CMakeLists.txt

@@ -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
-    ${SINGLE_CHAR_FILES}
+    User/module/cmd.c
     # User/task sources
     User/task/atti_esti.c
     User/task/blink.c

User/device/dr16.h

@@ -88,8 +88,9 @@ typedef struct{
     bool r_click; /* 右键 */
   } mouse;        /* 鼠标值 */
 
-  struct {
+  union {
     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 {

User/device/vt13.h

@@ -100,8 +100,9 @@ typedef struct {
     bool r_click; /* 右键 */
   } mouse;        /* 鼠标值 */
 
-  struct {
+  union {
     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 */

User/module/cmd.c

@@ -0,0 +1,703 @@
+/*
+  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;
+}

User/module/cmd.h

@@ -0,0 +1,236 @@
+/*
+  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

User/module/cmd_v2/cmd.c

@@ -11,145 +11,164 @@
 /* ========================================================================== */
 
 /* 从RC输入生成底盘命令 */
-static void CMD_RC_BuildChassisCmd(CMD_t *ctx) {
+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 (ctx->input.rc.sw[0]) {
+    switch (input->sw[0]) {
         case CMD_SW_UP:
-            ctx->output.chassis.cmd.mode = map->sw_left_up;
+            ctx->chassis.cmd.mode = map->sw_left_up;
             break;
         case CMD_SW_MID:
-            ctx->output.chassis.cmd.mode = map->sw_left_mid;
+            ctx->chassis.cmd.mode = map->sw_left_mid;
             break;
         case CMD_SW_DOWN:
-            ctx->output.chassis.cmd.mode = map->sw_left_down;
+            ctx->chassis.cmd.mode = map->sw_left_down;
             break;
         default:
-            ctx->output.chassis.cmd.mode = CHASSIS_MODE_RELAX;
+            ctx->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->chassis.cmd.ctrl_vec.vx = input->joy_right.x;
-    ctx->output.chassis.cmd.ctrl_vec.vy = ctx->input.rc.joy_right.y;
+    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_t *ctx) {
+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 (ctx->input.rc.sw[0]) {
+    switch (input->sw[0]) {
         case CMD_SW_UP:
-            ctx->output.gimbal.cmd.mode = map->gimbal_sw_up;
+            ctx->gimbal.cmd.mode = map->gimbal_sw_up;
             break;
         case CMD_SW_MID:
-            ctx->output.gimbal.cmd.mode = map->gimbal_sw_mid;
+            ctx->gimbal.cmd.mode = map->gimbal_sw_mid;
             break;
         case CMD_SW_DOWN:
-            ctx->output.gimbal.cmd.mode = map->gimbal_sw_down;
+            ctx->gimbal.cmd.mode = map->gimbal_sw_down;
             break;
         default:
-            ctx->output.gimbal.cmd.mode = GIMBAL_MODE_RELAX;
+            ctx->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->gimbal.cmd.delta_yaw = -input->joy_left.x * 2.0f;
-    ctx->output.gimbal.cmd.delta_pit = -ctx->input.rc.joy_left.y * 1.5f;
+    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_t *ctx) {
+static void CMD_RC_BuildShootCmd(CMD_Context_t *ctx, const CMD_RawInput_t *input) {
-    if (ctx->input.online[CMD_SRC_RC]) {
+    if (input->online) {
-        ctx->output.shoot.cmd.mode = SHOOT_MODE_SINGLE;
+        ctx->shoot.cmd.mode = SHOOT_MODE_SINGLE;
     } else {
-        ctx->output.shoot.cmd.mode = SHOOT_MODE_SAFE;
+        ctx->shoot.cmd.mode = SHOOT_MODE_SAFE;
     }
     
     /* 根据右拨杆控制射击 */
-    switch (ctx->input.rc.sw[1]) {
+    switch (input->sw[1]) {
         case CMD_SW_DOWN:
-            ctx->output.shoot.cmd.ready = true;
+            ctx->shoot.cmd.ready = true;
-            ctx->output.shoot.cmd.firecmd = true;
+            ctx->shoot.cmd.firecmd = true;
             break;
         case CMD_SW_MID:
-            ctx->output.shoot.cmd.ready = true;
+            ctx->shoot.cmd.ready = true;
-            ctx->output.shoot.cmd.firecmd = false;
+            ctx->shoot.cmd.firecmd = false;
             break;
         case CMD_SW_UP:
         default:
-            ctx->output.shoot.cmd.ready = false;
+            ctx->shoot.cmd.ready = false;
-            ctx->output.shoot.cmd.firecmd = false;
+            ctx->shoot.cmd.firecmd = false;
             break;
     }
 }
 
 /* 从PC输入生成底盘命令 */
-static void CMD_PC_BuildChassisCmd(CMD_t *ctx) {
+static void CMD_PC_BuildChassisCmd(CMD_Context_t *ctx, const CMD_RawInput_t *input) {
+    CMD_Sensitivity_t *sens = &ctx->config->sensitivity;
     
