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158 lines
3.4 KiB
C
158 lines
3.4 KiB
C
#pragma once
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#ifdef __cplusplus
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extern "C" {
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#endif
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/* Includes ----------------------------------------------------------------- */
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#include "bsp/can.h"
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#include "device/device.h"
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#include <stdint.h>
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#include <stdbool.h>
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/* USER INCLUDE BEGIN */
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/* USER INCLUDE END */
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/* USER DEFINE BEGIN */
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/* USER DEFINE END */
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/* Exported constants ------------------------------------------------------- */
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/* Exported macro ----------------------------------------------------------- */
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/* Exported types ----------------------------------------------------------- */
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typedef enum {
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RC_CAN_SW_ERR = 0,
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RC_CAN_SW_UP = 1,
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RC_CAN_SW_MID = 3,
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RC_CAN_SW_DOWN = 2,
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} RC_CAN_SW_t;
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typedef enum {
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RC_CAN_MODE_MASTER = 0, // 主机模式
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RC_CAN_MODE_SLAVE = 1, // 从机模式
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} RC_CAN_Mode_t;
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typedef enum {
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RC_CAN_DATA_JOYSTICK = 0,
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RC_CAN_DATA_SWITCH,
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RC_CAN_DATA_MOUSE,
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RC_CAN_DATA_KEYBOARD
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} RC_CAN_DataType_t;
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typedef enum {
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RC_CAN_KEY_NONE = 0xFF, // 无按键
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RC_CAN_KEY_W = 0,
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RC_CAN_KEY_S,
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RC_CAN_KEY_A,
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RC_CAN_KEY_D,
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RC_CAN_KEY_SHIFT,
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RC_CAN_KEY_CTRL,
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RC_CAN_KEY_Q,
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RC_CAN_KEY_E,
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RC_CAN_KEY_R,
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RC_CAN_KEY_F,
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RC_CAN_KEY_G,
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RC_CAN_KEY_Z,
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RC_CAN_KEY_X,
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RC_CAN_KEY_C,
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RC_CAN_KEY_V,
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RC_CAN_KEY_B,
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RC_CAN_KEY_NUM,
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} RC_CAN_Key_t;
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// 遥杆数据包
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typedef struct {
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float ch_l_x;
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float ch_l_y;
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float ch_r_x;
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float ch_r_y;
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} RC_CAN_JoyData_t;
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// 拨杆数据包
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typedef struct {
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RC_CAN_SW_t sw_l; // 左拨杆状态
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RC_CAN_SW_t sw_r; // 右拨杆状态
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float ch_res; // 第五通道
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} RC_CAN_SwitchData_t;
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// 鼠标数据包
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typedef struct {
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float x; // 鼠标X轴移动
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float y; // 鼠标Y轴移动
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float z; // 鼠标Z轴(滚轮)
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bool mouse_l; // 鼠标左键
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bool mouse_r; // 鼠标右键
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} RC_CAN_MouseData_t;
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// 键盘数据包
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typedef struct {
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uint16_t key_value; // 键盘按键位映射
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RC_CAN_Key_t keys[16];
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} RC_CAN_KeyboardData_t;
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typedef struct {
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RC_CAN_JoyData_t joy;
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RC_CAN_SwitchData_t sw;
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RC_CAN_MouseData_t mouse;
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RC_CAN_KeyboardData_t keyboard;
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} RC_CAN_Data_t;
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// RC_CAN 参数结构
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typedef struct {
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BSP_CAN_t can; // 使用的CAN总线
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RC_CAN_Mode_t mode; // 工作模式
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uint16_t joy_id; // 遥杆CAN ID
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uint16_t sw_id; // 拨杆CAN ID
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uint16_t mouse_id; // 鼠标CAN ID
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uint16_t keyboard_id; // 键盘CAN ID
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} RC_CAN_Param_t;
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// RC_CAN 主结构
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typedef struct {
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DEVICE_Header_t header;
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RC_CAN_Param_t param;
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RC_CAN_Data_t data;
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} RC_CAN_t;
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/* USER STRUCT BEGIN */
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/* USER STRUCT END */
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/* Exported functions prototypes -------------------------------------------- */
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/**
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* @brief 初始化RC CAN发送模块
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* @param rc_can RC_CAN结构体指针
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* @param param 初始化参数
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* @return DEVICE_OK 成功，其他值失败
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*/
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int8_t RC_CAN_Init(RC_CAN_t *rc_can, RC_CAN_Param_t *param);
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/**
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* @brief 更新并发送数据到CAN总线
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* @param rc_can RC_CAN结构体指针
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* @param data_type 数据类型
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* @return DEVICE_OK 成功，其他值失败
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*/
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int8_t RC_CAN_SendData(RC_CAN_t *rc_can, RC_CAN_DataType_t data_type);
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/**
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* @brief 接收并更新CAN数据
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* @param rc_can RC_CAN结构体指针
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* @param data_type 数据类型
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* @return DEVICE_OK 成功，其他值失败
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*/
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int8_t RC_CAN_Update(RC_CAN_t *rc_can , RC_CAN_DataType_t data_type);
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int8_t RC_CAN_OFFLINE(RC_CAN_t *rc_can);
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/* USER FUNCTION BEGIN */
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/* USER FUNCTION END */
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#ifdef __cplusplus
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}
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#endif
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