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Merge branch 'cmdV2'

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This commit is contained in:
yxming66 2025-12-18 02:53:22 +08:00
commit e1e8329d28
19 changed files with 1464 additions and 1061 deletions
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3
.clangd
View File

@ -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

4
CMakeLists.txt
View File

@ -41,7 +41,7 @@ add_subdirectory(cmake/stm32cubemx)
target_link_directories(${CMAKE_PROJECT_NAME} PRIVATE
# Add user defined library search paths
)
file(GLOB SINGLE_CHAR_FILES "User/module/cmd_v2/*.c")
# Add sources to executable
target_sources(${CMAKE_PROJECT_NAME} PRIVATE
# Add user sources here
@ -77,7 +77,7 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
User/module/config.c
User/module/gimbal.c
User/module/shoot.c
User/module/cmd.c
${SINGLE_CHAR_FILES}
# User/task sources
User/task/atti_esti.c
User/task/blink.c

3
User/device/dr16.h
View File

@ -88,9 +88,8 @@ typedef struct{
bool r_click; /* 右键 */
} mouse; /* 鼠标值 */
union {
struct {
bool key[DR16_KEY_NUM]; /* 键盘按键值 */
uint16_t value; /* 键盘按键值的位映射 */
} keyboard;
}DR16_DataPC_t;
typedef struct {

3
User/device/vt13.h
View File

@ -100,9 +100,8 @@ typedef struct {
bool r_click; /* 右键 */
} mouse; /* 鼠标值 */
union {
struct {
bool key[VT13_KEY_NUM]; /* 键盘按键值 */
uint16_t value; /* 键盘按键值的位映射 */
} keyboard;
uint16_t res; /* 保留，未启用 */

