保存

.clangd

@@ -2,7 +2,7 @@ CompileFlags:
   Add:
     - '-ferror-limit=0'
     - '-Wno-implicit-int'
-    - "-I/usr/lib/arm-none-eabi/include"
+    - '-I/usr/lib/arm-none-eabi/include'
   CompilationDatabase: build/Debug
 Diagnostics:
   Suppress:
@@ -10,4 +10,3 @@ Diagnostics:
     - unknown_typename
     - unknown_typename_suggest
     - typename_requires_specqual
-

User/module/cmd_v2/cmd.c

@@ -0,0 +1,295 @@
+/*
+ * CMD 模块 V2 - 主控制模块实现
+ */
+#include "cmd.h"
+#include "bsp/time.h"
+#include <stdint.h>
+#include <string.h>
+
+/* ========================================================================== */
+/*                           内部辅助函数                                       */
+/* ========================================================================== */
+
+/* 从RC输入生成底盘命令 */
+static void CMD_RC_BuildChassisCmd(CMD_Context_t *ctx, const CMD_RawInput_t *input) {
+    CMD_RCModeMap_t *map = &ctx->config->rc_mode_map;
+    
+    /* 根据左拨杆位置选择模式 */
+    switch (input->sw[0]) {
+        case CMD_SW_UP:
+            ctx->chassis.cmd.mode = map->sw_left_up;
+            break;
+        case CMD_SW_MID:
+            ctx->chassis.cmd.mode = map->sw_left_mid;
+            break;
+        case CMD_SW_DOWN:
+            ctx->chassis.cmd.mode = map->sw_left_down;
+            break;
+        default:
+            ctx->chassis.cmd.mode = CHASSIS_MODE_RELAX;
+            break;
+    }
+    
+    /* 摇杆控制移动 */
+    ctx->chassis.cmd.ctrl_vec.vx = input->joy_right.x;
+    ctx->chassis.cmd.ctrl_vec.vy = input->joy_right.y;
+}
+
+/* 从RC输入生成云台命令 */
+static void CMD_RC_BuildGimbalCmd(CMD_Context_t *ctx, const CMD_RawInput_t *input) {
+    CMD_RCModeMap_t *map = &ctx->config->rc_mode_map;
+    
+    /* 根据拨杆选择云台模式 */
+    switch (input->sw[0]) {
+        case CMD_SW_UP:
+            ctx->gimbal.cmd.mode = map->gimbal_sw_up;
+            break;
+        case CMD_SW_MID:
+            ctx->gimbal.cmd.mode = map->gimbal_sw_mid;
+            break;
+        case CMD_SW_DOWN:
+            ctx->gimbal.cmd.mode = map->gimbal_sw_down;
+            break;
+        default:
+            ctx->gimbal.cmd.mode = GIMBAL_MODE_RELAX;
+            break;
+    }
+    
+    /* 左摇杆控制云台 */
+    ctx->gimbal.cmd.delta_yaw = -input->joy_left.x * 2.0f;
+    ctx->gimbal.cmd.delta_pit = -input->joy_left.y * 1.5f;
+}
+
+/* 从RC输入生成射击命令 */
+static void CMD_RC_BuildShootCmd(CMD_Context_t *ctx, const CMD_RawInput_t *input) {
+    if (input->online) {
+        ctx->shoot.cmd.mode = SHOOT_MODE_SINGLE;
+    } else {
+        ctx->shoot.cmd.mode = SHOOT_MODE_SAFE;
+    }
+    
+    /* 根据右拨杆控制射击 */
+    switch (input->sw[1]) {
+        case CMD_SW_DOWN:
+            ctx->shoot.cmd.ready = true;
+            ctx->shoot.cmd.firecmd = true;
+            break;
+        case CMD_SW_MID:
+            ctx->shoot.cmd.ready = true;
+            ctx->shoot.cmd.firecmd = false;
+            break;
+        case CMD_SW_UP:
+        default:
+            ctx->shoot.cmd.ready = false;
+            ctx->shoot.cmd.firecmd = false;
+            break;
+    }
+}
+
+/* 从PC输入生成底盘命令 */
+static void CMD_PC_BuildChassisCmd(CMD_Context_t *ctx, const CMD_RawInput_t *input) {
+    CMD_Sensitivity_t *sens = &ctx->config->sensitivity;
+    
+    if (!input->online) {
+        ctx->chassis.cmd.mode = CHASSIS_MODE_RELAX;
+        return;
+    }
+    
+    ctx->chassis.cmd.mode = CHASSIS_MODE_FOLLOW_GIMBAL;
+    
+    /* WASD控制移动 */
+    ctx->chassis.cmd.ctrl_vec.vx = 0.0f;
+    ctx->chassis.cmd.ctrl_vec.vy = 0.0f;
+    
+    if (CMD_KEY_PRESSED(&input->keyboard, CMD_KEY_W)) {
+        ctx->chassis.cmd.ctrl_vec.vy += sens->move_sens;
+    }
+    if (CMD_KEY_PRESSED(&input->keyboard, CMD_KEY_S)) {
+        ctx->chassis.cmd.ctrl_vec.vy -= sens->move_sens;
+    }
+    if (CMD_KEY_PRESSED(&input->keyboard, CMD_KEY_A)) {
+        ctx->chassis.cmd.ctrl_vec.vx -= sens->move_sens;
+    }
+    if (CMD_KEY_PRESSED(&input->keyboard, CMD_KEY_D)) {
+        ctx->chassis.cmd.ctrl_vec.vx += sens->move_sens;
+    }
+    
+    /* 加速/减速 */
+    if (CMD_KEY_PRESSED(&input->keyboard, CMD_KEY_SHIFT)) {
+        ctx->chassis.cmd.ctrl_vec.vx *= sens->move_fast_mult;
+        ctx->chassis.cmd.ctrl_vec.vy *= sens->move_fast_mult;
+    }
+    if (CMD_KEY_PRESSED(&input->keyboard, CMD_KEY_CTRL)) {
+        ctx->chassis.cmd.ctrl_vec.vx *= sens->move_slow_mult;
+        ctx->chassis.cmd.ctrl_vec.vy *= sens->move_slow_mult;
+    }
+}
+
+/* 从PC输入生成云台命令 */
+static void CMD_PC_BuildGimbalCmd(CMD_Context_t *ctx, const CMD_RawInput_t *input) {
+    CMD_Sensitivity_t *sens = &ctx->config->sensitivity;
