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