703
User/module/cmd.c
View File

@ -1,703 +0,0 @@
/*
控制命令
*/
#include "module/cmd.h"
#include <stdint.h>
#include <string.h>
#include "bsp/time.h"
#include "module/gimbal.h"
/*************************************************************************************************************************************/
/****************************************************************RC*******************************************************************/
/*************************************************************************************************************************************/
/* Private macro ------------------------------------------------------------ */
/* 声明外部rc数据变量 */
#define CMDMACRO_EXTERNAL_RCDATA(name, NAME) extern NAME##_t name;
#define CMDMACRO_NAME_EXPANSION_1(name, NAME) name
/* 声明CMD结构体的RC数据变量 */
#define CMDMACRO_VAR_RCDATA(name, NAME) NAME##_DataRC_t name;
/* 宏生成Cmd_RC_Get函数内容 */
#define CMDMACRO_Cmd_RC_Get(name, NAME) \
c->input.rc.name= name.data.rc; \
c->input.rc.online=name.header.online; \
c->input.rc.type=CMD_RCTypeTable_Index;
CMD_RCType_TABLE(CMDMACRO_EXTERNAL_RCDATA)
/* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
/* Private variables -------------------------------------------------------- */
/*静态缓冲区*/
/* Private function -------------------------------------------------------- */
int8_t Cmd_RC_Get(CMD_t *c, CMD_RCType_TABLE(CMDMACRO_NAME_EXPANSION)){
// bool online= dr16->header.online;
// rc_buffer.dr16=dr16->data.rc;
// c->input.rc.online=online;
// c->input.rc.type=CMD_RCTypeTable_Index;
CMD_RCType_TABLE(CMDMACRO_Cmd_RC_Get);
return CMD_OK;
}
int8_t Cmd_RC_BuildChassisCommandFromInput(CMD_t *c) {
if (c == NULL) {
return CMD_ERR_NULL; // 参数错误
}
#if CMD_RCTypeTable_Index == 0
switch (c->input.rc.dr16.sw_l) {
case DR16_SW_DOWN:
c->output.chassis.cmd.mode = CHASSIS_MODE_ROTOR;
break;
case DR16_SW_MID:
c->output.chassis.cmd.mode = CHASSIS_MODE_FOLLOW_GIMBAL;
break;
case DR16_SW_UP:
c->output.chassis.cmd.mode = CHASSIS_MODE_BREAK;
break;
default:
c->output.chassis.cmd.mode = CHASSIS_MODE_RELAX;
break;
}
c->output.chassis.cmd.ctrl_vec.vx = c->input.rc.dr16.ch_r_x;
c->output.chassis.cmd.ctrl_vec.vy = c->input.rc.dr16.ch_r_y;
#elif CMD_RCTypeTable_Index == 1
switch (c->input.rc.data->at9s.key_E) {
case AT9S_CMD_SW_DOWN:
c->output.chassis.cmd.mode = CHASSIS_MODE_RELAX;
break;
case AT9S_CMD_SW_MID:
c->output.chassis.cmd.mode = CHASSIS_MODE_FOLLOW_GIMBAL;
break;
case AT9S_CMD_SW_UP:
c->output.chassis.cmd.mode = CHASSIS_MODE_ROTOR;
break;
default:
c->output.chassis.cmd.mode = CHASSIS_MODE_RELAX;
break;
}
c->output.chassis.cmd.ctrl_vec.vx = c->input.rc.data->at9s.ch_r_x;
c->output.chassis.cmd.ctrl_vec.vy = c->input.rc.data->at9s.ch_r_y;
#endif
return CMD_OK;
}
int8_t Cmd_RC_BuildGimbalCommandFromInput(CMD_t *c) {
if (c == NULL) {
return CMD_ERR_NULL; // 参数错误
}
#if CMD_RCTypeTable_Index == 0
switch (c->input.rc.dr16.sw_l) {
case DR16_SW_DOWN:
c->output.gimbal.cmd.mode = GIMBAL_MODE_RELATIVE;
c->output.gimbal.cmd.delta_yaw = -c->input.rc.dr16.ch_l_x * 2.0f;
c->output.gimbal.cmd.delta_pit = -c->input.rc.dr16.ch_l_y * 1.5f;
break;
case DR16_SW_MID:
c->output.gimbal.cmd.mode = GIMBAL_MODE_ABSOLUTE;
c->output.gimbal.cmd.delta_yaw = -c->input.rc.dr16.ch_l_x * 2.0f;
c->output.gimbal.cmd.delta_pit = -c->input.rc.dr16.ch_l_y * 1.5f;
break;
case DR16_SW_UP:
c->output.gimbal.cmd.mode = GIMBAL_MODE_ABSOLUTE;
c->output.gimbal.cmd.delta_yaw = -c->input.rc.dr16.ch_l_x * 2.0f;
c->output.gimbal.cmd.delta_pit = -c->input.rc.dr16.ch_l_y * 1.5f;
break;
default:
c->output.gimbal.cmd.mode = GIMBAL_MODE_RELAX;
c->output.gimbal.cmd.delta_yaw = 0.0f;
c->output.gimbal.cmd.delta_pit = 0.0f;
break;
}
#elif CMD_RCTypeTable_Index == 1
switch (c->input.rc.data->at9s.key_G) {
case AT9S_CMD_SW_DOWN:
c->output.gimbal.cmd.mode = GIMBAL_MODE_RELAX;
c->output.gimbal.cmd.delta_yaw = 0.0f;
c->output.gimbal.cmd.delta_pit = 0.0f;
break;
case AT9S_CMD_SW_MID:
c->output.gimbal.cmd.mode = GIMBAL_MODE_ABSOLUTE;
c->output.gimbal.cmd.delta_yaw = -c->input.rc.data->at9s.ch_l_x * 2.0f;
c->output.gimbal.cmd.delta_pit = -c->input.rc.data->at9s.ch_l_y * 1.5f;
break;
case AT9S_CMD_SW_UP:
c->output.gimbal.cmd.mode = GIMBAL_MODE_ABSOLUTE;
c->output.gimbal.cmd.delta_yaw = -c->input.rc.data->at9s.ch_l_x * 2.0f;
c->output.gimbal.cmd.delta_pit = -c->input.rc.data->at9s.ch_l_y * 1.5f;
break;
default:
c->output.gimbal.cmd.mode = GIMBAL_MODE_RELAX;
c->output.gimbal.cmd.delta_yaw = 0.0f;
c->output.gimbal.cmd.delta_pit = 0.0f;
break;
}
#endif
return CMD_OK;
}
int8_t Cmd_RC_BuildShootCommandFromInput(CMD_t *c) {
if (c == NULL) {
return CMD_ERR_NULL; // 参数错误
}
#if CMD_RCTypeTable_Index == 0
if (c->input.rc.online) {
c->output.shoot.cmd.mode=SHOOT_MODE_SINGLE;
} else {
c->output.shoot.cmd.mode=SHOOT_MODE_SAFE;
}
switch (c->input.rc.dr16.sw_r) {
case DR16_SW_DOWN:
c->output.shoot.cmd.ready = true;
c->output.shoot.cmd.firecmd = true;
break;
case DR16_SW_MID:
c->output.shoot.cmd.ready = true;
c->output.shoot.cmd.firecmd = false;
break;
case DR16_SW_UP:
c->output.shoot.cmd.ready = false;
c->output.shoot.cmd.firecmd = false;
break;
default:
c->output.shoot.cmd.ready = false;
c->output.shoot.cmd.firecmd = false;
break;
}
#elif CMD_RCTypeTable_Index == 1
c->output.shoot.cmd.online = c->input.rc.online;
switch (c->input.rc.data->at9s.key_C) {
case AT9S_CMD_SW_DOWN:
c->output.shoot.cmd.ready = true;
c->output.shoot.cmd.firecmd = true;
break;
case AT9S_CMD_SW_MID:
c->output.shoot.cmd.ready = true;
c->output.shoot.cmd.firecmd = false;
break;
case AT9S_CMD_SW_UP:
c->output.shoot.cmd.ready = false;
c->output.shoot.cmd.firecmd = false;
break;
default:
c->output.shoot.cmd.ready = false;
c->output.shoot.cmd.firecmd = false;
break;
}
switch (c->input.rc.data->at9s.key_D) {
case AT9S_CMD_SW_DOWN:
c->output.shoot.cmd.mode=SHOOT_MODE_SINGLE;
break;
case AT9S_CMD_SW_UP:
c->output.shoot.cmd.mode=SHOOT_MODE_BURST;
break;
default:
c->output.shoot.cmd.mode=SHOOT_MODE_SAFE;
break;
}
#endif
return CMD_OK;
}
/* Exported functions ------------------------------------------------------- */
/*************************************************************************************************************************************/
/*****************************************************************PC******************************************************************/
/*************************************************************************************************************************************/
#ifndef CMD_NOPC_FLAG
/* Private macro ------------------------------------------------------------ */
#define CMD_PCBehavior_TABLE(X) \
X(FORE, CMD_MODULE_CHASSIS) \
X(BACK, CMD_MODULE_CHASSIS) \
X(LEFT, CMD_MODULE_CHASSIS) \
X(RIGHT, CMD_MODULE_CHASSIS) \
X(ACCELERATE, CMD_MODULE_CHASSIS) \
X(DECELEBRATE, CMD_MODULE_CHASSIS) \
X(FIRE, CMD_MODULE_SHOOT) \
X(FIRE_MODE, CMD_MODULE_SHOOT) \
X(BUFF, CMD_MODULE_SHOOT) \
X(AUTOAIM, CMD_MODULE_GIMBAL | CMD_MODULE_SHOOT) \
X(OPENCOVER, CMD_MODULE_SHOOT) \
X(ROTOR, CMD_MODULE_CHASSIS) \
X(REVTRIG, CMD_MODULE_SHOOT) \
X(FOLLOWGIMBAL35, CMD_MODULE_CHASSIS) \
X(GIMBAL_MODE, CMD_MODULE_GIMBAL)
/* 行为处理函数声明宏 */
#define CMDMACRO_FOR_DECLARE_BEHAVIOR_HANDLER_FUNCTION(BEHAVIOR, MODULE_MASK) \
static int8_t Cmd_PC_HandleBehavior##BEHAVIOR(CMD_t *c);
/* 行为处理函数指针数组构建宏 */
#define CMDMACRO_FOR_BUILD_BEHAVIOR_HANDLER_ARRAY(BEHAVIOR, MODULE_MASK) \
{CMD_BEHAVIOR_##BEHAVIOR, Cmd_PC_HandleBehavior##BEHAVIOR},
/* 行为模块映射表构建宏 */
#define CMDMACRO_FOR_BUILD_MODULE_TABLE(BEHAVIOR, MODULE_MASK) \
[CMD_BEHAVIOR_##BEHAVIOR] = MODULE_MASK,
/* 行为处理函数声明 */
CMD_PCBehavior_TABLE(CMDMACRO_FOR_DECLARE_BEHAVIOR_HANDLER_FUNCTION)
/* 宏展开函数内容 */
#define CMDMACRO_Cmd_PC_Get(name, NAME) \
c->input.pc.online=name.header.online;\
c->input.pc.name= name.data.pc;
#define CMDMACRO_PC_IsBehaviorTriggered(name, NAME) \
CMD_PCValue_t value = CMD_PC_BehaviorToValue(c, behavior); \
CMD_TriggerType_t active = CMD_PC_BehaviorToActive(c, behavior); \
bool now_key_pressed, last_key_pressed; \
/* 按下按键为鼠标左、右键 */ \
if (value == CMD_L_CLICK) { \
now_key_pressed = c->input.pc.name.mouse.l_click; \
last_key_pressed = c->input.pc.last##name.mouse.l_click; \
} else if (value == CMD_R_CLICK) { \
now_key_pressed = c->input.pc.name.mouse.r_click; \
last_key_pressed = c->input.pc.last##name.mouse.r_click; \
} else { \
now_key_pressed = c->input.pc.name.keyboard.key[value]; \
last_key_pressed = c->input.pc.last##name.keyboard.key[value]; \
} \
switch (active) { \
case CMD_ACTIVE_RISING_EDGE: \
return !now_key_pressed && last_key_pressed; \
case CMD_ACTIVE_FALLING_EDGE: \
return now_key_pressed && !last_key_pressed; \
case CMD_ACTIVE_PRESSED: \
return now_key_pressed; \
} \
return false;
#define CMDMACRO_PC_BuildChassisCommandFromInput(name, NAME) \
if (c->input.pc.online) {c->output.chassis.cmd.mode = CHASSIS_MODE_FOLLOW_GIMBAL;} \
else {c->output.chassis.cmd.mode = CHASSIS_MODE_RELAX;} \
c->output.chassis.cmd.ctrl_vec.vx = 0.0f; \
c->output.chassis.cmd.ctrl_vec.vy = 0.0f; \
for (size_t i = 0; i < CMD_BEHAVIOR_NUM; i++) { \
CMD_ModuleMask_t moduleMask = behaviorModuleTable[i]; \
if (CMD_PC_IsMaskMatch(c, moduleMask)) { \
if (CMD_PC_IsBehaviorTriggered(c, i)) { \
behaviorHandlerFuncTable[i].func(c); \
} \
} \
}\
return CMD_OK;
#define CMDMACRO_PC_BuildGimbalCommandFromInput(name, NAME) \
static bool init = false; \
if (!init) {c->output.gimbal.cmd.mode = GIMBAL_MODE_ABSOLUTE;init=!init;}\
if(!c->input.pc.online) {c->output.gimbal.cmd.mode = GIMBAL_MODE_RELAX;} \
c->output.gimbal.cmd.delta_yaw = (float)-c->input.pc.name.mouse.x * c->timer.dt * c->params->pc.sensitivity.sens_mouse; \
c->output.gimbal.cmd.delta_pit = (float)1.5f*c->input.pc.name.mouse.y * c->timer.dt * c->params->pc.sensitivity.sens_mouse; \
for (size_t i = 0; i < CMD_BEHAVIOR_NUM; i++) { \
CMD_ModuleMask_t moduleMask = behaviorModuleTable[i]; \
if (CMD_PC_IsMaskMatch(c, moduleMask)) { \
if (CMD_PC_IsBehaviorTriggered(c, i)) { \
behaviorHandlerFuncTable[i].func(c); \
} \
} \
}\
return CMD_OK;
#define CMDMACRO_PC_BuildShootCommandFromInput(name, NAME) \
if (!c->input.pc.online) {c->output.shoot.cmd.mode = SHOOT_MODE_SAFE;} \
c->output.shoot.cmd.ready = true; \
c->output.shoot.cmd.firecmd = false; \
for (size_t i = 0; i < CMD_BEHAVIOR_NUM; i++) { \
CMD_ModuleMask_t moduleMask = behaviorModuleTable[i]; \
if (CMD_PC_IsMaskMatch(c, moduleMask)) { \
if (CMD_PC_IsBehaviorTriggered(c, i)) { \
behaviorHandlerFuncTable[i].func(c); \
} \
} \
} \
return CMD_OK;\
memcpy(c->input.pc.last##name.keyboard.key, c->input.pc.name.keyboard.key, sizeof(c->input.pc.name.keyboard.key)); \
c->input.pc.last##name.mouse.l_click = c->input.pc.name.mouse.l_click; \
c->input.pc.last##name.mouse.r_click = c->input.pc.name.mouse.r_click;
/* Private typedef ---------------------------------------------------------- */
typedef int8_t (*CMD_BehaviorFunc)(CMD_t *c);
typedef struct {
CMD_Behavior_t behavior;
CMD_BehaviorFunc func;
} CMD_BehaviorHandlerFunc_t;
/* Private variables -------------------------------------------------------- */
/* 行为处理函数指针数组 */
CMD_BehaviorHandlerFunc_t behaviorHandlerFuncTable[CMD_BEHAVIOR_NUM] = {
CMD_PCBehavior_TABLE(CMDMACRO_FOR_BUILD_BEHAVIOR_HANDLER_ARRAY)
};
/* 行为模块映射表 */
static const CMD_ModuleMask_t behaviorModuleTable[CMD_BEHAVIOR_NUM] = {
CMD_PCBehavior_TABLE(CMDMACRO_FOR_BUILD_MODULE_TABLE)
};
/* Private function -------------------------------------------------------- */
int8_t Cmd_PC_Get(CMD_t *c, CMD_RCType_TABLE(CMDMACRO_NAME_EXPANSION)){
CMD_RCType_TABLE(CMDMACRO_Cmd_PC_Get);
return CMD_OK;
}
static int8_t Cmd_PC_HandleBehaviorFORE(CMD_t *c){
c->output.chassis.cmd.ctrl_vec.vy += c->params->pc.sensitivity.move_sense;
return CMD_OK;
}
static int8_t Cmd_PC_HandleBehaviorBACK(CMD_t *c){
c->output.chassis.cmd.ctrl_vec.vy -= c->params->pc.sensitivity.move_sense;
return CMD_OK;
}
static int8_t Cmd_PC_HandleBehaviorLEFT(CMD_t *c){
c->output.chassis.cmd.ctrl_vec.vx -= c->params->pc.sensitivity.move_sense;
return CMD_OK;
}
static int8_t Cmd_PC_HandleBehaviorRIGHT(CMD_t *c){
c->output.chassis.cmd.ctrl_vec.vx += c->params->pc.sensitivity.move_sense;
return CMD_OK;
}
static int8_t Cmd_PC_HandleBehaviorACCELERATE(CMD_t *c){
c->output.chassis.cmd.ctrl_vec.vx *= c->params->pc.sensitivity.move_fast_sense;
c->output.chassis.cmd.ctrl_vec.vy *= c->params->pc.sensitivity.move_fast_sense;
return CMD_OK;
}
static int8_t Cmd_PC_HandleBehaviorDECELEBRATE(CMD_t *c){
c->output.chassis.cmd.ctrl_vec.vx *= c->params->pc.sensitivity.move_slow_sense;
c->output.chassis.cmd.ctrl_vec.vy *= c->params->pc.sensitivity.move_slow_sense;
return CMD_OK;
}
static int8_t Cmd_PC_HandleBehaviorFIRE(CMD_t *c){
c->output.shoot.cmd.firecmd = true;
return CMD_OK;
}
static int8_t Cmd_PC_HandleBehaviorFIRE_MODE(CMD_t *c){
c->output.shoot.cmd.mode++;
c->output.shoot.cmd.mode %= SHOOT_MODE_NUM;
return CMD_OK;
}
static int8_t Cmd_PC_HandleBehaviorBUFF(CMD_t *c){
// if (cmd->ai_status == AI_STATUS_HITSWITCH) {
// CMD_RefereeAdd(&(cmd->referee), CMD_UI_HIT_SWITCH_STOP);
// cmd->host_overwrite = false;
// cmd->ai_status = AI_STATUS_STOP;
// } else if (cmd->ai_status == AI_STATUS_AUTOAIM) {
// // 自瞄模式中切换失败提醒
// } else {
// CMD_RefereeAdd(&(cmd->referee), CMD_UI_HIT_SWITCH_START);
// cmd->ai_status = AI_STATUS_HITSWITCH;
// cmd->host_overwrite = true;
// }
return CMD_OK;
}
static int8_t Cmd_PC_HandleBehaviorAUTOAIM(CMD_t *c){
// if (cmd->ai_status == AI_STATUS_AUTOAIM) {
// cmd->host_overwrite = false;
// cmd->ai_status = AI_STATUS_STOP;
// CMD_RefereeAdd(&(cmd->referee), CMD_UI_AUTO_AIM_STOP);
// } else {
// cmd->ai_status = AI_STATUS_AUTOAIM;
// cmd->host_overwrite = true;
// CMD_RefereeAdd(&(cmd->referee), CMD_UI_AUTO_AIM_START);
// }
return CMD_OK;
}
static int8_t Cmd_PC_HandleBehaviorOPENCOVER(CMD_t *c){
// c->shoot.cover_open = !c->shoot.cover_open;
return CMD_OK;
}
static int8_t Cmd_PC_HandleBehaviorROTOR(CMD_t *c){
c->output.chassis.cmd.mode = CHASSIS_MODE_ROTOR;
c->output.chassis.cmd.mode_rotor = ROTOR_MODE_RAND;
return CMD_OK;
}
static int8_t Cmd_PC_HandleBehaviorREVTRIG(CMD_t *c){
// c->output.shoot.cmd.reverse_trig = true;
return CMD_OK;
}
static int8_t Cmd_PC_HandleBehaviorFOLLOWGIMBAL35(CMD_t *c){
c->output.chassis.cmd.mode = CHASSIS_MODE_FOLLOW_GIMBAL_35;
return CMD_OK;
}
static int8_t Cmd_PC_HandleBehaviorGIMBAL_MODE(CMD_t *c){
c->output.gimbal.cmd.mode++;
c->output.gimbal.cmd.mode %= GIMBAL_MODE_NUM;
while (c->output.gimbal.cmd.mode<=0) {c->output.gimbal.cmd.mode++;}
return CMD_OK;
}
static inline CMD_PCValue_t CMD_PC_BehaviorToValue(CMD_t *c,
CMD_Behavior_t behavior) {
return c->params->pc.map.key_map[behavior].key;
}
static inline CMD_TriggerType_t CMD_PC_BehaviorToActive(CMD_t *c,
CMD_Behavior_t behavior) {
return c->params->pc.map.key_map[behavior].trigger_type;
}
static inline bool CMD_PC_IsMaskMatch(CMD_t *c, CMD_ModuleMask_t module_mask) {
/* 构建当前各模块输入源状态的掩码 */
CMD_ModuleMask_t current_pc_mask = 0;
if (c->output.chassis.source == CMD_SRC_PC) current_pc_mask |= CMD_MODULE_CHASSIS;
if (c->output.gimbal.source == CMD_SRC_PC) current_pc_mask |= CMD_MODULE_GIMBAL;
if (c->output.shoot.source == CMD_SRC_PC) current_pc_mask |= CMD_MODULE_SHOOT;
/* 检测并集 */
return (module_mask & current_pc_mask) == module_mask;
/* 检测交集 */
// return (module_mask & current_pc_mask) != 0;
}
static inline bool CMD_PC_IsBehaviorTriggered(CMD_t *c, CMD_Behavior_t behavior) {
if (c == NULL) {
return CMD_ERR_NULL; // 参数错误
}
CMD_RCType_TABLE(CMDMACRO_PC_IsBehaviorTriggered);
}
static int8_t Cmd_PC_BuildChassisCommandFromInput(CMD_t *c) {
if (c == NULL) {
return CMD_ERR_NULL; // 参数错误
}
CMD_RCType_TABLE(CMDMACRO_PC_BuildChassisCommandFromInput);
}
static int8_t Cmd_PC_BuildGimbalCommandFromInput(CMD_t *c) {
if (c == NULL) {
return CMD_ERR_NULL; // 参数错误
}
CMD_RCType_TABLE(CMDMACRO_PC_BuildGimbalCommandFromInput);
}
static int8_t Cmd_PC_BuildShootCommandFromInput(CMD_t *c) {
if (c == NULL) {
return CMD_ERR_NULL; // 参数错误
}
CMD_RCType_TABLE(CMDMACRO_PC_BuildShootCommandFromInput);
}
#else
static int8_t Cmd_PC_Get(CMD_Input_PC_t *pc) {
pc->online=false;
return CMD_OK;
}
static int8_t Cmd_PC_BuildChassisCommandFromInput(CMD_t *c) {
if (c == NULL) {
return CMD_ERR_NULL; // 参数错误
}
return CMD_OK;
}
static int8_t Cmd_PC_BuildGimbalCommandFromInput(CMD_t *c) {
if (c == NULL) {
return CMD_ERR_NULL; // 参数错误
}
return CMD_OK;
}
static int8_t Cmd_PC_BuildShootCommandFromInput(CMD_t *c) {
if (c == NULL) {
return CMD_ERR_NULL; // 参数错误
}
return CMD_OK;
}
#endif
/*************************************************************************************************************************************/
/****************************************************************NUC******************************************************************/
/*************************************************************************************************************************************/
/* Includes ----------------------------------------------------------------- */
/* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
/* Private function -------------------------------------------------------- */
int8_t Cmd_NUC_Get(CMD_Input_NUC_t *nuc) {
nuc->online=0;
return CMD_OK;
}
/* Exported functions ------------------------------------------------------- */
int8_t Cmd_NUC_BuildChassisCommandFromInput(CMD_t *c) {
if (c == NULL) {
return CMD_ERR_NULL; // 参数错误
}
return CMD_OK;
}
int8_t Cmd_NUC_BuildGimbalCommandFromInput(CMD_t *c) {
if (c == NULL) {
return CMD_ERR_NULL; // 参数错误
}
return CMD_OK;
}
int8_t Cmd_NUC_BuildShootCommandFromInput(CMD_t *c) {
if (c == NULL) {
return CMD_ERR_NULL; // 参数错误
}
return CMD_OK;
}
/*************************************************************************************************************************************/
/***************************************************************REF*******************************************************************/
/*************************************************************************************************************************************/
/* Includes ----------------------------------------------------------------- */
/* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
/* Private function -------------------------------------------------------- */
int8_t Cmd_REF_Get(CMD_Input_REF_t *nuc) {
nuc->online=0;
return CMD_OK;
}
/* Exported functions ------------------------------------------------------- */
int8_t Cmd_REF_BuildChassisCommandFromInput(CMD_t *c) {
if (c == NULL) {
return CMD_ERR_NULL; // 参数错误
}
return CMD_OK;
}
int8_t Cmd_REF_BuildGimbalCommandFromInput(CMD_t *c) {
if (c == NULL) {
return CMD_ERR_NULL; // 参数错误
}
return CMD_OK;
}
int8_t Cmd_REF_BuildShootCommandFromInput(CMD_t *c) {
if (c == NULL) {
return CMD_ERR_NULL; // 参数错误
}
return CMD_OK;
}
/*************************************************************************************************************************************/
/***************************************************************仲裁器****************************************************************/
/*************************************************************************************************************************************/
/* Includes ----------------------------------------------------------------- */
/* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
/* Private function -------------------------------------------------------- */
static inline bool Cmd_isREFOnline(CMD_t *c){return c->input.ref.online;}
static inline bool Cmd_isNUCOnline(CMD_t *c){return c->input.nuc.online;}
static inline bool Cmd_isRCOnline(CMD_t *c){return c->input.rc.online;}
static inline bool Cmd_isPCOnline(CMD_t *c){return c->input.pc.online;}
CMD_InputSource_t Cmd_GetHighestPrioritySource(CMD_t *c) {
for (int i = 0; i < CMD_SRC_NUM; i++) {
CMD_InputSource_t source = c->params->sourcePriorityConfigs[i];
switch (source) {
case CMD_SRC_REF:
if (Cmd_isREFOnline(c)) {
return CMD_SRC_REF;
}
break;
case CMD_SRC_NUC:
if (Cmd_isNUCOnline(c)) {
return CMD_SRC_NUC;
}
break;
case CMD_SRC_RC:
if (Cmd_isRCOnline(c)) {
return CMD_SRC_RC;
}
break;
case CMD_SRC_PC:
if (Cmd_isPCOnline(c)) {
return CMD_SRC_PC;
}
break;
case CMD_SRC_NUM:
return CMD_ERR_SOURCE;
}
}
return CMD_ERR_SOURCE;
}
int8_t Cmd_Arbiter(CMD_t *c) {
if (c == NULL) {
return CMD_ERR_NULL; // 参数错误
}
CMD_InputSource_t source = Cmd_GetHighestPrioritySource(c);
c->output.chassis.source = source;
c->output.gimbal.source = source;
c->output.shoot.source = source;
return CMD_OK;
}
int8_t Cmd_Switch_RCorPC(CMD_t *c) {
if (c == NULL) {
return CMD_ERR_NULL; // 参数错误
}
return CMD_OK;
}
/*************************************************************************************************************************************/
/***************************************************************主结构*****************************************************************/
/*************************************************************************************************************************************/
/* Includes ----------------------------------------------------------------- */
/* Private typedef ---------------------------------------------------------- */
typedef int8_t (*CMD_BuildCommandFunc)(CMD_t *c);
typedef struct {
CMD_InputSource_t source;
CMD_BuildCommandFunc chassisFunc;
CMD_BuildCommandFunc gimbalFunc;
CMD_BuildCommandFunc shootFunc;
} CMD_SourceHandler_t;
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
CMD_SourceHandler_t sourceHandlers[CMD_SRC_NUM] = {
{CMD_SRC_RC, Cmd_RC_BuildChassisCommandFromInput, Cmd_RC_BuildGimbalCommandFromInput, Cmd_RC_BuildShootCommandFromInput},
{CMD_SRC_PC, Cmd_PC_BuildChassisCommandFromInput, Cmd_PC_BuildGimbalCommandFromInput, Cmd_PC_BuildShootCommandFromInput},
{CMD_SRC_NUC, Cmd_NUC_BuildChassisCommandFromInput, Cmd_NUC_BuildGimbalCommandFromInput, Cmd_NUC_BuildShootCommandFromInput},
{CMD_SRC_REF, Cmd_REF_BuildChassisCommandFromInput, Cmd_REF_BuildGimbalCommandFromInput, Cmd_REF_BuildShootCommandFromInput},
};
/* Private function -------------------------------------------------------- */
int8_t Cmd_OFFLINE(CMD_t *c) {
if (c == NULL) {
return CMD_ERR_NULL; // 参数错误
}
c->output.chassis.cmd.mode =CHASSIS_MODE_RELAX;
c->output.gimbal.cmd.mode =GIMBAL_MODE_RELAX;
c->output.shoot.cmd.mode =SHOOT_MODE_SAFE;
return CMD_OK;
}
/* Exported functions ------------------------------------------------------- */
int8_t Cmd_Init(CMD_t *c, CMD_Params_t *params) {
if (c == NULL || params == NULL) {
return CMD_ERR_NULL; // 参数错误
}
c->params = params;
return CMD_OK;
}
int8_t Cmd_Get(CMD_t *c,
CMD_RCType_TABLE(CMDMACRO_NAME_EXPANSION)){
// CMD_Input_NUC_t *nuc,
// CMD_Input_REF_t *ref) {
if (c == NULL) {
return CMD_ERR_NULL; // 参数错误
}
Cmd_RC_Get(c,CMD_RCType_TABLE(CMDMACRO_NAME_EXPANSION_1));
Cmd_PC_Get(c,CMD_RCType_TABLE(CMDMACRO_NAME_EXPANSION_1));
// Cmd_NUC_Get(&c->input.nuc);
// Cmd_REF_Get(&c->input.ref);
return CMD_OK;
}
int8_t Cmd_GenerateCommand(CMD_t *c) {
if (c == NULL) {
return CMD_ERR_NULL; // 参数错误
}
Cmd_Arbiter(c);
c->timer.now =BSP_TIME_Get_us() / 1000000.0f;
c->timer.dt =(BSP_TIME_Get_us() - c->timer.last) / 1000000.0f;
c->timer.last =BSP_TIME_Get_us();
if (c->output.chassis.source >= CMD_SRC_NUM || c->output.gimbal.source >= CMD_SRC_NUM || c->output.shoot.source >= CMD_SRC_NUM) {
Cmd_OFFLINE(c);
return CMD_ERR_SOURCE; // 输入源错误
}
sourceHandlers[c->output.chassis.source].chassisFunc(c);
sourceHandlers[c->output.gimbal.source].gimbalFunc(c);
sourceHandlers[c->output.shoot.source].shootFunc(c);
return CMD_OK;
}

