add vision protocol

modules/master_machine/seasky_protocol.h

@@ -0,0 +1,108 @@
+#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
+{
+	NONE = 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;
+} 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