-    if (!ctx->input.online[CMD_SRC_PC]) {
+    if (!input->online) {
-        ctx->output.chassis.cmd.mode = CHASSIS_MODE_RELAX;
+        ctx->chassis.cmd.mode = CHASSIS_MODE_RELAX;
         return;
     }
     
-    ctx->output.chassis.cmd.mode = CHASSIS_MODE_FOLLOW_GIMBAL;
+    ctx->chassis.cmd.mode = CHASSIS_MODE_FOLLOW_GIMBAL;
     
     /* WASD控制移动 */
-    ctx->output.chassis.cmd.ctrl_vec.vx = 0.0f;
+    ctx->chassis.cmd.ctrl_vec.vx = 0.0f;
-    ctx->output.chassis.cmd.ctrl_vec.vy = 0.0f;
+    ctx->chassis.cmd.ctrl_vec.vy = 0.0f;
-    CMD_Behavior_ProcessAll(ctx, &ctx->input, &ctx->last_input, CMD_MODULE_CHASSIS);
+    
+    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_t *ctx) {
+static void CMD_PC_BuildGimbalCmd(CMD_Context_t *ctx, const CMD_RawInput_t *input) {
     CMD_Sensitivity_t *sens = &ctx->config->sensitivity;
     
-    if (!ctx->input.online[CMD_SRC_PC]) {
+    if (!input->online) {
-        ctx->output.gimbal.cmd.mode = GIMBAL_MODE_RELAX;
+        ctx->gimbal.cmd.mode = GIMBAL_MODE_RELAX;
         return;
     }
     
-    ctx->output.gimbal.cmd.mode = GIMBAL_MODE_ABSOLUTE;
+    ctx->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->gimbal.cmd.delta_yaw = (float)-input->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;
+    ctx->gimbal.cmd.delta_pit = (float)input->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) {
+static void CMD_PC_BuildShootCmd(CMD_Context_t *ctx, const CMD_RawInput_t *input) {
-    if (!ctx->input.online[CMD_SRC_PC]) {
+    if (!input->online) {
-        ctx->output.shoot.cmd.mode = SHOOT_MODE_SAFE;
+        ctx->shoot.cmd.mode = SHOOT_MODE_SAFE;
         return;
     }
     
-    ctx->output.shoot.cmd.ready = true;
+    ctx->shoot.cmd.ready = true;
-    ctx->output.shoot.cmd.firecmd = ctx->input.pc.mouse.l_click;
+    ctx->shoot.cmd.firecmd = input->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) {
+static void CMD_SetOfflineMode(CMD_Context_t *ctx) {
-    ctx->output.chassis.cmd.mode = CHASSIS_MODE_RELAX;
+    ctx->chassis.cmd.mode = CHASSIS_MODE_RELAX;
-    ctx->output.gimbal.cmd.mode = GIMBAL_MODE_RELAX;
+    ctx->gimbal.cmd.mode = GIMBAL_MODE_RELAX;
-    ctx->output.shoot.cmd.mode = SHOOT_MODE_SAFE;
+    ctx->shoot.cmd.mode = SHOOT_MODE_SAFE;
 }
 
 /* ========================================================================== */
 /*                           公开API实现                                        */
 /* ========================================================================== */
 
-int8_t CMD_Init(CMD_t *ctx, CMD_Config_t *config) {
+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_t));
+    memset(ctx, 0, sizeof(CMD_Context_t));
     ctx->config = config;
     
     /* 初始化适配器 */
@@ -161,118 +180,109 @@ int8_t CMD_Init(CMD_t *ctx, CMD_Config_t *config) {
     return CMD_OK;
 }
 
-int8_t CMD_UpdateInput(CMD_t *ctx) {
+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));
+    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);
+        CMD_Adapter_GetInput((CMD_InputSource_t)i, &ctx->input[i]);
     }
     
     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] = {
+int8_t CMD_Arbitrate(CMD_Context_t *ctx) {
-  {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 */
+    /* 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.online[ctx->active_source]) {
+        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.online[src]) {
+        if (ctx->input[src].online) {
             ctx->active_source = src;
-            break;
-        }else {
-            ctx->active_source = CMD_SRC_NUM;
-            continue;
         }
     }
-    ctx->output.chassis.source = ctx->active_source;
+    ctx->chassis.source = ctx->active_source;
-    ctx->output.gimbal.source = ctx->active_source;
+    ctx->gimbal.source = ctx->active_source;
-    ctx->output.shoot.source = ctx->active_source;
+    ctx->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;
+
+
+
+    /* 没有可用输入源 */
+    ctx->active_source = CMD_SRC_NUM;
+    return CMD_OK;
 }
 
-int8_t CMD_GenerateCommands(CMD_t *ctx) {
+int8_t CMD_GenerateCommands(CMD_Context_t *ctx) {
-  if (ctx == NULL) {
+    if (ctx == NULL) {
-      return CMD_ERR_NULL;
+        return CMD_ERR_NULL;
-  }
+    }
     