236
User/module/cmd.h
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@ -1,236 +0,0 @@
/*
控制命令
*/
#pragma once
#include <stdint.h>
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ----------------------------------------------------------------- */
#include "module/chassis.h"
#include "module/gimbal.h"
#include "module/shoot.h"
#if CMD_RCTypeTable_Index == 0
#include "device/dr16.h"
#elif CMD_RCTypeTable_Index == 1
#include "device/at9s_pro.h"
#elif CMD_RCTypeTable_Index == 2
#include "device/vt13.h"
#endif
/* 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_SOURCE (-3) /* 运行时配置了不存在的输入源 */
/* Exported macro ----------------------------------------------------------- */
#define CMD_RCTypeTable_Index 0 /* 0:DR16 1:AT9S 2:VT13 */
#if CMD_RCTypeTable_Index == 0
#define CMD_RCType_TABLE(X) X(dr16, DR16)
#elif CMD_RCTypeTable_Index == 1
#define CMD_RCType_TABLE(X) X(at9s, AT9S)
#elif CMD_RCTypeTable_Index == 2
#define CMD_RCType_TABLE(X) X(vt13, VT13)
#endif
#if CMD_RCTypeTable_Index == 1
#define CMD_NOPC_FLAG
#endif
#define CMDMACRO_NAME_EXPANSION(name, NAME) NAME##_t name
#define CMDMACRO_VAR_RCDATA(name, NAME) NAME##_DataRC_t name;
#define CMDMACRO_VAR_PCDATA(name, NAME) NAME##_DataPC_t name;
#define CMDMACRO_VAR_LASTPCDATA(name, NAME) NAME##_DataPC_t last##name;
/* Exported types ----------------------------------------------------------- */
#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=0, /* 遥控器 */
CMD_SRC_PC, /* 键盘鼠标 */
CMD_SRC_NUC, /* 上位机 */
CMD_SRC_REF, /* 裁判系统 */
CMD_SRC_NUM
} CMD_InputSource_t;
/* RC part begin-------------------------------------- */
typedef struct {
bool online;
enum {DR16=0, AT9S} type;
CMD_RCType_TABLE(CMDMACRO_VAR_RCDATA)
#undef CMDMACRO_VAR_RCDATA
} CMD_Input_RC_t;//或者这里直接把CMD_Input_RC_t前向声明了，看哪个好看
/* RC part end---------------------------------------- */
/* PC part begin-------------------------------------- */
typedef enum {
CMD_MODULE_NONE = 0,
CMD_MODULE_CHASSIS = (1 << 0),
CMD_MODULE_GIMBAL = (1 << 1),
CMD_MODULE_SHOOT = (1 << 2),
CMD_MODULE_ALL = (CMD_MODULE_CHASSIS | CMD_MODULE_GIMBAL | CMD_MODULE_SHOOT)
} CMD_ModuleMask_t;
/* 键盘按键值 */
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_L_CLICK,
CMD_R_CLICK,
CMD_M_CLICK,
CMD_KEY_NUM,
} CMD_PCValue_t;
typedef enum {
CMD_ACTIVE_RISING_EDGE, /* 按下时触发 */
CMD_ACTIVE_FALLING_EDGE, /* 抬起时触发 */
CMD_ACTIVE_PRESSED, /* 按住时触发 */
} CMD_TriggerType_t;
/* 行为值序列 */
typedef enum {
CMD_BEHAVIOR_FORE = 0, /* 向前 */
CMD_BEHAVIOR_BACK, /* 向后 */
CMD_BEHAVIOR_LEFT, /* 向左 */
CMD_BEHAVIOR_RIGHT, /* 向右 */
CMD_BEHAVIOR_ACCELERATE, /* 加速 */
CMD_BEHAVIOR_DECELEBRATE, /* 减速 */
CMD_BEHAVIOR_FIRE, /* 开火 */
CMD_BEHAVIOR_FIRE_MODE, /* 切换开火模式 */
CMD_BEHAVIOR_BUFF, /* 打符模式 */
CMD_BEHAVIOR_AUTOAIM, /* 自瞄模式 */
CMD_BEHAVIOR_OPENCOVER, /* 弹舱盖开关 */
CMD_BEHAVIOR_ROTOR, /* 小陀螺模式 */
CMD_BEHAVIOR_REVTRIG, /* 反转拨弹 */
CMD_BEHAVIOR_FOLLOWGIMBAL35, /* 跟随云台呈35度 */
CMD_BEHAVIOR_GIMBAL_MODE, /* 切换云台模式 */
CMD_BEHAVIOR_NUM,
} CMD_Behavior_t;
typedef struct {
CMD_PCValue_t key;
CMD_TriggerType_t trigger_type;
} CMD_KeyMapItem_t;
/* 行为映射的对应按键数组 */
typedef struct {
CMD_KeyMapItem_t key_map[CMD_BEHAVIOR_NUM];
} CMD_KeyMap_Params_t;
typedef struct {
float sens_mouse; /* 鼠标灵敏度 */
float move_sense; /* 移动灵敏度 */
float move_fast_sense; /* 快速移动灵敏度 */
float move_slow_sense; /* 慢速移动灵敏度 */
} CMD_PC_Sensitivity_t;
typedef struct {
CMD_KeyMap_Params_t map; /* 按键映射行为命令 */
CMD_PC_Sensitivity_t sensitivity; /* PC灵敏度设置 */
}CMD_PCParams_t;
#ifndef CMD_NOPC_FLAG
typedef struct {
bool online;
CMD_RCType_TABLE(CMDMACRO_VAR_PCDATA)
CMD_RCType_TABLE(CMDMACRO_VAR_LASTPCDATA)
#undef CMDMACRO_VAR_PCDATA
#undef CMDMACRO_VAR_LASTPCDATA
}CMD_Input_PC_t;
#else
typedef struct {
bool online;
}CMD_Input_PC_t;
#endif
/* PC part end---------------------------------------- */
/* NUC part begin------------------------------------- */
typedef struct {
bool online;
struct {
float delta_yaw;
float delta_pit;
}gimbal;
struct {
float expectedSpeed;
bool fire;
}shoot;
}CMD_Input_NUC_t;
/* NUC part end--------------------------------------- */
/* REF part begin------------------------------------- */
typedef struct {
bool online;
}CMD_Input_REF_t;
/* REF part begin------------------------------------- */
/* 底盘控制命令 */
typedef struct {
CMD_InputSource_t source;
Chassis_CMD_t cmd;
} CMD_Output_CHASSIS_t;
/* 云台控制命令 */
typedef struct {
CMD_InputSource_t source;
Gimbal_CMD_t cmd;
} CMD_Output_GIMBAL_t;
/* 射击控制命令 */
typedef struct {
CMD_InputSource_t source;
Shoot_CMD_t cmd;
} CMD_Output_SHOOT_t;
typedef struct {
CMD_Input_RC_t rc;
CMD_Input_PC_t pc;
CMD_Input_NUC_t nuc;
CMD_Input_REF_t ref;
} CMD_Input_t;
typedef struct {
CMD_Output_CHASSIS_t chassis;
CMD_Output_GIMBAL_t gimbal;
CMD_Output_SHOOT_t shoot;
} CMD_Output_t;
typedef struct {
CMD_InputSource_t sourcePriorityConfigs[CMD_SRC_NUM];/* 输入源优先级配置 */
CMD_PCParams_t pc;
} CMD_Params_t;
typedef struct {
float now;
float dt;
uint64_t last;
} CMD_Timer_t;
typedef struct {
CMD_Timer_t timer;
CMD_Params_t *params;
CMD_Input_t input;
CMD_Output_t output;
} CMD_t;
/* Exported functions prototypes -------------------------------------------- */
int8_t Cmd_Init(CMD_t *c, CMD_Params_t *params);
int8_t Cmd_Get(CMD_t *c, CMD_RCType_TABLE(CMDMACRO_NAME_EXPANSION));
int8_t Cmd_GenerateCommand(CMD_t *c);
#ifdef __cplusplus
}
#endif

