158 lines
2.6 KiB
C
158 lines
2.6 KiB
C
#ifndef _CMD_H
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#define _CMD_H
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#include "struct_typedef.h"
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#include "device.h"
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#include "cmd.h"
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#include "gpio.h"
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#include "user_math.h"
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#include <string.h>
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#define MID (0x09)
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#define PICK (0x06)
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typedef enum{
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RCcontrol,//遥控器控制，左按键上，控制上层
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AUTO,
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RELAXED,//异常模式
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}CMD_CtrlType_t;
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typedef enum{
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Normal, //无模式
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AUTO_NAVI,
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AUTO_PICK,
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Dribble , //运球
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Pitch, //投篮,底盘锁定
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Dribbl_transfer
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}CMD_mode_t;
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typedef struct {
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uint8_t status_fromnuc;
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uint8_t ctrl_status; //取其中每一个二进制位用作通信
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struct
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{
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fp32 vx;
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fp32 vy;
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fp32 wz;
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}navi;
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struct
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{
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fp32 posx;
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fp32 posy;
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fp32 posw;
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}pick;
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struct
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{
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fp32 angle;
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}sick_cali;
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} CMD_NUC_t;
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/* 拨杆位置 */
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typedef enum {
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CMD_SW_ERR = 0,
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CMD_SW_UP = 1,
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CMD_SW_MID = 3,
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CMD_SW_DOWN = 2,
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} CMD_SwitchPos_t;
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typedef enum{
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RC_DR16,
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RC_LD ,
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Control_loss
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}rc_type_t;
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/*遥控器值，使用CMD_RcLogic函数传入CMD_t结构体*/
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typedef struct {
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rc_type_t rc_type;
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struct {
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float ch_l_x; /* 遥控器左侧摇杆横轴值，上为正 */
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float ch_l_y; /* 遥控器左侧摇杆纵轴值，右为正 */
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float ch_r_x; /* 遥控器右侧摇杆横轴值，上为正 */
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float ch_r_y; /* 遥控器右侧摇杆纵轴值，右为正 */
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float ch_res; /* 第五通道值 */
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CMD_SwitchPos_t sw_r; /* 右侧拨杆位置 */
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CMD_SwitchPos_t sw_l; /* 左侧拨杆位置 */
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uint16_t key; /* 按键值 */
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uint16_t res; /* 保留，未启用 */
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}__attribute__((packed))dr16;
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struct {
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fp32 ch_r_x ;
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fp32 ch_r_y ;
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fp32 ch_l_x ;
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fp32 ch_l_y ;
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int16_t key_A ;
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// int16_t key_B ;//无
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int16_t key_C ;
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// int16_t key_D ;//无
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int16_t key_E ;
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int16_t key_F;
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int16_t key_G ;
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int16_t key_H ;
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int16_t knob_left;//左旋钮
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int16_t knob_right;//右旋钮
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}__attribute__((packed))LD;
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} __attribute__((packed))CMD_RC_t;
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typedef struct {
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CMD_mode_t CMD_mode;
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CMD_CtrlType_t CMD_CtrlType;
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uint8_t cmd_status;
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uint8_t raw_status;
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uint8_t status[7];
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fp32 key_ctrl_l;
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fp32 key_ctrl_r;
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fp32 Vx;
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fp32 Vy;
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fp32 Vw;
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fp32 poscamear;
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struct
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{
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fp32 posx;
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fp32 posy;
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fp32 posw;
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}cmd_pick;
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struct
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{
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fp32 posx;
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fp32 posy;
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fp32 posw;
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}cmd_MID360;
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} CMD_t;
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int8_t CMD_Init(CMD_t *cmd);
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static void CMD_RcLogic(const CMD_RC_t *rc, CMD_t *cmd) ;
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static void CMD_RcLostLogic(CMD_t *cmd);
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int8_t CMD_ParseRc(CMD_t *cmd,CMD_RC_t *rc);
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int8_t CMD_ParseNuc(CMD_t *cmd,CMD_NUC_t *n);
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int8_t CMD_ParseRC(CMD_t *cmd,const CMD_RC_t *rc) ;
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#endif
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