99 lines
1.6 KiB
C
99 lines
1.6 KiB
C
#ifndef MASTER_PROCESS_H
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#define MASTER_PROCESS_H
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#include "bsp_usart.h"
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#include "seasky_protocol.h"
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#define VISION_RECV_SIZE 18u // 当前为固定值,36字节
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#define VISION_SEND_SIZE 36u
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#pragma pack(1)
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typedef enum
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{
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NO_FIRE = 0,
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AUTO_FIRE = 1,
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AUTO_AIM = 2
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} Fire_Mode_e;
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typedef enum
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{
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NO_TARGET = 0,
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TARGET_CONVERGING = 1,
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READY_TO_FIRE = 2
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} Target_State_e;
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typedef enum
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{
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NO_TARGET_NUM = 0,
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HERO1 = 1,
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ENGINEER2 = 2,
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INFANTRY3 = 3,
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INFANTRY4 = 4,
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INFANTRY5 = 5,
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OUTPOST = 6,
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SENTRY = 7,
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BASE = 8
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} Target_Type_e;
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typedef struct
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{
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Fire_Mode_e fire_mode;
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Target_State_e target_state;
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Target_Type_e target_type;
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float pitch;
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float yaw;
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} Vision_Recv_s;
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typedef enum
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{
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BLUE = 0,
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RED = 1
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} Enemy_Color_e;
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typedef enum
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{
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VISION_MODE_AIM = 0,
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VISION_MODE_SMALL_BUFF = 1,
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VISION_MODE_BIG_BUFF = 2
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} Work_Mode_e;
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typedef enum
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{
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BULLET_SPEED_NONE = 0,
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BIG_AMU_10 = 10,
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SMALL_AMU_15 = 15,
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BIG_AMU_16 = 16,
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SMALL_AMU_18 = 18,
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SMALL_AMU_30 = 30,
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} Bullet_Speed_e;
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typedef struct
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{
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Enemy_Color_e enemy_color;
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Work_Mode_e work_mode;
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Bullet_Speed_e bullet_speed;
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float yaw;
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float pitch;
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float roll;
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// uint32_t time_stamp; // @todo 用于和相机的时间戳对齐
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} Vision_Send_s;
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#pragma pack()
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/**
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* @brief 调用此函数初始化和视觉的串口通信
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*
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* @param handle 用于和视觉通信的串口handle(C板上一般为USART1,丝印为USART2,4pin)
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*/
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Vision_Recv_s *VisionInit(UART_HandleTypeDef *_handle);
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/**
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* @brief 发送视觉视觉
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*
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* @param send 视觉需要的数据
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*/
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void VisionSend(Vision_Send_s *send);
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#endif // !MASTER_PROCESS_H
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