285
User/module/cmd_v2/cmd.c Normal file
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@ -0,0 +1,285 @@
/*
* 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_t *ctx) {
CMD_RCModeMap_t *map = &ctx->config->rc_mode_map;
/* 根据左拨杆位置选择模式 */
switch (ctx->input.rc.sw[0]) {
case CMD_SW_UP:
ctx->output.chassis.cmd.mode = map->sw_left_up;
break;
case CMD_SW_MID:
ctx->output.chassis.cmd.mode = map->sw_left_mid;
break;
case CMD_SW_DOWN:
ctx->output.chassis.cmd.mode = map->sw_left_down;
break;
default:
ctx->output.chassis.cmd.mode = CHASSIS_MODE_RELAX;
break;
}
/* 摇杆控制移动 */
ctx->output.chassis.cmd.ctrl_vec.vx = ctx->input.rc.joy_right.x;
ctx->output.chassis.cmd.ctrl_vec.vy = ctx->input.rc.joy_right.y;
}
/* 从RC输入生成云台命令 */
static void CMD_RC_BuildGimbalCmd(CMD_t *ctx) {
CMD_RCModeMap_t *map = &ctx->config->rc_mode_map;
/* 根据拨杆选择云台模式 */
switch (ctx->input.rc.sw[0]) {
case CMD_SW_UP:
ctx->output.gimbal.cmd.mode = map->gimbal_sw_up;
break;
case CMD_SW_MID:
ctx->output.gimbal.cmd.mode = map->gimbal_sw_mid;
break;
case CMD_SW_DOWN:
ctx->output.gimbal.cmd.mode = map->gimbal_sw_down;
break;
default:
ctx->output.gimbal.cmd.mode = GIMBAL_MODE_RELAX;
break;
}
/* 左摇杆控制云台 */
ctx->output.gimbal.cmd.delta_yaw = -ctx->input.rc.joy_left.x * 2.0f;
ctx->output.gimbal.cmd.delta_pit = -ctx->input.rc.joy_left.y * 1.5f;
}
/* 从RC输入生成射击命令 */
static void CMD_RC_BuildShootCmd(CMD_t *ctx) {
if (ctx->input.online[CMD_SRC_RC]) {
ctx->output.shoot.cmd.mode = SHOOT_MODE_SINGLE;
} else {
ctx->output.shoot.cmd.mode = SHOOT_MODE_SAFE;
}
/* 根据右拨杆控制射击 */
switch (ctx->input.rc.sw[1]) {
case CMD_SW_DOWN:
ctx->output.shoot.cmd.ready = true;
ctx->output.shoot.cmd.firecmd = true;
break;
case CMD_SW_MID:
ctx->output.shoot.cmd.ready = true;
ctx->output.shoot.cmd.firecmd = false;
break;
case CMD_SW_UP:
default:
ctx->output.shoot.cmd.ready = false;
ctx->output.shoot.cmd.firecmd = false;
break;
}
}
/* 从PC输入生成底盘命令 */
static void CMD_PC_BuildChassisCmd(CMD_t *ctx) {
if (!ctx->input.online[CMD_SRC_PC]) {
ctx->output.chassis.cmd.mode = CHASSIS_MODE_RELAX;
return;
}
ctx->output.chassis.cmd.mode = CHASSIS_MODE_FOLLOW_GIMBAL;
/* WASD控制移动 */
ctx->output.chassis.cmd.ctrl_vec.vx = 0.0f;
ctx->output.chassis.cmd.ctrl_vec.vy = 0.0f;
CMD_Behavior_ProcessAll(ctx, &ctx->input, &ctx->last_input, CMD_MODULE_CHASSIS);
}
/* 从PC输入生成云台命令 */
static void CMD_PC_BuildGimbalCmd(CMD_t *ctx) {
CMD_Sensitivity_t *sens = &ctx->config->sensitivity;
if (!ctx->input.online[CMD_SRC_PC]) {
ctx->output.gimbal.cmd.mode = GIMBAL_MODE_RELAX;
return;
}
ctx->output.gimbal.cmd.mode = GIMBAL_MODE_ABSOLUTE;
/* 鼠标控制云台 */
ctx->output.gimbal.cmd.delta_yaw = (float)-ctx->input.pc.mouse.x * ctx->timer.dt * sens->mouse_sens;
ctx->output.gimbal.cmd.delta_pit = (float)ctx->input.pc.mouse.y * ctx->timer.dt * sens->mouse_sens * 1.5f;
CMD_Behavior_ProcessAll(ctx, &ctx->input, &ctx->last_input, CMD_MODULE_GIMBAL);
}
/* 从PC输入生成射击命令 */
static void CMD_PC_BuildShootCmd(CMD_t *ctx) {
if (!ctx->input.online[CMD_SRC_PC]) {
ctx->output.shoot.cmd.mode = SHOOT_MODE_SAFE;
return;
}
ctx->output.shoot.cmd.ready = true;
ctx->output.shoot.cmd.firecmd = ctx->input.pc.mouse.l_click;
CMD_Behavior_ProcessAll(ctx, &ctx->input, &ctx->last_input, CMD_MODULE_SHOOT);
}
/* 离线安全模式 */
static void CMD_SetOfflineMode(CMD_t *ctx) {
ctx->output.chassis.cmd.mode = CHASSIS_MODE_RELAX;
ctx->output.gimbal.cmd.mode = GIMBAL_MODE_RELAX;
ctx->output.shoot.cmd.mode = SHOOT_MODE_SAFE;
}
/* ========================================================================== */
/* 公开API实现 */
/* ========================================================================== */
int8_t CMD_Init(CMD_t *ctx, CMD_Config_t *config) {
if (ctx == NULL || config == NULL) {
return CMD_ERR_NULL;
}
memset(ctx, 0, sizeof(CMD_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_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);
}
return CMD_OK;
}
typedef void (*CMD_BuildCommandFunc)(CMD_t *cmd);
typedef struct {
CMD_InputSource_t source;
CMD_BuildCommandFunc chassisFunc;
CMD_BuildCommandFunc gimbalFunc;
CMD_BuildCommandFunc shootFunc;
} CMD_SourceHandler_t;
CMD_SourceHandler_t sourceHandlers[CMD_SRC_NUM] = {
{CMD_SRC_RC, CMD_RC_BuildChassisCmd, CMD_RC_BuildGimbalCmd, CMD_RC_BuildShootCmd},
{CMD_SRC_PC, CMD_PC_BuildChassisCmd, CMD_PC_BuildGimbalCmd, CMD_PC_BuildShootCmd},
{CMD_SRC_NUC, NULL, NULL, NULL},
{CMD_SRC_REF, NULL, NULL, NULL},
};
uint8_t last_shift = 0, last_v = 0;
uint8_t now_shift = 0, now_v = 0;
int8_t CMD_Arbitrate(CMD_t *ctx) {
if (ctx == NULL) {
return CMD_ERR_NULL;
}
/* 自动仲裁：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.online[ctx->active_source]) {
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.online[src]) {
ctx->active_source = src;
break;
}else {
ctx->active_source = CMD_SRC_NUM;
continue;
}
}
ctx->output.chassis.source = ctx->active_source;
ctx->output.gimbal.source = ctx->active_source;
ctx->output.shoot.source = ctx->active_source;
/* 优先级抢占逻辑 */
seize:
// 检查PC输入，按下一次shift和v，切换active_source在RC和PC之间
CMD_Behavior_ProcessAll(ctx, &ctx->input, &ctx->last_input, CMD_MODULE_NONE);
// if (ctx->input.online[CMD_SRC_PC]) {
// now_shift = CMD_KEY_PRESSED(&ctx->input.pc.keyboard, CMD_KEY_SHIFT);
// now_v = CMD_KEY_PRESSED(&ctx->input.pc.keyboard, CMD_KEY_V);
// // 检测本帧按下（上升沿）
// if (now_shift && !last_shift && now_v && !last_v) {
// if (ctx->active_source == CMD_SRC_PC && ctx->input.online[CMD_SRC_RC]) {
// ctx->active_source = CMD_SRC_RC;
// } else if (ctx->active_source == CMD_SRC_RC && ctx->input.online[CMD_SRC_PC]) {
// ctx->active_source = CMD_SRC_PC;
// }
// ctx->output.chassis.source = ctx->active_source;
// ctx->output.gimbal.source = ctx->active_source;
// ctx->output.shoot.source = ctx->active_source;
// }
// last_shift = now_shift;
// last_v = now_v;
// }
return CMD_OK;
}
int8_t CMD_GenerateCommands(CMD_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;
}
sourceHandlers[ctx->output.gimbal.source].gimbalFunc(ctx);
sourceHandlers[ctx->output.chassis.source].chassisFunc(ctx);
sourceHandlers[ctx->output.shoot.source].shootFunc(ctx);
return CMD_OK;
}
int8_t CMD_Update(CMD_t *ctx) {
int8_t ret;
ret = CMD_UpdateInput(ctx);
if (ret != CMD_OK) return ret;
CMD_Arbitrate(ctx);
ret = CMD_GenerateCommands(ctx);
return ret;
}