+    
+    if (!input->online) {
+        ctx->gimbal.cmd.mode = GIMBAL_MODE_RELAX;
+        return;
+    }
+    
+    ctx->gimbal.cmd.mode = GIMBAL_MODE_ABSOLUTE;
+    
+    /* 鼠标控制云台 */
+    ctx->gimbal.cmd.delta_yaw = (float)-input->mouse.x * ctx->timer.dt * sens->mouse_sens;
+    ctx->gimbal.cmd.delta_pit = (float)input->mouse.y * ctx->timer.dt * sens->mouse_sens * 1.5f;
+}
+
+/* 从PC输入生成射击命令 */
+static void CMD_PC_BuildShootCmd(CMD_Context_t *ctx, const CMD_RawInput_t *input) {
+    if (!input->online) {
+        ctx->shoot.cmd.mode = SHOOT_MODE_SAFE;
+        return;
+    }
+    
+    ctx->shoot.cmd.ready = true;
+    ctx->shoot.cmd.firecmd = input->mouse.l_click;
+}
+
+/* 离线安全模式 */
+static void CMD_SetOfflineMode(CMD_Context_t *ctx) {
+    ctx->chassis.cmd.mode = CHASSIS_MODE_RELAX;
+    ctx->gimbal.cmd.mode = GIMBAL_MODE_RELAX;
+    ctx->shoot.cmd.mode = SHOOT_MODE_SAFE;
+}
+
+/* ========================================================================== */
+/*                           公开API实现                                        */
+/* ========================================================================== */
+
+int8_t CMD_Init(CMD_Context_t *ctx, CMD_Config_t *config) {
+    if (ctx == NULL || config == NULL) {
+        return CMD_ERR_NULL;
+    }
+    
+    memset(ctx, 0, sizeof(CMD_Context_t));
+    ctx->config = config;
+    
+    /* 初始化适配器 */
+    CMD_Adapter_InitAll();
+    
+    /* 初始化行为处理器 */
+    CMD_Behavior_Init();
+    
+    return CMD_OK;
+}
+
+int8_t CMD_UpdateInput(CMD_Context_t *ctx) {
+    if (ctx == NULL) {
+        return CMD_ERR_NULL;
+    }
+    
+    /* 保存上一帧输入 */
+    memcpy(ctx->last_input, ctx->input, sizeof(ctx->input));
+    
+    /* 更新所有输入源 */
+    for (int i = 0; i < CMD_SRC_NUM; i++) {
+        CMD_Adapter_GetInput((CMD_InputSource_t)i, &ctx->input[i]);
+    }
+    
+    return CMD_OK;
+}
+
+int8_t CMD_Arbitrate(CMD_Context_t *ctx) {
+    if (ctx == NULL) {
+        return CMD_ERR_NULL;
+    }
+    
+    /* 智能仲裁算法：优先级 PC > RC > NUC */
+    CMD_InputSource_t candidates[] = {CMD_SRC_PC, CMD_SRC_RC, CMD_SRC_NUC};
+    const int num_candidates = sizeof(candidates) / sizeof(candidates[0]);
+    
+    /* 如果当前输入源仍然在线且有效，保持使用 */
+    if (ctx->active_source < CMD_SRC_NUM && 
+        ctx->active_source != CMD_SRC_REF && 
+        ctx->input[ctx->active_source].online) {
+        goto seize;
+    }
+    
+    /* 否则选择第一个可用的控制输入源 */
+    for (int i = 0; i < num_candidates; i++) {
+        CMD_InputSource_t src = candidates[i];
+        if (ctx->input[src].online) {
+            ctx->active_source = src;
+        }
+    }
+    ctx->chassis.source = ctx->active_source;
+    ctx->gimbal.source = ctx->active_source;
+    ctx->shoot.source = ctx->active_source;
+
+    seize:
+    
+
+
+
+    /* 没有可用输入源 */
+    ctx->active_source = CMD_SRC_NUM;
+    return CMD_OK;
+}
+
+int8_t CMD_GenerateCommands(CMD_Context_t *ctx) {
+    if (ctx == NULL) {
+        return CMD_ERR_NULL;
+    }
+    
+    /* 更新时间 */
+    uint64_t now_us = BSP_TIME_Get_us();
+    ctx->timer.now = now_us / 1000000.0f;
+    ctx->timer.dt = (now_us - ctx->timer.last_us) / 1000000.0f;
+    ctx->timer.last_us = now_us;
+    
+    /* 没有有效输入源 */
+    if (ctx->active_source >= CMD_SRC_NUM) {
+        CMD_SetOfflineMode(ctx);
+        return CMD_ERR_NO_INPUT;
+    }
+    
+    const CMD_RawInput_t *active_input = &ctx->input[ctx->active_source];
+    const CMD_RawInput_t *last_input = &ctx->last_input[ctx->active_source];
+    
+    /* 根据输入源类型生成命令 */
+    switch (ctx->active_source) {
+        case CMD_SRC_RC:
+            CMD_RC_BuildChassisCmd(ctx, active_input);
+            CMD_RC_BuildGimbalCmd(ctx, active_input);
+            CMD_RC_BuildShootCmd(ctx, active_input);
+            break;
+            
+        case CMD_SRC_PC:
+            CMD_PC_BuildChassisCmd(ctx, active_input);
+            CMD_PC_BuildGimbalCmd(ctx, active_input);
+            CMD_PC_BuildShootCmd(ctx, active_input);
+            
+            /* 处理行为 */
+            CMD_Behavior_ProcessAll(ctx, active_input, last_input, CMD_MODULE_ALL);
+            break;
+            
+        case CMD_SRC_NUC:
+            /* TODO: NUC输入处理 */
+            break;
+            
+        default:
+            CMD_SetOfflineMode(ctx);
+            return CMD_ERR_SOURCE;
+    }
+    
+    return CMD_OK;
+}
+
+int8_t CMD_Update(CMD_Context_t *ctx) {
+    int8_t ret;
+    
+    ret = CMD_UpdateInput(ctx);
+    if (ret != CMD_OK) return ret;
+    
+    CMD_Arbitrate(ctx);
+    
+    ret = CMD_GenerateCommands(ctx);
+    return ret;
+}

