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增加robot_cmd的总控制和急停处理,添加遥控器位域处理,待测试

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This commit is contained in:
NeoZng
2022-12-06 22:58:42 +08:00
parent a235aec5df
commit df356cf675
4 changed files with 72 additions and 24 deletions
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45
modules/remote/remote_control.h
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@@ -55,27 +55,6 @@
#define Key_B 15
/* ----------------------- Data Struct ------------------------------------- */
typedef struct
{
struct
{
int16_t ch[5]; // 右|0 ,右-1 ,左-2 ,左|3 ,拨轮4
uint8_t s[2]; //[0]:left [1]:right
} joy_stick;
struct
{
int16_t x;
int16_t y;
int16_t z;
uint8_t press_l;
uint8_t press_r;
} mouse;
uint16_t key_temp;
uint8_t key[4][16];
} RC_ctrl_t;
// 待测试的位域结构体,可以极大提升解析速度
typedef struct
{
@@ -97,6 +76,30 @@ typedef struct
uint16_t b : 1;
} Key_t;
typedef struct
{
struct
{
int16_t ch[5]; // 右|0 ,右-1 ,左-2 ,左|3 ,拨轮4
uint8_t s[2]; //[0]:left [1]:right
} joy_stick;
struct
{
int16_t x;
int16_t y;
int16_t z;
uint8_t press_l;
uint8_t press_r;
} mouse;
uint16_t key_temp;
uint8_t key[4][16]; // 当前使用的键盘索引
Key_t key_test[4]; // 改为位域后的键盘索引,空间减少8倍,速度增加16~倍
} RC_ctrl_t;
/* ------------------------- Internal Data ----------------------------------- */
/**