111

MDK-ARM/referee.uvoptx

@@ -892,7 +892,7 @@
 
   <Group>
     <GroupName>component</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -1267,8 +1267,8 @@
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
-      <PathWithFileName>..\User\task\cmd.c</PathWithFileName>
+      <PathWithFileName>..\User\task\gimbal_ctrl.c</PathWithFileName>
-      <FilenameWithoutPath>cmd.c</FilenameWithoutPath>
+      <FilenameWithoutPath>gimbal_ctrl.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
@@ -1279,8 +1279,8 @@
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
-      <PathWithFileName>..\User\task\gimbal_ctrl.c</PathWithFileName>
+      <PathWithFileName>..\User\task\cmd.c</PathWithFileName>
-      <FilenameWithoutPath>gimbal_ctrl.c</FilenameWithoutPath>
+      <FilenameWithoutPath>cmd.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>

MDK-ARM/referee.uvprojx

@@ -982,16 +982,16 @@
               <FileType>1</FileType>
               <FilePath>..\User\task\referee.c</FilePath>
             </File>
-            <File>
-              <FileName>cmd.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\User\task\cmd.c</FilePath>
-            </File>
             <File>
               <FileName>gimbal_ctrl.c</FileName>
               <FileType>1</FileType>
               <FilePath>..\User\task\gimbal_ctrl.c</FilePath>
             </File>
+            <File>
+              <FileName>cmd.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\User\task\cmd.c</FilePath>
+            </File>
             <File>
               <FileName>shoot_ctrl.c</FileName>
               <FileType>1</FileType>

MDK-ARM/referee/referee.build_log.htm

@@ -37,90 +37,14 @@ Note: source file '..\User\task\et16s.c' - object file renamed from 'referee\et1
 Note: source file '..\User\task\referee.c' - object file renamed from 'referee\referee.o' to 'referee\referee_1.o'.
 Note: source file '..\User\task\cmd.c' - object file renamed from 'referee\cmd.o' to 'referee\cmd_1.o'.
 Note: source file '..\User\module\cmd\cmd.c' - object file renamed from 'referee\cmd.o' to 'referee\cmd_1.o'.
-../User/task/init.c(15): warning: In file included from...
+linking...
-../User\device/referee.h(632): error: unknown type name 'CMD_Screen_t'
+referee\referee.axf: Warning: L6304W: Duplicate input file referee\cmd_1.o ignored.
-  const CMD_Screen_t *screen;
+referee\referee.axf: Error: L6218E: Undefined symbol Task_cmd (referred from init.o).
-        ^
+referee\referee.axf: Error: L6218E: Undefined symbol cmd_et16s (referred from cmd_adapter.o).
-../User\device/referee.h(715): error: unknown type name 'CMD_Screen_t'
+Not enough information to list image symbols.
-                    const CMD_Screen_t *screen);
+Not enough information to list load addresses in the image map.
-                          ^
+Finished: 2 information, 1 warning and 2 error messages.
-../User\device/referee.h(728): error: unknown type name 'CMD_UI_t'
+"referee\referee.axf" - 2 Error(s), 1 Warning(s).
-uint8_t Referee_PraseCmd(Referee_UI_t *ref_ui, CMD_UI_t cmd);
-                                               ^
-../User/task/init.c(72): error: use of undeclared identifier 'CMD_UI_t'; did you mean 'CMD_Init'?
-  task_runtime.msgq.cmd.referee =osMessageQueueNew(6u, sizeof(CMD_UI_t), NULL);
-                                                              ^~~~~~~~
-                                                              CMD_Init
-../User\module/cmd/cmd.h(128): note: 'CMD_Init' declared here
-int8_t CMD_Init(CMD_t *ctx, CMD_Config_t *config);
-       ^
-4 errors generated.
-compiling init.c...
-../User/device/referee.c(14): warning: In file included from...
-../User\device\referee.h(632): error: unknown type name 'CMD_Screen_t'
-  const CMD_Screen_t *screen;
-        ^
-../User\device\referee.h(715): error: unknown type name 'CMD_Screen_t'
-                    const CMD_Screen_t *screen);
-                          ^
-../User\device\referee.h(728): error: unknown type name 'CMD_UI_t'
-uint8_t Referee_PraseCmd(Referee_UI_t *ref_ui, CMD_UI_t cmd);
-                                               ^
-../User/device/referee.c(64): error: unknown type name 'CMD_Screen_t'
-                    const CMD_Screen_t *screen) {
-                          ^
-../User/device/referee.c(570): error: unknown type name 'CMD_UI_t'
-uint8_t Referee_PraseCmd(Referee_UI_t *ref_ui, CMD_UI_t cmd) {
-                                               ^
-../User/device/referee.c(573): error: use of undeclared identifier 'UI_NOTHING'
-    case UI_NOTHING:
-         ^
-../User/device/referee.c(590): error: use of undeclared identifier 'UI_AUTO_AIM_START'
-    case UI_AUTO_AIM_START:
-         ^
-../User/device/referee.c(597): error: use of undeclared identifier 'UI_AUTO_AIM_STOP'
-    case UI_AUTO_AIM_STOP:
-         ^
-8 errors generated.
-compiling referee.c...
-compiling cmd_adapter.c...
-../User/module/cmd/cmd.c(118): warning: implicit conversion from enumeration type 'CHASSIS_ATTITUDE_MODE_t' to different enumeration type 'Chassis_Mode_t' [-Wenum-conversion]
-          ctx->output.chassis.cmd.mode = STOP_MODE;
-                                       ~ ^~~~~~~~~
-1 warning generated.
-compiling cmd.c...
-compiling cmd_example.c...
-../User/module/config.c(330): error: field designator 'screen' does not refer to any field in type 'CMD_Config_t'
-                                .screen={
-                                 ^
-1 error generated.
-compiling config.c...
-../User/task/referee.c(9): warning: In file included from...
-../User\device/referee.h(632): error: unknown type name 'CMD_Screen_t'
-  const CMD_Screen_t *screen;
-        ^
-../User\device/referee.h(715): error: unknown type name 'CMD_Screen_t'
-                    const CMD_Screen_t *screen);
-                          ^
-../User\device/referee.h(728): error: unknown type name 'CMD_UI_t'
-uint8_t Referee_PraseCmd(Referee_UI_t *ref_ui, CMD_UI_t cmd);
-                                               ^
-../User/task/referee.c(20): error: unknown type name 'CMD_UI_t'
-CMD_UI_t ref_cmd;
-^
-../User/task/referee.c(54): error: no member named 'screen' in 'CMD_Config_t'
-  Referee_Init(&ref, &ui,&Config_GetRobotParam()->cmd_param.screen);
-                          ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ^
-5 errors generated.
-compiling referee.c...
-compiling cmd_behavior.c...
-../User/module/cmd/cmd.c(118): warning: implicit conversion from enumeration type 'CHASSIS_ATTITUDE_MODE_t' to different enumeration type 'Chassis_Mode_t' [-Wenum-conversion]
-          ctx->output.chassis.cmd.mode = STOP_MODE;
-                                       ~ ^~~~~~~~~
-1 warning generated.
-compiling cmd.c...
-compiling shoot.c...
-"referee\referee.axf" - 18 Error(s), 2 Warning(s).
 
 <h2>Software Packages used:</h2>
 
@@ -145,7 +69,7 @@ Package Vendor: Keil
    * Component: ARM::CMSIS:CORE:5.4.0
       Include file:  CMSIS\Core\Include\tz_context.h
 Target not created.
-Build Time Elapsed:  00:00:03
+Build Time Elapsed:  00:00:02
 </pre>
 </body>
 </html>

MDK-ARM/referee/referee.lnp

@@ -80,8 +80,8 @@
 "referee\vofa_1.o"
 "referee\et16s_1.o"
 "referee\referee_1.o"
-"referee\cmd_1.o"
 "referee\gimbal_ctrl.o"
+"referee\cmd_1.o"
 "referee\shoot_ctrl.o"
 "referee\chassis_ctrl.o"
 "referee\user_task.o"
@@ -90,6 +90,10 @@
 "referee\chassis.o"
 "referee\gimbal.o"
 "referee\shoot.o"
+"referee\cmd_1.o"
+"referee\cmd_adapter.o"
+"referee\cmd_behavior.o"
+"referee\cmd_example.o"
 --strict --scatter "referee\referee.sct"
 --summary_stderr --info summarysizes --map --load_addr_map_info --xref --callgraph --symbols
 --info sizes --info totals --info unused --info veneers