User/module/cmd_v2/cmd.h

@@ -0,0 +1,173 @@
+/*
+ * CMD 模块 V2 - 主控制模块
+ * 统一的命令控制接口
+ */
+#pragma once
+
+#include "cmd_types.h"
+#include "cmd_adapter.h"
+#include "cmd_behavior.h"
+
+/* 引入输出模块的命令类型 */
+#include "module/chassis.h"
+#include "module/gimbal.h"
+#include "module/shoot.h"
+#include <stdint.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* ========================================================================== */
+/*                           输出命令结构                                       */
+/* ========================================================================== */
+
+/* 每个模块的输出包含源信息和命令 */
+typedef struct {
+    CMD_InputSource_t source;
+    Chassis_CMD_t cmd;
+} CMD_ChassisOutput_t;
+
+typedef struct {
+    CMD_InputSource_t source;
+    Gimbal_CMD_t cmd;
+} CMD_GimbalOutput_t;
+
+typedef struct {
+    CMD_InputSource_t source;
+    Shoot_CMD_t cmd;
+} CMD_ShootOutput_t;
+
+/* ========================================================================== */
+/*                           配置结构                                           */
+/* ========================================================================== */
+
+/* 灵敏度配置 */
+typedef struct {
+    float mouse_sens;       /* 鼠标灵敏度 */
+    float move_sens;        /* 移动灵敏度 */
+    float move_fast_mult;   /* 快速移动倍率 */
+    float move_slow_mult;   /* 慢速移动倍率 */
+} CMD_Sensitivity_t;
+
+/* RC模式映射配置 - 定义开关位置到模式的映射 */
+typedef struct {
+    /* 左拨杆映射 - 底盘模式 */
+    Chassis_Mode_t sw_left_up;
+    Chassis_Mode_t sw_left_mid;
+    Chassis_Mode_t sw_left_down;
+    
+    /* 右拨杆映射 - 云台/射击模式 */
+    Gimbal_Mode_t gimbal_sw_up;
+    Gimbal_Mode_t gimbal_sw_mid;
+    Gimbal_Mode_t gimbal_sw_down;
+} CMD_RCModeMap_t;
+
+/* 整体配置 */
+typedef struct {
+    /* 输入源优先级，索引越小优先级越高 */
+    CMD_InputSource_t source_priority[CMD_SRC_NUM];
+    
+    /* 灵敏度设置 */
+    CMD_Sensitivity_t sensitivity;
+    
+    /* RC模式映射 */
+    CMD_RCModeMap_t rc_mode_map;
+    
+    /* 是否启用PC输入 */
+    bool enable_pc_input;
+} CMD_Config_t;
+
+/* ========================================================================== */
+/*                           主控制上下文                                       */
+/* ========================================================================== */
+
+typedef struct {
+    float now;
+    float dt;
+    uint64_t last_us;
+} CMD_Timer_t;
+
+typedef struct CMD_Context {
+    /* 配置 */
+    CMD_Config_t *config;
+    
+    /* 时间 */
+    CMD_Timer_t timer;
+    
+    /* 当前帧和上一帧的原始输入 */
+    CMD_RawInput_t input[CMD_SRC_NUM];
+    CMD_RawInput_t last_input[CMD_SRC_NUM];
+    
+    /* 仲裁后的活跃输入源 */
+    CMD_InputSource_t active_source;
+    
+    /* 输出 */
+    CMD_ChassisOutput_t chassis;
+    CMD_GimbalOutput_t gimbal;
+    CMD_ShootOutput_t shoot;
+    
+} CMD_Context_t;
+
+/* ========================================================================== */
+/*                           主API接口                                          */
+/* ========================================================================== */
+
+/**
+ * @brief 初始化CMD模块
+ * @param ctx CMD上下文
+ * @param config 配置指针
+ * @return CMD_OK成功，其他失败
+ */
+int8_t CMD_Init(CMD_Context_t *ctx, CMD_Config_t *config);
+
+/**
+ * @brief 更新所有输入源的数据
+ * @param ctx CMD上下文
+ * @return CMD_OK成功
+ */
+int8_t CMD_UpdateInput(CMD_Context_t *ctx);
+
+/**
+ * @brief 执行仲裁，决定使用哪个输入源
+ * @param ctx CMD上下文
+ * @return 选中的输入源
+ */
+int8_t CMD_Arbitrate(CMD_Context_t *ctx);
+
+/**
+ * @brief 生成所有模块的控制命令
+ * @param ctx CMD上下文
+ * @return CMD_OK成功
+ */
+int8_t CMD_GenerateCommands(CMD_Context_t *ctx);
+
+/**
+ * @brief 一键更新（包含UpdateInput + Arbitrate + GenerateCommands）
+ * @param ctx CMD上下文
+ * @return CMD_OK成功
+ */
+int8_t CMD_Update(CMD_Context_t *ctx);
+
+/* ========================================================================== */
+/*                           输出获取接口                                       */
+/* ========================================================================== */
+
+/* 获取底盘命令 */
+static inline Chassis_CMD_t* CMD_GetChassisCmd(CMD_Context_t *ctx) {
+    return &ctx->chassis.cmd;
+}
+
+/* 获取云台命令 */
+static inline Gimbal_CMD_t* CMD_GetGimbalCmd(CMD_Context_t *ctx) {
+    return &ctx->gimbal.cmd;
+}
+
+/* 获取射击命令 */
+static inline Shoot_CMD_t* CMD_GetShootCmd(CMD_Context_t *ctx) {
+    return &ctx->shoot.cmd;
+}
+
+#ifdef __cplusplus
+}
+#endif

