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lhye200
2025-10-15 00:22:56 +08:00
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/*********************************************************************************************************************
* TC264 Opensourec Library <20><><EFBFBD><EFBFBD>TC264 <20><>Դ<EFBFBD>⣩<EFBFBD><E2A3A9>һ<EFBFBD><D2BB><EFBFBD><EFBFBD><EFBFBD>ڹٷ<DAB9> SDK <20>ӿڵĵ<DAB5><C4B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Դ<EFBFBD><D4B4>
* Copyright (c) 2022 SEEKFREE <20><><EFBFBD>ɿƼ<C9BF>
*
* <20><><EFBFBD>ļ<EFBFBD><C4BC><EFBFBD> TC264 <20><>Դ<EFBFBD><D4B4><EFBFBD><EFBFBD>һ<EFBFBD><D2BB><EFBFBD><EFBFBD>
*
* TC264 <20><>Դ<EFBFBD><D4B4> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
* <20><><EFBFBD><EFBFBD><EFBFBD>Ը<EFBFBD><D4B8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ᷢ<EFBFBD><E1B7A2><EFBFBD><EFBFBD> GPL<50><4C>GNU General Public License<73><65><EFBFBD><EFBFBD> GNUͨ<55>ù<EFBFBD><C3B9><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>֤<EFBFBD><D6A4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
* <20><> GPL <20>ĵ<EFBFBD>3<EFBFBD>棨<EFBFBD><E6A3A8> GPL3.0<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ѡ<EFBFBD><EFBFBD><EFBFBD>ģ<EFBFBD><EFBFBD>κκ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>İ汾<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>·<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>/<2F><><EFBFBD>޸<EFBFBD><DEB8><EFBFBD>
*
* <20><><EFBFBD><EFBFBD>Դ<EFBFBD><D4B4><EFBFBD>ķ<EFBFBD><C4B7><EFBFBD><EFBFBD><EFBFBD>ϣ<EFBFBD><CFA3><EFBFBD><EFBFBD><EFBFBD>ܷ<EFBFBD><DCB7><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ã<EFBFBD><C3A3><EFBFBD><EFBFBD><EFBFBD>δ<EFBFBD><CEB4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>κεı<CEB5>֤
* <20><><EFBFBD><EFBFBD>û<EFBFBD><C3BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ի<EFBFBD><D4BB>ʺ<EFBFBD><CABA>ض<EFBFBD><D8B6><EFBFBD>;<EFBFBD>ı<EFBFBD>֤
* <20><><EFBFBD><EFBFBD>ϸ<EFBFBD><CFB8><EFBFBD><EFBFBD><EFBFBD>μ<EFBFBD> GPL
*
* <20><>Ӧ<EFBFBD><D3A6><EFBFBD><EFBFBD><EFBFBD>յ<EFBFBD><D5B5><EFBFBD><EFBFBD><EFBFBD>Դ<EFBFBD><D4B4><EFBFBD><EFBFBD>ͬʱ<CDAC>յ<EFBFBD>һ<EFBFBD><D2BB> GPL <20>ĸ<EFBFBD><C4B8><EFBFBD>
* <20><><EFBFBD><EFBFBD>û<EFBFBD>У<EFBFBD><D0A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><https://www.gnu.org/licenses/>
*
* <20><><EFBFBD><EFBFBD>ע<EFBFBD><D7A2><EFBFBD><EFBFBD>
* <20><><EFBFBD><EFBFBD>Դ<EFBFBD><D4B4>ʹ<EFBFBD><CAB9> GPL3.0 <20><>Դ<EFBFBD><D4B4><EFBFBD><EFBFBD>֤Э<D6A4><D0AD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD><CEAA><EFBFBD>İ汾
* <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ӣ<EFBFBD>İ<EFBFBD><C4B0><EFBFBD> libraries/doc <20>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD>µ<EFBFBD> GPL3_permission_statement.txt <20>ļ<EFBFBD><C4BC><EFBFBD>
* <20><><EFBFBD><EFBFBD>֤<EFBFBD><D6A4><EFBFBD><EFBFBD><EFBFBD><EFBFBD> libraries <20>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD>µ<EFBFBD> LICENSE <20>ļ<EFBFBD>
* <20><>ӭ<EFBFBD><D3AD>λʹ<CEBB>ò<EFBFBD><C3B2><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD>޸<EFBFBD><DEB8><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD>뱣<EFBFBD><EBB1A3><EFBFBD><EFBFBD><EFBFBD>ɿƼ<C9BF><C6BC>İ<EFBFBD>Ȩ<EFBFBD><C8A8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
*