MDK-ARM/referee/referee.map

@@ -4406,24 +4406,6 @@ Section Cross References
     referee_1.o(.text.Task_referee) refers to referee.o(.text.Referee_UIRefresh) for Referee_UIRefresh
     referee_1.o(.text.Task_referee) refers to referee.o(.text.Referee_PraseCmd) for Referee_PraseCmd
     referee_1.o(.ARM.exidx.text.Task_referee) refers to referee_1.o(.text.Task_referee) for [Anonymous Symbol]
-    cmd_1.o(.text.Task_cmd) refers to cmsis_os2.o(.text.osKernelGetTickFreq) for osKernelGetTickFreq
-    cmd_1.o(.text.Task_cmd) refers to dflt_clz.o(x$fpl$dfltu) for __aeabi_ui2d
-    cmd_1.o(.text.Task_cmd) refers to ddiv.o(x$fpl$ddiv) for __aeabi_ddiv
-    cmd_1.o(.text.Task_cmd) refers to dfixu.o(x$fpl$dfixu) for __aeabi_d2uiz
-    cmd_1.o(.text.Task_cmd) refers to cmsis_os2.o(.text.osDelay) for osDelay
-    cmd_1.o(.text.Task_cmd) refers to cmsis_os2.o(.text.osKernelGetTickCount) for osKernelGetTickCount
-    cmd_1.o(.text.Task_cmd) refers to config.o(.text.Config_GetRobotParam) for Config_GetRobotParam
-    cmd_1.o(.text.Task_cmd) refers to cmd_1.o(.bss.cmd) for cmd
-    cmd_1.o(.text.Task_cmd) refers to user_task.o(.bss.task_runtime) for task_runtime
-    cmd_1.o(.text.Task_cmd) refers to cmd_1.o(.bss.cmd_for_chassis) for cmd_for_chassis
-    cmd_1.o(.text.Task_cmd) refers to cmd_1.o(.bss.cmd_for_gimbal) for cmd_for_gimbal
-    cmd_1.o(.text.Task_cmd) refers to cmd_1.o(.bss.cmd_for_shoot) for cmd_for_shoot
-    cmd_1.o(.text.Task_cmd) refers to cmd_1.o(.bss.cmd_et16s) for cmd_et16s
-    cmd_1.o(.text.Task_cmd) refers to cmsis_os2.o(.text.osMessageQueueGet) for osMessageQueueGet
-    cmd_1.o(.text.Task_cmd) refers to cmsis_os2.o(.text.osMessageQueueReset) for osMessageQueueReset
-    cmd_1.o(.text.Task_cmd) refers to cmsis_os2.o(.text.osMessageQueuePut) for osMessageQueuePut
-    cmd_1.o(.text.Task_cmd) refers to cmsis_os2.o(.text.osDelayUntil) for osDelayUntil
-    cmd_1.o(.ARM.exidx.text.Task_cmd) refers to cmd_1.o(.text.Task_cmd) for [Anonymous Symbol]
     gimbal_ctrl.o(.text.Task_gimbal_ctrl) refers to cmsis_os2.o(.text.osKernelGetTickFreq) for osKernelGetTickFreq
     gimbal_ctrl.o(.text.Task_gimbal_ctrl) refers to dflt_clz.o(x$fpl$dfltu) for __aeabi_ui2d
     gimbal_ctrl.o(.text.Task_gimbal_ctrl) refers to ddiv.o(x$fpl$ddiv) for __aeabi_ddiv
@@ -4432,6 +4414,39 @@ Section Cross References
     gimbal_ctrl.o(.text.Task_gimbal_ctrl) refers to cmsis_os2.o(.text.osKernelGetTickCount) for osKernelGetTickCount
     gimbal_ctrl.o(.text.Task_gimbal_ctrl) refers to cmsis_os2.o(.text.osDelayUntil) for osDelayUntil
     gimbal_ctrl.o(.ARM.exidx.text.Task_gimbal_ctrl) refers to gimbal_ctrl.o(.text.Task_gimbal_ctrl) for [Anonymous Symbol]
+    cmd_1.o(.text.CMD_Init) refers to rt_memclr_w.o(.text) for __aeabi_memclr4
+    cmd_1.o(.text.CMD_Init) refers to cmd_adapter.o(.text.CMD_Adapter_InitAll) for CMD_Adapter_InitAll
+    cmd_1.o(.text.CMD_Init) refers to cmd_behavior.o(.text.CMD_Behavior_Init) for CMD_Behavior_Init
+    cmd_1.o(.ARM.exidx.text.CMD_Init) refers to cmd_1.o(.text.CMD_Init) for [Anonymous Symbol]
+    cmd_1.o(.text.CMD_UpdateInput) refers to cmd_adapter.o(.text.CMD_Adapter_GetInput) for CMD_Adapter_GetInput
+    cmd_1.o(.ARM.exidx.text.CMD_UpdateInput) refers to cmd_1.o(.text.CMD_UpdateInput) for [Anonymous Symbol]
+    cmd_1.o(.ARM.exidx.text.CMD_RC_BuildChassisCmd) refers to cmd_1.o(.text.CMD_RC_BuildChassisCmd) for [Anonymous Symbol]
+    cmd_1.o(.ARM.exidx.text.CMD_RC_BuildGimbalCmd) refers to cmd_1.o(.text.CMD_RC_BuildGimbalCmd) for [Anonymous Symbol]
+    cmd_1.o(.ARM.exidx.text.CMD_RC_BuildShootCmd) refers to cmd_1.o(.text.CMD_RC_BuildShootCmd) for [Anonymous Symbol]
+    cmd_1.o(.text.CMD_PC_BuildChassisCmd) refers to cmd_behavior.o(.text.CMD_Behavior_ProcessAll) for CMD_Behavior_ProcessAll
+    cmd_1.o(.ARM.exidx.text.CMD_PC_BuildChassisCmd) refers to cmd_1.o(.text.CMD_PC_BuildChassisCmd) for [Anonymous Symbol]
+    cmd_1.o(.text.CMD_PC_BuildGimbalCmd) refers to cmd_behavior.o(.text.CMD_Behavior_ProcessAll) for CMD_Behavior_ProcessAll
+    cmd_1.o(.ARM.exidx.text.CMD_PC_BuildGimbalCmd) refers to cmd_1.o(.text.CMD_PC_BuildGimbalCmd) for [Anonymous Symbol]
+    cmd_1.o(.text.CMD_PC_BuildShootCmd) refers to cmd_behavior.o(.text.CMD_Behavior_ProcessAll) for CMD_Behavior_ProcessAll
+    cmd_1.o(.ARM.exidx.text.CMD_PC_BuildShootCmd) refers to cmd_1.o(.text.CMD_PC_BuildShootCmd) for [Anonymous Symbol]
+    cmd_1.o(.text.CMD_Arbitrate) refers to cmd_behavior.o(.text.CMD_Behavior_ProcessAll) for CMD_Behavior_ProcessAll
+    cmd_1.o(.ARM.exidx.text.CMD_Arbitrate) refers to cmd_1.o(.text.CMD_Arbitrate) for [Anonymous Symbol]
+    cmd_1.o(.text.CMD_GenerateCommands) refers to time.o(.text.BSP_TIME_Get_us) for BSP_TIME_Get_us
+    cmd_1.o(.text.CMD_GenerateCommands) refers to ffltll_clz.o(x$fpl$ffltll) for __aeabi_ul2f
+    cmd_1.o(.text.CMD_GenerateCommands) refers to cmd_1.o(.text.CMD_SetOfflineMode) for CMD_SetOfflineMode
+    cmd_1.o(.text.CMD_GenerateCommands) refers to cmd_1.o(.data.sourceHandlers) for sourceHandlers
+    cmd_1.o(.ARM.exidx.text.CMD_GenerateCommands) refers to cmd_1.o(.text.CMD_GenerateCommands) for [Anonymous Symbol]
+    cmd_1.o(.ARM.exidx.text.CMD_SetOfflineMode) refers to cmd_1.o(.text.CMD_SetOfflineMode) for [Anonymous Symbol]
+    cmd_1.o(.text.CMD_Update) refers to cmd_1.o(.text.CMD_UpdateInput) for CMD_UpdateInput
+    cmd_1.o(.text.CMD_Update) refers to cmd_1.o(.text.CMD_Arbitrate) for CMD_Arbitrate
+    cmd_1.o(.text.CMD_Update) refers to cmd_1.o(.text.CMD_GenerateCommands) for CMD_GenerateCommands
+    cmd_1.o(.ARM.exidx.text.CMD_Update) refers to cmd_1.o(.text.CMD_Update) for [Anonymous Symbol]
+    cmd_1.o(.data.sourceHandlers) refers to cmd_1.o(.text.CMD_RC_BuildChassisCmd) for CMD_RC_BuildChassisCmd
+    cmd_1.o(.data.sourceHandlers) refers to cmd_1.o(.text.CMD_RC_BuildGimbalCmd) for CMD_RC_BuildGimbalCmd
+    cmd_1.o(.data.sourceHandlers) refers to cmd_1.o(.text.CMD_RC_BuildShootCmd) for CMD_RC_BuildShootCmd
+    cmd_1.o(.data.sourceHandlers) refers to cmd_1.o(.text.CMD_PC_BuildChassisCmd) for CMD_PC_BuildChassisCmd
+    cmd_1.o(.data.sourceHandlers) refers to cmd_1.o(.text.CMD_PC_BuildGimbalCmd) for CMD_PC_BuildGimbalCmd
+    cmd_1.o(.data.sourceHandlers) refers to cmd_1.o(.text.CMD_PC_BuildShootCmd) for CMD_PC_BuildShootCmd
     shoot_ctrl.o(.text.Task_shoot_ctrl) refers to cmsis_os2.o(.text.osKernelGetTickFreq) for osKernelGetTickFreq
     shoot_ctrl.o(.text.Task_shoot_ctrl) refers to dflt_clz.o(x$fpl$dfltu) for __aeabi_ui2d
     shoot_ctrl.o(.text.Task_shoot_ctrl) refers to ddiv.o(x$fpl$ddiv) for __aeabi_ddiv
@@ -4474,7 +4489,6 @@ Section Cross References
     init.o(.text.Task_Init) refers to user_task.o(.rodata.attr_ai) for attr_ai
     init.o(.text.Task_Init) refers to et16s_1.o(.text.Task_et16s) for Task_et16s