User/module/cmd_v2/cmd_adapter.c

@@ -0,0 +1,181 @@
+/*
+ * CMD 模块 V2 - 输入适配器实现
+ */
+#include "cmd_adapter.h"
+#include <string.h>
+
+/* ========================================================================== */
+/*                           适配器存储                                         */
+/* ========================================================================== */
+static CMD_InputAdapter_t *g_adapters[CMD_SRC_NUM] = {0};
+
+/* ========================================================================== */
+/*                        DR16 适配器实现                                       */
+/* ========================================================================== */
+#if CMD_RC_DEVICE_TYPE == 0
+
+int8_t CMD_DR16_Init(void *data) {
+    DR16_t *dr16 = (DR16_t *)data;
+    return DR16_Init(dr16);
+}
+
+int8_t CMD_DR16_RC_GetInput(void *data, CMD_RawInput_t *output) {
+    DR16_t *dr16 = (DR16_t *)data;
+    
+    memset(output, 0, sizeof(CMD_RawInput_t));
+    
+    output->online = dr16->header.online;
+    
+    /* 遥控器摇杆映射 */
+    output->joy_left.x  = dr16->data.rc.ch_l_x;
+    output->joy_left.y  = dr16->data.rc.ch_l_y;
+    output->joy_right.x = dr16->data.rc.ch_r_x;
+    output->joy_right.y = dr16->data.rc.ch_r_y;
+    
+    /* 拨杆映射 */
+    switch (dr16->data.rc.sw_l) {
+        case DR16_SW_UP:   output->sw[0] = CMD_SW_UP;   break;
+        case DR16_SW_MID:  output->sw[0] = CMD_SW_MID;  break;
+        case DR16_SW_DOWN: output->sw[0] = CMD_SW_DOWN; break;
+        default:           output->sw[0] = CMD_SW_ERR;  break;
+    }
+    switch (dr16->data.rc.sw_r) {
+        case DR16_SW_UP:   output->sw[1] = CMD_SW_UP;   break;
+        case DR16_SW_MID:  output->sw[1] = CMD_SW_MID;  break;
+        case DR16_SW_DOWN: output->sw[1] = CMD_SW_DOWN; break;
+        default:           output->sw[1] = CMD_SW_ERR;  break;
+    }
+    
+    /* 拨轮映射 */
+    output->dial = dr16->data.rc.ch_res;
+    
+    return CMD_OK;
+}
+
+int8_t CMD_DR16_PC_GetInput(void *data, CMD_RawInput_t *output) {
+    DR16_t *dr16 = (DR16_t *)data;
+    
+    memset(output, 0, sizeof(CMD_RawInput_t));
+    
+    output->online = dr16->header.online;
+    
+    /* PC端鼠标映射 */
+    output->mouse.x = dr16->data.pc.mouse.x;
+    output->mouse.y = dr16->data.pc.mouse.y;
+    output->mouse.l_click = dr16->data.pc.mouse.l_click;
+    output->mouse.r_click = dr16->data.pc.mouse.r_click;
+    
+    /* 键盘映射 */
+    output->keyboard.bitmap = dr16->data.pc.keyboard.value;
+    
+    return CMD_OK;
+}
+
+bool CMD_DR16_IsOnline(void *data) {
+    DR16_t *dr16 = (DR16_t *)data;
+    return dr16->header.online;
+}
+
+/* 定义适配器实例 */
+CMD_DEFINE_ADAPTER(DR16_RC, dr16, CMD_SRC_RC, CMD_DR16_Init, CMD_DR16_RC_GetInput, CMD_DR16_IsOnline)
+CMD_DEFINE_ADAPTER(DR16_PC, dr16, CMD_SRC_PC, CMD_DR16_Init, CMD_DR16_PC_GetInput, CMD_DR16_IsOnline)
+
+#endif /* CMD_RC_DEVICE_TYPE == 0 */
+
+/* ========================================================================== */
+/*                        AT9S 适配器实现 (示例框架)                            */
+/* ========================================================================== */
+#if CMD_RC_DEVICE_TYPE == 1
+
+int8_t CMD_AT9S_Init(void *data) {
+    AT9S_t *at9s = (AT9S_t *)data;
+    return AT9S_Init(at9s);
+}
+
+int8_t CMD_AT9S_GetInput(void *data, CMD_RawInput_t *output) {
+    AT9S_t *at9s = (AT9S_t *)data;
+    
+    memset(output, 0, sizeof(CMD_RawInput_t));
+    
+    output->online = at9s->header.online;
+    
+    /* TODO: 按照AT9S的数据格式进行映射 */
+    output->joy_left.x  = at9s->data.rc.ch_l_x;
+    output->joy_left.y  = at9s->data.rc.ch_l_y;
+    output->joy_right.x = at9s->data.rc.ch_r_x;
+    output->joy_right.y = at9s->data.rc.ch_r_y;
+    
+    /* 拨杆映射需要根据AT9S的实际定义 */
+    
+    return CMD_OK;
+}
+
+bool CMD_AT9S_IsOnline(void *data) {
+    AT9S_t *at9s = (AT9S_t *)data;
+    return at9s->header.online;
+}
+
+CMD_DEFINE_ADAPTER(AT9S, at9s, CMD_SRC_RC, CMD_AT9S_Init, CMD_AT9S_GetInput, CMD_AT9S_IsOnline)
+
+#endif /* CMD_RC_DEVICE_TYPE == 1 */
+
+/* ========================================================================== */
+/*                           适配器管理实现                                     */
+/* ========================================================================== */
+
+int8_t CMD_Adapter_Register(CMD_InputAdapter_t *adapter) {
+    if (adapter == NULL || adapter->source >= CMD_SRC_NUM) {
+        return CMD_ERR_NULL;
+    }
+    g_adapters[adapter->source] = adapter;
+    return CMD_OK;
+}
+
+int8_t CMD_Adapter_InitAll(void) {
+    /* 注册编译时选择的RC设备适配器 */
+#if CMD_RC_DEVICE_TYPE == 0
+    /* DR16 支持 RC 和 PC 输入 */
+    CMD_Adapter_Register(&g_adapter_DR16_RC);
+    CMD_Adapter_Register(&g_adapter_DR16_PC);
+#elif CMD_RC_DEVICE_TYPE == 1
+    /* AT9S 目前只支持 RC 输入 */
+    CMD_Adapter_Register(&g_adapter_AT9S);
+#endif
+    
+    /* 初始化所有已注册的适配器 */
+    for (int i = 0; i < CMD_SRC_NUM; i++) {
+        if (g_adapters[i] != NULL && g_adapters[i]->init != NULL) {
+            g_adapters[i]->init(g_adapters[i]->device_data);
+        }
+    }
+    
+    return CMD_OK;
+}
+
+int8_t CMD_Adapter_GetInput(CMD_InputSource_t source, CMD_RawInput_t *output) {
+    if (source >= CMD_SRC_NUM || output == NULL) {
+        return CMD_ERR_NULL;
+    }
+    
+    CMD_InputAdapter_t *adapter = g_adapters[source];
+    if (adapter == NULL || adapter->get_input == NULL) {
+        memset(output, 0, sizeof(CMD_RawInput_t));
+        output->online = false;
+        return CMD_ERR_NO_INPUT;
+    }
+    
+    return adapter->get_input(adapter->device_data, output);
+}
+
+bool CMD_Adapter_IsOnline(CMD_InputSource_t source) {
+    if (source >= CMD_SRC_NUM) {
+        return false;
+    }
+    
+    CMD_InputAdapter_t *adapter = g_adapters[source];
+    if (adapter == NULL || adapter->is_online == NULL) {
+        return false;
+    }
+    
+    return adapter->is_online(adapter->device_data);
+}

