TuxMonkey/bf_original_balance_chassis
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添加裁判系统串口，修复关节复位bug

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This commit is contained in:
kai
2024-04-29 11:38:32 +08:00
parent 8fc322fd51
commit d4d0d0ac54
3 changed files with 52 additions and 50 deletions
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82
modules/referee/referee_protocol.h
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@@ -88,16 +88,16 @@ typedef enum
/* 命令码数据段长,根据官方协议来定义长度，还有自定义数据长度 */
typedef enum
{
LEN_game_state = 3, // 0x0001
LEN_game_state = 11, // 0x0001
LEN_game_result = 1, // 0x0002
LEN_game_robot_HP = 2, // 0x0003
LEN_game_robot_HP = 32, // 0x0003
LEN_event_data = 4, // 0x0101
LEN_supply_projectile_action = 4, // 0x0102
LEN_game_robot_state = 27, // 0x0201
LEN_power_heat_data = 14, // 0x0202
LEN_game_robot_state = 13, // 0x0201
LEN_power_heat_data = 16, // 0x0202
LEN_game_robot_pos = 16, // 0x0203
LEN_buff_musk = 1, // 0x0204
LEN_aerial_robot_energy = 1, // 0x0205
LEN_buff_musk = 6, // 0x0204
LEN_aerial_robot_energy = 2, // 0x0205
LEN_robot_hurt = 1, // 0x0206
LEN_shoot_data = 7, // 0x0207
LEN_receive_data = 6 + Communicate_Data_LEN, // 0x0301
@@ -107,12 +107,13 @@ typedef enum
/****************************接收数据的详细说明****************************/
/****************************接收数据的详细说明****************************/
/* ID: 0x0001 Byte: 3 比赛状态数据 */
typedef struct
{
uint8_t game_type : 4;
uint8_t game_progress : 4;
uint16_t stage_remain_time;
/* ID: 0x0001 Byte: 11 比赛状态数据 */
typedef struct
{
uint8_t game_type : 4;
uint8_t game_progress : 4;
uint16_t stage_remain_time;
uint64_t SyncTimeStamp;
} ext_game_state_t;
/* ID: 0x0002 Byte: 1 比赛结果数据 */
@@ -157,37 +158,31 @@ typedef struct
uint8_t supply_projectile_num;
} ext_supply_projectile_action_t;
/* ID: 0X0201 Byte: 27 机器人状态数据 */
/* ID: 0X0201 Byte: 13 机器人状态数据 */
typedef struct
{
uint8_t robot_id;
uint8_t robot_level;
uint16_t remain_HP;
uint16_t max_HP;
uint16_t shooter_id1_17mm_cooling_rate;
uint16_t shooter_id1_17mm_cooling_limit;
uint16_t shooter_id1_17mm_speed_limit;
uint16_t shooter_id2_17mm_cooling_rate;
uint16_t shooter_id2_17mm_cooling_limit;
uint16_t shooter_id2_17mm_speed_limit;
uint16_t shooter_id1_42mm_cooling_rate;
uint16_t shooter_id1_42mm_cooling_limit;
uint16_t shooter_id1_42mm_speed_limit;
uint16_t chassis_power_limit;
uint8_t mains_power_gimbal_output : 1;
uint8_t mains_power_chassis_output : 1;
uint8_t mains_power_shooter_output : 1;
uint8_t robot_id;
uint8_t robot_level;
uint16_t current_HP;
uint16_t maximum_HP;
uint16_t shooter_barrel_cooling_value;
uint16_t shooter_barrel_heat_limit;
uint16_t chassis_power_limit;
uint8_t power_management_gimbal_output : 1;
uint8_t power_management_chassis_output : 1;
uint8_t power_management_shooter_output : 1;
} ext_game_robot_state_t;
/* ID: 0X0202 Byte: 14 实时功率热量数据 */
/* ID: 0X0202 Byte: 16 实时功率热量数据 */
typedef struct
{
uint16_t chassis_volt;
uint16_t chassis_current;
float chassis_power; // 瞬时功率
uint16_t chassis_power_buffer; // 60焦耳缓冲能量
uint16_t shooter_heat0; // 17mm
uint16_t shooter_heat1;
uint16_t chassis_voltage;
uint16_t chassis_current;
float chassis_power;
uint16_t buffer_energy;
uint16_t shooter_17mm_1_barrel_heat;
uint16_t shooter_17mm_2_barrel_heat;
uint16_t shooter_42mm_barrel_heat;
} ext_power_heat_data_t;
/* ID: 0x0203 Byte: 16 机器人位置数据 */
@@ -199,16 +194,21 @@ typedef struct
float yaw;
} ext_game_robot_pos_t;
/* ID: 0x0204 Byte: 1 机器人增益数据 */
/* ID: 0x0204 Byte: 6 机器人增益数据 */
typedef struct
{
uint8_t power_rune_buff;
uint8_t recovery_buff;
uint8_t cooling_buff;
uint8_t defence_buff;
uint8_t vulnerability_buff;
uint16_t attack_buff;
} ext_buff_musk_t;
/* ID: 0x0205 Byte: 1 空中机器人能量状态数据 */
/* ID: 0x0205 Byte: 2 空中机器人能量状态数据 */
typedef struct
{
uint8_t attack_time;
uint8_t airforce_status;
uint8_t time_remain;
} aerial_robot_energy_t;
/* ID: 0x0206 Byte: 1 伤害状态数据 */