     init.o(.text.Task_Init) refers to user_task.o(.rodata.attr_et16s) for attr_et16s
-    init.o(.text.Task_Init) refers to cmd_1.o(.text.Task_cmd) for Task_cmd
     init.o(.text.Task_Init) refers to user_task.o(.rodata.attr_cmd) for attr_cmd
     init.o(.text.Task_Init) refers to shoot_ctrl.o(.text.Task_shoot_ctrl) for Task_shoot_ctrl
     init.o(.text.Task_Init) refers to user_task.o(.rodata.attr_shoot_ctrl) for attr_shoot_ctrl
@@ -4615,6 +4629,53 @@ Section Cross References
     shoot.o(.text.Shoot_Control) refers to shoot.o(.text.Shoot_CaluTargetRPM) for Shoot_CaluTargetRPM
     shoot.o(.text.Shoot_Control) refers to shoot.o(.text.Shoot_JamDetectionFSM) for Shoot_JamDetectionFSM
     shoot.o(.ARM.exidx.text.Shoot_Control) refers to shoot.o(.text.Shoot_Control) for [Anonymous Symbol]
+    cmd_adapter.o(.text.CMD_ET16s_Init) refers to et16s.o(.text.REMOTE_Init) for REMOTE_Init
+    cmd_adapter.o(.ARM.exidx.text.CMD_ET16s_Init) refers to cmd_adapter.o(.text.CMD_ET16s_Init) for [Anonymous Symbol]
+    cmd_adapter.o(.ARM.exidx.text.CMD_ET16s_GetInput) refers to cmd_adapter.o(.text.CMD_ET16s_GetInput) for [Anonymous Symbol]
+    cmd_adapter.o(.ARM.exidx.text.CMD_ET16s_IsOnline) refers to cmd_adapter.o(.text.CMD_ET16s_IsOnline) for [Anonymous Symbol]
+    cmd_adapter.o(.text.CMD_Adapter_Register) refers to cmd_adapter.o(.bss.g_adapters) for g_adapters
+    cmd_adapter.o(.ARM.exidx.text.CMD_Adapter_Register) refers to cmd_adapter.o(.text.CMD_Adapter_Register) for [Anonymous Symbol]
+    cmd_adapter.o(.text.CMD_Adapter_InitAll) refers to cmd_adapter.o(.data.g_adapter_ET16s) for g_adapter_ET16s
+    cmd_adapter.o(.text.CMD_Adapter_InitAll) refers to cmd_adapter.o(.text.CMD_Adapter_Register) for CMD_Adapter_Register
+    cmd_adapter.o(.text.CMD_Adapter_InitAll) refers to cmd_adapter.o(.bss.g_adapters) for g_adapters
+    cmd_adapter.o(.ARM.exidx.text.CMD_Adapter_InitAll) refers to cmd_adapter.o(.text.CMD_Adapter_InitAll) for [Anonymous Symbol]
+    cmd_adapter.o(.text.CMD_Adapter_GetInput) refers to cmd_adapter.o(.bss.g_adapters) for g_adapters
+    cmd_adapter.o(.ARM.exidx.text.CMD_Adapter_GetInput) refers to cmd_adapter.o(.text.CMD_Adapter_GetInput) for [Anonymous Symbol]
+    cmd_adapter.o(.text.CMD_Adapter_IsOnline) refers to cmd_adapter.o(.bss.g_adapters) for g_adapters
+    cmd_adapter.o(.ARM.exidx.text.CMD_Adapter_IsOnline) refers to cmd_adapter.o(.text.CMD_Adapter_IsOnline) for [Anonymous Symbol]
+    cmd_adapter.o(.data.g_adapter_ET16s) refers to cmd_adapter.o(.rodata.str1.1) for [Anonymous Symbol]
+    cmd_adapter.o(.data.g_adapter_ET16s) refers to cmd_adapter.o(.text.CMD_ET16s_Init) for CMD_ET16s_Init
+    cmd_adapter.o(.data.g_adapter_ET16s) refers to cmd_adapter.o(.text.CMD_ET16s_GetInput) for CMD_ET16s_GetInput
+    cmd_adapter.o(.data.g_adapter_ET16s) refers to cmd_adapter.o(.text.CMD_ET16s_IsOnline) for CMD_ET16s_IsOnline
+    cmd_behavior.o(.ARM.exidx.text.CMD_Behavior_Handle_FORE) refers to cmd_behavior.o(.text.CMD_Behavior_Handle_FORE) for [Anonymous Symbol]
+    cmd_behavior.o(.ARM.exidx.text.CMD_Behavior_Handle_BACK) refers to cmd_behavior.o(.text.CMD_Behavior_Handle_BACK) for [Anonymous Symbol]
+    cmd_behavior.o(.ARM.exidx.text.CMD_Behavior_Handle_LEFT) refers to cmd_behavior.o(.text.CMD_Behavior_Handle_LEFT) for [Anonymous Symbol]
+    cmd_behavior.o(.ARM.exidx.text.CMD_Behavior_Handle_RIGHT) refers to cmd_behavior.o(.text.CMD_Behavior_Handle_RIGHT) for [Anonymous Symbol]
+    cmd_behavior.o(.ARM.exidx.text.CMD_Behavior_Handle_ACCELERATE) refers to cmd_behavior.o(.text.CMD_Behavior_Handle_ACCELERATE) for [Anonymous Symbol]
+    cmd_behavior.o(.ARM.exidx.text.CMD_Behavior_Handle_DECELERATE) refers to cmd_behavior.o(.text.CMD_Behavior_Handle_DECELERATE) for [Anonymous Symbol]
+    cmd_behavior.o(.ARM.exidx.text.CMD_Behavior_Handle_FIRE) refers to cmd_behavior.o(.text.CMD_Behavior_Handle_FIRE) for [Anonymous Symbol]
+    cmd_behavior.o(.ARM.exidx.text.CMD_Behavior_Handle_FIRE_MODE) refers to cmd_behavior.o(.text.CMD_Behavior_Handle_FIRE_MODE) for [Anonymous Symbol]
+    cmd_behavior.o(.ARM.exidx.text.CMD_Behavior_Handle_ROTOR) refers to cmd_behavior.o(.text.CMD_Behavior_Handle_ROTOR) for [Anonymous Symbol]
+    cmd_behavior.o(.ARM.exidx.text.CMD_Behavior_Handle_AUTOAIM) refers to cmd_behavior.o(.text.CMD_Behavior_Handle_AUTOAIM) for [Anonymous Symbol]
+    cmd_behavior.o(.ARM.exidx.text.CMD_Behavior_Handle_CHECKSOURCERCPC) refers to cmd_behavior.o(.text.CMD_Behavior_Handle_CHECKSOURCERCPC) for [Anonymous Symbol]
+    cmd_behavior.o(.ARM.exidx.text.CMD_Behavior_Init) refers to cmd_behavior.o(.text.CMD_Behavior_Init) for [Anonymous Symbol]
+    cmd_behavior.o(.ARM.exidx.text.CMD_Behavior_IsTriggered) refers to cmd_behavior.o(.text.CMD_Behavior_IsTriggered) for [Anonymous Symbol]
+    cmd_behavior.o(.text.CMD_Behavior_ProcessAll) refers to cmd_behavior.o(.rodata.g_behavior_configs) for g_behavior_configs
+    cmd_behavior.o(.text.CMD_Behavior_ProcessAll) refers to cmd_behavior.o(.text.CMD_Behavior_IsTriggered) for CMD_Behavior_IsTriggered
+    cmd_behavior.o(.ARM.exidx.text.CMD_Behavior_ProcessAll) refers to cmd_behavior.o(.text.CMD_Behavior_ProcessAll) for [Anonymous Symbol]
+    cmd_behavior.o(.text.CMD_Behavior_GetConfig) refers to cmd_behavior.o(.rodata.g_behavior_configs) for g_behavior_configs
+    cmd_behavior.o(.ARM.exidx.text.CMD_Behavior_GetConfig) refers to cmd_behavior.o(.text.CMD_Behavior_GetConfig) for [Anonymous Symbol]
+    cmd_behavior.o(.rodata.g_behavior_configs) refers to cmd_behavior.o(.text.CMD_Behavior_Handle_FORE) for CMD_Behavior_Handle_FORE
+    cmd_behavior.o(.rodata.g_behavior_configs) refers to cmd_behavior.o(.text.CMD_Behavior_Handle_BACK) for CMD_Behavior_Handle_BACK
+    cmd_behavior.o(.rodata.g_behavior_configs) refers to cmd_behavior.o(.text.CMD_Behavior_Handle_LEFT) for CMD_Behavior_Handle_LEFT
+    cmd_behavior.o(.rodata.g_behavior_configs) refers to cmd_behavior.o(.text.CMD_Behavior_Handle_RIGHT) for CMD_Behavior_Handle_RIGHT
+    cmd_behavior.o(.rodata.g_behavior_configs) refers to cmd_behavior.o(.text.CMD_Behavior_Handle_ACCELERATE) for CMD_Behavior_Handle_ACCELERATE
+    cmd_behavior.o(.rodata.g_behavior_configs) refers to cmd_behavior.o(.text.CMD_Behavior_Handle_DECELERATE) for CMD_Behavior_Handle_DECELERATE
+    cmd_behavior.o(.rodata.g_behavior_configs) refers to cmd_behavior.o(.text.CMD_Behavior_Handle_FIRE) for CMD_Behavior_Handle_FIRE
+    cmd_behavior.o(.rodata.g_behavior_configs) refers to cmd_behavior.o(.text.CMD_Behavior_Handle_FIRE_MODE) for CMD_Behavior_Handle_FIRE_MODE
+    cmd_behavior.o(.rodata.g_behavior_configs) refers to cmd_behavior.o(.text.CMD_Behavior_Handle_ROTOR) for CMD_Behavior_Handle_ROTOR
+    cmd_behavior.o(.rodata.g_behavior_configs) refers to cmd_behavior.o(.text.CMD_Behavior_Handle_AUTOAIM) for CMD_Behavior_Handle_AUTOAIM