User/module/cmd_v2/cmd_adapter.h

@@ -0,0 +1,111 @@
+/*
+ * CMD 模块 V2 - 输入适配器接口
+ * 定义设备到统一输入结构的转换接口
+ */
+#pragma once
+
+#include "cmd_types.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* ========================================================================== */
+/*                           适配器接口定义                                     */
+/* ========================================================================== */
+
+/* 适配器操作函数指针类型 */
+typedef int8_t (*CMD_AdapterInitFunc)(void *device_data);
+typedef int8_t (*CMD_AdapterGetInputFunc)(void *device_data, CMD_RawInput_t *output);
+typedef bool   (*CMD_AdapterIsOnlineFunc)(void *device_data);
+
+/* 适配器描述结构 */
+typedef struct {
+    const char *name;                   /* 适配器名称 */
+    CMD_InputSource_t source;           /* 对应的输入源 */
+    void *device_data;                  /* 设备数据指针 */
+    CMD_AdapterInitFunc init;           /* 初始化函数 */
+    CMD_AdapterGetInputFunc get_input;  /* 获取输入函数 */
+    CMD_AdapterIsOnlineFunc is_online;  /* 在线检测函数 */
+} CMD_InputAdapter_t;
+
+/* ========================================================================== */
+/*                           适配器注册宏                                       */
+/* ========================================================================== */
+
+/* 
+ * 声明适配器
+ * 使用示例:
+ * CMD_DECLARE_ADAPTER(DR16, dr16, DR16_t)
+ * 
+ * 会生成:
+ * - extern DR16_t dr16;  // 设备实例声明
+ * - int8_t CMD_DR16_Init(void *data);
+ * - int8_t CMD_DR16_GetInput(void *data, CMD_RawInput_t *output);
+ * - bool CMD_DR16_IsOnline(void *data);
+ */
+#define CMD_DECLARE_ADAPTER(NAME, var, TYPE) \
+    extern TYPE var; \
+    int8_t CMD_##NAME##_Init(void *data); \
+    int8_t CMD_##NAME##_GetInput(void *data, CMD_RawInput_t *output); \
+    bool CMD_##NAME##_IsOnline(void *data);
+
+/* 
+ * 定义适配器实例
+ * 使用示例:
+ * CMD_DEFINE_ADAPTER(DR16_RC, dr16, CMD_SRC_RC, CMD_DR16_Init, CMD_DR16_RC_GetInput, CMD_DR16_RC_IsOnline)
+ */
+#define CMD_DEFINE_ADAPTER(NAME, var, source_enum, init_func, get_func, online_func) \
+    static CMD_InputAdapter_t g_adapter_##NAME = { \
+        .name = #NAME, \
+        .source = source_enum, \
+        .device_data = (void*)&var, \
+        .init = init_func, \
+        .get_input = get_func, \
+        .is_online = online_func, \
+    };
+
+/* ========================================================================== */
+/*                        RC设备适配器配置                                      */
+/* ========================================================================== */
+
+/* 选择使用的RC设备 - 只需修改这里 */
+#define CMD_RC_DEVICE_TYPE  0   /* 0:DR16, 1:AT9S, 2:VT13 */
+
+#if CMD_RC_DEVICE_TYPE == 0
+    #include "device/dr16.h"
+    CMD_DECLARE_ADAPTER(DR16_RC, dr16, DR16_t)
+    CMD_DECLARE_ADAPTER(DR16_PC, dr16, DR16_t)
+    #define CMD_RC_ADAPTER_NAME DR16
+    #define CMD_RC_ADAPTER_VAR  dr16
+#elif CMD_RC_DEVICE_TYPE == 1
+    #include "device/at9s_pro.h"
+    CMD_DECLARE_ADAPTER(AT9S, at9s, AT9S_t)
+    #define CMD_RC_ADAPTER_NAME AT9S
+    #define CMD_RC_ADAPTER_VAR  at9s
+#elif CMD_RC_DEVICE_TYPE == 2
+    #include "device/vt13.h"
+    CMD_DECLARE_ADAPTER(VT13, vt13, VT13_t)
+    #define CMD_RC_ADAPTER_NAME VT13
+    #define CMD_RC_ADAPTER_VAR  vt13
+#endif
+
+/* ========================================================================== */
+/*                           适配器管理接口                                     */
+/* ========================================================================== */
+
+/* 初始化所有适配器 */
+int8_t CMD_Adapter_InitAll(void);
+
+/* 获取指定输入源的原始输入 */
+int8_t CMD_Adapter_GetInput(CMD_InputSource_t source, CMD_RawInput_t *output);
+
+/* 检查输入源是否在线 */
+bool CMD_Adapter_IsOnline(CMD_InputSource_t source);
+
+/* 注册适配器 (运行时注册，可选) */
+int8_t CMD_Adapter_Register(CMD_InputAdapter_t *adapter);
+
+#ifdef __cplusplus
+}
+#endif

User/module/cmd_v2/cmd_behavior.c

@@ -0,0 +1,174 @@
+/*
+ * CMD 模块 V2 - 行为处理器实现
+ */
+#include "cmd_behavior.h"
+#include "cmd.h"
+#include <string.h>
+
+/* ========================================================================== */
+/*                           行为配置表                                         */
+/* ========================================================================== */
+
+/* 行为处理函数实现 */
+int8_t CMD_Behavior_Handle_FORE(CMD_Context_t *ctx) {
+    ctx->chassis.cmd.ctrl_vec.vy += ctx->config->sensitivity.move_sens;
+    return CMD_OK;
+}
+
+int8_t CMD_Behavior_Handle_BACK(CMD_Context_t *ctx) {
+    ctx->chassis.cmd.ctrl_vec.vy -= ctx->config->sensitivity.move_sens;
+    return CMD_OK;
+}
+
+int8_t CMD_Behavior_Handle_LEFT(CMD_Context_t *ctx) {
+    ctx->chassis.cmd.ctrl_vec.vx -= ctx->config->sensitivity.move_sens;
+    return CMD_OK;
+}
+
+int8_t CMD_Behavior_Handle_RIGHT(CMD_Context_t *ctx) {
+    ctx->chassis.cmd.ctrl_vec.vx += ctx->config->sensitivity.move_sens;
+    return CMD_OK;
+}
+
+int8_t CMD_Behavior_Handle_ACCELERATE(CMD_Context_t *ctx) {
+    ctx->chassis.cmd.ctrl_vec.vx *= ctx->config->sensitivity.move_fast_mult;
+    ctx->chassis.cmd.ctrl_vec.vy *= ctx->config->sensitivity.move_fast_mult;
+    return CMD_OK;
+}
+
+int8_t CMD_Behavior_Handle_DECELERATE(CMD_Context_t *ctx) {
+    ctx->chassis.cmd.ctrl_vec.vx *= ctx->config->sensitivity.move_slow_mult;
+    ctx->chassis.cmd.ctrl_vec.vy *= ctx->config->sensitivity.move_slow_mult;
+    return CMD_OK;
+}
+
+int8_t CMD_Behavior_Handle_FIRE(CMD_Context_t *ctx) {
+    ctx->shoot.cmd.firecmd = true;
+    return CMD_OK;
+}
+
+int8_t CMD_Behavior_Handle_FIRE_MODE(CMD_Context_t *ctx) {
+    ctx->shoot.cmd.mode = (ctx->shoot.cmd.mode + 1) % SHOOT_MODE_NUM;
+    return CMD_OK;
+}
+
+int8_t CMD_Behavior_Handle_ROTOR(CMD_Context_t *ctx) {
+    if (ctx->chassis.cmd.mode == CHASSIS_MODE_ROTOR) {
+        ctx->chassis.cmd.mode = CHASSIS_MODE_FOLLOW_GIMBAL;
+    } else {
+        ctx->chassis.cmd.mode = CHASSIS_MODE_ROTOR;
+        ctx->chassis.cmd.mode_rotor = ROTOR_MODE_RAND;
+    }
+    return CMD_OK;
+}
+
+int8_t CMD_Behavior_Handle_AUTOAIM(CMD_Context_t *ctx) {
+    /* TODO: 自瞄模式切换 */
+    return CMD_OK;
+}
+
+/* 行为配置表 - 由宏生成 */
+static const CMD_BehaviorConfig_t g_behavior_configs[] = {
+    CMD_BEHAVIOR_TABLE(BUILD_BEHAVIOR_CONFIG)
+};
+
+#define BEHAVIOR_CONFIG_COUNT (sizeof(g_behavior_configs) / sizeof(g_behavior_configs[0]))
+
+/* ========================================================================== */
+/*                           API实现                                            */
+/* ========================================================================== */
+
+int8_t CMD_Behavior_Init(void) {
+    /* 当前静态配置，无需初始化 */
+    return CMD_OK;
+}
+
+bool CMD_Behavior_IsTriggered(const CMD_RawInput_t *current,
+                               const CMD_RawInput_t *last,
+                               const CMD_BehaviorConfig_t *config) {
+    if (config == NULL || current == NULL) {
+        return false;
+    }
+    
+    bool now_pressed = false;
+    bool last_pressed = false;
+    
+    /* 处理特殊按键 */
+    switch (config->key) {
+        case CMD_KEY_NONE:
+            return false;
+            
+        case CMD_KEY_L_CLICK:
+            now_pressed = current->mouse.l_click;
+            last_pressed = last ? last->mouse.l_click : false;
+            break;
+            
+        case CMD_KEY_R_CLICK:
+            now_pressed = current->mouse.r_click;
+            last_pressed = last ? last->mouse.r_click : false;
+            break;
+            
+        case CMD_KEY_M_CLICK:
+            now_pressed = current->mouse.m_click;
+            last_pressed = last ? last->mouse.m_click : false;
+            break;
+            
+        default:
+            if (config->key < CMD_KEY_NUM) {
+                now_pressed = CMD_KEY_PRESSED(&current->keyboard, config->key);
+                last_pressed = last ? CMD_KEY_PRESSED(&last->keyboard, config->key) : false;
+            }
+            break;
+    }
+    
+    /* 根据触发类型判断 */
+    switch (config->trigger) {
+        case CMD_ACTIVE_PRESSED:
+            return now_pressed;
+            
+        case CMD_ACTIVE_RISING_EDGE:
+            return now_pressed && !last_pressed;
+            
+        case CMD_ACTIVE_FALLING_EDGE:
+            return !now_pressed && last_pressed;
+            
+        default:
+            return false;
+    }
+}
+
+int8_t CMD_Behavior_ProcessAll(CMD_Context_t *ctx,
+                                const CMD_RawInput_t *current,
+                                const CMD_RawInput_t *last,
+                                CMD_ModuleMask_t active_modules) {
+    if (ctx == NULL || current == NULL) {
+        return CMD_ERR_NULL;
+    }
+    
+    for (size_t i = 0; i < BEHAVIOR_CONFIG_COUNT; i++) {
+        const CMD_BehaviorConfig_t *config = &g_behavior_configs[i];
+        
+        /* 检查模块掩码 */
+        if ((config->module_mask & active_modules) == 0) {
+            continue;
+        }
+        
+        /* 检查是否触发 */
+        if (CMD_Behavior_IsTriggered(current, last, config)) {
+            if (config->handler != NULL) {
+                config->handler(ctx);
+            }
+        }
+    }
+    
+    return CMD_OK;
+}
+
+const CMD_BehaviorConfig_t* CMD_Behavior_GetConfig(CMD_Behavior_t behavior) {
+    for (size_t i = 0; i < BEHAVIOR_CONFIG_COUNT; i++) {
+        if (g_behavior_configs[i].behavior == behavior) {
+            return &g_behavior_configs[i];
+        }
+    }
+    return NULL;
+}

