100 lines
2.3 KiB
C
100 lines
2.3 KiB
C
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/*
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* 配置相关
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* 读写在FALSH上的信息
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*/
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#pragma once
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#ifdef __cplusplus
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extern "C" {
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#endif
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#include <stdint.h>
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#include "component\cmd.h"
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#include "device\bmi088.h"
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#include "device\can.h"
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#include "device\ist8310.h"
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#include "module\chassis.h"
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#include "module\gimbal.h"
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#include "module\shoot.h"
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/* 机器人参数，保存后不会变化 */
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typedef struct {
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CMD_RobotModel_t model; /* 型号 */
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Chassis_Params_t chassis; /* 底盘 */
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Gimbal_Params_t gimbal; /* 云台 */
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Shoot_Params_t shoot; /* 射击 */
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CAN_Params_t can; /* 电机CAN配置 */
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} Config_RobotParam_t;
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/* 操作员配置 */
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typedef struct {
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CMD_Params_t param; /* 参数 */
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} Config_PilotCfg_t;
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/* 机器人配置，保存在Flash上的信息，根据机器人变化 */
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typedef struct {
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char robot_param_name[20];
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char pilot_cfg_name[20];
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const Config_RobotParam_t *robot_param;
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const Config_PilotCfg_t *pilot_cfg;
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struct {
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IST8310_Cali_t ist8310;
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BMI088_Cali_t bmi088;
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} cali; /* 校准 */
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AHRS_Eulr_t mech_zero; /* 机械零点 */
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float gimbal_limit; /* 云台pitch轴软件限位最高点 */
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} Config_t;
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/* 机器人参数和对应字符串的映射 */
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typedef struct {
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const char *const name;
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const Config_RobotParam_t *param;
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} Config_RobotParamMap_t;
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/* 操作手配置和对应字符串的映射 */
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typedef struct {
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const char *const name;
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const Config_PilotCfg_t *param;
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} Config_PilotCfgMap_t;
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/**
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* \brief 从Flash读取配置信息
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*
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* \param cfg 配置信息
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*/
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void Config_Get(Config_t *cfg);
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/**
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* \brief 将配置信息写入Flash
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*
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* \param cfg 配置信息
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*/
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void Config_Set(Config_t *cfg);
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/**
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* @brief 通过机器人参数名称获取机器人参数的指针
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*
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* @param robot_param_name 机器人参数名称
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* @return const Config_RobotParam_t* 机器人参数的指针
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*/
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const Config_RobotParam_t *Config_GetRobotParam(const char *robot_param_name);
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/**
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* @brief 通过操作手配置名称获取操作手配置的指针
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*
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* @param pilot_cfg_name 操作手配置名称
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* @return const Config_PilotCfg_t* 操作手配置的指针
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*/
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const Config_PilotCfg_t *Config_GetPilotCfg(const char *pilot_cfg_name);
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const Config_PilotCfgMap_t *Config_GetPilotNameMap(void);
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const Config_RobotParamMap_t *Config_GetRobotNameMap(void);
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#ifdef __cplusplus
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}
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#endif
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