-  /* 更新时间 */
+    /* 更新时间 */
-  uint64_t now_us = BSP_TIME_Get_us();
+    uint64_t now_us = BSP_TIME_Get_us();
-  ctx->timer.now = now_us / 1000000.0f;
+    ctx->timer.now = now_us / 1000000.0f;
-  ctx->timer.dt = (now_us - ctx->timer.last_us) / 1000000.0f;
+    ctx->timer.dt = (now_us - ctx->timer.last_us) / 1000000.0f;
-  ctx->timer.last_us = now_us;
+    ctx->timer.last_us = now_us;
     
-  /* 没有有效输入源 */
+    /* 没有有效输入源 */
-  if (ctx->active_source >= CMD_SRC_NUM) {
+    if (ctx->active_source >= CMD_SRC_NUM) {
-      CMD_SetOfflineMode(ctx);
+        CMD_SetOfflineMode(ctx);
-      return CMD_ERR_NO_INPUT;
+        return CMD_ERR_NO_INPUT;
-  }
+    }
     
-  sourceHandlers[ctx->output.gimbal.source].gimbalFunc(ctx);
+    const CMD_RawInput_t *active_input = &ctx->input[ctx->active_source];
-  sourceHandlers[ctx->output.chassis.source].chassisFunc(ctx);
+    const CMD_RawInput_t *last_input = &ctx->last_input[ctx->active_source];
-  sourceHandlers[ctx->output.shoot.source].shootFunc(ctx);
+    
-  return CMD_OK;
+    /* 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_t *ctx) {
+int8_t CMD_Update(CMD_Context_t *ctx) {
     int8_t ret;
     
     ret = CMD_UpdateInput(ctx);

User/module/cmd_v2/cmd.h

@@ -74,6 +74,8 @@ typedef struct {
     /* 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;
 
 /* ========================================================================== */
@@ -83,7 +85,7 @@ typedef struct {
 typedef struct {
     float now;
     float dt;
-    uint32_t last_us;
+    uint64_t last_us;
 } CMD_Timer_t;
 
 typedef struct CMD_Context {
@@ -94,19 +96,18 @@ typedef struct CMD_Context {
     CMD_Timer_t timer;
     
     /* 当前帧和上一帧的原始输入 */
-    CMD_RawInput_t input;
+    CMD_RawInput_t input[CMD_SRC_NUM];
-    CMD_RawInput_t last_input;
+    CMD_RawInput_t last_input[CMD_SRC_NUM];
     
     /* 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;
+} CMD_Context_t;
 
 /* ========================================================================== */
 /*                           主API接口                                          */
@@ -118,53 +119,53 @@ typedef struct CMD_Context {
  * @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);
+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_t *ctx);
+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_t *ctx);
+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_t *ctx);
+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_t *ctx);
+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_t *ctx) {
+static inline Chassis_CMD_t* CMD_GetChassisCmd(CMD_Context_t *ctx) {
-    return &ctx->output.chassis.cmd;
+    return &ctx->chassis.cmd;
-  }
+}
 
 /* 获取云台命令 */
-static inline Gimbal_CMD_t* CMD_GetGimbalCmd(CMD_t *ctx) {
+static inline Gimbal_CMD_t* CMD_GetGimbalCmd(CMD_Context_t *ctx) {
-    return &ctx->output.gimbal.cmd;
+    return &ctx->gimbal.cmd;
 }
 
 /* 获取射击命令 */
-static inline Shoot_CMD_t* CMD_GetShootCmd(CMD_t *ctx) {
+static inline Shoot_CMD_t* CMD_GetShootCmd(CMD_Context_t *ctx) {
-    return &ctx->output.shoot.cmd;
+    return &ctx->shoot.cmd;
 }
 
 #ifdef __cplusplus

User/module/cmd_v2/cmd_adapter.c

@@ -7,8 +7,8 @@
 /* ========================================================================== */
 /*                           适配器存储                                         */
 /* ========================================================================== */
-// static CMD_InputAdapter_t *g_adapters[CMD_SRC_NUM] = {0};
+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                                       */
 /* ========================================================================== */
@@ -22,32 +22,32 @@ int8_t CMD_DR16_Init(void *data) {
 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));
+    memset(output, 0, sizeof(CMD_RawInput_t));
     
-    output->online[CMD_SRC_RC] = dr16->header.online;
+    output->online = dr16->header.online;
     
