You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
168 lines
7.9 KiB
168 lines
7.9 KiB
3 weeks ago
|
/* Automatically generated nanopb header */
|
||
|
|
/* Generated by nanopb-0.4.8 */
|
||
|
|
|
||
|
|
#ifndef PB_BSP_GV_PB_H_INCLUDED
|
||
|
|
#define PB_BSP_GV_PB_H_INCLUDED
|
||
|
|
#include "pb.h"
|
||
|
|
#include "msp_MK32.pb.h"
|
||
|
|
#include "msp_Motor.pb.h"
|
||
|
|
#include "msp_ZQ_MotorParameters.pb.h"
|
||
|
|
#include "msp_TL720D.pb.h"
|
||
|
|
#include "bsp_Error.pb.h"
|
||
|
|
#include "bsp_PV.pb.h"
|
||
|
|
#include "bsp_IO.pb.h"
|
||
|
|
#include "bsp_strain_gauge.pb.h"
|
||
|
|
#include "bsp_ground_management.pb.h"
|
||
|
|
|
||
|
|
#if PB_PROTO_HEADER_VERSION != 40
|
||
|
|
#error Regenerate this file with the current version of nanopb generator.
|
||
|
|
#endif
|
||
|
|
|
||
|
|
/* Struct definitions */
|
||
|
|
typedef struct _GV_struct_define {
|
||
|
|
int32_t TempatureE_2C; /* E_2C=0.01 Celsius 0.01摄氏度 */
|
||
|
|
float Left_Compensation; /* E_2D =0.01 Degree 0.01度 */
|
||
|
|
float Right_Compensation; /* 0.01度 */
|
||
|
|
float Robot_Angle_Desire; /* 机器人期望角度 //改为 float，单位：度（不再需要0.01缩放） */
|
||
|
|
float Robot_Move_Speed; /* 0.1rpm */
|
||
|
|
float Robot_Desired_Speed; /* 0.1rpm */
|
||
|
|
float Left_Speed_M_min; /* m/Min */
|
||
|
|
float Right_Speed_M_min; /* m/Min */
|
||
|
|
float Vertical_Adjust; /* 0.1° */
|
||
|
|
int32_t ForceValue;
|
||
|
|
int32_t LaneChangeDistance;
|
||
|
|
bool has_P_MK32;
|
||
|
|
SP_MSP_MK32_Button P_MK32;
|
||
|
|
bool has_LeftMotor;
|
||
|
|
TT_MotorParameters LeftMotor; /* 左电机 ID2 */
|
||
|
|
bool has_RightMotor;
|
||
|
|
TT_MotorParameters RightMotor; /* 右电机 ID3 */
|
||
|
|
bool has_SwingMotor;
|
||
|
|
TT_MotorParameters SwingMotor; /* 右电机 ID3 */
|
||
|
|
bool has_TL720DParameters;
|
||
|
|
MSP_TL720DParameters TL720DParameters;
|
||
|
|
bool has_IO;
|
||
|
|
IO_Data IO;
|
||
|
|
bool has_SystemErrorData;
|
||
|
|
ErrorData SystemErrorData;
|
||
|
|
bool has_PV;
|
||
|
|
PV_struct_define PV; /* 用户配置数据 */
|
||
|
|
float Tar_Position_angle; /* 位置环模式，期望角度 */
|
||
|
|
int32_t Tar_Position_Velcity_Degree_S; /* 位置环模式，速度(m/min) */
|
||
|
|
int32_t symmetricalOrNot;
|
||
|
|
int32_t Robot_backMode;
|
||
|
|
int32_t Robot_Swing_Speed;
|
||
|
|
bool has_Strain_Gauge;
|
||
|
|
Strain_Gauge_Struct Strain_Gauge;
|
||
|
|
float weld_data_X;
|
||
|
|
int32_t weld_exist;
|
||
|
|
int32_t Now_press;
|
||
|
|
int32_t turn_center_difference;
|
||
|
|
bool has_GroundManagementValue;
|
||
|
|
ground_management_struct GroundManagementValue;
|
||
|
|
int32_t robot_back_distance;
|
||
|
|
} GV_struct_define;
|
||
|
|
|
||
|
|
|
||
|
|
#ifdef __cplusplus
|
||
|
|
extern "C" {
|
||
|
|
#endif
|
||
|
|
|
||
|
|
/* Initializer values for message structs */
|
||
|
|
