add trigger disable when remote offline

RoboMaster-Club · Apr 5, 2024 · f852c34 · f852c34
1 parent dfd3046
commit f852c34
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Showing 3 changed files with 8 additions and 1 deletion.
diff --git a/src/app/src/robot.c b/src/app/src/robot.c
@@ -60,7 +60,7 @@ void Robot_Cmd_Loop()
 {
     if (g_start_safely)
     {
-        if (g_remote.controller.right_switch == DOWN)
+        if ((g_remote.online_flag == REMOTE_OFFLINE) || (g_remote.controller.right_switch == DOWN))
         {
             g_robot_state.enabled = 0;
             g_launch_target.flywheel_enabled = 0;

diff --git a/src/devices/inc/remote.h b/src/devices/inc/remote.h
@@ -11,6 +11,8 @@
 #include "bsp_uart.h"
 
 #define REMOTE_STICK_MAX (660.0f)
+#define REMOTE_ONLINE (1)
+#define REMOTE_OFFLINE (0)
 
 #define KEY_W ((uint16_t)0x01<<0)
 #define KEY_S ((uint16_t)0x01<<1)
@@ -80,6 +82,8 @@ typedef struct
     struct Controller controller;
     struct Keyboard keyboard;
     struct Mouse mouse;
+
+    uint8_t online_flag;
 } Remote_t;
 
 

diff --git a/src/devices/src/remote.c b/src/devices/src/remote.c
@@ -57,6 +57,8 @@ void Remote_Buffer_Process()
 	g_remote.keyboard.C = (key_buffer >> 13) & 0x001;
 	g_remote.keyboard.V = (key_buffer >> 14) & 0x001;
 	g_remote.keyboard.B = (key_buffer >> 15) & 0x001;
+
+	g_remote.online_flag = 1;
 }
 
 void Remote_Rx_Callback(UART_Instance_t *uart_instance)
@@ -69,6 +71,7 @@ void Remote_Timeout_Callback()
 {
 	// reinitalize the remote uart transmission
 	UART_Service_Init(g_remote_uart);
+	g_remote.online_flag = 0;
 }
 
 Remote_t* Remote_Init(UART_HandleTypeDef *huart)