94 lines
2.6 KiB
C
94 lines
2.6 KiB
C
/*
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该任务用来处理来自不同控制方式下传回的期望的控制指令在此处统一为通用格式的控制指令发送给其他任务
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*/
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/* Includes ----------------------------------------------------------------- */
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#include "cmd.h"
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#include "gpio.h"
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#include <string.h>
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/* Private function -------------------------------------------------------- */
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/*Export function --------------------------------------------------------------*/
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/*nuc数据统一到cmd*/
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int8_t CMD_ParseNuc(CMD_t *cmd,CMD_NUC_t *n){
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if(cmd == NULL) return -1;
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if(n == NULL) return -1;
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cmd->NAVI_t .cmd_status = n->status_fromnuc;
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cmd->NAVI_t .raw_status = n->ctrl_status;
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for (int i = 0; i < 7; ++i)
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{ // 从最低位到最高位遍历
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cmd->NAVI_t .status[i] = ((cmd->NAVI_t .raw_status) & (1 << i)) ? 1 : 0;
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}
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switch(cmd->NAVI_t .cmd_status){
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case PICK :
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cmd ->NAVI_t .pick .posx =n->pick .posx ;
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cmd ->NAVI_t .pick .posy =n->pick .posy ;
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cmd ->NAVI_t .pick .posw =n->pick .posw ;
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break;
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}
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return 0;
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}
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/*遥控器，上下层通用，按键控制，统一到cmd*/
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int8_t CMD_ParseRC(CMD_t *cmd,const CMD_RC_t *rc) {
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if(cmd == NULL) return -1;
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const CMD_CtrlType_t prev_CtrlType = cmd->CMD_CtrlType ;
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const CMD_UP_mode_t prev_mode = cmd->CMD_UP_mode ;//保存旧状态
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if ((rc->sw_l == CMD_SW_ERR) || (rc->sw_r == CMD_SW_ERR)) {
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cmd->CMD_CtrlType =RELAXED;
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}
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else if(rc->sw_l==CMD_SW_UP)
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{
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cmd ->CMD_CtrlType =UP_RCcontrol;
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if(rc->sw_r ==CMD_SW_UP) cmd ->CMD_UP_mode =Pitch; //左上，右上，投篮
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if(rc->sw_r ==CMD_SW_MID) cmd ->CMD_UP_mode =Normal; //左上，右中，无模式
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if(rc->sw_r ==CMD_SW_DOWN) cmd ->CMD_UP_mode =Normal; //左上，右上，运球
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}
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else if(rc->sw_l==CMD_SW_MID)
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{
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if(rc->sw_r ==CMD_SW_UP) cmd ->CMD_CtrlType =MID_NAVI;; //左中，右上，雷达
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if(rc->sw_r ==CMD_SW_MID)
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{
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cmd ->CMD_CtrlType =UP_RCcontrol;
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cmd ->CMD_UP_mode =Normal; //左中，右中，无模式
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}
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if(rc->sw_r ==CMD_SW_DOWN)
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{
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cmd ->CMD_UP_mode =Normal; //左中，右下，无模式
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cmd ->CMD_CtrlType =UP_RCcontrol;
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}
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}
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else if(rc->sw_l==CMD_SW_DOWN)
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{
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cmd ->CMD_CtrlType =UP_RCcontrol;
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if(rc->sw_r ==CMD_SW_UP) cmd ->CMD_UP_mode =Normal; //左下，右上，投篮
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if(rc->sw_r ==CMD_SW_MID) cmd ->CMD_UP_mode =Normal; //左下，右中，无模式
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if(rc->sw_r ==CMD_SW_DOWN) cmd ->CMD_UP_mode =Normal; //左下，右上，无模式
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}
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if (prev_CtrlType!= cmd->CMD_CtrlType ) cmd ->last_CMD_CtrlType = prev_CtrlType;
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if (prev_mode!=cmd->CMD_UP_mode ) cmd ->last_CMD_UP_mode =prev_mode;
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return 0;
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}
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