#define GV_struct_define_init_default {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, false, SP_MSP_MK32_Button_init_default, false, TT_MotorParameters_init_default, false, TT_MotorParameters_init_default, false, TT_MotorParameters_init_default, false, MSP_TL720DParameters_init_default, false, IO_Data_init_default, false, ErrorData_init_default, false, PV_struct_define_init_default, 0, 0, 0, 0, 0, false, Strain_Gauge_Struct_init_default, 0, 0, 0, 0, false, ground_management_struct_init_default, 0}
|
||
|
|
#define GV_struct_define_init_zero {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, false, SP_MSP_MK32_Button_init_zero, false, TT_MotorParameters_init_zero, false, TT_MotorParameters_init_zero, false, TT_MotorParameters_init_zero, false, MSP_TL720DParameters_init_zero, false, IO_Data_init_zero, false, ErrorData_init_zero, false, PV_struct_define_init_zero, 0, 0, 0, 0, 0, false, Strain_Gauge_Struct_init_zero, 0, 0, 0, 0, false, ground_management_struct_init_zero, 0}
|
||
|
|
|
||
|
|
/* Field tags (for use in manual encoding/decoding) */
|
||
|
|
#define GV_struct_define_TempatureE_2C_tag 1
|
||
|
|
#define GV_struct_define_Left_Compensation_tag 2
|
||
|
|
#define GV_struct_define_Right_Compensation_tag 3
|
||
|
|
#define GV_struct_define_Robot_Angle_Desire_tag 4
|
||
|
|
#define GV_struct_define_Robot_Move_Speed_tag 5
|
||
|
|
#define GV_struct_define_Robot_Desired_Speed_tag 6
|
||
|
|
#define GV_struct_define_Left_Speed_M_min_tag 7
|
||
|
|
#define GV_struct_define_Right_Speed_M_min_tag 8
|
||
|
|
#define GV_struct_define_Vertical_Adjust_tag 9
|
||
|
|
#define GV_struct_define_ForceValue_tag 10
|
||
|
|
#define GV_struct_define_LaneChangeDistance_tag 11
|
||
|
|
#define GV_struct_define_P_MK32_tag 12
|
||
|
|
#define GV_struct_define_LeftMotor_tag 13
|
||
|
|
#define GV_struct_define_RightMotor_tag 14
|
||
|
|
#define GV_struct_define_SwingMotor_tag 15
|
||
|
|
#define GV_struct_define_TL720DParameters_tag 16
|
||
|
|
#define GV_struct_define_IO_tag 17
|
||
|
|
#define GV_struct_define_SystemErrorData_tag 18
|
||
|
|
#define GV_struct_define_PV_tag 19
|
||
|
|
#define GV_struct_define_Tar_Position_angle_tag 20
|
||
|
|
#define GV_struct_define_Tar_Position_Velcity_Degree_S_tag 21
|
||
|
|
#define GV_struct_define_symmetricalOrNot_tag 22
|
||
|
|
#define GV_struct_define_Robot_backMode_tag 23
|
||
|
|
#define GV_struct_define_Robot_Swing_Speed_tag 24
|
||
|
|
#define GV_struct_define_Strain_Gauge_tag 25
|
||
|
|
#define GV_struct_define_weld_data_X_tag 26
|
||
|
|
#define GV_struct_define_weld_exist_tag 27
|
||
|
|
#define GV_struct_define_Now_press_tag 28
|
||
|
|
#define GV_struct_define_turn_center_difference_tag 29
|
||
|
|
#define GV_struct_define_GroundManagementValue_tag 30
|
||
|
|
#define GV_struct_define_robot_back_distance_tag 31
|
||
|
|
|
||
|
|
/* Struct field encoding specification for nanopb */
|
||
|
|
#define GV_struct_define_FIELDLIST(X, a) \
|
||
|
|
X(a, STATIC, SINGULAR, INT32, TempatureE_2C, 1) \
|
||
|
|
X(a, STATIC, SINGULAR, FLOAT, Left_Compensation, 2) \
|
||
|
|
X(a, STATIC, SINGULAR, FLOAT, Right_Compensation, 3) \
|
||
|
|
X(a, STATIC, SINGULAR, FLOAT, Robot_Angle_Desire, 4) \
|
||
|
|
