diff --git a/project_old/Spoolold/CMakeLists.txt b/project_old/Spoolold/CMakeLists.txt deleted file mode 100644 index 8e60a3f..0000000 --- a/project_old/Spoolold/CMakeLists.txt +++ /dev/null @@ -1,17 +0,0 @@ -cmake_minimum_required(VERSION 3.10) - -get_filename_component(TARGET_NAME "${CMAKE_CURRENT_SOURCE_DIR}" NAME) - -set(COMMON_CMAKE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/../../library/CMakeLists.txt") - -if(EXISTS "${COMMON_CMAKE_PATH}") - include("${COMMON_CMAKE_PATH}") -else() - message(FATAL_ERROR "Cannot find common build logic at ${COMMON_CMAKE_PATH}") -endif() - -if(TARGET stm32cubemx) - target_link_libraries(${TARGET_NAME} PUBLIC stm32cubemx) -else() - message(WARNING "[${TARGET_NAME}] Dependency 'stm32cubemx' not found.") -endif() \ No newline at end of file diff --git a/project_old/Spoolold/Spoolold.c b/project_old/Spoolold/Spoolold.c deleted file mode 100644 index 3db96a3..0000000 --- a/project_old/Spoolold/Spoolold.c +++ /dev/null @@ -1,109 +0,0 @@ -#include "dmk.h" -#include "flash_operation.h" -#include "modbus.h" -#include "iwdg.h" -#include - -uint32_t Rx_Pre_time = 0; - -void handle_power_on_off() { - // holdingRegisters[5] 决定是否手动关闭电源 - if (holdingRegisters[5] != 0) // 手动关闭电源 - { - - if (holdingRegisters[6] == 0) // 关闭电源 - { - if (holdingRegisters[4] == 0) { - HAL_GPIO_WritePin(K5_GPIO_Port, K5_Pin, GPIO_PIN_SET); - } else { - HAL_GPIO_WritePin(K5_GPIO_Port, K5_Pin, - GPIO_PIN_RESET); // k5设为1 低电平亮灯 - } - } else { - if (holdingRegisters[4] == 0) { - HAL_GPIO_WritePin(K5_GPIO_Port, K5_Pin, GPIO_PIN_RESET); - } else { - HAL_GPIO_WritePin(K5_GPIO_Port, K5_Pin, GPIO_PIN_SET); - } - } - - return; - } - // 自动关闭电源 决定是否手动关闭电源 - if (HAL_GetTick() >= Rx_Pre_time && - HAL_GetTick() - Rx_Pre_time > holdingRegisters[7]) { - if (holdingRegisters[4] == 0) { - HAL_GPIO_WritePin(K5_GPIO_Port, K5_Pin, GPIO_PIN_SET); - } else { - HAL_GPIO_WritePin(K5_GPIO_Port, K5_Pin, GPIO_PIN_RESET); - } - } else { - if (holdingRegisters[4] == 0) { - HAL_GPIO_WritePin(K5_GPIO_Port, K5_Pin, GPIO_PIN_RESET); - } else { - HAL_GPIO_WritePin(K5_GPIO_Port, K5_Pin, GPIO_PIN_SET); - } - } -} - -void SpoolendInit(void) { - Modbus_Init(); - ReadParametersFromFlash((int16_t *)holdingRegisters); - holdingRegisters[8] = 2000; - Rx_Pre_time = HAL_GetTick(); -} - -void SpoolendTask(void) { - HAL_IWDG_Refresh(&hiwdg); - Modbus_Process(); - - if (holdingRegisters[0] == 0) { - HAL_GPIO_WritePin(K1_GPIO_Port, K1_Pin, GPIO_PIN_RESET); - } else { - HAL_GPIO_WritePin(K1_GPIO_Port, K1_Pin, GPIO_PIN_SET); - } - - if (holdingRegisters[1] == 0) { - HAL_GPIO_WritePin(K2_GPIO_Port, K2_Pin, GPIO_PIN_RESET); - } else { - HAL_GPIO_WritePin(K2_GPIO_Port, K2_Pin, GPIO_PIN_SET); - } - - if (holdingRegisters[2] == 0) { - HAL_GPIO_WritePin(K3_GPIO_Port, K3_Pin, GPIO_PIN_RESET); - } else { - HAL_GPIO_WritePin(K3_GPIO_Port, K3_Pin, GPIO_PIN_SET); - } - - if (holdingRegisters[3] == 0) { - HAL_GPIO_WritePin(K4_GPIO_Port, K4_Pin, GPIO_PIN_RESET); - } else { - HAL_GPIO_WritePin(K4_GPIO_Port, K4_Pin, GPIO_PIN_SET); - } - - if (RS485_1_RX) { - RS485_1_RX = 0; - Rx_Pre_time = HAL_GetTick(); - HAL_GPIO_TogglePin(LED1_GPIO_Port, LED1_Pin); - } - - if (RS485_1_Host_Existed) { - RS485_1_Host_Existed = 0; - Rx_Pre_time = HAL_GetTick(); - } - - if (HAL_GetTick() >= Rx_Pre_time && - HAL_GetTick() - Rx_Pre_time > holdingRegisters[7]) // 超时了 - { - MB_WriteHoldingReg(1, 0x033, 0x0); // 停止运行 - } else { - handle_dmk_motor(holdingRegisters[8], holdingRegisters[9]); - } - handle_power_on_off(); - - // only when holdingRegisters[9] == 55 time can be changed - if (holdingRegisters[10] == 55) { - WriteParametersToFlash((int16_t *)holdingRegisters); - holdingRegisters[10] = 1; - } -} \ No newline at end of file diff --git a/project_old/Spoolold/dmk.c b/project_old/Spoolold/dmk.c deleted file mode 100644 index 267be49..0000000 --- a/project_old/Spoolold/dmk.c +++ /dev/null @@ -1,56 +0,0 @@ -/* - * dmk.c - * - * Created on: Jan 14, 2026 - * Author: akeguo - */ -#include "dmk.h" -#include "main.h" -#include "dma.h" -#include "iwdg.h" -#include "tim.h" -#include "usart.h" -#include "gpio.h" -uint16_t Is_First_Run = 0; - -void handle_dmk_motor(uint16_t velocity, int state) { - -// if (Is_First_Run <= 5) { -// HAL_Delay(50); -// MB_WriteHoldingReg(1, 0, 4);//设置模式为0 -// HAL_Delay(100); -// Is_First_Run++;; -// return; -// } - - char ms_100_state = HAL_GetTick() / 300 % 3; - switch (ms_100_state) { - case 1: { - MB_WriteHoldingReg(1, 0x06a, velocity); - break; - } - case 2: { - if (state == 1) { - //正转 - MB_WriteHoldingReg(1, 0x033, 0x01); - - } else if (state == 0) { - //stop - MB_WriteHoldingReg(1, 0x033, 0x0); - - } else if (state == 2) { - //reverse - MB_WriteHoldingReg(1, 0x033, 0x14); - } - break; - } - case 0: { - MB_WriteHoldingReg(1, 0, 0);//设置模式为0 - break; - } - - } - - -//HAL_Delay(80); -} diff --git a/project_old/Spoolold/flash_operation.c b/project_old/Spoolold/flash_operation.c deleted file mode 100644 index 95d0f96..0000000 --- a/project_old/Spoolold/flash_operation.c +++ /dev/null @@ -1,105 +0,0 @@ -#include "flash_operation.h" - -void Flash_InitInternal(void) -{ - // 解锁Flash - HAL_FLASH_Unlock(); - - // 设置Flash延迟 - __HAL_FLASH_SET_LATENCY(FLASH_LATENCY_4); - - // 清除所有错误标志 - __HAL_FLASH_CLEAR_FLAG(FLASH_FLAG_ALL_ERRORS); -} - -uint32_t GetFlashPage(uint32_t address) -{ - return (address - FLASH_BASE_ADDRESS) / FLASH_PAGE_SIZE; -} - -HAL_StatusTypeDef WriteParametersToFlash(int16_t* parameters) -{ - HAL_StatusTypeDef status = HAL_OK; - uint32_t flash_address = DATA_FLASH_ADDRESS; - uint32_t primask_bit; - - // 关闭全局中断 - primask_bit = __get_PRIMASK(); - __disable_irq(); - - // 内部初始化Flash - Flash_InitInternal(); - - // 擦除Flash页 - FLASH_EraseInitTypeDef erase_init; - uint32_t page_error = 0; - - erase_init.TypeErase = FLASH_TYPEERASE_PAGES; - erase_init.Banks = FLASH_BANK_1; - erase_init.Page = GetFlashPage(DATA_FLASH_ADDRESS); - erase_init.NbPages = 1; - - // 执行擦除 - if (HAL_FLASHEx_Erase(&erase_init, &page_error) != HAL_OK) - { - HAL_FLASH_Lock(); - // 恢复中断状态 - if (!primask_bit) { - __enable_irq(); - } - return HAL_ERROR; - } - - // 写入4个int16_t数据 - for (int i = 0; i < PARAM_COUNT; i++) - { - // 每次写入64位数据（4个int16_t） - if (i % 4 == 0) - { - uint64_t combined_data = 0; - - // 组合4个int16_t到一个uint64_t - for (int j = 0; j < 4 && (i + j) < PARAM_COUNT; j++) - { - combined_data |= ((uint64_t)((uint16_t)parameters[i + j]) << (j * 16)); - } - - // 写入组合后的数据 - if (HAL_FLASH_Program(FLASH_TYPEPROGRAM_DOUBLEWORD, - flash_address + (i * sizeof(int16_t)), - combined_data) != HAL_OK) - { - status = HAL_ERROR; - break; - } - } - } - - // 锁定Flash - HAL_FLASH_Lock(); - - // 恢复中断状态 - if (!primask_bit) { - __enable_irq(); - } - - return status; -} - -void ReadParametersFromFlash(int16_t* parameters) -{ - uint32_t flash_address = DATA_FLASH_ADDRESS; - - // 内部初始化Flash（主要是解锁和配置） - Flash_InitInternal(); - - // 从Flash读取数据 - for (int i = 0; i < PARAM_COUNT; i++) - { - // 读取int16_t数据 - parameters[i] = *(int16_t*)(flash_address + (i * sizeof(int16_t))); - } - - // 锁定Flash（虽然读取不需要锁定，但为了对称性） - HAL_FLASH_Lock(); -} diff --git a/project_old/Spoolold/include/dmk.h b/project_old/Spoolold/include/dmk.h deleted file mode 100644 index 8ebb798..0000000 --- a/project_old/Spoolold/include/dmk.h +++ /dev/null @@ -1,20 +0,0 @@ -/* - * dmk.h - * - * Created on: Jan 14, 2026 - * Author: akeguo - */ - -#ifndef INC_DMK_H_ -#define INC_DMK_H_ -#include "stm32g4xx_hal.h" -#include -#include -#include "modbus.h" -#include "usart.h" - - -extern void handle_dmk_motor(uint16_t velocity, int state); -extern uint16_t Is_First_Run; - -#endif /* INC_DMK_H_ */ diff --git a/project_old/Spoolold/include/flash_operation.h b/project_old/Spoolold/include/flash_operation.h deleted file mode 100644 index 423219c..0000000 --- a/project_old/Spoolold/include/flash_operation.h +++ /dev/null @@ -1,17 +0,0 @@ -#ifndef FLASH_OPERATION_H -#define FLASH_OPERATION_H - -#include "stm32g4xx_hal.h" - -/* 定义Flash存储地址 - 使用最后一页 */ -#define FLASH_BASE_ADDRESS 0x08000000 -//#define FLASH_SIZE (128 * 1024) // 128KB -//#define FLASH_PAGE_SIZE 0x800 // 2KB per page -#define DATA_FLASH_ADDRESS (FLASH_BASE_ADDRESS + FLASH_SIZE - FLASH_PAGE_SIZE) // 最后一页 -#define PARAM_COUNT 12 - -/* 函数声明 */ -HAL_StatusTypeDef WriteParametersToFlash(int16_t* parameters); -void ReadParametersFromFlash(int16_t* parameters); - -#endif diff --git a/project_old/Spoolold/include/modbus.h b/project_old/Spoolold/include/modbus.h deleted file mode 100644 index 0c76576..0000000 --- a/project_old/Spoolold/include/modbus.h +++ /dev/null @@ -1,60 +0,0 @@ -/* - * modbus.h - * - * Created on: Jul 3, 2025 - * Author: shiyanlei - */ - -#ifndef __MODBUS_SLAVE_H -#define __MODBUS_SLAVE_H - -#include "stm32g4xx_hal.h" -/* 定义Modbus相关参数 */ -#define MODBUS_SLAVE_ADDRESS 0x34 -#define MODBUS_FUNCTION_CODE_03 0x03 -#define MODBUS_FUNCTION_CODE_06 0x06 -#define MODBUS_FUNCTION_CODE_10 0x10 // 写多个寄存器功能码 -#define MODBUS_BUFFER_SIZE 256 -#define MODBUS_TIMEOUT_MS 2 -#define MODBUS_CRC_OFF 0 //==1关闭CRC校验 -/* 定义寄存器相关参数 */ -#define REGISTER_START_ADDRESS 0x0000 -//#define REGISTER_COUNT 10 -#define REGISTER_COUNT 12 - -extern uint16_t holdingRegisters[REGISTER_COUNT]; -extern uint8_t RS485_1_RX; -extern uint8_t RS485_1_Host_Existed; - -#define registerWritable_0 1 -#define registerWritable_1 1 -#define registerWritable_2 1 -#define registerWritable_3 1 -#define registerWritable_4 1 -#define registerWritable_5 1 -#define registerWritable_6 1 -#define registerWritable_7 1 -#define registerWritable_8 1 -#define registerWritable_9 1 -#define registerWritable_10 1 -#define registerWritable_11 1 - - -//holdingRegisters[0]= motor_cmd //0:stop 1:forward 2:reverse -//holdingRegisters[1]= HX711_A_F //int16_t 10g -//holdingRegisters[2]= HX711_K //uint16_t -//holdingRegisters[3]= HX711_D //int16_t 1g -//holdingRegisters[4]= HX711_B_F //int16_t 10g - - - -extern void MB_WriteHoldingReg(uint8_t _addr, - uint16_t _reg, uint16_t _data); - -/* 初始化Modbus从机 */ -void Modbus_Init(void); - -/* 处理Modbus消息 */ -void Modbus_Process(void); - -#endif /* __MODBUS_SLAVE_H */ diff --git a/project_old/Spoolold/modbus.c b/project_old/Spoolold/modbus.c deleted file mode 100644 index a4b9cdd..0000000 --- a/project_old/Spoolold/modbus.c +++ /dev/null @@ -1,323 +0,0 @@ -#include "stm32g4xx_hal.h" -#include -#include -#include "modbus.h" -#include "usart.h" -void Modbus_Master_Send(uint8_t *data, uint8_t length); -uint16_t holdingRegisters[REGISTER_COUNT] = { 0x0032, 0x0032, 0x0032, 0x0032, - 0x0032, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000 }; - -// 寄存器可写标志位（1:可写，0:只读） -uint8_t registerWritable[REGISTER_COUNT] = { registerWritable_0, -registerWritable_1, registerWritable_2, registerWritable_3, -registerWritable_4, registerWritable_5, registerWritable_6, -registerWritable_7, -registerWritable_8, registerWritable_9, registerWritable_10, -registerWritable_11 }; - -/* 全局变量 */ -uint8_t modbusBuffer[MODBUS_BUFFER_SIZE]; -uint8_t modbus_master_Buffer[MODBUS_BUFFER_SIZE]; -uint8_t modbus_master_BufferIndex = 0; -uint32_t last_master_ByteTime = 0; -uint8_t modbusBufferIndex = 0; -uint32_t lastByteTime = 0; -bool messageComplete = false; -uint8_t master_tx_buf[256]; -uint8_t response[256]; -uint8_t RS485_1_RX = 0; -uint8_t RS485_1_Host_Existed = 0; - -char dmk_read_state=0; -/* 函数声明 */ -void Modbus_Init(void); -void Modbus_Process(void); -void Modbus_SendResponse(uint8_t *data, uint8_t length); -void Modbus_HandleFunction03(uint16_t startAddress, uint16_t registerCount); -void Modbus_HandleFunction06(uint16_t registerAddress, uint16_t value); -void Modbus_HandleFunction10(uint16_t startAddress, uint16_t registerCount, - uint8_t *data); -void Modbus_SendExceptionResponse(uint8_t exceptionCode); -uint16_t CalculateCRC(uint8_t *data, uint8_t length); - -/* 初始化函数 */ -void Modbus_Init(void) { - /* 初始化UART */ - /* 配置RS485方向控制引脚 */ - HAL_UART_Receive_IT(&huart1, (uint8_t*) &modbusBuffer[modbusBufferIndex], - 1); - - HAL_UART_Receive_IT(&huart2, - (uint8_t*) &modbus_master_Buffer[modbus_master_BufferIndex], 1); -} - -/* Modbus处理函数 - 应在主循环中调用 */ -void Modbus_Process(void) { - uint16_t startAddress = 0; - uint16_t registerCount = 0; - if (modbusBufferIndex - > 0&& (HAL_GetTick() - lastByteTime) > MODBUS_TIMEOUT_MS) { - /* 超时，标记消息完成 */ - messageComplete = true; - } - if (messageComplete) { - uint16_t crcReceived = (modbusBuffer[modbusBufferIndex - 1] << 8) - | modbusBuffer[modbusBufferIndex - 2]; - uint16_t crcCalculated = CalculateCRC(modbusBuffer, - modbusBufferIndex - 2); - - if (MODBUS_CRC_OFF || crcReceived == crcCalculated) { - RS485_1_Host_Existed = 1; - - if (modbusBuffer[0] == MODBUS_SLAVE_ADDRESS) { - RS485_1_RX = 1; - switch (modbusBuffer[1]) { - case MODBUS_FUNCTION_CODE_03: - startAddress = (modbusBuffer[2] << 8) | modbusBuffer[3]; - registerCount = (modbusBuffer[4] << 8) | modbusBuffer[5]; - Modbus_HandleFunction03(startAddress, registerCount); - break; - case MODBUS_FUNCTION_CODE_06: - startAddress = (modbusBuffer[2] << 8) | modbusBuffer[3]; - uint16_t value = (modbusBuffer[4] << 8) | modbusBuffer[5]; - Modbus_HandleFunction06(startAddress, value); - break; - case MODBUS_FUNCTION_CODE_10: - startAddress = (modbusBuffer[2] << 8) | modbusBuffer[3]; - registerCount = (modbusBuffer[4] << 8) | modbusBuffer[5]; - uint8_t byteCount = modbusBuffer[6]; - // 检查数据长度是否正确 - if (byteCount == registerCount * 2 - && modbusBufferIndex - 2 >= 7 + byteCount) { // 7是功能码10的固定头部长度 - Modbus_HandleFunction10(startAddress, registerCount, - &modbusBuffer[7]); - } else { - Modbus_SendExceptionResponse(0x03); // 数据长度错误 - } - break; - default: - Modbus_SendExceptionResponse(0x01); // 不支持的功能码 - break; - - } - } - } - - /* 重置缓冲区 */ - modbusBufferIndex = 0; - messageComplete = false; - } -} - -/* 处理功能码03 */ -void Modbus_HandleFunction03(uint16_t startAddress, uint16_t registerCount) { - /* 检查地址和数量是否合法 */ - if (startAddress < REGISTER_START_ADDRESS - || startAddress + registerCount - > REGISTER_START_ADDRESS + REGISTER_COUNT - || registerCount > 0x7D) { - Modbus_SendExceptionResponse(0x02); // 地址错误 - return; - } - - uint8_t byteCount = registerCount * 2; - uint8_t index = 0; - - response[index++] = MODBUS_SLAVE_ADDRESS; - response[index++] = MODBUS_FUNCTION_CODE_03; - response[index++] = byteCount; - - for (uint16_t i = 0; i < registerCount; i++) { - uint16_t regValue = holdingRegisters[(startAddress - - REGISTER_START_ADDRESS) + i]; - response[index++] = (regValue >> 8) & 0xFF; - response[index++] = regValue & 0xFF; - } - - uint16_t crc = CalculateCRC(response, index); - response[index++] = crc & 0xFF; - response[index++] = (crc >> 8) & 0xFF; - - Modbus_SendResponse(response, index); -} - -/* 处理功能码06 */ -void Modbus_HandleFunction06(uint16_t registerAddress, uint16_t value) { - /* 检查地址是否合法 */ - if (registerAddress < REGISTER_START_ADDRESS - || registerAddress >= REGISTER_START_ADDRESS + REGISTER_COUNT) { - Modbus_SendExceptionResponse(0x02); // 地址错误 - return; - } - - /* 写入寄存器值 */ - holdingRegisters[registerAddress - REGISTER_START_ADDRESS] = value; - - /* 准备响应帧 - 功能码06的响应是原请求帧的原样返回 */ - uint8_t index = 0; - response[index++] = MODBUS_SLAVE_ADDRESS; - response[index++] = MODBUS_FUNCTION_CODE_06; - response[index++] = (registerAddress >> 8) & 0xFF; // 寄存器地址高8位 - response[index++] = registerAddress & 0xFF; // 寄存器地址低8位 - response[index++] = (value >> 8) & 0xFF; // 写入值高8位 - response[index++] = value & 0xFF; // 写入值低8位 - - /* 计算CRC并添加到响应帧 */ - uint16_t crc = CalculateCRC(response, index); - response[index++] = crc & 0xFF; - response[index++] = (crc >> 8) & 0xFF; - - /* 发送响应 */ - Modbus_SendResponse(response, index); -} - -// 添加功能码0x10处理函数 -void Modbus_HandleFunction10(uint16_t startAddress, uint16_t registerCount, - uint8_t *data) { - // 检查地址和数量是否合法 - if (startAddress < REGISTER_START_ADDRESS - || startAddress + registerCount - > REGISTER_START_ADDRESS + REGISTER_COUNT - || registerCount == 0 || registerCount > 0x7B) { - Modbus_SendExceptionResponse(0x02); // 地址错误 - return; - } - - // 处理每个寄存器 - for (uint16_t i = 0; i < registerCount; i++) { - uint16_t regIndex = (startAddress - REGISTER_START_ADDRESS) + i; - uint16_t value = (data[i * 2] << 8) | data[i * 2 + 1]; - - // 只有可写寄存器才更新值 - if (registerWritable[regIndex]) { - holdingRegisters[regIndex] = value; - } - // 只读寄存器保持原有值，不做处理 - } - - // 准备响应帧 - 功能码0x10的响应包含起始地址和写入数量 - uint8_t index = 0; - response[index++] = MODBUS_SLAVE_ADDRESS; - response[index++] = MODBUS_FUNCTION_CODE_10; - response[index++] = (startAddress >> 8) & 0xFF; // 起始地址高8位 - response[index++] = startAddress & 0xFF; // 起始地址低8位 - response[index++] = (registerCount >> 8) & 0xFF; // 写入数量高8位 - response[index++] = registerCount & 0xFF; // 写入数量低8位 - - // 计算CRC并添加到响应帧 - uint16_t crc = CalculateCRC(response, index); - response[index++] = crc & 0xFF; - response[index++] = (crc >> 8) & 0xFF; - - // 发送响应 - Modbus_SendResponse(response, index); -} - -/* 发送异常响应 */ -void Modbus_SendExceptionResponse(uint8_t exceptionCode) { - - response[0] = MODBUS_SLAVE_ADDRESS; - response[1] = modbusBuffer[1] | 0x80; // 异常功能码 - response[2] = exceptionCode; - - uint16_t crc = CalculateCRC(response, 3); - response[3] = crc & 0xFF; - response[4] = (crc >> 8) & 0xFF; - - Modbus_SendResponse(response, 5); -} - -/* 发送响应 */ -void Modbus_SendResponse(uint8_t *data, uint8_t length) { - /* 使能RS485发送 */ - - /* 发送数据 */ - HAL_UART_Transmit_DMA(&huart1, data, length); - /* 切换到接收模式 */ -} - -/* 发送响应 */ -void Modbus_Master_Send(uint8_t *data, uint8_t length) { - /* 使能RS485发送 */ - - /* 发送数据 */ - HAL_UART_Transmit_DMA(&huart2, data, length); - /* 切换到接收模式 */ -} -/* CRC计算 */ -uint16_t CalculateCRC(uint8_t *data, uint8_t length) { - uint16_t crc = 0xFFFF; - - for (uint8_t i = 0; i < length; i++) { - crc ^= (uint16_t) data[i]; - - for (uint8_t j = 0; j < 8; j++) { - if ((crc & 0x0001) != 0) { - crc >>= 1; - crc ^= 0xA001; - } else { - crc >>= 1; - } - } - } - - return crc; -} - -/* UART接收中断回调函数 */ -void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart) { - if (huart == &huart1) { - if (modbusBufferIndex < MODBUS_BUFFER_SIZE) { - modbusBuffer[modbusBufferIndex++] = huart->Instance->RDR; - } else { - modbusBufferIndex = 0; - } - lastByteTime = HAL_GetTick(); - /* 重新启动接收中断 */ - HAL_UART_Receive_IT(&huart1, - (uint8_t*) &modbusBuffer[modbusBufferIndex], 1); - } else if (huart == &huart2) { - - if (modbus_master_BufferIndex < MODBUS_BUFFER_SIZE) { - modbus_master_Buffer[modbus_master_BufferIndex++] = - huart->Instance->RDR; - } else { - modbus_master_BufferIndex = 0; - } - last_master_ByteTime = HAL_GetTick(); - /* 重新启动接收中断 */ - HAL_UART_Receive_IT(&huart2, - (uint8_t*) &modbus_master_Buffer[modbus_master_BufferIndex], 1); - } -} - -void MB_WriteHoldingReg(uint8_t _addr, - uint16_t _reg, uint16_t _data) { - uint16_t TxCount = 0; - uint16_t crc = 0; - master_tx_buf[TxCount++] = _addr; /* 从站地址 */ - master_tx_buf[TxCount++] = 0x06; /* 功能码 */ - master_tx_buf[TxCount++] = _reg >> 8; /* 寄存器地址 高字节 */ - master_tx_buf[TxCount++] = _reg; /* 寄存器地址 低字节 */ - master_tx_buf[TxCount++] = _data >> 8; /* 寄存器(16bits)个数 高字节 */ - master_tx_buf[TxCount++] = _data; /* 低字节 */ - - - crc = CalculateCRC(master_tx_buf, TxCount); - master_tx_buf[TxCount++] = crc & 0xFF; - master_tx_buf[TxCount++] = (crc >> 8) & 0xFF; - - Modbus_Master_Send(master_tx_buf,TxCount); - dmk_read_state=0; -} - - -void calculate_dmk() -{ - if (modbus_master_BufferIndex - > 0&& (HAL_GetTick() - last_master_ByteTime) > MODBUS_TIMEOUT_MS) - { - /* 接收标记消息完成 */ - dmk_read_state=1;//返回成功 - } -} diff --git a/project_old/paint_robot_old/BASE/Inc/BSP/BHBF_ROBOT.h b/project_old/paint_robot_old/BASE/Inc/BSP/BHBF_ROBOT.h deleted file mode 100644 index 3f1a5e9..0000000 --- a/project_old/paint_robot_old/BASE/Inc/BSP/BHBF_ROBOT.h +++ /dev/null @@ -1,123 +0,0 @@ -/* - * BHBF_ROBOT.h - * - * Created on: Oct 26, 2023 - * Author: shiya - */ - -#ifndef INC_BHBF_ROBOT_H_ -#define INC_BHBF_ROBOT_H_ - -#include -#include -#include -#include -#include -#include - - - -#include "BHBF_ROBOT.h" -#include "bsp_PV.pb.h" -#include "bsp_IV.pb.h" - -#include "BSP/pb.h" -#include "BSP/pb_decode.h" -#include "BSP/pb_encode.h" -#include "BSP/bsp_EEPROM.h" -#include "BSP/bsp_pb_decode_encode.h" -#include "bsp_MB_host.h" -#include "BSP/bsp_include.h" -#include "BSP/bsp_UART.h" -#include "BSP/DLTuc.h" -#include "BSP/bsp_DLT_Log.h" -#include "BSP/bsp_UDP.h" -#include "BSP/tcp_server.h" -#include "BSP/bsp_cpu_flash.h" -#include "BSP/bsp_qspi_w25q128.h" -#include "BSP/bsp_UpperComputer_Handler.h" -#include "BSP/bsp_Error_Detect.h" -#include "BSP/bsp_MB_host.h" - -#include "MSP/msp_JTBATTERY.h" -#include "MSP/msp_LeiSai_ISV2_CAN.h" -#include "MSP/msp_Force_Sensor.h" -#include "MSP/msp_TL720D.h" -#include "MSP/msp_MK32_1.h" -#include "MSP/msp_Force_Sensor.h" -#include "MSP/msp_WH_LTE_7S0.h" - - -#include "paint_gun_action.h" -#include "fsm_state_control.h" -#include "change_line_control.h" -#include "fsm_state.h" -#include "robot_move_actions.h" - -//#include "robot_state.h" -//FLASH (rx) : ORIGIN = 0x08020000, LENGTH = 896K -//#define VECT_TAB_OFFSET 0x00020000U - - - - -#define DLTViewer 1 - - -extern bool CompareTimer_Delay(int32_t Delay); - -extern GV_struct_define GV; -extern IV_struct_define IV; -extern CV_struct_define CV; -extern PV_struct_define decoded_PV; -extern PV_struct_define decoded_PV_variable; -extern PV_struct_define _decoded_PV_temp; -typedef struct sys_timer_handler -{ - int start_timer; - int sys_current_timer_count; - int sys_timer_flag; - -}Sys_timer_handler; - -extern Sys_timer_handler timer_handler_1; -extern Sys_timer_handler timer_handler_2; -extern Sys_timer_handler timer_handler_3; -extern Sys_timer_handler timer_handler_4; - -//first start Timer, then WaitTimer -extern bool CompareTimer(int32_t DelayMiliSeconds,Sys_timer_handler * timer_handler); -extern void SystemTimer_Intialize(); -extern void GF_Timer_Count(); -extern void GF_Robot_Init(void); -extern void GF_Robot_MainLoop(void); -extern void GF_WatchDog_Loop(void); -extern int32_t speed_M_min_toE01_M_min(int32_t speedm_min); - - extern void SET_BIT_1(int32_t* num,int32_t k); - extern void SET_BIT_0(int32_t* num,int32_t k); - extern int32_t Get_BIT(int32_t* num,int32_t k); - -//A &= ~(1 << bit) - - - -extern int32_t* SystemErrorCode; -extern ErrorData* SystemErrorData; - -#define IV_Run_Mode_Maunal 0 -#define IV_Run_Mode_Automation 1 -#define IV_Run_Mode_EmergencyStop 2 -#define IV_Run_Mode_Vertical_LaneChange 3 -#define IV_Run_Mode_Horizontal_LaneChange 4 -#define IV_Run_Mode_Forward 5 -#define IV_Run_Mode_BackWard 6 -#define IV_Run_Mode_TurnLeft 7 -#define IV_Run_Mode_TurnRight 8 -#define IV_Run_Mode_HALT 9 - - - -extern int32_t SystemTimeMiliCount; //2ms加一 - -#endif /* INC_BHBF_ROBOT_H_ */ diff --git a/project_old/paint_robot_old/BASE/Inc/BSP/DLTuc.h b/project_old/paint_robot_old/BASE/Inc/BSP/DLTuc.h deleted file mode 100644 index d3453e7..0000000 --- a/project_old/paint_robot_old/BASE/Inc/BSP/DLTuc.h +++ /dev/null @@ -1,248 +0,0 @@ -/** - * @file DLTuc.h - * @author teodor - * @date 1 Jul 2022 - * @brief This file is a part of DLTuc library - * - * In this header, you can find types, Api functions, which are provided by DLTuc library - * Usefull macros, for convience usage of DLTuc library in logging purposes - * - * Requirments: - * Around ~2kB of RAM - * Check Configuration file and defines: - * DLT_TRANSMIT_RING_BUFFER_SIZE, DLT_TRANSMIT_MAX_SINGLE_MESSAGE_SIZE - * - */ - -#ifndef INC_DLT_LOGS_MCU_H_ -#define INC_DLT_LOGS_MCU_H_ - -/* - * ******************************************************************************************* - * Includes - * ******************************************************************************************* - * */ - -#include "stdint.h" -#include -#include - -#include "DLTucConfig.h" - -/* - * ******************************************************************************************* - * Exported defines - * ******************************************************************************************* - * */ - -/*@brief - * - * - convert the To strings to uint32_t - */ -#define DLT_LOG_ECUID_VALUE ((uint32_t)((((uint32_t) ((uint8_t)DLT_LOG_ECUID[0])) << 24UL) | \ - (((uint32_t) ((uint8_t)DLT_LOG_ECUID[1])) << 16UL) | \ - (((uint32_t) ((uint8_t)DLT_LOG_ECUID[2])) << 8UL) | \ - ((uint32_t)((uint8_t)DLT_LOG_ECUID[3])))) - - -#define DLT_LOG_APPID_VALUE ((uint32_t)((((uint32_t) ((uint8_t)DLT_LOG_APPID[0])) << 24UL) | \ - (((uint32_t) ((uint8_t)DLT_LOG_APPID[1])) << 16UL) | \ - (((uint32_t) ((uint8_t)DLT_LOG_APPID[2])) << 8UL) | \ - ((uint32_t)((uint8_t)DLT_LOG_APPID[3])))) - - -#define DLT_LOG_CONTEX_VALUE ((uint32_t)((((uint32_t) ((uint8_t)DLT_LOG_CONTEX[0])) << 24UL) | \ - (((uint32_t) ((uint8_t)DLT_LOG_CONTEX[1])) << 16UL) | \ - (((uint32_t) ((uint8_t)DLT_LOG_CONTEX[2])) << 8UL) | \ - ((uint32_t)((uint8_t)DLT_LOG_CONTEX[3])))) - - - - -/* - * Definitions of DLT services. - */ -#define DLT_SERVICE_ID_SET_LOG_LEVEL 0x01 /**< Service ID: Set log level */ -#define DLT_SERVICE_ID_SETRACE_STATUS 0x02 /**< Service ID: Set trace status */ -#define DLT_SERVICE_ID_GET_LOG_INFO 0x03 /**< Service ID: Get log info */ -#define DLT_SERVICE_ID_GET_DEFAULT_LOG_LEVEL 0x04 /**< Service ID: Get dafault log level */ -#define DLT_SERVICE_ID_STORE_CONFIG 0x05 /**< Service ID: Store configuration */ -#define DLT_SERVICE_ID_RESETO_FACTORY_DEFAULT 0x06 /**< Service ID: Reset to factory defaults */ -#define DLT_SERVICE_ID_SET_COM_INTERFACE_STATUS 0x07 /**< Service ID: Set communication interface status */ -#define DLT_SERVICE_ID_SET_COM_INTERFACE_MAX_BANDWIDTH 0x08 /**< Service ID: Set communication interface maximum bandwidth */ -#define DLT_SERVICE_ID_SET_VERBOSE_MODE 0x09 /**< Service ID: Set verbose mode */ -#define DLT_SERVICE_ID_SET_MESSAGE_FILTERING 0x0A /**< Service ID: Set message filtering */ -#define DLT_SERVICE_ID_SETIMING_PACKETS 0x0B /**< Service ID: Set timing packets */ -#define DLT_SERVICE_ID_GET_LOCALIME 0x0C /**< Service ID: Get local time */ -#define DLT_SERVICE_ID_USE_ECU_ID 0x0D /**< Service ID: Use ECU id */ -#define DLT_SERVICE_ID_USE_SESSION_ID 0x0E /**< Service ID: Use session id */ -#define DLT_SERVICE_ID_USEIMESTAMP 0x0F /**< Service ID: Use timestamp */ -#define DLT_SERVICE_ID_USE_EXTENDED_HEADER 0x10 /**< Service ID: Use extended header */ -#define DLT_SERVICE_ID_SET_DEFAULT_LOG_LEVEL 0x11 /**< Service ID: Set default log level */ -#define DLT_SERVICE_ID_SET_DEFAULTRACE_STATUS 0x12 /**< Service ID: Set default trace status */ -#define DLT_SERVICE_ID_GET_SOFTWARE_VERSION 0x13 /**< Service ID: Get software version */ -#define DLT_SERVICE_ID_MESSAGE_BUFFER_OVERFLOW 0x14 /**< Service ID: Message buffer overflow */ -#define DLT_SERVICE_ID_CALLSW_CINJECTION 0xFFF /**< Service ID: Message Injection (minimal ID) */ - -/* - * ******************************************************************************************* - * Exported types - * ******************************************************************************************* - * */ - -/**! - * \brief DltLogLevel_t - * \details Typdef used to identify the DLT log level - * */ -typedef enum -{ - DL_FATAL =1, - DL_ERROR =2, - DL_WARN =3, - DL_INFO =4, - DL_DEBUG =5, - DL_VERBOSE =6, -}DltLogLevel_t; - - - - - -/* - * ******************************************************************************************* - * Exported function - API - * ******************************************************************************************* - * */ - -/*! - ************************************************************************************************ - * \brief DLTuc_RawDataReceiveDone - * \details OPTIONAL - Use only if you need handle data receive, like Injection messages - * Call the function to inform DLTuc that Raw data packet has been received - ************************************************************************************************/ -void DLTuc_RawDataReceiveDone(uint16_t Size); - -/*! - ************************************************************************************************ - * \brief DLTuc_RegisterReceiveSerialDataFunction - * \details OPTIONAL - Use only if you need handle data receive, like Injection messages. - * - Register callback function which will be used by DLTuc to start data receive process. - * The Callback function is basicly called only after registration and if data packet has been received, - * to start again receive data packet - * \param in LLSerialRecDataFunctionC ... - ************************************************************************************************/ -void DLTuc_RegisterReceiveSerialDataFunction(void LLSerialRecDataFunctionC(uint8_t *DltLogData, uint16_t Size)); - -/*! - ************************************************************************************************ - * \brief DLTuc_RegisterInjectionDataReceivedCb - * \details OPTIONAL - Use only if you need handle data receive, like Injection messages - * Register injection data received call back - * Use the function if you want register call back function to handle the Injection messages in your application - * \param in InjectionDataRcvd ... - ************************************************************************************************/ -void DLTuc_RegisterInjectionDataReceivedCb - (void InjectionDataRcvd(uint32_t AppId, uint32_t ConId,uint32_t ServId,uint8_t *Data, uint16_t Size)); - -/*! - ************************************************************************************************ - * \brief DLTuc_RegisterTransmitSerialDataFunction - * \details This simple stack/library must be initialized by "DLTuc_RegisterTransmitSerialDataFunction" - * As a parameter must be passed function which will transmit serial data - * \param in LLSerialTrDataFunctionC transmit function pointer - ************************************************************************************************/ -void DLTuc_RegisterTransmitSerialDataFunction(void LLSerialTrDataFunctionC(uint8_t *DltLogData, uint8_t Size)); - -/*! - ************************************************************************************************ - * \brief DLTuc_RegisterGetTimeStampMsCallback - * \details function to update time stamp in library -* \param in GetSysTime - pointer to function which allow to read system time in msec - *************************************************************************************************/ -void DLTuc_RegisterGetTimeStampMsCallback(uint32_t GetSysTime(void)); - - -/*! - ************************************************************************************************ - * \brief DLTuc_MessageTransmitDone - * \details IMPORTANT!!!!! - * Call this function when the transsmision is end - * For example in "DMA transmission end callback" to inform the lib that the message is transmitted - ************************************************************************************************ - * */ -void DLTuc_MessageTransmitDone(void); - -/*! - ************************************************************************************************ - * \brief DLTuc_LogOutVarArgs - * \details default function to create DLT Log - * \param DltLogLevel_t Level - of Dlt log - * \param in AppId - size of the "DltLogData" (return value) - * \param in ContextId - pointer to the message stored in RingBuffer (return value) - * \param in Payload String to send as dlt log - * \param in ... parameters same as in printf function - *************************************************************************************************/ -void DLTuc_LogOutVarArgs(DltLogLevel_t Level, uint32_t AppId, uint32_t ContextId, uint8_t *Payload, ...); - - -/* - * ******************************************************************************************* - * Additional macros to facilitate the use of the library - * ******************************************************************************************* - * */ - -#ifdef LOGS_ENABLE - -/**! - * \brief LOGL(level, str, ...) - * \details Transmit DltLog using function DLTuc_LogOutVarArgs but user don't have to add - * log_level, DLT_LOG_APPID_VALUE and DLT_LOG_CONTEX_VALUE - * - * */ -#define LOG(str, ...)