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93 lines
2.5 KiB
93 lines
2.5 KiB
5 days ago
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/******************************************************************************
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版权所有 (C), 2018-2099, Radkil
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******************************************************************************
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文 件 名 : BHBF_robot.c
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版 本 号 : 初稿
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作 者 : radkil
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生成日期 : 2026年6月8日
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最近修改 :
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功能描述 : 机器人主程序
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修改历史 :
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1.日 期 : 2026年6月8日
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作 者 : radkil
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修改内容 : 创建文件
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******************************************************************************/
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#include "BHBF_robot.h"
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#include "common.h"
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#include "cmsis_os.h"
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#include "FreeRTOS.h"
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#include "task.h"
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/*----------------------------------------------*
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* 外部变量说明 *
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*----------------------------------------------*/
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/*----------------------------------------------*
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* 外部函数原型说明 *
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*----------------------------------------------*/
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/*----------------------------------------------*
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* 内部函数原型说明 *
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*----------------------------------------------*/
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/*----------------------------------------------*
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* 全局变量 *
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*----------------------------------------------*/
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GV_struct_define GV = {0};
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/*----------------------------------------------*
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* 模块级变量 *
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*----------------------------------------------*/
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/*----------------------------------------------*
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* 常量定义 *
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*----------------------------------------------*/
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/*----------------------------------------------*
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* 宏定义 *
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*----------------------------------------------*/
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GV_struct_define *GetGV(void)
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{
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static GV_struct_define tmpGV = {0};
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RD_MEMSET(&tmpGV, 0, sizeof(tmpGV));
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RD_MEMCPY(&tmpGV, &GV, sizeof(GV_struct_define));
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return &tmpGV;
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}
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void SetGV(GV_struct_define *_pGV)
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{
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RD_MEMCPY(&GV, _pGV, sizeof(GV_struct_define));
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}
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void GF_FsmStart(GF_CMD GFCmd)
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{
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}
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void GF_Dispatch(void *argument)
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{
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while(1)
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{
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GF_CMD GFCmd = MK32_Task(GV.m_iWorkMode);
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GF_FsmStart(GFCmd);
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}
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}
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void GF_Init(void)
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{
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Drv_InterfaceInit();
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const osThreadAttr_t GF_Dispatch_attributes = {
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.name = "GF_Task",
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.stack_size = 1024,
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.priority = (osPriority_t) osPriorityRealtime1,
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};
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(void)osThreadNew(GF_Dispatch, NULL, &GF_Dispatch_attributes);
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}
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