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