第一次提交

2026-05-29 17:36:34 +08:00
commit 5b3333125d
1318 changed files with 722705 additions and 0 deletions
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+#ifndef MASTER_PROCESS_H
+#define MASTER_PROCESS_H
+
+#include "bsp_usart.h"
+#include "seasky_protocol.h"
+
+#define VISION_RECV_SIZE 18u // 当前为固定值,36字节
+#define VISION_SEND_SIZE 36u
+
+#pragma pack(1)
+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 pitch;
+	float yaw;
+} Vision_Recv_s;
+
+typedef enum
+{
+	COLOR_NONE = 0,
+	COLOR_BLUE = 1,
+	COLOR_RED = 2,
+} Enemy_Color_e;
+
+typedef enum
+{
+	VISION_MODE_AIM = 0,
+	VISION_MODE_SMALL_BUFF = 1,
+	VISION_MODE_BIG_BUFF = 2
+} Work_Mode_e;
+
+typedef enum
+{
+	BULLET_SPEED_NONE = 0,
+	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;
+} Vision_Send_s;
+#pragma pack()
+
+/**
+ * @brief 调用此函数初始化和视觉的串口通信
+ *
+ * @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)
+ */
+Vision_Recv_s *VisionInit(UART_HandleTypeDef *_handle);
+
+/**
+ * @brief 发送视觉数据
+ *
+ */
+void VisionSend();
+
+/**
+ * @brief 设置视觉发送标志位
+ *
+ * @param enemy_color
+ * @param work_mode
+ * @param bullet_speed
+ */
+void VisionSetFlag(Enemy_Color_e enemy_color, Work_Mode_e work_mode, Bullet_Speed_e bullet_speed);
+
+/**
+ * @brief 设置发送数据的姿态部分
+ *
+ * @param yaw
+ * @param pitch
+ */
+void VisionSetAltitude(float yaw, float pitch, float roll);
+
+#endif // !MASTER_PROCESS_H