100 lines
1.8 KiB
C
100 lines
1.8 KiB
C
/*
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* 自瞄模组
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*/
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#pragma once
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#include "component/user_math.h"
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#include "bsp/fdcan.h"
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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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struct __attribute__((packed)) AI_ToHost
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{
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uint8_t head[2];
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uint8_t mode; // 0: 空闲, 1: 自瞄, 2: 小符, 3: 大符
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float q[4]; // wxyz顺序 /q4,q0,q1,q2/
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float yaw;
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float yaw_vel;
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float pitch;
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float pitch_vel;
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float bullet_speed;
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uint16_t bullet_count; // 子弹累计发送次数
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uint16_t crc16;
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};
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struct __attribute__((packed)) AI_FromHost
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{
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uint8_t head[2];
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uint8_t mode; // 0: 不控制, 1: 控制云台但不开火，2: 控制云台且开火
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float yaw;
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float yaw_vel;
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float yaw_acc;
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float pitch;
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float pitch_vel;
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float pitch_acc;
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uint16_t crc16;
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};
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typedef struct {
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uint8_t mode;
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struct{
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struct{
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float yaw;
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float pit;
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}setpoint;
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struct{
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float pit;
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float yaw;
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}accl;
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struct{
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float pit;
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float yaw;
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}vel;
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}gimbal;
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}AI_cmd_t;
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typedef struct {
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uint8_t mode; // 0: 空闲, 1: 自瞄, 2: 小符, 3: 大符
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float q[4]; // wxyz顺序 /q4,q0,q1,q2/
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float yaw;
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float yaw_vel;
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float pitch;
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float pitch_vel;
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float bullet_speed;
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uint16_t bullet_count; // 子弹累计发送次数
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}AI_RawData_t;
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typedef struct {
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BSP_FDCAN_t can;
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uint16_t vision_id;
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}AI_Param_t;
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typedef struct __attribute__((packed)) {
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struct AI_ToHost tohost;
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struct AI_FromHost fromhost;
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AI_Param_t *param;
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}AI_t;
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int8_t AI_Init(AI_t *ai, AI_Param_t *param);
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int8_t AI_StartReceiving(AI_t *ai);
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int8_t AI_Get(AI_t *ai, AI_cmd_t* ai_cmd);
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int8_t AI_ParseForHost(AI_t* ai, AI_RawData_t* raw_data);
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int8_t AI_StartSend(AI_t *ai);
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void AI_SendCmdOnCan(AI_t *ai, const AI_cmd_t *cmd);
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void AI_ParseCmdFromCan(AI_t *ai, AI_cmd_t *cmd);
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#ifdef __cplusplus
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}
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#endif
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