User/module/cmd_v2/cmd_behavior.h

@@ -0,0 +1,69 @@
+/*
+ * CMD 模块 V2 - 行为处理器
+ * 实现PC端按键到行为的映射和处理
+ */
+#pragma once
+
+#include "cmd_types.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* ========================================================================== */
+/*                           行为处理器接口                                     */
+/* ========================================================================== */
+
+/* 行为处理函数类型 */
+struct CMD_Context;  /* 前向声明 */
+typedef int8_t (*CMD_BehaviorHandler)(struct CMD_Context *ctx);
+
+/* 行为配置项 */
+typedef struct {
+    CMD_Behavior_t behavior;      /* 行为枚举 */
+    uint8_t key;                  /* 绑定的按键 */
+    CMD_TriggerType_t trigger;    /* 触发类型 */
+    CMD_ModuleMask_t module_mask; /* 影响的模块 */
+    CMD_BehaviorHandler handler;  /* 处理函数 */
+} CMD_BehaviorConfig_t;
+
+/* ========================================================================== */
+/*                           行为表生成宏                                       */
+/* ========================================================================== */
+
+/* 从宏表生成配置数组 */
+#define BUILD_BEHAVIOR_CONFIG(name, key, trigger, mask) \
+    { CMD_BEHAVIOR_##name, key, trigger, mask, CMD_Behavior_Handle_##name },
+
+/* 声明所有行为处理函数 */
+#define DECLARE_BEHAVIOR_HANDLER(name, key, trigger, mask) \
+    int8_t CMD_Behavior_Handle_##name(struct CMD_Context *ctx);
+
+/* 展开声明 */
+CMD_BEHAVIOR_TABLE(DECLARE_BEHAVIOR_HANDLER)
+#undef DECLARE_BEHAVIOR_HANDLER
+
+/* ========================================================================== */
+/*                           行为处理器API                                      */
+/* ========================================================================== */
+
+/* 初始化行为处理器 */
+int8_t CMD_Behavior_Init(void);
+
+/* 检查行为是否被触发 */
+bool CMD_Behavior_IsTriggered(const CMD_RawInput_t *current, 
+                               const CMD_RawInput_t *last,
+                               const CMD_BehaviorConfig_t *config);
+
+/* 处理所有触发的行为 */
+int8_t CMD_Behavior_ProcessAll(struct CMD_Context *ctx,
+                                const CMD_RawInput_t *current,
+                                const CMD_RawInput_t *last,
+                                CMD_ModuleMask_t active_modules);
+
+/* 获取行为配置 */
+const CMD_BehaviorConfig_t* CMD_Behavior_GetConfig(CMD_Behavior_t behavior);
+
+#ifdef __cplusplus
+}
+#endif

