first commit

User/module/cmd.c

@@ -0,0 +1,85 @@
+/*
+  控制命令
+*/
+#include "module/cmd.h"
+#include <string.h>
+
+/*************************************************************************/
+/*********************************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*********************************/
+/*************************************************************************/

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

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_yaw = -at9s_out.data.ch_l_x * 2.0f;
-      cmd_for_gimbal.delta_pit = -at9s_from_rc.data.ch_l_y * 1.5f;
+      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_yaw = -at9s_out.data.ch_l_x * 2.0f;
-      cmd_for_gimbal.delta_pit = -at9s_from_rc.data.ch_l_y * 1.5f;
+      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;