完成了底盘的框架,逆运动学解算和IMU融合尚未编写,也尚未对双板兼容条件编译进行设置,can未添加

application/cmd/robot_cmd.c

@@ -0,0 +1,63 @@
+#include "robot_def.h"
+#include "robot_cmd.h"
+#include "remote_control.h"
+#include "ins_task.h"
+#include "master_process.h"
+#include "message_center.h"
+
+/* gimbal_cmd应用包含的模块实例指针和交互信息存储*/
+#ifndef ONE_BOARD
+#include "can_comm.h"
+static CANCommInstance *chasiss_can_comm; // 双板通信
+#endif                                    // !ONE_BOARD
+static RC_ctrl_t *remote_control_data;    // 遥控器数据
+static Vision_Recv_s *vision_recv_data;   // 视觉接收数据
+static Vision_Send_s *vision_send_data;   // 视觉发送数据
+
+static Publisher_t *gimbal_cmd_pub;
+static Gimbal_Ctrl_Cmd_s gimbal_cmd_send; // 传递给云台的控制信息
+static Subscriber_t *gimbal_cmd_feed_sub;
+static Gimbal_Upload_Data_s gimbal_fetch_data; // 从云台获取的反馈信息
+
+static Publisher_t *shoot_cmd_pub;
+static Shoot_Ctrl_Cmd_s shoot_cmd_send; // 传递给发射的控制信息
+static Subscriber_t *shoot_cmd_feed_sub;
+static Shoot_Upload_Data_s shoot_fetch_data; // 从发射获取的反馈信息
+
+static Publisher_t *chassis_cmd_pub;
+static Chassis_Ctrl_Cmd_s chassis_cmd_send; // 发送给底盘应用的信息,包括控制信息和UI绘制相关
+static Subscriber_t *chassis_cmd_feed_sub;
+static Chassis_Upload_Data_s chassis_fetch_data; // 从底盘应用接收的反馈信息信息,底盘功率枪口热量与底盘运动状态等
+
+static void CalcOffsetAngle()
+{
+}
+
+static void SetRobotMode()
+{
+}
+
+static void SetCtrlData()
+{
+}
+
+static void SetCtrlMessage()
+{
+}
+
+void GimbalCMDInit()
+{
+    remote_control_data = RC_init(&huart3);
+    vision_recv_data = VisionInit(&huart1);
+
+    gimbal_cmd_pub = PubRegister("gimbal_cmd", sizeof(Gimbal_Ctrl_Cmd_s));
+    gimbal_cmd_feed_sub = SubRegister("gimbal_feed", sizeof(Gimbal_Upload_Data_s));
+    shoot_cmd_pub = PubRegister("shoot_cmd", sizeof(Shoot_Ctrl_Cmd_s));
+    shoot_cmd_feed_sub = SubRegister("shoot_feed", sizeof(Shoot_Upload_Data_s));
+    chassis_cmd_pub = PubRegister("gimbal2chassis", sizeof(Chassis_Ctrl_Cmd_s));
+    chassis_cmd_feed_sub = SubRegister("chassis2gimbal", sizeof(Chassis_Upload_Data_s));
+}
+
+void GimbalCMDTask()
+{
+}