* <20>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD><EFBFBD> zf_device_uart_receiver
* <20><>˾<EFBFBD><CBBE><EFBFBD><EFBFBD> <20>ɶ<EFBFBD><C9B6><EFBFBD><EFBFBD>ɿƼ<C9BF><C6BC><EFBFBD><EFBFBD>޹<EFBFBD>˾
* <20>汾<EFBFBD><E6B1BE>Ϣ <20>鿴 libraries/doc <20>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD><EFBFBD> version <20>ļ<EFBFBD> <20>汾˵<E6B1BE><CBB5>
* <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> ADS v1.10.2
* <20><><EFBFBD><EFBFBD>ƽ̨ TC264D
* <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> https://seekfree.taobao.com/
*
* <20>޸ļ<DEB8>¼
* <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><>ע
* 2022-11-04 JKS first version
* 2025-02-07 pudding <20>޸IJ<DEB8><C4B2><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
********************************************************************************************************************/
/*********************************************************************************************************************
* <20><><EFBFBD>߶<EFBFBD><DFB6>壺
* ------------------------------------
* ģ<><C4A3><EFBFBD>ܽ<EFBFBD> <20><>Ƭ<EFBFBD><C6AC><EFBFBD>ܽ<EFBFBD>
* TXD <20>鿴 zf_device_uart_receiver.h <20><> UART_RECEVIER_RX_PIN <20>궨<EFBFBD><EAB6A8>
* GND <20><>Դ<EFBFBD><D4B4>
* 5V 5V<35><56>Դ
* ------------------------------------
********************************************************************************************************************/
#include "zf_device_type.h"
#include "zf_driver_uart.h"
#include "zf_driver_timer.h"
#include "zf_device_uart_receiver.h"
uart_receiver_struct uart_receiver ; // <20><><EFBFBD>ڽ<EFBFBD><DABD>ջ<EFBFBD>ͨ<EFBFBD><CDA8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>״̬
uint8 uart_receiver_data[REV_DATA_LEN] = {0}; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ԭʼ<D4AD><CABC><EFBFBD><EFBFBD>
//-------------------------------------------------------------------------------------------------------------------
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>ȡ<EFBFBD><C8A1><EFBFBD>ε<EFBFBD><CEB5><EFBFBD>uart_receiver_interval_time<6D><65><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// <20><><EFBFBD><EFBFBD>˵<EFBFBD><CBB5> void
// <20><><EFBFBD>ز<EFBFBD><D8B2><EFBFBD> uint32 <20><><EFBFBD>شӿ<D8B4>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD><EFBFBD>ڵ<EFBFBD>ʱ<EFBFBD><CAB1>(<28><>λ1us)
// ʹ<><CAB9>ʾ<EFBFBD><CABE> uint32 time = uart_receiver_interval_time();
// <20><>ע<EFBFBD><D7A2>Ϣ <20>ڲ<EFBFBD><DAB2><EFBFBD><EFBFBD><EFBFBD>
//-------------------------------------------------------------------------------------------------------------------
static uint32 uart_receiver_interval_time (void)
{
static uint32 time_last = 0;
uint32 time, interval_time;
uint32 stm_clk;
stm_clk = IfxStm_getFrequency(IfxStm_getAddress((IfxStm_Index)(IfxCpu_getCoreId())));
time = IfxStm_getLower(IfxStm_getAddress((IfxStm_Index)(IfxCpu_getCoreId())));
interval_time = time - time_last;
time_last = time;
interval_time = (uint32)((uint64)interval_time * 1000000 / stm_clk);
return interval_time;
}
//-------------------------------------------------------------------------------------------------------------------
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> SBUS<55><53><EFBFBD>ݽ<EFBFBD><DDBD><EFBFBD>
