sentry_chassis_hzz/modules/master_machine/seasky_protocol.h

#ifndef __SEASKY_PROTOCOL_H
#define __SEASKY_PROTOCOL_H

#include <stdio.h>
#include <stdint.h>

#define PROTOCOL_CMD_ID 0XA5

#define OFFSET_BYTE 8 // 出数据段外，其他部分所占字节数

typedef enum
{
	NO_FIRE = 0,
	AUTO_FIRE = 1,
	AUTO_AIM = 2
} Fire_Mode_e;

typedef enum
{
	NO_TARGET = 0,
	TARGET_CONVERGING = 1,
	READY_TO_FIRE = 2
} Target_State_e;

typedef enum
{
	NO_TARGET_NUM = 0,
	HERO1 = 1,
	ENGINEER2 = 2,
	INFANTRY3 = 3,
	INFANTRY4 = 4,
	INFANTRY5 = 5,
	OUTPOST = 6,
	SENTRY = 7,
	BASE = 8
} Target_Type_e;

typedef struct
{
	Fire_Mode_e fire_mode;
	Target_State_e target_state;
	Target_Type_e target_type;

	float yaw;
	float pitch;
} Vision_Recv_s;

typedef enum
{
	BLUE = 0,
	RED = 1
} Enemy_Color_e;

typedef enum
{
	MODE_AIM = 0,
	MODE_SMALL_BUFF = 1,
	MODE_BIG_BUFF = 2
} Work_Mode_e;

typedef enum
{
	BIG_AMU_10 = 10,
	SMALL_AMU_15 = 15,
	BIG_AMU_16 = 16,
	SMALL_AMU_18 = 18,
	SMALL_AMU_30 = 30,
} Bullet_Speed_e;

typedef struct
{
	Enemy_Color_e enemy_color;
	Work_Mode_e work_mode;
	Bullet_Speed_e bullet_speed;

	float yaw;
	float pitch;
	float roll;

	// uint32_t time_stamp; // @todo 用于和相机的时间戳对齐
} Vision_Send_s;

typedef struct
{
	struct
	{
		uint8_t sof;
		uint16_t data_length;
		uint8_t crc_check; // 帧头CRC校验
	} header;			   // 数据帧头
	uint16_t cmd_id;	   // 数据ID
	uint16_t frame_tail;   // 帧尾CRC校验
} protocol_rm_struct;

/*更新发送数据帧，并计算发送数据帧长度*/
void get_protocol_send_data(uint16_t send_id,		 // 信号id
							uint16_t flags_register, // 16位寄存器
							float *tx_data,			 // 待发送的float数据
							uint8_t float_length,	 // float的数据长度
							uint8_t *tx_buf,		 // 待发送的数据帧
							uint16_t *tx_buf_len);	 // 待发送的数据帧长度

/*接收数据处理*/
uint16_t get_protocol_info(uint8_t *rx_buf,			 // 接收到的原始数据
						   uint16_t *flags_register, // 接收数据的16位寄存器地址
						   float *rx_data);			 // 接收的float数据存储地址

#endif