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feat : 统一 controller 遥控接收框架并迁移应用 #166

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Merged
ahpasserby merged 17 commits into from
Oct 28, 2026
Merged

feat : 统一 controller 遥控接收框架并迁移应用 #166

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69fc1f2
fix: 将 USART3 字长改为 9 位以支持 DBUS/SBUS 协议
m2rt1n88 Oct 4, 2026
a6deeaf
refactor: 重构遥控接收框架，新增统一的 RemoteReceiver 抽象
m2rt1n88 Oct 5, 2026
b640513
refactor: 更新 dt7/vt13/fs_i6x 示例以适配新的遥控接收器 API
m2rt1n88 Oct 23, 2026
48f0ad2
refactor: 迁移 Neo 程序至 controller 遥控 API
m2rt1n88 Oct 28, 2026
d891f6c
refactor: 迁移 Hero 程序至 controller 遥控 API
m2rt1n88 Oct 28, 2026
6f712d2
refactor: 迁移 DGStandard 程序至 controller 遥控 API
m2rt1n88 Oct 28, 2026
a11eb23
refactor: 迁移 Cakey 程序至 controller 遥控 API
m2rt1n88 Oct 28, 2026
b60ced2
refactor: 迁移 Ares 程序至 controller 遥控 API
m2rt1n88 Oct 28, 2026
9e20a0a
refactor: 更新 Automata 遥控输入示例片段
m2rt1n88 Oct 28, 2026
231eea8
refactor: 更新 F103_Nano 示例至 controller 遥控 API
m2rt1n88 Oct 28, 2026
bdca517
refactor: 更新 DM_MC02 示例至 controller 遥控 API
m2rt1n88 Oct 28, 2026
f867dd4
refactor: 更新 DM_MC01 示例至 controller 遥控 API
m2rt1n88 Oct 28, 2026
fde715a
refactor: 更新 DJI_Board_TypeC 示例至 controller 遥控 API
m2rt1n88 Oct 28, 2026
ce17f66
refactor: 更新 DJI_Board_TypeA 示例至 controller 遥控 API
m2rt1n88 Oct 28, 2026
01f51d7
refactor: 迁移 protocol 与构建系统到 controller 并清理旧遥控核心
m2rt1n88 Oct 28, 2026
6d7cfc2
feat: 新增 controller 遥控接收框架及 DBUS/SBUS/RefereeRC 实现
m2rt1n88 Oct 28, 2026
3920fec
style: 格式化 controller 协议与示例代码
m2rt1n88 Oct 28, 2026
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10 changes: 0 additions & 10 deletions .idea/runConfigurations/example_dbus_DJI_Board_TypeA_general_elf.xml
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10 changes: 0 additions & 10 deletions .idea/runConfigurations/example_dbus_DJI_Board_TypeC_general_elf.xml
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10 changes: 0 additions & 10 deletions .idea/runConfigurations/example_dbus_DM_MC01_general_elf.xml
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10 changes: 0 additions & 10 deletions .idea/runConfigurations/example_dbus_DM_MC02_general_elf.xml
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10 changes: 0 additions & 10 deletions .idea/runConfigurations/example_referee_DJI_Board_TypeC_general_rc_elf.xml
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10 changes: 0 additions & 10 deletions .idea/runConfigurations/example_sbus_DJI_Board_TypeC_general_elf.xml
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2 changes: 1 addition & 1 deletion boards/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -3,4 +3,4 @@ add_subdirectory(platform)
add_subdirectory(algorithm)
add_subdirectory(drivers)
add_subdirectory(components)
add_subdirectory(third_party)
add_subdirectory(third_party)
2 changes: 1 addition & 1 deletion boards/base/DJI_Board_TypeC_general/Core/Src/usart.c
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Original file line number Diff line number Diff line change
Expand Up @@ -76,7 +76,7 @@ void MX_USART3_UART_Init(void)
/* USER CODE END USART3_Init 1 */
huart3.Instance = USART3;
huart3.Init.BaudRate = 100000;
huart3.Init.WordLength = UART_WORDLENGTH_8B;
huart3.Init.WordLength = UART_WORDLENGTH_9B;
huart3.Init.StopBits = UART_STOPBITS_1;
huart3.Init.Parity = UART_PARITY_EVEN;
huart3.Init.Mode = UART_MODE_RX;
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2 changes: 1 addition & 1 deletion boards/base/DJI_Board_TypeC_general/DJI_Board_TypeC_general.ioc
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Original file line number Diff line number Diff line change
Expand Up @@ -703,7 +703,7 @@ USART3.IPParameters=VirtualMode,Parity,BaudRate,WordLength,Mode
USART3.Mode=MODE_RX
USART3.Parity=PARITY_EVEN
USART3.VirtualMode=VM_ASYNC
USART3.WordLength=WORDLENGTH_8B
USART3.WordLength=WORDLENGTH_9B
USART6.IPParameters=VirtualMode
USART6.VirtualMode=VM_ASYNC
USB_DEVICE.CLASS_NAME_FS=CDC
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3 changes: 2 additions & 1 deletion boards/drivers/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -7,6 +7,7 @@ set(DRIVER_SOURCES
${CRC_CHECK_SOURCES})
set(DRIVER_INCLUDES
${CMAKE_CURRENT_SOURCE_DIR}/include
${CMAKE_CURRENT_SOURCE_DIR}/include/controller
${CMAKE_CURRENT_SOURCE_DIR}/include/Motor
${CMAKE_CURRENT_SOURCE_DIR}/../third_party/crc_check/include)

Expand Down Expand Up @@ -99,4 +100,4 @@ uicrm_add_board_specific_library(BulletExchanger_F103_drivers
SOURCES ${DRIVER_SOURCES}
INCLUDES ${DRIVER_INCLUDES}
DEPENDS BulletExchanger_F103_platform BulletExchanger_F103_algorithm)
target_include_directories(BulletExchanger_F103_drivers PUBLIC ${DRIVER_INCLUDES})
target_include_directories(BulletExchanger_F103_drivers PUBLIC ${DRIVER_INCLUDES})
2 changes: 1 addition & 1 deletion boards/drivers/include/connection_driver.h
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Original file line number Diff line number Diff line change
Expand Up @@ -34,7 +34,7 @@ namespace driver {
* @brief 判断节点是否在线
* @return true 表示当前连接节点在线，false 表示当前节点连接离线
*/
bool IsOnline() const;
virtual bool IsOnline() const;

/**
* @return 获取节点上一个心跳包的时间（以毫秒为单位）
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