X(a, STATIC, SINGULAR, FLOAT, Robot_Move_Speed, 5) \
|
||
|
|
X(a, STATIC, SINGULAR, FLOAT, Robot_Desired_Speed, 6) \
|
||
|
|
X(a, STATIC, SINGULAR, FLOAT, Left_Speed_M_min, 7) \
|
||
|
|
X(a, STATIC, SINGULAR, FLOAT, Right_Speed_M_min, 8) \
|
||
|
|
X(a, STATIC, SINGULAR, FLOAT, Vertical_Adjust, 9) \
|
||
|
|
X(a, STATIC, SINGULAR, INT32, ForceValue, 10) \
|
||
|
|
X(a, STATIC, SINGULAR, INT32, LaneChangeDistance, 11) \
|
||
|
|
X(a, STATIC, OPTIONAL, MESSAGE, P_MK32, 12) \
|
||
|
|
X(a, STATIC, OPTIONAL, MESSAGE, LeftMotor, 13) \
|
||
|
|
X(a, STATIC, OPTIONAL, MESSAGE, RightMotor, 14) \
|
||
|
|
X(a, STATIC, OPTIONAL, MESSAGE, SwingMotor, 15) \
|
||
|
|
X(a, STATIC, OPTIONAL, MESSAGE, TL720DParameters, 16) \
|
||
|
|
X(a, STATIC, OPTIONAL, MESSAGE, IO, 17) \
|
||
|
|
X(a, STATIC, OPTIONAL, MESSAGE, SystemErrorData, 18) \
|
||
|
|
X(a, STATIC, OPTIONAL, MESSAGE, PV, 19) \
|
||
|
|
X(a, STATIC, SINGULAR, FLOAT, Tar_Position_angle, 20) \
|
||
|
|
X(a, STATIC, SINGULAR, INT32, Tar_Position_Velcity_Degree_S, 21) \
|
||
|
|
X(a, STATIC, SINGULAR, INT32, symmetricalOrNot, 22) \
|
||
|
|
X(a, STATIC, SINGULAR, INT32, Robot_backMode, 23) \
|
||
|
|
X(a, STATIC, SINGULAR, INT32, Robot_Swing_Speed, 24) \
|
||
|
|
X(a, STATIC, OPTIONAL, MESSAGE, Strain_Gauge, 25) \
|
||
|
|
X(a, STATIC, SINGULAR, FLOAT, weld_data_X, 26) \
|
||
|
|
X(a, STATIC, SINGULAR, INT32, weld_exist, 27) \
|
||
|
|
X(a, STATIC, SINGULAR, INT32, Now_press, 28) \
|
||
|
|
X(a, STATIC, SINGULAR, INT32, turn_center_difference, 29) \
|
||
|
|
X(a, STATIC, OPTIONAL, MESSAGE, GroundManagementValue, 30) \
|
||
|
|
X(a, STATIC, SINGULAR, INT32, robot_back_distance, 31)
|
||
|
|
#define GV_struct_define_CALLBACK NULL
|
||
|
|
#define GV_struct_define_DEFAULT NULL
|
||
|
|
#define GV_struct_define_P_MK32_MSGTYPE SP_MSP_MK32_Button
|
||
|
|
#define GV_struct_define_LeftMotor_MSGTYPE TT_MotorParameters
|
||
|
|
#define GV_struct_define_RightMotor_MSGTYPE TT_MotorParameters
|
||
|
|
#define GV_struct_define_SwingMotor_MSGTYPE TT_MotorParameters
|
||
|
|
#define GV_struct_define_TL720DParameters_MSGTYPE MSP_TL720DParameters
|
||
|
|
#define GV_struct_define_IO_MSGTYPE IO_Data
|
||
|
|
#define GV_struct_define_SystemErrorData_MSGTYPE ErrorData
|
||
|
|
#define GV_struct_define_PV_MSGTYPE PV_struct_define
|
||
|
|
#define GV_struct_define_Strain_Gauge_MSGTYPE Strain_Gauge_Struct
|
||
|
|
#define GV_struct_define_GroundManagementValue_MSGTYPE ground_management_struct
|
||
|
|
|
||
|
|
extern const pb_msgdesc_t GV_struct_define_msg;
|
||
|
|
|
||
|
|
/* Defines for backwards compatibility with code written before nanopb-0.4.0 */
|
||
|
|
#define GV_struct_define_fields &GV_struct_define_msg
|
||
|
|
|
||
|
|
/* Maximum encoded size of messages (where known) */
|
||
|
|
#define BSP_GV_PB_H_MAX_SIZE GV_struct_define_size
|
||
|
|
#define GV_struct_define_size 2004
|
||
|
|
|
||
|
|
#ifdef __cplusplus
|
||
|
|
} /* extern "C" */
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#endif
|