+    cmd_behavior.o(.rodata.g_behavior_configs) refers to cmd_behavior.o(.text.CMD_Behavior_Handle_CHECKSOURCERCPC) for CMD_Behavior_Handle_CHECKSOURCERCPC
     __2sprintf.o(.text) refers to _printf_char_common.o(.text) for _printf_char_common
     __2sprintf.o(.text) refers to _sputc.o(.text) for _sputc
     __2snprintf.o(.text) refers to _printf_char_common.o(.text) for _printf_char_common
@@ -7268,10 +7329,34 @@ Removing Unused input sections from the image.
     Removing et16s_1.o(.ARM.exidx.text.Task_et16s), (8 bytes).
     Removing referee_1.o(.text), (0 bytes).
     Removing referee_1.o(.ARM.exidx.text.Task_referee), (8 bytes).
-    Removing cmd_1.o(.text), (0 bytes).
-    Removing cmd_1.o(.ARM.exidx.text.Task_cmd), (8 bytes).
     Removing gimbal_ctrl.o(.text), (0 bytes).
     Removing gimbal_ctrl.o(.ARM.exidx.text.Task_gimbal_ctrl), (8 bytes).
+    Removing cmd_1.o(.text), (0 bytes).
+    Removing cmd_1.o(.text.CMD_Init), (40 bytes).
+    Removing cmd_1.o(.ARM.exidx.text.CMD_Init), (8 bytes).
+    Removing cmd_1.o(.text.CMD_UpdateInput), (104 bytes).
+    Removing cmd_1.o(.ARM.exidx.text.CMD_UpdateInput), (8 bytes).
+    Removing cmd_1.o(.text.CMD_RC_BuildChassisCmd), (82 bytes).
+    Removing cmd_1.o(.ARM.exidx.text.CMD_RC_BuildChassisCmd), (8 bytes).
+    Removing cmd_1.o(.text.CMD_RC_BuildGimbalCmd), (72 bytes).
+    Removing cmd_1.o(.ARM.exidx.text.CMD_RC_BuildGimbalCmd), (8 bytes).
+    Removing cmd_1.o(.text.CMD_RC_BuildShootCmd), (138 bytes).
+    Removing cmd_1.o(.ARM.exidx.text.CMD_RC_BuildShootCmd), (8 bytes).
+    Removing cmd_1.o(.text.CMD_PC_BuildChassisCmd), (42 bytes).
+    Removing cmd_1.o(.ARM.exidx.text.CMD_PC_BuildChassisCmd), (8 bytes).
+    Removing cmd_1.o(.text.CMD_PC_BuildGimbalCmd), (104 bytes).
+    Removing cmd_1.o(.ARM.exidx.text.CMD_PC_BuildGimbalCmd), (8 bytes).
+    Removing cmd_1.o(.text.CMD_PC_BuildShootCmd), (44 bytes).
+    Removing cmd_1.o(.ARM.exidx.text.CMD_PC_BuildShootCmd), (8 bytes).
+    Removing cmd_1.o(.text.CMD_Arbitrate), (100 bytes).
+    Removing cmd_1.o(.ARM.exidx.text.CMD_Arbitrate), (8 bytes).
+    Removing cmd_1.o(.text.CMD_GenerateCommands), (152 bytes).
+    Removing cmd_1.o(.ARM.exidx.text.CMD_GenerateCommands), (8 bytes).
+    Removing cmd_1.o(.text.CMD_SetOfflineMode), (18 bytes).
+    Removing cmd_1.o(.ARM.exidx.text.CMD_SetOfflineMode), (8 bytes).
+    Removing cmd_1.o(.text.CMD_Update), (28 bytes).
+    Removing cmd_1.o(.ARM.exidx.text.CMD_Update), (8 bytes).
+    Removing cmd_1.o(.data.sourceHandlers), (64 bytes).
     Removing shoot_ctrl.o(.text), (0 bytes).
     Removing shoot_ctrl.o(.ARM.exidx.text.Task_shoot_ctrl), (8 bytes).
     Removing chassis_ctrl.o(.text), (0 bytes).
@@ -7351,5 +7436,56 @@ Removing Unused input sections from the image.
     Removing shoot.o(.ARM.exidx.text.Shoot_Control), (8 bytes).
     Removing shoot.o(.bss.Shoot_RunningFSM.pos), (4 bytes).
     Removing shoot.o(.bss.last_firecmd), (1 bytes).
+    Removing cmd_adapter.o(.text), (0 bytes).
+    Removing cmd_adapter.o(.text.CMD_ET16s_Init), (8 bytes).
+    Removing cmd_adapter.o(.ARM.exidx.text.CMD_ET16s_Init), (8 bytes).
+    Removing cmd_adapter.o(.text.CMD_ET16s_GetInput), (244 bytes).
+    Removing cmd_adapter.o(.ARM.exidx.text.CMD_ET16s_GetInput), (8 bytes).
+    Removing cmd_adapter.o(.text.CMD_ET16s_IsOnline), (6 bytes).
+    Removing cmd_adapter.o(.ARM.exidx.text.CMD_ET16s_IsOnline), (8 bytes).
+    Removing cmd_adapter.o(.text.CMD_Adapter_Register), (32 bytes).
+    Removing cmd_adapter.o(.ARM.exidx.text.CMD_Adapter_Register), (8 bytes).
+    Removing cmd_adapter.o(.text.CMD_Adapter_InitAll), (58 bytes).
+    Removing cmd_adapter.o(.ARM.exidx.text.CMD_Adapter_InitAll), (8 bytes).
+    Removing cmd_adapter.o(.text.CMD_Adapter_GetInput), (52 bytes).
+    Removing cmd_adapter.o(.ARM.exidx.text.CMD_Adapter_GetInput), (8 bytes).
+    Removing cmd_adapter.o(.text.CMD_Adapter_IsOnline), (34 bytes).
+    Removing cmd_adapter.o(.ARM.exidx.text.CMD_Adapter_IsOnline), (8 bytes).
+    Removing cmd_adapter.o(.bss.g_adapters), (16 bytes).
+    Removing cmd_adapter.o(.data.g_adapter_ET16s), (24 bytes).
+    Removing cmd_adapter.o(.rodata.str1.1), (6 bytes).
+    Removing cmd_behavior.o(.text), (0 bytes).
+    Removing cmd_behavior.o(.text.CMD_Behavior_Handle_FORE), (24 bytes).
+    Removing cmd_behavior.o(.ARM.exidx.text.CMD_Behavior_Handle_FORE), (8 bytes).
+    Removing cmd_behavior.o(.text.CMD_Behavior_Handle_BACK), (24 bytes).
+    Removing cmd_behavior.o(.ARM.exidx.text.CMD_Behavior_Handle_BACK), (8 bytes).
+    Removing cmd_behavior.o(.text.CMD_Behavior_Handle_LEFT), (24 bytes).
+    Removing cmd_behavior.o(.ARM.exidx.text.CMD_Behavior_Handle_LEFT), (8 bytes).
+    Removing cmd_behavior.o(.text.CMD_Behavior_Handle_RIGHT), (24 bytes).
+    Removing cmd_behavior.o(.ARM.exidx.text.CMD_Behavior_Handle_RIGHT), (8 bytes).
+    Removing cmd_behavior.o(.text.CMD_Behavior_Handle_ACCELERATE), (36 bytes).
+    Removing cmd_behavior.o(.ARM.exidx.text.CMD_Behavior_Handle_ACCELERATE), (8 bytes).
+    Removing cmd_behavior.o(.text.CMD_Behavior_Handle_DECELERATE), (36 bytes).
+    Removing cmd_behavior.o(.ARM.exidx.text.CMD_Behavior_Handle_DECELERATE), (8 bytes).
+    Removing cmd_behavior.o(.text.CMD_Behavior_Handle_FIRE), (12 bytes).
+    Removing cmd_behavior.o(.ARM.exidx.text.CMD_Behavior_Handle_FIRE), (8 bytes).
+    Removing cmd_behavior.o(.text.CMD_Behavior_Handle_FIRE_MODE), (20 bytes).
+    Removing cmd_behavior.o(.ARM.exidx.text.CMD_Behavior_Handle_FIRE_MODE), (8 bytes).
+    Removing cmd_behavior.o(.text.CMD_Behavior_Handle_ROTOR), (18 bytes).
+    Removing cmd_behavior.o(.ARM.exidx.text.CMD_Behavior_Handle_ROTOR), (8 bytes).
+    Removing cmd_behavior.o(.text.CMD_Behavior_Handle_AUTOAIM), (4 bytes).
+    Removing cmd_behavior.o(.ARM.exidx.text.CMD_Behavior_Handle_AUTOAIM), (8 bytes).
+    Removing cmd_behavior.o(.text.CMD_Behavior_Handle_CHECKSOURCERCPC), (36 bytes).
+    Removing cmd_behavior.o(.ARM.exidx.text.CMD_Behavior_Handle_CHECKSOURCERCPC), (8 bytes).
+    Removing cmd_behavior.o(.text.CMD_Behavior_Init), (4 bytes).
+    Removing cmd_behavior.o(.ARM.exidx.text.CMD_Behavior_Init), (8 bytes).
+    Removing cmd_behavior.o(.text.CMD_Behavior_IsTriggered), (204 bytes).
+    Removing cmd_behavior.o(.ARM.exidx.text.CMD_Behavior_IsTriggered), (8 bytes).
+    Removing cmd_behavior.o(.text.CMD_Behavior_ProcessAll), (82 bytes).
+    Removing cmd_behavior.o(.ARM.exidx.text.CMD_Behavior_ProcessAll), (8 bytes).
+    Removing cmd_behavior.o(.text.CMD_Behavior_GetConfig), (34 bytes).
+    Removing cmd_behavior.o(.ARM.exidx.text.CMD_Behavior_GetConfig), (8 bytes).
+    Removing cmd_behavior.o(.rodata.g_behavior_configs), (176 bytes).
+    Removing cmd_example.o(.text), (0 bytes).
 