\ - if(DL_INFO <= DLT_LOG_ENABLE_LEVEL){\ - DLTuc_LogOutVarArgs(DL_INFO, DLT_LOG_APPID_VALUE, DLT_LOG_CONTEX_VALUE,(uint8_t *) str, ##__VA_ARGS__);\ - } - -/**! - * \brief LOGL(level, str, ...) - * \details Transmit DltLog using function DLTuc_LogOutVarArgs but user don't have to add DLT_LOG_APPID_VALUE and DLT_LOG_CONTEX_VALUE - * - * */ -#define LOGL(log_level, str, ...)\ - if(log_level <= DLT_LOG_ENABLE_LEVEL){\ - DLTuc_LogOutVarArgs(log_level, DLT_LOG_APPID_VALUE, DLT_LOG_CONTEX_VALUE,(uint8_t *) str, ##__VA_ARGS__);\ - } - -/**! - * @brief LOGF(log_level, str, ...) - * \details Transmit DltLog using function DLTuc_LogOutVarArgs but user don't have to add DLT_LOG_APPID_VALUE and DLT_LOG_CONTEX_VALUE - * Additionally add the name of the calling function - * - * - * */ -#define LOGF(log_level, str, ...)\ - if(log_level <= DLT_LOG_ENABLE_LEVEL){\ - DLTuc_LogOutVarArgs(log_level, DLT_LOG_APPID_VALUE, DLT_LOG_CONTEX_VALUE,(uint8_t *) "FUN:%s LOG: "str, __FUNCTION__,##__VA_ARGS__);\ - } - -/**! - * \brief LOGFF(log_level, str, ...) - * \details Transmit DltLog using function DLTuc_LogOutVarArgs but user don't have to add DLT_LOG_APPID_VALUE and DLT_LOG_CONTEX_VALUE - * Additionally add the name of the calling function and file name - * - * - * */ -#define LOGFF(log_level, str, ...)\ - if(log_level <= DLT_LOG_ENABLE_LEVEL){\ - DLTuc_LogOutVarArgs(log_level, DLT_LOG_APPID_VALUE, DLT_LOG_CONTEX_VALUE,(uint8_t *)"FILE:%s LINE: %d FUN:%s LOG: "str,__FILE__,__LINE__,__FUNCTION__,##__VA_ARGS__);\ - } - -#else -LOG(str, ...) -LOGL(log_level, str, ...) -LOGF(log_level, str, ...) -LOGFF(log_level, str, ...) -#endif - -#endif /* INC_DLT_LOGS_MCU_H_ */ diff --git a/project_old/paint_robot_old/BASE/Inc/BSP/DLTucConfig.h b/project_old/paint_robot_old/BASE/Inc/BSP/DLTucConfig.h deleted file mode 100644 index 25df93b..0000000 --- a/project_old/paint_robot_old/BASE/Inc/BSP/DLTucConfig.h +++ /dev/null @@ -1,74 +0,0 @@ -/** - * @file DLTuc.c - * @author teodor - * @date 1 Jul 2022 - * @brief This file is a part of DLTuc library - * - * In this header file is placed DLTuc configuration template - * - */ - -#if 1 /*Set it to "1" to enable content*/ - -#ifndef __DLT_CONFIG__ - -/*Comment this line to turn off all logs..*/ -#define LOGS_ENABLE - -/*Pass here the entry critical entry function for your RTOS or - Interrupt block functions if you want use the library from diffrent context*/ -#define DLTuc_OS_CRITICAL_START() -#define DLTuc_OS_CRITICAL_END() - - -/*Default minimum log level to transmit the log*/ -//#ifndef DLT_LOG_ENABLE_LEVEL -////#define DLT_LOG_ENABLE_LEVEL DL_VERBOSE -// #define DLT_LOG_ENABLE_LEVEL 0 -//#endif - -extern char DLT_LOG_ENABLE_LEVEL; - - -/**! -* \brief DLT_LOG_CONTEX -* \details to define the minimum level log which will printed using the debug macros -* -*/ -#ifndef DLT_LOG_CONTEX -#define DLT_LOG_CONTEX "DFLT" -#endif - -/**! -* \brief DLT_LOG_APPID -* \details to define the minimum level log which will printed using the debug macros -* -*/ -#ifndef DLT_LOG_APPID -#define DLT_LOG_APPID "0000" -#endif - -/**! -* \brief DLT_LOG_ECUID -* \details you can define here you ECUID .. -* -*/ -#define DLT_LOG_ECUID "uCID" /*Electronic Controller Unit ID*/ - -#define DLT_ECU_SW_VER 0001 - -/* -*@brief DLT_TRANSMIT_MAX_SINGLE_MESSAGE_SIZE & DLT_TRANSMIT_RING_BUFFER_SIZE -* these values define the size of the circular buffer and the maximum size of a single DLT message -* Size of out Circular DLT messages buffer is equal: DLT_TRANSMIT_MAX_SINGLE_MESSAGE_SIZE*DLT_TRANSMIT_RING_BUFFER_SIZE -*/ -#define DLT_TRANSMIT_MAX_SINGLE_MESSAGE_SIZE 255 -#define DLT_TRANSMIT_RING_BUFFER_SIZE 15 - - -#define DLT_REC_SINGLE_MESSAGE_MAX_SIZE 255 -#define DLT_RECEIVE_RING_BUFFER_SIZE 2 - -#endif //__DLT_CONFIG__ - -#endif //Content enable diff --git a/project_old/paint_robot_old/BASE/Inc/BSP/bsp_DLT_Log.h b/project_old/paint_robot_old/BASE/Inc/BSP/bsp_DLT_Log.h deleted file mode 100644 index 52aaabf..0000000 --- a/project_old/paint_robot_old/BASE/Inc/BSP/bsp_DLT_Log.h +++ /dev/null @@ -1,16 +0,0 @@ -/* - * bsp_DLT_Log.h - * - * Created on: Aug 8, 2024 - * Author: akeguo - */ - -#ifndef INC_BSP_BSP_DLT_LOG_H_ -#define INC_BSP_BSP_DLT_LOG_H_ - -#include "BHBF_ROBOT.h" - - -extern void dLT_Log_intialize(struct UARTHandler *Handler); -extern void dLT_Log_intialize_udp_tcp(); -#endif /* INC_BSP_BSP_DLT_LOG_H_ */ diff --git a/project_old/paint_robot_old/BASE/Inc/BSP/bsp_EEPROM.h b/project_old/paint_robot_old/BASE/Inc/BSP/bsp_EEPROM.h deleted file mode 100644 index 7da52ce..0000000 --- a/project_old/paint_robot_old/BASE/Inc/BSP/bsp_EEPROM.h +++ /dev/null @@ -1,73 +0,0 @@ -/* - * bsp_EEPROM.h - * - * Created on: Oct 26, 2023 - * Author: shiya - */ - -#ifndef INC_BSP_EEPROM_H_ -#define INC_BSP_EEPROM_H_ - - - - -#include "bsp_include.h" -#include "bsp_CV.pb.h" -#include "bsp_IAP.pb.h" - - -#define EEPROM_WP_Pin GPIO_PIN_11 -#define EEPROM_WP_GPIO_Port GPIOE -#define EEPROM_SCL_Pin GPIO_PIN_12 -#define EEPROM_SCL_GPIO_Port GPIOE -#define EEPROM_SDA_Pin GPIO_PIN_13 -#define EEPROM_SDA_GPIO_Port GPIOE - -#define AT24C512 -#ifdef AT24C512 -#define EE_MODEL_NAME "AT24C512" -#define EE_DEV_ADDR 0xA0 /* 设备地址 */ -#define EE_PAGE_SIZE 128 /* 页面大小(字节) */ -#define EE_SIZE (512*128) /* 总容量(字节) */ // not used in this progrm -#define EE_ADDR_BYTES 2 /* 地址字节个数 */ -#endif - -#define I2C_WR 0 /* 写控制bit */ -#define I2C_RD 1 /* 读控制bit */ - -////////////////////////////////////////////////////////////////// -//there are 12M eeprom in total, and the code download Address is App_Download_EEPROM_Addr -//512 Pages x 128 Bytes = 65536 Bytes = 512 kbits - - -#define GF_BSP_EEPROM_CV_struct_define_Start_Address 0 -#define IAP_struct_define_Start_Address 512 - -extern uint16_t App_Download_EEPROM_Addr; - -//返回值：：1-正常；0-错误 -uint8_t GF_BSP_EEPROM_Init(void); - -uint8_t GF_BSP_EEPROM_CheckOK(void); -uint8_t GF_BSP_EEPROM_ReadBytes(uint8_t *_pReadBuf, uint16_t _usAddress, - uint16_t _usSize); -uint8_t GF_BSP_EEPROM_WriteBytes(uint8_t *_pWriteBuf, uint16_t _usAddress, - uint16_t _usSize); - - - - -CV_struct_define GF_BSP_EEPROM_Get_CV(void); -uint8_t GF_BSP_EEPROM_Set_CV(CV_struct_define cv); - -IAP_struct_define GF_BSP_EEPROM_Get_IAP(void); -uint8_t GF_BSP_EEPROM_Set_IAP(IAP_struct_define iap); - - - -PV_struct_define GF_BSP_EEPROM_Get_PV(void); - -uint8_t GF_BSP_EEPROM_Set_PV(PV_struct_define pv); - - -#endif /* INC_BSP_EEPROM_H_ */ diff --git a/project_old/paint_robot_old/BASE/Inc/BSP/bsp_Error_Detect.h b/project_old/paint_robot_old/BASE/Inc/BSP/bsp_Error_Detect.h deleted file mode 100644 index 12b92d5..0000000 --- a/project_old/paint_robot_old/BASE/Inc/BSP/bsp_Error_Detect.h +++ /dev/null @@ -1,25 +0,0 @@ -/* - * bsp_Error_Detect.h - * - * Created on: Oct 23, 2024 - * Author: akeguo - */ - -#ifndef INC_BSP_BSP_ERROR_DETECT_H_ -#define INC_BSP_BSP_ERROR_DETECT_H_ - - -/* Includes ------------------------------------------------------------------*/ -#include "BHBF_ROBOT.h" -#include "bsp_com_helper.h" -#include "BSP/bsp_include.h" -/* Exported types ------------------------------------------------------------*/ -/* Exported constants --------------------------------------------------------*/ -/* Exported macro ------------------------------------------------------------*/ -extern HardWareController *HardWareErrorController; -/* Exported functions ------------------------------------------------------- */ -extern char Error_Detect_Enable; -extern void Error_Detect_Intialzie(uint16_t DispacherPeriod); - - -#endif /* INC_BSP_BSP_ERROR_DETECT_H_ */ diff --git a/project_old/paint_robot_old/BASE/Inc/BSP/bsp_FDCAN.h b/project_old/paint_robot_old/BASE/Inc/BSP/bsp_FDCAN.h deleted file mode 100644 index 7796c5b..0000000 --- a/project_old/paint_robot_old/BASE/Inc/BSP/bsp_FDCAN.h +++ /dev/null @@ -1,84 +0,0 @@ -/* - * bsp_FDCAN.h - * - * Created on: Oct 26, 2023 - * Author: shiya - */ - -#ifndef INC_BSP_FDCAN_H_ -#define INC_BSP_FDCAN_H_ -#include "bsp_Error.pb.h" -#include "bsp_com_helper.h" -uint8_t GF_BSP_FDCAN_Init(void); - -void GF_BSP_FDCAN_Senddata(uint8_t FDCAN_CH, uint32_t FrameID, - uint8_t DataLength, uint8_t *Txdata); - -extern uint8_t CAN_Buf[8]; - -extern uint8_t CAN_Buf[8]; -extern uint8_t CAN_Buf_2[8]; -typedef struct _CANSendHandler -{ - uint32_t CAN_ID; - uint32_t SendListTimePeriod; - uint8_t SendLength; - uint8_t Tx_Buf[8]; - void (*CAN_Decode)(uint32_t, uint8_t*, uint32_t); - struct _CANSendHandler *pNext; -} CANSendHandler; - -typedef struct _FDCANHandler -{ - - FDCAN_HandleTypeDef *canfd; //CAN to use - struct _DispacherController *dispacherController; - - - uint8_t timeSpan; - - uint8_t SendListExists; - uint32_t SendList_Period; //时间ms - uint32_t SendList_time_Count; - - CANSendHandler *pCurrentCANSendHadler; // - void (*AddCANSendList)(struct _FDCANHandler*, uint32_t, uint8_t, uint8_t*,uint32_t,//这里是修改等待时间 - void (*CAN_Decode)(uint32_t, uint8_t*, uint32_t)); -//void CANHandlerAddTxList(FDCANHandler *handler, uint32_t CAN_ID,uint8_t SendLength, uint8_t *Tx_Buf,uint32_t sendListTimePeriod,void (*CAN_Decode)(uint32_t, uint8_t*, uint32_t)) //参数其实就是一组can数据 在FDHandler添加东西 - void (*CAN_Decode)(uint32_t, uint8_t*, uint32_t); // decode can frame, received from other devices - - void (*CAN_Send)(struct _FDCANHandler*, uint32_t, uint8_t, uint8_t*); - void (*CAN_Send_Data)(struct _FDCANHandler*); - //(uint8_t FDCAN_CH, uint32_t FrameID,uint8_t DataLength, uint8_t *Txdata) - uint8_t Rx_Buf[128]; //接收缓冲 - uint8_t Tx_Buf[128]; //发送缓冲 - uint32_t ReceivedLength;//接收长度 - uint32_t SendLength; //发送长度 - uint32_t ReceivedFrameID; //接收帧ID - uint32_t SendFrameID; //发送帧ID - -} FDCANHandler; - -extern FDCANHandler FD_CAN_1_Handler; -extern FDCANHandler FD_CAN_2_Handler; -void GF_BSP_CAN_Timer(); -void CAN_Send_t(struct _FDCANHandler *fd, uint32_t FrameID, uint8_t DataLength, - uint8_t *Txdata); -void CAN_Send_Data_t(struct _FDCANHandler *fd); - -void GF_CAN_Send_List_Send(FDCANHandler *handler); -void CANHandlerAddTxList(FDCANHandler *handler, uint32_t CAN_ID, - uint8_t SendLength, uint8_t *Tx_Buf,uint32_t sendListTimePeriod, - void (*CAN_Decode)(uint32_t, uint8_t*, uint32_t)); -void GF_BSP_CANHandler_Init(int can1_sendListPeriod, int can1_DispacherPeriod, - int can2_sendListPeriod, int can2_DispacherPeriod); -void GF_BSP_CANHandler_Init_CAN(FDCANHandler *handler, - FDCAN_HandleTypeDef *canfd, int sendListPeriod, int DispacherPeriod); - -void DecodeMotorCAN(uint32_t canID, uint8_t *buffer, uint32_t length); - -extern FDCANHandler FD_CAN_1_Handler; -extern FDCANHandler FD_CAN_2_Handler; -extern int32_t CAN_ID; -extern int32_t CAN_ID_2; -#endif /* INC_BSP_FDCAN_H_ */ diff --git a/project_old/paint_robot_old/BASE/Inc/BSP/bsp_GPIO.h b/project_old/paint_robot_old/BASE/Inc/BSP/bsp_GPIO.h deleted file mode 100644 index dfc4c76..0000000 --- a/project_old/paint_robot_old/BASE/Inc/BSP/bsp_GPIO.h +++ /dev/null @@ -1,18 +0,0 @@ -/* - * bsp_GPIO.h - * - * Created on: Oct 26, 2023 - * Author: shiya - */ - -#ifndef INC_BSP_GPIO_H_ -#define INC_BSP_GPIO_H_ - -#include "bsp_include.h" - -uint8_t GF_BSP_GPIO_Init(void); -void GF_BSP_GPIO_SetIO(uint8_t IO_Index,uint8_t Level); -uint8_t GF_BSP_GPIO_ReadIO(uint8_t IO_Index); -uint8_t GF_BSP_GPIO_ToggleIO(uint8_t IO_Index); - -#endif /* INC_BSP_GPIO_H_ */ diff --git a/project_old/paint_robot_old/BASE/Inc/BSP/bsp_MB_host.h b/project_old/paint_robot_old/BASE/Inc/BSP/bsp_MB_host.h deleted file mode 100644 index 9503578..0000000 --- a/project_old/paint_robot_old/BASE/Inc/BSP/bsp_MB_host.h +++ /dev/null @@ -1,50 +0,0 @@ -#ifndef __BSP_MB_HOST_H__ -#define __BSP_MB_HOST_H__ - -/* 包含头文件 ----------------------------------------------------------------*/ - -/* 类型定义 ------------------------------------------------------------------*/ - -/* 宏定义 --------------------------------------------------------------------*/ -#define MB_SLAVEADDR 0x0001 //从机地址 -#define MB_REG_ADDR 0 //寄存器地址（离散、线圈） -#define HoldingReg 0 //保持寄存器 -#define InputRegReg 0x0020 //输入寄存器 -#include "bsp_include.h" -#include "BSP/bsp_UART.h" - -/* 扩展变量 ------------------------------------------------------------------*/ - typedef struct -{ - - uint16_t DATA_01H; - uint16_t DATA_02H; - uint16_t DATA_03H; - - uint16_t DATA_04H; - uint16_t DATA_05H; - uint16_t DATA_06H; - uint8_t DATA_10H[64]; - -}MB_REG_DATA; - -//; -extern uint8_t MB_rx_flag; -extern uint16_t Read_Reg_Num; - -/* 函数声明 ------------------------------------------------------------------*/ -uint16_t MB_CRC16(uint8_t *pushMsg, uint16_t usDataLen); -void MB_ReadCoil(uint8_t* Tx_Buf,uint8_t* TxCount_t,uint8_t _addr, uint16_t _reg, uint16_t _num); -void MB_WriteCoil(uint8_t* Tx_Buf,uint8_t* TxCount_t,uint8_t _addr, uint16_t _reg, uint16_t _sta); -void MB_ReadInput(uint8_t* Tx_Buf,uint8_t* TxCount_t,uint8_t _addr, uint16_t _reg, uint16_t _num); -void MB_ReadHoldingReg(uint8_t* Tx_Buf,uint8_t* TxCount_t,uint8_t _addr, uint16_t _reg, uint16_t _num); -void MB_ReadInputReg(uint8_t* Tx_Buf,uint8_t* TxCount_t,uint8_t _addr, uint16_t _reg, uint16_t _num); -void MB_WriteHoldingReg(uint8_t* Tx_Buf,uint8_t* TxCount_t,uint8_t _addr, uint16_t _reg, uint16_t _data); -//void MB_WriteNumHoldingReg(uint8_t* Tx_Buf,uint8_t* TxCount_t,uint8_t _addr, uint16_t _reg, uint16_t _num,uint8_t *_databuf) -void MB_WriteNumHoldingReg(uint8_t* Tx_Buf,uint8_t* TxCount_t,uint8_t _addr, uint16_t _reg, uint16_t _num,uint8_t *_databuf); -void MB_WriteNumCoil(uint8_t *Tx_Buf, uint8_t *TxCount_t, uint8_t _addr, - uint16_t _reg, uint16_t _num, uint8_t *_databuf); - -#endif /* __BSP_MB_HOST_H__ */ - -/******************* (C) COPYRIGHT 2015-2020 硬石嵌入式开发团队 *****END OF FILE****/ diff --git a/project_old/paint_robot_old/BASE/Inc/BSP/bsp_TIMER.h b/project_old/paint_robot_old/BASE/Inc/BSP/bsp_TIMER.h deleted file mode 100644 index 9f1b96f..0000000 --- a/project_old/paint_robot_old/BASE/Inc/BSP/bsp_TIMER.h +++ /dev/null @@ -1,17 +0,0 @@ -/* - * bsp_TIMER.h - * - * Created on: Oct 26, 2023 - * Author: shiya - */ - -#ifndef INC_BSP_TIMER_H_ -#define INC_BSP_TIMER_H_ - -#include "bsp_include.h" - -uint8_t GF_BSP_TIMER_Init(void); -void GF_BSP_TIMER_DelayUS(uint32_t n); - - -#endif /* INC_BSP_TIMER_H_ */ diff --git a/project_old/paint_robot_old/BASE/Inc/BSP/bsp_UART.h b/project_old/paint_robot_old/BASE/Inc/BSP/bsp_UART.h deleted file mode 100644 index 3beb12f..0000000 --- a/project_old/paint_robot_old/BASE/Inc/BSP/bsp_UART.h +++ /dev/null @@ -1,129 +0,0 @@ - - -#ifndef INC_BSP_UART_H_ -#define INC_BSP_UART_H_ - -#include "BSP/bsp_include.h" -#include "main.h" -#include "bsp_Error.pb.h" -#include "paint_robot_old.h" -#define UART_Transmit_MAX_NUM 1024 -#define UART_Receive_MAX_NUM 100 - -extern struct UARTHandler RS_485_1_UART_Handler; -extern struct UARTHandler RS_485_2_UART_Handler; -extern struct UARTHandler RS_485_3_UART_Handler; -extern struct UARTHandler RS_485_4_UART_Handler; -extern struct UARTHandler InterCall_DEBUG_UART_Handler; -extern struct UARTHandler E28_SBUS_UART_Handler; -extern struct UARTHandler LTE_7S0_Serial_UART_Handler; - - - -#if defined (hlpuart1Exit) - extern struct UARTHandler LPUART1_UART_Handler; - -#endif - -uint8_t GF_BSP_UART_Init(void); - -void GF_BSP_UARTHandlers_Intialize( - int32_t RS485_1_WaitTime, - int32_t RS485_2_WaitTime, - int32_t RS485_3_WaitTime, - int32_t RS485_4_WaitTime, - int32_t LTE_7S0_Serial_WaitTime, - int32_t InterCall_DEBUG_WaitTime, - int32_t E28_SBUS_WaitTime, - int32_t LPUART1_UART_WaitTime, - int32_t RS485_1_Dispacher_Time, - int32_t RS485_2_Dispacher_Time, - int32_t RS485_3_Dispacher_Time, - int32_t RS485_4_Dispacher_Time, - int32_t LTE_7S0_Serial_Dispacher_Time, - int32_t InterCall_DEBUG_Dispacher_Time, - int32_t E28_SBUS_Dispacher_Time, - int32_t LPUART1_UART_Dispacher_Time -); - -//串行发送完成后才能发送第二帧数据，没有做缓冲，如未发送完成，第二次发送无效，丢弃发送数据 -void GF_BSP_UART_Transmit(const uint8_t RS485_Index,const uint8_t *pData, uint16_t Size); - - - - -typedef struct UARTSendHandler -{ - uint16_t SendLength; - uint16_t SendListTimePeriod; - uint8_t Tx_Buf[502]; - void (*UART_Decode)(uint8_t*, uint16_t); // 发送缓存 - struct UARTSendHandler* pNext; -}UARTSendHandler; - - -struct UARTHandler -{ - char startCountFlag; //indicate that to start counting - char send_finished;//indicate decode finished or not - char decode_finished;//indicate decode finished or not - uint8_t tmp_Rx_Buf[2]; // temporary data to store received data - - uint32_t Wait_time; // the time to wait - //uint32_t Send_time; - //uint32_t count; - uint32_t Wait_Time_Count; - uint32_t SendList_time_Count; - - uint32_t SendList_Period; - uint8_t SendListExists; - - UART_HandleTypeDef* uart; //UART to use - unsigned char timeSpan; // timer elapsed time - uint8_t Rx_Buf[2048]; // 接收缓存,最大256字节 - uint8_t Tx_Buf[2048]; //发送缓存 157,864 - uint16_t TxCount; - - uint16_t RxCount; - - - //(UART_HandleTypeDef *huart, const uint8_t *pData, uint16_t Size) - void (*UART_Tx)(struct UARTHandler*); //void UART_Tx(uint8_t *Tx_Buf,uint16_t TxCount); - void (*UART_Rx)(struct UARTHandler*); - void (*UART_Decode)(uint8_t*, uint16_t); //Decode Rx_Buf - UARTSendHandler *pCurrentUARTSendHadler; // - void (*AddSendList)(struct UARTHandler*, uint8_t*, uint16_t,uint32_t,//这里是修改等待时间 - void (*UART_Decode)(uint8_t*, uint16_t)); - - - - struct _DispacherController *dispacherController; - -// //got a dispacher alone -// Dispatcher *pHead;// = NULL; //环形链表中的数据头指针 -// Dispatcher *pTail;// = NULL; //环形链表中的数据尾指针 -// uint16_t DispacherNumber;// = 0; -// -// uint16_t DispacherCallPeriod; //= 100; //2ms 一次， -// -// uint16_t Dispacher_Counter;// = 0; -// uint16_t Dispacher_Enable;// = 0; -// void(*Add_Dispatcher_List)(struct UARTHandler *uartHandler,void (*dispache)(void));//UART的调度程序 -// void(*Dispatcher_Run)(struct UARTHandler *uartHandler);//UART的调度程序 - - - - -}; - -void UARTHandlerTx(struct UARTHandler *uartHandler); -void UARTHandlerRX(struct UARTHandler *uartHandler); -//void IntializeUARTHandler(struct UARTHandler *uartHandler, UART_HandleTypeDef uart,int32_t WaitTime,unsigned char timeSpan); -void Counting(struct UARTHandler *uartHandler); - - -void IntializeUARTHandler(struct UARTHandler *uartHandler, - UART_HandleTypeDef *uart, int32_t WaitTime, unsigned char timeSpan,int32_t Dispacher_Time); -void GF_BSP_UART_Timer(); - -#endif /* INC_BSP_UART_H_ */ diff --git a/project_old/paint_robot_old/BASE/Inc/BSP/bsp_UDP.h b/project_old/paint_robot_old/BASE/Inc/BSP/bsp_UDP.h deleted file mode 100644 index 0d6b4b7..0000000 --- a/project_old/paint_robot_old/BASE/Inc/BSP/bsp_UDP.h +++ /dev/null @@ -1,23 +0,0 @@ -/* - * bsp_UDP.h - * - * Created on: Aug 13, 2024 - * Author: akeguo - */ - -#ifndef INC_BSP_BSP_UDP_H_ -#define INC_BSP_BSP_UDP_H_ - -void udp_client_init(void); - - -void udp_dlt_send_back(char *pData,uint16_t Size); -void udp_cmd_send_back(char *pData, uint16_t Size); - -typedef void (*DLT_DecodeFuncPtr)(uint8_t*, uint16_t); -void udp_send_by_pcb(struct udp_pcb * upcb,char *pData, uint16_t Size); -// 再用该类型声明变量 -extern DLT_DecodeFuncPtr UDP_DLT_ReceivedCallback; -extern int8_t is_udp_GV_update_loop_enalbed; - -#endif /* INC_BSP_BSP_UDP_H_ */ diff --git a/project_old/paint_robot_old/BASE/Inc/BSP/bsp_UpperComputer_Handler.h b/project_old/paint_robot_old/BASE/Inc/BSP/bsp_UpperComputer_Handler.h deleted file mode 100644 index 198b159..0000000 --- a/project_old/paint_robot_old/BASE/Inc/BSP/bsp_UpperComputer_Handler.h +++ /dev/null @@ -1,27 +0,0 @@ -/* - * bsp_desulfurizer_handler.h - * - * Created on: Jul 29, 2024 - * Author: akeguo - */ - -#ifndef INC_BSP_BSP_UPPERCOMPUTER_HANDLER_H_ -#define INC_BSP_BSP_UPPERCOMPUTER_HANDLER_H_ -#include -#include -#include "bsp_MB_host.h" -#include "stdio.h" -#include "BSP/bsp_UART.h" -#include "usart.h" -#include "gpio.h" - - -extern struct UARTHandler *desulfurizer_message_UART_Handler; -void upper_Computer_UART_Handler_intialize(struct UARTHandler *Handler); - -void decode_command_from_computer(uint8_t *buffer, uint16_t length); - - -void send_data_to_upper_computer(double Angle, double WireLength, - double Thickness, char IsFittingPoint,char isMqtt,struct UARTHandler *send_UART_Handler); -#endif /* INC_BSP_BSP_UPPERCOMPUTER_HANDLER_H_ */ diff --git a/project_old/paint_robot_old/BASE/Inc/BSP/bsp_client_setting.h b/project_old/paint_robot_old/BASE/Inc/BSP/bsp_client_setting.h deleted file mode 100644 index 1b13112..0000000 --- a/project_old/paint_robot_old/BASE/Inc/BSP/bsp_client_setting.h +++ /dev/null @@ -1,13 +0,0 @@ -/* - * bsp_pv_setting.h - * - * Created on: Jan 8, 2025 - * Author: akeguo - */ - -#ifndef INC_BSP_BSP_CLIENT_SETTING_H_ -#define INC_BSP_BSP_CLIENT_SETTING_H_ -#include "BHBF_ROBOT.h" - -void client_setting_intialize(struct UARTHandler *Handler); -#endif /* INC_BSP_BSP_CLIENT_SETTING_H_ */ diff --git a/project_old/paint_robot_old/BASE/Inc/BSP/bsp_com_helper.h b/project_old/paint_robot_old/BASE/Inc/BSP/bsp_com_helper.h deleted file mode 100644 index a0b0d80..0000000 --- a/project_old/paint_robot_old/BASE/Inc/BSP/bsp_com_helper.h +++ /dev/null @@ -1,82 +0,0 @@ -/* - * bsp_com_helper.h - * - * Created on: Oct 9, 2024 - * Author: akeguo - */ - -#ifndef INC_BSP_BSP_COM_HELPER_H_ -#define INC_BSP_BSP_COM_HELPER_H_ -#include "bsp_include.h" - - -typedef struct _Dispatcher -{ - //uint8_t IsDeleted; - void (*dispache)(void); - - //struct _Dispatcher* pBefore; - struct _Dispatcher* pNext; -}Dispatcher; - - -//通讯链表节点结构体 -typedef struct _ComHardWare -{ - //void (*dispache)(void); - char Name[50]; - char IsOnline; - uint32_t BitFlag; - struct _ComHardWare* pNext; -}ComHardWare; - - - - - -typedef struct _DispacherController -{ - Dispatcher *pHead; // = NULL; //环形链表中的数据头指针 - Dispatcher *pTail; // = NULL; //环形链表中的数据尾指针 - uint16_t DispacherNumber; // = 0; - uint16_t DispacherCallTime; // - uint16_t Dispacher_Counter; // = 0; - uint16_t Dispacher_Enable; // = 0 disable 1 enable - void (*Add_Dispatcher_List)(struct _DispacherController* , - void (*dispacher)(void)); //UART的调度程序 - void (*Dispatcher_Run)(struct _DispacherController* ); //UART的调度程序 - -}DispacherController; - -typedef struct _HardWareController -{ - struct _ComHardWare *pComHWHead; - struct _ComHardWare *pComHWTail; - uint16_t HardWare_Check_Counter; - uint16_t DispacherCallTime; //= 100; //2ms 一次， - void (*Add_PCOMHardWare)(struct _HardWareController *, char* , char ,uint32_t); - void (*PCOMHardWare_Check)(struct _HardWareController *); - int (*Set_PCOMHardWare)(struct _HardWareController *, char* , char ); - - -} HardWareController; - - - - - void Dispatch_t(DispacherController *uartHandler); - -void Dispatcher_List_Add_t(DispacherController *uartHandler,void (*dispache)(void)); -// void Dispatcher_List_Add_t(DispacherController *uartHandler, -// void (*dispache)(void),void (*Decode)(uint8_t*, uint16_t)); -// void ComHardWare_List_Add_t(HardWareController *uartHandler, char *name,char value); - - void PCOMHardWare_Check_t(HardWareController *uartHandler); - -int Set_PCOMHardWare_t(HardWareController *uartHandler, char *name, char value); - -void ComHardWare_List_Add_t(HardWareController *uartHandler, char *name, - char value,uint32_t bitFlag); - - -#endif /* INC_BSP_BSP_COM_HELPER_H_ */ diff --git a/project_old/paint_robot_old/BASE/Inc/BSP/bsp_cpu_flash.h b/project_old/paint_robot_old/BASE/Inc/BSP/bsp_cpu_flash.h deleted file mode 100644 index 898c10b..0000000 --- a/project_old/paint_robot_old/BASE/Inc/BSP/bsp_cpu_flash.h +++ /dev/null @@ -1,66 +0,0 @@ -/* - * bsp_cpu_flash.h - * - * Created on: Aug 28, 2024 - * Author: akeguo - */ - -#ifndef SRC_BSP_BSP_CPU_FLASH_H_ -#define SRC_BSP_BSP_CPU_FLASH_H_ - -#include "main.h" - -#include -#include "quadspi.h" - -#define ENABLE_INT() __set_PRIMASK(0) /* 使能全局中断 */ -#define DISABLE_INT() __set_PRIMASK(1) /* 禁止全局中断 */ - - -#define CPU_FLASH_BASE_ADDR (uint32_t)(FLASH_BASE) /* 0x08000000 */ -#define CPU_FLASH_END_ADDR (uint32_t)(0x081FFFFF) - -#define CPU_FLASH_SIZE (2 * 1024 * 1024) /* FLASH总容量 */ -#define CPU_FLASH_SECTOR_SIZE (128 * 1024) /* 扇区大小，字节 */ - -/* Base address of the Flash sectors Bank 1 */ -#define ADDR_FLASH_SECTOR_0_BANK1 ((uint32_t)0x08000000) /* Base @ of Sector 0, 128 Kbytes */ -#define ADDR_FLASH_SECTOR_1_BANK1 ((uint32_t)0x08020000) /* Base @ of Sector 1, 128 Kbytes */ -#define ADDR_FLASH_SECTOR_2_BANK1 ((uint32_t)0x08040000) /* Base @ of Sector 2, 128 Kbytes */ -#define ADDR_FLASH_SECTOR_3_BANK1 ((uint32_t)0x08060000) /* Base @ of Sector 3, 128 Kbytes */ -#define ADDR_FLASH_SECTOR_4_BANK1 ((uint32_t)0x08080000) /* Base @ of Sector 4, 128 Kbytes */ -#define ADDR_FLASH_SECTOR_5_BANK1 ((uint32_t)0x080A0000) /* Base @ of Sector 5, 128 Kbytes */ -#define ADDR_FLASH_SECTOR_6_BANK1 ((uint32_t)0x080C0000) /* Base @ of Sector 6, 128 Kbytes */ -#define ADDR_FLASH_SECTOR_7_BANK1 ((uint32_t)0x080E0000) /* Base @ of Sector 7, 128 Kbytes */ - -/* Base address of the Flash sectors Bank 2 */ -#define ADDR_FLASH_SECTOR_0_BANK2 ((uint32_t)0x08100000) /* Base @ of Sector 0, 128 Kbytes */ -#define ADDR_FLASH_SECTOR_1_BANK2 ((uint32_t)0x08120000) /* Base @ of Sector 1, 128 Kbytes */ -#define ADDR_FLASH_SECTOR_2_BANK2 ((uint32_t)0x08140000) /* Base @ of Sector 2, 128 Kbytes */ -#define ADDR_FLASH_SECTOR_3_BANK2 ((uint32_t)0x08160000) /* Base @ of Sector 3, 128 Kbytes */ -#define ADDR_FLASH_SECTOR_4_BANK2 ((uint32_t)0x08180000) /* Base @ of Sector 4, 128 Kbytes */ -#define ADDR_FLASH_SECTOR_5_BANK2 ((uint32_t)0x081A0000) /* Base @ of Sector 5, 128 Kbytes */ -#define ADDR_FLASH_SECTOR_6_BANK2 ((uint32_t)0x081C0000) /* Base @ of Sector 6, 128 Kbytes */ -#define ADDR_FLASH_SECTOR_7_BANK2 ((uint32_t)0x081E0000) /* Base @ of Sector 7, 128 Kbytes */ - -#define FLASH_IS_EQU 0 /* Flash内容和待写入的数据相等，不需要擦除和写操作 */ -#define FLASH_REQ_WRITE 1 /* Flash不需要擦除，直接写 */ -#define FLASH_REQ_ERASE 2 /* Flash需要先擦除,再写 */ -#define FLASH_PARAM_ERR 3 /* 函数参数错误 */ - - -#define App_Start_Addr 0x08000000 -#define App_Run_Addr 0x08020000 -#define App_Download_Addr 0x08080000 // ADDR_FLASH_SECTOR_4_BANK1 - - - -uint8_t bsp_ReadCpuFlash(uint32_t _ulFlashAddr, uint8_t *_ucpDst, uint32_t _ulSize); -uint8_t bsp_WriteCpuFlash(uint32_t _ulFlashAddr, uint8_t *_ucpSrc, uint32_t _ulSize); -uint8_t bsp_CmpCpuFlash(uint32_t _ulFlashAddr, uint8_t *_ucpBuf, uint32_t _ulSize); -void JumpToApp(void); -void Copy_Peripheral_Download_Flash_to_App_Start(uint32_t totalBytes); -uint8_t bsp_EraseCpuFlash(uint32_t _ulFlashAddr); -void Erase_App_Download_Flash_Addr(); -void Copy_Download_Flash_to_Start(); -#endif /* SRC_BSP_BSP_CPU_FLASH_H_ */ diff --git a/project_old/paint_robot_old/BASE/Inc/BSP/bsp_decode_command.h b/project_old/paint_robot_old/BASE/Inc/BSP/bsp_decode_command.h deleted file mode 100644 index 494370a..0000000 --- a/project_old/paint_robot_old/BASE/Inc/BSP/bsp_decode_command.h +++ /dev/null @@ -1,39 +0,0 @@ -/* - * bsp_decode_command.h - * - * Created on: Sep 24, 2024 - * Author: akeguo - */ - -#ifndef INC_BSP_BSP_DECODE_COMMAND_H_ -#define INC_BSP_BSP_DECODE_COMMAND_H_ -#include "main.h" -#include "msp_WH_LTE_7S0.h" - -#include "pb_decode.h" -#include "pb_encode.h" -#include "bsp_include.h" -#include "pb.h" - -#include "bsp_Cmd.pb.h" -#include -#include -#include - -#include "BHBF_ROBOT.h" -#include "bsp_cpu_flash.h" -#include -#include -#include "bsp_ReCmd.pb.h" -#include "bsp_IV.pb.h" - -void send_received_data_to_upper_computer(uint8_t *buffer, uint16_t length); -void decode_command_and_feedback(uint8_t *buffer, uint16_t length, char sendWay, - struct UARTHandler *send_Handler); - -extern void WrapInCmdAndSend(ReCmd send_Cmd, uint8_t *buf, int8_t sendWay,struct UARTHandler *send_Handler); - - -extern void WrapInCmdAndSendMessage(ReCmd send_Cmd,int8_t functionNum,int8_t isSuccess, uint8_t *buf, int8_t sendWay, - struct UARTHandler *send_Handler); -#endif /* INC_BSP_BSP_DECODE_COMMAND_H_ */ diff --git a/project_old/paint_robot_old/BASE/Inc/BSP/bsp_include.h b/project_old/paint_robot_old/BASE/Inc/BSP/bsp_include.h deleted file mode 100644 index a8d831f..0000000 --- a/project_old/paint_robot_old/BASE/Inc/BSP/bsp_include.h +++ /dev/null @@ -1,57 +0,0 @@ -/* - * bsp_include.h - * - * Created on: Oct 26, 2023 - * Author: shiya - */ - -#ifndef INC_BSP_INCLUDE_H_ -#define INC_BSP_INCLUDE_H_ - -#include "main.h" -#include "dma.h" -#include "fdcan.h" -#include "i2c.h" -#include "tim.h" -#include "usart.h" -#include "gpio.h" - -#include "bsp_EEPROM.h" -#include "bsp_GPIO.h" -#include "bsp_FDCAN.h" - -#include "bsp_TIMER.h" -#include "bsp_PV.pb.h" - -#include "bsp_GV.pb.h" -#include "bsp_CV.pb.h" -#include "pb.h" -#include "pb_decode.h" -#include "pb_common.h" -#include "DLTuc.h" -//一个中断回调函数支持多少个回调函数链接 -#define DF_BSP_InterCall_Num 20 - -//一共支持多少种中断函数 -#define DF_BSP_InterCall_Type_Num 11 - -enum DF_BSP_InterCall_Type -{ - DF_BSP_InterCall_FDCAN1_RxFifo0Callback = 0, - DF_BSP_InterCall_FDCAN2_RxFifo0Callback, - DF_BSP_InterCall_RS485_1_RxCpltCallback, - DF_BSP_InterCall_RS485_2_RxCpltCallback, - DF_BSP_InterCall_RS485_3_RxCpltCallback, - DF_BSP_InterCall_RS485_4_RxCpltCallback, - DF_BSP_InterCall_DEBUG_RxCpltCallback, - DF_BSP_InterCall_E22_Serial_RxCpltCallback, - DF_BSP_InterCall_E28_SBUS_RxFifo0Callback, - DF_BSP_InterCall_TIM1_100ms_PeriodElapsedCallback, - DF_BSP_InterCall_TIM8_2ms_PeriodElapsedCallback -}; - -uint8_t GF_BSP_Interrupt_Add_CallBack(enum DF_BSP_InterCall_Type _type, - void (*_fn)(void)); -void GF_BSP_Interrupt_Run_CallBack(enum DF_BSP_InterCall_Type _type); - -#endif /* INC_BSP_INCLUDE_H_ */ diff --git a/project_old/paint_robot_old/BASE/Inc/BSP/bsp_mqtt.h b/project_old/paint_robot_old/BASE/Inc/BSP/bsp_mqtt.h deleted file mode 100644 index f7bb15d..0000000 --- a/project_old/paint_robot_old/BASE/Inc/BSP/bsp_mqtt.h +++ /dev/null @@ -1,36 +0,0 @@ - -#ifndef __BSP_MQTT_H -#define __BSP_MQTT_H - -/*----------------------------------------------------------- - * Includes files - *----------------------------------------------------------*/ - -/*----------------------------------------------------------- - * Exported constants - *----------------------------------------------------------*/ - - -/*----------------------------------------------------------- - * Exported macro - *----------------------------------------------------------*/ - -/*----------------------------------------------------------- - * Exported function - *----------------------------------------------------------*/ -/*! -* @brief 封装 MQTT 初始化接口 -* 执行条件：无 -* -* @retval: 无 -*/ -void bsp_mqtt_init(void); -void bsp_mqtt_test(void); - - -extern void bsp_mqtt_pub_send(char topic[],char