dfOut_12 SwOut07 //KGF12
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#define dfOut_13 SwOut02 //KGF13
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#define dfOut_14 SwOut01 //KGF14
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#define dfOut_15 SwOut11 //KGF15
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#define dfOut_16 SwOut12 //KGF16
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#define dfPwmH 10 //PWMμ???μ???ê±??￡?10￡?10ms×óóò￡???ì?Dèòa2aê?20181227
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#define DF_ZeroValue 1000//?ù?Yò￡???÷￡???0ê±êy?Y?a1022
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#define DF_Speed UnRemoteControlOutput_1.bit_data.speed//?ù?è
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#define DF_Curvature UnRemoteControlOutput_1.bit_data.curvature//×aí?
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#define DF_Reserve UnRemoteControlOutput_1.bit_data.reserve1//±￡á?
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#define DF_SwA UnRemoteControlOutput_1.bit_data.switch_a//DF_SwA
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#define DF_SwB UnRemoteControlOutput_1.bit_data.switch_b//DF_SwB
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#define DF_SwC UnRemoteControlOutput_1.bit_data.switch_c//DF_SwC
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#define DF_SwD UnRemoteControlOutput_1.bit_data.switch_d//DF_SwD
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#define DF_RCHSta UnRemoteControlOutput_1.bit_data.enable//ê?±úê1?ü×′ì?
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//#define DF_RCHEmSwSta UnRCH_1.BitData.RCHBit07//?±í￡?a1?×′ì?ê1?ü×′ì?
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// ?¨ò?2￠3?ê??ˉ SBus ?a???á11ì?
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typedef struct {
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uint16_t channels[16]; // ′?′￠16??í¨μàμ??a???á1?
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uint8_t flags; // ±ê??×??ú
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} SBusData;
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// ?óê?ò￡???÷ê?è?
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typedef struct _StrRemoteControlOutput
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{
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//-----·￠?íêy?Y0x12000023----------------------------------------------
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signed int speed : 16; // ?ú?ê
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signed int curvature : 16; // ?ù?è
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unsigned int reserve1 : 16; // ò￡???á
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unsigned int switch_a : 1; // SwA
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unsigned int switch_b : 2; // SwB ?±í￡?a1? 1êí·? 0/2ê??±í￡
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unsigned int switch_c : 2; // SwC ?￡ê??a1? 1×??ˉ 0/2ê?ê??ˉ
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unsigned int switch_d : 1; // SwD é?μ??a1? ?è?ì°′?ù3¤°′
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unsigned int reserve2 : 1; // ±￡á?
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unsigned int reserve3 : 1; // ±￡á?
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unsigned int enable : 8; // ê1?ü
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} StrRemoteControlInput;
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typedef union _UnRemoteControlInput
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{
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StrRemoteControlInput bit_data; // ê1ó??¨ò?μ??á11ì?±?á???
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uint8_t arr[sizeof(StrRemoteControlInput)]; // í¨1y?á11ì?ààDíè·?¨′óD?
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} UnRemoteControlOutput;
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//---ía2?òaê1ó?±?á?éù?÷---------------------------------------------------------------------
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extern UnSwOut UnSwOut_1;
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extern UnInfCan UnInfCan_1;
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extern uword CntCan_1;
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extern bit FlgCan_1;
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extern ubyte rxbuf[25];
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extern ubyte uart2RxFlag;
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extern ubyte can_error_cnt;
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void CanRXTX(void);
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void SwSample(void);
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void LedDr(void);
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void RTCProcess(void);
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void CanErrorProcess(void);
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void CanTransmit(ubyte index,ubyte *buf);
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SBusData* parseSBusData(const uint8_t *input_data);
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void sbusCanDecode(void);
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#endif |