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/*
* 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;
} CMD_Config_t;
/* ========================================================================== */
/* 主控制上下文 */
/* ========================================================================== */
typedef struct {
float now;
float dt;
uint32_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_RawInput_t last_input;
/* 仲裁后的活跃输入源 */
CMD_InputSource_t active_source;
/* 输出 */
struct {
CMD_ChassisOutput_t chassis;
CMD_GimbalOutput_t gimbal;
CMD_ShootOutput_t shoot;
} output;
} CMD_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_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_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_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_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_t *ctx);
/* ========================================================================== */
/* 输出获取接口 */
/* ========================================================================== */
/* 获取底盘命令 */
static inline Chassis_CMD_t* CMD_GetChassisCmd(CMD_t *ctx) {
return &ctx->output.chassis.cmd;
}
/* 获取云台命令 */
static inline Gimbal_CMD_t* CMD_GetGimbalCmd(CMD_t *ctx) {
return &ctx->output.gimbal.cmd;
}
/* 获取射击命令 */
static inline Shoot_CMD_t* CMD_GetShootCmd(CMD_t *ctx) {
return &ctx->output.shoot.cmd;
}
#ifdef __cplusplus
}
#endif

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/*
* 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};
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->rc, 0, sizeof(CMD_RawInput_RC_t));
output->online[CMD_SRC_RC] = dr16->header.online;
/* 遥控器摇杆映射 */
output->rc.joy_left.x = dr16->data.rc.ch_l_x;
output->rc.joy_left.y = dr16->data.rc.ch_l_y;
output->rc.joy_right.x = dr16->data.rc.ch_r_x;
output->rc.joy_right.y = dr16->data.rc.ch_r_y;
/* 拨杆映射 */
switch (dr16->data.rc.sw_l) {
case DR16_SW_UP: output->rc.sw[0] = CMD_SW_UP; break;
case DR16_SW_MID: output->rc.sw[0] = CMD_SW_MID; break;
case DR16_SW_DOWN: output->rc.sw[0] = CMD_SW_DOWN; break;
default: output->rc.sw[0] = CMD_SW_ERR; break;
}
switch (dr16->data.rc.sw_r) {
case DR16_SW_UP: output->rc.sw[1] = CMD_SW_UP; break;
case DR16_SW_MID: output->rc.sw[1] = CMD_SW_MID; break;
case DR16_SW_DOWN: output->rc.sw[1] = CMD_SW_DOWN; break;
default: output->rc.sw[1] = CMD_SW_ERR; break;
}
/* 拨轮映射 */
output->rc.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->pc, 0, sizeof(CMD_RawInput_PC_t));
output->online[CMD_SRC_PC] = dr16->header.online;
/* PC端鼠标映射 */
output->pc.mouse.x = dr16->data.pc.mouse.x;
output->pc.mouse.y = dr16->data.pc.mouse.y;
output->pc.mouse.l_click = dr16->data.pc.mouse.l_click;
output->pc.mouse.r_click = dr16->data.pc.mouse.r_click;
/* 键盘映射 */
output->pc.keyboard.bitmap = dr16->raw_data.key;
return CMD_OK;
}
bool CMD_DR16_IsOnline(void *data) {
DR16_t *dr16 = (DR16_t *)data;
return dr16->header.online;
}
extern DR16_t cmd_dr16;
/* 定义适配器实例 */
CMD_DEFINE_ADAPTER(DR16_RC, cmd_dr16, CMD_SRC_RC, CMD_DR16_Init, CMD_DR16_RC_GetInput, CMD_DR16_IsOnline)
CMD_DEFINE_ADAPTER(DR16_PC, cmd_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_RC_t));
output->online[CMD_SRC_RC] = 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) {
output->online[adapter->source] = 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);
}

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/*
* 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

