151 lines
2.6 KiB
C
151 lines
2.6 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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#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 "Action.h"
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//遥控器状态
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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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/* 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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//遥控器数据
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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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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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}__attribute__((packed))DJ;
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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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CMD_SwitchPos_t key_A ;
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CMD_SwitchPos_t key_C ;
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CMD_SwitchPos_t key_E ;
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CMD_SwitchPos_t key_F;
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CMD_SwitchPos_t key_G ;
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CMD_SwitchPos_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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//码盘数据
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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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OpsHopeVector_t out;
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} CMD_ACTION_t;
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//nuc数据
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typedef struct {
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uint8_t status_fromnuc;
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uint8_t pit_status;
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struct
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{
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float vx;
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float vy;
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float wz;
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}navi;
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struct
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{
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float posx;
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float posy;
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float dis;
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}pick;
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} CMD_NUC_t;
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//导航数据
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typedef enum{
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POS_1,
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POS_2,
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POS_3,
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}CMD_Chassis_navi_pos;
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typedef enum{
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RC,
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NAVI,
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STOP,
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}CMD_Chassis_mode;
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typedef struct{
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CMD_Chassis_navi_pos pos;
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CMD_Chassis_mode mode;
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}CMD_Chassis_Ctrl_t;
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typedef struct {
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float vx;
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float vy;
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float wz;
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}CMD_FOR_NAVI;
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typedef struct {
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int cmd_power_on_safe; // 上电安全标志
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CMD_Chassis_Ctrl_t C_cmd;
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//遥控器输出值
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fp32 Vx;
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fp32 Vy;
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fp32 Vw;
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fp32 throttle;
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CMD_FOR_NAVI C_navi;//导航输出值
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float camera_yaw;//nuc输出值
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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_CtrlSet(CMD_t *cmd,const 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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#endif
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