144 lines
2.8 KiB
C
144 lines
2.8 KiB
C
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#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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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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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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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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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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// COLOR_NONE = 0,
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// COLOR_BLUE = 1,
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// COLOR_RED = 2,
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ENEMY_COLOR_RED = 0,
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ENEMY_COLOR_BLUE = 1,
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} Enemy_Color_e;
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typedef enum {
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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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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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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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} Vision_Send_s;
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typedef __packed struct {
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uint8_t header;//0x5A
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uint8_t detect_color: 1;
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uint8_t reserved: 7;
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float pitch;
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float yaw;
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float aim_x;
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float aim_y;
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float aim_z;
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uint16_t checksum;
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} SendPacket_t;
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typedef __packed struct {
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uint8_t header; //= 0xA5;
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uint8_t tracking: 1;
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uint8_t id: 3; // 0-outpost 6-guard 7-base
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uint8_t armors_num: 3; // 2-balance 3-outpost 4-normal
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uint8_t reserved: 1;
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float x;
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float y;
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float z;
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float yaw;
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float vx;
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float vy;
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float vz;
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float v_yaw;
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float r1;
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float r2;
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float dz;
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uint16_t checksum;
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} RecievePacket_t;
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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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RecievePacket_t *VisionInit(UART_HandleTypeDef *_handle);
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/**
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* @brief 发送视觉数据
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*
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*/
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void VisionSend();
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/**
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* @brief 设置视觉发送标志位
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*
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* @param enemy_color
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* @param work_mode
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* @param bullet_speed
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*/
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//void VisionSetFlag(Enemy_Color_e enemy_color, Work_Mode_e work_mode, Bullet_Speed_e bullet_speed);
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void VisionSetFlag(Enemy_Color_e enemy_color);
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/**
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* @brief 设置发送数据的姿态部分
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*
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* @param yaw
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* @param pitch
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*/
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//void VisionSetAltitude(float yaw, float pitch, float roll);
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void VisionSetAltitude(float yaw, float pitch);
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void VisionSetAim(float aim_x, float aim_y,float aim_z);
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#endif // !MASTER_PROCESS_H
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