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/*
* CMD 模块 V2 - 行为处理器实现
*/
#include "cmd_behavior.h"
#include "cmd.h"
#include "module/gimbal.h"
#include <string.h>
/* ========================================================================== */
/* 行为配置表 */
/* ========================================================================== */
/* 行为处理函数实现 */
int8_t CMD_Behavior_Handle_FORE(CMD_t *ctx) {
ctx->output.chassis.cmd.ctrl_vec.vy += ctx->config->sensitivity.move_sens;
return CMD_OK;
}
int8_t CMD_Behavior_Handle_BACK(CMD_t *ctx) {
ctx->output.chassis.cmd.ctrl_vec.vy -= ctx->config->sensitivity.move_sens;
return CMD_OK;
}
int8_t CMD_Behavior_Handle_LEFT(CMD_t *ctx) {
ctx->output.chassis.cmd.ctrl_vec.vx -= ctx->config->sensitivity.move_sens;
return CMD_OK;
}
int8_t CMD_Behavior_Handle_RIGHT(CMD_t *ctx) {
ctx->output.chassis.cmd.ctrl_vec.vx += ctx->config->sensitivity.move_sens;
return CMD_OK;
}
int8_t CMD_Behavior_Handle_ACCELERATE(CMD_t *ctx) {
ctx->output.chassis.cmd.ctrl_vec.vx *= ctx->config->sensitivity.move_fast_mult;
ctx->output.chassis.cmd.ctrl_vec.vy *= ctx->config->sensitivity.move_fast_mult;
return CMD_OK;
}
int8_t CMD_Behavior_Handle_DECELERATE(CMD_t *ctx) {
ctx->output.chassis.cmd.ctrl_vec.vx *= ctx->config->sensitivity.move_slow_mult;
ctx->output.chassis.cmd.ctrl_vec.vy *= ctx->config->sensitivity.move_slow_mult;
return CMD_OK;
}
int8_t CMD_Behavior_Handle_FIRE(CMD_t *ctx) {
ctx->output.shoot.cmd.firecmd = true;
return CMD_OK;
}
int8_t CMD_Behavior_Handle_FIRE_MODE(CMD_t *ctx) {
ctx->output.shoot.cmd.mode = (ctx->output.shoot.cmd.mode + 1) % SHOOT_MODE_NUM;
return CMD_OK;
}
int8_t CMD_Behavior_Handle_ROTOR(CMD_t *ctx) {
ctx->output.chassis.cmd.mode = CHASSIS_MODE_ROTOR;
ctx->output.chassis.cmd.mode_rotor = ROTOR_MODE_RAND;
ctx->output.gimbal.cmd.mode = GIMBAL_MODE_RELATIVE;
return CMD_OK;
}
int8_t CMD_Behavior_Handle_AUTOAIM(CMD_t *ctx) {
/* TODO: 自瞄模式切换 */
return CMD_OK;
}
int8_t CMD_Behavior_Handle_CHECKSOURCERCPC(CMD_t *ctx) {
/* TODO: 切换RC和PC输入源 */
if (ctx->active_source == CMD_SRC_PC) {
ctx->active_source = CMD_SRC_RC;
ctx->output.chassis.source = CMD_SRC_RC;
ctx->output.gimbal.source = CMD_SRC_RC;
ctx->output.shoot.source = CMD_SRC_RC;
} else if(ctx->active_source == CMD_SRC_RC) {
ctx->active_source = CMD_SRC_PC;
ctx->output.chassis.source = CMD_SRC_PC;
ctx->output.gimbal.source = CMD_SRC_PC;
ctx->output.shoot.source = CMD_SRC_PC;
}
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;
// 鼠标特殊按键处理
if (config->key == (CMD_KEY_L_CLICK)) {
now_pressed = current->pc.mouse.l_click;
last_pressed = last ? last->pc.mouse.l_click : false;
} else if (config->key == (CMD_KEY_R_CLICK)) {
now_pressed = current->pc.mouse.r_click;
last_pressed = last ? last->pc.mouse.r_click : false;
} else if (config->key == (CMD_KEY_M_CLICK)) {
now_pressed = current->pc.mouse.m_click;
last_pressed = last ? last->pc.mouse.m_click : false;
} else if (config->key == 0) {
return false;
} else {
// 多按键组合检测
now_pressed = ((current->pc.keyboard.bitmap & config->key) == config->key);
last_pressed = last ? ((last->pc.keyboard.bitmap & config->key) == config->key) : false;
}
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_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];
/* 过滤模块掩码 */
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;
}

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/*
* 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 */
uint32_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

144
User/module/cmd_v2/cmd_example.c Normal file
View File

@ -0,0 +1,144 @@
/*
* 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 = {
/* 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,
},
};
/* CMD上下文 */
static CMD_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_t 中添加输出成员
* 3. 实现对应的 BuildXXXCmd 函数
*/

196
User/module/cmd_v2/cmd_types.h Normal file
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@ -0,0 +1,196 @@
/*
* 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, CMD_RC_AdapterInit, CMD_RC_GetInput) \
X(PC, CMD_PC_AdapterInit, CMD_PC_GetInput) \
X(NUC, CMD_NUC_AdapterInit, CMD_NUC_GetInput) \
X(REF, 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)
/* ========================================================================== */
/* 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
/* ========================================================================== */
/* 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 = (1 << 0), CMD_KEY_S = (1 << 1), CMD_KEY_A = (1 << 2), CMD_KEY_D = (1 << 3),
CMD_KEY_SHIFT = (1 << 4), CMD_KEY_CTRL = (1 << 5), CMD_KEY_Q = (1 << 6), CMD_KEY_E = (1 << 7),
CMD_KEY_R = (1 << 8), CMD_KEY_F = (1 << 9), CMD_KEY_G = (1 << 10), CMD_KEY_Z = (1 << 11),
CMD_KEY_X = (1 << 12), CMD_KEY_C = (1 << 13), CMD_KEY_V = (1 << 14), CMD_KEY_B = (1 << 15),
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;
typedef struct {
CMD_Joystick_t joy_left; /* 左摇杆 */
CMD_Joystick_t joy_right; /* 右摇杆 */
CMD_SwitchPos_t sw[4]; /* 4个拨杆 */
float dial; /* 拨轮 */
} CMD_RawInput_RC_t;
typedef struct {
CMD_Mouse_t mouse;
CMD_Keyboard_t keyboard;
} CMD_RawInput_PC_t;
typedef struct {
int a;
} CMD_RawInput_NUC_t;
typedef struct {
CMD_Referee_t referee;
} CMD_RawInput_REF_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[CMD_SRC_NUM];
/* 遥控器部分 */
CMD_RawInput_RC_t rc;
/* PC部分 */
CMD_RawInput_PC_t pc;
/* NUC部分 */
/* 暂无定义，预留扩展 */
CMD_RawInput_NUC_t nuc;
/* REF部分 - 裁判系统数据 */
CMD_RawInput_REF_t ref;
} CMD_RawInput_t;
/* ========================================================================== */
/* 模块掩码 */
/* ========================================================================== */
typedef enum {
CMD_MODULE_NONE = (1 << 0),
CMD_MODULE_CHASSIS = (1 << 1),
CMD_MODULE_GIMBAL = (1 << 2),
CMD_MODULE_SHOOT = (1 << 3),
CMD_MODULE_ALL = 0x0E
} CMD_ModuleMask_t;
/* ========================================================================== */
/* 行为定义 */
/* ========================================================================== */
/* 行为-按键映射宏表 */
#define BEHAVIOR_CONFIG_COUNT (11)
#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_L_CLICK, 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_PRESSED, CMD_MODULE_CHASSIS) \
X(AUTOAIM, CMD_KEY_R, CMD_ACTIVE_RISING_EDGE, CMD_MODULE_GIMBAL | CMD_MODULE_SHOOT) \
X(CHECKSOURCERCPC, CMD_KEY_CTRL|CMD_KEY_SHIFT|CMD_KEY_V, CMD_ACTIVE_RISING_EDGE, CMD_MODULE_NONE)
/* 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 (1 << 31)
#define CMD_KEY_R_CLICK (1 << 30)
#define CMD_KEY_M_CLICK (1 << 29)
/* 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

