184 lines
2.8 KiB
C
184 lines
2.8 KiB
C
/*
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该任务用于接收来自各个不同的控制方式所期望的控制指令 将其集中统一化后分发给各个模块
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*/
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/*
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按键控制逻辑
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RC模式，左按键打到最上，右按键启用，中间无状态，上下各代表模式1、模式2
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雷达导航，左按键打到中间，右按键禁用
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左按键打到下面，保留，未启用
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*/
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#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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#define MID (0x09)
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typedef enum{
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RC,//遥控器控制，左按键上
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MID_NAVI,//雷达导航
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}CMD_Chassis_CtrlType_e;
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typedef enum{
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RELAXED,//异常模式
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NORMAL,
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GYRO_STAY,
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RC_MODE1,
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RC_NO_MODE,
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RC_MODE2,
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RC_MODE3,
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RC_MODE4,
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AUTO_NAVI
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}CMD_Chassis_mode_e;
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/*该结构体负责接收和解析地盘模块所需要的控制指令*/
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typedef struct{
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CMD_Chassis_CtrlType_e type;
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CMD_Chassis_mode_e mode;
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}CMD_Chassis_Ctrl_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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/*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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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))CMD_RC_t;
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typedef struct
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{
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fp32 Vx;
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fp32 Vy;
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fp32 Vw;
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}OpsHopeVector_t;
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typedef struct
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{
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fp32 x;
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fp32 y;
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fp32 z;
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int cnt_point;//计数点
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}ops_point;
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typedef struct {
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OpsHopeVector_t out;
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int flag;//传递flag触发标志位
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} CMD_ACTION_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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typedef struct{
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fp32 posy;
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fp32 posx;
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fp32 posw;
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}CMD_FOR_PICK;
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typedef struct {
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fp32 vx;
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fp32 vy;
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fp32 wz;
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}CMD_FOR_NAVI;
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typedef struct {
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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 Vx;
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fp32 Vy;
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fp32 Vw;
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fp32 poscamear;
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fp32 key_ctrl_l;
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fp32 key_ctrl_r;
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fp32 forsick_wz;
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CMD_Chassis_Ctrl_t C_cmd;
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CMD_FOR_NAVI C_navi;
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} CMD_t;
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int8_t CMD_Init(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_ParseAction(CMD_t *cmd,CMD_ACTION_t *act);
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int8_t CMD_ParseNuc(CMD_t *cmd,CMD_NUC_t *n);
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int8_t CMD_SwitchStatus(CMD_t *cmd);
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int8_t CMD_CtrlSet(CMD_t *cmd);
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#endif
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