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.
102 lines
1.9 KiB
102 lines
1.9 KiB
/*
|
|
* BHBF_ROBOT.c
|
|
*
|
|
* Created on: Oct 26, 2023
|
|
* Author: shiya
|
|
*/
|
|
#include "fsm.h"
|
|
#include "BHBF_ROBOT.h"
|
|
#include <string.h>
|
|
#include "bsp_log.h"
|
|
#include "msp_DH_Remote_Controller.h"
|
|
#include "bsp_FDCAN.h"
|
|
#include "msp_DAM_Relay.h"
|
|
|
|
//7 motors
|
|
MotorParameters *Motor[7];
|
|
//Motor Error
|
|
int32_t *Motor_ID_Errors[7] =
|
|
{ 0 };
|
|
//ComError
|
|
|
|
int32_t* SystemTimeMiliSeconds;
|
|
int32_t SystemTimeMiliCount;
|
|
|
|
int32_t* SystemErrorCode;
|
|
ErrorData* SystemErrorData;
|
|
TT_MotorParameters* TT_Motor[4];
|
|
|
|
//Declare a CV and initialize CV
|
|
CV_struct_define CV =
|
|
{ 0 };
|
|
//Declare a GV and initialize CV
|
|
GV_struct_define GV =
|
|
{ 0 };
|
|
//Declare a PV and initialize CV
|
|
//PV_struct_define PV =
|
|
//{ 0 };
|
|
IV_struct_define IV ={ 0 };
|
|
|
|
void SET_BIT_1(int32_t* num,int32_t k)
|
|
{
|
|
*num=((*num) | (1 << (k)));
|
|
}
|
|
void SET_BIT_0(int32_t* num,int32_t k)
|
|
{
|
|
*num=((*num) & ~(1 << (k)));
|
|
}
|
|
int32_t Get_BIT(int32_t* num,int32_t k)
|
|
{
|
|
return (*num >> (k - 1)) & 1;
|
|
}
|
|
|
|
void SystemTimer_Intialize()
|
|
{
|
|
SystemTimeMiliCount=0;
|
|
GF_BSP_Interrupt_Add_CallBack(
|
|
DF_BSP_InterCall_TIM8_2ms_PeriodElapsedCallback, GF_Timer_Count);
|
|
}
|
|
|
|
void GF_Timer_Count()
|
|
{
|
|
SystemTimeMiliCount++;
|
|
}
|
|
|
|
Sys_timer_handler timer_handler_1;
|
|
Sys_timer_handler timer_handler_2;
|
|
Sys_timer_handler timer_handler_3;
|
|
Sys_timer_handler timer_handler_4;
|
|
|
|
int sys_timer_1_flag_count[4];
|
|
|
|
bool CompareTimer(int32_t DelayMiliSeconds,Sys_timer_handler * timer_handler)
|
|
{
|
|
if(timer_handler->start_timer==1)
|
|
{
|
|
timer_handler->sys_current_timer_count=DelayMiliSeconds/2+SystemTimeMiliCount;
|
|
timer_handler->start_timer=0;
|
|
}
|
|
if(timer_handler->sys_current_timer_count <= SystemTimeMiliCount)
|
|
{
|
|
return true;
|
|
}else
|
|
{
|
|
return false;
|
|
}
|
|
|
|
}
|
|
bool CompareTimer_Delay(int32_t Delay)
|
|
{
|
|
int32_t tickstart = SystemTimeMiliCount;
|
|
int32_t wait = Delay;
|
|
/* Add a freq to guarantee minimum wait */
|
|
if (wait < HAL_MAX_DELAY)
|
|
{
|
|
int32_t wait = Delay;
|
|
while ((SystemTimeMiliCount - tickstart) < wait/2)
|
|
{
|
|
|
|
}
|
|
}
|
|
}
|
|
|
|
|