-2273 unused section(s) (total 99175 bytes) removed from the image.
+2348 unused section(s) (total 101665 bytes) removed from the image.

MDK-ARM/referee/referee_referee.dep

@@ -2234,9 +2234,9 @@ I (..\User\component\crc8.h)(0x69A99243)
 I (..\User\device\referee.h)(0x69A93050)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
 I (..\User\component\ui.h)(0x69A99243)
-I (..\User\module\cmd\cmd.h)(0x6986AEE1)
+I (..\User\module\cmd\cmd.h)(0x69A938D4)
 I (..\User\module\cmd\cmd_types.h)(0x69710063)
-I (..\User\module\cmd\cmd_adapter.h)(0x697249FA)
+I (..\User\module\cmd\cmd_adapter.h)(0x69A99531)
 I (..\User\device\ET16s.h)(0x69735766)
 I (..\User\module\cmd\cmd_behavior.h)(0x695FA70F)
 I (..\User\module\chassis.h)(0x69A92EFD)
@@ -2410,9 +2410,9 @@ I (..\User\component\user_math.h)(0x69A99243)
 I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
 I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
 I (..\User\device\device.h)(0x69A99244)
-I (..\User\module\cmd\cmd.h)(0x6986AEE1)
+I (..\User\module\cmd\cmd.h)(0x69A938D4)
 I (..\User\module\cmd\cmd_types.h)(0x69710063)
-I (..\User\module\cmd\cmd_adapter.h)(0x697249FA)
+I (..\User\module\cmd\cmd_adapter.h)(0x69A99531)
 I (..\User\device\ET16s.h)(0x69735766)
 I (..\User\module\cmd\cmd_behavior.h)(0x695FA70F)
 I (..\User\module\chassis.h)(0x69A92EFD)
@@ -2465,12 +2465,26 @@ I (..\User\module\gimbal.h)(0x6975DF62)
 I (..\User\device\motor_dm.h)(0x69A99243)
 I (..\User\module\shoot.h)(0x6968CB81)
 I (..\User\module\config.h)(0x69A92D4B)
+F (..\User\task\gimbal_ctrl.c)(0x69A9928C)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/component -I ../User/device -I ../User/module -I ../User/task -I ../User/module/cmd

-I./RTE/_referee

-ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o referee/gimbal_ctrl.o -MD)
+I (..\User\task\user_task.h)(0x69A9928C)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
+I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
+I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
+I (..\Core\Inc\FreeRTOSConfig.h)(0x69A907C2)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68B055DB)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68B055DB)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68B055DB)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68B055DB)
 F (..\User\task\cmd.c)(0x69A9965B)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/component -I ../User/device -I ../User/module -I ../User/task -I ../User/module/cmd

-I./RTE/_referee

-ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o referee/cmd_1.o -MD)
-I (..\User\module\cmd\cmd.h)(0x6986AEE1)
+I (..\User\module\cmd\cmd.h)(0x69A938D4)
 I (..\User\module\cmd\cmd_types.h)(0x69710063)
 I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
 I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
-I (..\User\module\cmd\cmd_adapter.h)(0x697249FA)
+I (..\User\module\cmd\cmd_adapter.h)(0x69A99531)
 I (..\User\device\ET16s.h)(0x69735766)
 I (..\User\device\device.h)(0x69A99244)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
@@ -2539,20 +2553,6 @@ I (..\User\device\motor_dm.h)(0x69A99243)
 I (..\User\module\shoot.h)(0x6968CB81)
 I (..\User\bsp\time.h)(0x69A99243)
 I (D:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
-F (..\User\task\gimbal_ctrl.c)(0x69A9928C)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/component -I ../User/device -I ../User/module -I ../User/task -I ../User/module/cmd

-I./RTE/_referee

-ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o referee/gimbal_ctrl.o -MD)
-I (..\User\task\user_task.h)(0x69A9928C)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
-I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
-I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
-I (..\Core\Inc\FreeRTOSConfig.h)(0x69A907C2)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68B055DB)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68B055DB)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68B055DB)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68B055DB)
 F (..\User\task\shoot_ctrl.c)(0x69A9928C)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/component -I ../User/device -I ../User/module -I ../User/task -I ../User/module/cmd

-I./RTE/_referee

-ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o referee/shoot_ctrl.o -MD)
 I (..\User\task\user_task.h)(0x69A9928C)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
@@ -2668,9 +2668,9 @@ I (..\User\device\et16s.h)(0x69735766)
 I (..\User\device\referee.h)(0x69A93050)
 I (..\User\component\ui.h)(0x69A99243)
 I (D:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
-I (..\User\module\cmd\cmd.h)(0x6986AEE1)
+I (..\User\module\cmd\cmd.h)(0x69A938D4)
 I (..\User\module\cmd\cmd_types.h)(0x69710063)
-I (..\User\module\cmd\cmd_adapter.h)(0x697249FA)
+I (..\User\module\cmd\cmd_adapter.h)(0x69A99531)
 I (..\User\module\cmd\cmd_behavior.h)(0x695FA70F)
 I (..\User\module\config.h)(0x69A92D4B)
 F (..\User\module\config.c)(0x69A91CD0)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/component -I ../User/device -I ../User/module -I ../User/task -I ../User/module/cmd

-I./RTE/_referee

-ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o referee/config.o -MD)
@@ -2741,9 +2741,9 @@ I (..\User\module\shoot.h)(0x6968CB81)
 I (..\User\module\chassis.h)(0x69A92EFD)
 I (..\User\module\struct_typedef.h)(0x68DBD148)
 I (..\User\device\bmi088.h)(0x69A99243)
-I (..\User\module\cmd\cmd.h)(0x6986AEE1)
+I (..\User\module\cmd\cmd.h)(0x69A938D4)
 I (..\User\module\cmd\cmd_types.h)(0x69710063)
-I (..\User\module\cmd\cmd_adapter.h)(0x697249FA)
+I (..\User\module\cmd\cmd_adapter.h)(0x69A99531)
 I (..\User\device\ET16s.h)(0x69735766)
 I (..\User\module\cmd\cmd_behavior.h)(0x695FA70F)
 F (..\User\module\chassis.c)(0x69A7CCB1)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/component -I ../User/device -I ../User/module -I ../User/task -I ../User/module/cmd

-I./RTE/_referee

-ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o referee/chassis.o -MD)
@@ -2939,9 +2939,9 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
 I (..\User\bsp\time.h)(0x69A99243)
-I (..\User\module\cmd\cmd.h)(0x6986AEE1)
+I (..\User\module\cmd\cmd.h)(0x69A938D4)
 I (..\User\module\cmd\cmd_types.h)(0x69710063)
-I (..\User\module\cmd\cmd_adapter.h)(0x697249FA)
+I (..\User\module\cmd\cmd_adapter.h)(0x69A99531)
 I (..\User\device\ET16s.h)(0x69735766)
 I (..\User\module\cmd\cmd_behavior.h)(0x695FA70F)
 I (..\User\module\chassis.h)(0x69A92EFD)
@@ -2951,11 +2951,11 @@ I (..\User\device\bmi088.h)(0x69A99243)
 I (..\User\module\gimbal.h)(0x6975DF62)
 I (..\User\device\motor_dm.h)(0x69A99243)
 F (..\User\module\cmd\cmd.c)(0x6989CACD)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/component -I ../User/device -I ../User/module -I ../User/task -I ../User/module/cmd

-I./RTE/_referee

-ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o referee/cmd_1.o -MD)
-I (..\User\module\cmd\cmd.h)(0x6986AEE1)
+I (..\User\module\cmd\cmd.h)(0x69A938D4)
 I (..\User\module\cmd\cmd_types.h)(0x69710063)
 I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
 I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
-I (..\User\module\cmd\cmd_adapter.h)(0x697249FA)
+I (..\User\module\cmd\cmd_adapter.h)(0x69A99531)
 I (..\User\device\ET16s.h)(0x69735766)
 I (..\User\device\device.h)(0x69A99244)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
@@ -3024,8 +3024,8 @@ I (..\User\device\motor_dm.h)(0x69A99243)
 I (..\User\module\shoot.h)(0x6968CB81)
 I (..\User\bsp\time.h)(0x69A99243)
 I (D:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
-F (..\User\module\cmd\cmd_adapter.c)(0x69724A11)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/component -I ../User/device -I ../User/module -I ../User/task -I ../User/module/cmd

-I./RTE/_referee

-ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o referee/cmd_adapter.o -MD)
+F (..\User\module\cmd\cmd_adapter.c)(0x69A993D1)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/component -I ../User/device -I ../User/module -I ../User/task -I ../User/module/cmd

-I./RTE/_referee

-ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o referee/cmd_adapter.o -MD)
-I (..\User\module\cmd\cmd_adapter.h)(0x697249FA)
+I (..\User\module\cmd\cmd_adapter.h)(0x69A99531)
 I (..\User\module\cmd\cmd_types.h)(0x69710063)
 I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
 I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
@@ -3039,8 +3039,8 @@ I (..\User\module\cmd\cmd_behavior.h)(0x695FA70F)
 I (..\User\module\cmd\cmd_types.h)(0x69710063)
 I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
 I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
-I (..\User\module\cmd\cmd.h)(0x6986AEE1)
+I (..\User\module\cmd\cmd.h)(0x69A938D4)
-I (..\User\module\cmd\cmd_adapter.h)(0x697249FA)
+I (..\User\module\cmd\cmd_adapter.h)(0x69A99531)
 I (..\User\device\ET16s.h)(0x69735766)
 I (..\User\device\device.h)(0x69A99244)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
@@ -3107,12 +3107,12 @@ I (..\User\module\gimbal.h)(0x6975DF62)
 I (..\User\device\motor_dm.h)(0x69A99243)
 I (..\User\module\shoot.h)(0x6968CB81)
 I (D:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
-F (..\User\module\cmd\cmd_example.c)(0x695FA70F)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/component -I ../User/device -I ../User/module -I ../User/task -I ../User/module/cmd

-I./RTE/_referee

-ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o referee/cmd_example.o -MD)
+F (..\User\module\cmd\cmd_example.c)(0x69A8FEC4)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/component -I ../User/device -I ../User/module -I ../User/task -I ../User/module/cmd