     /* 遥控器摇杆映射 */
-    output->rc.joy_left.x  = dr16->data.rc.ch_l_x;
+    output->joy_left.x  = dr16->data.rc.ch_l_x;
-    output->rc.joy_left.y  = dr16->data.rc.ch_l_y;
+    output->joy_left.y  = dr16->data.rc.ch_l_y;
-    output->rc.joy_right.x = dr16->data.rc.ch_r_x;
+    output->joy_right.x = dr16->data.rc.ch_r_x;
-    output->rc.joy_right.y = dr16->data.rc.ch_r_y;
+    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->rc.sw[0] = CMD_SW_UP;   break;
+        case DR16_SW_UP:   output->sw[0] = CMD_SW_UP;   break;
-        case DR16_SW_MID:  output->rc.sw[0] = CMD_SW_MID;  break;
+        case DR16_SW_MID:  output->sw[0] = CMD_SW_MID;  break;
-        case DR16_SW_DOWN: output->rc.sw[0] = CMD_SW_DOWN; break;
+        case DR16_SW_DOWN: output->sw[0] = CMD_SW_DOWN; break;
-        default:           output->rc.sw[0] = CMD_SW_ERR;  break;
+        default:           output->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_UP:   output->sw[1] = CMD_SW_UP;   break;
-        case DR16_SW_MID:  output->rc.sw[1] = CMD_SW_MID;  break;
+        case DR16_SW_MID:  output->sw[1] = CMD_SW_MID;  break;
-        case DR16_SW_DOWN: output->rc.sw[1] = CMD_SW_DOWN; break;
+        case DR16_SW_DOWN: output->sw[1] = CMD_SW_DOWN; break;
-        default:           output->rc.sw[1] = CMD_SW_ERR;  break;
+        default:           output->sw[1] = CMD_SW_ERR;  break;
     }
     
     /* 拨轮映射 */
-    output->rc.dial = dr16->data.rc.ch_res;
+    output->dial = dr16->data.rc.ch_res;
     
     return CMD_OK;
 }
@@ -55,18 +55,18 @@ int8_t CMD_DR16_RC_GetInput(void *data, CMD_RawInput_t *output) {
 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));
+    memset(output, 0, sizeof(CMD_RawInput_t));
     
-    output->online[CMD_SRC_PC] = dr16->header.online;
+    output->online = dr16->header.online;
     
     /* PC端鼠标映射 */
-    output->pc.mouse.x = dr16->data.pc.mouse.x;
+    output->mouse.x = dr16->data.pc.mouse.x;
-    output->pc.mouse.y = dr16->data.pc.mouse.y;
+    output->mouse.y = dr16->data.pc.mouse.y;
-    output->pc.mouse.l_click = dr16->data.pc.mouse.l_click;
+    output->mouse.l_click = dr16->data.pc.mouse.l_click;
-    output->pc.mouse.r_click = dr16->data.pc.mouse.r_click;
+    output->mouse.r_click = dr16->data.pc.mouse.r_click;
     
     /* 键盘映射 */
-    output->pc.keyboard.bitmap = dr16->raw_data.key;
+    output->keyboard.bitmap = dr16->data.pc.keyboard.value;
     
     return CMD_OK;
 }
@@ -75,10 +75,10 @@ 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_RC, 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)
+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 */
 
@@ -95,9 +95,9 @@ int8_t CMD_AT9S_Init(void *data) {
 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));
+    memset(output, 0, sizeof(CMD_RawInput_t));
     
-    output->online[CMD_SRC_RC] = at9s->header.online;
+    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;
@@ -159,7 +159,8 @@ int8_t CMD_Adapter_GetInput(CMD_InputSource_t source, CMD_RawInput_t *output) {
     
     CMD_InputAdapter_t *adapter = g_adapters[source];
     if (adapter == NULL || adapter->get_input == NULL) {
-        output->online[adapter->source] = false;
+        memset(output, 0, sizeof(CMD_RawInput_t));
+        output->online = false;
         return CMD_ERR_NO_INPUT;
     }
     

User/module/cmd_v2/cmd_behavior.c

@@ -3,7 +3,6 @@
  */
 #include "cmd_behavior.h"
 #include "cmd.h"
-#include "module/gimbal.h"
 #include <string.h>
 
 /* ========================================================================== */
@@ -11,82 +10,69 @@
 /* ========================================================================== */
 
 /* 行为处理函数实现 */
-int8_t CMD_Behavior_Handle_FORE(CMD_t *ctx) {
+int8_t CMD_Behavior_Handle_FORE(CMD_Context_t *ctx) {
-    ctx->output.chassis.cmd.ctrl_vec.vy += ctx->config->sensitivity.move_sens;
+    ctx->chassis.cmd.ctrl_vec.vy += ctx->config->sensitivity.move_sens;
     return CMD_OK;
 }
 
-int8_t CMD_Behavior_Handle_BACK(CMD_t *ctx) {
+int8_t CMD_Behavior_Handle_BACK(CMD_Context_t *ctx) {
-    ctx->output.chassis.cmd.ctrl_vec.vy -= ctx->config->sensitivity.move_sens;
+    ctx->chassis.cmd.ctrl_vec.vy -= ctx->config->sensitivity.move_sens;
     return CMD_OK;
 }
 
-int8_t CMD_Behavior_Handle_LEFT(CMD_t *ctx) {
+int8_t CMD_Behavior_Handle_LEFT(CMD_Context_t *ctx) {
-    ctx->output.chassis.cmd.ctrl_vec.vx -= ctx->config->sensitivity.move_sens;
+    ctx->chassis.cmd.ctrl_vec.vx -= ctx->config->sensitivity.move_sens;
     return CMD_OK;
 }
 