73
User/module/config.c
View File

@ -6,7 +6,7 @@
#include "module/config.h"
#include "bsp/can.h"
#include "device/motor_dm.h"
#include "module/cmd.h"
#include "module/cmd_v2/cmd.h"
#include <stdbool.h>
/* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
@ -189,7 +189,7 @@ Config_RobotParam_t robot_config = {
.gyro = 1000.0f,
},
.pit_motor ={
.can = BSP_CAN_2,
.can = BSP_CAN_1,
.can_id = 0x2,
.master_id = 0x12,
.module = MOTOR_DM_J4310,
@ -363,40 +363,59 @@ Config_RobotParam_t robot_config = {
},
},
},
// .cmd_param={
// .sourcePriorityConfigs={
// CMD_SRC_RC,
// CMD_SRC_PC,
// CMD_SRC_NUC,
// CMD_SRC_REF
// },
// .pc.map = { /*1<<CMD_KEY_W记录一下不要忘了这个思路 */
// .key_map[CMD_BEHAVIOR_FORE] = {CMD_KEY_W, CMD_ACTIVE_PRESSED},
// .key_map[CMD_BEHAVIOR_BACK] = {CMD_KEY_S, CMD_ACTIVE_PRESSED},
// .key_map[CMD_BEHAVIOR_LEFT] = {CMD_KEY_A, CMD_ACTIVE_PRESSED},
// .key_map[CMD_BEHAVIOR_RIGHT] = {CMD_KEY_D, CMD_ACTIVE_PRESSED},
// .key_map[CMD_BEHAVIOR_ACCELERATE] = {CMD_KEY_SHIFT, CMD_ACTIVE_PRESSED},
// .key_map[CMD_BEHAVIOR_DECELEBRATE] = {CMD_KEY_CTRL, CMD_ACTIVE_PRESSED},
// .key_map[CMD_BEHAVIOR_FIRE] = {CMD_L_CLICK, CMD_ACTIVE_PRESSED},
// .key_map[CMD_BEHAVIOR_FIRE_MODE] = {CMD_R_CLICK, CMD_ACTIVE_RISING_EDGE},
// .key_map[CMD_BEHAVIOR_FOLLOWGIMBAL35] = {CMD_KEY_E, CMD_ACTIVE_RISING_EDGE},
// .key_map[CMD_BEHAVIOR_OPENCOVER] = {CMD_KEY_F, CMD_ACTIVE_RISING_EDGE},
// .key_map[CMD_BEHAVIOR_REVTRIG] = {CMD_KEY_R, CMD_ACTIVE_RISING_EDGE},
// .key_map[CMD_BEHAVIOR_ROTOR] = {CMD_KEY_G, CMD_ACTIVE_PRESSED},
// .key_map[CMD_BEHAVIOR_GIMBAL_MODE] = {CMD_KEY_V, CMD_ACTIVE_RISING_EDGE},
// },
// .pc.sensitivity={
// .move_sense=0.1f,
// .sens_mouse=3.0f,
// .move_fast_sense=2.4f,
// .move_slow_sense=0.8f
// },
// },
.cmd_param={
.sourcePriorityConfigs={
.source_priority = {
CMD_SRC_RC,
CMD_SRC_PC,
CMD_SRC_NUC,
CMD_SRC_REF
CMD_SRC_REF,
},
.pc.map = { /*1<<CMD_KEY_W记录一下不要忘了这个思路 */
.key_map[CMD_BEHAVIOR_FORE] = {CMD_KEY_W, CMD_ACTIVE_PRESSED},
.key_map[CMD_BEHAVIOR_BACK] = {CMD_KEY_S, CMD_ACTIVE_PRESSED},
.key_map[CMD_BEHAVIOR_LEFT] = {CMD_KEY_A, CMD_ACTIVE_PRESSED},
.key_map[CMD_BEHAVIOR_RIGHT] = {CMD_KEY_D, CMD_ACTIVE_PRESSED},
.key_map[CMD_BEHAVIOR_ACCELERATE] = {CMD_KEY_SHIFT, CMD_ACTIVE_PRESSED},
.key_map[CMD_BEHAVIOR_DECELEBRATE] = {CMD_KEY_CTRL, CMD_ACTIVE_PRESSED},
.key_map[CMD_BEHAVIOR_FIRE] = {CMD_L_CLICK, CMD_ACTIVE_PRESSED},
.key_map[CMD_BEHAVIOR_FIRE_MODE] = {CMD_R_CLICK, CMD_ACTIVE_RISING_EDGE},
.key_map[CMD_BEHAVIOR_FOLLOWGIMBAL35] = {CMD_KEY_E, CMD_ACTIVE_RISING_EDGE},
.key_map[CMD_BEHAVIOR_OPENCOVER] = {CMD_KEY_F, CMD_ACTIVE_RISING_EDGE},
.key_map[CMD_BEHAVIOR_REVTRIG] = {CMD_KEY_R, CMD_ACTIVE_RISING_EDGE},
.key_map[CMD_BEHAVIOR_ROTOR] = {CMD_KEY_G, CMD_ACTIVE_PRESSED},
.key_map[CMD_BEHAVIOR_GIMBAL_MODE] = {CMD_KEY_V, CMD_ACTIVE_RISING_EDGE},
.sensitivity = {
.mouse_sens = 0.8f,
.move_sens = 1.0f,
.move_fast_mult = 1.5f,
.move_slow_mult = 0.5f,
},
.pc.sensitivity={
.move_sense=0.1f,
.sens_mouse=3.0f,
.move_fast_sense=2.4f,
.move_slow_sense=0.8f
.rc_mode_map = {
.sw_left_up = CHASSIS_MODE_BREAK,
.sw_left_mid = CHASSIS_MODE_FOLLOW_GIMBAL,
.sw_left_down = CHASSIS_MODE_ROTOR,
.gimbal_sw_up = GIMBAL_MODE_ABSOLUTE,
.gimbal_sw_mid = GIMBAL_MODE_ABSOLUTE,
.gimbal_sw_down = GIMBAL_MODE_RELATIVE,
},
},
};
power_model_t cha=

4
User/module/config.h
View File

@ -16,14 +16,14 @@ extern "C" {
#include "module/gimbal.h"
#include "module/chassis.h"
#include "module/track.h"
#include "module/cmd.h"
#include "module/cmd_v2/cmd.h"
#include "component/PowerControl.h"
typedef struct {
Shoot_Params_t shoot_param;
Gimbal_Params_t gimbal_param;
Chassis_Params_t chassis_param;
Track_Params_t track_param;
CMD_Params_t cmd_param;
CMD_Config_t cmd_param;
} Config_RobotParam_t;
extern power_model_t cha;

29
User/task/cmd.c
View File

@ -12,7 +12,7 @@
#include "module/chassis.h"
#include "module/gimbal.h"
#include "module/shoot.h"
#include "module/cmd.h"
#include "module/cmd_v2/cmd.h"
//#define DEAD_AREA 0.05f
/* USER INCLUDE END */
@ -26,11 +26,11 @@ DR16_t cmd_dr16;
#elif CMD_RCTypeTable_Index == 1
AT9S_t cmd_at9s;
#endif
Shoot_CMD_t cmd_for_shoot;
Chassis_CMD_t cmd_for_chassis;
Gimbal_CMD_t cmd_for_gimbal;
Shoot_CMD_t *cmd_for_shoot;
Chassis_CMD_t *cmd_for_chassis;
Gimbal_CMD_t *cmd_for_gimbal;
CMD_t cmd;
static CMD_t cmd;
/* USER STRUCT END */
/* Private function --------------------------------------------------------- */
@ -46,7 +46,7 @@ void Task_cmd(void *argument) {
uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
/* USER CODE INIT BEGIN */
Cmd_Init(&cmd, &Config_GetRobotParam()->cmd_param);
CMD_Init(&cmd, &Config_GetRobotParam()->cmd_param);
/* USER CODE INIT END */
while (1) {
@ -57,17 +57,18 @@ void Task_cmd(void *argument) {
#elif CMD_RCTypeTable_Index == 1
osMessageQueueGet(task_runtime.msgq.cmd.rc, &cmd_at9s, NULL, 0);
#endif
Cmd_Get(&cmd,cmd_dr16);
Cmd_GenerateCommand(&cmd);
cmd_for_shoot=cmd.output.shoot.cmd;
cmd_for_chassis=cmd.output.chassis.cmd;
cmd_for_gimbal=cmd.output.gimbal.cmd;
CMD_Update(&cmd);
/* 获取命令发送到各模块 */
cmd_for_chassis = CMD_GetChassisCmd(&cmd);
cmd_for_gimbal = CMD_GetGimbalCmd(&cmd);
cmd_for_shoot = CMD_GetShootCmd(&cmd);
osMessageQueueReset(task_runtime.msgq.gimbal.cmd);
osMessageQueuePut(task_runtime.msgq.gimbal.cmd, &cmd_for_gimbal, 0, 0);
osMessageQueuePut(task_runtime.msgq.gimbal.cmd, cmd_for_gimbal, 0, 0);
osMessageQueueReset(task_runtime.msgq.shoot.cmd);
osMessageQueuePut(task_runtime.msgq.shoot.cmd, &cmd_for_shoot, 0, 0);
osMessageQueuePut(task_runtime.msgq.shoot.cmd, cmd_for_shoot, 0, 0);
osMessageQueueReset(task_runtime.msgq.chassis.cmd);
osMessageQueuePut(task_runtime.msgq.chassis.cmd, &cmd_for_chassis, 0, 0);
osMessageQueuePut(task_runtime.msgq.chassis.cmd, cmd_for_chassis, 0, 0);
/* USER CODE END */
osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
}

24
ozone/hero.jdebug
View File

@ -5,7 +5,7 @@
**********************************************************************
File :
Created : 02. Nov 2025 13:12
Created : 16. Dec 2025 21:10
Ozone Version : V3.40b
*/
@ -32,7 +32,6 @@ void OnProjectLoad (void) {
//
// User settings
//
Edit.SysVar (VAR_HSS_SPEED, "200 Hz");
File.Open ("D:/CUBEMX/hero/god-yuan-hero/build/Debug/hero.elf");
}
@ -338,8 +337,25 @@ void AfterTargetDownload (void) {
**********************************************************************
*/
void _SetupTarget(void) {
unsigned int SP;
unsigned int PC;
unsigned int VectorTableAddr;
VectorTableAddr = Elf.GetBaseAddr();
//
// this function is intentionally empty because both inital PC and
// initial SP were chosen not to be set
// Set up initial stack pointer
//
SP = Target.ReadU32(VectorTableAddr);
if (SP != 0xFFFFFFFF) {
Target.SetReg("SP", SP);
}
//
// Set up entry point PC
//
PC = Elf.GetEntryPointPC();
if (PC != 0xFFFFFFFF) {
Target.SetReg("PC", PC);
} else {
Util.Error("Project script error: failed to set up entry point PC", 1);
}
}