-I./RTE/_referee

-ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o referee/cmd_example.o -MD)
-I (..\User\module\cmd\cmd.h)(0x6986AEE1)
+I (..\User\module\cmd\cmd.h)(0x69A938D4)
 I (..\User\module\cmd\cmd_types.h)(0x69710063)
 I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
 I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
-I (..\User\module\cmd\cmd_adapter.h)(0x697249FA)
+I (..\User\module\cmd\cmd_adapter.h)(0x69A99531)
 I (..\User\device\ET16s.h)(0x69735766)
 I (..\User\device\device.h)(0x69A99244)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)

User/component/cmd.c

@@ -1,387 +0,0 @@
-/*
-  控制命令
-*/
-
-#include "cmd.h"
-
-#include <string.h>
-
-/* USER INCLUDE BEGIN */
-
-/* USER INCLUDE END */
-
-/* USER DEFINE BEGIN */
-
-/* USER DEFINE END */
-
-/**
- * @brief 行为转换为对应按键
- *
- * @param cmd 主结构体
- * @param behavior 行为
- * @return uint16_t 行为对应的按键
- */
-static inline CMD_KeyValue_t CMD_BehaviorToKey(CMD_t *cmd,
-                                               CMD_Behavior_t behavior) {
-  return cmd->param->map.key_map[behavior].key;
-}
-
-static inline CMD_ActiveType_t CMD_BehaviorToActive(CMD_t *cmd,
-                                                    CMD_Behavior_t behavior) {
-  return cmd->param->map.key_map[behavior].active;
-}
-
-/**
- * @brief 检查按键是否按下
- *
- * @param rc 遥控器数据
- * @param key 按键名称
- * @param stateful 是否为状态切换按键
- * @return true 按下
- * @return false 未按下
- */
-static bool CMD_KeyPressedRc(const CMD_RC_t *rc, CMD_KeyValue_t key) {
-  /* 按下按键为鼠标左、右键 */
-  if (key == CMD_L_CLICK) {
-    return rc->mouse.l_click;
-  }
-  if (key == CMD_R_CLICK) {
-    return rc->mouse.r_click;
-  }
-  return rc->key & (1u << key);
-}
-
-static bool CMD_BehaviorOccurredRc(const CMD_RC_t *rc, CMD_t *cmd,
-                                   CMD_Behavior_t behavior) {
-  CMD_KeyValue_t key = CMD_BehaviorToKey(cmd, behavior);
-  CMD_ActiveType_t active = CMD_BehaviorToActive(cmd, behavior);
-
-  bool now_key_pressed, last_key_pressed;
-
-  /* 按下按键为鼠标左、右键 */
-  if (key == CMD_L_CLICK) {
-    now_key_pressed = rc->mouse.l_click;
-    last_key_pressed = cmd->mouse_last.l_click;
-  } else if (key == CMD_R_CLICK) {
-    now_key_pressed = rc->mouse.r_click;
-    last_key_pressed = cmd->mouse_last.r_click;
-  } else {
-    now_key_pressed = rc->key & (1u << key);
-    last_key_pressed = cmd->key_last & (1u << key);
-  }
-
-  switch (active) {
-    case CMD_ACTIVE_PRESSING:
-      return now_key_pressed && !last_key_pressed;
-    case CMD_ACTIVE_RASING:
-      return !now_key_pressed && last_key_pressed;
-    case CMD_ACTIVE_PRESSED:
-      return now_key_pressed;
-  }
-}
-
-/**
- * @brief 解析pc行为逻辑
- *
- * @param rc 遥控器数据
- * @param cmd 主结构体
- * @param dt_sec 两次解析的间隔
- */
-static void CMD_PcLogic(const CMD_RC_t *rc, CMD_t *cmd, float dt_sec) {
-  cmd->gimbal.mode = GIMBAL_MODE_ABSOLUTE;
-
-  /* 云台设置为鼠标控制欧拉角的变化，底盘的控制向量设置为零 */
-  cmd->gimbal.delta_eulr.yaw =
-      (float)rc->mouse.x * dt_sec * cmd->param->sens_mouse;
-  cmd->gimbal.delta_eulr.pit =
-      (float)(-rc->mouse.y) * dt_sec * cmd->param->sens_mouse;
-  cmd->chassis.ctrl_vec.vx = cmd->chassis.ctrl_vec.vy = 0.0f;
-  cmd->shoot.reverse_trig = false;
-
-  /* 按键行为映射相关逻辑 */
-  if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_FORE)) {
-    cmd->chassis.ctrl_vec.vy += cmd->param->move.move_sense;
-  }
-  if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_BACK)) {
-    cmd->chassis.ctrl_vec.vy -= cmd->param->move.move_sense;
-  }
-  if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_LEFT)) {
-    cmd->chassis.ctrl_vec.vx -= cmd->param->move.move_sense;
-  }
-  if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_RIGHT)) {
-    cmd->chassis.ctrl_vec.vx += cmd->param->move.move_sense;
-  }
-  if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_ACCELERATE)) {
-    cmd->chassis.ctrl_vec.vx *= cmd->param->move.move_fast_sense;
-    cmd->chassis.ctrl_vec.vy *= cmd->param->move.move_fast_sense;
-  }
-  if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_DECELEBRATE)) {
-    cmd->chassis.ctrl_vec.vx *= cmd->param->move.move_slow_sense;
-    cmd->chassis.ctrl_vec.vy *= cmd->param->move.move_slow_sense;
-  }
-  if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_FIRE)) {
-    /* 切换至开火模式，设置相应的射击频率和弹丸初速度 */
-    cmd->shoot.mode = SHOOT_MODE_LOADED;
-    cmd->shoot.fire = true;
-  } else {
-    /* 切换至准备模式，停止射击 */
-    cmd->shoot.mode = SHOOT_MODE_LOADED;
-    cmd->shoot.fire = false;
-  }
-  if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_FIRE_MODE)) {
-    /* 每按一次依次切换开火下一个模式 */
-    cmd->shoot.fire_mode++;
-    cmd->shoot.fire_mode %= FIRE_MODE_NUM;
-  }
-  if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_ROTOR)) {
-    /* 切换到小陀螺模式 */
-    cmd->chassis.mode = CHASSIS_MODE_ROTOR;
-    cmd->chassis.mode_rotor = ROTOR_MODE_RAND;
-  }
-  if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_OPENCOVER)) {
-    /* 每按一次开、关弹舱盖 */
-    cmd->shoot.cover_open = !cmd->shoot.cover_open;
-  }
-  if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_BUFF)) {
-    if (cmd->ai_status == AI_STATUS_HITSWITCH) {
-      /* 停止ai的打符模式，停用host控制 */
-      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 {
-      /* ai切换至打符模式，启用host控制 */
-      CMD_RefereeAdd(&(cmd->referee), CMD_UI_HIT_SWITCH_START);
-      cmd->ai_status = AI_STATUS_HITSWITCH;
-      cmd->host_overwrite = true;
-    }
-  }
-  if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_AUTOAIM)) {
-    if (cmd->ai_status == AI_STATUS_AUTOAIM) {
-      /* 停止ai的自瞄模式，停用host控制 */
-      cmd->host_overwrite = false;