// <20><><EFBFBD><EFBFBD>˵<EFBFBD><CBB5> *remote_data <20><><EFBFBD><EFBFBD>ң<EFBFBD><D2A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݵĵ<DDB5>ַ
// <20><><EFBFBD><EFBFBD>˵<EFBFBD><CBB5> *bufer ԭʼ<D4AD><CABC><EFBFBD><EFBFBD>
// <20><><EFBFBD>ز<EFBFBD><D8B2><EFBFBD> void
// ʹ<><CAB9>ʾ<EFBFBD><CABE>
// <20><>ע<EFBFBD><D7A2>Ϣ <20><>sbus<75><73><EFBFBD>ݽ<EFBFBD><DDBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>н<EFBFBD><D0BD><EFBFBD>
//-------------------------------------------------------------------------------------------------------------------
static void uart_receiver_analysis (uart_receiver_struct *remote_data,uint8 * buffer)
{
uint8 num = 0;
remote_data->channel[num++] = (buffer[1] |buffer[ 2] << 8 ) & 0x07FF;
remote_data->channel[num++] = (buffer[2] >> 3 | buffer[3] << 5 ) & 0x07FF;
remote_data->channel[num++] = (buffer[3] >> 6 | buffer[4] << 2 | buffer[5] << 10 ) & 0x07FF;
remote_data->channel[num++] = (buffer[5] >> 1 | buffer[6] << 7 ) & 0x07FF;
remote_data->channel[num++] = (buffer[6] >> 4 | buffer[7] << 4 ) & 0x07FF;
remote_data->channel[num++] = (buffer[7] >> 7 | buffer[8] << 1 | buffer[9] << 9 ) & 0x07FF;
remote_data->state = (SBUS_ABNORMAL_STATE == (buffer[23] & SBUS_ABNORMAL_STATE)) ? 0 : 1;
uart_receiver.finsh_flag = 1;
}
//-------------------------------------------------------------------------------------------------------------------
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD>ڽ<EFBFBD><DABD>ջ<EFBFBD>ģ<EFBFBD><C4A3> <20><><EFBFBD><EFBFBD><EFBFBD>жϻص<CFBB><D8B5><EFBFBD><EFBFBD><EFBFBD>
// <20><><EFBFBD><EFBFBD>˵<EFBFBD><CBB5> void
// <20><><EFBFBD>ز<EFBFBD><D8B2><EFBFBD> void
// ʹ<><CAB9>ʾ<EFBFBD><CABE> uart_receiver_callback();
// <20><>ע<EFBFBD><D7A2>Ϣ <20>ú<EFBFBD><C3BA><EFBFBD><EFBFBD><EFBFBD> ISR <20>ļ<EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>жϳ<D0B6><CFB3><EFBFBD>ͨ<EFBFBD><CDA8>uart_receiver_uart_handler<65><72><EFBFBD><EFBFBD>ָ<EFBFBD>뱻<EFBFBD><EBB1BB><EFBFBD><EFBFBD>
//-------------------------------------------------------------------------------------------------------------------
void uart_receiver_callback(void)
{
static vuint8 length = 0;
if (uart_receiver_interval_time() > 3000)
{
length = 0;
}
uart_receiver_data[length++] = uart_read_byte(UART_RECEVIER_UART_INDEX);
if ( (REV_DATA_LEN == length) // <20><><EFBFBD><EFBFBD>֡<EFBFBD><D6A1><EFBFBD><EFBFBD>֡ͷ<D6A1><CDB7>֡β<D6A1><CEB2><EFBFBD><EFBFBD>Э<EFBFBD><D0AD>
&& (FRAME_STAR == uart_receiver_data[0])
&& (FRAME_END == uart_receiver_data[24]))
{
uart_receiver_analysis(&uart_receiver, uart_receiver_data);
}
}
//-------------------------------------------------------------------------------------------------------------------
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD>ڽ<EFBFBD><DABD>ջ<EFBFBD><D5BB><EFBFBD>ʼ<EFBFBD><CABC>
// <20><><EFBFBD><EFBFBD>˵<EFBFBD><CBB5> void
// <20><><EFBFBD>ز<EFBFBD><D8B2><EFBFBD> void
// ʹ<><CAB9>ʾ<EFBFBD><CABE> uart_receiver_init();
//-------------------------------------------------------------------------------------------------------------------
void uart_receiver_init(void)
{
uart_sbus_init(UART_RECEVIER_UART_INDEX, SBUS_UART_BAUDRATE, UART_RECEVIER_TX_PIN, UART_RECEVIER_RX_PIN);
// <20><><EFBFBD>ô<EFBFBD><C3B4><EFBFBD><EFBFBD>жϻص<CFBB><D8B5><EFBFBD><EFBFBD><EFBFBD>
set_wireless_type(RECEIVER_UART, uart_receiver_callback);
}