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修复修复

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Robofish
2026-02-04 15:31:28 +08:00
parent 5e8bab2014
commit 8a031012fa
5 changed files with 87 additions and 46 deletions
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38
assets/User_code/module/cmd/cmd_adapter.c
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@@ -10,7 +10,7 @@
// static CMD_InputAdapter_t *g_adapters[CMD_SRC_NUM] = {0};
CMD_InputAdapter_t *g_adapters[CMD_SRC_NUM] = {0};
/* ========================================================================== */
/* DR16 抽象实现 */
/* DR16 适配器实现 */
/* ========================================================================== */
#if CMD_RC_DEVICE_TYPE == 0
@@ -27,19 +27,19 @@ int8_t CMD_DR16_RC_GetInput(void *data, CMD_RawInput_t *output) {
output->online[CMD_SRC_RC] = dr16->header.online;
/* 遥控器摇杆映射 */
output->rc.joy_left.x = dr16->data.rc.ch_l_x;
output->rc.joy_left.y = dr16->data.rc.ch_l_y;
output->rc.joy_right.x = dr16->data.rc.ch_r_x;
output->rc.joy_right.y = dr16->data.rc.ch_r_y;
output->rc.joy_left.x = dr16->data.ch_l_x;
output->rc.joy_left.y = dr16->data.ch_l_y;
output->rc.joy_right.x = dr16->data.ch_r_x;
output->rc.joy_right.y = dr16->data.ch_r_y;
/* 拨杆映射 */
switch (dr16->data.rc.sw_l) {
switch (dr16->data.sw_l) {
case DR16_SW_UP: output->rc.sw[0] = CMD_SW_UP; break;
case DR16_SW_MID: output->rc.sw[0] = CMD_SW_MID; break;
case DR16_SW_DOWN: output->rc.sw[0] = CMD_SW_DOWN; break;
default: output->rc.sw[0] = CMD_SW_ERR; break;
}
switch (dr16->data.rc.sw_r) {
switch (dr16->data.sw_r) {
case DR16_SW_UP: output->rc.sw[1] = CMD_SW_UP; break;
case DR16_SW_MID: output->rc.sw[1] = CMD_SW_MID; break;
case DR16_SW_DOWN: output->rc.sw[1] = CMD_SW_DOWN; break;
@@ -47,7 +47,7 @@ int8_t CMD_DR16_RC_GetInput(void *data, CMD_RawInput_t *output) {
}
/* 拨轮映射 */
output->rc.dial = dr16->data.rc.ch_res;
output->rc.dial = dr16->data.ch_res;
return CMD_OK;
}
@@ -60,10 +60,10 @@ int8_t CMD_DR16_PC_GetInput(void *data, CMD_RawInput_t *output) {
output->online[CMD_SRC_PC] = dr16->header.online;
/* PC端鼠标映射 */
output->pc.mouse.x = dr16->data.pc.mouse.x;
output->pc.mouse.y = dr16->data.pc.mouse.y;
output->pc.mouse.l_click = dr16->data.pc.mouse.l_click;
output->pc.mouse.r_click = dr16->data.pc.mouse.r_click;
output->pc.mouse.x = dr16->data.mouse.x;
output->pc.mouse.y = dr16->data.mouse.y;
output->pc.mouse.l_click = dr16->data.mouse.l_click;
output->pc.mouse.r_click = dr16->data.mouse.r_click;
/* 键盘映射 */
output->pc.keyboard.bitmap = dr16->raw_data.key;
@@ -83,7 +83,7 @@ CMD_DEFINE_ADAPTER(DR16_PC, cmd_dr16, CMD_SRC_PC, CMD_DR16_Init, CMD_DR16_PC_Get
#endif /* CMD_RC_DEVICE_TYPE == 0 */
/* ========================================================================== */
/* AT9S 抽象实现 (示例框架) */
/* AT9S 适配器实现 (示例框架) */
/* ========================================================================== */
#if CMD_RC_DEVICE_TYPE == 1
@@ -100,10 +100,10 @@ int8_t CMD_AT9S_GetInput(void *data, CMD_RawInput_t *output) {
output->online[CMD_SRC_RC] = at9s->header.online;
/* TODO: 按照AT9S的数据格式进行映射 */
output->joy_left.x = at9s->data.rc.ch_l_x;
output->joy_left.y = at9s->data.rc.ch_l_y;
output->joy_right.x = at9s->data.rc.ch_r_x;
output->joy_right.y = at9s->data.rc.ch_r_y;
output->joy_left.x = at9s->data.ch_l_x;
output->joy_left.y = at9s->data.ch_l_y;
output->joy_right.x = at9s->data.ch_r_x;
output->joy_right.y = at9s->data.ch_r_y;
/* 拨杆映射需要根据AT9S的实际定义 */
@@ -142,10 +142,6 @@ int8_t CMD_Adapter_InitAll(void) {
CMD_Adapter_Register(&g_adapter_AT9S);
#endif
/* 注册NUC适配器 */
/* 注册REF适配器 */
/* 初始化所有已注册的适配器 */
for (int i = 0; i < CMD_SRC_NUM; i++) {
if (g_adapters[i] != NULL && g_adapters[i]->init != NULL) {