-      cmd->ai_status = AI_STATUS_STOP;
-      CMD_RefereeAdd(&(cmd->referee), CMD_UI_AUTO_AIM_STOP);
-    } else {
-      /* ai切换至自瞄模式，启用host控制 */
-      cmd->ai_status = AI_STATUS_AUTOAIM;
-      cmd->host_overwrite = true;
-      CMD_RefereeAdd(&(cmd->referee), CMD_UI_AUTO_AIM_START);
-    }
-  } else {
-    cmd->host_overwrite = false;
-    // TODO: 修复逻辑
-  }
-  if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_REVTRIG)) {
-    /* 按下拨弹反转 */
-    cmd->shoot.reverse_trig = true;
-  }
-  if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_FOLLOWGIMBAL35)) {
-    cmd->chassis.mode = CHASSIS_MODE_FOLLOW_GIMBAL_35;
-  }
-  /* 保存当前按下的键位状态 */
-  cmd->key_last = rc->key;
-  memcpy(&(cmd->mouse_last), &(rc->mouse), sizeof(cmd->mouse_last));
-}
-
-/**
- * @brief 解析rc行为逻辑
- *
- * @param rc 遥控器数据
- * @param cmd 主结构体
- * @param dt_sec 两次解析的间隔
- */
-static void CMD_RcLogic(const CMD_RC_t *rc, CMD_t *cmd, float dt_sec) {
-  switch (rc->sw_l) {
-      /* 左拨杆相应行为选择和解析 */
-    case CMD_SW_UP:
-      cmd->chassis.mode = CHASSIS_MODE_BREAK;
-      break;
-
-    case CMD_SW_MID:
-      cmd->chassis.mode = CHASSIS_MODE_FOLLOW_GIMBAL;
-      break;
-
-    case CMD_SW_DOWN:
-      cmd->chassis.mode = CHASSIS_MODE_ROTOR;
-      cmd->chassis.mode_rotor = ROTOR_MODE_CW;
-      break;
-
-    case CMD_SW_ERR:
-      cmd->chassis.mode = CHASSIS_MODE_RELAX;
-      break;
-  }
-  switch (rc->sw_r) {
-      /* 右拨杆相应行为选择和解析*/ 
-    case CMD_SW_UP:
-      cmd->gimbal.mode = GIMBAL_MODE_ABSOLUTE;
-      cmd->shoot.mode = SHOOT_MODE_SAFE;
-      break;
-
-    case CMD_SW_MID:
-      cmd->gimbal.mode = GIMBAL_MODE_ABSOLUTE;
-      cmd->shoot.fire = false;
-      cmd->shoot.mode = SHOOT_MODE_LOADED;
-      break;
-
-    case CMD_SW_DOWN:
-      cmd->gimbal.mode = GIMBAL_MODE_ABSOLUTE;
-      cmd->shoot.mode = SHOOT_MODE_LOADED;
-      cmd->shoot.fire_mode = FIRE_MODE_SINGLE;
-      cmd->shoot.fire = true;
-      break;
-		/*
-		    case CMD_SW_UP:
-      cmd->gimbal.mode = GIMBAL_MODE_RELAX;
-      cmd->shoot.mode = SHOOT_MODE_SAFE;
-      break;
-
-    case CMD_SW_MID:
-      cmd->gimbal.mode = GIMBAL_MODE_RELAX;
-      cmd->shoot.fire = false;
-      cmd->shoot.mode = SHOOT_MODE_LOADED;
-      break;
-
-    case CMD_SW_DOWN:
-      cmd->gimbal.mode = GIMBAL_MODE_RELAX;
-      cmd->shoot.mode = SHOOT_MODE_LOADED;
-      cmd->shoot.fire_mode = FIRE_MODE_SINGLE;
-      cmd->shoot.fire = true;
-      break;
-		*/
-    case CMD_SW_ERR:
-      cmd->gimbal.mode = GIMBAL_MODE_RELAX;
-      cmd->shoot.mode = SHOOT_MODE_RELAX;
-  }
-  /* 将操纵杆的对应值转换为底盘的控制向量和云台变化的欧拉角 */
-  cmd->chassis.ctrl_vec.vx = rc->ch_l_x;
-  cmd->chassis.ctrl_vec.vy = rc->ch_l_y;
-  cmd->gimbal.delta_eulr.yaw = rc->ch_r_x * dt_sec * cmd->param->sens_rc;
-  cmd->gimbal.delta_eulr.pit = rc->ch_r_y * dt_sec * cmd->param->sens_rc;
-}
-
-/**
- * @brief rc失控时机器人恢复放松模式
- *
- * @param cmd 主结构体
- */
-static void CMD_RcLostLogic(CMD_t *cmd) {
-  /* 机器人底盘、云台、射击运行模式恢复至放松模式 */
-  cmd->chassis.mode = CHASSIS_MODE_RELAX;
-  cmd->gimbal.mode = GIMBAL_MODE_RELAX;
-  cmd->shoot.mode = SHOOT_MODE_RELAX;
-}
-
-/**
- * @brief 初始化命令解析
- *
- * @param cmd 主结构体
- * @param param 参数
- * @return int8_t 0对应没有错误
- */
-int8_t CMD_Init(CMD_t *cmd, const CMD_Params_t *param) {
-  /* 指针检测 */
-  if (cmd == NULL) return -1;
-  if (param == NULL) return -1;
-
-  /* 设置机器人的命令参数，初始化控制方式为rc控制 */
-  cmd->pc_ctrl = false;
-  cmd->param = param;
-
-  return 0;
-}
-
-/**
- * @brief 检查是否启用上位机控制指令覆盖
- *
- * @param cmd 主结构体
- * @return true 启用
- * @return false 不启用
- */
-inline bool CMD_CheckHostOverwrite(CMD_t *cmd) { return cmd->host_overwrite; }
-
-/**
- * @brief 解析命令
- *
- * @param rc 遥控器数据
- * @param cmd 命令
- * @param dt_sec 两次解析的间隔
- * @return int8_t 0对应没有错误
- */
-int8_t CMD_ParseRc(CMD_RC_t *rc, CMD_t *cmd, float dt_sec) {
-  /* 指针检测 */
-  if (rc == NULL) return -1;
-  if (cmd == NULL) return -1;
-
-  /* 在pc控制和rc控制间切换 */
-  if (CMD_KeyPressedRc(rc, CMD_KEY_SHIFT) &&
-      CMD_KeyPressedRc(rc, CMD_KEY_CTRL) && CMD_KeyPressedRc(rc, CMD_KEY_Q))
-    cmd->pc_ctrl = true;
-
-  if (CMD_KeyPressedRc(rc, CMD_KEY_SHIFT) &&
-      CMD_KeyPressedRc(rc, CMD_KEY_CTRL) && CMD_KeyPressedRc(rc, CMD_KEY_E))
-    cmd->pc_ctrl = false;
-  /*c当rc丢控时，恢复机器人至默认状态 */
-  if ((rc->sw_l == CMD_SW_ERR) || (rc->sw_r == CMD_SW_ERR)) {
-    CMD_RcLostLogic(cmd);
-  } else {
-    if (cmd->pc_ctrl) {
-      CMD_PcLogic(rc, cmd, dt_sec);
-    } else {
-      CMD_RcLogic(rc, cmd, dt_sec);
-    }
-  }
-  return 0;
-}
-
-/**
- * @brief 解析上位机命令
- *
- * @param host host数据
- * @param cmd 命令
- * @param dt_sec 两次解析的间隔
- * @return int8_t 0对应没有错误
- */
-int8_t CMD_ParseHost(const CMD_Host_t *host, CMD_t *cmd, float dt_sec) {
-  (void)dt_sec; /* 未使用dt_sec，消除警告 */
-  /* 指针检测 */
-  if (host == NULL) return -1;
-  if (cmd == NULL) return -1;
-
-  /* 云台欧拉角设置为host相应的变化的欧拉角 */
-  cmd->gimbal.delta_eulr.yaw = host->gimbal_delta.yaw;
-  cmd->gimbal.delta_eulr.pit = host->gimbal_delta.pit;
-
-  /* host射击命令，设置不同的射击频率和弹丸初速度 */
-  if (host->fire) {
-    cmd->shoot.mode = SHOOT_MODE_LOADED;
-    cmd->shoot.fire = true;
-  } else {
-    cmd->shoot.mode = SHOOT_MODE_SAFE;
-  }
-  return 0;
-}
-
-/**
- * @brief 添加向Referee发送的命令
- *
- * @param ref 命令队列
- * @param cmd 要添加的命令
- * @return int8_t 0对应没有错误
- */
-int8_t CMD_RefereeAdd(CMD_RefereeCmd_t *ref, CMD_UI_t cmd) {
-  /* 指针检测 */
-  if (ref == NULL) return -1;
-  /* 越界检测 */
-  if (ref->counter >= CMD_REFEREE_MAX_NUM || ref->counter < 0) return -1;
-
-  /* 添加机器人当前行为状态到画图的命令队列中 */
-  ref->cmd[ref->counter] = cmd;
-  ref->counter++;
-  return 0;
-}
-
-/* USER FUNCTION BEGIN */
-
-/* USER FUNCTION END */