User/module/cmd_v2/cmd_example.c

@@ -0,0 +1,153 @@
+/*
+ * CMD 模块 V2 - 使用示例和配置模板
+ * 
+ * 本文件展示如何配置和使用新的CMD模块
+ */
+#include "cmd.h"
+
+/* ========================================================================== */
+/*                           配置示例                                          */
+/* ========================================================================== */
+
+/* 默认配置 */
+static CMD_Config_t g_cmd_config = {
+    /* 输入源优先级：RC > PC > NUC > REF */
+    .source_priority = {
+        CMD_SRC_RC,
+        CMD_SRC_PC,
+        CMD_SRC_NUC,
+        CMD_SRC_REF,
+    },
+    
+    /* 灵敏度设置 */
+    .sensitivity = {
+        .mouse_sens = 0.8f,
+        .move_sens = 1.0f,
+        .move_fast_mult = 1.5f,
+        .move_slow_mult = 0.5f,
+    },
+    
+    /* RC拨杆模式映射 */
+    .rc_mode_map = {
+        /* 左拨杆控制底盘模式 */
+        .sw_left_up   = CHASSIS_MODE_BREAK,
+        .sw_left_mid  = CHASSIS_MODE_FOLLOW_GIMBAL,
+        .sw_left_down = CHASSIS_MODE_ROTOR,
+        
+        /* 用于云台模式 */
+        .gimbal_sw_up   = GIMBAL_MODE_ABSOLUTE,
+        .gimbal_sw_mid  = GIMBAL_MODE_ABSOLUTE,
+        .gimbal_sw_down = GIMBAL_MODE_RELATIVE,
+    },
+    
+    .enable_pc_input = true,
+};
+
+/* CMD上下文 */
+static CMD_Context_t g_cmd_ctx;
+
+/* ========================================================================== */
+/*                           任务示例                                          */
+/* ========================================================================== */
+
+/*
+ * 初始化示例
+ */
+void Example_CMD_Init(void) {
+    CMD_Init(&g_cmd_ctx, &g_cmd_config);
+}
+
+/*
+ * 任务循环示例
+ */
+void Example_CMD_Task(void) {
+    /* 一键更新 */
+    CMD_Update(&g_cmd_ctx);
+    
+    /* 获取命令发送到各模块 */
+    Chassis_CMD_t *chassis_cmd = CMD_GetChassisCmd(&g_cmd_ctx);
+    Gimbal_CMD_t *gimbal_cmd = CMD_GetGimbalCmd(&g_cmd_ctx);
+    Shoot_CMD_t *shoot_cmd = CMD_GetShootCmd(&g_cmd_ctx);
+    
+    /* 使用命令... */
+    (void)chassis_cmd;
+    (void)gimbal_cmd;
+    (void)shoot_cmd;
+}
+
+/* ========================================================================== */
+/*                   架构说明                                                   */
+/* ========================================================================== */
+
+/*
+ * ## 新架构优势
+ * 
+ * ### 1. 统一的输入抽象层 (CMD_RawInput_t)
+ * - 所有设备（DR16/AT9S/VT13等）都转换成相同格式
+ * - 上层代码无需关心具体设备类型
+ * - 添加新设备只需实现适配器，不改动主逻辑
+ * 
+ * ### 2. 适配器模式
+ * - 每个设备一个适配器文件
+ * - 实现 Init, GetInput, IsOnline 三个函数
+ * - 通过宏选择编译哪个适配器
+ * 
+ * ### 3. X-Macro配置表
+ * - CMD_INPUT_SOURCE_TABLE: 配置输入源
+ * - CMD_OUTPUT_MODULE_TABLE: 配置输出模块  
+ * - CMD_BEHAVIOR_TABLE: 配置按键行为映射
+ * - 编译时生成枚举、配置数组、处理函数
+ * 
+ * ### 4. 行为驱动设计
+ * - 行为与按键解耦
+ * - 运行时可修改映射
+ * - 支持边沿触发和持续触发
+ * 
+ * ### 5. 清晰的分层
+ * 
+ *     ┌──────────────────────────────────────┐
+ *     │          应用层 (cmd.c)              │
+ *     │  - CMD_Update()                      │
+ *     │  - 仲裁、命令生成                     │
+ *     └──────────────┬───────────────────────┘
+ *                    │
+ *     ┌──────────────▼───────────────────────┐
+ *     │        行为处理层 (cmd_behavior.c)    │
+ *     │  - 按键触发检测                       │
+ *     │  - 行为函数调用                       │
+ *     └──────────────┬───────────────────────┘
+ *                    │
+ *     ┌──────────────▼───────────────────────┐
+ *     │        抽象输入层 (cmd_types.h)       │
+ *     │  - CMD_RawInput_t                    │
+ *     │  - 统一的摇杆、开关、键鼠结构          │
+ *     └──────────────┬───────────────────────┘
+ *                    │
+ *     ┌──────────────▼───────────────────────┐
+ *     │        适配器层 (cmd_adapter.c)       │
+ *     │  - DR16_Adapter                      │
+ *     │  - AT9S_Adapter                      │
+ *     │  - 设备数据 → CMD_RawInput_t          │
+ *     └──────────────────────────────────────┘
+ * 
+ * ## 扩展指南
+ * 
+ * ### 添加新遥控器设备
+ * 1. 在 cmd_adapter.h 中添加宏定义选项
+ * 2. 在 cmd_adapter.c 中实现三个适配器函数
+ * 3. 修改 CMD_RC_DEVICE_TYPE 宏选择新设备
+ * 
+ * ### 添加新输入源（如自定义协议）
+ * 1. 在 CMD_INPUT_SOURCE_TABLE 添加条目
+ * 2. 实现对应的适配器
+ * 3. 在 CMD_GenerateCommands 添加处理分支
+ * 
+ * ### 添加新行为
+ * 1. 在 CMD_BEHAVIOR_TABLE 添加条目
+ * 2. 实现 CMD_Behavior_Handle_XXX 函数
+ * 
+ * ### 添加新输出模块
+ * 1. 在 CMD_OUTPUT_MODULE_TABLE 添加条目
+ * 2. 在 CMD_Context_t 中添加输出成员
+ * 3. 实现对应的 BuildXXXCmd 函数
+ */

