EFTZ_PMU/user_inc/soft_obstacle.h

#ifndef _SOFT_OBSTACLE_H
#define _SOFT_OBSTACLE_H
#include "stdint.h"
#include "stdbool.h"
#include "common.h"


//恩曌前避障(多点)
#define CAN_MIMO_FOBS_ID1 (0x401) 
#define CAN_MIMO_FOBS_ID2 (0x402) 
#define CAN_MIMO_FOBS_ID3 (0x403) 
//恩曌后避障(多点)
#define CAN_MIMO_BOBS_ID1 (0x411)
#define CAN_MIMO_BOBS_ID2 (0x412)
#define CAN_MIMO_BOBS_ID3 (0x413)
//恩曌分区仿地
#define CAN_MIMO_T_ID1 (0x311)
#define CAN_MIMO_T_ID2 (0x312)
#define CAN_MIMO_T_ID3 (0x313)
#define CAN_MIMO_T_ID4 (0x314)
#define CAN_MIMO_T_ID5 (0x315)

//莫之比前避障(多点)
#define CAN_UAVRH_FOBS_ID1 (0x601)
#define CAN_UAVRH_FOBS_ID2 (0x602)
#define CAN_UAVRH_FOBS_ID3 (0x603)
//莫之比后避障(多点)
#define CAN_UAVRH_BOBS_ID1 (0x611)
#define CAN_UAVRH_BOBS_ID2 (0x612)
#define CAN_UAVRH_BOBS_ID3 (0x613)

//莫之比分区仿地
#define CAN_MICOB_T_ID1 (0x511)
#define CAN_MICOB_T_ID2 (0x512)
#define CAN_MICOB_T_ID3 (0x513)
#define CAN_MICOB_T_ID4 (0x514)
#define CAN_MICOB_T_ID5 (0x515)

//莫之比雷达发送升级命令
#define CAN_UAVRH_UPDATE_S1    (0x7E0)
//发送消息到莫之比雷达
#define SEND_UAV20_MSG   (0x00FFEE01)
//发送消息到莫之比雷达读取版本
#define SEND_UAV20_VER   (0x00FFEE02)
//莫之比雷达反馈版本信息，读取命令是SEND_UAV20_VER
#define CAN_UAVRH_VER_R        (0x7E8)
//莫之比雷达设置灵敏度及反馈
#define CAN_UAVRH_SENSI_SA      (0x7F6)
//莫之比雷达读取灵敏度及反馈
#define CAN_UAVRH_SENSI_RA      (0x7F8)
#define MIMO_360_TotalSect   60

#pragma pack(1)
typedef struct
{
  unsigned long long FrameID : 4;
  unsigned long long PackageID : 4;
  long long RCS : 8;
  long long Vel : 10;
  unsigned long long FrameType : 2;
  long long Distance : 12;
  long long Amuzith : 12;
  long long Elevation : 12;
}mimo_part_radar;
#pragma pack()
extern mimo_part_radar F_radar[3];
extern mimo_part_radar B_radar[3];
extern mimo_part_radar T_radar[5];

//避障雷达
#pragma pack(1)
typedef struct 
{

  Connect_check Link;

  //距离数据
  short distance_x;
  short distance_y;
  uint8_t signal_qulity;

  //灵敏度
  short get_radar_sensi;
  bool get_radar_sensi_flag;
  bool fcu_set_sensi_flag;
  char send_fcu_sensi_count;
  char get_radar_sensi_count;
  char set_radar_sensi_count;
  char set_radar_sensi_ack;

  //版本信息
  int soft_verison; //软件版本 区分新旧雷达，旧版本设置灵敏度进BOOT
  char version[10];
  int hard_version;

  bool get_radar_ver_flag; //检测到雷达一直发，上电发几次可能收不到
  bool get_radar_sn_flag;

  //SN号
  //char send_radar_sn_count; 和版本用一个count
  char sn[20];
}uavr_obs;
#pragma pack()
extern uavr_obs uavr11_info;  
extern uavr_obs uavr12_info;
extern uavr_obs mimo_f_info; 
extern uavr_obs mimo_b_info;

#pragma pack(1)
typedef struct
{
    short angel_4DF; //角度
    short ground_filter_4DF;//距离滤波
    short dotcloud_switch_4DF;//点云
    short angel_4DB;//角度
    short ground_filter_4DB;//距离滤波
    short dotcloud_switch_4DB;//点云
    short DM4DF_Blind_spot_distance;//4D前雷达盲区距离
    short DM4DB_Blind_spot_distance;//4D后雷达盲区距离
    short Packing_auger_size; //绞龙类型

    bool get_angel_4DF;//获取角度成功
    bool get_ground_filter_4DF;//距离滤波成功
    bool get_angel_4DB;//获取角度成功
    bool get_ground_filter_4DB;//距离滤波成功
    bool get_dotcloud_switch_4DF;//点云成功
    bool get_dotcloud_switch_4DB;//点云成功
    bool get_DM4DF_Blind_spot_distance;//4D前避障盲区距离
    bool get_DM4DB_Blind_spot_distance;//4D后雷达盲区距离
}_dev_par;
#pragma pack()

extern _dev_par DM_4DRADARMAG;

#pragma pack(1)
typedef struct
{
  uint8_t TotalSect;
  int16_t RangeRes:14;
  int16_t rev:10;
  int16_t Pitch:10;
  int16_t Roll:10;
  uint16_t nTarget:12;

  uint8_t index;
  bool get_TotalSect_flag;
  bool set_TotalSect_flag;
}mimo_360status;
#pragma pack()
extern mimo_360status mimo360_status;

#pragma pack(1)
typedef struct
{
  uint8_t sectId0;
  uint8_t dis0;
  int8_t rcs0;
  int8_t el0;
}mimo_360info;
#pragma pack()
extern mimo_360info mimo360_info[MIMO_360_TotalSect];

#pragma pack(1)
typedef struct
{
  uint16_t sec_angle;//当前目标角度 0-360
  uint16_t distance;//当前目标距离 cm
  uint8_t rcs0; //强度
  int8_t el0; //当前俯仰角 -80-80
}mimo_360_data;

#pragma pack()

#pragma pack(1)
typedef struct
{
  uint8_t TotalSect;//分区数
  uint8_t total_tar;//目标总数
  mimo_360_data data[40];
}mimo_360_cont;
#pragma pack()
extern mimo_360_cont fmu_360info;
extern Connect_check mimo_360_info;
extern char can_get_uavr21_ver_comp;
extern uint8_t radar360_proflag;


void can_recv_mocib_F_obstacle(uint8_t *data);
void can_recv_mocib_B_obstacle(uint8_t *data);
void can_recv_mimo_signal_obstacle(uint32_t cellCanID, uint8_t data[], uint8_t len);
void can_recv_mocib_new360_obstacle(uint32_t cellCanID, uint8_t data[], uint8_t len);
bool Bobs_handle_function(void);
bool Fobs_handle_function(void);
void can_recv_enzhao_obstacle(uint32_t cellCanID, uint8_t data[], uint8_t len);
void can_recv_mocib_obstacle(uint32_t cellCanID, uint8_t data[], uint8_t len);
#endif