-int8_t CMD_Behavior_Handle_RIGHT(CMD_t *ctx) {
+int8_t CMD_Behavior_Handle_RIGHT(CMD_Context_t *ctx) {
-    ctx->output.chassis.cmd.ctrl_vec.vx += ctx->config->sensitivity.move_sens;
+    ctx->chassis.cmd.ctrl_vec.vx += ctx->config->sensitivity.move_sens;
     return CMD_OK;
 }
 
-int8_t CMD_Behavior_Handle_ACCELERATE(CMD_t *ctx) {
+int8_t CMD_Behavior_Handle_ACCELERATE(CMD_Context_t *ctx) {
-    ctx->output.chassis.cmd.ctrl_vec.vx *= ctx->config->sensitivity.move_fast_mult;
+    ctx->chassis.cmd.ctrl_vec.vx *= ctx->config->sensitivity.move_fast_mult;
-    ctx->output.chassis.cmd.ctrl_vec.vy *= 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_t *ctx) {
+int8_t CMD_Behavior_Handle_DECELERATE(CMD_Context_t *ctx) {
-    ctx->output.chassis.cmd.ctrl_vec.vx *= ctx->config->sensitivity.move_slow_mult;
+    ctx->chassis.cmd.ctrl_vec.vx *= ctx->config->sensitivity.move_slow_mult;
-    ctx->output.chassis.cmd.ctrl_vec.vy *= 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_t *ctx) {
+int8_t CMD_Behavior_Handle_FIRE(CMD_Context_t *ctx) {
-    ctx->output.shoot.cmd.firecmd = true;
+    ctx->shoot.cmd.firecmd = true;
     return CMD_OK;
 }
 
-int8_t CMD_Behavior_Handle_FIRE_MODE(CMD_t *ctx) {
+int8_t CMD_Behavior_Handle_FIRE_MODE(CMD_Context_t *ctx) {
-    ctx->output.shoot.cmd.mode = (ctx->output.shoot.cmd.mode + 1) % SHOOT_MODE_NUM;
+    ctx->shoot.cmd.mode = (ctx->shoot.cmd.mode + 1) % SHOOT_MODE_NUM;
     return CMD_OK;
 }
 
-int8_t CMD_Behavior_Handle_ROTOR(CMD_t *ctx) {
+int8_t CMD_Behavior_Handle_ROTOR(CMD_Context_t *ctx) {
-  ctx->output.chassis.cmd.mode = CHASSIS_MODE_ROTOR;
+    if (ctx->chassis.cmd.mode == CHASSIS_MODE_ROTOR) {
-  ctx->output.chassis.cmd.mode_rotor = ROTOR_MODE_RAND;
+        ctx->chassis.cmd.mode = CHASSIS_MODE_FOLLOW_GIMBAL;
-  ctx->output.gimbal.cmd.mode = GIMBAL_MODE_RELATIVE;
+    } else {
-  return CMD_OK;
+        ctx->chassis.cmd.mode = CHASSIS_MODE_ROTOR;
-}
+        ctx->chassis.cmd.mode_rotor = ROTOR_MODE_RAND;
-
-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;
 }
 
+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]))
+#define BEHAVIOR_CONFIG_COUNT (sizeof(g_behavior_configs) / sizeof(g_behavior_configs[0]))
 
 /* ========================================================================== */
 /*                           API实现                                            */
@@ -104,40 +90,54 @@ bool CMD_Behavior_IsTriggered(const CMD_RawInput_t *current,
         return false;
     }
     
-        bool now_pressed = false;
+    bool now_pressed = false;
-        bool last_pressed = false;
+    bool last_pressed = false;
     
-        // 鼠标特殊按键处理
+    /* 处理特殊按键 */
-        if (config->key == (CMD_KEY_L_CLICK)) {
+    switch (config->key) {
-            now_pressed = current->pc.mouse.l_click;
+        case CMD_KEY_NONE:
-            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_KEY_L_CLICK:
-            case CMD_ACTIVE_PRESSED:
+            now_pressed = current->mouse.l_click;
-                return now_pressed;
+            last_pressed = last ? last->mouse.l_click : false;
-            case CMD_ACTIVE_RISING_EDGE:
+            break;
-                return now_pressed && !last_pressed;
+            
-            case CMD_ACTIVE_FALLING_EDGE:
+        case CMD_KEY_R_CLICK:
-                return !now_pressed && last_pressed;
+            now_pressed = current->mouse.r_click;
-            default:
+            last_pressed = last ? last->mouse.r_click : false;
-                return 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_t *ctx,
+int8_t CMD_Behavior_ProcessAll(CMD_Context_t *ctx,
                                 const CMD_RawInput_t *current,
                                 const CMD_RawInput_t *last,
                                 CMD_ModuleMask_t active_modules) {
@@ -148,7 +148,7 @@ int8_t CMD_Behavior_ProcessAll(CMD_t *ctx,
     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 */
+        /* 检查模块掩码 */
         if ((config->module_mask & active_modules) == 0) {
             continue;
         }