buf[],size_t len); - - -#include "bsp_pb_decode_encode.h" - -#endif /* __BSP_WOLFSSL_H */ diff --git a/project_old/paint_robot_old/BASE/Inc/BSP/bsp_mqtt_pub.h b/project_old/paint_robot_old/BASE/Inc/BSP/bsp_mqtt_pub.h deleted file mode 100644 index 3764cb0..0000000 --- a/project_old/paint_robot_old/BASE/Inc/BSP/bsp_mqtt_pub.h +++ /dev/null @@ -1,26 +0,0 @@ -/* - * bsp_mqtt_pub.h - * - * Created on: Jul 9, 2024 - * Author: akeguo - */ - -#ifndef INC_BSP_BSP_MQTT_PUB_H_ -#define INC_BSP_BSP_MQTT_PUB_H_ - -#include "bsp_pb_decode_encode.h" -#include "pb_decode.h" -#include "pb_encode.h" -#include "bsp_CV.pb.h" -#include "bsp_pb_decode_encode.h" -#include "BSP/bsp_EEPROM.h" - - - - - -extern void log_info(char logger[], char message[]); -extern void log_debug(char logger[], char message[]); -extern void log_err(char logger[], char message[]); - -#endif /* INC_BSP_BSP_MQTT_PUB_H_ */ diff --git a/project_old/paint_robot_old/BASE/Inc/BSP/bsp_pb_decode_encode.h b/project_old/paint_robot_old/BASE/Inc/BSP/bsp_pb_decode_encode.h deleted file mode 100644 index 8480dbe..0000000 --- a/project_old/paint_robot_old/BASE/Inc/BSP/bsp_pb_decode_encode.h +++ /dev/null @@ -1,51 +0,0 @@ -/* - * bsp_pb_decode_encode.h - * - * Created on: Jul 5, 2024 - * Author: akeguo - */ - -#ifndef INC_BSP_BSP_PB_DECODE_ENCODE_H_ -#define INC_BSP_BSP_PB_DECODE_ENCODE_H_ - -#include -#include -#include -#include - -#include "pb_decode.h" -#include "pb_encode.h" -#include "pb.h" -#include "bsp_CV.pb.h" -#include "bsp_GV.pb.h" -#include "msp_MK32.pb.h" -#include "msp_Motor.pb.h" -#include "bsp_PV.pb.h" -#include "bsp_CV.pb.h" -#include "bsp_CV.pb.h" -#include "pb_common.h" - -#include "bsp_IAP.pb.h" -IAP_struct_define pb_decode_IAP(uint8_t *buf, size_t length); - -typedef struct pb_buffer_arg -{ - /* Buffer to be written, or reference to read buffer */ - void const *buf; - /* Length of buf */ - size_t buf_len; -} pb_buffer_arg; - - - bool pb_encode_string_cb(pb_ostream_t *stream, const pb_field_t *field, void *const *arg); - bool pb_decode_string_cb(pb_istream_t *stream, const pb_field_t *field, void **arg); - - -extern CV_struct_define pb_decode_CV(char *buf, size_t length); -extern void Test_CV(); - -//extern void pb_encode_TraceMessage(char buf[], size_t buf_len,size_t* len,TraceLevel traceLevel, char logger[], char message[] ); -void pb_encode_TraceMessage(char buf[],size_t buf_len, size_t* len, - char traceLevel[], char logger[], char message[] ); - -#endif /* INC_BSP_BSP_PB_DECODE_ENCODE_H_ */ diff --git a/project_old/paint_robot_old/BASE/Inc/BSP/bsp_qspi_w25q128.h b/project_old/paint_robot_old/BASE/Inc/BSP/bsp_qspi_w25q128.h deleted file mode 100644 index 61791e4..0000000 --- a/project_old/paint_robot_old/BASE/Inc/BSP/bsp_qspi_w25q128.h +++ /dev/null @@ -1,107 +0,0 @@ -/* - * bsp_quadspi_W25Q128.h - * - * Created on: Apr 21, 2021 - * Author: Administrator - * - * 该bsp用于华邦的w25q128JV，跟华邦的w25q128JV不一样 - * 坑爹的 - */ - -#ifndef BSP_QSPI_W25Q128_H_ -#define BSP_QSPI_W25Q128_H_ - - -#include "quadspi.h" -#include "stdio.h" - -/* 宏定义 --------------------------------------------------------------------*/ -#define FLASH_BEGIN_ADDRESS 0x00000 - -#define CODE_DOWNLOAD_FLASH_BEGIN_ADDRESS 0x00000 -#define CODE_FLASH_STORAGE_SIZE 1024*1024 // 留下1M的空间存储数据 - -#define W25Q128FV_FLASH_SIZE 0x1000000 /* 128 MBits => 16MBytes */ -#define W25Q128FV_BLOCK_SIZE 0x10000 /* 256 Blocks of 64KBytes */ -#define W25Q128FV_HALF_BLOCK_SIZE 0x8000 /* 128 Blocks of 32KBytes */ -#define W25Q128FV_SECTOR_SIZE 0x1000 /* 4096 sectors of 4kBytes */ -#define W25Q128FV_PAGE_SIZE 0x100 /* 65536 pages of 256 bytes */ - -#define W25Q128FV_DUMMY_CYCLES_READ 4 -#define W25Q128FV_DUMMY_CYCLES_READ_QUAD 10 - -#define W25Q128FV_BULK_ERASE_MAX_TIME 250000//ms -#define W25Q128FV_SECTOR_ERASE_MAX_TIME 3000 -#define W25Q128FV_SUBSECTOR_ERASE_MAX_TIME 800 - -#define W25Q128FV_FLASH_ID 0XEF4018 -/* W25Q128FV 指令 */ -/* 复位操作 */ -#define RESET_ENABLE_CMD 0x66 -#define RESET_MEMORY_CMD 0x99 - -#define ENTER_QPI_MODE_CMD 0x38 -#define EXIT_QPI_MODE_CMD 0xFF - -/* 读取ID指令 */ -#define READ_ID_CMD 0x90 -#define DUAL_READ_ID_CMD 0x92 -#define QUAD_READ_ID_CMD 0x94 -#define READ_JEDEC_ID_CMD 0x9F - -/* 读操作指令 */ -#define READ_CMD 0x03 -#define FAST_READ_CMD 0x0B -#define DUAL_OUT_FAST_READ_CMD 0x3B -#define DUAL_INOUT_FAST_READ_CMD 0xBB -#define QUAD_OUT_FAST_READ_CMD 0x6B -#define QUAD_INOUT_FAST_READ_CMD 0xEB - -/* 写使能操作指令 */ -#define WRITE_ENABLE_CMD 0x06 -#define WRITE_DISABLE_CMD 0x04 - -/* 读写状态寄存器操作指令 */ -#define READ_STATUS_REG1_CMD 0x05 -#define READ_STATUS_REG2_CMD 0x35 -#define READ_STATUS_REG3_CMD 0x15 - -#define WRITE_STATUS_REG1_CMD 0x01 -#define WRITE_STATUS_REG2_CMD 0x31 -#define WRITE_STATUS_REG3_CMD 0x11 - -/* 编程指令 */ -#define PAGE_PROG_CMD 0x02 -#define QUAD_INPUT_PAGE_PROG_CMD 0x32 - -/* 擦除Flash指令 */ -#define SECTOR_ERASE_CMD 0x20 -#define BLOCK_32KB_ERASE_CMD 0x52 -#define BLOCK_64KB_ERASE_CMD 0xD8 -#define CHIP_ERASE_CMD 0xC7 - -#define PROG_ERASE_RESUME_CMD 0x7A -#define PROG_ERASE_SUSPEND_CMD 0x75 - -/* 状态寄存器标志位 */ -#define W25Q128FV_FSR_BUSY ((uint8_t)0x01) /* busy */ -#define W25Q128FV_FSR_WREN ((uint8_t)0x02) /* write enable */ -#define W25Q128FV_FSR_QE ((uint8_t)0x02) /* quad enable */ - -/* Flash 状态码*/ -#define FLASH_OK ((uint8_t)0x00) -#define FLASH_ERROR ((uint8_t)0x01) -#define FLASH_BUSY ((uint8_t)0x02) -#define FLASH_NOT_SUPPORTED ((uint8_t)0x04) -#define FLASH_SUSPENDED ((uint8_t)0x08) - - - -uint32_t QSPI_W25Qx_ReadID(void); -void QSPI_W25Qx_Reset_Memory(); -void QSPI_W25Qx_EraseSector(uint32_t _SectorAddr); -uint8_t QSPI_W25Qx_Write_Buffer(uint8_t *_pBuf,uint32_t _write_Addr,uint16_t _write_Size); -void QSPI_W25Qx_Read_Buffer(uint8_t *_pBuf,uint32_t _read_Addr,uint32_t _read_Size); -void QSPI_W25Qx_EraseDownLoadFlash(); -void user_Assert(char *file,uint32_t line); -#endif /* BSP_QSPI_W25Q128_H_ */ diff --git a/project_old/paint_robot_old/BASE/Inc/BSP/bsp_tempature.h b/project_old/paint_robot_old/BASE/Inc/BSP/bsp_tempature.h deleted file mode 100644 index a93fdb0..0000000 --- a/project_old/paint_robot_old/BASE/Inc/BSP/bsp_tempature.h +++ /dev/null @@ -1,19 +0,0 @@ -/* - * bsp_adc.h - * - * Created on: Feb 21, 2025 - * Author: akeguo - */ - -#ifndef INC_BSP_BSP_TEMPATURE_H_ -#define INC_BSP_BSP_TEMPATURE_H_ - - -#include "main.h" -#include "DLTuc.h" - -int32_t read_temperature(); -void ADC_Intialize(); - -extern int32_t * tempature; -#endif /* INC_BSP_BSP_TEMPATURE_H_ */ diff --git a/project_old/paint_robot_old/BASE/Inc/BSP/pb.h b/project_old/paint_robot_old/BASE/Inc/BSP/pb.h deleted file mode 100644 index ef3d83e..0000000 --- a/project_old/paint_robot_old/BASE/Inc/BSP/pb.h +++ /dev/null @@ -1,917 +0,0 @@ -/* Common parts of the nanopb library. Most of these are quite low-level - * stuff. For the high-level interface, see pb_encode.h and pb_decode.h. - */ - -#ifndef PB_H_INCLUDED -#define PB_H_INCLUDED - -/***************************************************************** - * Nanopb compilation time options. You can change these here by * - * uncommenting the lines, or on the compiler command line. * - *****************************************************************/ - -/* Enable support for dynamically allocated fields */ -/* #define PB_ENABLE_MALLOC 1 */ - -/* Define this if your CPU / compiler combination does not support - * unaligned memory access to packed structures. Note that packed - * structures are only used when requested in .proto options. */ -/* #define PB_NO_PACKED_STRUCTS 1 */ - -/* Increase the number of required fields that are tracked. - * A compiler warning will tell if you need this. */ -/* #define PB_MAX_REQUIRED_FIELDS 256 */ - -/* Add support for tag numbers > 65536 and fields larger than 65536 bytes. */ -/* #define PB_FIELD_32BIT 1 */ - -/* Disable support for error messages in order to save some code space. */ -/* #define PB_NO_ERRMSG 1 */ - -/* Disable support for custom streams (support only memory buffers). */ -/* #define PB_BUFFER_ONLY 1 */ - -/* Disable support for 64-bit datatypes, for compilers without int64_t - or to save some code space. */ -/* #define PB_WITHOUT_64BIT 1 */ - -/* Don't encode scalar arrays as packed. This is only to be used when - * the decoder on the receiving side cannot process packed scalar arrays. - * Such example is older protobuf.js. */ -/* #define PB_ENCODE_ARRAYS_UNPACKED 1 */ - -/* Enable conversion of doubles to floats for platforms that do not - * support 64-bit doubles. Most commonly AVR. */ -/* #define PB_CONVERT_DOUBLE_FLOAT 1 */ - -/* Check whether incoming strings are valid UTF-8 sequences. Slows down - * the string processing slightly and slightly increases code size. */ -/* #define PB_VALIDATE_UTF8 1 */ - -/* This can be defined if the platform is little-endian and has 8-bit bytes. - * Normally it is automatically detected based on __BYTE_ORDER__ macro. */ -/* #define PB_LITTLE_ENDIAN_8BIT 1 */ - -/* Configure static assert mechanism. Instead of changing these, set your - * compiler to C11 standard mode if possible. */ -/* #define PB_C99_STATIC_ASSERT 1 */ -/* #define PB_NO_STATIC_ASSERT 1 */ - -/****************************************************************** - * You usually don't need to change anything below this line. * - * Feel free to look around and use the defined macros, though. * - ******************************************************************/ - - -/* Version of the nanopb library. Just in case you want to check it in - * your own program. */ -#define NANOPB_VERSION "nanopb-0.4.8-dev" - -/* Include all the system headers needed by nanopb. You will need the - * definitions of the following: - * - strlen, memcpy, memset functions - * - [u]int_least8_t, uint_fast8_t, [u]int_least16_t, [u]int32_t, [u]int64_t - * - size_t - * - bool - * - * If you don't have the standard header files, you can instead provide - * a custom header that defines or includes all this. In that case, - * define PB_SYSTEM_HEADER to the path of this file. - */ -#ifdef PB_SYSTEM_HEADER -#include PB_SYSTEM_HEADER -#else -#include -#include -#include -#include -#include - -#ifdef PB_ENABLE_MALLOC -#include -#endif -#endif - -#ifdef __cplusplus -extern "C" { -#endif - -/* Macro for defining packed structures (compiler dependent). - * This just reduces memory requirements, but is not required. - */ -#if defined(PB_NO_PACKED_STRUCTS) - /* Disable struct packing */ -# define PB_PACKED_STRUCT_START -# define PB_PACKED_STRUCT_END -# define pb_packed -#elif defined(__GNUC__) || defined(__clang__) - /* For GCC and clang */ -# define PB_PACKED_STRUCT_START -# define PB_PACKED_STRUCT_END -# define pb_packed __attribute__((packed)) -#elif defined(__ICCARM__) || defined(__CC_ARM) - /* For IAR ARM and Keil MDK-ARM compilers */ -# define PB_PACKED_STRUCT_START _Pragma("pack(push, 1)") -# define PB_PACKED_STRUCT_END _Pragma("pack(pop)") -# define pb_packed -#elif defined(_MSC_VER) && (_MSC_VER >= 1500) - /* For Microsoft Visual C++ */ -# define PB_PACKED_STRUCT_START __pragma(pack(push, 1)) -# define PB_PACKED_STRUCT_END __pragma(pack(pop)) -# define pb_packed -#else - /* Unknown compiler */ -# define PB_PACKED_STRUCT_START -# define PB_PACKED_STRUCT_END -# define pb_packed -#endif - -/* Detect endianness */ -#ifndef PB_LITTLE_ENDIAN_8BIT -#if ((defined(__BYTE_ORDER) && __BYTE_ORDER == __LITTLE_ENDIAN) || \ - (defined(__BYTE_ORDER__) && __BYTE_ORDER__ == __ORDER_LITTLE_ENDIAN__) || \ - defined(__LITTLE_ENDIAN__) || defined(__ARMEL__) || \ - defined(__THUMBEL__) || defined(__AARCH64EL__) || defined(_MIPSEL) || \ - defined(_M_IX86) || defined(_M_X64) || defined(_M_ARM)) \ - && CHAR_BIT == 8 -#define PB_LITTLE_ENDIAN_8BIT 1 -#endif -#endif - -/* Handly macro for suppressing unreferenced-parameter compiler warnings. */ -#ifndef PB_UNUSED -#define PB_UNUSED(x) (void)(x) -#endif - -/* Harvard-architecture processors may need special attributes for storing - * field information in program memory. */ -#ifndef PB_PROGMEM -#ifdef __AVR__ -#include -#define PB_PROGMEM PROGMEM -#define PB_PROGMEM_READU32(x) pgm_read_dword(&x) -#else -#define PB_PROGMEM -#define PB_PROGMEM_READU32(x) (x) -#endif -#endif - -/* Compile-time assertion, used for checking compatible compilation options. - * If this does not work properly on your compiler, use - * #define PB_NO_STATIC_ASSERT to disable it. - * - * But before doing that, check carefully the error message / place where it - * comes from to see if the error has a real cause. Unfortunately the error - * message is not always very clear to read, but you can see the reason better - * in the place where the PB_STATIC_ASSERT macro was called. - */ -#ifndef PB_NO_STATIC_ASSERT -# ifndef PB_STATIC_ASSERT -# if defined(__ICCARM__) - /* IAR has static_assert keyword but no _Static_assert */ -# define PB_STATIC_ASSERT(COND,MSG) static_assert(COND,#MSG); -# elif defined(_MSC_VER) && (!defined(__STDC_VERSION__) || __STDC_VERSION__ < 201112) - /* MSVC in C89 mode supports static_assert() keyword anyway */ -# define PB_STATIC_ASSERT(COND,MSG) static_assert(COND,#MSG); -# elif defined(PB_C99_STATIC_ASSERT) - /* Classic negative-size-array static assert mechanism */ -# define PB_STATIC_ASSERT(COND,MSG) typedef char PB_STATIC_ASSERT_MSG(MSG, __LINE__, __COUNTER__)[(COND)?1:-1]; -# define PB_STATIC_ASSERT_MSG(MSG, LINE, COUNTER) PB_STATIC_ASSERT_MSG_(MSG, LINE, COUNTER) -# define PB_STATIC_ASSERT_MSG_(MSG, LINE, COUNTER) pb_static_assertion_##MSG##_##LINE##_##COUNTER -# elif defined(__cplusplus) - /* C++11 standard static_assert mechanism */ -# define PB_STATIC_ASSERT(COND,MSG) static_assert(COND,#MSG); -# else - /* C11 standard _Static_assert mechanism */ -# define PB_STATIC_ASSERT(COND,MSG) _Static_assert(COND,#MSG); -# endif -# endif -#else - /* Static asserts disabled by PB_NO_STATIC_ASSERT */ -# define PB_STATIC_ASSERT(COND,MSG) -#endif - -/* Test that PB_STATIC_ASSERT works - * If you get errors here, you may need to do one of these: - * - Enable C11 standard support in your compiler - * - Define PB_C99_STATIC_ASSERT to enable C99 standard support - * - Define PB_NO_STATIC_ASSERT to disable static asserts altogether - */ -PB_STATIC_ASSERT(1, STATIC_ASSERT_IS_NOT_WORKING) - -/* Number of required fields to keep track of. */ -#ifndef PB_MAX_REQUIRED_FIELDS -#define PB_MAX_REQUIRED_FIELDS 64 -#endif - -#if PB_MAX_REQUIRED_FIELDS < 64 -#error You should not lower PB_MAX_REQUIRED_FIELDS from the default value (64). -#endif - -#ifdef PB_WITHOUT_64BIT -#ifdef PB_CONVERT_DOUBLE_FLOAT -/* Cannot use doubles without 64-bit types */ -#undef PB_CONVERT_DOUBLE_FLOAT -#endif -#endif - -/* List of possible field types. These are used in the autogenerated code. - * Least-significant 4 bits tell the scalar type - * Most-significant 4 bits specify repeated/required/packed etc. - */ - -typedef uint_least8_t pb_type_t; - -/**** Field data types ****/ - -/* Numeric types */ -#define PB_LTYPE_BOOL 0x00U /* bool */ -#define PB_LTYPE_VARINT 0x01U /* int32, int64, enum, bool */ -#define PB_LTYPE_UVARINT 0x02U /* uint32, uint64 */ -#define PB_LTYPE_SVARINT 0x03U /* sint32, sint64 */ -#define PB_LTYPE_FIXED32 0x04U /* fixed32, sfixed32, float */ -#define PB_LTYPE_FIXED64 0x05U /* fixed64, sfixed64, double */ - -/* Marker for last packable field type. */ -#define PB_LTYPE_LAST_PACKABLE 0x05U - -/* Byte array with pre-allocated buffer. - * data_size is the length of the allocated PB_BYTES_ARRAY structure. */ -#define PB_LTYPE_BYTES 0x06U - -/* String with pre-allocated buffer. - * data_size is the maximum length. */ -#define PB_LTYPE_STRING 0x07U - -/* Submessage - * submsg_fields is pointer to field descriptions */ -#define PB_LTYPE_SUBMESSAGE 0x08U - -/* Submessage with pre-decoding callback - * The pre-decoding callback is stored as pb_callback_t right before pSize. - * submsg_fields is pointer to field descriptions */ -#define PB_LTYPE_SUBMSG_W_CB 0x09U - -/* Extension pseudo-field - * The field contains a pointer to pb_extension_t */ -#define PB_LTYPE_EXTENSION 0x0AU - -/* Byte array with inline, pre-allocated byffer. - * data_size is the length of the inline, allocated buffer. - * This differs from PB_LTYPE_BYTES by defining the element as - * pb_byte_t[data_size] rather than pb_bytes_array_t. */ -#define PB_LTYPE_FIXED_LENGTH_BYTES 0x0BU - -/* Number of declared LTYPES */ -#define PB_LTYPES_COUNT 0x0CU -#define PB_LTYPE_MASK 0x0FU - -/**** Field repetition rules ****/ - -#define PB_HTYPE_REQUIRED 0x00U -#define PB_HTYPE_OPTIONAL 0x10U -#define PB_HTYPE_SINGULAR 0x10U -#define PB_HTYPE_REPEATED 0x20U -#define PB_HTYPE_FIXARRAY 0x20U -#define PB_HTYPE_ONEOF 0x30U -#define PB_HTYPE_MASK 0x30U - -/**** Field allocation types ****/ - -#define PB_ATYPE_STATIC 0x00U -#define PB_ATYPE_POINTER 0x80U -#define PB_ATYPE_CALLBACK 0x40U -#define PB_ATYPE_MASK 0xC0U - -#define PB_ATYPE(x) ((x) & PB_ATYPE_MASK) -#define PB_HTYPE(x) ((x) & PB_HTYPE_MASK) -#define PB_LTYPE(x) ((x) & PB_LTYPE_MASK) -#define PB_LTYPE_IS_SUBMSG(x) (PB_LTYPE(x) == PB_LTYPE_SUBMESSAGE || \ - PB_LTYPE(x) == PB_LTYPE_SUBMSG_W_CB) - -/* Data type used for storing sizes of struct fields - * and array counts. - */ -#if defined(PB_FIELD_32BIT) - typedef uint32_t pb_size_t; - typedef int32_t pb_ssize_t; -#else - typedef uint_least16_t pb_size_t; - typedef int_least16_t pb_ssize_t; -#endif -#define PB_SIZE_MAX ((pb_size_t)-1) - -/* Data type for storing encoded data and other byte streams. - * This typedef exists to support platforms where uint8_t does not exist. - * You can regard it as equivalent on uint8_t on other platforms. - */ -typedef uint_least8_t pb_byte_t; - -/* Forward declaration of struct types */ -typedef struct pb_istream_s pb_istream_t; -typedef struct pb_ostream_s pb_ostream_t; -typedef struct pb_field_iter_s pb_field_iter_t; - -/* This structure is used in auto-generated constants - * to specify struct fields. - */ -typedef struct pb_msgdesc_s pb_msgdesc_t; -struct pb_msgdesc_s { - const uint32_t *field_info; - const pb_msgdesc_t * const * submsg_info; - const pb_byte_t *default_value; - - bool (*field_callback)(pb_istream_t *istream, pb_ostream_t *ostream, const pb_field_iter_t *field); - - pb_size_t field_count; - pb_size_t required_field_count; - pb_size_t largest_tag; -}; - -/* Iterator for message descriptor */ -struct pb_field_iter_s { - const pb_msgdesc_t *descriptor; /* Pointer to message descriptor constant */ - void *message; /* Pointer to start of the structure */ - - pb_size_t index; /* Index of the field */ - pb_size_t field_info_index; /* Index to descriptor->field_info array */ - pb_size_t required_field_index; /* Index that counts only the required fields */ - pb_size_t submessage_index; /* Index that counts only submessages */ - - pb_size_t tag; /* Tag of current field */ - pb_size_t data_size; /* sizeof() of a single item */ - pb_size_t array_size; /* Number of array entries */ - pb_type_t type; /* Type of current field */ - - void *pField; /* Pointer to current field in struct */ - void *pData; /* Pointer to current data contents. Different than pField for arrays and pointers. */ - void *pSize; /* Pointer to count/has field */ - - const pb_msgdesc_t *submsg_desc; /* For submessage fields, pointer to field descriptor for the submessage. */ -}; - -/* For compatibility with legacy code */ -typedef pb_field_iter_t pb_field_t; - -/* Make sure that the standard integer types are of the expected sizes. - * Otherwise fixed32/fixed64 fields can break. - * - * If you get errors here, it probably means that your stdint.h is not - * correct for your platform. - */ -#ifndef PB_WITHOUT_64BIT -PB_STATIC_ASSERT(sizeof(int64_t) == 2 * sizeof(int32_t), INT64_T_WRONG_SIZE) -PB_STATIC_ASSERT(sizeof(uint64_t) == 2 * sizeof(uint32_t), UINT64_T_WRONG_SIZE) -#endif - -/* This structure is used for 'bytes' arrays. - * It has the number of bytes in the beginning, and after that an array. - * Note that actual structs used will have a different length of bytes array. - */ -#define PB_BYTES_ARRAY_T(n) struct { pb_size_t size; pb_byte_t bytes[n]; } -#define PB_BYTES_ARRAY_T_ALLOCSIZE(n) ((size_t)n + offsetof(pb_bytes_array_t, bytes)) - -struct pb_bytes_array_s { - pb_size_t size; - pb_byte_t bytes[1]; -}; -typedef struct pb_bytes_array_s pb_bytes_array_t; - -/* This structure is used for giving the callback function. - * It is stored in the message structure and filled in by the method that - * calls pb_decode. - * - * The decoding callback will be given a limited-length stream - * If the wire type was string, the length is the length of the string. - * If the wire type was a varint/fixed32/fixed64, the length is the length - * of the actual value. - * The function may be called multiple times (especially for repeated types, - * but also otherwise if the message happens to contain the field multiple - * times.) - * - * The encoding callback will receive the actual output stream. - * It should write all the data in one call, including the field tag and - * wire type. It can write multiple fields. - * - * The callback can be null if you want to skip a field. - */ -typedef struct pb_callback_s pb_callback_t; -struct pb_callback_s { - /* Callback functions receive a pointer to the arg field. - * You can access the value of the field as *arg, and modify it if needed. - */ - union { - bool (*decode)(pb_istream_t *stream, const pb_field_t *field, void **arg); - bool (*encode)(pb_ostream_t *stream, const pb_field_t *field, void * const *arg); - } funcs; - - /* Free arg for use by callback */ - void *arg; -}; - -extern bool pb_default_field_callback(pb_istream_t *istream, pb_ostream_t *ostream, const pb_field_t *field); - -/* Wire types. Library user needs these only in encoder callbacks. */ -typedef enum { - PB_WT_VARINT = 0, - PB_WT_64BIT = 1, - PB_WT_STRING = 2, - PB_WT_32BIT = 5, - PB_WT_PACKED = 255 /* PB_WT_PACKED is internal marker for packed arrays. */ -} pb_wire_type_t; - -/* Structure for defining the handling of unknown/extension fields. - * Usually the pb_extension_type_t structure is automatically generated, - * while the pb_extension_t structure is created by the user. However, - * if you want to catch all unknown fields, you can also create a custom - * pb_extension_type_t with your own callback. - */ -typedef struct pb_extension_type_s pb_extension_type_t; -typedef struct pb_extension_s pb_extension_t; -struct pb_extension_type_s { - /* Called for each unknown field in the message. - * If you handle the field, read off all of its data and return true. - * If you do not handle the field, do not read anything and return true. - * If you run into an error, return false. - * Set to NULL for default handler. - */ - bool (*decode)(pb_istream_t *stream, pb_extension_t *extension, - uint32_t tag, pb_wire_type_t wire_type); - - /* Called once after all regular fields have been encoded. - * If you have something to write, do so and return true. - * If you do not have anything to write, just return true. - * If you run into an error, return false. - * Set to NULL for default handler. - */ - bool (*encode)(pb_ostream_t *stream, const pb_extension_t *extension); - - /* Free field for use by the callback. */ - const void *arg; -}; - -struct pb_extension_s { - /* Type describing the extension field. Usually you'll initialize - * this to a pointer to the automatically generated structure. */ - const pb_extension_type_t *type; - - /* Destination for the decoded data. This must match the datatype - * of the extension field. */ - void *dest; - - /* Pointer to the next extension handler, or NULL. - * If this extension does not match a field, the next handler is - * automatically called. */ - pb_extension_t *next; - - /* The decoder sets this to true if the extension was found. - * Ignored for encoding. */ - bool found; -}; - -#define pb_extension_init_zero {NULL,NULL,NULL,false} - -/* Memory allocation functions to use. You can define pb_realloc and - * pb_free to custom functions if you want. */ -#ifdef PB_ENABLE_MALLOC -# ifndef pb_realloc -# define pb_realloc(ptr, size) realloc(ptr, size) -# endif -# ifndef pb_free -# define pb_free(ptr) free(ptr) -# endif -#endif - -/* This is used to inform about need to regenerate .pb.h/.pb.c files. */ -#define PB_PROTO_HEADER_VERSION 40 - -/* These macros are used to declare pb_field_t's in the constant array. */ -/* Size of a structure member, in bytes. */ -#define pb_membersize(st, m) (sizeof ((st*)0)->m) -/* Number of entries in an array. */ -#define pb_arraysize(st, m) (pb_membersize(st, m) / pb_membersize(st, m[0])) -/* Delta from start of one member to the start of another member. */ -#define pb_delta(st, m1, m2) ((int)offsetof(st, m1) - (int)offsetof(st, m2)) - -/* Force expansion of macro value */ -#define PB_EXPAND(x) x - -/* Binding of a message field set into a specific structure */ -#define PB_BIND(msgname, structname, width) \ - const uint32_t structname ## _field_info[] PB_PROGMEM = \ - { \ - msgname ## _FIELDLIST(PB_GEN_FIELD_INFO_ ## width, structname) \ - 0 \ - }; \ - const pb_msgdesc_t* const structname ## _submsg_info[] = \ - { \ - msgname ## _FIELDLIST(PB_GEN_SUBMSG_INFO, structname) \ - NULL \ - }; \ - const pb_msgdesc_t structname ## _msg = \ - { \ - structname ## _field_info, \ - structname ## _submsg_info, \ - msgname ## _DEFAULT, \ - msgname ## _CALLBACK, \ - 0 msgname ## _FIELDLIST(PB_GEN_FIELD_COUNT, structname), \ - 0 msgname ## _FIELDLIST(PB_GEN_REQ_FIELD_COUNT, structname), \ - 0 msgname ## _FIELDLIST(PB_GEN_LARGEST_TAG, structname), \ - }; \ - msgname ## _FIELDLIST(PB_GEN_FIELD_INFO_ASSERT_ ## width, structname) - -#define PB_GEN_FIELD_COUNT(structname, atype, htype, ltype, fieldname, tag) +1 -#define PB_GEN_REQ_FIELD_COUNT(structname, atype, htype, ltype, fieldname, tag) \ - + (PB_HTYPE_ ## htype == PB_HTYPE_REQUIRED) -#define PB_GEN_LARGEST_TAG(structname, atype, htype, ltype, fieldname, tag) \ - * 0 + tag - -/* X-macro for generating the entries in struct_field_info[] array. */ -#define PB_GEN_FIELD_INFO_1(structname, atype, htype, ltype, fieldname, tag) \ - PB_FIELDINFO_1(tag, PB_ATYPE_ ## atype | PB_HTYPE_ ## htype | PB_LTYPE_MAP_ ## ltype, \ - PB_DATA_OFFSET_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \ - PB_DATA_SIZE_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \ - PB_SIZE_OFFSET_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \ - PB_ARRAY_SIZE_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname)) - -#define PB_GEN_FIELD_INFO_2(structname, atype, htype, ltype, fieldname, tag) \ - PB_FIELDINFO_2(tag, PB_ATYPE_ ## atype | PB_HTYPE_ ## htype | PB_LTYPE_MAP_ ## ltype, \ - PB_DATA_OFFSET_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \ - PB_DATA_SIZE_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \ - PB_SIZE_OFFSET_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \ - PB_ARRAY_SIZE_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname)) - -#define PB_GEN_FIELD_INFO_4(structname, atype, htype, ltype, fieldname, tag) \ - PB_FIELDINFO_4(tag, PB_ATYPE_ ## atype | PB_HTYPE_ ## htype | PB_LTYPE_MAP_ ## ltype, \ - PB_DATA_OFFSET_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \ - PB_DATA_SIZE_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \ - PB_SIZE_OFFSET_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \ - PB_ARRAY_SIZE_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname)) - -#define PB_GEN_FIELD_INFO_8(structname, atype, htype, ltype, fieldname, tag) \ - PB_FIELDINFO_8(tag, PB_ATYPE_ ## atype | PB_HTYPE_ ## htype | PB_LTYPE_MAP_ ## ltype, \ - PB_DATA_OFFSET_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \ - PB_DATA_SIZE_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \ - PB_SIZE_OFFSET_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \ - PB_ARRAY_SIZE_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname)) - -#define PB_GEN_FIELD_INFO_AUTO(structname, atype, htype, ltype, fieldname, tag) \ - PB_FIELDINFO_AUTO2(PB_FIELDINFO_WIDTH_AUTO(_PB_ATYPE_ ## atype, _PB_HTYPE_ ## htype, _PB_LTYPE_ ## ltype), \ - tag, PB_ATYPE_ ## atype | PB_HTYPE_ ## htype | PB_LTYPE_MAP_ ## ltype, \ - PB_DATA_OFFSET_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \ - PB_DATA_SIZE_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \ - PB_SIZE_OFFSET_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \ - PB_ARRAY_SIZE_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname)) - -#define PB_FIELDINFO_AUTO2(width, tag, type, data_offset, data_size, size_offset, array_size) \ - PB_FIELDINFO_AUTO3(width, tag, type, data_offset, data_size, size_offset, array_size) - -#define PB_FIELDINFO_AUTO3(width, tag, type, data_offset, data_size, size_offset, array_size) \ - PB_FIELDINFO_ ## width(tag, type, data_offset, data_size, size_offset, array_size) - -/* X-macro for generating asserts that entries fit in struct_field_info[] array. - * The structure of macros here must match the structure above in PB_GEN_FIELD_INFO_x(), - * but it is not easily reused because of how macro substitutions work. */ -#define PB_GEN_FIELD_INFO_ASSERT_1(structname, atype, htype, ltype, fieldname, tag) \ - PB_FIELDINFO_ASSERT_1(tag, PB_ATYPE_ ## atype | PB_HTYPE_ ## htype | PB_LTYPE_MAP_ ## ltype, \ - PB_DATA_OFFSET_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \ - PB_DATA_SIZE_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \ - PB_SIZE_OFFSET_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \ - PB_ARRAY_SIZE_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname)) - -#define PB_GEN_FIELD_INFO_ASSERT_2(structname, atype, htype, ltype, fieldname, tag) \ - PB_FIELDINFO_ASSERT_2(tag, PB_ATYPE_ ## atype | PB_HTYPE_ ## htype | PB_LTYPE_MAP_ ## ltype, \ - PB_DATA_OFFSET_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \ - PB_DATA_SIZE_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \ - PB_SIZE_OFFSET_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \ - PB_ARRAY_SIZE_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname)) - -#define PB_GEN_FIELD_INFO_ASSERT_4(structname, atype, htype, ltype, fieldname, tag) \ - PB_FIELDINFO_ASSERT_4(tag, PB_ATYPE_ ## atype | PB_HTYPE_ ## htype | PB_LTYPE_MAP_ ## ltype, \ - PB_DATA_OFFSET_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \ - PB_DATA_SIZE_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \ - PB_SIZE_OFFSET_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \ - PB_ARRAY_SIZE_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname)) - -#define PB_GEN_FIELD_INFO_ASSERT_8(structname, atype, htype, ltype, fieldname, tag) \ - PB_FIELDINFO_ASSERT_8(tag, PB_ATYPE_ ## atype | PB_HTYPE_ ## htype | PB_LTYPE_MAP_ ## ltype, \ - PB_DATA_OFFSET_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \ - PB_DATA_SIZE_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \ - PB_SIZE_OFFSET_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \ - PB_ARRAY_SIZE_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname)) - -#define PB_GEN_FIELD_INFO_ASSERT_AUTO(structname, atype, htype, ltype, fieldname, tag) \ - PB_FIELDINFO_ASSERT_AUTO2(PB_FIELDINFO_WIDTH_AUTO(_PB_ATYPE_ ## atype, _PB_HTYPE_ ## htype, _PB_LTYPE_ ## ltype), \ - tag, PB_ATYPE_ ## atype | PB_HTYPE_ ## htype | PB_LTYPE_MAP_ ## ltype, \ - PB_DATA_OFFSET_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \ - PB_DATA_SIZE_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \ - PB_SIZE_OFFSET_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \ - PB_ARRAY_SIZE_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname)) - -#define PB_FIELDINFO_ASSERT_AUTO2(width, tag, type, data_offset, data_size, size_offset, array_size) \ - PB_FIELDINFO_ASSERT_AUTO3(width, tag, type, data_offset, data_size, size_offset, array_size) - -#define PB_FIELDINFO_ASSERT_AUTO3(width, tag, type, data_offset, data_size, size_offset, array_size) \ - PB_FIELDINFO_ASSERT_ ## width(tag, type, data_offset, data_size, size_offset, array_size) - -#define PB_DATA_OFFSET_STATIC(htype, structname, fieldname) PB_DO ## htype(structname, fieldname) -#define PB_DATA_OFFSET_POINTER(htype, structname, fieldname) PB_DO ## htype(structname, fieldname) -#define PB_DATA_OFFSET_CALLBACK(htype, structname, fieldname) PB_DO ## htype(structname, fieldname) -#define PB_DO_PB_HTYPE_REQUIRED(structname, fieldname) offsetof(structname, fieldname) -#define PB_DO_PB_HTYPE_SINGULAR(structname, fieldname) offsetof(structname, fieldname) -#define PB_DO_PB_HTYPE_ONEOF(structname, fieldname) offsetof(structname, PB_ONEOF_NAME(FULL, fieldname)) -#define PB_DO_PB_HTYPE_OPTIONAL(structname, fieldname) offsetof(structname, fieldname) -#define PB_DO_PB_HTYPE_REPEATED(structname, fieldname) offsetof(structname, fieldname) -#define PB_DO_PB_HTYPE_FIXARRAY(structname, fieldname) offsetof(structname, fieldname) - -#define PB_SIZE_OFFSET_STATIC(htype, structname, fieldname) PB_SO ## htype(structname, fieldname) -#define PB_SIZE_OFFSET_POINTER(htype, structname, fieldname) PB_SO_PTR ## htype(structname, fieldname) -#define PB_SIZE_OFFSET_CALLBACK(htype, structname, fieldname) PB_SO_CB ## htype(structname, fieldname) -#define PB_SO_PB_HTYPE_REQUIRED(structname, fieldname) 0 -#define PB_SO_PB_HTYPE_SINGULAR(structname, fieldname) 0 -#define PB_SO_PB_HTYPE_ONEOF(structname, fieldname) PB_SO_PB_HTYPE_ONEOF2(structname, PB_ONEOF_NAME(FULL, fieldname), PB_ONEOF_NAME(UNION, fieldname)) -#define PB_SO_PB_HTYPE_ONEOF2(structname, fullname, unionname) PB_SO_PB_HTYPE_ONEOF3(structname, fullname, unionname) -#define PB_SO_PB_HTYPE_ONEOF3(structname, fullname, unionname) pb_delta(structname, fullname, which_ ## unionname) -#define PB_SO_PB_HTYPE_OPTIONAL(structname, fieldname) pb_delta(structname, fieldname, has_ ## fieldname) -#define PB_SO_PB_HTYPE_REPEATED(structname, fieldname) pb_delta(structname, fieldname, fieldname ## _count) -#define PB_SO_PB_HTYPE_FIXARRAY(structname, fieldname) 0 -#define PB_SO_PTR_PB_HTYPE_REQUIRED(structname, fieldname) 0 -#define PB_SO_PTR_PB_HTYPE_SINGULAR(structname, fieldname) 0 -#define PB_SO_PTR_PB_HTYPE_ONEOF(structname, fieldname) PB_SO_PB_HTYPE_ONEOF(structname, fieldname) -#define PB_SO_PTR_PB_HTYPE_OPTIONAL(structname, fieldname) 0 -#define PB_SO_PTR_PB_HTYPE_REPEATED(structname, fieldname) PB_SO_PB_HTYPE_REPEATED(structname, fieldname) -#define PB_SO_PTR_PB_HTYPE_FIXARRAY(structname, fieldname) 0 -#define PB_SO_CB_PB_HTYPE_REQUIRED(structname, fieldname) 0 -#define PB_SO_CB_PB_HTYPE_SINGULAR(structname, fieldname) 0 -#define PB_SO_CB_PB_HTYPE_ONEOF(structname, fieldname) PB_SO_PB_HTYPE_ONEOF(structname, fieldname) -#define PB_SO_CB_PB_HTYPE_OPTIONAL(structname, fieldname) 0 -#define PB_SO_CB_PB_HTYPE_REPEATED(structname, fieldname) 0 -#define PB_SO_CB_PB_HTYPE_FIXARRAY(structname, fieldname) 0 - -#define PB_ARRAY_SIZE_STATIC(htype, structname, fieldname) PB_AS ## htype(structname, fieldname) -#define PB_ARRAY_SIZE_POINTER(htype, structname, fieldname) PB_AS_PTR ## htype(structname, fieldname) -#define PB_ARRAY_SIZE_CALLBACK(htype, structname, fieldname) 1 -#define PB_AS_PB_HTYPE_REQUIRED(structname, fieldname) 1 -#define PB_AS_PB_HTYPE_SINGULAR(structname, fieldname) 1 -#define PB_AS_PB_HTYPE_OPTIONAL(structname, fieldname) 1 -#define PB_AS_PB_HTYPE_ONEOF(structname, fieldname) 1 -#define PB_AS_PB_HTYPE_REPEATED(structname, fieldname) pb_arraysize(structname, fieldname) -#define PB_AS_PB_HTYPE_FIXARRAY(structname, fieldname) pb_arraysize(structname, fieldname) -#define PB_AS_PTR_PB_HTYPE_REQUIRED(structname, fieldname) 1 -#define PB_AS_PTR_PB_HTYPE_SINGULAR(structname, fieldname) 1 -#define PB_AS_PTR_PB_HTYPE_OPTIONAL(structname, fieldname) 1 -#define PB_AS_PTR_PB_HTYPE_ONEOF(structname, fieldname) 1 -#define PB_AS_PTR_PB_HTYPE_REPEATED(structname, fieldname) 1 -#define PB_AS_PTR_PB_HTYPE_FIXARRAY(structname, fieldname) pb_arraysize(structname, fieldname[0]) - -#define PB_DATA_SIZE_STATIC(htype, structname, fieldname) PB_DS ## htype(structname, fieldname) -#define PB_DATA_SIZE_POINTER(htype, structname, fieldname) PB_DS_PTR ## htype(structname, fieldname) -#define PB_DATA_SIZE_CALLBACK(htype, structname, fieldname) PB_DS_CB ## htype(structname, fieldname) -#define PB_DS_PB_HTYPE_REQUIRED(structname, fieldname) pb_membersize(structname, fieldname) -#define PB_DS_PB_HTYPE_SINGULAR(structname, fieldname) pb_membersize(structname, fieldname) -#define PB_DS_PB_HTYPE_OPTIONAL(structname, fieldname) pb_membersize(structname, fieldname) -#define PB_DS_PB_HTYPE_ONEOF(structname, fieldname) pb_membersize(structname, PB_ONEOF_NAME(FULL, fieldname)) -#define PB_DS_PB_HTYPE_REPEATED(structname, fieldname) pb_membersize(structname, fieldname[0]) -#define PB_DS_PB_HTYPE_FIXARRAY(structname, fieldname) pb_membersize(structname, fieldname[0]) -#define PB_DS_PTR_PB_HTYPE_REQUIRED(structname, fieldname) pb_membersize(structname, fieldname[0]) -#define PB_DS_PTR_PB_HTYPE_SINGULAR(structname, fieldname) pb_membersize(structname, fieldname[0]) -#define PB_DS_PTR_PB_HTYPE_OPTIONAL(structname, fieldname) pb_membersize(structname, fieldname[0]) -#define PB_DS_PTR_PB_HTYPE_ONEOF(structname, fieldname) pb_membersize(structname, PB_ONEOF_NAME(FULL, fieldname)[0]) -#define PB_DS_PTR_PB_HTYPE_REPEATED(structname, fieldname) pb_membersize(structname, fieldname[0]) -#define PB_DS_PTR_PB_HTYPE_FIXARRAY(structname, fieldname) pb_membersize(structname, fieldname[0][0]) -#define PB_DS_CB_PB_HTYPE_REQUIRED(structname, fieldname) pb_membersize(structname, fieldname) -#define PB_DS_CB_PB_HTYPE_SINGULAR(structname, fieldname) pb_membersize(structname, fieldname) -#define PB_DS_CB_PB_HTYPE_OPTIONAL(structname, fieldname) pb_membersize(structname, fieldname) -#define PB_DS_CB_PB_HTYPE_ONEOF(structname, fieldname) pb_membersize(structname, PB_ONEOF_NAME(FULL, fieldname)) -#define PB_DS_CB_PB_HTYPE_REPEATED(structname, fieldname) pb_membersize(structname, fieldname) -#define PB_DS_CB_PB_HTYPE_FIXARRAY(structname, fieldname) pb_membersize(structname, fieldname) - -#define PB_ONEOF_NAME(type, tuple) PB_EXPAND(PB_ONEOF_NAME_ ## type tuple) -#define PB_ONEOF_NAME_UNION(unionname,membername,fullname) unionname -#define PB_ONEOF_NAME_MEMBER(unionname,membername,fullname) membername -#define PB_ONEOF_NAME_FULL(unionname,membername,fullname) fullname - -#define PB_GEN_SUBMSG_INFO(structname, atype, htype, ltype, fieldname, tag) \ - PB_SUBMSG_INFO_ ## htype(_PB_LTYPE_ ## ltype, structname, fieldname) - -#define PB_SUBMSG_INFO_REQUIRED(ltype, structname, fieldname) PB_SI ## ltype(structname ## _ ## fieldname ## _MSGTYPE) -#define PB_SUBMSG_INFO_SINGULAR(ltype, structname, fieldname) PB_SI ## ltype(structname ## _ ## fieldname ## _MSGTYPE) -#define PB_SUBMSG_INFO_OPTIONAL(ltype, structname, fieldname) PB_SI ## ltype(structname ## _ ## fieldname ## _MSGTYPE) -#define PB_SUBMSG_INFO_ONEOF(ltype, structname, fieldname) PB_SUBMSG_INFO_ONEOF2(ltype, structname, PB_ONEOF_NAME(UNION, fieldname), PB_ONEOF_NAME(MEMBER, fieldname)) -#define PB_SUBMSG_INFO_ONEOF2(ltype, structname, unionname, membername) PB_SUBMSG_INFO_ONEOF3(ltype, structname, unionname, membername) -#define PB_SUBMSG_INFO_ONEOF3(ltype, structname, unionname, membername) PB_SI ## ltype(structname ## _ ## unionname ## _ ## membername ## _MSGTYPE) -#define PB_SUBMSG_INFO_REPEATED(ltype, structname, fieldname) PB_SI ## ltype(structname ## _ ## fieldname ## _MSGTYPE) -#define PB_SUBMSG_INFO_FIXARRAY(ltype, structname, fieldname) PB_SI ## ltype(structname ## _ ## fieldname ## _MSGTYPE) -#define PB_SI_PB_LTYPE_BOOL(t) -#define PB_SI_PB_LTYPE_BYTES(t) -#define PB_SI_PB_LTYPE_DOUBLE(t) -#define PB_SI_PB_LTYPE_ENUM(t) -#define PB_SI_PB_LTYPE_UENUM(t) -#define PB_SI_PB_LTYPE_FIXED32(t) -#define PB_SI_PB_LTYPE_FIXED64(t) -#define PB_SI_PB_LTYPE_FLOAT(t) -#define PB_SI_PB_LTYPE_INT32(t) -#define PB_SI_PB_LTYPE_INT64(t) -#define PB_SI_PB_LTYPE_MESSAGE(t) PB_SUBMSG_DESCRIPTOR(t) -#define PB_SI_PB_LTYPE_MSG_W_CB(t) PB_SUBMSG_DESCRIPTOR(t) -#define PB_SI_PB_LTYPE_SFIXED32(t) -#define PB_SI_PB_LTYPE_SFIXED64(t) -#define PB_SI_PB_LTYPE_SINT32(t) -#define PB_SI_PB_LTYPE_SINT64(t) -#define PB_SI_PB_LTYPE_STRING(t) -#define PB_SI_PB_LTYPE_UINT32(t) -#define PB_SI_PB_LTYPE_UINT64(t) -#define PB_SI_PB_LTYPE_EXTENSION(t) -#define PB_SI_PB_LTYPE_FIXED_LENGTH_BYTES(t) -#define PB_SUBMSG_DESCRIPTOR(t) &(t ## _msg), - -/* The field descriptors use a variable width format, with width of either - * 1, 2, 4 or 8 of 32-bit words. The two lowest bytes of the first byte always - * encode the descriptor size, 6 lowest bits of field tag number, and 8 bits - * of the field type. - * - * Descriptor size is encoded as 0 = 1 word, 1 = 2 words, 2 = 4 words, 3 = 8 words. - * - * Formats, listed starting with the least significant bit of the first word. - * 1 word: [2-bit len] [6-bit tag] [8-bit type] [8-bit data_offset] [4-bit size_offset] [4-bit data_size] - * - * 2 words: [2-bit len] [6-bit tag] [8-bit type] [12-bit array_size] [4-bit size_offset] - * [16-bit data_offset] [12-bit data_size] [4-bit tag>>6] - * - * 4 words: [2-bit len] [6-bit tag] [8-bit type] [16-bit array_size] - * [8-bit size_offset] [24-bit tag>>6] - * [32-bit data_offset] - * [32-bit data_size] - * - * 8 words: [2-bit len] [6-bit tag] [8-bit type] [16-bit reserved] - * [8-bit size_offset] [24-bit tag>>6] - * [32-bit data_offset] - * [32-bit data_size] - * [32-bit array_size] - * [32-bit reserved] - * [32-bit reserved] - * [32-bit reserved] - */ - -#define PB_FIELDINFO_1(tag, type, data_offset, data_size, size_offset, array_size) \ - (0 | (((tag) << 2) & 0xFF) | ((type) << 8) | (((uint32_t)(data_offset) & 0xFF) << 16) | \ - (((uint32_t)(size_offset) & 0x0F) << 24) | (((uint32_t)(data_size) & 0x0F) << 28)), - -#define PB_FIELDINFO_2(tag, type, data_offset, data_size, size_offset, array_size) \ - (1 | (((tag) << 2) & 0xFF) | ((type) << 8) | (((uint32_t)(array_size) & 0xFFF) << 16) | (((uint32_t)(size_offset) & 0x0F) << 28)), \ - (((uint32_t)(data_offset) & 0xFFFF) | (((uint32_t)(data_size) & 0xFFF) << 16) | (((uint32_t)(tag) & 0x3c0) << 22)), - -#define PB_FIELDINFO_4(tag, type, data_offset, data_size, size_offset, array_size) \ - (2 | (((tag) << 2) & 0xFF) | ((type) << 8) | (((uint32_t)(array_size) & 0xFFFF) << 16)), \ - ((uint32_t)(int_least8_t)(size_offset) | (((uint32_t)(tag) << 2) & 0xFFFFFF00)), \ - (data_offset), (data_size), - -#define PB_FIELDINFO_8(tag, type, data_offset, data_size, size_offset, array_size) \ - (3 | (((tag) << 2) & 0xFF) | ((type) << 8)), \ - ((uint32_t)(int_least8_t)(size_offset) | (((uint32_t)(tag) << 2) & 0xFFFFFF00)), \ - (data_offset), (data_size), (array_size), 0, 0, 0, - -/* These assertions verify that the field information fits in the allocated space. - * The generator tries to automatically determine the correct width that can fit all - * data associated with a message. These asserts will fail only if there has been a - * problem in the automatic logic - this may be worth reporting as a bug. As a workaround, - * you can increase the descriptor width by defining PB_FIELDINFO_WIDTH or by setting - * descriptorsize option in .options file. - */ -#define PB_FITS(value,bits) ((uint32_t)(value) < ((uint32_t)1<2GB messages with nanopb anyway. - */ -#define PB_FIELDINFO_ASSERT_4(tag, type, data_offset, data_size, size_offset, array_size) \ - PB_STATIC_ASSERT(PB_FITS(tag,30) && PB_FITS(data_offset,31) && PB_FITS(size_offset,8) && PB_FITS(data_size,31) && PB_FITS(array_size,16), FIELDINFO_DOES_NOT_FIT_width4_field ## tag) - -#define PB_FIELDINFO_ASSERT_8(tag, type, data_offset, data_size, size_offset, array_size) \ - PB_STATIC_ASSERT(PB_FITS(tag,30) && PB_FITS(data_offset,31) && PB_FITS(size_offset,8) && PB_FITS(data_size,31) && PB_FITS(array_size,31), FIELDINFO_DOES_NOT_FIT_width8_field ## tag) -#endif - - -/* Automatic picking of FIELDINFO width: - * Uses width 1 when possible, otherwise resorts to width 2. - * This is used when PB_BIND() is called with "AUTO" as the argument. - * The generator will give explicit size argument when it knows that a message - * structure grows beyond 1-word format limits. - */ -#define PB_FIELDINFO_WIDTH_AUTO(atype, htype, ltype) PB_FI_WIDTH ## atype(htype, ltype) -#define PB_FI_WIDTH_PB_ATYPE_STATIC(htype, ltype) PB_FI_WIDTH ## htype(ltype) -#define PB_FI_WIDTH_PB_ATYPE_POINTER(htype, ltype) PB_FI_WIDTH ## htype(ltype) -#define PB_FI_WIDTH_PB_ATYPE_CALLBACK(htype, ltype) 2 -#define PB_FI_WIDTH_PB_HTYPE_REQUIRED(ltype) PB_FI_WIDTH ## ltype -#define PB_FI_WIDTH_PB_HTYPE_SINGULAR(ltype) PB_FI_WIDTH ## ltype -#define PB_FI_WIDTH_PB_HTYPE_OPTIONAL(ltype) PB_FI_WIDTH ## ltype -#define PB_FI_WIDTH_PB_HTYPE_ONEOF(ltype) PB_FI_WIDTH ## ltype -#define PB_FI_WIDTH_PB_HTYPE_REPEATED(ltype) 2 -#define PB_FI_WIDTH_PB_HTYPE_FIXARRAY(ltype) 2 -#define PB_FI_WIDTH_PB_LTYPE_BOOL 1 -#define PB_FI_WIDTH_PB_LTYPE_BYTES 2 -#define PB_FI_WIDTH_PB_LTYPE_DOUBLE 1 -#define PB_FI_WIDTH_PB_LTYPE_ENUM 1 -#define PB_FI_WIDTH_PB_LTYPE_UENUM 1 -#define PB_FI_WIDTH_PB_LTYPE_FIXED32 1 -#define PB_FI_WIDTH_PB_LTYPE_FIXED64 1 -#define PB_FI_WIDTH_PB_LTYPE_FLOAT 1 -#define PB_FI_WIDTH_PB_LTYPE_INT32 1 -#define PB_FI_WIDTH_PB_LTYPE_INT64 1 -#define PB_FI_WIDTH_PB_LTYPE_MESSAGE 2 -#define PB_FI_WIDTH_PB_LTYPE_MSG_W_CB 2 -#define PB_FI_WIDTH_PB_LTYPE_SFIXED32 1 -#define PB_FI_WIDTH_PB_LTYPE_SFIXED64 1 -#define PB_FI_WIDTH_PB_LTYPE_SINT32 1 -#define PB_FI_WIDTH_PB_LTYPE_SINT64 1 -#define PB_FI_WIDTH_PB_LTYPE_STRING 2 -#define PB_FI_WIDTH_PB_LTYPE_UINT32 1 -#define PB_FI_WIDTH_PB_LTYPE_UINT64 1 -#define PB_FI_WIDTH_PB_LTYPE_EXTENSION 1 -#define PB_FI_WIDTH_PB_LTYPE_FIXED_LENGTH_BYTES 2 - -/* The mapping from protobuf types to LTYPEs is done using these macros. */ -#define PB_LTYPE_MAP_BOOL PB_LTYPE_BOOL -#define PB_LTYPE_MAP_BYTES PB_LTYPE_BYTES -#define PB_LTYPE_MAP_DOUBLE PB_LTYPE_FIXED64 -#define PB_LTYPE_MAP_ENUM PB_LTYPE_VARINT -#define PB_LTYPE_MAP_UENUM PB_LTYPE_UVARINT -#define PB_LTYPE_MAP_FIXED32 PB_LTYPE_FIXED32 -#define PB_LTYPE_MAP_FIXED64 PB_LTYPE_FIXED64 -#define PB_LTYPE_MAP_FLOAT PB_LTYPE_FIXED32 -#define PB_LTYPE_MAP_INT32 PB_LTYPE_VARINT -#define PB_LTYPE_MAP_INT64 PB_LTYPE_VARINT -#define PB_LTYPE_MAP_MESSAGE PB_LTYPE_SUBMESSAGE -#define PB_LTYPE_MAP_MSG_W_CB PB_LTYPE_SUBMSG_W_CB -#define PB_LTYPE_MAP_SFIXED32 PB_LTYPE_FIXED32 -#define PB_LTYPE_MAP_SFIXED64 PB_LTYPE_FIXED64 -#define PB_LTYPE_MAP_SINT32 PB_LTYPE_SVARINT -#define PB_LTYPE_MAP_SINT64 PB_LTYPE_SVARINT -#define PB_LTYPE_MAP_STRING PB_LTYPE_STRING -#define PB_LTYPE_MAP_UINT32 PB_LTYPE_UVARINT -#define PB_LTYPE_MAP_UINT64 PB_LTYPE_UVARINT -#define PB_LTYPE_MAP_EXTENSION PB_LTYPE_EXTENSION -#define PB_LTYPE_MAP_FIXED_LENGTH_BYTES PB_LTYPE_FIXED_LENGTH_BYTES - -/* These macros are used for giving out error messages. - * They are mostly a debugging aid; the main error information - * is the true/false return value from functions. - * Some code space can be saved by disabling the error - * messages if not used. - * - * PB_SET_ERROR() sets the error message if none has been set yet. - * msg must be a constant string literal. - * PB_GET_ERROR() always returns a pointer to a string. - * PB_RETURN_ERROR() sets the error and returns false from current - * function. - */ -#ifdef PB_NO_ERRMSG -#define PB_SET_ERROR(stream, msg) PB_UNUSED(stream) -#define PB_GET_ERROR(stream) "(errmsg disabled)" -#else -#define PB_SET_ERROR(stream, msg) (stream->errmsg = (stream)->errmsg ? (stream)->errmsg : (msg)) -#define PB_GET_ERROR(stream) ((stream)->errmsg ? (stream)->errmsg : "(none)") -#endif - -#define PB_RETURN_ERROR(stream, msg) return PB_SET_ERROR(stream, msg), false - -#ifdef __cplusplus -} /* extern "C" */ -#endif - -#ifdef __cplusplus -#if __cplusplus >= 201103L -#define PB_CONSTEXPR constexpr -#else // __cplusplus >= 201103L -#define PB_CONSTEXPR -#endif // __cplusplus >= 201103L - -#if __cplusplus >= 201703L -#define PB_INLINE_CONSTEXPR inline constexpr -#else // __cplusplus >= 201703L -#define PB_INLINE_CONSTEXPR PB_CONSTEXPR -#endif // __cplusplus >= 201703L - -extern "C++" -{ -namespace nanopb { -// Each type will be partially specialized by the generator. -template struct MessageDescriptor; -} // namespace nanopb -} -#endif /* __cplusplus */ - -#endif diff --git a/project_old/paint_robot_old/BASE/Inc/BSP/pb_common.h b/project_old/paint_robot_old/BASE/Inc/BSP/pb_common.h deleted file mode 100644 index 58aa90f..0000000 --- a/project_old/paint_robot_old/BASE/Inc/BSP/pb_common.h +++ /dev/null @@ -1,49 +0,0 @@ -/* pb_common.h: Common support functions for pb_encode.c and pb_decode.c. - * These functions are rarely needed by applications directly. - */ - -#ifndef PB_COMMON_H_INCLUDED -#define PB_COMMON_H_INCLUDED - -#include "pb.h" - -#ifdef __cplusplus -extern "C" { -#endif - -/* Initialize the field iterator structure to beginning. - * Returns false if the message type is empty. */ -bool pb_field_iter_begin(pb_field_iter_t *iter, const pb_msgdesc_t *desc, void *message); - -/* Get a field iterator for extension field. */ -bool pb_field_iter_begin_extension(pb_field_iter_t *iter, pb_extension_t *extension); - -/* Same as pb_field_iter_begin(), but for const message pointer. - * Note that the pointers in pb_field_iter_t will be non-const but shouldn't - * be written to when using these functions. */ -bool pb_field_iter_begin_const(pb_field_iter_t *iter, const pb_msgdesc_t *desc, const void *message); -bool pb_field_iter_begin_extension_const(pb_field_iter_t *iter, const pb_extension_t *extension); - -/* Advance the iterator to the next field. - * Returns false when the iterator wraps back to the first field. */ -bool pb_field_iter_next(pb_field_iter_t *iter); - -/* Advance the iterator until it points at a field with the given tag. - * Returns false if no such field exists. */ -bool pb_field_iter_find(pb_field_iter_t *iter, uint32_t tag); - -/* Find a field with type PB_LTYPE_EXTENSION, or return false if not found. - * There can be only one extension range field per message. */ -bool pb_field_iter_find_extension(pb_field_iter_t *iter); - -#ifdef PB_VALIDATE_UTF8 -/* Validate UTF-8 text string */ -bool pb_validate_utf8(const char *s); -#endif - -#ifdef __cplusplus -} /* extern "C" */ -#endif - -#endif - diff --git a/project_old/paint_robot_old/BASE/Inc/BSP/pb_decode.h b/project_old/paint_robot_old/BASE/Inc/BSP/pb_decode.h deleted file mode 100644 index ae1d3cc..0000000 --- a/project_old/paint_robot_old/BASE/Inc/BSP/pb_decode.h +++ /dev/null @@ -1,193 +0,0 @@ -/* pb_decode.h: Functions to decode protocol buffers. Depends on pb_decode.c. - * The main function is pb_decode. You also need an input stream, and the - * field descriptions created by nanopb_generator.py. - */ - -#ifndef PB_DECODE_H_INCLUDED -#define PB_DECODE_H_INCLUDED - -#include "pb.h" - -#ifdef __cplusplus -extern "C" { -#endif - -/* Structure for defining custom input streams. You will need to provide - * a callback function to read the bytes from your storage, which can be - * for example a file or a network socket. - * - * The callback must conform to these rules: - * - * 1) Return false on IO errors. This will cause decoding to abort. - * 2) You can use state to store your own data (e.g. buffer pointer), - * and rely on pb_read to verify that no-body reads past bytes_left. - * 3) Your callback may be used with substreams, in which case bytes_left - * is different than from the main stream. Don't use bytes_left to compute - * any pointers. - */ -struct pb_istream_s -{ -#ifdef PB_BUFFER_ONLY - /* Callback pointer is not used in buffer-only configuration. - * Having an int pointer here allows binary compatibility but - * gives an error if someone tries to assign callback function. - */ - int *callback; -#else - bool (*callback)(pb_istream_t *stream, pb_byte_t *buf, size_t count); -#endif - - void *state; /* Free field for use by callback implementation */ - size_t bytes_left; - -#ifndef PB_NO_ERRMSG - const char *errmsg; -#endif -}; - -#ifndef PB_NO_ERRMSG -#define PB_ISTREAM_EMPTY {0,0,0,0} -#else -#define PB_ISTREAM_EMPTY {0,0,0} -#endif - -/*************************** - * Main decoding functions * - ***************************/ - -/* Decode a single protocol buffers message from input stream into a C structure. - * Returns true on success, false on any failure. - * The actual struct pointed to by dest must match the description in fields. - * Callback fields of the destination structure must be initialized by caller. - * All other fields will be initialized by this function. - * - * Example usage: - * MyMessage msg = {}; - * uint8_t buffer[64]; - * pb_istream_t stream; - * - * // ... read some data into buffer ... - * - * stream = pb_istream_from_buffer(buffer, count); - * pb_decode(&stream, MyMessage_fields, &msg); - */ -bool pb_decode(pb_istream_t *stream, const pb_msgdesc_t *fields, void *dest_struct); - -/* Extended version of pb_decode, with several options to control - * the decoding process: - * - * PB_DECODE_NOINIT: Do not initialize the fields to default values. - * This is slightly faster if you do not need the default - * values and instead initialize the structure to 0 using - * e.g. memset(). This can also be used for merging two - * messages, i.e. combine already existing data with new - * values. - * - * PB_DECODE_DELIMITED: Input message starts with the message size as varint. - * Corresponds to parseDelimitedFrom() in Google's - * protobuf API. - * - * PB_DECODE_NULLTERMINATED: Stop reading when field tag is read as 0. This allows - * reading null terminated messages. - * NOTE: Until nanopb-0.4.0, pb_decode() also allows - * null-termination. This behaviour is not supported in - * most other protobuf implementations, so PB_DECODE_DELIMITED - * is a better option for compatibility. - * - * Multiple flags can be combined with bitwise or (| operator) - */ -#define PB_DECODE_NOINIT 0x01U -#define PB_DECODE_DELIMITED 0x02U -#define PB_DECODE_NULLTERMINATED 0x04U -bool pb_decode_ex(pb_istream_t *stream, const pb_msgdesc_t *fields, void *dest_struct, unsigned int flags); - -/* Defines for backwards compatibility with code written before nanopb-0.4.0 */ -#define pb_decode_noinit(s,f,d) pb_decode_ex(s,f,d, PB_DECODE_NOINIT) -#define pb_decode_delimited(s,f,d) pb_decode_ex(s,f,d, PB_DECODE_DELIMITED) -#define pb_decode_delimited_noinit(s,f,d) pb_decode_ex(s,f,d, PB_DECODE_DELIMITED | PB_DECODE_NOINIT) -#define pb_decode_nullterminated(s,f,d) pb_decode_ex(s,f,d, PB_DECODE_NULLTERMINATED) - -/* Release any allocated pointer fields. If you use dynamic allocation, you should - * call this for any successfully decoded message when you are done with it. If - * pb_decode() returns with an error, the message is already released. - */ -void pb_release(const pb_msgdesc_t *fields, void *dest_struct); - -/************************************** - * Functions for manipulating streams * - **************************************/ - -/* Create an input stream for reading from a memory buffer. - * - * msglen should be the actual length of the message, not the full size of - * allocated buffer. - * - * Alternatively, you can use a custom stream that reads directly from e.g. - * a file or a network socket. - */ -pb_istream_t pb_istream_from_buffer(const pb_byte_t *buf, size_t msglen); - -/* Function to read from a pb_istream_t. You can use this if you need to - * read some custom header data, or to read data in field callbacks. - */ -bool pb_read(pb_istream_t *stream, pb_byte_t *buf, size_t count); - - -/************************************************ - * Helper functions for writing field callbacks * - ************************************************/ - -/* Decode the tag for the next field in the stream. Gives the wire type and - * field tag. At end of the message, returns false and sets eof to true. */ -bool pb_decode_tag(pb_istream_t *stream, pb_wire_type_t *wire_type, uint32_t *tag, bool *eof); - -/* Skip the field payload data, given the wire type. */ -bool pb_skip_field(pb_istream_t *stream, pb_wire_type_t wire_type); - -/* Decode an integer in the varint format. This works for enum, int32, - * int64, uint32 and uint64 field types. */ -#ifndef PB_WITHOUT_64BIT -bool pb_decode_varint(pb_istream_t *stream, uint64_t *dest); -#else -#define pb_decode_varint pb_decode_varint32 -#endif - -/* Decode an integer in the varint format. This works for enum, int32, - * and uint32 field types. */ -bool pb_decode_varint32(pb_istream_t *stream, uint32_t *dest); - -/* Decode a bool value in varint format. */ -bool pb_decode_bool(pb_istream_t *stream, bool *dest); - -/* Decode an integer in the zig-zagged svarint format. This works for sint32 - * and sint64. */ -#ifndef PB_WITHOUT_64BIT -bool pb_decode_svarint(pb_istream_t *stream, int64_t *dest); -#else -bool pb_decode_svarint(pb_istream_t *stream, int32_t *dest); -#endif - -/* Decode a fixed32, sfixed32 or float value. You need to pass a pointer to - * a 4-byte wide C variable. */ -bool pb_decode_fixed32(pb_istream_t *stream, void *dest); - -#ifndef PB_WITHOUT_64BIT -/* Decode a fixed64, sfixed64 or double value. You need to pass a pointer to - * a 8-byte wide C variable. */ -bool pb_decode_fixed64(pb_istream_t *stream, void *dest); -#endif - -#ifdef PB_CONVERT_DOUBLE_FLOAT -/* Decode a double value into float variable. */ -bool pb_decode_double_as_float(pb_istream_t *stream, float *dest); -#endif - -/* Make a limited-length substream for reading a PB_WT_STRING field. */ -bool pb_make_string_substream(pb_istream_t *stream, pb_istream_t *substream); -bool pb_close_string_substream(pb_istream_t *stream, pb_istream_t *substream); - -#ifdef __cplusplus -} /* extern "C" */ -#endif - -#endif diff --git a/project_old/paint_robot_old/BASE/Inc/BSP/pb_encode.h b/project_old/paint_robot_old/BASE/Inc/BSP/pb_encode.h deleted file mode 100644 index 8913683..0000000 --- a/project_old/paint_robot_old/BASE/Inc/BSP/pb_encode.h +++ /dev/null @@ -1,185 +0,0 @@ -/* pb_encode.h: Functions to encode protocol buffers. Depends on pb_encode.c. - * The main function is pb_encode. You also need an output stream, and the - * field descriptions created by nanopb_generator.py. - */ - -#ifndef PB_ENCODE_H_INCLUDED -#define PB_ENCODE_H_INCLUDED - -#include "pb.h" - -#ifdef __cplusplus -extern "C" { -#endif - -/* Structure for defining custom output streams. You will need to provide - * a callback function to write the bytes to your storage, which can be - * for example a file or a network socket. - * - * The callback must conform to these rules: - * - * 1) Return false on IO errors. This will cause encoding to abort. - * 2) You can use state to store your own data (e.g. buffer pointer). - * 3) pb_write will update bytes_written after your callback runs. - * 4) Substreams will modify max_size and bytes_written. Don't use them - * to calculate any pointers. - */ -struct pb_ostream_s -{ -#ifdef PB_BUFFER_ONLY - /* Callback pointer is not used in buffer-only configuration. - * Having an int pointer here allows binary compatibility but - * gives an error if someone tries to assign callback function. - * Also, NULL pointer marks a 'sizing stream' that does not - * write anything. - */ - const int *callback; -#else - bool (*callback)(pb_ostream_t *stream, const pb_byte_t *buf, size_t count); -#endif - void *state; /* Free field for use by callback implementation. */ - size_t max_size; /* Limit number of output bytes written (or use SIZE_MAX). */ - size_t bytes_written; /* Number of bytes written so far. */ - -#ifndef PB_NO_ERRMSG - const char *errmsg; -#endif -}; - -/*************************** - * Main encoding functions * - ***************************/ - -/* Encode a single protocol buffers message from C structure into a stream. - * Returns true on success, false on any failure. - * The actual struct pointed to by src_struct must match the description in fields. - * All required fields in the struct are assumed to have been filled in. - * - * Example usage: - * MyMessage msg = {}; - * uint8_t buffer[64]; - * pb_ostream_t stream; - * - * msg.field1 = 42; - * stream = pb_ostream_from_buffer(buffer, sizeof(buffer)); - * pb_encode(&stream, MyMessage_fields, &msg); - */ -bool pb_encode(pb_ostream_t *stream, const pb_msgdesc_t *fields, const void *src_struct); - -/* Extended version of pb_encode, with several options to control the - * encoding process: - * - * PB_ENCODE_DELIMITED: Prepend the length of message as a varint. - * Corresponds to writeDelimitedTo() in Google's - * protobuf API. - * - * PB_ENCODE_NULLTERMINATED: Append a null byte to the message for termination. - * NOTE: This behaviour is not supported in most other - * protobuf implementations, so PB_ENCODE_DELIMITED - * is a better option for compatibility. - */ -#define PB_ENCODE_DELIMITED 0x02U -#define PB_ENCODE_NULLTERMINATED 0x04U -bool pb_encode_ex(pb_ostream_t *stream, const pb_msgdesc_t *fields, const void *src_struct, unsigned int flags); - -/* Defines for backwards compatibility with code written before nanopb-0.4.0 */ -#define pb_encode_delimited(s,f,d) pb_encode_ex(s,f,d, PB_ENCODE_DELIMITED) -#define pb_encode_nullterminated(s,f,d) pb_encode_ex(s,f,d, PB_ENCODE_NULLTERMINATED) - -/* Encode the message to get the size of the encoded data, but do not store - * the data. */ -bool pb_get_encoded_size(size_t *size, const pb_msgdesc_t *fields, const void *src_struct); - -/************************************** - * Functions for manipulating streams * - **************************************/ - -/* Create an output stream for writing into a memory buffer. - * The number of bytes written can be found in stream.bytes_written after - * encoding the message. - * - * Alternatively, you can use a custom stream that writes directly to e.g. - * a file or a network socket. - */ -pb_ostream_t pb_ostream_from_buffer(pb_byte_t *buf, size_t bufsize); - -/* Pseudo-stream for measuring the size of a message without actually storing - * the encoded data. - * - * Example usage: - * MyMessage msg = {}; - * pb_ostream_t stream = PB_OSTREAM_SIZING; - * pb_encode(&stream, MyMessage_fields, &msg); - * printf("Message size is %d\n", stream.bytes_written); - */ -#ifndef PB_NO_ERRMSG -#define PB_OSTREAM_SIZING {0,0,0,0,0} -#else -#define PB_OSTREAM_SIZING {0,0,0,0} -#endif - -/* Function to write into a pb_ostream_t stream. You can use this if you need - * to append or prepend some custom headers to the message. - */ -bool pb_write(pb_ostream_t *stream, const pb_byte_t *buf, size_t count); - - -/************************************************ - * Helper functions for writing field callbacks * - ************************************************/ - -/* Encode field header based on type and field number defined in the field - * structure. Call this from the callback before writing out field contents. */ -bool pb_encode_tag_for_field(pb_ostream_t *stream, const pb_field_iter_t *field); - -/* Encode field header by manually specifying wire type. You need to use this - * if you want to write out packed arrays from a callback field. */ -bool pb_encode_tag(pb_ostream_t *stream, pb_wire_type_t wiretype, uint32_t field_number); - -/* Encode an integer in the varint format. - * This works for bool, enum, int32, int64, uint32 and uint64 field types. */ -#ifndef PB_WITHOUT_64BIT -bool pb_encode_varint(pb_ostream_t *stream, uint64_t value); -#else -bool pb_encode_varint(pb_ostream_t *stream, uint32_t value); -#endif - -/* Encode an integer in the zig-zagged svarint format. - * This works for sint32 and sint64. */ -#ifndef PB_WITHOUT_64BIT -bool pb_encode_svarint(pb_ostream_t *stream, int64_t value); -#else -bool pb_encode_svarint(pb_ostream_t *stream, int32_t value); -#endif - -/* Encode a string or bytes type field. For strings, pass strlen(s) as size. */ -bool pb_encode_string(pb_ostream_t *stream, const pb_byte_t *buffer, size_t size); - -/* Encode a fixed32, sfixed32 or float value. - * You need to pass a pointer to a 4-byte wide C variable. */ -bool pb_encode_fixed32(pb_ostream_t *stream, const void *value); - -#ifndef PB_WITHOUT_64BIT -/* Encode a fixed64, sfixed64 or double value. - * You need to pass a pointer to a 8-byte wide C variable. */ -bool pb_encode_fixed64(pb_ostream_t *stream, const void *value); -#endif - -#ifdef PB_CONVERT_DOUBLE_FLOAT -/* Encode a float value so that it appears like a double in the encoded - * message. */ -bool pb_encode_float_as_double(pb_ostream_t *stream, float value); -#endif - -/* Encode a submessage field. - * You need to pass the pb_field_t array and pointer to struct, just like - * with pb_encode(). This internally encodes the submessage twice, first to - * calculate message size and then to actually write it out. - */ -bool pb_encode_submessage(pb_ostream_t *stream, const pb_msgdesc_t *fields, const void *src_struct); - -#ifdef __cplusplus -} /* extern "C" */ -#endif - -#endif diff --git a/project_old/paint_robot_old/BASE/Inc/BSP/readme.h b/project_old/paint_robot_old/BASE/Inc/BSP/readme.h deleted file mode 100644 index d7a8510..0000000 --- a/project_old/paint_robot_old/BASE/Inc/BSP/readme.h +++ /dev/null @@ -1,38 +0,0 @@ - - -/* - * readme.h - * - * Created on: 2023年10月31日 - * Author: shiya - * - * CAN_H7_Bootloader程序存放位置 - * FLASH (rx) : ORIGIN = 0x08000000, LENGTH = 128K - * 要求APP的存放位置为： - * FLASH (rx) : ORIGIN = 0x08020000, LENGTH = 896K - * APP的中断向量表设置为： - * define VECT_TAB_OFFSET 0x00020000U - * - * Boot顺序（关联CAN总线2）： - * Boot程序总线返回报文ID：0x1FF 类型：标准帧 - * 1. Boot启动，返回报文长度1的报文； - * 2. 