更新了视觉上位机和CAN多机通信的文档

modules/master_machine/master_process.h

@@ -7,6 +7,78 @@
 #define VISION_RECV_SIZE 36u
 #define VISION_SEND_SIZE 36u
 
+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
+{
+	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; // @todo 用于和相机的时间戳对齐
+} Vision_Send_s;
+
 /**
  * @brief 调用此函数初始化和视觉的串口通信
  *