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127 lines
1.9 KiB
127 lines
1.9 KiB
/*
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* BHBF_ROBOT.c
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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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#include "fsm.h"
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#include "BHBF_ROBOT.h"
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#include <string.h>
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#include "bsp_FDCAN.h"
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int32_t* SystemTimeMiliSeconds; //似乎未用
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int32_t SystemTimeMiliCount; //2ms加一
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int32_t* SystemErrorCode;
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ErrorData* SystemErrorData;
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//Declare a CV and initialize CV
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CV_struct_define CV =
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{ 0 };
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//Declare a GV and initialize CV
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GV_struct_define GV =
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{ 0 };
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PV_struct_define decoded_PV_variable = { 0 };
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PV_struct_define decoded_PV = { 0 };
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IV_struct_define IV ={ 0 };
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void SET_BIT_1(int32_t* num,int32_t k)
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{
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*num=((*num) | (1 << (k)));
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}
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void SET_BIT_0(int32_t* num,int32_t k)
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{
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*num=((*num) & ~(1 << (k)));
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}
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int32_t Get_BIT(int32_t* num,int32_t k)
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{
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return (*num >> (k)) & 1;
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}
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void SystemTimer_Intialize()
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{
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SystemTimeMiliCount=0;
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GF_BSP_Interrupt_Add_CallBack(
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DF_BSP_InterCall_TIM8_2ms_PeriodElapsedCallback, GF_Timer_Count);
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}
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void GF_Timer_Count()
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{
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SystemTimeMiliCount++;
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}
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Sys_timer_handler timer_handler_1;
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Sys_timer_handler timer_handler_2;
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Sys_timer_handler timer_handler_3;
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Sys_timer_handler timer_handler_4;
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int sys_timer_1_flag_count[4];
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bool CompareTimer(int32_t DelayMiliSeconds,Sys_timer_handler * timer_handler)
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{
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if(timer_handler->start_timer==1)
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{
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timer_handler->sys_current_timer_count=DelayMiliSeconds/2+SystemTimeMiliCount;
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timer_handler->start_timer=0;
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}
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if(timer_handler->sys_current_timer_count<=SystemTimeMiliCount)
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{
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return true;
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}else
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{
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return false;
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}
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}
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bool CompareTimer_Delay(int32_t Delay)
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{
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int32_t tickstart = SystemTimeMiliCount;
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int32_t wait = Delay;
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/* Add a freq to guarantee minimum wait */
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if (wait < HAL_MAX_DELAY)
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{
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int32_t wait = Delay;
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while ((SystemTimeMiliCount - tickstart) < wait/2)
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{
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}
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}
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}
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/*m/min--->0.1m/min 其实就是×10*/
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int32_t speed_M_min_toE01_M_min(int32_t speedm_min)
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{
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return speedm_min*10;
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}
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