152 lines
3.9 KiB
C
152 lines
3.9 KiB
C
/*
|
|
* cmd模组
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#ifdef __cplusplus
|
|
extern "C" {
|
|
#endif
|
|
|
|
/* Includes ----------------------------------------------------------------- */
|
|
#include "component\user_math.h"
|
|
#include "gimbal.h"
|
|
#include "remote_control.h"
|
|
#include "chassis.h"
|
|
#include "module\shoot.h"
|
|
#include "module\cmd\cmd_types.h"
|
|
|
|
|
|
/* ========================================================================== */
|
|
/* 输出命令结构 */
|
|
/* ========================================================================== */
|
|
|
|
/* 每个模块的输出包含源信息和命令 */
|
|
typedef struct {
|
|
CMD_InputSource_t source;
|
|
Chassis_CMD_t cmd;
|
|
} CMD_ChassisOutput_t;
|
|
|
|
typedef struct {
|
|
CMD_InputSource_t source;
|
|
Gimbal_CMD_t cmd;
|
|
} CMD_GimbalOutput_t;
|
|
|
|
typedef struct {
|
|
CMD_InputSource_t source;
|
|
Shoot_CMD_t cmd;
|
|
} CMD_ShootOutput_t;
|
|
|
|
/* ========================================================================== */
|
|
/* 配置结构 */
|
|
/* ========================================================================== */
|
|
|
|
/* 灵敏度配置 */
|
|
typedef struct {
|
|
float mouse_sens; /* 鼠标灵敏度 */
|
|
float move_sens; /* 移动灵敏度 */
|
|
float move_fast_mult; /* 快速移动倍率 */
|
|
float move_slow_mult; /* 慢速移动倍率 */
|
|
} CMD_Sensitivity_t;
|
|
|
|
/* RC模式映射配置 - 定义开关位置到模式的映射 */
|
|
typedef struct {
|
|
/* 左拨杆映射 - 底盘模式 */
|
|
Chassis_mode_t sw_left_up;
|
|
Chassis_mode_t sw_left_mid;
|
|
Chassis_mode_t sw_left_down;
|
|
|
|
/* 右拨杆映射 - 云台/射击模式 */
|
|
Gimbal_Mode_t gimbal_sw_up;
|
|
Gimbal_Mode_t gimbal_sw_mid;
|
|
Gimbal_Mode_t gimbal_sw_down;
|
|
|
|
Shoot_Mode_t shoot_sw_up;
|
|
Shoot_Mode_t shoot_sw_mid;
|
|
Shoot_Mode_t shoot_sw_down;
|
|
|
|
} CMD_RCModeMap_t;
|
|
|
|
/* 整体配置 */
|
|
typedef struct {
|
|
/* 输入源优先级，索引越小优先级越高 */
|
|
CMD_InputSource_t source_priority[CMD_SRC_NUM];
|
|
|
|
/* 灵敏度设置 */
|
|
CMD_Sensitivity_t sensitivity;
|
|
|
|
/* RC模式映射 */
|
|
CMD_RCModeMap_t rc_mode_map;
|
|
|
|
} CMD_Config_t;
|
|
|
|
/* ========================================================================== */
|
|
/* 主控制上下文 */
|
|
/* ========================================================================== */
|
|
|
|
typedef struct {
|
|
float now;
|
|
float dt;
|
|
uint32_t last_us;
|
|
} CMD_Timer_t;
|
|
|
|
typedef struct CMD_Context {
|
|
/* 配置 */
|
|
CMD_Config_t *config;
|
|
|
|
/* 时间 */
|
|
CMD_Timer_t timer;
|
|
|
|
/* 当前帧和上一帧的原始输入 */
|
|
CMD_RawInput_t input;
|
|
CMD_RawInput_t last_input;
|
|
|
|
/* 仲裁后的活跃输入源 */
|
|
CMD_InputSource_t active_source;
|
|
|
|
/* 输出 */
|
|
struct {
|
|
CMD_ChassisOutput_t chassis;
|
|
CMD_GimbalOutput_t gimbal;
|
|
CMD_ShootOutput_t shoot;
|
|
} output;
|
|
} CMD_t;
|
|
|
|
/* ========================================================================== */
|
|
/* 全局配置实例 */
|
|
static CMD_Config_t g_cmd_config = {
|
|
/* 灵敏度设置 */
|
|
.sensitivity = {
|
|
.mouse_sens = 0.8f,
|
|
.move_sens = 1.0f,
|
|
.move_fast_mult = 1.5f,
|
|
.move_slow_mult = 0.5f,
|
|
},
|
|
|
|
/* RC拨杆模式映射 */
|
|
.rc_mode_map = {
|
|
/* 左拨杆控制底盘模式 */
|
|
|
|
.sw_left_up = CHASSIS_MODE_BREAK,
|
|
.sw_left_mid = CHASSIS_MODE_FOLLOW_GIMBAL,
|
|
.sw_left_down = CHASSIS_MODE_ROTOR,
|
|
|
|
/* 用于云台模式 */
|
|
.gimbal_sw_up = GIMBAL_MODE_RELAX,
|
|
.gimbal_sw_mid = GIMBAL_MODE_ABSOLUTE,
|
|
.gimbal_sw_down = GIMBAL_MODE_RELATIVE,
|
|
|
|
.shoot_sw_up=SHOOT_MODE_SAFE,
|
|
.shoot_sw_mid=SHOOT_MODE_SINGLE,
|
|
.shoot_sw_down=SHOOT_MODE_BURST,
|
|
|
|
|
|
},
|
|
|
|
};
|
|
|
|
|
|
#ifdef __cplusplus
|
|
}
|
|
#endif
|