User/module/cmd_v2/cmd_types.h

@@ -0,0 +1,177 @@
+/*
+ * CMD 模块 V2 - 类型定义
+ * 统一的输入/输出抽象层
+ */
+#pragma once
+
+#include <stdint.h>
+#include <stdbool.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* ========================================================================== */
+/*                              错误码定义                                      */
+/* ========================================================================== */
+#define CMD_OK           (0)
+#define CMD_ERR_NULL     (-1)
+#define CMD_ERR_MODE     (-2)
+#define CMD_ERR_SOURCE   (-3)
+#define CMD_ERR_NO_INPUT (-4)
+
+/* ========================================================================== */
+/*                            输入源配置宏表                                    */
+/* ========================================================================== */
+/* 
+ * 使用方法：在config中定义需要启用的输入源
+ * 格式: X(枚举名, 优先级, 适配器初始化函数, 获取数据函数)
+ */
+#define CMD_INPUT_SOURCE_TABLE(X) \
+    X(RC,  0, CMD_RC_AdapterInit,  CMD_RC_GetInput)  \
+    X(PC,  1, CMD_PC_AdapterInit,  CMD_PC_GetInput)  \
+    X(NUC, 2, CMD_NUC_AdapterInit, CMD_NUC_GetInput) \
+    X(REF, 3, CMD_REF_AdapterInit, CMD_REF_GetInput)
+
+/* 输出模块配置宏表 */
+#define CMD_OUTPUT_MODULE_TABLE(X) \
+    X(CHASSIS, Chassis_CMD_t, chassis) \
+    X(GIMBAL,  Gimbal_CMD_t,  gimbal)  \
+    X(SHOOT,   Shoot_CMD_t,   shoot)
+
+/* ========================================================================== */
+/*                            统一输入数据结构                                  */
+/* ========================================================================== */
+
+/* 摇杆数据 - 统一为-1.0 ~ 1.0 */
+typedef struct {
+    float x;
+    float y;
+} CMD_Joystick_t;
+
+/* 开关位置 */
+typedef enum {
+    CMD_SW_ERR = 0,
+    CMD_SW_UP,
+    CMD_SW_MID,
+    CMD_SW_DOWN,
+} CMD_SwitchPos_t;
+
+/* 鼠标数据 */
+typedef struct {
+    int16_t x;      /* 鼠标X轴移动速度 */
+    int16_t y;      /* 鼠标Y轴移动速度 */
+    int16_t z;      /* 鼠标滚轮 */
+    bool l_click;   /* 左键 */
+    bool r_click;   /* 右键 */
+    bool m_click;   /* 中键 */
+} CMD_Mouse_t;
+
+/* 键盘数据 - 最多支持32个按键 */
+typedef struct {
+    uint32_t bitmap;  /* 按键位图 */
+} CMD_Keyboard_t;
+
+/* 键盘按键索引 */
+typedef enum {
+    CMD_KEY_W = 0, CMD_KEY_S, CMD_KEY_A, CMD_KEY_D,
+    CMD_KEY_SHIFT, CMD_KEY_CTRL, CMD_KEY_Q, CMD_KEY_E,
+    CMD_KEY_R, CMD_KEY_F, CMD_KEY_G, CMD_KEY_Z,
+    CMD_KEY_X, CMD_KEY_C, CMD_KEY_V, CMD_KEY_B,
+    CMD_KEY_NUM
+} CMD_KeyIndex_t;
+
+/* 裁判系统数据 */
+typedef struct {
+    uint8_t game_status;       /* 比赛状态 */
+} CMD_Referee_t;
+
+/* 统一的原始输入结构 - 所有设备适配后都转换成这个格式 */
+typedef struct {
+    bool online;
+    
+    /* 遥控器部分 */
+    CMD_Joystick_t joy_left;   /* 左摇杆 */
+    CMD_Joystick_t joy_right;  /* 右摇杆 */
+    CMD_SwitchPos_t sw[4];     /* 最多4个拨杆 */
+    float dial;                /* 拨轮 */
+    
+    /* PC部分 */
+    CMD_Mouse_t mouse;
+    CMD_Keyboard_t keyboard;
+    
+    /* NUC部分 */
+    /* 暂无定义，预留扩展 */
+    
+    /* REF部分 - 裁判系统数据 */
+    CMD_Referee_t referee;
+} CMD_RawInput_t;
+
+/* ========================================================================== */
+/*                              输入源枚举                                      */
+/* ========================================================================== */
+#define ENUM_INPUT_SOURCE(name, ...) CMD_SRC_##name,
+typedef enum {
+    CMD_INPUT_SOURCE_TABLE(ENUM_INPUT_SOURCE)
+    CMD_SRC_NUM
+} CMD_InputSource_t;
+#undef ENUM_INPUT_SOURCE
+
+/* ========================================================================== */
+/*                              模块掩码                                        */
+/* ========================================================================== */
+typedef enum {
+    CMD_MODULE_NONE    = 0,
+    CMD_MODULE_CHASSIS = (1 << 0),
+    CMD_MODULE_GIMBAL  = (1 << 1),
+    CMD_MODULE_SHOOT   = (1 << 2),
+    CMD_MODULE_ALL     = 0x07
+} CMD_ModuleMask_t;
+
+/* ========================================================================== */
+/*                              行为定义                                        */
+/* ========================================================================== */
+/* 行为-按键映射宏表 */
+#define CMD_BEHAVIOR_TABLE(X) \
+    X(FORE,           CMD_KEY_W,     CMD_ACTIVE_PRESSED,      CMD_MODULE_CHASSIS) \
+    X(BACK,           CMD_KEY_S,     CMD_ACTIVE_PRESSED,      CMD_MODULE_CHASSIS) \
+    X(LEFT,           CMD_KEY_A,     CMD_ACTIVE_PRESSED,      CMD_MODULE_CHASSIS) \
+    X(RIGHT,          CMD_KEY_D,     CMD_ACTIVE_PRESSED,      CMD_MODULE_CHASSIS) \
+    X(ACCELERATE,     CMD_KEY_SHIFT, CMD_ACTIVE_PRESSED,      CMD_MODULE_CHASSIS) \
+    X(DECELERATE,     CMD_KEY_CTRL,  CMD_ACTIVE_PRESSED,      CMD_MODULE_CHASSIS) \
+    X(FIRE,           CMD_KEY_NONE,  CMD_ACTIVE_PRESSED,      CMD_MODULE_SHOOT)   \
+    X(FIRE_MODE,      CMD_KEY_B,     CMD_ACTIVE_RISING_EDGE,  CMD_MODULE_SHOOT)   \
+    X(ROTOR,          CMD_KEY_E,     CMD_ACTIVE_RISING_EDGE,  CMD_MODULE_CHASSIS) \
+    X(AUTOAIM,        CMD_KEY_R,     CMD_ACTIVE_RISING_EDGE,  CMD_MODULE_GIMBAL | CMD_MODULE_SHOOT)
+
+/* 触发类型 */
+typedef enum {
+    CMD_ACTIVE_PRESSED,       /* 按住时触发 */
+    CMD_ACTIVE_RISING_EDGE,   /* 按下瞬间触发 */
+    CMD_ACTIVE_FALLING_EDGE,  /* 松开瞬间触发 */
+} CMD_TriggerType_t;
+
+/* 特殊按键值 */
+#define CMD_KEY_NONE      0xFF
+#define CMD_KEY_L_CLICK   0xFE
+#define CMD_KEY_R_CLICK   0xFD
+#define CMD_KEY_M_CLICK   0xFC
+
+/* 行为枚举 - 由宏表自动生成 */
+#define ENUM_BEHAVIOR(name, key, trigger, mask) CMD_BEHAVIOR_##name,
+typedef enum {
+    CMD_BEHAVIOR_TABLE(ENUM_BEHAVIOR)
+    CMD_BEHAVIOR_NUM
+} CMD_Behavior_t;
+#undef ENUM_BEHAVIOR
+
+/* ========================================================================== */
+/*                           键盘辅助宏                                         */
+/* ========================================================================== */
+#define CMD_KEY_PRESSED(kb, key)   (((kb)->bitmap >> (key)) & 1)
+#define CMD_KEY_SET(kb, key)       ((kb)->bitmap |= (1 << (key)))
+#define CMD_KEY_CLEAR(kb, key)     ((kb)->bitmap &= ~(1 << (key)))
+
+#ifdef __cplusplus
+}
+#endif