延时100ms，期间等待报文0x110标准帧，首字节0x55，如果接收到 进入BootLoader程序 A； - * 3. 如果没有收到进入bootloader请求，返回报文长度3的报文，跳转到APP； - * - * A. 如果进入bootloader程序，返回报文长度2的报文，等待刷写； - * 刷写ID为0x222，逻辑参见“canbootloader.lua” - * B. 如果刷写过程存在失败，返回报文长度4的报文，可以重新尝试运行“canbootloader.lua”进行刷写； - * - * C. 刷写成功，返回报文长度3的报文，进入APP； - * PV 用户可修改数据 - * CV 管理员配置权限，CV中有PV - * GV 机器人数据 - * IV 机器人返回上位机的表征数据 - * - */ -#ifndef INC_BSP_README_H_ -#define INC_BSP_README_H_ - - - -#endif /* INC_BSP_README_H_ */ diff --git a/project_old/paint_robot_old/BASE/Inc/BSP/tcp_server.h b/project_old/paint_robot_old/BASE/Inc/BSP/tcp_server.h deleted file mode 100644 index 8a7e4a4..0000000 --- a/project_old/paint_robot_old/BASE/Inc/BSP/tcp_server.h +++ /dev/null @@ -1,49 +0,0 @@ -/* - * bsp_TCPServer.h - * - * Created on: 2025年8月4日 - * Author: akeguo - */ - -#ifndef BASE_INC_BSP_TCP_SERVER_H_ -#define BASE_INC_BSP_TCP_SERVER_H_ - -//#ifndef TCP_SERVER_H -//#define TCP_SERVER_H - -#include "lwip/tcp.h" -#include - -// 最大客户端连接数 -#define MAX_CLIENTS 8 - -// 客户端连接结构 -typedef struct { - struct tcp_pcb *pcb; // LwIP PCB指针 - uint8_t active; // 连接是否活跃 -} client_conn_t; - -// 服务器初始化 -void tcp_server_init(uint16_t port); - -// 发送数据给所有客户端 -void tcp_send_to_all_clients(const char *data, uint16_t len); - -// 定时器回调声明 -void tcp_server_timer_callback(void); - -typedef struct SendDataNode -{ - uint8_t Tx_Buf[255]; /*发送数据*/ - uint8_t Tx_Count; /*学号*/ - struct SendDataNode * next; /*指向下一个节点的指针*/ -}SendDataNode; -extern void tcp_add_sendList(uint8_t *tx_Buf, uint8_t tx_count); - - - - -//#endif /* TCP_SERVER_H */ - - -#endif /* BASE_INC_BSP_TCP_SERVER_H_ */ diff --git a/project_old/paint_robot_old/BASE/Inc/MSP/msp_Force_Sensor.h b/project_old/paint_robot_old/BASE/Inc/MSP/msp_Force_Sensor.h deleted file mode 100644 index 8548a94..0000000 --- a/project_old/paint_robot_old/BASE/Inc/MSP/msp_Force_Sensor.h +++ /dev/null @@ -1,13 +0,0 @@ -/* - * msp_Force_Sensor.h - * - * Created on: Oct 8, 2024 - * Author: akeguo - */ - -#ifndef INC_MSP_MSP_FORCE_SENSOR_H_ -#define INC_MSP_MSP_FORCE_SENSOR_H_ -#include "bsp_MB_host.h" -extern void force_sensor_intialize(struct UARTHandler *Handler); -extern int32_t* ForceValue; -#endif /* INC_MSP_MSP_FORCE_SENSOR_H_ */ diff --git a/project_old/paint_robot_old/BASE/Inc/MSP/msp_JTBATTERY.h b/project_old/paint_robot_old/BASE/Inc/MSP/msp_JTBATTERY.h deleted file mode 100644 index 777a51b..0000000 --- a/project_old/paint_robot_old/BASE/Inc/MSP/msp_JTBATTERY.h +++ /dev/null @@ -1,15 +0,0 @@ -/* - * msp_JTBATTERY.h - * - * Created on: Oct 26, 2023 - * Author: shiya - */ - -#ifndef INC_MSP_MSP_JTBATTERY_H_ -#define INC_MSP_MSP_JTBATTERY_H_ - -#include "BSP/bsp_include.h" - - - -#endif /* INC_MSP_MSP_JTBATTERY_H_ */ diff --git a/project_old/paint_robot_old/BASE/Inc/MSP/msp_LeiSai_ISV2_CAN.h b/project_old/paint_robot_old/BASE/Inc/MSP/msp_LeiSai_ISV2_CAN.h deleted file mode 100644 index 9ff10a7..0000000 --- a/project_old/paint_robot_old/BASE/Inc/MSP/msp_LeiSai_ISV2_CAN.h +++ /dev/null @@ -1,42 +0,0 @@ -/* - * msp_LeiSai_ISV2_CAN.h - * - * Created on: Oct 22, 2024 - * Author: akeguo - */ - -#ifndef INC_MSP_MSP_LEISAI_ISV2_CAN_H_ -#define INC_MSP_MSP_LEISAI_ISV2_CAN_H_ - -#include "BHBF_ROBOT.h" -#include "bsp_FDCAN.h" -#include "msp_LS_MotorParameters.pb.h" - -extern LS_MotorParameters* LS_Motor[7]; -extern double wheel_diameter_m; //1m 260mm -extern double motor_pulses_rer_rotation; //1 pulse -extern double wheel_reduction_ratio; -extern double wheel_001m_per_min_to_plus_per_s_ratio; -extern double wheel_plus_per_s_to_m_per_min_ratio; - -void LS_Analytic_Fun(int32_t MotorID, uint8_t *buffer); -void LS_DO_Set(int32_t MotorID, int32_t Do, uint8_t state, FDCANHandler *Motor_Controller, int32_t WaitTime); -void LS_Request_Position(int32_t MotorID,FDCANHandler *Motor_Controller,int32_t WaitTime); -void LS_Request_Velocity(int32_t MotorID,FDCANHandler *Motor_Controller,int32_t WaitTime); -void LS_Request_Current(int32_t MotorID,FDCANHandler *Motor_Controller,int32_t WaitTime); -void LS_Request_Fault(int32_t MotorID,FDCANHandler *Motor_Controller,int32_t WaitTime); -void LS_Reset_All_Motors(FDCANHandler *Motor_Controller, int32_t WaitTime); -void LS_Activate_All_Motors(FDCANHandler *Motor_Controller, int32_t WaitTime); -void LS_SpeedModeSetup(int32_t MotorID,FDCANHandler *Motor_Controller,int32_t WaitTime,int32_t AccTime, int32_t DecTime, int32_t TargetSpeed); -void LS_SpeedMode_Set_TargetSpeed(int32_t MotorID,FDCANHandler *Motor_Controller,int32_t WaitTime,int32_t TargetSpeed); -void LS_PostionModeSetUp(int32_t MotorID, int32_t TargetPosition,int32_t TargetSpeed, int32_t AccTime, int32_t DecTime,FDCANHandler *Motor_Controller,int32_t WaitTime); -void LS_PostionMode_Set_Position(int32_t MotorID, int32_t TargetPosition,FDCANHandler *Motor_Controller,int32_t WaitTime); -void LS_Set_Current_Positon_Zero(uint8_t MotorID, FDCANHandler *Motor_Controller, int32_t WaitTime); -void LS_Set_WatchDogTime(int32_t MotorID, FDCANHandler *Motor_Controller, - int32_t WaitTime); - - - - - -#endif /* INC_MSP_MSP_LEISAI_ISV2_CAN_H_ */ diff --git a/project_old/paint_robot_old/BASE/Inc/MSP/msp_MK32_1.h b/project_old/paint_robot_old/BASE/Inc/MSP/msp_MK32_1.h deleted file mode 100644 index 9c48328..0000000 --- a/project_old/paint_robot_old/BASE/Inc/MSP/msp_MK32_1.h +++ /dev/null @@ -1,18 +0,0 @@ -/* - * msp_MK32_1.h - * - * Created on: Oct 8, 2024 - * Author: akeguo - */ - -#ifndef INC_MSP_MSP_MK32_1_H_ -#define INC_MSP_MSP_MK32_1_H_ -#include "BSP/bsp_UART.h" -#include "msp_MK32.pb.h" -void Sbus_Data_Count(uint8_t *buf, int32_t *But_Value); -extern SP_MSP_MK32_Button *P_MK32; - -extern char ReceivedFromMK32; -void MK32_Sbus_UART_Handler_intialize(struct UARTHandler* Handler); -extern char Is_All_Button_Reset; -#endif /* INC_MSP_MSP_MK32_1_H_ */ diff --git a/project_old/paint_robot_old/BASE/Inc/MSP/msp_PID.h b/project_old/paint_robot_old/BASE/Inc/MSP/msp_PID.h deleted file mode 100644 index 437958a..0000000 --- a/project_old/paint_robot_old/BASE/Inc/MSP/msp_PID.h +++ /dev/null @@ -1,19 +0,0 @@ -/* - * msp_PID.h - * - * Created on: 2024年1月22日 - * Author: Administrator - */ - -#ifndef INC_MSP_MSP_PID_H_ -#define INC_MSP_MSP_PID_H_ - -#include "BSP/bsp_include.h" - - - - -extern double Angle_Tune_PID(double CurrentAngle, double TargetAngle, double Position_KP, - double Position_KI, double Position_KD, double MaxValue); - -#endif /* INC_MSP_MSP_PID_H_ */ diff --git a/project_old/paint_robot_old/BASE/Inc/MSP/msp_TL720D.h b/project_old/paint_robot_old/BASE/Inc/MSP/msp_TL720D.h deleted file mode 100644 index 8b380da..0000000 --- a/project_old/paint_robot_old/BASE/Inc/MSP/msp_TL720D.h +++ /dev/null @@ -1,24 +0,0 @@ -/* - * msp_TL720D.h - * - * Created on: Jul 19, 2024 - * Author: bihon - */ - -#ifndef INC_MSP_MSP_TL720D_H_ -#define INC_MSP_MSP_TL720D_H_ - -#include -#include -#include "bsp_MB_host.h" -#include "stdio.h" -#include "BSP/bsp_UART.h" -#include "usart.h" -#include "gpio.h" - -void TL720D_intialize(struct UARTHandler *Handler); - -extern MSP_TL720DParameters* SP_MSP_RF_TL720D_Parameters_In; -extern int32_t *RobotAngle;//机器人角度 - -#endif /* INC_MSP_MSP_TL720D_H_ */ diff --git a/project_old/paint_robot_old/BASE/Inc/MSP/msp_WH_LTE_7S0.h b/project_old/paint_robot_old/BASE/Inc/MSP/msp_WH_LTE_7S0.h deleted file mode 100644 index 3a1f1ed..0000000 --- a/project_old/paint_robot_old/BASE/Inc/MSP/msp_WH_LTE_7S0.h +++ /dev/null @@ -1,21 +0,0 @@ -/* - * bsp_WH_LTE_7S0.h - * - * Created on: Sep 14, 2024 - * Author: akeguo - */ - -#ifndef INC_BSP_BSP_WH_LTE_7S0_H_ -#define INC_BSP_BSP_WH_LTE_7S0_H_ -#include "stdint.h" -extern struct UARTHandler *wh_LTE_7S0_Handler; -//void WH_LTE_7S0_intialize(struct UARTHandler *Handler); -void Send_WH_LTE_7S0_Data(uint8_t* data,int length); - -void WH_LTE_7S0_intialize(struct UARTHandler *Handler); -void decode_received_data_from_computer(uint8_t *buffer, uint16_t length); -void decode_command_from_wh_LTE_7S0(uint8_t *buffer, uint16_t length); -void UpdateGV(); - -extern char NeedToFeedBackToComputer; -#endif /* INC_BSP_BSP_WH_LTE_7S0_H_ */ diff --git a/project_old/paint_robot_old/BASE/Protobuf/PSource/bsp_CV.pb.c b/project_old/paint_robot_old/BASE/Protobuf/PSource/bsp_CV.pb.c deleted file mode 100644 index 525d599..0000000 --- a/project_old/paint_robot_old/BASE/Protobuf/PSource/bsp_CV.pb.c +++ /dev/null @@ -1,20 +0,0 @@ -/* Automatically generated nanopb constant definitions */ -/* Generated by nanopb-0.4.8 */ - -#include "bsp_CV.pb.h" -#if PB_PROTO_HEADER_VERSION != 40 -#error Regenerate this file with the current version of nanopb generator. -#endif - -PB_BIND(CV_struct_define, CV_struct_define, AUTO) - - - -#ifndef PB_CONVERT_DOUBLE_FLOAT -/* On some platforms (such as AVR), double is really float. - * To be able to encode/decode double on these platforms, you need. - * to define PB_CONVERT_DOUBLE_FLOAT in pb.h or compiler command line. - */ -PB_STATIC_ASSERT(sizeof(double) == 8, DOUBLE_MUST_BE_8_BYTES) -#endif - diff --git a/project_old/paint_robot_old/BASE/Protobuf/PSource/bsp_CV.pb.h b/project_old/paint_robot_old/BASE/Protobuf/PSource/bsp_CV.pb.h deleted file mode 100644 index d107c68..0000000 --- a/project_old/paint_robot_old/BASE/Protobuf/PSource/bsp_CV.pb.h +++ /dev/null @@ -1,125 +0,0 @@ -/* Automatically generated nanopb header */ -/* Generated by nanopb-0.4.8 */ - -#ifndef PB_BSP_CV_PB_H_INCLUDED -#define PB_BSP_CV_PB_H_INCLUDED -#include "pb.h" -#include "bsp_PV.pb.h" -#include "bsp_PID.pb.h" - -#if PB_PROTO_HEADER_VERSION != 40 -#error Regenerate this file with the current version of nanopb generator. -#endif - -/* Struct definitions */ -typedef struct _CV_struct_define { - int32_t Speed_m_per_min; /* MPMin = 1m/min 1米每分钟 m/min */ - int32_t LeftTurnSpeed; - int32_t RightTurnSpeed; - int32_t RobotLeftAngleValue; /* 水平左方向 单位0.01° */ - int32_t RobotRightAngleValue; /* 水平右方向角度值 单位0.01° */ - int32_t RobotUpAngleValue; /* 竖直方向角度值 单位0.01° */ - int32_t RobotDownAngleValue; /* 竖直向下角度值 单位0.01° */ - int32_t Robot_Permitted_Angler_Error_Value_E_2D; /* 作业时需用的最大角度偏差值 0.01°，超出将停止作业 */ - int32_t Robot_Angle_Start_BaseE_2D; /* 角度值 0.01° */ - int32_t Lane_Change_Speed_m_per_min; - int32_t Is_Automation_Authorized; - int32_t Is_Function_Authorized; - int32_t Joy_Sticker_Angle_Allowance; /* 例如在90度的±30° */ - int32_t Joy_Sticker_Value_Allowance; /* 例如 joysticker的值超过600 */ - int32_t Allowable_Error_For_Angle_Tracking; /* 纠偏角度跟踪的允许误差1 度 */ - int32_t Paint_Gun_Shutdown_Distance; /* 喷枪关闭距离，喷枪关闭后多上厘米停止运行 */ - int32_t Horizontal_ChangeLane_Compensation; /* 水平换道补偿距离 */ - int32_t Vertical_ChangeLane_Compensation; /* 竖直换道补偿距离 */ - int32_t pulse_Per_Circle; /* 每转多少脉冲 */ - int32_t wheel_Reduction_Ratio; /* 减速比 */ - double wheel_Diameter_m; /* 车轮直径 m */ - bool has_PID_high; - PID_Parameters PID_high; - bool has_PID_mid; - PID_Parameters PID_mid; - bool has_PID_low; - PID_Parameters PID_low; -} CV_struct_define; - - -#ifdef __cplusplus -extern "C" { -#endif - -/* Initializer values for message structs */ -#define CV_struct_define_init_default {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, false, PID_Parameters_init_default, false, PID_Parameters_init_default, false, PID_Parameters_init_default} -#define CV_struct_define_init_zero {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, false, PID_Parameters_init_zero, false, PID_Parameters_init_zero, false, PID_Parameters_init_zero} - -/* Field tags (for use in manual encoding/decoding) */ -#define CV_struct_define_Speed_m_per_min_tag 1 -#define CV_struct_define_LeftTurnSpeed_tag 2 -#define CV_struct_define_RightTurnSpeed_tag 3 -#define CV_struct_define_RobotLeftAngleValue_tag 4 -#define CV_struct_define_RobotRightAngleValue_tag 5 -#define CV_struct_define_RobotUpAngleValue_tag 6 -#define CV_struct_define_RobotDownAngleValue_tag 7 -#define CV_struct_define_Robot_Permitted_Angler_Error_Value_E_2D_tag 8 -#define CV_struct_define_Robot_Angle_Start_BaseE_2D_tag 9 -#define CV_struct_define_Lane_Change_Speed_m_per_min_tag 10 -#define CV_struct_define_Is_Automation_Authorized_tag 11 -#define CV_struct_define_Is_Function_Authorized_tag 12 -#define CV_struct_define_Joy_Sticker_Angle_Allowance_tag 13 -#define CV_struct_define_Joy_Sticker_Value_Allowance_tag 14 -#define CV_struct_define_Allowable_Error_For_Angle_Tracking_tag 15 -#define CV_struct_define_Paint_Gun_Shutdown_Distance_tag 16 -#define CV_struct_define_Horizontal_ChangeLane_Compensation_tag 17 -#define CV_struct_define_Vertical_ChangeLane_Compensation_tag 18 -#define CV_struct_define_pulse_Per_Circle_tag 19 -#define CV_struct_define_wheel_Reduction_Ratio_tag 20 -#define CV_struct_define_wheel_Diameter_m_tag 21 -#define CV_struct_define_PID_high_tag 22 -#define CV_struct_define_PID_mid_tag 23 -#define CV_struct_define_PID_low_tag 24 - -/* Struct field encoding specification for nanopb */ -#define CV_struct_define_FIELDLIST(X, a) \ -X(a, STATIC, SINGULAR, INT32, Speed_m_per_min, 1) \ -X(a, STATIC, SINGULAR, INT32, LeftTurnSpeed, 2) \ -X(a, STATIC, SINGULAR, INT32, RightTurnSpeed, 3) \ -X(a, STATIC, SINGULAR, INT32, RobotLeftAngleValue, 4) \ -X(a, STATIC, SINGULAR, INT32, RobotRightAngleValue, 5) \ -X(a, STATIC, SINGULAR, INT32, RobotUpAngleValue, 6) \ -X(a, STATIC, SINGULAR, INT32, RobotDownAngleValue, 7) \ -X(a, STATIC, SINGULAR, INT32, Robot_Permitted_Angler_Error_Value_E_2D, 8) \ -X(a, STATIC, SINGULAR, INT32, Robot_Angle_Start_BaseE_2D, 9) \ -X(a, STATIC, SINGULAR, INT32, Lane_Change_Speed_m_per_min, 10) \ -X(a, STATIC, SINGULAR, INT32, Is_Automation_Authorized, 11) \ -X(a, STATIC, SINGULAR, INT32, Is_Function_Authorized, 12) \ -X(a, STATIC, SINGULAR, INT32, Joy_Sticker_Angle_Allowance, 13) \ -X(a, STATIC, SINGULAR, INT32, Joy_Sticker_Value_Allowance, 14) \ -X(a, STATIC, SINGULAR, INT32, Allowable_Error_For_Angle_Tracking, 15) \ -X(a, STATIC, SINGULAR, INT32, Paint_Gun_Shutdown_Distance, 16) \ -X(a, STATIC, SINGULAR, INT32, Horizontal_ChangeLane_Compensation, 17) \ -X(a, STATIC, SINGULAR, INT32, Vertical_ChangeLane_Compensation, 18) \ -X(a, STATIC, SINGULAR, INT32, pulse_Per_Circle, 19) \ -X(a, STATIC, SINGULAR, INT32, wheel_Reduction_Ratio, 20) \ -X(a, STATIC, SINGULAR, DOUBLE, wheel_Diameter_m, 21) \ -X(a, STATIC, OPTIONAL, MESSAGE, PID_high, 22) \ -X(a, STATIC, OPTIONAL, MESSAGE, PID_mid, 23) \ -X(a, STATIC, OPTIONAL, MESSAGE, PID_low, 24) -#define CV_struct_define_CALLBACK NULL -#define CV_struct_define_DEFAULT NULL -#define CV_struct_define_PID_high_MSGTYPE PID_Parameters -#define CV_struct_define_PID_mid_MSGTYPE PID_Parameters -#define CV_struct_define_PID_low_MSGTYPE PID_Parameters - -extern const pb_msgdesc_t CV_struct_define_msg; - -/* Defines for backwards compatibility with code written before nanopb-0.4.0 */ -#define CV_struct_define_fields &CV_struct_define_msg - -/* Maximum encoded size of messages (where known) */ -#define BSP_CV_PB_H_MAX_SIZE CV_struct_define_size -#define CV_struct_define_size 358 - -#ifdef __cplusplus -} /* extern "C" */ -#endif - -#endif diff --git a/project_old/paint_robot_old/BASE/Protobuf/PSource/bsp_Cmd.pb.c b/project_old/paint_robot_old/BASE/Protobuf/PSource/bsp_Cmd.pb.c deleted file mode 100644 index 4354a69..0000000 --- a/project_old/paint_robot_old/BASE/Protobuf/PSource/bsp_Cmd.pb.c +++ /dev/null @@ -1,12 +0,0 @@ -/* Automatically generated nanopb constant definitions */ -/* Generated by nanopb-0.4.8 */ - -#include "bsp_Cmd.pb.h" -#if PB_PROTO_HEADER_VERSION != 40 -#error Regenerate this file with the current version of nanopb generator. -#endif - -PB_BIND(Cmd, Cmd, 2) - - - diff --git a/project_old/paint_robot_old/BASE/Protobuf/PSource/bsp_Cmd.pb.h b/project_old/paint_robot_old/BASE/Protobuf/PSource/bsp_Cmd.pb.h deleted file mode 100644 index 602e930..0000000 --- a/project_old/paint_robot_old/BASE/Protobuf/PSource/bsp_Cmd.pb.h +++ /dev/null @@ -1,80 +0,0 @@ -/* Automatically generated nanopb header */ -/* Generated by nanopb-0.4.8 */ - -#ifndef PB_BSP_CMD_PB_H_INCLUDED -#define PB_BSP_CMD_PB_H_INCLUDED -#include "pb.h" - -#if PB_PROTO_HEADER_VERSION != 40 -#error Regenerate this file with the current version of nanopb generator. -#endif - -/* Struct definitions */ -/* this message is used for the computer to send command */ -typedef struct _Cmd { - int32_t CommadNum; - /* 定义 1 上位机获取默认CV值 -定义 2 下位机返回CV值 -定义 3 上位机设定CV值 -定义 4 上位机设定Trace等级值，无返回 -定义 5 下位机上传位置点数据 -定义 6 上位机设定编码器角度值为0 -定义 7 上位机获取拟合点 -定义 8 上位机获取位置点 -定义 9 上位机向下位机下发程序 此时，Parameter0 下发的程序起始位，Parameter0 是校验位 -Buff_Data_Length 是下发的字节数， */ - int32_t Parameter0; - int32_t Parameter1; - int32_t Parameter2; - int32_t Parameter3; - int32_t Parameter4; - int32_t Buff_Data_Length; - pb_byte_t Buff_Data[512]; -} Cmd; - - -#ifdef __cplusplus -extern "C" { -#endif - -/* Initializer values for message structs */ -#define Cmd_init_default {0, 0, 0, 0, 0, 0, 0, {0}} -#define Cmd_init_zero {0, 0, 0, 0, 0, 0, 0, {0}} - -/* Field tags (for use in manual encoding/decoding) */ -#define Cmd_CommadNum_tag 1 -#define Cmd_Parameter0_tag 2 -#define Cmd_Parameter1_tag 3 -#define Cmd_Parameter2_tag 4 -#define Cmd_Parameter3_tag 5 -#define Cmd_Parameter4_tag 6 -#define Cmd_Buff_Data_Length_tag 7 -#define Cmd_Buff_Data_tag 8 - -/* Struct field encoding specification for nanopb */ -#define Cmd_FIELDLIST(X, a) \ -X(a, STATIC, SINGULAR, INT32, CommadNum, 1) \ -X(a, STATIC, SINGULAR, INT32, Parameter0, 2) \ -X(a, STATIC, SINGULAR, INT32, Parameter1, 3) \ -X(a, STATIC, SINGULAR, INT32, Parameter2, 4) \ -X(a, STATIC, SINGULAR, INT32, Parameter3, 5) \ -X(a, STATIC, SINGULAR, INT32, Parameter4, 6) \ -X(a, STATIC, SINGULAR, INT32, Buff_Data_Length, 7) \ -X(a, STATIC, SINGULAR, FIXED_LENGTH_BYTES, Buff_Data, 8) -#define Cmd_CALLBACK NULL -#define Cmd_DEFAULT NULL - -extern const pb_msgdesc_t Cmd_msg; - -/* Defines for backwards compatibility with code written before nanopb-0.4.0 */ -#define Cmd_fields &Cmd_msg - -/* Maximum encoded size of messages (where known) */ -#define BSP_CMD_PB_H_MAX_SIZE Cmd_size -#define Cmd_size 592 - -#ifdef __cplusplus -} /* extern "C" */ -#endif - -#endif diff --git a/project_old/paint_robot_old/BASE/Protobuf/PSource/bsp_Error.pb.c b/project_old/paint_robot_old/BASE/Protobuf/PSource/bsp_Error.pb.c deleted file mode 100644 index ef29e11..0000000 --- a/project_old/paint_robot_old/BASE/Protobuf/PSource/bsp_Error.pb.c +++ /dev/null @@ -1,13 +0,0 @@ -/* Automatically generated nanopb constant definitions */ -/* Generated by nanopb-0.4.8 */ - -#include "bsp_Error.pb.h" -#if PB_PROTO_HEADER_VERSION != 40 -#error Regenerate this file with the current version of nanopb generator. -#endif - -PB_BIND(ErrorData, ErrorData, AUTO) - - - - diff --git a/project_old/paint_robot_old/BASE/Protobuf/PSource/bsp_Error.pb.h b/project_old/paint_robot_old/BASE/Protobuf/PSource/bsp_Error.pb.h deleted file mode 100644 index dc60e4d..0000000 --- a/project_old/paint_robot_old/BASE/Protobuf/PSource/bsp_Error.pb.h +++ /dev/null @@ -1,72 +0,0 @@ -/* Automatically generated nanopb header */ -/* Generated by nanopb-0.4.8 */ - -#ifndef PB_BSP_ERROR_PB_H_INCLUDED -#define PB_BSP_ERROR_PB_H_INCLUDED -#include "pb.h" - -#if PB_PROTO_HEADER_VERSION != 40 -#error Regenerate this file with the current version of nanopb generator. -#endif - -/* Enum definitions */ -typedef enum _ComError { - ComError_MK32_SBus = 0, - ComError_TL720D = 1, - ComError_LS_LeftMotor = 2, - ComError_LS_RightMotor = 3, - ComError_Remote_Button_Reset_State = 4, - ComError_MK32_Serial = 5, - ComError_MK32_UDP = 6 -} ComError; - -/* Struct definitions */ -typedef struct _ErrorData { - int32_t Com_Error_Code; - int32_t Left_Motor_Error_Code; - int32_t Right_Motor_Error_Code; -} ErrorData; - - -#ifdef __cplusplus -extern "C" { -#endif - -/* Helper constants for enums */ -#define _ComError_MIN ComError_MK32_SBus -#define _ComError_MAX ComError_MK32_UDP -#define _ComError_ARRAYSIZE ((ComError)(ComError_MK32_UDP+1)) - - - -/* Initializer values for message structs */ -#define ErrorData_init_default {0, 0, 0} -#define ErrorData_init_zero {0, 0, 0} - -/* Field tags (for use in manual encoding/decoding) */ -#define ErrorData_Com_Error_Code_tag 1 -#define ErrorData_Left_Motor_Error_Code_tag 2 -#define ErrorData_Right_Motor_Error_Code_tag 3 - -/* Struct field encoding specification for nanopb */ -#define ErrorData_FIELDLIST(X, a) \ -X(a, STATIC, SINGULAR, INT32, Com_Error_Code, 1) \ -X(a, STATIC, SINGULAR, INT32, Left_Motor_Error_Code, 2) \ -X(a, STATIC, SINGULAR, INT32, Right_Motor_Error_Code, 3) -#define ErrorData_CALLBACK NULL -#define ErrorData_DEFAULT NULL - -extern const pb_msgdesc_t ErrorData_msg; - -/* Defines for backwards compatibility with code written before nanopb-0.4.0 */ -#define ErrorData_fields &ErrorData_msg - -/* Maximum encoded size of messages (where known) */ -#define BSP_ERROR_PB_H_MAX_SIZE ErrorData_size -#define ErrorData_size 33 - -#ifdef __cplusplus -} /* extern "C" */ -#endif - -#endif diff --git a/project_old/paint_robot_old/BASE/Protobuf/PSource/bsp_GV.pb.c b/project_old/paint_robot_old/BASE/Protobuf/PSource/bsp_GV.pb.c deleted file mode 100644 index bf47c58..0000000 --- a/project_old/paint_robot_old/BASE/Protobuf/PSource/bsp_GV.pb.c +++ /dev/null @@ -1,12 +0,0 @@ -/* Automatically generated nanopb constant definitions */ -/* Generated by nanopb-0.4.8 */ - -#include "bsp_GV.pb.h" -#if PB_PROTO_HEADER_VERSION != 40 -#error Regenerate this file with the current version of nanopb generator. -#endif - -PB_BIND(GV_struct_define, GV_struct_define, 2) - - - diff --git a/project_old/paint_robot_old/BASE/Protobuf/PSource/bsp_GV.pb.h b/project_old/paint_robot_old/BASE/Protobuf/PSource/bsp_GV.pb.h deleted file mode 100644 index da0dd0e..0000000 --- a/project_old/paint_robot_old/BASE/Protobuf/PSource/bsp_GV.pb.h +++ /dev/null @@ -1,108 +0,0 @@ -/* 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_LS_MotorParameters.pb.h" -#include "msp_TL720D.pb.h" -#include "bsp_Error.pb.h" -#include "bsp_PV.pb.h" -#include "bsp_IO.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 */ - int32_t Left_Compensation; /* E_2D =0.01 Degree 0.01度 */ - int32_t Right_Compensation; /* 0.01度 */ - int32_t Robot_Angle; /* 机器人角度 //0.01度 */ - int32_t Robot_Move_Speed; /* 0.1rpm */ - int32_t ForceValue; - int32_t LaneChangeDistance; - bool has_P_MK32; - SP_MSP_MK32_Button P_MK32; - bool has_LeftMotor; - LS_MotorParameters LeftMotor; /* 左电机 ID2 */ - bool has_RightMotor; - LS_MotorParameters RightMotor; /* 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 */ -} 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, false, SP_MSP_MK32_Button_init_default, false, LS_MotorParameters_init_default, false, LS_MotorParameters_init_default, false, MSP_TL720DParameters_init_default, false, IO_Data_init_default, false, ErrorData_init_default, false, PV_struct_define_init_default} -#define GV_struct_define_init_zero {0, 0, 0, 0, 0, 0, 0, false, SP_MSP_MK32_Button_init_zero, false, LS_MotorParameters_init_zero, false, LS_MotorParameters_init_zero, false, MSP_TL720DParameters_init_zero, false, IO_Data_init_zero, false, ErrorData_init_zero, false, PV_struct_define_init_zero} - -/* 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_tag 4 -#define GV_struct_define_Robot_Move_Speed_tag 5 -#define GV_struct_define_ForceValue_tag 6 -#define GV_struct_define_LaneChangeDistance_tag 7 -#define GV_struct_define_P_MK32_tag 9 -#define GV_struct_define_LeftMotor_tag 10 -#define GV_struct_define_RightMotor_tag 11 -#define GV_struct_define_TL720DParameters_tag 12 -#define GV_struct_define_IO_tag 13 -#define GV_struct_define_SystemErrorData_tag 14 -#define GV_struct_define_PV_tag 15 - -/* 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, INT32, Left_Compensation, 2) \ -X(a, STATIC, SINGULAR, INT32, Right_Compensation, 3) \ -X(a, STATIC, SINGULAR, INT32, Robot_Angle, 4) \ -X(a, STATIC, SINGULAR, INT32, Robot_Move_Speed, 5) \ -X(a, STATIC, SINGULAR, INT32, ForceValue, 6) \ -X(a, STATIC, SINGULAR, INT32, LaneChangeDistance, 7) \ -X(a, STATIC, OPTIONAL, MESSAGE, P_MK32, 9) \ -X(a, STATIC, OPTIONAL, MESSAGE, LeftMotor, 10) \ -X(a, STATIC, OPTIONAL, MESSAGE, RightMotor, 11) \ -X(a, STATIC, OPTIONAL, MESSAGE, TL720DParameters, 12) \ -X(a, STATIC, OPTIONAL, MESSAGE, IO, 13) \ -X(a, STATIC, OPTIONAL, MESSAGE, SystemErrorData, 14) \ -X(a, STATIC, OPTIONAL, MESSAGE, PV, 15) -#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 LS_MotorParameters -#define GV_struct_define_RightMotor_MSGTYPE LS_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 - -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 906 - -#ifdef __cplusplus -} /* extern "C" */ -#endif - -#endif diff --git a/project_old/paint_robot_old/BASE/Protobuf/PSource/bsp_IAP.pb.c b/project_old/paint_robot_old/BASE/Protobuf/PSource/bsp_IAP.pb.c deleted file mode 100644 index 991e03b..0000000 --- a/project_old/paint_robot_old/BASE/Protobuf/PSource/bsp_IAP.pb.c +++ /dev/null @@ -1,12 +0,0 @@ -/* Automatically generated nanopb constant definitions */ -/* Generated by nanopb-0.4.8 */ - -#include "bsp_IAP.pb.h" -#if PB_PROTO_HEADER_VERSION != 40 -#error Regenerate this file with the current version of nanopb generator. -#endif - -PB_BIND(IAP_struct_define, IAP_struct_define, AUTO) - - - diff --git a/project_old/paint_robot_old/BASE/Protobuf/PSource/bsp_IAP.pb.h b/project_old/paint_robot_old/BASE/Protobuf/PSource/bsp_IAP.pb.h deleted file mode 100644 index e166370..0000000 --- a/project_old/paint_robot_old/BASE/Protobuf/PSource/bsp_IAP.pb.h +++ /dev/null @@ -1,58 +0,0 @@ -/* Automatically generated nanopb header */ -/* Generated by nanopb-0.4.8 */ - -#ifndef PB_BSP_IAP_PB_H_INCLUDED -#define PB_BSP_IAP_PB_H_INCLUDED -#include "pb.h" - -#if PB_PROTO_HEADER_VERSION != 40 -#error Regenerate this file with the current version of nanopb generator. -#endif - -/* Struct definitions */ -/* IAP，即In Application Programming，IAP是用户自己的程序在运行过程中对User Flash的部分区域进行烧写。 */ -typedef struct _IAP_struct_define { - int32_t Total_Bytes; /* all the received data; */ - int32_t NextCodeVrsion; /* the New upgrade Version of the Project */ - int32_t UtcTime; /* Udgrade Time */ - int32_t UpgradeSucceeded; /* */ -} IAP_struct_define; - - -#ifdef __cplusplus -extern "C" { -#endif - -/* Initializer values for message structs */ -#define IAP_struct_define_init_default {0, 0, 0, 0} -#define IAP_struct_define_init_zero {0, 0, 0, 0} - -/* Field tags (for use in manual encoding/decoding) */ -#define IAP_struct_define_Total_Bytes_tag 1 -#define IAP_struct_define_NextCodeVrsion_tag 2 -#define IAP_struct_define_UtcTime_tag 3 -#define IAP_struct_define_UpgradeSucceeded_tag 4 - -/* Struct field encoding specification for nanopb */ -#define IAP_struct_define_FIELDLIST(X, a) \ -X(a, STATIC, SINGULAR, INT32, Total_Bytes, 1) \ -X(a, STATIC, SINGULAR, INT32, NextCodeVrsion, 2) \ -X(a, STATIC, SINGULAR, INT32, UtcTime, 3) \ -X(a, STATIC, SINGULAR, INT32, UpgradeSucceeded, 4) -#define IAP_struct_define_CALLBACK NULL -#define IAP_struct_define_DEFAULT NULL - -extern const pb_msgdesc_t IAP_struct_define_msg; - -/* Defines for backwards compatibility with code written before nanopb-0.4.0 */ -#define IAP_struct_define_fields &IAP_struct_define_msg - -/* Maximum encoded size of messages (where known) */ -#define BSP_IAP_PB_H_MAX_SIZE IAP_struct_define_size -#define IAP_struct_define_size 44 - -#ifdef __cplusplus -} /* extern "C" */ -#endif - -#endif diff --git a/project_old/paint_robot_old/BASE/Protobuf/PSource/bsp_IO.pb.c b/project_old/paint_robot_old/BASE/Protobuf/PSource/bsp_IO.pb.c deleted file mode 100644 index 6e56a6c..0000000 --- a/project_old/paint_robot_old/BASE/Protobuf/PSource/bsp_IO.pb.c +++ /dev/null @@ -1,12 +0,0 @@ -/* Automatically generated nanopb constant definitions */ -/* Generated by nanopb-0.4.8 */ - -#include "bsp_IO.pb.h" -#if PB_PROTO_HEADER_VERSION != 40 -#error Regenerate this file with the current version of nanopb generator. -#endif - -PB_BIND(IO_Data, IO_Data, AUTO) - - - diff --git a/project_old/paint_robot_old/BASE/Protobuf/PSource/bsp_IO.pb.h b/project_old/paint_robot_old/BASE/Protobuf/PSource/bsp_IO.pb.h deleted file mode 100644 index 28ae8f8..0000000 --- a/project_old/paint_robot_old/BASE/Protobuf/PSource/bsp_IO.pb.h +++ /dev/null @@ -1,81 +0,0 @@ -/* Automatically generated nanopb header */ -/* Generated by nanopb-0.4.8 */ - -#ifndef PB_BSP_IO_PB_H_INCLUDED -#define PB_BSP_IO_PB_H_INCLUDED -#include "pb.h" - -#if PB_PROTO_HEADER_VERSION != 40 -#error Regenerate this file with the current version of nanopb generator. -#endif - -/* Struct definitions */ -typedef struct _IO_Data { - int32_t DO0; - int32_t DO1; - int32_t DO2; - int32_t DO3; - int32_t DO4; - int32_t DO5; - int32_t DI0; - int32_t DI1; - int32_t DI2; - int32_t DI3; - int32_t DI4; - int32_t DI5; -} IO_Data; - - -#ifdef __cplusplus -extern "C" { -#endif - -/* Initializer values for message structs */ -#define IO_Data_init_default {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0} -#define IO_Data_init_zero {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0} - -/* Field tags (for use in manual encoding/decoding) */ -#define IO_Data_DO0_tag 1 -#define IO_Data_DO1_tag 2 -#define IO_Data_DO2_tag 3 -#define IO_Data_DO3_tag 4 -#define IO_Data_DO4_tag 5 -#define IO_Data_DO5_tag 6 -#define IO_Data_DI0_tag 7 -#define IO_Data_DI1_tag 8 -#define IO_Data_DI2_tag 9 -#define IO_Data_DI3_tag 10 -#define IO_Data_DI4_tag 11 -#define IO_Data_DI5_tag 12 - -/* Struct field encoding specification for nanopb */ -#define IO_Data_FIELDLIST(X, a) \ -X(a, STATIC, SINGULAR, INT32, DO0, 1) \ -X(a, STATIC, SINGULAR, INT32, DO1, 2) \ -X(a, STATIC, SINGULAR, INT32, DO2, 3) \ -X(a, STATIC, SINGULAR, INT32, DO3, 4) \ -X(a, STATIC, SINGULAR, INT32, DO4, 5) \ -X(a, STATIC, SINGULAR, INT32, DO5, 6) \ -X(a, STATIC, SINGULAR, INT32, DI0, 7) \ -X(a, STATIC, SINGULAR, INT32, DI1, 8) \ -X(a, STATIC, SINGULAR, INT32, DI2, 9) \ -X(a, STATIC, SINGULAR, INT32, DI3, 10) \ -X(a, STATIC, SINGULAR, INT32, DI4, 11) \ -X(a, STATIC, SINGULAR, INT32, DI5, 12) -#define IO_Data_CALLBACK NULL -#define IO_Data_DEFAULT NULL - -extern const pb_msgdesc_t IO_Data_msg; - -/* Defines for backwards compatibility with code written before nanopb-0.4.0 */ -#define IO_Data_fields &IO_Data_msg - -/* Maximum encoded size of messages (where known) */ -#define BSP_IO_PB_H_MAX_SIZE IO_Data_size -#define IO_Data_size 132 - -#ifdef __cplusplus -} /* extern "C" */ -#endif - -#endif diff --git a/project_old/paint_robot_old/BASE/Protobuf/PSource/bsp_IV.pb.c b/project_old/paint_robot_old/BASE/Protobuf/PSource/bsp_IV.pb.c deleted file mode 100644 index 3e5a269..0000000 --- a/project_old/paint_robot_old/BASE/Protobuf/PSource/bsp_IV.pb.c +++ /dev/null @@ -1,12 +0,0 @@ -/* Automatically generated nanopb constant definitions */ -/* Generated by nanopb-0.4.8 */ - -#include "bsp_IV.pb.h" -#if PB_PROTO_HEADER_VERSION != 40 -#error Regenerate this file with the current version of nanopb generator. -#endif - -PB_BIND(IV_struct_define, IV_struct_define, AUTO) - - - diff --git a/project_old/paint_robot_old/BASE/Protobuf/PSource/bsp_IV.pb.h b/project_old/paint_robot_old/BASE/Protobuf/PSource/bsp_IV.pb.h deleted file mode 100644 index 423ef50..0000000 --- a/project_old/paint_robot_old/BASE/Protobuf/PSource/bsp_IV.pb.h +++ /dev/null @@ -1,75 +0,0 @@ -/* Automatically generated nanopb header */ -/* Generated by nanopb-0.4.8 */ - -#ifndef PB_BSP_IV_PB_H_INCLUDED -#define PB_BSP_IV_PB_H_INCLUDED -#include "pb.h" - -#if PB_PROTO_HEADER_VERSION != 40 -#error Regenerate this file with the current version of nanopb generator. -#endif - -/* Struct definitions */ -typedef struct _IV_struct_define { - int32_t CurrentAngle; /* 单位0.01° */ - int32_t RobotMoveSpeed; /* 单位m/min 目标速度 */ - int32_t SBUS_State; /* 0断开 1连接 */ - int32_t SystemError; /* 硬件通讯错误及按键未初始化错误 */ - int32_t Left_Motor_Err; /* 左轮电机报警 */ - int32_t Right_Motor_Err; /* 右轮电机报警 */ - int32_t IsWorking; /* 机器人正在执行运动指令 */ - int32_t CurrentSpeed; /* 当前速度 */ - int64_t TimeStamp; /* 当前时间戳 */ - int32_t IsRestart; /* 是否重启 */ -} IV_struct_define; - - -#ifdef __cplusplus -extern "C" { -#endif - -/* Initializer values for message structs */ -#define IV_struct_define_init_default {0, 0, 0, 0, 0, 0, 0, 0, 0, 0} -#define IV_struct_define_init_zero {0, 0, 0, 0, 0, 0, 0, 0, 0, 0} - -/* Field tags (for use in manual encoding/decoding) */ -#define IV_struct_define_CurrentAngle_tag 1 -#define IV_struct_define_RobotMoveSpeed_tag 2 -#define IV_struct_define_SBUS_State_tag 3 -#define IV_struct_define_SystemError_tag 4 -#define IV_struct_define_Left_Motor_Err_tag 5 -#define IV_struct_define_Right_Motor_Err_tag 6 -#define IV_struct_define_IsWorking_tag 7 -#define IV_struct_define_CurrentSpeed_tag 8 -#define IV_struct_define_TimeStamp_tag 9 -#define IV_struct_define_IsRestart_tag 10 - -/* Struct field encoding specification for nanopb */ -#define IV_struct_define_FIELDLIST(X, a) \ -X(a, STATIC, SINGULAR, INT32, CurrentAngle, 1) \ -X(a, STATIC, SINGULAR, INT32, RobotMoveSpeed, 2) \ -X(a, STATIC, SINGULAR, INT32, SBUS_State, 3) \ -X(a, STATIC, SINGULAR, INT32, SystemError, 4) \ -X(a, STATIC, SINGULAR, INT32, Left_Motor_Err, 5) \ -X(a, STATIC, SINGULAR, INT32, Right_Motor_Err, 6) \ -X(a, STATIC, SINGULAR, INT32, IsWorking, 7) \ -X(a, STATIC, SINGULAR, INT32, CurrentSpeed, 8) \ -X(a, STATIC, SINGULAR, INT64, TimeStamp, 9) \ -X(a, STATIC, SINGULAR, INT32, IsRestart, 10) -#define IV_struct_define_CALLBACK NULL -#define IV_struct_define_DEFAULT NULL - -extern const pb_msgdesc_t IV_struct_define_msg; - -/* Defines for backwards compatibility with code written before nanopb-0.4.0 */ -#define IV_struct_define_fields &IV_struct_define_msg - -/* Maximum encoded size of messages (where known) */ -#define BSP_IV_PB_H_MAX_SIZE IV_struct_define_size -#define IV_struct_define_size 110 - -#ifdef __cplusplus -} /* extern "C" */ -#endif - -#endif diff --git a/project_old/paint_robot_old/BASE/Protobuf/PSource/bsp_PID.pb.c b/project_old/paint_robot_old/BASE/Protobuf/PSource/bsp_PID.pb.c deleted file mode 100644 index 0000d2f..0000000 --- a/project_old/paint_robot_old/BASE/Protobuf/PSource/bsp_PID.pb.c +++ /dev/null @@ -1,20 +0,0 @@ -/* Automatically generated nanopb constant definitions */ -/* Generated by nanopb-0.4.8 */ - -#include "bsp_PID.pb.h" -#if PB_PROTO_HEADER_VERSION != 40 -#error Regenerate this file with the current version of nanopb generator. -#endif - -PB_BIND(PID_Parameters, PID_Parameters, AUTO) - - - -#ifndef PB_CONVERT_DOUBLE_FLOAT -/* On some platforms (such as AVR), double is really float. - * To be able to encode/decode double on these platforms, you need. - * to define PB_CONVERT_DOUBLE_FLOAT in pb.h or compiler command line. - */ -PB_STATIC_ASSERT(sizeof(double) == 8, DOUBLE_MUST_BE_8_BYTES) -#endif - diff --git a/project_old/paint_robot_old/BASE/Protobuf/PSource/bsp_PID.pb.h b/project_old/paint_robot_old/BASE/Protobuf/PSource/bsp_PID.pb.h deleted file mode 100644 index 339179b..0000000 --- a/project_old/paint_robot_old/BASE/Protobuf/PSource/bsp_PID.pb.h +++ /dev/null @@ -1,57 +0,0 @@ -/* Automatically generated nanopb header */ -/* Generated by nanopb-0.4.8 */ - -#ifndef PB_BSP_PID_PB_H_INCLUDED -#define PB_BSP_PID_PB_H_INCLUDED -#include "pb.h" - -#if PB_PROTO_HEADER_VERSION != 40 -#error Regenerate this file with the current version of nanopb generator. -#endif - -/* Struct definitions */ -typedef struct _PID_Parameters { - int32_t PID_Angle; /* 调整 单位0.01° 配置时需要*100 */ - double Kp; /* PID参数 */ - double Ki; - double Kd; -} PID_Parameters; - - -#ifdef __cplusplus -extern "C" { -#endif - -/* Initializer values for message structs */ -#define PID_Parameters_init_default {0, 0, 0, 0} -#define PID_Parameters_init_zero {0, 0, 0, 0} - -/* Field tags (for use in manual encoding/decoding) */ -#define PID_Parameters_PID_Angle_tag 1 -#define PID_Parameters_Kp_tag 2 -#define PID_Parameters_Ki_tag 3 -#define PID_Parameters_Kd_tag 4 - -/* Struct field encoding specification for nanopb */ -#define PID_Parameters_FIELDLIST(X, a) \ -X(a, STATIC, SINGULAR, INT32, PID_Angle, 1) \ -X(a, STATIC, SINGULAR, DOUBLE, Kp, 2) \ -X(a, STATIC, SINGULAR, DOUBLE, Ki, 3) \ -X(a, STATIC, SINGULAR, DOUBLE, Kd, 4) -#define PID_Parameters_CALLBACK NULL -#define PID_Parameters_DEFAULT NULL - -extern const pb_msgdesc_t PID_Parameters_msg; - -/* Defines for backwards compatibility with code written before nanopb-0.4.0 */ -#define PID_Parameters_fields &PID_Parameters_msg - -/* Maximum encoded size of messages (where known) */ -#define BSP_PID_PB_H_MAX_SIZE PID_Parameters_size -#define PID_Parameters_size 38 - -#ifdef __cplusplus -} /* extern "C" */ -#endif - -#endif diff --git a/project_old/paint_robot_old/BASE/Protobuf/PSource/bsp_PV.pb.c b/project_old/paint_robot_old/BASE/Protobuf/PSource/bsp_PV.pb.c deleted file mode 100644 index 671a5c9..0000000 --- a/project_old/paint_robot_old/BASE/Protobuf/PSource/bsp_PV.pb.c +++ /dev/null @@ -1,20 +0,0 @@ -/* Automatically generated nanopb constant definitions */ -/* Generated by nanopb-0.4.8 */ - -#include "bsp_PV.pb.h" -#if PB_PROTO_HEADER_VERSION != 40 -#error Regenerate this file with the current version of nanopb generator. -#endif - -PB_BIND(PV_struct_define, PV_struct_define, AUTO) - - - -#ifndef PB_CONVERT_DOUBLE_FLOAT -/* On some platforms (such as AVR), double is really float. - * To be able to encode/decode double on these platforms, you need. - * to define PB_CONVERT_DOUBLE_FLOAT in pb.h or compiler command line. - */ -PB_STATIC_ASSERT(sizeof(double) == 8, DOUBLE_MUST_BE_8_BYTES) -#endif - diff --git a/project_old/paint_robot_old/BASE/Protobuf/PSource/bsp_PV.pb.h b/project_old/paint_robot_old/BASE/Protobuf/PSource/bsp_PV.pb.h deleted file mode 100644 index ab46cca..0000000 --- a/project_old/paint_robot_old/BASE/Protobuf/PSource/bsp_PV.pb.h +++ /dev/null @@ -1,64 +0,0 @@ -/* Automatically generated nanopb header */ -/* Generated by nanopb-0.4.8 */ - -#ifndef PB_BSP_PV_PB_H_INCLUDED -#define PB_BSP_PV_PB_H_INCLUDED -#include "pb.h" - -#if PB_PROTO_HEADER_VERSION != 40 -#error Regenerate this file with the current version of nanopb generator. -#endif - -/* Struct definitions */ -typedef struct _PV_struct_define { - /* 喷漆项目 */ - int32_t RunMode; /* 1 手动无校准作业 2 手动竖直向左作业 3 手动竖直向右作业 */ - int32_t RobotSpeed; /* 0-30m/min */ - int32_t LaneChangeDistance; /* 1-100cm */ - double Vertical_Calibration; /* 1° */ - int32_t IV_IsRestart_Notified; /* 是否接收到IV restart flag */ - int64_t TimeStamp; /* */ -} PV_struct_define; - - -#ifdef __cplusplus -extern "C" { -#endif - -/* Initializer values for message structs */ -#define PV_struct_define_init_default {0, 0, 0, 0, 0, 0} -#define PV_struct_define_init_zero {0, 0, 0, 0, 0, 0} - -/* Field tags (for use in manual encoding/decoding) */ -#define PV_struct_define_RunMode_tag 1 -#define PV_struct_define_RobotSpeed_tag 2 -#define PV_struct_define_LaneChangeDistance_tag 3 -#define PV_struct_define_Vertical_Calibration_tag 4 -#define PV_struct_define_IV_IsRestart_Notified_tag 5 -#define PV_struct_define_TimeStamp_tag 6 - -/* Struct field encoding specification for nanopb */ -#define PV_struct_define_FIELDLIST(X, a) \ -X(a, STATIC, SINGULAR, INT32, RunMode, 1) \ -X(a, STATIC, SINGULAR, INT32, RobotSpeed, 2) \ -X(a, STATIC, SINGULAR, INT32, LaneChangeDistance, 3) \ -X(a, STATIC, SINGULAR, DOUBLE, Vertical_Calibration, 4) \ -X(a, STATIC, SINGULAR, INT32, IV_IsRestart_Notified, 5) \ -X(a, STATIC, SINGULAR, INT64, TimeStamp, 6) -#define PV_struct_define_CALLBACK NULL -#define PV_struct_define_DEFAULT NULL - -extern const pb_msgdesc_t PV_struct_define_msg; - -/* Defines for backwards compatibility with code written before nanopb-0.4.0 */ -#define PV_struct_define_fields &PV_struct_define_msg - -/* Maximum encoded size of messages (where known) */ -#define BSP_PV_PB_H_MAX_SIZE PV_struct_define_size -#define PV_struct_define_size 64 - -#ifdef __cplusplus -} /* extern "C" */ -#endif - -#endif diff --git a/project_old/paint_robot_old/BASE/Protobuf/PSource/bsp_ReCmd.pb.c b/project_old/paint_robot_old/BASE/Protobuf/PSource/bsp_ReCmd.pb.c deleted file mode 100644 index 073320b..0000000 --- a/project_old/paint_robot_old/BASE/Protobuf/PSource/bsp_ReCmd.pb.c +++ /dev/null @@ -1,12 +0,0 @@ -/* Automatically generated nanopb constant definitions */ -/* Generated by nanopb-0.4.8 */ - -#include "bsp_ReCmd.pb.h" -#if PB_PROTO_HEADER_VERSION != 40 -#error Regenerate this file with the current version of nanopb generator. -#endif - -PB_BIND(ReCmd, ReCmd, 2) - - - diff --git a/project_old/paint_robot_old/BASE/Protobuf/PSource/bsp_ReCmd.pb.h b/project_old/paint_robot_old/BASE/Protobuf/PSource/bsp_ReCmd.pb.h deleted file mode 100644 index 724cf70..0000000 --- a/project_old/paint_robot_old/BASE/Protobuf/PSource/bsp_ReCmd.pb.h +++ /dev/null @@ -1,80 +0,0 @@ -/* Automatically generated nanopb header */ -/* Generated by nanopb-0.4.8 */ - -#ifndef PB_BSP_RECMD_PB_H_INCLUDED -#define PB_BSP_RECMD_PB_H_INCLUDED -#include "pb.h" - -#if PB_PROTO_HEADER_VERSION != 40 -#error Regenerate this file with the current version of nanopb generator. -#endif - -/* Struct definitions */ -/* this message is used for the reply the command */ -typedef struct _ReCmd { - int32_t CommadNum; - /* 定义 1 上位机获取默认CV值 -定义 2 下位机返回CV值 -定义 3 上位机设定CV值 -定义 4 上位机设定Trace等级值，无返回 -定义 5 下位机上传位置点数据 -定义 6 上位机设定编码器角度值为0 -定义 7 上位机获取拟合点 -定义 8 上位机获取位置点 -定义 9 上位机向下位机下发程序 此时，Parameter0 下发的程序起始位，Parameter0 是校验位 -Buff_Data_Length 是下发的字节数， */ - int32_t Parameter0; - int32_t Parameter1; - int32_t Parameter2; - int32_t Parameter3; - int32_t Parameter4; - int32_t Buff_Data_Length; - pb_byte_t Buff_Data[512]; -} ReCmd; - - -#ifdef __cplusplus -extern "C" { -#endif - -/* Initializer values for message structs */ -#define ReCmd_init_default {0, 0, 0, 0, 0, 0, 0, {0}} -#define ReCmd_init_zero {0, 0, 0, 0, 0, 0, 0, {0}} - -/* Field tags (for use in manual encoding/decoding) */ -#define ReCmd_CommadNum_tag 1 -#define ReCmd_Parameter0_tag 2 -#define ReCmd_Parameter1_tag 3 -#define ReCmd_Parameter2_tag 4 -#define ReCmd_Parameter3_tag 5 -#define ReCmd_Parameter4_tag 6 -#define ReCmd_Buff_Data_Length_tag 7 -#define ReCmd_Buff_Data_tag 8 - -/* Struct field encoding specification for nanopb */ -#define ReCmd_FIELDLIST(X, a) \ -X(a, STATIC, SINGULAR, INT32, CommadNum, 1) \ -X(a, STATIC, SINGULAR, INT32, Parameter0, 2) \ -X(a, STATIC, SINGULAR, INT32, Parameter1, 3) \ -X(a, STATIC, SINGULAR, INT32, Parameter2, 4) \ -X(a, STATIC, SINGULAR, INT32, Parameter3, 5) \ -X(a, STATIC, SINGULAR, INT32, Parameter4, 6) \ -X(a, STATIC, SINGULAR, INT32, Buff_Data_Length, 7) \ -X(a, STATIC, SINGULAR, FIXED_LENGTH_BYTES, Buff_Data, 8) -#define ReCmd_CALLBACK NULL -#define ReCmd_DEFAULT NULL - -extern const pb_msgdesc_t ReCmd_msg; - -/* Defines for backwards compatibility with code written before nanopb-0.4.0 */ -#define ReCmd_fields &ReCmd_msg - -/* Maximum encoded size of messages (where known) */ -#define BSP_RECMD_PB_H_MAX_SIZE ReCmd_size -#define ReCmd_size 592 - -#ifdef __cplusplus -} /* extern "C" */ -#endif - -#endif diff --git a/project_old/paint_robot_old/BASE/Protobuf/PSource/msp_LS_MotorParameters.pb.c b/project_old/paint_robot_old/BASE/Protobuf/PSource/msp_LS_MotorParameters.pb.c deleted file mode 100644 index 42ca3bb..0000000 --- a/project_old/paint_robot_old/BASE/Protobuf/PSource/msp_LS_MotorParameters.pb.c +++ /dev/null @@ -1,20 +0,0 @@ -/* Automatically generated nanopb constant definitions */ -/* Generated by nanopb-0.4.8 */ - -#include "msp_LS_MotorParameters.pb.h" -#if PB_PROTO_HEADER_VERSION != 40 -#error Regenerate this file with the current version of nanopb generator. -#endif - -PB_BIND(LS_MotorParameters, LS_MotorParameters, AUTO) - - - -#ifndef PB_CONVERT_DOUBLE_FLOAT -/* On some platforms (such as AVR), double is really float. - * To be able to encode/decode double on these platforms, you need. - * to define PB_CONVERT_DOUBLE_FLOAT in pb.h or compiler command line. - */ -PB_STATIC_ASSERT(sizeof(double) == 8, DOUBLE_MUST_BE_8_BYTES) -#endif - diff --git a/project_old/paint_robot_old/BASE/Protobuf/PSource/msp_LS_MotorParameters.pb.h b/project_old/paint_robot_old/BASE/Protobuf/PSource/msp_LS_MotorParameters.pb.h deleted file mode 100644 index 948c0d3..0000000 --- a/project_old/paint_robot_old/BASE/Protobuf/PSource/msp_LS_MotorParameters.pb.h +++ /dev/null @@ -1,84 +0,0 @@ -/* Automatically generated nanopb header */ -/* Generated by nanopb-0.4.8 */ - -#ifndef PB_MSP_LS_MOTORPARAMETERS_PB_H_INCLUDED -#define PB_MSP_LS_MOTORPARAMETERS_PB_H_INCLUDED -#include "pb.h" - -#if PB_PROTO_HEADER_VERSION != 40 -#error Regenerate this file with the current version of nanopb generator. -#endif - -/* Struct definitions */ -typedef struct _LS_MotorParameters { - int32_t MotorID; - int32_t Real_Current; - int32_t Target_Current; /* 0.1rpm */ - int32_t Real_Velcity; /* 0.1rpm */ - int32_t Target_Velcity; /* 0.1rpm */ - int32_t Target_Position; /* 0.1rpm */ - int32_t Real_Position; - int32_t Motor_Fault; - int32_t Number_Of_Rounds; - int32_t Start_Measuring_Position; - int32_t Last_Real_Position; - double Real_Disatnce; - int32_t Start_Measuring; /* 开始测距 */ -} LS_MotorParameters; - - -#ifdef __cplusplus -extern "C" { -#endif - -/* Initializer values for message structs */ -#define LS_MotorParameters_init_default {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0} -#define LS_MotorParameters_init_zero {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0} - -/* Field tags (for use in manual encoding/decoding) */ -#define LS_MotorParameters_MotorID_tag 1 -#define LS_MotorParameters_Real_Current_tag 2 -#define LS_MotorParameters_Target_Current_tag 3 -#define LS_MotorParameters_Real_Velcity_tag 4 -#define LS_MotorParameters_Target_Velcity_tag 5 -#define LS_MotorParameters_Target_Position_tag 6 -#define LS_MotorParameters_Real_Position_tag 7 -#define LS_MotorParameters_Motor_Fault_tag 8 -#define LS_MotorParameters_Number_Of_Rounds_tag 9 -#define LS_MotorParameters_Start_Measuring_Position_tag 10 -#define LS_MotorParameters_Last_Real_Position_tag 11 -#define LS_MotorParameters_Real_Disatnce_tag 12 -#define LS_MotorParameters_Start_Measuring_tag 13 - -/* Struct field encoding specification for nanopb */ -#define LS_MotorParameters_FIELDLIST(X, a) \ -X(a, STATIC, SINGULAR, INT32, MotorID, 1) \ -X(a, STATIC, SINGULAR, INT32, Real_Current, 2) \ -X(a, STATIC, SINGULAR, INT32, Target_Current, 3) \ -X(a, STATIC, SINGULAR, INT32, Real_Velcity, 4) \ -X(a, STATIC, SINGULAR, INT32, Target_Velcity, 5) \ -X(a, STATIC, SINGULAR, INT32, Target_Position, 6) \ -X(a, STATIC, SINGULAR, INT32, Real_Position, 7) \ -X(a, STATIC, SINGULAR, INT32, Motor_Fault, 8) \ -X(a, STATIC, SINGULAR, INT32, Number_Of_Rounds, 9) \ -X(a, STATIC, SINGULAR, INT32, Start_Measuring_Position, 10) \ -X(a, STATIC, SINGULAR, INT32, Last_Real_Position, 11) \ -X(a, STATIC, SINGULAR, DOUBLE, Real_Disatnce, 12) \ -X(a, STATIC, SINGULAR, INT32, Start_Measuring, 13) -#define LS_MotorParameters_CALLBACK NULL -#define LS_MotorParameters_DEFAULT NULL - -extern const pb_msgdesc_t LS_MotorParameters_msg; - -/* Defines for backwards compatibility with code written before nanopb-0.4.0 */ -#define LS_MotorParameters_fields &LS_MotorParameters_msg - -/* Maximum encoded size of messages (where known) */ -#define LS_MotorParameters_size 141 -#define MSP_LS_MOTORPARAMETERS_PB_H_MAX_SIZE LS_MotorParameters_size - -#ifdef __cplusplus -} /* extern "C" */ -#endif - -#endif diff --git a/project_old/paint_robot_old/BASE/Protobuf/PSource/msp_MK32.pb.c b/project_old/paint_robot_old/BASE/Protobuf/PSource/msp_MK32.pb.c deleted file mode 100644 index 4c16c0b..0000000 --- a/project_old/paint_robot_old/BASE/Protobuf/PSource/msp_MK32.pb.c +++ /dev/null @@ -1,12 +0,0 @@ -/* Automatically generated nanopb constant definitions */ -/* Generated by nanopb-0.4.8 */ - -#include "msp_MK32.pb.h" -#if PB_PROTO_HEADER_VERSION != 40 -#error Regenerate this file with the current version of nanopb generator. -#endif - -PB_BIND(SP_MSP_MK32_Button, SP_MSP_MK32_Button, AUTO) - - - diff --git a/project_old/paint_robot_old/BASE/Protobuf/PSource/msp_MK32.pb.h b/project_old/paint_robot_old/BASE/Protobuf/PSource/msp_MK32.pb.h deleted file mode 100644 index d707cb7..0000000 --- a/project_old/paint_robot_old/BASE/Protobuf/PSource/msp_MK32.pb.h +++ /dev/null @@ -1,99 +0,0 @@ -/* Automatically generated nanopb header */ -/* Generated by nanopb-0.4.8 */ - -#ifndef PB_MSP_MK32_PB_H_INCLUDED -#define PB_MSP_MK32_PB_H_INCLUDED -#include "pb.h" - -#if PB_PROTO_HEADER_VERSION != 40 -#error Regenerate this file with the current version of nanopb generator. -#endif - -/* Struct definitions */ -typedef struct _SP_MSP_MK32_Button { - int32_t RxIndex; - int32_t CH0_RY_H; /* 上1000，下-1000 */ - int32_t CH1_RY_V; /* 上1000，下-1000 */ - int32_t CH2_LY_V; /* 上1000，下-1000 */ - int32_t CH3_LY_H; /* 上1000，下-1000 */ - int32_t CH4_SA; /* 上-1000，下1000 */ - int32_t CH5_SB; /* 上-1000，下1000 */ - int32_t CH6_SC; /* 上-1000，下1000 */ - int32_t CH7_SD; /* 上-1000，下1000 */ - int32_t CH8_SE; /* 上-1000，下1000 */ - int32_t CH9_SF; /* 上-1000，下1000 */ - int32_t CH10_LD1; - int32_t CH11_RD1; - int32_t CH12_S1; - int32_t CH13_S2; - int32_t CH14_LT; - int32_t CH15_RT; - int32_t IsOnline; -} SP_MSP_MK32_Button; - - -#ifdef __cplusplus -extern "C" { -#endif - -/* Initializer values for message structs */ -#define SP_MSP_MK32_Button_init_default {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0} -#define SP_MSP_MK32_Button_init_zero {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0} - -/* Field tags (for use in manual encoding/decoding) */ -#define SP_MSP_MK32_Button_RxIndex_tag 1 -#define SP_MSP_MK32_Button_CH0_RY_H_tag 2 -#define SP_MSP_MK32_Button_CH1_RY_V_tag 3 -#define SP_MSP_MK32_Button_CH2_LY_V_tag 4 -#define SP_MSP_MK32_Button_CH3_LY_H_tag 5 -#define SP_MSP_MK32_Button_CH4_SA_tag 6 -#define SP_MSP_MK32_Button_CH5_SB_tag 7 -#define SP_MSP_MK32_Button_CH6_SC_tag 8 -#define SP_MSP_MK32_Button_CH7_SD_tag 9 -#define SP_MSP_MK32_Button_CH8_SE_tag 10 -#define SP_MSP_MK32_Button_CH9_SF_tag 11 -#define SP_MSP_MK32_Button_CH10_LD1_tag 12 -#define SP_MSP_MK32_Button_CH11_RD1_tag 13 -#define SP_MSP_MK32_Button_CH12_S1_tag 14 -#define SP_MSP_MK32_Button_CH13_S2_tag 15 -#define SP_MSP_MK32_Button_CH14_LT_tag 16 -#define SP_MSP_MK32_Button_CH15_RT_tag 17 -#define SP_MSP_MK32_Button_IsOnline_tag 18 - -/* Struct field encoding specification for nanopb */ -#define SP_MSP_MK32_Button_FIELDLIST(X, a) \ -X(a, STATIC, SINGULAR, INT32, RxIndex, 1) \ -X(a, STATIC, SINGULAR, INT32, CH0_RY_H, 2) \ -X(a, STATIC, SINGULAR, INT32, CH1_RY_V, 3) \ -X(a, STATIC, SINGULAR, INT32, CH2_LY_V, 4) \ -X(a, STATIC, SINGULAR, INT32, CH3_LY_H, 5) \ -X(a, STATIC, SINGULAR, INT32, CH4_SA, 6) \ -X(a, STATIC, SINGULAR, INT32, CH5_SB, 7) \ -X(a, STATIC, SINGULAR, INT32, CH6_SC, 8) \ -X(a, STATIC, SINGULAR, INT32, CH7_SD, 9) \ -X(a, STATIC, SINGULAR, INT32, CH8_SE, 10) \ -X(a, STATIC, SINGULAR, INT32, CH9_SF, 11) \ -X(a, STATIC, SINGULAR, INT32, CH10_LD1, 12) \ -X(a, STATIC, SINGULAR, INT32, CH11_RD1, 13) \ -X(a, STATIC, SINGULAR, INT32, CH12_S1, 14) \ -X(a, STATIC, SINGULAR, INT32, CH13_S2, 15) \ -X(a, STATIC, SINGULAR, INT32, CH14_LT, 16) \ -X(a, STATIC, SINGULAR, INT32, CH15_RT, 17) \ -X(a, STATIC, SINGULAR, INT32, IsOnline, 18) -#define SP_MSP_MK32_Button_CALLBACK NULL -#define SP_MSP_MK32_Button_DEFAULT NULL - -extern const pb_msgdesc_t SP_MSP_MK32_Button_msg; - -/* Defines for backwards compatibility with code written before nanopb-0.4.0 */ -#define SP_MSP_MK32_Button_fields &SP_MSP_MK32_Button_msg - -/* Maximum encoded size of messages (where known) */ -#define MSP_MK32_PB_H_MAX_SIZE SP_MSP_MK32_Button_size -#define SP_MSP_MK32_Button_size 201 - -#ifdef __cplusplus -} /* extern "C" */ -#endif - -#endif diff --git a/project_old/paint_robot_old/BASE/Protobuf/PSource/msp_Motor.pb.c b/project_old/paint_robot_old/BASE/Protobuf/PSource/msp_Motor.pb.c deleted file mode 100644 index b1c1176..0000000 --- a/project_old/paint_robot_old/BASE/Protobuf/PSource/msp_Motor.pb.c +++ /dev/null @@ -1,12 +0,0 @@ -/* Automatically generated nanopb constant definitions */ -/* Generated by nanopb-0.4.8 */ - -#include "msp_Motor.pb.h" -#if PB_PROTO_HEADER_VERSION != 40 -#error Regenerate this file with the current version of nanopb generator. -#endif - -PB_BIND(MotorParameters, MotorParameters, AUTO) - - - diff --git a/project_old/paint_robot_old/BASE/Protobuf/PSource/msp_Motor.pb.h b/project_old/paint_robot_old/BASE/Protobuf/PSource/msp_Motor.pb.h deleted file mode 100644 index 44fcab2..0000000 --- a/project_old/paint_robot_old/BASE/Protobuf/PSource/msp_Motor.pb.h +++ /dev/null @@ -1,91 +0,0 @@ -/* Automatically generated nanopb header */ -/* Generated by nanopb-0.4.8 */ - -#ifndef PB_MSP_MOTOR_PB_H_INCLUDED -#define PB_MSP_MOTOR_PB_H_INCLUDED -#include "pb.h" - -#if PB_PROTO_HEADER_VERSION != 40 -#error Regenerate this file with the current version of nanopb generator. -#endif - -/* Struct definitions */ -typedef struct _MotorParameters { - int32_t MotorID; - int32_t RxIndex; - int32_t Run_Mode; - int32_t Current; - int32_t Target_Current; - int32_t Velcity; - int32_t Target_Velcity; - int32_t Position; - int32_t Target_Position; - int32_t ERROR_Flag; - int32_t Temperature_Motor; - int32_t Temperature_PCB; - int32_t AccTime; - int32_t DecTime; - int32_t EncoderOffset; /* 53 83 设置位置偏移 int32_t "设置偏移值和目标位置 -（目标位置=编码器位置 - 偏移值）" */ -} MotorParameters; - - -#ifdef __cplusplus -extern "C" { -#endif - -/* Initializer values for message structs */ -#define MotorParameters_init_default {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0} -#define MotorParameters_init_zero {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0} - -/* Field tags (for use in manual encoding/decoding) */ -#define MotorParameters_MotorID_tag 1 -#define MotorParameters_RxIndex_tag 2 -#define MotorParameters_Run_Mode_tag 3 -#define MotorParameters_Current_tag 4 -#define MotorParameters_Target_Current_tag 5 -#define MotorParameters_Velcity_tag 6 -#define MotorParameters_Target_Velcity_tag 7 -#define MotorParameters_Position_tag 8 -#define MotorParameters_Target_Position_tag 9 -#define MotorParameters_ERROR_Flag_tag 10 -#define MotorParameters_Temperature_Motor_tag 11 -#define MotorParameters_Temperature_PCB_tag 12 -#define MotorParameters_AccTime_tag 13 -#define MotorParameters_DecTime_tag 14 -#define MotorParameters_EncoderOffset_tag 15 - -/* Struct field encoding specification for nanopb */ -#define MotorParameters_FIELDLIST(X, a) \ -X(a, STATIC, SINGULAR, INT32, MotorID, 1) \ -X(a, STATIC, SINGULAR, INT32, RxIndex, 2) \ -X(a, STATIC, SINGULAR, INT32, Run_Mode, 3) \ -X(a, STATIC, SINGULAR, INT32, Current, 4) \ -X(a, STATIC, SINGULAR, INT32, Target_Current, 5) \ -X(a, STATIC, SINGULAR, INT32, Velcity, 6) \ -X(a, STATIC, SINGULAR, INT32, Target_Velcity, 7) \ -X(a, STATIC, SINGULAR, INT32, Position, 8) \ -X(a, STATIC, SINGULAR, INT32, Target_Position, 9) \ -X(a, STATIC, SINGULAR, INT32, ERROR_Flag, 10) \ -X(a, STATIC, SINGULAR, INT32, Temperature_Motor, 11) \ -X(a, STATIC, SINGULAR, INT32, Temperature_PCB, 12) \ -X(a, STATIC, SINGULAR, INT32, AccTime, 13) \ -X(a, STATIC, SINGULAR, INT32, DecTime, 14) \ -X(a, STATIC, SINGULAR, INT32, EncoderOffset, 15) -#define MotorParameters_CALLBACK NULL -#define MotorParameters_DEFAULT NULL - -extern const pb_msgdesc_t MotorParameters_msg; - -/* Defines for backwards compatibility with code written before nanopb-0.4.0 */ -#define MotorParameters_fields &MotorParameters_msg - -/* Maximum encoded size of messages (where known) */ -#define MSP_MOTOR_PB_H_MAX_SIZE MotorParameters_size -#define MotorParameters_size 165 - -#ifdef __cplusplus -} /* extern "C" */ -#endif - -#endif diff --git a/project_old/paint_robot_old/BASE/Protobuf/PSource/msp_TL720D.pb.c b/project_old/paint_robot_old/BASE/Protobuf/PSource/msp_TL720D.pb.c deleted file mode 100644 index 4681edd..0000000 --- a/project_old/paint_robot_old/BASE/Protobuf/PSource/msp_TL720D.pb.c +++ /dev/null @@ -1,12 +0,0 @@ -/* Automatically generated nanopb constant definitions */ -/* Generated by nanopb-0.4.8 */ - -#include "msp_TL720D.pb.h" -#if PB_PROTO_HEADER_VERSION != 40 -#error Regenerate this file with the current version of nanopb generator. -#endif - -PB_BIND(MSP_TL720DParameters, MSP_TL720DParameters, AUTO) - - - diff --git a/project_old/paint_robot_old/BASE/Protobuf/PSource/msp_TL720D.pb.h b/project_old/paint_robot_old/BASE/Protobuf/PSource/msp_TL720D.pb.h deleted file mode 100644 index 6020cd6..0000000 --- a/project_old/paint_robot_old/BASE/Protobuf/PSource/msp_TL720D.pb.h +++ /dev/null @@ -1,72 +0,0 @@ -/* Automatically generated nanopb header */ -/* Generated by nanopb-0.4.8 */ - -#ifndef PB_MSP_TL720D_PB_H_INCLUDED -#define PB_MSP_TL720D_PB_H_INCLUDED -#include "pb.h" - -#if PB_PROTO_HEADER_VERSION != 40 -#error Regenerate this file with the current version of nanopb generator. -#endif - -/* Struct definitions */ -typedef struct _MSP_TL720DParameters { - int32_t RF_Angle_Roll; /* 横滚角 */ - int32_t RF_Angle_Pitch; /* 俯仰角 */ - int32_t RF_Angle_Yaw; /* 航向角 */ - int32_t RF_Acc_X; /* X轴加速度 */ - int32_t RF_Acc_Y; /* Y轴加速度 */ - int32_t RF_Acc_Z; /* Z轴加速度 */ - int32_t RF_Gro_X; /* X轴陀螺 */ - int32_t RF_Gro_Y; /* Y轴陀螺 */ - int32_t RF_Gro_Z; /* Z轴陀螺 */ -} MSP_TL720DParameters; - - -#ifdef __cplusplus -extern "C" { -#endif - -/* Initializer values for message structs */ -#define MSP_TL720DParameters_init_default {0, 0, 0, 0, 0, 0, 0, 0, 0} -#define MSP_TL720DParameters_init_zero {0, 0, 0, 0, 0, 0, 0, 0, 0} - -/* Field tags (for use in manual encoding/decoding) */ -#define MSP_TL720DParameters_RF_Angle_Roll_tag 1 -#define MSP_TL720DParameters_RF_Angle_Pitch_tag 2 -#define MSP_TL720DParameters_RF_Angle_Yaw_tag 3 -#define MSP_TL720DParameters_RF_Acc_X_tag 4 -#define MSP_TL720DParameters_RF_Acc_Y_tag 5 -#define MSP_TL720DParameters_RF_Acc_Z_tag 6 -#define MSP_TL720DParameters_RF_Gro_X_tag 7 -#define MSP_TL720DParameters_RF_Gro_Y_tag 8 -#define MSP_TL720DParameters_RF_Gro_Z_tag 9 - -/* Struct field encoding specification for nanopb */ -#define MSP_TL720DParameters_FIELDLIST(X, a) \ -X(a, STATIC, SINGULAR, INT32, RF_Angle_Roll, 1) \ -X(a, STATIC, SINGULAR, INT32, RF_Angle_Pitch, 2) \ -X(a, STATIC, SINGULAR, INT32, RF_Angle_Yaw, 3) \ -X(a, STATIC, SINGULAR, INT32, RF_Acc_X, 4) \ -X(a, STATIC, SINGULAR, INT32, RF_Acc_Y, 5) \ -X(a, STATIC, SINGULAR, INT32, RF_Acc_Z, 6) \ -X(a, STATIC, SINGULAR, INT32, RF_Gro_X, 7) \ -X(a, STATIC, SINGULAR, INT32, RF_Gro_Y, 8) \ -X(a, STATIC, SINGULAR, INT32, RF_Gro_Z, 9) -#define MSP_TL720DParameters_CALLBACK NULL -#define MSP_TL720DParameters_DEFAULT NULL - -extern const pb_msgdesc_t MSP_TL720DParameters_msg; - -/* Defines for backwards compatibility with code written before nanopb-0.4.0 */ -#define MSP_TL720DParameters_fields &MSP_TL720DParameters_msg - -/* Maximum encoded size of messages (where known) */ -#define MSP_TL720DParameters_size 99 -#define MSP_TL720D_PB_H_MAX_SIZE MSP_TL720DParameters_size - -#ifdef __cplusplus -} /* extern "C" */ -#endif - -#endif diff --git a/project_old/paint_robot_old/BASE/Protobuf/Proto/bsp_CV.proto b/project_old/paint_robot_old/BASE/Protobuf/Proto/bsp_CV.proto deleted file mode 100644 index b950f9f..0000000 --- a/project_old/paint_robot_old/BASE/Protobuf/Proto/bsp_CV.proto +++ /dev/null @@ -1,42 +0,0 @@ -syntax = "proto3"; -//import "nanopb.proto"; - -import "bsp_PV.proto"; -import "bsp_PID.proto"; -message CV_struct_define{ - - //喷漆项目 - - int32 Speed_m_per_min = 1; // MPMin = 1m/min 1米每分钟 m/min - - int32 LeftTurnSpeed = 2; - int32 RightTurnSpeed = 3; - - - - int32 RobotLeftAngleValue=4;// 水平左方向 单位0.01° - int32 RobotRightAngleValue=5;// 水平右方向角度值 单位0.01° - int32 RobotUpAngleValue=6;// 竖直方向角度值 单位0.01° - int32 RobotDownAngleValue=7;// 竖直向下角度值 单位0.01° - - int32 Robot_Permitted_Angler_Error_Value_E_2D = 8;// 作业时需用的最大角度偏差值 0.01°，超出将停止作业 - int32 