User/component/cmd.h

@@ -1,318 +0,0 @@
-/*
-  控制命令
-*/
-
-#pragma once
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include <stdbool.h>
-#include <stdint.h>
-
-#include "component/ahrs.h"
-
-/* USER INCLUDE BEGIN */
-
-/* USER INCLUDE END */
-
-#define CMD_REFEREE_MAX_NUM (3) /* Lines 16 omitted */
-
-/* USER DEFINE BEGIN */
-
-/* USER DEFINE END */
-
-/* 机器人型号 */
-typedef enum {
-  ROBOT_MODEL_INFANTRY = 0, /* 步兵机器人 */
-  ROBOT_MODEL_HERO,         /* 英雄机器人 */
-  ROBOT_MODEL_ENGINEER,     /* 工程机器人 */
-  ROBOT_MODEL_DRONE,        /* 空中机器人 */
-  ROBOT_MODEL_SENTRY,       /* 哨兵机器人 */
-  ROBOT_MODEL_NUM,          /* 型号数量 */
-} CMD_RobotModel_t;
-
-/* 底盘运行模式 */
-typedef enum {
-  CHASSIS_MODE_RELAX, /* 放松模式，电机不输出。一般情况底盘初始化之后的模式 */
-  CHASSIS_MODE_BREAK, /* 刹车模式，电机闭环控制保持静止。用于机器人停止状态 */
-  CHASSIS_MODE_FOLLOW_GIMBAL, /* 通过闭环控制使车头方向跟随云台 */
-  CHASSIS_MODE_FOLLOW_GIMBAL_35, /* 通过闭环控制使车头方向35度跟随云台 */
-  CHASSIS_MODE_ROTOR, /* 小陀螺模式，通过闭环控制使底盘不停旋转 */
-  CHASSIS_MODE_INDENPENDENT, /* 独立模式。底盘运行不受云台影响 */
-  CHASSIS_MODE_OPEN, /* 开环模式。底盘运行不受PID控制，直接输出到电机 */
-} CMD_ChassisMode_t;
-
-/* 云台运行模式 */
-typedef enum {
-  GIMBAL_MODE_RELAX, /* 放松模式，电机不输出。一般情况云台初始化之后的模式 */
-  GIMBAL_MODE_ABSOLUTE, /* 绝对坐标系控制，控制在空间内的绝对姿态 */
-  GIMBAL_MODE_RELATIVE, /* 相对坐标系控制，控制相对于底盘的姿态 */
-} CMD_GimbalMode_t;
-
-/* 射击运行模式 */
-typedef enum {
-  SHOOT_MODE_RELAX,  /* 放松模式，电机不输出 */
-  SHOOT_MODE_SAFE,   /* 保险模式，电机闭环控制保持静止 */
-  SHOOT_MODE_LOADED, /* 上膛模式，摩擦轮开启。随时准备开火 */
-} CMD_ShootMode_t;
-
-typedef enum {
-  FIRE_MODE_SINGLE, /* 单发开火模式  */
-  FIRE_MODE_BURST,  /* N连发开火模式 */
-  FIRE_MODE_CONT,   /* 持续开火模式 */
-  FIRE_MODE_NUM,
-} CMD_FireMode_t;
-
-/* 小陀螺转动模式 */
-typedef enum {
-  ROTOR_MODE_CW,   /* 顺时针转动 */
-  ROTOR_MODE_CCW,  /* 逆时针转动 */
-  ROTOR_MODE_RAND, /* 随机转动 */
-} CMD_RotorMode_t;
-
-/* 底盘控制命令 */
-typedef struct {
-  CMD_ChassisMode_t mode;     /* 底盘运行模式 */
-  CMD_RotorMode_t mode_rotor; /* 小陀螺转动模式 */
-  MoveVector_t ctrl_vec;      /* 底盘控制向量 */
-} CMD_ChassisCmd_t;
-
-/* 云台控制命令 */
-typedef struct {
-  CMD_GimbalMode_t mode;  /* 云台运行模式 */
-  AHRS_Eulr_t delta_eulr; /* 欧拉角变化角度 */
-} CMD_GimbalCmd_t;
-
-/* 射击控制命令 */
-typedef struct {
-  CMD_ShootMode_t mode;     /* 射击运行模式 */
-  CMD_FireMode_t fire_mode; /* 开火模式 */
-  bool fire;                /*开火*/
-  bool cover_open;          /* 弹舱盖开关 */
-  bool reverse_trig;        /* 拨弹电机状态 */
-} CMD_ShootCmd_t;
-
-/* 拨杆位置 */
-typedef enum {
-  CMD_SW_ERR = 0,
-  CMD_SW_UP = 1,
-  CMD_SW_MID = 3,
-  CMD_SW_DOWN = 2,
-} CMD_SwitchPos_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_KEY_NUM,
-} CMD_KeyValue_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_NUM,
-} CMD_Behavior_t;
-
-typedef enum {
-  CMD_ACTIVE_PRESSING, /* 按下时触发 */
-  CMD_ACTIVE_RASING,   /* 抬起时触发 */
-  CMD_ACTIVE_PRESSED,  /* 按住时触发 */
-} CMD_ActiveType_t;
-
-typedef struct {
-  CMD_ActiveType_t active;
-  CMD_KeyValue_t key;
-} 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;
-
-/* 位移灵敏度参数 */
-typedef struct {
-  float move_sense;      /* 移动灵敏度 */
-  float move_fast_sense; /* 加速灵敏度 */
-  float move_slow_sense; /* 减速灵敏度 */
-} CMD_Move_Params_t;
-
-typedef struct {
-  uint16_t width;
-  uint16_t height;
-} CMD_Screen_t;
-
-/* 命令参数 */
-typedef struct {
-  float sens_mouse;        /* 鼠标灵敏度 */
-  float sens_rc;           /* 遥控器摇杆灵敏度 */
-  CMD_KeyMap_Params_t map; /* 按键映射行为命令 */
-  CMD_Move_Params_t move;  /* 位移灵敏度参数 */
-  CMD_Screen_t screen;     /* 屏幕分辨率参数 */
-} CMD_Params_t;
-
-/* AI行为状态 */
-typedef enum {
-  AI_STATUS_STOP,      /* 停止状态 */
-  AI_STATUS_AUTOAIM,   /* 自瞄状态 */
-  AI_STATUS_HITSWITCH, /* 打符状态 */
-  AI_STATUS_AUTOMATIC  /* 自动状态 */
-} CMD_AI_Status_t;
-
-/* UI所用行为状态 */
-typedef enum {
-  CMD_UI_NOTHING,          /* 当前无状态 */
-  CMD_UI_AUTO_AIM_START,   /* 自瞄状态开启 */
-  CMD_UI_AUTO_AIM_STOP,    /* 自瞄状态关闭 */
-  CMD_UI_HIT_SWITCH_START, /* 打符状态开启 */
-  CMD_UI_HIT_SWITCH_STOP   /* 打符状态关闭 */
-} CMD_UI_t;
-
-/*裁判系统发送的命令*/
-typedef struct {
-  CMD_UI_t cmd[CMD_REFEREE_MAX_NUM]; /* 命令数组 */
-  uint8_t counter;                   /* 命令计数 */
-} CMD_RefereeCmd_t;
-
-typedef struct {
-  bool pc_ctrl;        /* 是否使用键鼠控制 */
-  bool host_overwrite; /* 是否Host控制 */
-  uint16_t key_last;   /* 上次按键键值 */
-
-  struct {
-    int16_t x;
-    int16_t y;
-    int16_t z;
-    bool l_click; /* 左键 */
-    bool r_click; /* 右键 */
-  } mouse_last;   /* 鼠标值 */
-
-  CMD_AI_Status_t ai_status; /* AI状态 */
-
-  const CMD_Params_t *param; /* 命令参数 */
-
-  CMD_ChassisCmd_t chassis; /* 底盘控制命令 */
-  CMD_GimbalCmd_t gimbal;   /* 云台控制命令 */
-  CMD_ShootCmd_t shoot;     /* 射击控制命令 */
-  CMD_RefereeCmd_t referee; /* 裁判系统发送命令 */
-} CMD_t;
-
-typedef struct {
-  float ch_l_x; /* 遥控器左侧摇杆横轴值，上为正 */
-  float ch_l_y; /* 遥控器左侧摇杆纵轴值，右为正 */
-  float ch_r_x; /* 遥控器右侧摇杆横轴值，上为正 */
-  float ch_r_y; /* 遥控器右侧摇杆纵轴值，右为正 */
-
-  float ch_res; /* 第五通道值 */
-
-  CMD_SwitchPos_t sw_r; /* 右侧拨杆位置 */
-  CMD_SwitchPos_t sw_l; /* 左侧拨杆位置 */
-
-  struct {
-    int16_t x;
-    int16_t y;
-    int16_t z;
-    bool l_click; /* 左键 */
-    bool r_click; /* 右键 */
-  } mouse;        /* 鼠标值 */
-
-  uint16_t key; /* 按键值 */
-
-  uint16_t res; /* 保留，未启用 */
-} CMD_RC_t;
-
-typedef struct {
-  AHRS_Eulr_t gimbal_delta; /* 欧拉角的变化量 */
-
-  struct {
-    float vx;         /* x轴移动速度 */
-    float vy;         /* y轴移动速度 */
-    float wz;         /* z轴转动速度 */
-  } chassis_move_vec; /* 底盘移动向量 */
-
-  bool fire; /* 开火状态 */
-} CMD_Host_t;
-
-/**
- * @brief 解析行为命令
- *
- * @param rc 遥控器数据
- * @param cmd 主结构体
- */
-int8_t CMD_Init(CMD_t *cmd, const CMD_Params_t *param);
-
-/**
- * @brief 检查是否启用上位机控制指令覆盖
- *
- * @param cmd 主结构体
- * @return true 启用
- * @return false 不启用
- */
-bool CMD_CheckHostOverwrite(CMD_t *cmd);
-
-/**
- * @brief 解析命令
- *
- * @param rc 遥控器数据
- * @param cmd 命令
- * @param dt_sec 两次解析的间隔
- * @return int8_t 0对应没有错误
- */
-int8_t CMD_ParseRc(CMD_RC_t *rc, CMD_t *cmd, float dt_sec);
-
-/**
- * @brief 解析上位机命令
- *
- * @param host host数据
- * @param cmd 命令
- * @param dt_sec 两次解析的间隔
- * @return int8_t 0对应没有错误
- */
-int8_t CMD_ParseHost(const CMD_Host_t *host, CMD_t *cmd, float dt_sec);
-
-/**
- * @brief 添加向Referee发送的命令
- *
- * @param ref 命令队列
- * @param cmd 要添加的命令
- * @return int8_t 0对应没有错误
- */
-int8_t CMD_RefereeAdd(CMD_RefereeCmd_t *ref, CMD_UI_t cmd);
-
-/* USER FUNCTION BEGIN */
-
-/* USER FUNCTION END */
-
-#ifdef __cplusplus
-}
-#endif

User/module/cmd/cmd.h

@@ -42,6 +42,24 @@ typedef struct {
 /*                           配置结构                                           */
 /* ========================================================================== */
 
+/* AI行为状态 */
+typedef enum {
+  AI_STATUS_STOP,      /* 停止状态 */
+  AI_STATUS_AUTOAIM,   /* 自瞄状态 */
+  AI_STATUS_HITSWITCH, /* 打符状态 */
+  AI_STATUS_AUTOMATIC  /* 自动状态 */
+} CMD_AI_Status_t;
+
+/* UI所用行为状态 */
+typedef enum {
+  UI_NOTHING,          /* 当前无状态 */
+  UI_AUTO_AIM_START,   /* 自瞄状态开启 */
+  UI_AUTO_AIM_STOP,    /* 自瞄状态关闭 */
+  UI_HIT_SWITCH_START, /* 打符状态开启 */
+  UI_HIT_SWITCH_STOP   /* 打符状态关闭 */
+} CMD_UI_t;
+
+
 /* 灵敏度配置 */
 typedef struct {
     float mouse_sens;       /* 鼠标灵敏度 */
@@ -49,6 +67,11 @@ typedef struct {
     float move_fast_mult;   /* 快速移动倍率 */
     float move_slow_mult;   /* 慢速移动倍率 */
 } CMD_Sensitivity_t;
+/* 分辨率配置 */
+typedef struct {
+  uint16_t width;
+  uint16_t height;
+} CMD_Screen_t;
 
 /* RC模式映射配置 - 定义开关位置到模式的映射 */
 typedef struct {
@@ -76,7 +99,8 @@ typedef struct {
     
     /* 灵敏度设置 */
     CMD_Sensitivity_t sensitivity;
-    
+    /* 分辨率设置 */	
+		CMD_Screen_t screen;
     /* RC模式映射 */
     CMD_RCModeMap_t rc_mode_map;
     

User/module/cmd/cmd_example.c

@@ -3,7 +3,7 @@
  * 
  * 本文件展示如何配置和使用新的CMD模块
  */
-#include "cmd.h"
+#include "module/cmd/cmd.h"
 
 /* ========================================================================== */
 /*                           config示例                                          */