108
ozone/hero.jdebug.user
View File

@ -1,78 +1,56 @@
Breakpoint=D:/CUBEMX/hero/god-yuan-hero/User/module/shoot.c:367:7, State=BP_STATE_DISABLED
GraphedExpression="(((shoot).feedback).fric[0]).rotor_speed", Color=#e56a6f
GraphedExpression="(((shoot).feedback).fric[1]).rotor_speed", Color=#35792b
GraphedExpression="(((shoot).feedback).fric[2]).rotor_speed", Color=#769dda
GraphedExpression="(((shoot).feedback).fric[3]).rotor_speed", Color=#b14f0d
GraphedExpression="(((shoot).feedback).fric[4]).rotor_speed", Color=#b3c38e
GraphedExpression="(((shoot).feedback).fric[5]).rotor_speed", Color=#ab7b05
GraphedExpression="(shoot).errtosee", Color=#7fd3b7, Show=0
OpenDocument="memcpy.c", FilePath="/build/gnu-tools-for-stm32_13.3.rel1.20250523-0900/src/newlib/newlib/libc/string/memcpy.c", Line=0
OpenDocument="can.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/bsp/can.c", Line=69
OpenDocument="tasks.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/Middlewares/Third_Party/FreeRTOS/Source/tasks.c", Line=3419
OpenDocument="device.h", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/device/device.h", Line=5
OpenDocument="cmd.h", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/module/cmd.h", Line=60
OpenDocument="cmd.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/module/cmd.c", Line=416
OpenDocument="cmd.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/task/cmd.c", Line=0
OpenDocument="pid.h", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/component/pid.h", Line=53
Breakpoint=D:/CUBEMX/hero/god-yuan-hero/User/module/cmd_v2/cmd_adapter.c:32, State=BP_STATE_DISABLED
Breakpoint=D:/CUBEMX/hero/god-yuan-hero/User/module/cmd_v2/cmd.c:249:16, State=BP_STATE_DISABLED
GraphedExpression="(cmd).active_source", DisplayFormat=DISPLAY_FORMAT_DEC, Color=#e56a6f
GraphedExpression="(((cmd).output).chassis).source", DisplayFormat=DISPLAY_FORMAT_DEC, Color=#35792b
GraphedExpression="((((cmd).input).pc).keyboard).bitmap", DisplayFormat=DISPLAY_FORMAT_DEC, Color=#769dda, Show=0
GraphedExpression="((dr16).raw_data).key", DisplayFormat=DISPLAY_FORMAT_DEC, Color=#b14f0d, Show=0
OpenDocument="stm32f4xx_hal_can.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c", Line=1614
OpenDocument="startup_stm32f407xx.s", FilePath="D:/CUBEMX/hero/god-yuan-hero/startup_stm32f407xx.s", Line=48
OpenDocument="motor_dm.h", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/device/motor_dm.h", Line=45
OpenDocument="can.h", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/bsp/can.h", Line=0
OpenDocument="shoot.h", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/module/shoot.h", Line=78
OpenDocument="ctrl_gimbal.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/task/ctrl_gimbal.c", Line=11
OpenDocument="main.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/Core/Src/main.c", Line=60
OpenDocument="rc.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/task/rc.c", Line=0
OpenDocument="shoot.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/module/shoot.c", Line=346
OpenDocument="config.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/module/config.c", Line=0
OpenDocument="config.h", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/module/config.h", Line=0
OpenDocument="chassis.h", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/module/chassis.h", Line=133
OpenDocument="stm32f4xx_hal_dma.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c", Line=710
OpenDocument="stm32f4xx_hal_can.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c", Line=1994
OpenDocument="stm32f4xx_hal_msp.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/Core/Src/stm32f4xx_hal_msp.c", Line=28
OpenDocument="usart.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/Core/Src/usart.c", Line=179
OpenDocument="ctrl_chassis.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/task/ctrl_chassis.c", Line=6
OpenDocument="gimbal.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/module/gimbal.c", Line=0
OpenDocument="memcpy.c", FilePath="/build/gnu-tools-for-stm32_13.3.rel1.20250523-0900/src/newlib/newlib/libc/string/memcpy.c", Line=0
OpenDocument="dma.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/Core/Src/dma.c", Line=21
OpenDocument="ctrl_shoot.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/task/ctrl_shoot.c", Line=2
OpenDocument="user_task.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/task/user_task.c", Line=0
OpenDocument="stm32f4xx_it.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/Core/Src/stm32f4xx_it.c", Line=83
OpenDocument="pid.h", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/component/pid.h", Line=60
OpenDocument="can.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/bsp/can.c", Line=60
OpenDocument="cmsis_os2.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c", Line=382
OpenDocument="time.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/bsp/time.c", Line=18
OpenDocument="tasks.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/Middlewares/Third_Party/FreeRTOS/Source/tasks.c", Line=3419
OpenDocument="queue.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/Middlewares/Third_Party/FreeRTOS/Source/queue.c", Line=1425
OpenDocument="cmd_adapter.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/module/cmd_v2/cmd_adapter.c", Line=88
OpenDocument="cmd.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/module/cmd_v2/cmd.c", Line=81
OpenDocument="cmd_behavior.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/module/cmd_v2/cmd_behavior.c", Line=43
OpenDocument="cmd.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/task/cmd.c", Line=28
OpenDocument="rc.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/task/rc.c", Line=0
OpenDocument="main.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/Core/Src/main.c", Line=60
OpenToolbar="Debug", Floating=0, x=0, y=0
OpenWindow="Registers 1", DockArea=RIGHT, x=0, y=1, w=726, h=515, TabPos=2, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, FilteredItems=[], RefreshRate=1
OpenWindow="Registers 1", DockArea=RIGHT, x=0, y=1, w=726, h=509, TabPos=1, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, FilteredItems=[], RefreshRate=1
OpenWindow="Source Files", DockArea=LEFT, x=0, y=0, w=301, h=919, TabPos=0, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
OpenWindow="Disassembly", DockArea=RIGHT, x=0, y=0, w=726, h=403, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
OpenWindow="Watched Data 1", DockArea=RIGHT, x=0, y=1, w=726, h=515, TabPos=1, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
OpenWindow="Disassembly", DockArea=RIGHT, x=0, y=0, w=726, h=409, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
OpenWindow="Watched Data 1", DockArea=RIGHT, x=0, y=1, w=726, h=509, TabPos=0, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
OpenWindow="Functions", DockArea=LEFT, x=0, y=0, w=301, h=919, TabPos=1, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
OpenWindow="Data Sampling", DockArea=BOTTOM, x=1, y=0, w=291, h=536, TabPos=0, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VisibleTab=0, UniformSampleSpacing=0
OpenWindow="Timeline", DockArea=BOTTOM, x=0, y=0, w=2268, h=555, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=1, DataPaneShown=1, PowerPaneShown=0, CodePaneShown=0, PinCursor="Cursor Movable", TimePerDiv="500 ms / Div", TimeStampFormat="Time", DataGraphDrawAsPoints=0, DataGraphLegendShown=1, DataGraphUniformSampleSpacing=0, DataGraphLegendPosition="34;98", DataGraphShowNamesAtCursor=0, PowerGraphDrawAsPoints=0, PowerGraphLegendShown=0, PowerGraphAvgFilterTime=Off, PowerGraphAvgFilterLen=Off, PowerGraphUniformSampleSpacing=0, PowerGraphLegendPosition="1266;0", CodeGraphLegendShown=0, CodeGraphLegendPosition="1282;0"
OpenWindow="Console", DockArea=BOTTOM, x=1, y=0, w=291, h=536, TabPos=1, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
OpenWindow="Watched Data 2", DockArea=RIGHT, x=0, y=1, w=726, h=515, TabPos=0, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
OpenWindow="Data Sampling", DockArea=BOTTOM, x=1, y=0, w=984, h=536, TabPos=0, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VisibleTab=0, UniformSampleSpacing=0
OpenWindow="Timeline", DockArea=BOTTOM, x=0, y=0, w=1575, h=555, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=1, DataPaneShown=1, PowerPaneShown=0, CodePaneShown=0, PinCursor="Cursor Movable", TimePerDiv="1 s / Div", TimeStampFormat="Time", DataGraphDrawAsPoints=0, DataGraphLegendShown=1, DataGraphUniformSampleSpacing=0, DataGraphLegendPosition="91;96", DataGraphShowNamesAtCursor=0, PowerGraphDrawAsPoints=0, PowerGraphLegendShown=0, PowerGraphAvgFilterTime=Off, PowerGraphAvgFilterLen=Off, PowerGraphUniformSampleSpacing=0, PowerGraphLegendPosition="1630;0", CodeGraphLegendShown=0, CodeGraphLegendPosition="1581;0"
OpenWindow="Console", DockArea=BOTTOM, x=1, y=0, w=984, h=536, TabPos=1, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
SmartViewPlugin="", Page="", Toolbar="Hidden", Window="SmartView 1"
TableHeader="Watched Data 2", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Value";"Location";"Refresh"], ColWidths=[170;352;100;104]
TableHeader="Watched Data 1", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Value";"Location";"Refresh"], ColWidths=[250;282;91;100]
TableHeader="Registers 1", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Description"], ColWidths=[120;144;462]
TableHeader="Functions", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Address";"Size";"#Insts";"Source"], ColWidths=[1594;104;100;100;100]
TableHeader="Power Sampling", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time";"Ch 0"], ColWidths=[100;100;100]
TableHeader="RegisterSelectionDialog", SortCol="None", SortOrder="ASCENDING", VisibleCols=[], ColWidths=[]
TableHeader="Registers 1", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Description"], ColWidths=[120;144;294]
TableHeader="Functions", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Address";"Size";"#Insts";"Source"], ColWidths=[1594;104;100;100;798]
TableHeader="Source Files", SortCol="File", SortOrder="ASCENDING", VisibleCols=["File";"Status";"Size";"#Insts";"Path"], ColWidths=[215;100;100;100;1014]
TableHeader="Data Sampling Table", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time";" (((shoot).feedback).fric[0]).rotor_speed";" (((shoot).feedback).fric[1]).rotor_speed";" (((shoot).feedback).fric[2]).rotor_speed";" (((shoot).feedback).fric[3]).rotor_speed";" (((shoot).feedback).fric[4]).rotor_speed";" (((shoot).feedback).fric[5]).rotor_speed";" (shoot).errtosee"], ColWidths=[100;100;100;100;100;100;100;100;100]
TableHeader="Data Sampling Setup", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Type";"Value";"Min";"Max";"Average";"# Changes";"Min. Change";"Max. Change"], ColWidths=[118;100;100;100;100;124;110;126;126]
TableHeader="Data Sampling Table", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time";" (cmd).active_source";" (((cmd).output).chassis).source";" ((((cmd).input).pc).keyboard).bitmap";" ((dr16).raw_data).key"], ColWidths=[100;100;100;100;100;100]
TableHeader="Data Sampling Setup", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Type";"Value";"Min";"Max";"Average";"# Changes";"Min. Change";"Max. Change"], ColWidths=[118;234;100;100;100;124;110;144;126]
TableHeader="Power Sampling", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time";"Ch 0"], ColWidths=[100;100;100]
TableHeader="Watched Data 1", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Value";"Location";"Refresh"], ColWidths=[250;282;91;100]
TableHeader="RegisterSelectionDialog", SortCol="None", SortOrder="ASCENDING", VisibleCols=[], ColWidths=[]
TableHeader="TargetExceptionDialog", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Address";"Description"], ColWidths=[200;100;100;366]
WatchedExpression="0x20008DD8", Window=Watched Data 1
WatchedExpression="cmd", RefreshRate=5, Window=Watched Data 1
WatchedExpression="robot_config", RefreshRate=5, Window=Watched Data 1
WatchedExpression="shoot", RefreshRate=5, Window=Watched Data 1
WatchedExpression="at9s", RefreshRate=5, Window=Watched Data 1
WatchedExpression="dr16", RefreshRate=5, Window=Watched Data 1
WatchedExpression="shoot_cmd", RefreshRate=5, Window=Watched Data 1
WatchedExpression="chassis", RefreshRate=5, Window=Watched Data 1
WatchedExpression="chassis_cmd", RefreshRate=5, Window=Watched Data 1
WatchedExpression="gimbal_cmd", RefreshRate=5, Window=Watched Data 1
WatchedExpression="gimbal", RefreshRate=5, Window=Watched Data 1
WatchedExpression="at9s_out", RefreshRate=5, Window=Watched Data 1
WatchedExpression="cmd_dr16", RefreshRate=5, Window=Watched Data 1
WatchedExpression="rc_buffer", RefreshRate=5, Window=Watched Data 1
WatchedExpression="cmd", RefreshRate=5, Window=Watched Data 2
WatchedExpression="cmd_dr16", Window=Watched Data 2
WatchedExpression="dr16", RefreshRate=5, Window=Watched Data 2
WatchedExpression="gimbal", RefreshRate=5, Window=Watched Data 2
WatchedExpression="cmd", RefreshRate=5, Window=Watched Data 1
WatchedExpression="g_adapters", RefreshRate=5, Window=Watched Data 1
WatchedExpression="cmd_for_chassis", RefreshRate=5, Window=Watched Data 1
WatchedExpression="shoot_cmd", RefreshRate=5, Window=Watched Data 1
WatchedExpression="cmd_for_gimbal", RefreshRate=5, Window=Watched Data 1
WatchedExpression="last_shift", Window=Watched Data 1
WatchedExpression="now_shift", Window=Watched Data 1
WatchedExpression="last_v", Window=Watched Data 1
WatchedExpression="now_v", Window=Watched Data 1