Robot_Angle_Start_BaseE_2D = 9;//角度值 0.01° - int32 Lane_Change_Speed_m_per_min = 10; - int32 Is_Automation_Authorized = 11; - int32 Is_Function_Authorized = 12; - int32 Joy_Sticker_Angle_Allowance = 13;// 例如在90度的±30° - int32 Joy_Sticker_Value_Allowance = 14;//例如 joysticker的值超过600 - int32 Allowable_Error_For_Angle_Tracking = 15;//纠偏角度跟踪的允许误差1 度 - int32 Paint_Gun_Shutdown_Distance = 16;//喷枪关闭距离，喷枪关闭后多上厘米停止运行 - int32 Horizontal_ChangeLane_Compensation=17; //水平换道补偿距离 - int32 Vertical_ChangeLane_Compensation=18; //竖直换道补偿距离 - int32 pulse_Per_Circle=19; //每转多少脉冲 - int32 wheel_Reduction_Ratio=20; //减速比 - double wheel_Diameter_m=21; //车轮直径 m - PID_Parameters PID_high=22; - PID_Parameters PID_mid=23; - PID_Parameters PID_low=24; - - - } - diff --git a/project_old/paint_robot_old/BASE/Protobuf/Proto/bsp_Cmd.options b/project_old/paint_robot_old/BASE/Protobuf/Proto/bsp_Cmd.options deleted file mode 100644 index 771dbaf..0000000 --- a/project_old/paint_robot_old/BASE/Protobuf/Proto/bsp_Cmd.options +++ /dev/null @@ -1,2 +0,0 @@ -# lock.options -Cmd.Buff_Data max_size:512 fixed_length:true \ No newline at end of file diff --git a/project_old/paint_robot_old/BASE/Protobuf/Proto/bsp_Cmd.proto b/project_old/paint_robot_old/BASE/Protobuf/Proto/bsp_Cmd.proto deleted file mode 100644 index d7a4f13..0000000 --- a/project_old/paint_robot_old/BASE/Protobuf/Proto/bsp_Cmd.proto +++ /dev/null @@ -1,24 +0,0 @@ -syntax = "proto3"; -//this message is used for the computer to send command -message Cmd{ - int32 CommadNum = 1; - //定义 1 上位机获取默认CV值 - //定义 2 下位机返回CV值 - //定义 3 上位机设定CV值 - //定义 4 上位机设定Trace等级值，无返回 - //定义 5 下位机上传位置点数据 - //定义 6 上位机设定编码器角度值为0 - //定义 7 上位机获取拟合点 - //定义 8 上位机获取位置点 - //定义 9 上位机向下位机下发程序 此时，Parameter0 下发的程序起始位，Parameter0 是校验位 - //Buff_Data_Length 是下发的字节数， - int32 Parameter0 = 2; - int32 Parameter1 = 3; - int32 Parameter2 = 4; - int32 Parameter3 = 5; - int32 Parameter4 = 6; - int32 Buff_Data_Length = 7; - bytes Buff_Data=8; - -}; - diff --git a/project_old/paint_robot_old/BASE/Protobuf/Proto/bsp_Error.proto b/project_old/paint_robot_old/BASE/Protobuf/Proto/bsp_Error.proto deleted file mode 100644 index 951f75a..0000000 --- a/project_old/paint_robot_old/BASE/Protobuf/Proto/bsp_Error.proto +++ /dev/null @@ -1,25 +0,0 @@ -syntax = "proto3"; - -option java_multiple_files = false; -option java_package = "com.example.paintapp.models"; - -message ErrorData -{ - int32 Com_Error_Code=1; - int32 Left_Motor_Error_Code=2; - int32 Right_Motor_Error_Code=3; - -} - -enum ComError //枚举消息类型 Error Bit Define - { - MK32_SBus = 0; - TL720D = 1; - LS_LeftMotor = 2; - LS_RightMotor = 3; - Remote_Button_Reset_State = 4; - MK32_Serial=5; - MK32_UDP=6; - } - -//protoc --nanopb_out=. *.proto diff --git a/project_old/paint_robot_old/BASE/Protobuf/Proto/bsp_GV.options b/project_old/paint_robot_old/BASE/Protobuf/Proto/bsp_GV.options deleted file mode 100644 index b2dc56d..0000000 --- a/project_old/paint_robot_old/BASE/Protobuf/Proto/bsp_GV.options +++ /dev/null @@ -1,2 +0,0 @@ -# lock.options -GV_struct_define.Motor_P max_size:50 fixed_length:true diff --git a/project_old/paint_robot_old/BASE/Protobuf/Proto/bsp_GV.proto b/project_old/paint_robot_old/BASE/Protobuf/Proto/bsp_GV.proto deleted file mode 100644 index ad19e79..0000000 --- a/project_old/paint_robot_old/BASE/Protobuf/Proto/bsp_GV.proto +++ /dev/null @@ -1,29 +0,0 @@ -syntax = "proto3"; -import "msp_MK32.proto"; -import "msp_Motor.proto"; -import "msp_LS_MotorParameters.proto"; -import "msp_TL720D.proto"; -import "bsp_Error.proto"; -import "bsp_PV.proto"; -import "bsp_IO.proto"; - -message GV_struct_define -{ - int32 TempatureE_2C= 1; // E_2C=0.01 Celsius 0.01摄氏度 - int32 Left_Compensation= 2; // E_2D =0.01 Degree 0.01度 - int32 Right_Compensation= 3; //0.01度 - int32 Robot_Angle=4; //机器人角度 //0.01度 - int32 Robot_Move_Speed= 5; // 0.1rpm - int32 ForceValue= 6; - int32 LaneChangeDistance= 7; - SP_MSP_MK32_Button P_MK32=9; - LS_MotorParameters LeftMotor=10;//左电机 ID2 - LS_MotorParameters RightMotor=11;// 右电机 ID3 - MSP_TL720DParameters TL720DParameters= 12; - IO_Data IO=13; - ErrorData SystemErrorData=14; - PV_struct_define PV =15;//用户配置数据 - -}; - -//protoc --nanopb_out=. *.proto diff --git a/project_old/paint_robot_old/BASE/Protobuf/Proto/bsp_IAP.options b/project_old/paint_robot_old/BASE/Protobuf/Proto/bsp_IAP.options deleted file mode 100644 index 21bd11a..0000000 --- a/project_old/paint_robot_old/BASE/Protobuf/Proto/bsp_IAP.options +++ /dev/null @@ -1,2 +0,0 @@ -# lock.options -# IAP_struct_define.Buff_Data max_size:64 fixed_length:true \ No newline at end of file diff --git a/project_old/paint_robot_old/BASE/Protobuf/Proto/bsp_IAP.proto b/project_old/paint_robot_old/BASE/Protobuf/Proto/bsp_IAP.proto deleted file mode 100644 index 3f4ca5e..0000000 --- a/project_old/paint_robot_old/BASE/Protobuf/Proto/bsp_IAP.proto +++ /dev/null @@ -1,11 +0,0 @@ -syntax = "proto3"; -//IAP，即In Application Programming，IAP是用户自己的程序在运行过程中对User Flash的部分区域进行烧写。 -message IAP_struct_define -{ - int32 Total_Bytes = 1;// all the received data; - int32 NextCodeVrsion = 2;//the New upgrade Version of the Project - int32 UtcTime=3;//Udgrade Time - int32 UpgradeSucceeded=4;// - -}; - diff --git a/project_old/paint_robot_old/BASE/Protobuf/Proto/bsp_IO.proto b/project_old/paint_robot_old/BASE/Protobuf/Proto/bsp_IO.proto deleted file mode 100644 index 9266692..0000000 --- a/project_old/paint_robot_old/BASE/Protobuf/Proto/bsp_IO.proto +++ /dev/null @@ -1,19 +0,0 @@ -syntax = "proto3"; - -message IO_Data -{ - int32 DO0=1; - int32 DO1=2; - int32 DO2=3; - int32 DO3=4; - int32 DO4=5; - int32 DO5=6; - int32 DI0=7; - int32 DI1=8; - int32 DI2=9; - int32 DI3=10; - int32 DI4=11; - int32 DI5=12; -}; - -//protoc --nanopb_out=. *.proto diff --git a/project_old/paint_robot_old/BASE/Protobuf/Proto/bsp_IV.proto b/project_old/paint_robot_old/BASE/Protobuf/Proto/bsp_IV.proto deleted file mode 100644 index 449f519..0000000 --- a/project_old/paint_robot_old/BASE/Protobuf/Proto/bsp_IV.proto +++ /dev/null @@ -1,18 +0,0 @@ -syntax = "proto3"; - -option java_multiple_files = false; -option java_package = "com.example.paintapp.models"; - -message IV_struct_define -{ - int32 CurrentAngle= 1; //单位0.01° - int32 RobotMoveSpeed= 2; //单位m/min 目标速度 - int32 SBUS_State=3; //0断开 1连接 - int32 SystemError=4; //硬件通讯错误及按键未初始化错误 - int32 Left_Motor_Err=5;//左轮电机报警 - int32 Right_Motor_Err=6;//右轮电机报警 - int32 IsWorking=7;//机器人正在执行运动指令 - int32 CurrentSpeed=8;//当前速度 - int64 TimeStamp=9;//当前时间戳 - int32 IsRestart=10;//是否重启 -}; diff --git a/project_old/paint_robot_old/BASE/Protobuf/Proto/bsp_PID.proto b/project_old/paint_robot_old/BASE/Protobuf/Proto/bsp_PID.proto deleted file mode 100644 index 94d715a..0000000 --- a/project_old/paint_robot_old/BASE/Protobuf/Proto/bsp_PID.proto +++ /dev/null @@ -1,9 +0,0 @@ -syntax = "proto3"; - -message PID_Parameters { - int32 PID_Angle=1; //调整 单位0.01° 配置时需要*100 - double Kp=2; //PID参数 - double Ki=3; - double Kd=4; - - } \ No newline at end of file diff --git a/project_old/paint_robot_old/BASE/Protobuf/Proto/bsp_PV.proto b/project_old/paint_robot_old/BASE/Protobuf/Proto/bsp_PV.proto deleted file mode 100644 index f96f75e..0000000 --- a/project_old/paint_robot_old/BASE/Protobuf/Proto/bsp_PV.proto +++ /dev/null @@ -1,15 +0,0 @@ -syntax = "proto3"; -option java_multiple_files = false; -option java_package = "com.example.paintapp.models"; -message PV_struct_define{ - - // 喷漆项目 - int32 RunMode = 1; //1 手动无校准作业 2 手动竖直向左作业 3 手动竖直向右作业 - int32 RobotSpeed=2;//0-30m/min - int32 LaneChangeDistance= 3;//1-100cm - double Vertical_Calibration=4;// 1° - int32 IV_IsRestart_Notified=5;// 是否接收到IV restart flag - int64 TimeStamp=6;// - - -}; diff --git a/project_old/paint_robot_old/BASE/Protobuf/Proto/bsp_ReCmd.options b/project_old/paint_robot_old/BASE/Protobuf/Proto/bsp_ReCmd.options deleted file mode 100644 index 4890dc5..0000000 --- a/project_old/paint_robot_old/BASE/Protobuf/Proto/bsp_ReCmd.options +++ /dev/null @@ -1,2 +0,0 @@ -# lock.options -ReCmd.Buff_Data max_size:512 fixed_length:true \ No newline at end of file diff --git a/project_old/paint_robot_old/BASE/Protobuf/Proto/bsp_ReCmd.proto b/project_old/paint_robot_old/BASE/Protobuf/Proto/bsp_ReCmd.proto deleted file mode 100644 index 13ed44d..0000000 --- a/project_old/paint_robot_old/BASE/Protobuf/Proto/bsp_ReCmd.proto +++ /dev/null @@ -1,24 +0,0 @@ -syntax = "proto3"; -//this message is used for the reply the command -message ReCmd{ - int32 CommadNum = 1; - //定义 1 上位机获取默认CV值 - //定义 2 下位机返回CV值 - //定义 3 上位机设定CV值 - //定义 4 上位机设定Trace等级值，无返回 - //定义 5 下位机上传位置点数据 - //定义 6 上位机设定编码器角度值为0 - //定义 7 上位机获取拟合点 - //定义 8 上位机获取位置点 - //定义 9 上位机向下位机下发程序 此时，Parameter0 下发的程序起始位，Parameter0 是校验位 - //Buff_Data_Length 是下发的字节数， - int32 Parameter0 = 2; - int32 Parameter1 = 3; - int32 Parameter2 = 4; - int32 Parameter3 = 5; - int32 Parameter4 = 6; - int32 Buff_Data_Length = 7; - bytes Buff_Data=8; - -}; - diff --git a/project_old/paint_robot_old/BASE/Protobuf/Proto/msp_LS_MotorParameters.proto b/project_old/paint_robot_old/BASE/Protobuf/Proto/msp_LS_MotorParameters.proto deleted file mode 100644 index 458aace..0000000 --- a/project_old/paint_robot_old/BASE/Protobuf/Proto/msp_LS_MotorParameters.proto +++ /dev/null @@ -1,19 +0,0 @@ -syntax = "proto3"; - -message LS_MotorParameters { - int32 MotorID=1; - int32 Real_Current=2; - int32 Target_Current=3; // 0.1rpm - int32 Real_Velcity=4; // 0.1rpm - int32 Target_Velcity=5; // 0.1rpm - int32 Target_Position=6; // 0.1rpm - int32 Real_Position=7; - int32 Motor_Fault=8; - int32 Number_Of_Rounds=9; - int32 Start_Measuring_Position=10; - int32 Last_Real_Position=11; - double Real_Disatnce=12; - int32 Start_Measuring=13;//开始测距 - - } - diff --git a/project_old/paint_robot_old/BASE/Protobuf/Proto/msp_MK32.proto b/project_old/paint_robot_old/BASE/Protobuf/Proto/msp_MK32.proto deleted file mode 100644 index f7380f1..0000000 --- a/project_old/paint_robot_old/BASE/Protobuf/Proto/msp_MK32.proto +++ /dev/null @@ -1,22 +0,0 @@ -syntax = "proto3"; - -message SP_MSP_MK32_Button { - int32 RxIndex= 1; - int32 CH0_RY_H= 2;//上1000，下-1000 - int32 CH1_RY_V= 3; //上1000，下-1000 - int32 CH2_LY_V= 4;//上1000，下-1000 - int32 CH3_LY_H= 5;//上1000，下-1000 - int32 CH4_SA= 6;//上-1000，下1000 - int32 CH5_SB= 7;//上-1000，下1000 - int32 CH6_SC= 8;//上-1000，下1000 - int32 CH7_SD= 9;//上-1000，下1000 - int32 CH8_SE= 10;//上-1000，下1000 - int32 CH9_SF= 11;//上-1000，下1000 - int32 CH10_LD1= 12; - int32 CH11_RD1= 13; - int32 CH12_S1= 14; - int32 CH13_S2= 15; - int32 CH14_LT= 16; - int32 CH15_RT= 17; - int32 IsOnline= 18; - } diff --git a/project_old/paint_robot_old/BASE/Protobuf/Proto/msp_Motor.proto b/project_old/paint_robot_old/BASE/Protobuf/Proto/msp_Motor.proto deleted file mode 100644 index 129d5b4..0000000 --- a/project_old/paint_robot_old/BASE/Protobuf/Proto/msp_Motor.proto +++ /dev/null @@ -1,23 +0,0 @@ -syntax = "proto3"; - -message MotorParameters{ - int32 MotorID=1; - int32 RxIndex=2; - int32 Run_Mode=3; - int32 Current=4; - int32 Target_Current=5; - int32 Velcity=6; - int32 Target_Velcity=7; - int32 Position=8; - int32 Target_Position=9; - int32 ERROR_Flag=10; - int32 Temperature_Motor=11; - int32 Temperature_PCB=12; - int32 AccTime=13; - int32 DecTime=14; - int32 EncoderOffset=15; - //53 83 设置位置偏移 int32_t "设置偏移值和目标位置 - //（目标位置=编码器位置 - 偏移值）" - -}; - diff --git a/project_old/paint_robot_old/BASE/Protobuf/Proto/msp_TL720D.proto b/project_old/paint_robot_old/BASE/Protobuf/Proto/msp_TL720D.proto deleted file mode 100644 index ad58377..0000000 --- a/project_old/paint_robot_old/BASE/Protobuf/Proto/msp_TL720D.proto +++ /dev/null @@ -1,20 +0,0 @@ -syntax = "proto3"; -//import "nanopb.proto"; - -message MSP_TL720DParameters{ - - int32 RF_Angle_Roll=1; /*横滚角*/ - int32 RF_Angle_Pitch=2; /*俯仰角*/ - int32 RF_Angle_Yaw=3; /*航向角*/ - - int32 RF_Acc_X=4; /*X轴加速度*/ - int32 RF_Acc_Y=5; /*Y轴加速度*/ - int32 RF_Acc_Z=6; /*Z轴加速度*/ - - int32 RF_Gro_X=7; /*X轴陀螺*/ - int32 RF_Gro_Y=8; /*Y轴陀螺*/ - int32 RF_Gro_Z=9; /*Z轴陀螺*/ - - -}; - diff --git a/project_old/paint_robot_old/BASE/Src/BSP/BHBF_ROBOT.c b/project_old/paint_robot_old/BASE/Src/BSP/BHBF_ROBOT.c deleted file mode 100644 index e28c982..0000000 --- a/project_old/paint_robot_old/BASE/Src/BSP/BHBF_ROBOT.c +++ /dev/null @@ -1,127 +0,0 @@ -/* - * BHBF_ROBOT.c - * - * Created on: Oct 26, 2023 - * Author: shiya - */ -#include "fsm.h" -#include "BHBF_ROBOT.h" -#include - - -#include "bsp_FDCAN.h" - - - - - - -int32_t* SystemTimeMiliSeconds; //似乎未用 -int32_t SystemTimeMiliCount; //2ms加一 - -int32_t* SystemErrorCode; -ErrorData* SystemErrorData; - - - - - -//Declare a CV and initialize CV -CV_struct_define CV = -{ 0 }; - - - - -//Declare a GV and initialize CV -GV_struct_define GV = -{ 0 }; - -PV_struct_define decoded_PV_variable = { 0 }; -PV_struct_define decoded_PV = { 0 }; -PV_struct_define _decoded_PV_temp = { 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; -} - - - -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) - { - } - } - -} -/*m/min--->0.1m/min 其实就是×10*/ -int32_t speed_M_min_toE01_M_min(int32_t speedm_min) -{ - return speedm_min*10; -} - - diff --git a/project_old/paint_robot_old/BASE/Src/BSP/DLT/DLTuc.c b/project_old/paint_robot_old/BASE/Src/BSP/DLT/DLTuc.c deleted file mode 100644 index b226900..0000000 --- a/project_old/paint_robot_old/BASE/Src/BSP/DLT/DLTuc.c +++ /dev/null @@ -1,636 +0,0 @@ -/** - * @file DLTuc.c - * @author Teodor Rosolowski - * @date 1 Jul 2022 - * @brief This file is a part of DLTuc library - * - * In this source file you will find entire implementation of the DLTuc lib. - * - * Requirments: - * Around ~2kB of RAM - * Check Configuration file and defines: - * DLT_TRANSMIT_RING_BUFFER_SIZE, DLT_TRANSMIT_MAX_SINGLE_MESSAGE_SIZE - * - */ - -/* - * ******************************************************************************************* - * Includes - * ******************************************************************************************* - * */ -#include "DLTuc.h" - -#include "stdio.h" -#include "stdint.h" - -#include "stdbool.h" -#include -#include - -/* - * ******************************************************************************************* - * Local defines - * ******************************************************************************************* - * */ - -/**! -* \brief DLT_ACT_HEADER_SIZE - actual DLT header size -* \details Standard Header + Extended + TypeInfo -* Don't modify it if you aren't sure what are you doing!!! -*/ -#define DLT_ACT_HEADER_SIZE 32 - -/**! -* \brief DLT_MINIMUM_LOG_DROP_PERIOD -* \details minimum period between two drop info log -*/ -#define DLT_MINIMUM_LOG_DROP_PERIOD 200 - -/* - * ******************************************************************************************* - * Local types - * ******************************************************************************************* - * */ - -/* Prototypes to improve readability.. */ -/*typedefs for future use..*/ -// typedef -// { -// uint32_t HeaderStart; -// BaseHeaderConfig_t BaseHeaderConfig; -// uint8_t MessageCounter; -// uint16_t MessageLength; -// uint32_t EcuId; -// uint32_t TimeStamp; -// }DLT_BaseHeader_t; - -// typedef -// { -// DLT_DebugLevel_t DebugLevel; -// uint8_t NumberOfArguments; -// uint32_t AppId; -// uint32_t ContexID; -// TypeInfo_t TypeInfo; -// uint16_t Argument1; -// }DLT_ExtendedHeader_t; - - -//char DLT_LOG_ENABLE_LEVEL= 7; -char DLT_LOG_ENABLE_LEVEL= 0; -/**! - * \brief RB_Status - * \details --- - * */ -typedef enum -{ - RB_OK = 0, - RB_ERROR = 1 -} RB_Status; - -/**! - * \brief DltRingBufferTransmit_t - * \details --- - * */ -typedef struct DltRingBufferTransmit_Tag -{ - uint16_t Head; // Pointer to write - uint16_t Tail; // Pointer to read - bool readyToTransmit[DLT_TRANSMIT_RING_BUFFER_SIZE]; - uint8_t dataSize[DLT_TRANSMIT_RING_BUFFER_SIZE]; // Array to keep message size -} DltRingBufferTransmit_t; - -/**! - * \brief BluRingBufferReceive_t - * \details --- - * */ -typedef struct BluRingBufferReceive_Tag -{ - - uint16_t Head; // Pointer to write - uint16_t Tail; // Pointer to read - uint8_t MessageSize[DLT_RECEIVE_RING_BUFFER_SIZE]; // Array to keep message size - bool ReadyToRead[DLT_RECEIVE_RING_BUFFER_SIZE]; -} BluRingBufferReceive_t; - -/** - * ******************************************************************************************* - * Static variables - * ******************************************************************************************* - * */ - -/**! - * \brief ExtSerialTrDataFunctionCb - * \details --- - * */ -static void (*ExtSerialTrDataFunctionCb)(uint8_t *DltLogData, uint8_t Size); - -static void (*ExtSerialRecDataFunctionCb)(uint8_t *RecDataBuff, uint16_t Size); - -static void (*ExtInfoInjectionDataRcvdCb)(uint32_t AppId, uint32_t ConId,uint32_t ServId,uint8_t *Data, uint16_t Size); - -static uint32_t (*GetSystemTimeMs)(void); - -/**! - * \brief LogDroppedFlag - * \details --- - * */ -static bool LogDroppedFlag =false; - -static uint32_t PrevLogDropSendTime = 0u; - -static uint8_t DltLogDroppedInfo[] = "LOG DROPPED!!!"; - -static uint8_t DltLogDroppedInfoBuffer[60] = {0}; /* TODO: Remove magic number..*/ - -static uint8_t DLtLogDroppedSize = 0; - -static uint8_t ActDltMessageCounter =0; - -static DltRingBufferTransmit_t DltTrsmtRingBuffer = {.readyToTransmit[0]=true}; - -static uint8_t DltTrsmtMessagesTab[DLT_TRANSMIT_RING_BUFFER_SIZE][DLT_TRANSMIT_MAX_SINGLE_MESSAGE_SIZE]; - -static BluRingBufferReceive_t BleMainReceiveRingBuffer; - -static uint8_t BluMainReceiveMessagesTab[DLT_RECEIVE_RING_BUFFER_SIZE][DLT_REC_SINGLE_MESSAGE_MAX_SIZE]; - -static volatile uint8_t TransmitReadyStateFlag = true; /*TmpFromDma for example*/ - -/* - ********************************************************************************************* - * Prototypes of static functions - ******************************************************************************************** - */ - -/*! - ************************************************************************************************ - * \brief PrepareDltHeader - * \details A very lazy implementation of DLT Header - but it works fine - * Please refer to: https://www.autosar.org/fileadmin/user_upload/standards/foundation/1-0/AUTOSAR_PRS_DiagnosticLogAndTraceProtocol.pdf - ************************************************************************************************/ -static void PrepareDltHeader(uint8_t Level, uint32_t AppId, uint32_t ContextId, uint16_t size,uint8_t *headerAddrStart); - -/*! - ************************************************************************************************ - * \brief DLT_RB_TransmitRead Function to read data from ring buffer - * \details -- - * \param RingBuffer_t *Buf - pointer to Ring Buffer structure - * \param out MessageSize - size of the "DltLogData" (return value) - * \param out MessagePointer - pointer to the message stored in RingBuffer (return value) - * \return RB_OK if something read succesfully, otherwise RB_ERROR - * */ -static RB_Status DLT_RB_TransmitRead(DltRingBufferTransmit_t *Buf, uint8_t *MessageSize, uint8_t **MessagePointer); - -/*! - ************************************************************************************************ - * \brief DLT_RB_GetNextWriteIndex - * \details -- - * \param in RingBuffer_t *Buf - pointer to Ring Buffer structure - * \param out writeIndex - next index where DLT data should be stored, can be used only if fun return "RB_OK" - * \return RB_OK if index available, otherwise RB_ERROR - ************************************************************************************************/ -static RB_Status DLT_RB_GetNextWriteIndex(DltRingBufferTransmit_t *Buf,uint16_t *writeIndex); - -/*! - ************************************************************************************************ - * \brief DLT_RB_Receive_GetNextMessageAddress - * \details Function used to work with DMA - direct write to ring buffer by DMA - * \param in Buf - - * \param in WriteAddress - - ************************************************************************************************/ -static RB_Status DLT_RB_Receive_GetNextMessageAddress(BluRingBufferReceive_t *Buf, uint8_t **WriteAddress); - -/*! - ************************************************************************************************ - * \brief DLT_RB_Receive_Read Function to read data from ring buffer - * \details -- - * \param RingBuffer_t *Buf - pointer to Ring Buffer structure - * \param out MessageSize - size of the "BleLogData" (return value) - * \param out MessagePointer - pointer to the message stored in RingBuffer (return value) - * - * */ -static RB_Status DLT_RB_Receive_Read(BluRingBufferReceive_t *Buf, uint8_t *MessageSize, uint8_t **MessagePointer); - -/* - ********************************************************************************************* - * Static functions implementation - ******************************************************************************************** - */ - -static RB_Status DLT_RB_Receive_GetNextMessageAddress(BluRingBufferReceive_t *Buf, uint8_t **WriteAddress) -{ - /* TODO: The implementation isn't optimal...*/ - static uint8_t DefaultBlindBuffer[DLT_REC_SINGLE_MESSAGE_MAX_SIZE]; - - /*Mark previous message as ready to read*/ - Buf->ReadyToRead[Buf->Head] = true; - - // Compute new Head pointer value of a ring buffer - uint16_t HeadTmp = (Buf->Head + 1) % DLT_RECEIVE_RING_BUFFER_SIZE; - - // Check if there is one free space ahead the Head buffer - if(HeadTmp == Buf->Tail) - { - /*Even if buffer is full data must be received somewhere to don't crush application/ dma*/ - *WriteAddress = DefaultBlindBuffer; - // There is no space in the buffer - return an error - return RB_ERROR; - } - - Buf->ReadyToRead[HeadTmp] = false; - Buf->MessageSize[HeadTmp] = DLT_RECEIVE_RING_BUFFER_SIZE; - Buf->Head = HeadTmp; - - *WriteAddress = &BluMainReceiveMessagesTab[HeadTmp][0]; - - // Everything is ok - return OK status - return RB_OK; -} - -static RB_Status DLT_RB_Receive_Read(BluRingBufferReceive_t *Buf, uint8_t *MessageSize, uint8_t **MessagePointer) -{ - if(Buf->ReadyToRead[Buf->Tail] == false) - { - /*Any message in ring buffer isn't ready to read*/ - return RB_ERROR; - } - /*Mark again as not ready to read*/ - Buf->ReadyToRead[Buf->Tail] = false; - - // Check if Tail hit Head - if(Buf->Head == Buf->Tail) - { - // If yes - there is nothing to read - return RB_ERROR; - } - - // Write current value from buffer to pointer from argument - *MessageSize = Buf->MessageSize[Buf->Tail]; - *MessagePointer = &BluMainReceiveMessagesTab[Buf->Tail][0]; - - // Calculate new Tail pointer - Buf->Tail = (Buf->Tail + 1) % DLT_RECEIVE_RING_BUFFER_SIZE; - - // Everything is ok - return OK status - return RB_OK; -} - -static RB_Status DLT_RB_TransmitRead(DltRingBufferTransmit_t *Buf, uint8_t *MessageSize, uint8_t **MessagePointer) -{ - // Check if Tail hit Head - if(Buf->Head == Buf->Tail) - { - // If yes - there is nothing to read - return RB_ERROR; - } - else if(true == Buf->readyToTransmit[Buf->Tail]) - { - // Write current value from buffer to pointer from argument - *MessageSize = Buf->dataSize[Buf->Tail]; - *MessagePointer = &DltTrsmtMessagesTab[Buf->Tail][0]; - - // Calculate new Tail pointer - Buf->Tail = (Buf->Tail + 1) % DLT_TRANSMIT_RING_BUFFER_SIZE; - // Everything is ok - return OK status - return RB_OK; - } - else - { - /* Message still not ready to transmit */ - return RB_ERROR; - } - -} - -static RB_Status DLT_RB_GetNextWriteIndex(DltRingBufferTransmit_t *Buf,uint16_t *writeIndex) -{ -DLTuc_OS_CRITICAL_START(); - // Calculate new Head pointer value - uint8_t HeadTmp = (Buf->Head + 1) % DLT_TRANSMIT_RING_BUFFER_SIZE; - - // Check if there is one free space ahead the Head buffer - if(HeadTmp == Buf->Tail) - { - DLTuc_OS_CRITICAL_END(); - // There is no space in the buffer - return an error - return RB_ERROR; - } - Buf->Head = HeadTmp; - Buf->readyToTransmit[Buf->Head] = false; - *writeIndex = Buf->Head; - DLTuc_OS_CRITICAL_END(); - - return RB_OK; -} - -static void PrepareDltHeader(uint8_t Level, uint32_t AppId, uint32_t ContextId, uint16_t size,uint8_t *headerAddrStart) -{ - uint32_t ActualTime = 0; - - if(GetSystemTimeMs != NULL) - { - ActualTime = GetSystemTimeMs() * 10U; - /*Multiply by 10 to get value in MS also in DLTViewer - *Reson: Resolution in DLT Viewer is equal: 10^-4 - */ - } - - if(size > ((UINT8_MAX -1) - DLT_ACT_HEADER_SIZE) ) - { - /*Error to handle, or please develop this function to handle input size > UINT8_MAX */ - // while(1) - // { - // /*For development phase: lock the app*/ - // } - size = size - DLT_ACT_HEADER_SIZE -1; - } - - - /*START HEADER*/ - headerAddrStart[0] = 0x44; /*'D'*/ - headerAddrStart[1] = 0x4c; /*'L'*/ - headerAddrStart[2] = 0x53; /*'S'*/ - headerAddrStart[3] = 0x01; /*'0x01'*/ - - - headerAddrStart[4] = 0x35; /*'Dlt base header config - * Use extended header - true - * MSBF - false - * With ECU ID - true - * With Seesion ID - false - * With time stamp - true - * version number -random - '*/ - - headerAddrStart[5] = ActDltMessageCounter++; /*'Message counter value '*/ - - /*TODO: - it must be fixed!!!! - Length*/ - headerAddrStart[6] = 0x00; /*Message length general*/ -// headerAddrStart[7] = 0x37; /*'Message length general '*/ - headerAddrStart[7]=28+size; /*General size */ - - - uint32_t TempEcuId = DLT_LOG_ECUID_VALUE; - /*ECU ID*/ - headerAddrStart[8]= ((uint8_t*)&TempEcuId)[3]; - headerAddrStart[9]= ((uint8_t*)&TempEcuId)[2]; - headerAddrStart[10]= ((uint8_t*)&TempEcuId)[1]; - headerAddrStart[11]= ((uint8_t*)&TempEcuId)[0]; - - /*Time stamp*/ - headerAddrStart[12]= ((uint8_t*)&ActualTime)[3]; - headerAddrStart[13]= ((uint8_t*)&ActualTime)[2]; - headerAddrStart[14]= ((uint8_t*)&ActualTime)[1]; - headerAddrStart[15]= ((uint8_t*)&ActualTime)[0]; - - /*Extended header --verbose | type serial*/ -// headerAddrStart[16]= 0x41; /**/ - headerAddrStart[16]= (Level << 4) | 1; - - /*Number of arguments*/ - headerAddrStart[17]= 0x01; /**/ - - /*App id */ - headerAddrStart[18]= ((uint8_t*)&AppId)[3]; - headerAddrStart[19]= ((uint8_t*)&AppId)[2]; - headerAddrStart[20]= ((uint8_t*)&AppId)[1]; - headerAddrStart[21]= ((uint8_t*)&AppId)[0]; - - /*Contex ID (4 bytes*/ - headerAddrStart[22]= ((uint8_t*)&ContextId)[3]; - headerAddrStart[23]= ((uint8_t*)&ContextId)[2]; - headerAddrStart[24]= ((uint8_t*)&ContextId)[1]; - headerAddrStart[25]= ((uint8_t*)&ContextId)[0]; - - /*Type info*/ - headerAddrStart[26]= 0x01; /**/ - headerAddrStart[27]= 0x82; /**/ - headerAddrStart[28]= 0x00; /**/ - headerAddrStart[29]= 0x00; /**/ - - /*Argument 1*/ - headerAddrStart[30]= size; - /* Size of the load in simplified form, please verify in documentation of DLT protcool documentation */ - headerAddrStart[31]= 0x00; /**/ -} - -/* - **************************************************************************************************** - * Exported functions implementation. - * Descriptions are added in header file - ***************************************************************************************************** - */ - -void DLTuc_RawDataReceiveDone(uint16_t Size) -{ - static uint8_t *MessageReceiveBufferAddress = NULL; - uint8_t *MessageToRead_p = NULL; - uint8_t MessageToReadSize= 0U; - - DLT_RB_Receive_GetNextMessageAddress(&BleMainReceiveRingBuffer,&MessageReceiveBufferAddress); - if(ExtSerialRecDataFunctionCb != NULL){ - ExtSerialRecDataFunctionCb(MessageReceiveBufferAddress,DLT_REC_SINGLE_MESSAGE_MAX_SIZE); - } - - /* - * The receive buffer isn't handled fully correctly, it require deeper investigation. - * However, it is possible to receive the Injection messages, and base commands if are transmitted with breakes.. - * Received DTL messages are divided by the "IDLE" irq for now.., not by the size and etc... - */ - if(DLT_RB_Receive_Read(&BleMainReceiveRingBuffer, &MessageToReadSize,&MessageToRead_p) == RB_OK) - { - if(MessageToRead_p[4] == 53) /**/ - { - /*Use Extended, with EcuId, with Timestamp, end at[15] - then Extended data as follow: - [16] ==22-? - non verbose, type: control, MSTP: fatal - [17] numOfArgs == 1 - TODO: Only 1 argument is for nowsupported!!! - [18-21] - AppId - [22-25] - ContexId - [26-29] - ServiceId - [30-33] - Size*/ - - uint32_t AppId = MessageToRead_p[21] << 24 |MessageToRead_p[20] << 16 | MessageToRead_p[19] << 8 | MessageToRead_p[18] << 0; - uint32_t RecContexId = MessageToRead_p[25] << 24 |MessageToRead_p[24] << 16 | MessageToRead_p[23] << 8 | MessageToRead_p[22] << 0; - uint32_t RecServiceId = MessageToRead_p[29] << 24 |MessageToRead_p[28] << 16 | MessageToRead_p[27] << 8 | MessageToRead_p[26] << 0; - - if(RecServiceId >= DLT_SERVICE_ID_CALLSW_CINJECTION) - { - if(NULL != ExtInfoInjectionDataRcvdCb) - { - /*MSB LSB, wtf..?, it is somehow mixed? */ - uint32_t DltDatSize = MessageToRead_p[33] << 24 | MessageToRead_p[32] << 16 | MessageToRead_p[31] << 8 | MessageToRead_p[30] << 0; - - ExtInfoInjectionDataRcvdCb(AppId,RecContexId,RecServiceId,&MessageToRead_p[34],(uint16_t)DltDatSize); - } - } - else if(RecServiceId == DLT_SERVICE_ID_SET_LOG_LEVEL) - { - uint32_t NewLogLevel = MessageToRead_p[30]; - LOG("Set new log level request: %d How you triggered it?? , not supported", NewLogLevel); - /* It is handled correctly by DLT Viewer?? */ - } - else if(RecServiceId == DLT_SERVICE_ID_SET_DEFAULT_LOG_LEVEL) - { - uint32_t NewLogLevel = MessageToRead_p[30]; - LOG("Set default log level request: %d", NewLogLevel); - - LOG("Not supported yet, I'm too lazy :)"); - } - else if(DLT_SERVICE_ID_GET_SOFTWARE_VERSION == RecServiceId) - { - LOG("ECU_SW_VERSION: %d", DLT_ECU_SW_VER); - /*TODO: The lib should send here answer of control message... */ - } - else if(DLT_SERVICE_ID_GET_DEFAULT_LOG_LEVEL == RecServiceId) - { - LOG("Default log level: %d", DLT_LOG_ENABLE_LEVEL); - } - } - } -} - -void DLTuc_RegisterInjectionDataReceivedCb( - void InjectionDataRcvd(uint32_t AppId, uint32_t ConId,uint32_t ServId,uint8_t *Data, uint16_t Size)) -{ - ExtInfoInjectionDataRcvdCb = InjectionDataRcvd; -} - -void DLTuc_RegisterReceiveSerialDataFunction(void LLSerialRecDataFunctionC(uint8_t *DltLogData, uint16_t Size)) -{ - ExtSerialRecDataFunctionCb = LLSerialRecDataFunctionC; - - if(ExtSerialRecDataFunctionCb != NULL) - { - ExtSerialRecDataFunctionCb(&BluMainReceiveMessagesTab[0][0],DLT_REC_SINGLE_MESSAGE_MAX_SIZE); - } -} - -void DLTuc_RegisterTransmitSerialDataFunction(void LLSerialTrDataFunctionC(uint8_t *DltLogData, uint8_t Size)) -{ - ExtSerialTrDataFunctionCb = LLSerialTrDataFunctionC; - - /*Preapre LOG DROP Info Log*/ - /* 0x444C5443 - In Ascii code it is: DLTC. It is more convience to put magic numbers here :) */ - PrepareDltHeader(DL_ERROR,0x444C5443, 0x444C5443,sizeof(DltLogDroppedInfo),DltLogDroppedInfoBuffer); - for(int i=0; i DLT_MINIMUM_LOG_DROP_PERIOD) ) - { - /* If DLTuc will always send the DROP Message info, - * then will not read any message from RB..