User/module/cmd_v2/cmd_behavior.h

@@ -21,7 +21,7 @@ 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 */
+    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 */

User/module/cmd_v2/cmd_example.c

@@ -11,6 +11,14 @@
 
 /* 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,
@@ -32,10 +40,11 @@ static CMD_Config_t g_cmd_config = {
         .gimbal_sw_down = GIMBAL_MODE_RELATIVE,
     },
     
+    .enable_pc_input = true,
 };
 
 /* CMD上下文 */
-static CMD_t g_cmd_ctx;
+static CMD_Context_t g_cmd_ctx;
 
 /* ========================================================================== */
 /*                           任务示例                                          */
@@ -139,6 +148,6 @@ void Example_CMD_Task(void) {
  * 
  * ### 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
+ * 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

@@ -28,10 +28,10 @@ extern "C" {
  * 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(RC,  0, CMD_RC_AdapterInit,  CMD_RC_GetInput)  \
-    X(PC,  CMD_PC_AdapterInit,  CMD_PC_GetInput)  \
+    X(PC,  1, CMD_PC_AdapterInit,  CMD_PC_GetInput)  \
-    X(NUC, CMD_NUC_AdapterInit, CMD_NUC_GetInput) \
+    X(NUC, 2, CMD_NUC_AdapterInit, CMD_NUC_GetInput) \
-    X(REF, CMD_REF_AdapterInit, CMD_REF_GetInput)
+    X(REF, 3, CMD_REF_AdapterInit, CMD_REF_GetInput)
 
 /* 输出模块配置宏表 */
 #define CMD_OUTPUT_MODULE_TABLE(X) \
@@ -39,17 +39,6 @@ extern "C" {
     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                                  */
 /* ========================================================================== */
@@ -85,10 +74,10 @@ typedef struct {
 
 /* 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_W = 0, CMD_KEY_S, CMD_KEY_A, CMD_KEY_D,
-    CMD_KEY_SHIFT = (1 << 4), CMD_KEY_CTRL = (1 << 5), CMD_KEY_Q = (1 << 6), CMD_KEY_E = (1 << 7),
+    CMD_KEY_SHIFT, CMD_KEY_CTRL, CMD_KEY_Q, CMD_KEY_E,
-    CMD_KEY_R = (1 << 8), CMD_KEY_F = (1 << 9), CMD_KEY_G = (1 << 10), CMD_KEY_Z = (1 << 11),
+    CMD_KEY_R, CMD_KEY_F, CMD_KEY_G, CMD_KEY_Z,
-    CMD_KEY_X = (1 << 12), CMD_KEY_C = (1 << 13), CMD_KEY_V = (1 << 14), CMD_KEY_B = (1 << 15),
+    CMD_KEY_X, CMD_KEY_C, CMD_KEY_V, CMD_KEY_B,
     CMD_KEY_NUM
 } CMD_KeyIndex_t;
 
@@ -97,72 +86,64 @@ 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];
+    bool online;
     
     /* 遥控器部分 */
-    CMD_RawInput_RC_t rc;
+    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_RawInput_PC_t pc;
+    CMD_Mouse_t mouse;
+    CMD_Keyboard_t keyboard;
     
     /* 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_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    = (1 << 0),
+    CMD_MODULE_NONE    = 0,
-    CMD_MODULE_CHASSIS = (1 << 1),
+    CMD_MODULE_CHASSIS = (1 << 0),
-    CMD_MODULE_GIMBAL  = (1 << 2),
+    CMD_MODULE_GIMBAL  = (1 << 1),
-    CMD_MODULE_SHOOT   = (1 << 3),
+    CMD_MODULE_SHOOT   = (1 << 2),
-    CMD_MODULE_ALL     = 0x0E
+    CMD_MODULE_ALL     = 0x07
 } 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(FORE,           CMD_KEY_W,     CMD_ACTIVE_PRESSED,      CMD_MODULE_CHASSIS) \
-  X(BACK,           CMD_KEY_S,     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(LEFT,           CMD_KEY_A,     CMD_ACTIVE_PRESSED,      CMD_MODULE_CHASSIS) \
-  X(RIGHT,          CMD_KEY_D,     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(ACCELERATE,     CMD_KEY_SHIFT, CMD_ACTIVE_PRESSED,      CMD_MODULE_CHASSIS) \
-  X(DECELERATE,     CMD_KEY_CTRL,  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,           CMD_KEY_NONE,  CMD_ACTIVE_PRESSED,      CMD_MODULE_SHOOT)   \
-  X(FIRE_MODE,      CMD_KEY_B,     CMD_ACTIVE_RISING_EDGE,  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(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) \
+    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 */
@@ -172,9 +153,9 @@ typedef enum {
 
