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/*
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* BHBF_ROBOT.h
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*
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* Created on: Oct 26, 2023
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* Author: shiya
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*/
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#ifndef INC_BHBF_ROBOT_H_
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#define INC_BHBF_ROBOT_H_
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#include <stdio.h>
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#include <string.h>
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#include <stdlib.h>
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#include <assert.h>
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#include <motors.h>
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#include <stdbool.h>
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#include "BHBF_ROBOT.h"
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#include "bsp_PV.pb.h"
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#include "bsp_IV.pb.h"
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#include "bsp_TCPClient.h"
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#include "pb.h"
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#include "pb_decode.h"
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#include "pb_encode.h"
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#include "bsp_EEPROM.h"
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#include "bsp_pb_decode_encode.h"
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#include "bsp_MB_host.h"
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#include "bsp_include.h"
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#include "bsp_UART.h"
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#include "DLTuc.h"
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#include "bsp_DLT_Log.h"
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#include "bsp_cpu_flash.h"
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#include "bsp_qspi_w25q128.h"
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#include "bsp_UpperComputer_Handler.h"
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#include "bsp_Error_Detect.h"
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#include "bsp_MB_host.h"
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#include "msp_JTBATTERY.h"
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#include "msp_Force_Sensor.h"
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#include "msp_TL720D.h"
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#include "msp_MK32_1.h"
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#include "msp_Force_Sensor.h"
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#include "msp_WH_LTE_7S0.h"
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#include "paint_gun_action.h"
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#include "fsm_state_control.h"
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#include "change_line_control.h"
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#include "fsm_state.h"
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#include "robot_move_actions.h"
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//#include "robot_state.h"
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//FLASH (rx) : ORIGIN = 0x08020000, LENGTH = 896K
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//#define VECT_TAB_OFFSET 0x00020000U
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#define DLTViewer 1
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extern bool CompareTimer_Delay(int32_t Delay);
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extern GV_struct_define GV;
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extern IV_struct_define IV;
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extern CV_struct_define CV;
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extern PV_struct_define decoded_PV;
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extern PV_struct_define decoded_PV_variable;
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typedef struct sys_timer_handler
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{
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int start_timer;
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int sys_current_timer_count;
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int sys_timer_flag;
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}Sys_timer_handler;
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extern Sys_timer_handler timer_handler_1;
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extern Sys_timer_handler timer_handler_2;
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extern Sys_timer_handler timer_handler_3;
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extern Sys_timer_handler timer_handler_4;
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//first start Timer, then WaitTimer
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extern bool CompareTimer(int32_t DelayMiliSeconds,Sys_timer_handler * timer_handler);
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extern void SystemTimer_Intialize();
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extern void GF_Timer_Count();
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extern void GF_Robot_Init(void);
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extern void GF_Robot_MainLoop(void);
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extern void GF_WatchDog_Loop(void);
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extern int32_t speed_M_min_toE01_M_min(int32_t speedm_min);
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extern void SET_BIT_1(int32_t* num,int32_t k);
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extern void SET_BIT_0(int32_t* num,int32_t k);
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extern int32_t Get_BIT(int32_t* num,int32_t k);
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//A &= ~(1 << bit)
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extern int32_t* SystemErrorCode;
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extern ErrorData* SystemErrorData;
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#define IV_Run_Mode_Maunal 0
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#define IV_Run_Mode_Automation 1
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#define IV_Run_Mode_EmergencyStop 2
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#define IV_Run_Mode_Vertical_LaneChange 3
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#define IV_Run_Mode_Horizontal_LaneChange 4
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#define IV_Run_Mode_Forward 5
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#define IV_Run_Mode_BackWard 6
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#define IV_Run_Mode_TurnLeft 7
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#define IV_Run_Mode_TurnRight 8
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#define IV_Run_Mode_HALT 9
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//extern LS_MotorParameters* Frames_Motor[4];
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extern int32_t SystemTimeMiliCount; //2ms加一
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#endif /* INC_BHBF_ROBOT_H_ */
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