diff --git a/User/module/cmd.c b/User/module/cmd.c new file mode 100644 index 0000000..59b70f8 --- /dev/null +++ b/User/module/cmd.c @@ -0,0 +1,85 @@ +/* + 控制命令 +*/ +#include "module/cmd.h" +#include + +/*************************************************************************/ +/*********************************仲裁器**********************************/ +/*************************************************************************/ + + + + +/*************************************************************************/ +/**********************************RC*************************************/ +/*************************************************************************/ + +/* Includes ----------------------------------------------------------------- */ +/* Private typedef ---------------------------------------------------------- */ +/* Private define ----------------------------------------------------------- */ +/* Private macro ------------------------------------------------------------ */ +/* Private variables -------------------------------------------------------- */ +/* Private function -------------------------------------------------------- */ +/* Exported functions ------------------------------------------------------- */ + +#define RC_SELECT_Index 1 + +/* 扩展接口 */ +#if RC_SELECT_Index == 0 +#define FOR_EACH_RC(_) _(dr16, DR16) +#elif RC_SELECT_Index == 1 +#define FOR_EACH_RC(_) _(at9s, AT9S) +#endif + +#if RC_SELECT_Index == 0 +#include "device/dr16.h" +#elif RC_SELECT_Index == 1 +#include "device/at9s_pro.h" +#endif + +#define X_FIELD(name, NAME) DEVICE_##NAME##_t name; +#define X_EXTERN(name, NAME) extern DEVICE_##NAME##_t name##_out; +#define X_COPY(name, NAME) \ + static void copy_##name(rc_u *dst) { dst->name = name##_out; } +#define X_REF(name, NAME) copy_##name, + +union rc_u{ + FOR_EACH_RC(X_FIELD) +}; +FOR_EACH_RC(X_EXTERN) +FOR_EACH_RC(X_COPY) + +/*静态缓冲区，供返回使用*/ +static rc_u rc_buffer; + +CMD_RCInputData_t rc; + +int8_t Cmd_get_rc(CMD_RCInputData_t *dst) +{ + FOR_EACH_RC(X_REF)(&rc_buffer); + dst->rc = &rc_buffer; + dst->rc_type = RC_SELECT_Index; + return CMD_OK; +} + +/*************************************************************************/ +/**********************************PC*************************************/ +/*************************************************************************/ + + + +/*************************************************************************/ +/**********************************NUC*************************************/ +/*************************************************************************/ + + + +/*************************************************************************/ +/**********************************REF*************************************/ +/*************************************************************************/ + + +/*************************************************************************/ +/*********************************分发命令*********************************/ +/*************************************************************************/ diff --git a/User/module/cmd.h b/User/module/cmd.h new file mode 100644 index 0000000..4002408 --- /dev/null +++ b/User/module/cmd.h @@ -0,0 +1,81 @@ +/* + 控制命令 +*/ +#pragma once + +#ifdef __cplusplus +extern "C" { +#endif + +#include "module/chassis.h" +#include "module/gimbal.h" +#include "module/shoot.h" + + +/* Exported constants ------------------------------------------------------- */ +#define CMD_OK (0) /* 运行正常 */ +#define CMD_ERR_NULL (-1) /* 运行时发现NULL指针 */ +#define CMD_ERR_ERR (-2) /* 运行时发现了其他错误 */ +#define CMD_ERR_MODE (-3) /* 运行时配置了错误的Mode */ +#define CMD_ERR_MOTOR (-4) /* 运行时配置了不存在的电机类型 */ +#define CMD_ERR_MALLOC (-5) /* 内存分配失败 */ +/* Exported macro ----------------------------------------------------------- */ +/* Exported types ----------------------------------------------------------- */ + +typedef union rc_u rc_u; + +typedef struct { + rc_u *rc; + enum { DR16, AT9S } rc_type; +} CMD_RCInputData_t; + +#define CMD_REFEREE_MAX_NUM (3) /* 发送命令限定的最大数量 */ + +/* 输入源枚举 */ +typedef enum { + CMD_SRC_RC, /* 遥控器 */ + CMD_SRC_PC, /* 键盘鼠标 */ + CMD_SRC_NUC, /* 上位机 */ + CMD_SRC_REFEREE, /* 裁判系统 */ + CMD_SRC_NUM +} CMD_InputSource_t; + +typedef struct { + +}CMD_PCInputData_t; + +typedef struct { + +}CMD_NUCInputData_t; + +typedef struct { + +}CMD_REFInputData_t; + +/* 底盘控制命令 */ +typedef struct { + +} CMD_cmdForChassisCtrl_t; + +/* 云台控制命令 */ +typedef struct { + +} CMD_cmdForGimbalCtrl_t; + +/* 射击控制命令 */ +typedef struct { + CMD_InputSource_t src; + Shoot_CMD_t shoot_cmd; +} CMD_Shoot_t; + +typedef struct { + bool pc_ctrl; /* 是否使用键鼠控制 */ + bool host_overwrite; /* 是否Host控制 */ + uint16_t key_last; /* 上次按键键值 */ + +} CMD_t; + +/* Exported functions prototypes -------------------------------------------- */ +#ifdef __cplusplus +} +#endif diff --git a/User/task/cmd.c b/User/task/cmd.c index 47d2f5e..3ed8497 100644 --- a/User/task/cmd.c +++ b/User/task/cmd.c @@ -20,7 +20,7 @@ /* Private macro ------------------------------------------------------------ */ /* Private variables -------------------------------------------------------- */ /* USER STRUCT BEGIN */ -DEVICE_AT9S_t at9s_from_rc; +DEVICE_AT9S_t at9s_out; Shoot_CMD_t cmd_for_shoot; //Chassis_Cmd_t cmd_for_chassis; Gimbal_CMD_t cmd_for_gimbal; @@ -45,9 +45,9 @@ void Task_cmd(void *argument) { while (1) { tick += delay_tick; /* 计算下一个唤醒时刻 */ /* USER CODE BEGIN */ - osMessageQueueGet(task_runtime.msgq.cmd.rc, &at9s_from_rc, NULL, 0); + osMessageQueueGet(task_runtime.msgq.cmd.rc, &at9s_out, NULL, 0); - switch (at9s_from_rc.data.key_G) { + switch (at9s_out.data.key_G) { case AT9S_CMD_SW_DOWN: cmd_for_gimbal.mode = GIMBAL_MODE_RELAX; cmd_for_gimbal.delta_yaw = 0.0f; @@ -55,13 +55,13 @@ void Task_cmd(void *argument) { break; case AT9S_CMD_SW_MID: cmd_for_gimbal.mode = GIMBAL_MODE_ABSOLUTE; - cmd_for_gimbal.delta_yaw = -at9s_from_rc.data.ch_l_x * 2.0f; - cmd_for_gimbal.delta_pit = -at9s_from_rc.data.ch_l_y * 1.5f; + cmd_for_gimbal.delta_yaw = -at9s_out.data.ch_l_x * 2.0f; + cmd_for_gimbal.delta_pit = -at9s_out.data.ch_l_y * 1.5f; break; case AT9S_CMD_SW_UP: cmd_for_gimbal.mode = GIMBAL_MODE_ABSOLUTE; - cmd_for_gimbal.delta_yaw = -at9s_from_rc.data.ch_l_x * 2.0f; - cmd_for_gimbal.delta_pit = -at9s_from_rc.data.ch_l_y * 1.5f; + cmd_for_gimbal.delta_yaw = -at9s_out.data.ch_l_x * 2.0f; + cmd_for_gimbal.delta_pit = -at9s_out.data.ch_l_y * 1.5f; break; default: cmd_for_gimbal.mode = GIMBAL_MODE_RELAX; @@ -70,24 +70,24 @@ void Task_cmd(void *argument) { break; } - switch (at9s_from_rc.data.key_C) { + switch (at9s_out.data.key_C) { case AT9S_CMD_SW_DOWN: - cmd_for_shoot.online = at9s_from_rc.online; + cmd_for_shoot.online = at9s_out.online; cmd_for_shoot.ready = true; cmd_for_shoot.firecmd = true; break; case AT9S_CMD_SW_MID: - cmd_for_shoot.online = at9s_from_rc.online; + cmd_for_shoot.online = at9s_out.online; cmd_for_shoot.ready = true; cmd_for_shoot.firecmd = false; break; case AT9S_CMD_SW_UP: - cmd_for_shoot.online = at9s_from_rc.online; + cmd_for_shoot.online = at9s_out.online; cmd_for_shoot.ready = false; cmd_for_shoot.firecmd = false; break; default: - cmd_for_shoot.online = at9s_from_rc.online; + cmd_for_shoot.online = at9s_out.online; cmd_for_shoot.ready = false; cmd_for_shoot.firecmd = false; break;