 /* 特殊按键值 */
 #define CMD_KEY_NONE      0xFF
-#define CMD_KEY_L_CLICK   (1 << 31)
+#define CMD_KEY_L_CLICK   0xFE
-#define CMD_KEY_R_CLICK   (1 << 30)
+#define CMD_KEY_R_CLICK   0xFD
-#define CMD_KEY_M_CLICK   (1 << 29)
+#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,

User/module/config.c

@@ -6,7 +6,7 @@
 #include "module/config.h"
 #include "bsp/can.h"
 #include "device/motor_dm.h"
-#include "module/cmd_v2/cmd.h"
+#include "module/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_1,
+            .can = BSP_CAN_2,
             .can_id = 0x2,
             .master_id = 0x12,
             .module = MOTOR_DM_J4310,
@@ -363,59 +363,40 @@ 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={
-        .source_priority = {
+        .sourcePriorityConfigs={
             CMD_SRC_RC,
             CMD_SRC_PC,
             CMD_SRC_NUC,
-            CMD_SRC_REF,
+            CMD_SRC_REF
         },
-        .sensitivity = {
+        .pc.map = {                                   /*1<<CMD_KEY_W记录一下不要忘了这个思路  */
-            .mouse_sens = 0.8f,
+            .key_map[CMD_BEHAVIOR_FORE]             = {CMD_KEY_W,       CMD_ACTIVE_PRESSED},
-            .move_sens = 1.0f,
+            .key_map[CMD_BEHAVIOR_BACK]             = {CMD_KEY_S,       CMD_ACTIVE_PRESSED},
-            .move_fast_mult = 1.5f,
+            .key_map[CMD_BEHAVIOR_LEFT]             = {CMD_KEY_A,       CMD_ACTIVE_PRESSED},
-            .move_slow_mult = 0.5f,
+            .key_map[CMD_BEHAVIOR_RIGHT]            = {CMD_KEY_D,       CMD_ACTIVE_PRESSED},
-        },
+            .key_map[CMD_BEHAVIOR_ACCELERATE]       = {CMD_KEY_SHIFT,   CMD_ACTIVE_PRESSED},
-        .rc_mode_map = {
+            .key_map[CMD_BEHAVIOR_DECELEBRATE]      = {CMD_KEY_CTRL,    CMD_ACTIVE_PRESSED},
-            .sw_left_up   = CHASSIS_MODE_BREAK,
+            .key_map[CMD_BEHAVIOR_FIRE]             = {CMD_L_CLICK,     CMD_ACTIVE_PRESSED},
-            .sw_left_mid  = CHASSIS_MODE_FOLLOW_GIMBAL,
+            .key_map[CMD_BEHAVIOR_FIRE_MODE]        = {CMD_R_CLICK,     CMD_ACTIVE_RISING_EDGE},
-            .sw_left_down = CHASSIS_MODE_ROTOR,
+            .key_map[CMD_BEHAVIOR_FOLLOWGIMBAL35]   = {CMD_KEY_E,       CMD_ACTIVE_RISING_EDGE},
-            .gimbal_sw_up   = GIMBAL_MODE_ABSOLUTE,
+            .key_map[CMD_BEHAVIOR_OPENCOVER]        = {CMD_KEY_F,      CMD_ACTIVE_RISING_EDGE},
-            .gimbal_sw_mid  = GIMBAL_MODE_ABSOLUTE,
+            .key_map[CMD_BEHAVIOR_REVTRIG]          = {CMD_KEY_R,       CMD_ACTIVE_RISING_EDGE},
-            .gimbal_sw_down = GIMBAL_MODE_RELATIVE,
+            .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
         },
+
+
     },
 
+    
 };
 
 power_model_t cha=

User/module/config.h

@@ -16,14 +16,14 @@ extern "C" {
 #include "module/gimbal.h"
 #include "module/chassis.h"
 #include "module/track.h"
-#include "module/cmd_v2/cmd.h"
+#include "module/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_Config_t cmd_param;
+    CMD_Params_t cmd_param;
 } Config_RobotParam_t;
 
 extern power_model_t cha;

User/task/cmd.c

@@ -12,7 +12,7 @@
 #include "module/chassis.h"
 #include "module/gimbal.h"
 #include "module/shoot.h"
-#include "module/cmd_v2/cmd.h"
+#include "module/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;
+Shoot_CMD_t cmd_for_shoot;
-Chassis_CMD_t  *cmd_for_chassis;
+Chassis_CMD_t cmd_for_chassis;
-Gimbal_CMD_t   *cmd_for_gimbal;
+Gimbal_CMD_t cmd_for_gimbal;
 
-static CMD_t cmd;
+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) {
@@ -57,18 +57,17 @@ void Task_cmd(void *argument) {
     #elif CMD_RCTypeTable_Index == 1
     osMessageQueueGet(task_runtime.msgq.cmd.rc, &cmd_at9s, NULL, 0);
     #endif
-    CMD_Update(&cmd);
+    Cmd_Get(&cmd,cmd_dr16);
-    
+	Cmd_GenerateCommand(&cmd);
-    /* 获取命令发送到各模块 */
+    cmd_for_shoot=cmd.output.shoot.cmd;
-    cmd_for_chassis = CMD_GetChassisCmd(&cmd);
+    cmd_for_chassis=cmd.output.chassis.cmd;
-    cmd_for_gimbal = CMD_GetGimbalCmd(&cmd);
+    cmd_for_gimbal=cmd.output.gimbal.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 */
   }

ozone/hero.jdebug

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

ozone/hero.jdebug.user

@@ -1,56 +1,78 @@
 
 
 
-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/shoot.c:367:7, State=BP_STATE_DISABLED
-Breakpoint=D:/CUBEMX/hero/god-yuan-hero/User/module/cmd_v2/cmd.c:249:16, State=BP_STATE_DISABLED
+GraphedExpression="(((shoot).feedback).fric[0]).rotor_speed", Color=#e56a6f
-GraphedExpression="(cmd).active_source", DisplayFormat=DISPLAY_FORMAT_DEC, Color=#e56a6f
+GraphedExpression="(((shoot).feedback).fric[1]).rotor_speed", Color=#35792b
-GraphedExpression="(((cmd).output).chassis).source", DisplayFormat=DISPLAY_FORMAT_DEC, Color=#35792b
+GraphedExpression="(((shoot).feedback).fric[2]).rotor_speed", Color=#769dda
-GraphedExpression="((((cmd).input).pc).keyboard).bitmap", DisplayFormat=DISPLAY_FORMAT_DEC, Color=#769dda, Show=0
+GraphedExpression="(((shoot).feedback).fric[3]).rotor_speed", Color=#b14f0d
-GraphedExpression="((dr16).raw_data).key", DisplayFormat=DISPLAY_FORMAT_DEC, Color=#b14f0d, Show=0
+GraphedExpression="(((shoot).feedback).fric[4]).rotor_speed", Color=#b3c38e
-OpenDocument="stm32f4xx_hal_can.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c", Line=1614
+GraphedExpression="(((shoot).feedback).fric[5]).rotor_speed", Color=#ab7b05
-OpenDocument="startup_stm32f407xx.s", FilePath="D:/CUBEMX/hero/god-yuan-hero/startup_stm32f407xx.s", Line=48
+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="dma.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/Core/Src/dma.c", Line=21
+OpenDocument="can.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/bsp/can.c", Line=69
-OpenDocument="ctrl_shoot.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/task/ctrl_shoot.c", Line=2
-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="device.h", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/device/device.h", Line=5
-OpenDocument="cmd_adapter.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/module/cmd_v2/cmd_adapter.c", Line=88
+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_v2/cmd.c", Line=81
+OpenDocument="cmd.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/module/cmd.c", Line=416
-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=0
-OpenDocument="cmd.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/task/cmd.c", Line=28
+OpenDocument="pid.h", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/component/pid.h", Line=53
-OpenDocument="rc.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/task/rc.c", Line=0
+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="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
 OpenToolbar="Debug", Floating=0, x=0, y=0
-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="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="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=409, 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=509, TabPos=0, TopOfStack=1, 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="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=984, h=536, TabPos=0, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VisibleTab=0, UniformSampleSpacing=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=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="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=984, h=536, TabPos=1, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=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
 SmartViewPlugin="", Page="", Toolbar="Hidden", Window="SmartView 1"
-TableHeader="Registers 1", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Description"], ColWidths=[120;144;294]
+TableHeader="Watched Data 2", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Value";"Location";"Refresh"], ColWidths=[170;352;100;104]
-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";" (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="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="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="TargetExceptionDialog", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Address";"Description"], ColWidths=[200;100;100;366]
-WatchedExpression="dr16", RefreshRate=5, Window=Watched Data 1
+WatchedExpression="0x20008DD8", Window=Watched Data 1
-WatchedExpression="cmd_dr16", RefreshRate=5, Window=Watched Data 1
 WatchedExpression="cmd", RefreshRate=5, Window=Watched Data 1
-WatchedExpression="g_adapters", RefreshRate=5, Window=Watched Data 1
+WatchedExpression="robot_config", RefreshRate=5, Window=Watched Data 1
-WatchedExpression="cmd_for_chassis", 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="cmd_for_gimbal", RefreshRate=5, Window=Watched Data 1
+WatchedExpression="chassis", RefreshRate=5, Window=Watched Data 1
-WatchedExpression="last_shift", Window=Watched Data 1
+WatchedExpression="chassis_cmd", RefreshRate=5, Window=Watched Data 1
-WatchedExpression="now_shift", Window=Watched Data 1
+WatchedExpression="gimbal_cmd", RefreshRate=5, Window=Watched Data 1
-WatchedExpression="last_v", Window=Watched Data 1
+WatchedExpression="gimbal", RefreshRate=5, Window=Watched Data 1
-WatchedExpression="now_v", 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