*/ - PrevLogDropSendTime = ActualSysTime; - LogDroppedFlag = false; - - if(ExtSerialTrDataFunctionCb != NULL) - { - ExtSerialTrDataFunctionCb(DltLogDroppedInfoBuffer, DLtLogDroppedSize); - } - return; - } - - DLTuc_OS_CRITICAL_START(); - if(DLT_RB_TransmitRead(&DltTrsmtRingBuffer,&TmpMessageSize,&TmpMessagePointer) == RB_OK) - { - if(ExtSerialTrDataFunctionCb != NULL) - { - DLTuc_OS_CRITICAL_END(); - ExtSerialTrDataFunctionCb(TmpMessagePointer, TmpMessageSize); - } - } - else - { - TransmitReadyStateFlag = true; - } - DLTuc_OS_CRITICAL_END(); -} - -void DLTuc_LogOutVarArgs(DltLogLevel_t Level, uint32_t AppId, uint32_t ContextId, uint8_t *Payload, ...) -{ - uint16_t Size; /* */ - uint8_t TmpMessageSize=0U; /* */ - uint8_t *TmpMessagePointer = NULL; /* */ - uint16_t writeIndex = 0U; /* */ - - if(DLT_RB_GetNextWriteIndex(&DltTrsmtRingBuffer,&writeIndex) != RB_OK) - { - DLTuc_OS_CRITICAL_START(); - LogDroppedFlag = true; - DLTuc_OS_CRITICAL_END(); - } - else - { - /* Put the DLT message data directly in ring buffer*/ - va_list ap; /* */ - va_start(ap, Payload); - Size = vsprintf((char *)&(DltTrsmtMessagesTab[writeIndex][DLT_ACT_HEADER_SIZE]), (char *)Payload,ap); - va_end(ap); - - Size += DLT_ACT_HEADER_SIZE; - /*Add additional zeros on the end of message - thanks to that it work stable */ - Size++; - DltTrsmtMessagesTab[writeIndex][Size] = 0U; - Size++; - DltTrsmtMessagesTab[writeIndex][Size] = 0U; - - PrepareDltHeader(Level,AppId,ContextId,Size,&(DltTrsmtMessagesTab[writeIndex][0])); - - Size = Size + DLT_ACT_HEADER_SIZE; - DltTrsmtRingBuffer.dataSize[writeIndex] = Size; - - DLTuc_OS_CRITICAL_START(); - DltTrsmtRingBuffer.readyToTransmit[writeIndex] = true; - DLTuc_OS_CRITICAL_END(); - } - - DLTuc_OS_CRITICAL_START(); - if(TransmitReadyStateFlag == true) - { - if(DLT_RB_TransmitRead(&DltTrsmtRingBuffer,&TmpMessageSize,&TmpMessagePointer) == RB_OK) - { - if(TmpMessageSize != 0U) - { - TransmitReadyStateFlag = false; - DLTuc_OS_CRITICAL_END(); - /*Log transmission must be started in this contex...*/ - /***********************************************/ - /* It may be a bug in implementation - it must be investigated.. */ - /* It's important to be aware of this fact!!*/ - /***********************************************/ - if(ExtSerialTrDataFunctionCb != NULL) - { - ExtSerialTrDataFunctionCb(TmpMessagePointer, TmpMessageSize); - } - else - { - // while(1); /*Please Register the callback...*/ - } - } - } - } - DLTuc_OS_CRITICAL_END(); -} - -void DLTuc_RegisterGetTimeStampMsCallback(uint32_t GetSysTime(void)) -{ - GetSystemTimeMs = GetSysTime; -} - - diff --git a/project_old/paint_robot_old/BASE/Src/BSP/bsp_DLT_Log.c b/project_old/paint_robot_old/BASE/Src/BSP/bsp_DLT_Log.c deleted file mode 100644 index 714c4c0..0000000 --- a/project_old/paint_robot_old/BASE/Src/BSP/bsp_DLT_Log.c +++ /dev/null @@ -1,126 +0,0 @@ -/* - * bsp_DLT_Log.c - * - * Created on: Aug 8, 2024 - * Author: akeguo - */ - -#include "bsp_DLT_Log.h" -#include -uint32_t GetSysTime(void); -void DltInjectDataRcvd(uint32_t AppId, uint32_t ConId, uint32_t ServId, - uint8_t *Data, uint16_t Size); -void DLT_LowLevelReceiveDmaToIdle(uint8_t *rxBuf, uint16_t size); -void DLT_DataReceiveEndCallback(uint8_t *rxBuf, uint16_t Size); -void DLT_DataTransmit(uint8_t *DltLogData, uint8_t Size); - -struct UARTHandler *dLT_Log_UART_Handler; - -typedef enum _send_out_port -{ - udp = 0, serialport = 1, tcp = 3, - -} send_out_port; - -char send_out_is_udp_or_serial_port = 0; - -void dLT_Log_intialize(struct UARTHandler *Handler) -{ - - dLT_Log_UART_Handler = Handler; - dLT_Log_UART_Handler->Wait_time = 40; - Handler->dispacherController->Dispacher_Enable = 1; - //log_info("angle_encoder_intialize"); - dLT_Log_UART_Handler->UART_Decode = DLT_DataReceiveEndCallback; - - /*Register Low Level Transmit/Receive functions for DLTuc Library*/ - DLTuc_RegisterTransmitSerialDataFunction(DLT_DataTransmit); - DLTuc_RegisterReceiveSerialDataFunction(DLT_LowLevelReceiveDmaToIdle); - - DLTuc_RegisterGetTimeStampMsCallback(GetSysTime); /*Register GetSysTime function*/ - /*The function "GetSysTime" must return the time in ms*/ - - DLTuc_RegisterInjectionDataReceivedCb(DltInjectDataRcvd); - send_out_is_udp_or_serial_port = serialport; -} -//dlt log 日志配置 默认为udp发送 -void dLT_Log_intialize_udp_tcp() -{ - - //DLT_DataReceiveEndCallback; - /*Register Low Level Transmit/Receive functions for DLTuc Library*/ - DLTuc_RegisterTransmitSerialDataFunction(DLT_DataTransmit); - DLTuc_RegisterReceiveSerialDataFunction(DLT_LowLevelReceiveDmaToIdle); - - DLTuc_RegisterGetTimeStampMsCallback(GetSysTime); /*Register GetSysTime function*/ - /*The function "GetSysTime" must return the time in ms*/ - - DLTuc_RegisterInjectionDataReceivedCb(DltInjectDataRcvd); - //send_out_is_udp_or_serial_port = udp; - send_out_is_udp_or_serial_port = tcp; - - UDP_DLT_ReceivedCallback = DLT_DataReceiveEndCallback; //将udp中的函数指针，指向解析 -} - -/*This CallBack was registered in main function using function: DLTuc_RegisterTransmitSerialDataFunction*/ -void DLT_DataTransmit(uint8_t *DltLogData, uint8_t Size) -{ - - if (send_out_is_udp_or_serial_port == udp) - { - udp_dlt_send_back(DltLogData, Size); - } - else if (send_out_is_udp_or_serial_port == serialport) - { - dLT_Log_UART_Handler->AddSendList(dLT_Log_UART_Handler, DltLogData, - Size, 100, NULL); - } - else if (send_out_is_udp_or_serial_port == tcp) - { - tcp_send_to_all_clients(DltLogData, Size);// - //tcp_add_sendList(DltLogData,Size); - } - - DLTuc_MessageTransmitDone(); - -} -/*CallBacks used by ucDltLibrary section end..*/ - -void DLT_DataReceiveEndCallback(uint8_t *rxBuf, uint16_t Size) -{ - if (Size == 3) - { - if (rxBuf[2]) - { - DLT_LOG_ENABLE_LEVEL = 7; - } - else - { - DLT_LOG_ENABLE_LEVEL = 0; - } - } - DLTuc_RawDataReceiveDone(Size); - /* - *In case of STM32 HAL lib, you have to subsitute this function using: - *void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size) - */ -} -//HAL_UARTEx_RxEventCallback -void DLT_LowLevelReceiveDmaToIdle(uint8_t *rxBuf, uint16_t Size) -{ - - memcpy(rxBuf, dLT_Log_UART_Handler->Rx_Buf, Size); - -} - -void DltInjectDataRcvd(uint32_t AppId, uint32_t ConId, uint32_t ServId, - uint8_t *Data, uint16_t Size) -{ - LOG("RecInjectionData: %s, ServId: %d Size: %d", Data, ServId, Size) - -} - -uint32_t GetSysTime(void) -{ - return HAL_GetTick(); -} diff --git a/project_old/paint_robot_old/BASE/Src/BSP/bsp_EEPROM.c b/project_old/paint_robot_old/BASE/Src/BSP/bsp_EEPROM.c deleted file mode 100644 index 909eddd..0000000 --- a/project_old/paint_robot_old/BASE/Src/BSP/bsp_EEPROM.c +++ /dev/null @@ -1,570 +0,0 @@ -/* - * bsp_EEPROM.c - * - * Created on: Oct 26, 2023 - * Author: shiya - */ -#include "BSP/bsp_EEPROM.h" - -void bsp_InitI2C(void); -void i2c_Start(void); -void i2c_Stop(void); -void i2c_SendByte(uint8_t _ucByte); -uint8_t i2c_ReadByte(void); -uint8_t i2c_WaitAck(void); -void i2c_Ack(void); -void i2c_NAck(void); -uint8_t i2c_CheckDevice(uint8_t _Address); - -uint16_t App_Download_EEPROM_Addr= 1024; -/* 定义读写SCL和SDA的宏 */ -#define I2C_SCL_GPIO EEPROM_SCL_GPIO_Port -#define I2C_SDA_GPIO EEPROM_SDA_GPIO_Port -#define I2C_SCL_PIN EEPROM_SCL_Pin -#define I2C_SDA_PIN EEPROM_SDA_Pin - -#define I2C_SCL_1() I2C_SCL_GPIO->BSRR = I2C_SCL_PIN /* SCL = 1 */ -#define I2C_SCL_0() I2C_SCL_GPIO->BSRR = ((uint32_t)I2C_SCL_PIN << 16U) /* SCL = 0 */ - -#define I2C_SDA_1() I2C_SDA_GPIO->BSRR = I2C_SDA_PIN /* SDA = 1 */ -#define I2C_SDA_0() I2C_SDA_GPIO->BSRR = ((uint32_t)I2C_SDA_PIN << 16U) /* SDA = 0 */ - - -#define I2C_SDA_READ() ((I2C_SDA_GPIO->IDR & I2C_SDA_PIN) != 0) /* 读SDA口线状态 */ -#define I2C_SCL_READ() ((I2C_SCL_GPIO->IDR & I2C_SCL_PIN) != 0) /* 读SCL口线状态 */ - - - -uint8_t GF_BSP_EEPROM_Init(void) -{ - bsp_InitI2C(); - return(GF_BSP_EEPROM_CheckOK()); -} - -/* -********************************************************************************************************* -* 函 数 名: bsp_InitI2C -* 功能说明: 配置I2C总线的GPIO，采用模拟IO的方式实现 -* 形 参: 无 -* 返 回 值: 无 -********************************************************************************************************* -*/ -void bsp_InitI2C(void) -{ - GPIO_InitTypeDef gpio_init; - - - gpio_init.Mode = GPIO_MODE_OUTPUT_OD; /* 设置开漏输出 */ - gpio_init.Pull = GPIO_NOPULL; /* 上下拉电阻不使能 */ - gpio_init.Speed = GPIO_SPEED_FREQ_LOW; // GPIO_SPEED_FREQ_HIGH; /* GPIO速度等级 */ - - gpio_init.Pin = I2C_SCL_PIN; - HAL_GPIO_Init(I2C_SCL_GPIO, &gpio_init); - - gpio_init.Pin = I2C_SDA_PIN; - HAL_GPIO_Init(I2C_SDA_GPIO, &gpio_init); - - /* 给一个停止信号, 复位I2C总线上的所有设备到待机模式 */ - i2c_Stop(); -} - -/* -********************************************************************************************************* -* 函 数 名: i2c_Delay -* 功能说明: I2C总线位延迟，最快400KHz -* 形 参: 无 -* 返 回 值: 无 -********************************************************************************************************* -*/ -static void i2c_Delay(void) -{ - GF_BSP_TIMER_DelayUS(2); -} - -/* -********************************************************************************************************* -* 函 数 名: i2c_Start -* 功能说明: CPU发起I2C总线启动信号 -* 形 参: 无 -* 返 回 值: 无 -********************************************************************************************************* -*/ -void i2c_Start(void) -{ - /* 当SCL高电平时，SDA出现一个下跳沿表示I2C总线启动信号 */ - I2C_SDA_1(); - I2C_SCL_1(); - i2c_Delay(); - I2C_SDA_0(); - i2c_Delay(); - - I2C_SCL_0(); - i2c_Delay(); -} - -/* -********************************************************************************************************* -* 函 数 名: i2c_Start -* 功能说明: CPU发起I2C总线停止信号 -* 形 参: 无 -* 返 回 值: 无 -********************************************************************************************************* -*/ -void i2c_Stop(void) -{ - /* 当SCL高电平时，SDA出现一个上跳沿表示I2C总线停止信号 */ - I2C_SDA_0(); - i2c_Delay(); - I2C_SCL_1(); - i2c_Delay(); - I2C_SDA_1(); - i2c_Delay(); -} - -/* -********************************************************************************************************* -* 函 数 名: i2c_SendByte -* 功能说明: CPU向I2C总线设备发送8bit数据 -* 形 参: _ucByte ： 等待发送的字节 -* 返 回 值: 无 -********************************************************************************************************* -*/ -void i2c_SendByte(uint8_t _ucByte) -{ - uint8_t i; - - /* 先发送字节的高位bit7 */ - for (i = 0; i < 8; i++) - { - if (_ucByte & 0x80) - { - I2C_SDA_1(); - } - else - { - I2C_SDA_0(); - } - i2c_Delay(); - I2C_SCL_1(); - i2c_Delay(); - I2C_SCL_0(); - I2C_SCL_0(); /* 2019-03-14 针对GT811电容触摸，添加一行，相当于延迟几十ns */ - if (i == 7) - { - I2C_SDA_1(); // 释放总线 - } - _ucByte <<= 1; /* 左移一个bit */ - } -} - -/* -********************************************************************************************************* -* 函 数 名: i2c_ReadByte -* 功能说明: CPU从I2C总线设备读取8bit数据 -* 形 参: 无 -* 返 回 值: 读到的数据 -********************************************************************************************************* -*/ -uint8_t i2c_ReadByte(void) -{ - uint8_t i; - uint8_t value; - - /* 读到第1个bit为数据的bit7 */ - value = 0; - for (i = 0; i < 8; i++) - { - value <<= 1; - I2C_SCL_1(); - i2c_Delay(); - if (I2C_SDA_READ()) - { - value++; - } - I2C_SCL_0(); - i2c_Delay(); - } - return value; -} - -/* -********************************************************************************************************* -* 函 数 名: i2c_WaitAck -* 功能说明: CPU产生一个时钟，并读取器件的ACK应答信号 -* 形 参: 无 -* 返 回 值: 返回0表示正确应答，1表示无器件响应 -********************************************************************************************************* -*/ -uint8_t i2c_WaitAck(void) -{ - uint8_t re; - - I2C_SDA_1(); /* CPU释放SDA总线 */ - i2c_Delay(); - I2C_SCL_1(); /* CPU驱动SCL = 1, 此时器件会返回ACK应答 */ - i2c_Delay(); - if (I2C_SDA_READ()) /* CPU读取SDA口线状态 */ - { - re = 1; - } - else - { - re = 0; - } - I2C_SCL_0(); - i2c_Delay(); - return re; -} - -/* -********************************************************************************************************* -* 函 数 名: i2c_Ack -* 功能说明: CPU产生一个ACK信号 -* 形 参: 无 -* 返 回 值: 无 -********************************************************************************************************* -*/ -void i2c_Ack(void) -{ - I2C_SDA_0(); /* CPU驱动SDA = 0 */ - i2c_Delay(); - I2C_SCL_1(); /* CPU产生1个时钟 */ - i2c_Delay(); - I2C_SCL_0(); - i2c_Delay(); - I2C_SDA_1(); /* CPU释放SDA总线 */ - - i2c_Delay(); -} - -/* -********************************************************************************************************* -* 函 数 名: i2c_NAck -* 功能说明: CPU产生1个NACK信号 -* 形 参: 无 -* 返 回 值: 无 -********************************************************************************************************* -*/ -void i2c_NAck(void) -{ - I2C_SDA_1(); /* CPU驱动SDA = 1 */ - i2c_Delay(); - I2C_SCL_1(); /* CPU产生1个时钟 */ - i2c_Delay(); - I2C_SCL_0(); - i2c_Delay(); -} - -/* -********************************************************************************************************* -* 函 数 名: i2c_CheckDevice -* 功能说明: 检测I2C总线设备，CPU向发送设备地址，然后读取设备应答来判断该设备是否存在 -* 形 参: _Address：设备的I2C总线地址 -* 返 回 值: 返回值 0 表示正确， 返回1表示未探测到 -********************************************************************************************************* -*/ -uint8_t i2c_CheckDevice(uint8_t _Address) -{ - uint8_t ucAck; - - if (I2C_SDA_READ() && I2C_SCL_READ()) - { - i2c_Start(); /* 发送启动信号 */ - - /* 发送设备地址+读写控制bit（0 = w， 1 = r) bit7 先传 */ - i2c_SendByte(_Address | I2C_WR); - ucAck = i2c_WaitAck(); /* 检测设备的ACK应答 */ - - i2c_Stop(); /* 发送停止信号 */ - - return ucAck; - } - return 1; /* I2C总线异常 */ -} - -/* -********************************************************************************************************* -* 函 数 名: ee_CheckOk -* 功能说明: 判断串行EERPOM是否正常 -* 形 参: 无 -* 返 回 值: 1 表示正常， 0 表示不正常 -********************************************************************************************************* -*/ -uint8_t GF_BSP_EEPROM_CheckOK(void) -{ - if (i2c_CheckDevice(EE_DEV_ADDR) == 0) - { - return 1; - } - else - { - /* 失败后，切记发送I2C总线停止信号 */ - i2c_Stop(); - return 0; - } -} - - -/* -********************************************************************************************************* -* 函 数 名: GF_BSP_EEPROM_ReadBytes -* 功能说明: 从串行EEPROM指定地址处开始读取若干数据 -* 形 参: _usAddress : 起始地址 -* _usSize : 数据长度，单位为字节 -* _pReadBuf : 存放读到的数据的缓冲区指针 -* 返 回 值: 0 表示失败，1表示成功 -********************************************************************************************************* -*/ -uint8_t GF_BSP_EEPROM_ReadBytes(uint8_t *_pReadBuf, uint16_t _usAddress, uint16_t _usSize) -{ - uint16_t i; - - /* 采用串行EEPROM随即读取指令序列，连续读取若干字节 */ - - /* 第1步：发起I2C总线启动信号 */ - i2c_Start(); - - /* 第2步：发起控制字节，高7bit是地址，bit0是读写控制位，0表示写，1表示读 */ - i2c_SendByte(EE_DEV_ADDR | I2C_WR); /* 此处是写指令 */ - - /* 第3步：发送ACK */ - if (i2c_WaitAck() != 0) - { - goto cmd_fail; /* EEPROM器件无应答 */ - } - - /* 第4步：发送字节地址，24C02只有256字节，因此1个字节就够了，如果是24C04以上，那么此处需要连发多个地址 */ - if (EE_ADDR_BYTES == 1) - { - i2c_SendByte((uint8_t)_usAddress); - if (i2c_WaitAck() != 0) - { - goto cmd_fail; /* EEPROM器件无应答 */ - } - } - else - { - i2c_SendByte(_usAddress >> 8); - if (i2c_WaitAck() != 0) - { - goto cmd_fail; /* EEPROM器件无应答 */ - } - - i2c_SendByte(_usAddress&0xff); - if (i2c_WaitAck() != 0) - { - goto cmd_fail; /* EEPROM器件无应答 */ - } - } - - /* 第6步：重新启动I2C总线。下面开始读取数据 */ - i2c_Start(); - - /* 第7步：发起控制字节，高7bit是地址，bit0是读写控制位，0表示写，1表示读 */ - i2c_SendByte(EE_DEV_ADDR | I2C_RD); /* 此处是读指令 */ - - /* 第8步：发送ACK */ - if (i2c_WaitAck() != 0) - { - goto cmd_fail; /* EEPROM器件无应答 */ - } - - /* 第9步：循环读取数据 */ - for (i = 0; i < _usSize; i++) - { - _pReadBuf[i] = i2c_ReadByte(); /* 读1个字节 */ - - /* 每读完1个字节后，需要发送Ack， 最后一个字节不需要Ack，发Nack */ - if (i != _usSize - 1) - { - i2c_Ack(); /* 中间字节读完后，CPU产生ACK信号(驱动SDA = 0) */ - } - else - { - i2c_NAck(); /* 最后1个字节读完后，CPU产生NACK信号(驱动SDA = 1) */ - } - } - /* 发送I2C总线停止信号 */ - i2c_Stop(); - return 1; /* 执行成功 */ - -cmd_fail: /* 命令执行失败后，切记发送停止信号，避免影响I2C总线上其他设备 */ - /* 发送I2C总线停止信号 */ - i2c_Stop(); - return 0; -} - -/* -********************************************************************************************************* -* 函 数 名: GF_BSP_EEPROM_WriteBytes -* 功能说明: 向串行EEPROM指定地址写入若干数据，采用页写操作提高写入效率 -* 形 参: _usAddress : 起始地址 -* _usSize : 数据长度，单位为字节 -* _pWriteBuf : 存放读到的数据的缓冲区指针 -* 返 回 值: 0 表示失败，1表示成功 -********************************************************************************************************* -*/ -uint8_t GF_BSP_EEPROM_WriteBytes(uint8_t *_pWriteBuf, uint16_t _usAddress, uint16_t _usSize) -{ - uint16_t i,m; - uint16_t usAddr; - - /* - 写串行EEPROM不像读操作可以连续读取很多字节，每次写操作只能在同一个page。 - 对于24xx02，page size = 8 - 简单的处理方法为：按字节写操作模式，每写1个字节，都发送地址 - 为了提高连续写的效率: 本函数采用page wirte操作。 - */ - - usAddr = _usAddress; - for (i = 0; i < _usSize; i++) - { - /* 当发送第1个字节或是页面首地址时，需要重新发起启动信号和地址 */ - if ((i == 0) || (usAddr & (EE_PAGE_SIZE - 1)) == 0) - { - /*　第０步：发停止信号，启动内部写操作　*/ - i2c_Stop(); - - /* 通过检查器件应答的方式，判断内部写操作是否完成, 一般小于 10ms - CLK频率为200KHz时，查询次数为30次左右 - */ - for (m = 0; m < 1000; m++) - { - /* 第1步：发起I2C总线启动信号 */ - i2c_Start(); - - /* 第2步：发起控制字节，高7bit是地址，bit0是读写控制位，0表示写，1表示读 */ - i2c_SendByte(EE_DEV_ADDR | I2C_WR); /* 此处是写指令 */ - - /* 第3步：发送一个时钟，判断器件是否正确应答 */ - if (i2c_WaitAck() == 0) - { - break; - } - } - if (m == 1000) - { - goto cmd_fail; /* EEPROM器件写超时 */ - } - - /* 第4步：发送字节地址，24C02只有256字节，因此1个字节就够了，如果是24C04以上，那么此处需要连发多个地址 */ - if (EE_ADDR_BYTES == 1) - { - i2c_SendByte((uint8_t)usAddr); - if (i2c_WaitAck() != 0) - { - goto cmd_fail; /* EEPROM器件无应答 */ - } - } - else - { - i2c_SendByte(usAddr >> 8); - if (i2c_WaitAck() != 0) - { - goto cmd_fail; /* EEPROM器件无应答 */ - } - - i2c_SendByte(usAddr&0xff); - if (i2c_WaitAck() != 0) - { - goto cmd_fail; /* EEPROM器件无应答 */ - } - } - } - - /* 第6步：开始写入数据 */ - i2c_SendByte(_pWriteBuf[i]); - - /* 第7步：发送ACK */ - if (i2c_WaitAck() != 0) - { - goto cmd_fail; /* EEPROM器件无应答 */ - } - - usAddr++; /* 地址增1 */ - } - - /* 命令执行成功，发送I2C总线停止信号 */ - i2c_Stop(); - - /* 通过检查器件应答的方式，判断内部写操作是否完成, 一般小于 10ms - CLK频率为200KHz时，查询次数为30次左右 - */ - for (m = 0; m < 1000; m++) - { - /* 第1步：发起I2C总线启动信号 */ - i2c_Start(); - - /* 第2步：发起控制字节，高7bit是地址，bit0是读写控制位，0表示写，1表示读 */ - #if EE_ADDR_A8 == 1 - i2c_SendByte(EE_DEV_ADDR | I2C_WR | ((_usAddress >> 7) & 0x0E)); /* 此处是写指令 */ - #else - i2c_SendByte(EE_DEV_ADDR | I2C_WR); /* 此处是写指令 */ - #endif - - /* 第3步：发送一个时钟，判断器件是否正确应答 */ - if (i2c_WaitAck() == 0) - { - break; - } - } - if (m == 1000) - { - goto cmd_fail; /* EEPROM器件写超时 */ - } - - /* 命令执行成功，发送I2C总线停止信号 */ - i2c_Stop(); - return 1; - -cmd_fail: /* 命令执行失败后，切记发送停止信号，避免影响I2C总线上其他设备 */ - /* 发送I2C总线停止信号 */ - i2c_Stop(); - return 0; -} - -CV_struct_define GF_BSP_EEPROM_Get_CV(void) -{ - CV_struct_define cv= {0}; - //char buffer[sizeof(CV_struct_define)]; - GF_BSP_EEPROM_ReadBytes((uint8_t *)&cv, GF_BSP_EEPROM_CV_struct_define_Start_Address, sizeof(CV_struct_define)); - return cv; - -} - -uint8_t GF_BSP_EEPROM_Set_CV(CV_struct_define cv) -{ - return GF_BSP_EEPROM_WriteBytes((uint8_t*)&cv,GF_BSP_EEPROM_CV_struct_define_Start_Address,sizeof(CV_struct_define)); -} - - -IAP_struct_define GF_BSP_EEPROM_Get_IAP(void) -{ - IAP_struct_define iap= {0}; - - GF_BSP_EEPROM_ReadBytes((uint8_t *)&iap, IAP_struct_define_Start_Address, sizeof(IAP_struct_define)); - return iap; - -} - -uint8_t GF_BSP_EEPROM_Set_IAP(IAP_struct_define iap) -{ - return GF_BSP_EEPROM_WriteBytes((uint8_t*)&iap,IAP_struct_define_Start_Address,sizeof(IAP_struct_define)); -} - - -//PV_struct_define GF_BSP_EEPROM_Get_PV(void) -//{ -// CV_struct_define cv=GF_BSP_EEPROM_Get_CV(); -// -// return cv.PV; -// -//} - -//uint8_t GF_BSP_EEPROM_Set_PV(PV_struct_define pv) -//{ -// CV_struct_define cv=GF_BSP_EEPROM_Get_CV(); -// cv.PV=pv; -// return GF_BSP_EEPROM_Set_CV(cv); -//} - diff --git a/project_old/paint_robot_old/BASE/Src/BSP/bsp_Error_Detect.c b/project_old/paint_robot_old/BASE/Src/BSP/bsp_Error_Detect.c deleted file mode 100644 index 2431cd5..0000000 --- a/project_old/paint_robot_old/BASE/Src/BSP/bsp_Error_Detect.c +++ /dev/null @@ -1,31 +0,0 @@ -/* - * bsp_Error_Detect.c - * - * Created on: Oct 23, 2024 - * Author: akeguo - */ -#include "bsp_Error_Detect.h" -void ErrorDetect(); -char Error_Detect_Enable=1; -HardWareController *HardWareErrorController; -void Error_Detect_Intialzie(uint16_t DispacherPeriod) -{ - HardWareErrorController = (HardWareController*) malloc( - sizeof(HardWareController)); - HardWareErrorController->pComHWHead = NULL; - HardWareErrorController->pComHWTail = NULL; - HardWareErrorController->Add_PCOMHardWare = ComHardWare_List_Add_t; - HardWareErrorController->Set_PCOMHardWare = Set_PCOMHardWare_t; - HardWareErrorController->PCOMHardWare_Check = PCOMHardWare_Check_t; - HardWareErrorController->DispacherCallTime = DispacherPeriod;//check the communicaton every 50ms - GF_BSP_Interrupt_Add_CallBack( - DF_BSP_InterCall_TIM8_2ms_PeriodElapsedCallback, ErrorDetect); -} - -void ErrorDetect() -{ - if (Error_Detect_Enable == 1) - { - HardWareErrorController->PCOMHardWare_Check(HardWareErrorController); - } -} diff --git a/project_old/paint_robot_old/BASE/Src/BSP/bsp_FDCAN.c b/project_old/paint_robot_old/BASE/Src/BSP/bsp_FDCAN.c deleted file mode 100644 index d74eacf..0000000 --- a/project_old/paint_robot_old/BASE/Src/BSP/bsp_FDCAN.c +++ /dev/null @@ -1,335 +0,0 @@ -/* - * bsp_FDCAN.c - * - * Created on: Oct 26, 2023 - * Author: shiya - */ -#include "bsp_FDCAN.h" -#include "main.h" -#include -#include "bsp_Error.pb.h" -#include "paint_robot_old.h" -//#include "MSP/msp_TI5MOTOR.h" - -FDCANHandler FD_CAN_1_Handler; -FDCANHandler FD_CAN_2_Handler; - -FDCAN_RxHeaderTypeDef CAN_RX_HDR; - -uint8_t CAN_Buf[8]; -uint8_t CAN_Buf_2[8]; - -int32_t CAN_ID; -int32_t CAN_ID_2; - -uint8_t GF_BSP_FDCAN_Init(void) //can初始化 -{ - if (HAL_FDCAN_ActivateNotification(&hfdcan1, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, - 0) != HAL_OK) - { - Error_Handler(); - } - - if (HAL_FDCAN_ActivateNotification(&hfdcan1, FDCAN_IT_BUS_OFF, 0) != HAL_OK) - { - Error_Handler(); - } - - HAL_FDCAN_Start(&hfdcan1); - - if (HAL_FDCAN_ActivateNotification(&hfdcan2, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, - 0) != HAL_OK) - { - Error_Handler(); - } - - if (HAL_FDCAN_ActivateNotification(&hfdcan2, FDCAN_IT_BUS_OFF, 0) != HAL_OK) - { - Error_Handler(); - } - - HAL_FDCAN_Start(&hfdcan2); - - return 1; -} - -void HAL_FDCAN_ErrorStatusCallback(FDCAN_HandleTypeDef *hfdcan, - uint32_t ErrorStatusITs) -{ - if (hfdcan->Instance == FDCAN1) - { - MX_FDCAN1_Init(); - } - if (hfdcan->Instance == FDCAN2) - { - MX_FDCAN2_Init(); - } -} - -void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs)//can接收 -{ - if (hfdcan->Instance == FDCAN1) - { - if (HAL_FDCAN_GetRxMessage(hfdcan, FDCAN_RX_FIFO0, &CAN_RX_HDR, CAN_Buf)//把数据存CAN_Buf里 - == HAL_OK) - { - CAN_ID = FD_CAN_1_Handler.ReceivedFrameID = - (uint32_t) CAN_RX_HDR.Identifier; //ID - - #if NewCANSendVersion - FD_CAN_1_Handler.ReceivedLength = (uint32_t) CAN_RX_HDR.DataLength;//接收长度 - #else - FD_CAN_1_Handler.ReceivedLength = (uint32_t) CAN_RX_HDR.DataLength>>16; - #endif - - if (FD_CAN_1_Handler.CAN_Decode != NULL ) - { - FD_CAN_1_Handler.CAN_Decode(FD_CAN_1_Handler.ReceivedFrameID, - CAN_Buf, FD_CAN_1_Handler.ReceivedLength); - } - GF_BSP_Interrupt_Run_CallBack(DF_BSP_InterCall_FDCAN1_RxFifo0Callback); - } - - } else if (hfdcan->Instance == FDCAN2) - { - if (HAL_FDCAN_GetRxMessage(hfdcan, FDCAN_RX_FIFO0, &CAN_RX_HDR, - CAN_Buf_2) == HAL_OK) ////把数据存CAN_Buf2里 - { - CAN_ID_2 = FD_CAN_2_Handler.ReceivedFrameID = - (uint32_t) CAN_RX_HDR.Identifier; - -#if NewCANSendVersion - FD_CAN_2_Handler.ReceivedLength = (uint32_t) CAN_RX_HDR.DataLength; -#else - FD_CAN_2_Handler.ReceivedLength = (uint32_t) CAN_RX_HDR.DataLength>>16; -#endif - - if (FD_CAN_2_Handler.CAN_Decode != NULL) - { - FD_CAN_2_Handler.CAN_Decode(FD_CAN_2_Handler.ReceivedFrameID, - CAN_Buf_2, FD_CAN_2_Handler.ReceivedLength); - } - GF_BSP_Interrupt_Run_CallBack(DF_BSP_InterCall_FDCAN2_RxFifo0Callback); - } - - } -} - -FDCAN_TxHeaderTypeDef TXHeader1; -FDCAN_TxHeaderTypeDef TXHeader2; - -void GF_BSP_CANHandler_Init(int can1_sendListPeriod, int can1_DispacherPeriod, - int can2_sendListPeriod, int can2_DispacherPeriod) -{ - - - GF_BSP_CANHandler_Init_CAN(&FD_CAN_1_Handler, &hfdcan1, can1_sendListPeriod, - can1_DispacherPeriod); - GF_BSP_CANHandler_Init_CAN(&FD_CAN_2_Handler, &hfdcan2, can2_sendListPeriod, - can2_DispacherPeriod); - - GF_BSP_Interrupt_Add_CallBack( - DF_BSP_InterCall_TIM8_2ms_PeriodElapsedCallback, GF_BSP_CAN_Timer);//2ms一次 -} -/******************CAN初始化************************/ -void GF_BSP_CANHandler_Init_CAN(FDCANHandler *handler, - FDCAN_HandleTypeDef *canfd, int sendListPeriod, int DispacherPeriod) -{ - handler->canfd = canfd; //FD_CAN_1_Handler的的canfd与 FDCAN_HandleTypeDef hfdcan1;绑定 - handler->dispacherController = (DispacherController*) malloc( - sizeof(DispacherController)); - - - handler->dispacherController->pHead = NULL; - handler->dispacherController->pTail = NULL; - handler->dispacherController->Dispacher_Enable = 1; - handler->dispacherController->DispacherCallTime = DispacherPeriod ; // call the function every 50 ms - handler->dispacherController->Dispacher_Counter = 0; - handler->dispacherController->DispacherNumber = 0; - handler->dispacherController->Add_Dispatcher_List = Dispatcher_List_Add_t; - handler->dispacherController->Dispatcher_Run = Dispatch_t; - - handler->timeSpan = 2; - handler->SendList_time_Count = 0; - handler->AddCANSendList = CANHandlerAddTxList; - handler->SendList_Period = sendListPeriod; - - handler->CAN_Send = CAN_Send_t; - handler->CAN_Send_Data = CAN_Send_Data_t; - -} - -DispacherController *can_dispacherController; -HardWareController *can_HardWareController; -//2ms -void GF_BSP_CAN_Timer() -{ - can_dispacherController = FD_CAN_1_Handler.dispacherController; - - if (FD_CAN_1_Handler.pCurrentCANSendHadler != NULL) - { - GF_CAN_Send_List_Send(&FD_CAN_1_Handler); - - } else - { - can_dispacherController = FD_CAN_1_Handler.dispacherController; - can_dispacherController->Dispatcher_Run(can_dispacherController); - } - if (FD_CAN_2_Handler.pCurrentCANSendHadler != NULL) - { - GF_CAN_Send_List_Send(&FD_CAN_2_Handler); - } else - { - - can_dispacherController = FD_CAN_2_Handler.dispacherController; - can_dispacherController->Dispatcher_Run(can_dispacherController); - - } - -} - //发送函数 在上面定时器调用 2ms一次 -void GF_CAN_Send_List_Send(FDCANHandler *handler) -{ - - handler->SendList_time_Count++; - //timeSpan-->2 SendList_Period-->2 - if (handler->timeSpan * handler->SendList_time_Count - >= handler->SendList_Period) - { - handler->SendList_time_Count = 0; - handler->SendListExists = 1; - if (handler->pCurrentCANSendHadler != NULL) - { - //拷贝数据到相关的代码中，然后发送 - - handler->SendFrameID=handler->pCurrentCANSendHadler->CAN_ID; - - memcpy(handler->Tx_Buf, handler->pCurrentCANSendHadler->Tx_Buf, - handler->pCurrentCANSendHadler->SendLength); - handler->SendList_Period=handler->pCurrentCANSendHadler->SendListTimePeriod;//发送周期 - handler->SendLength = handler->pCurrentCANSendHadler->SendLength; - handler->CAN_Send_Data(handler); /***********发送*****************/ - - if (handler->pCurrentCANSendHadler->pNext != NULL) - { - CANSendHandler *temp = handler->pCurrentCANSendHadler->pNext; - free(handler->pCurrentCANSendHadler); //清除内存 - handler->pCurrentCANSendHadler = temp; - } else - { - free(handler->pCurrentCANSendHadler); //清除内存 - handler->pCurrentCANSendHadler = NULL; - } - - } else - { - handler->SendListExists = 0; - - } - - } - -} - -// -//handler->CAN_Send_Data = CAN_Send_Data_t; -void CAN_Send_Data_t(struct _FDCANHandler *fd) -{ - CAN_Send_t(fd, fd->SendFrameID, fd->SendLength, fd->Tx_Buf); -} -/* - * | - * | - * V - * */ -void CAN_Send_t(struct _FDCANHandler *fd, uint32_t FrameID, uint8_t DataLength, - uint8_t *Txdata) -{ - - //Function_code = Txdata[0]; - - if (DataLength > 8) - { - return; - } - if (fd->canfd == &hfdcan1) - { - TXHeader1.BitRateSwitch = FDCAN_BRS_OFF; - - #if NewCANSendVersion - TXHeader1.DataLength = (uint32_t) DataLength ; - #else - TXHeader1.DataLength = (uint32_t) DataLength << 16; //数据长度大于8的话会有错误 - #endif - - - TXHeader1.FDFormat = FDCAN_CLASSIC_CAN; - TXHeader1.IdType = FDCAN_STANDARD_ID; - TXHeader1.Identifier = FrameID; - TXHeader1.TxFrameType = FDCAN_DATA_FRAME; - HAL_FDCAN_AddMessageToTxFifoQ(&hfdcan1, &TXHeader1, Txdata); - } else if (fd->canfd == &hfdcan2) - { - TXHeader2.BitRateSwitch = FDCAN_BRS_OFF; - - #if NewCANSendVersion - TXHeader2.DataLength = (uint32_t) DataLength ; - #else - TXHeader2.DataLength = (uint32_t) DataLength << 16; //数据长度大于8的话会有错误 - #endif - //TXHeader2.DataLength = (uint32_t) DataLength << 16; //数据长度大于8的话会有错误 - TXHeader2.FDFormat = FDCAN_CLASSIC_CAN; - TXHeader2.IdType = FDCAN_STANDARD_ID; - TXHeader2.Identifier = FrameID; - TXHeader2.TxFrameType = FDCAN_DATA_FRAME; - HAL_FDCAN_AddMessageToTxFifoQ(&hfdcan2, &TXHeader2, Txdata); - } -} - - - -//handler->AddCANSendList = CANHandlerAddTxList;该函数由AddCANSendList调用 - -//把多个 CAN 消息按顺序添加到发送队列。系统按照设定的时间周期或者优先级依次发送队列中的消息。 -/* - * Motor_Controller->AddCANSendList(Motor_Controller, 0x600 + MotorID, 8, - Motor_Controller->Tx_Buf, WaitTime, NULL); - * */ -void CANHandlerAddTxList(FDCANHandler *handler, uint32_t CAN_ID, - uint8_t SendLength, uint8_t *Tx_Buf,uint32_t sendListTimePeriod, - void (*CAN_Decode)(uint32_t, uint8_t*, uint32_t)) //参数其实就是一组can数据 在FDHandler添加东西 -{ - - CANSendHandler *pTmp = NULL; //临时指针 链表中的节点 - - //临时指针2用于逐个申请内存 - pTmp = (CANSendHandler*) malloc(sizeof(CANSendHandler));//节点申请内存 - memcpy(pTmp->Tx_Buf, Tx_Buf, SendLength);//把参数2的内容复制到节点上 - pTmp->pNext = NULL; //下一个节点暂时为空 - pTmp->CAN_ID=CAN_ID; //设置节点ID - pTmp->SendLength = SendLength; - //pTmp->CAN_Decode = CAN_Decode; - pTmp->SendListTimePeriod=sendListTimePeriod;//节点的发送周期 - - -//if NULL, call intialize one - if (handler->pCurrentCANSendHadler == NULL) - { - handler->pCurrentCANSendHadler = pTmp; //空链表 - } else - { - char i = 0; - //插到尾部 - CANSendHandler *phead = NULL; - phead = handler->pCurrentCANSendHadler; - while (phead->pNext != NULL) - { - i++; - phead = phead->pNext; - } - phead->pNext = pTmp; - - } - -} - diff --git a/project_old/paint_robot_old/BASE/Src/BSP/bsp_GPIO.c b/project_old/paint_robot_old/BASE/Src/BSP/bsp_GPIO.c deleted file mode 100644 index 8a77775..0000000 --- a/project_old/paint_robot_old/BASE/Src/BSP/bsp_GPIO.c +++ /dev/null @@ -1,104 +0,0 @@ -/* - * bsp_GPIO.c - * - * Created on: Oct 26, 2023 - * Author: shiya - */ -#include "BSP/bsp_GPIO.h" - -uint8_t GF_BSP_GPIO_Init() -{ - - return 1; -} - -/* IO配置 - * IO_Index : 0-5 - * Level : 0:PIN_RESET; 1:PIN_SET; - * */ -void GF_BSP_GPIO_SetIO(uint8_t IO_Index,uint8_t Level) -{ - GPIO_PinState PinState; - if(Level == 0) - PinState=GPIO_PIN_RESET; - else - PinState=GPIO_PIN_SET; - - switch(IO_Index) - { - case 0: - HAL_GPIO_WritePin(OUT_0_GPIO_Port, OUT_0_Pin, PinState); - break; - case 1: - HAL_GPIO_WritePin(OUT_1_GPIO_Port, OUT_1_Pin, PinState);//pc3 - break; - case 2: - HAL_GPIO_WritePin(OUT_2_GPIO_Port, OUT_2_Pin, PinState); - break; - case 3: - HAL_GPIO_WritePin(OUT_3_GPIO_Port, OUT_3_Pin, PinState); - break; - case 4: - HAL_GPIO_WritePin(OUT_4_GPIO_Port, OUT_4_Pin, PinState); - break; - case 5: - HAL_GPIO_WritePin(OUT_5_GPIO_Port, OUT_5_Pin, PinState); - break; - } -} - -uint8_t GF_BSP_GPIO_ToggleIO(uint8_t IO_Index) -{ - - switch(IO_Index) - { - case 0: - HAL_GPIO_TogglePin(OUT_0_GPIO_Port, OUT_0_Pin); - break; - case 1: - HAL_GPIO_TogglePin(OUT_1_GPIO_Port, OUT_1_Pin); - break; - case 2: - HAL_GPIO_TogglePin(OUT_2_GPIO_Port, OUT_2_Pin); - break; - case 3: - HAL_GPIO_TogglePin(OUT_3_GPIO_Port, OUT_3_Pin); - break; - case 4: - HAL_GPIO_TogglePin(OUT_4_GPIO_Port, OUT_4_Pin); - break; - case 5: - HAL_GPIO_TogglePin(OUT_5_GPIO_Port, OUT_5_Pin); - break; - } - - -} - - -uint8_t GF_BSP_GPIO_ReadIO(uint8_t IO_Index) -{ - GPIO_PinState PinState; - switch(IO_Index) - { - case 0: - PinState = HAL_GPIO_ReadPin(IN_0_GPIO_Port, IN_0_Pin); - break; - case 1: - PinState = HAL_GPIO_ReadPin(IN_1_GPIO_Port, IN_1_Pin); - break; - case 2: - PinState = HAL_GPIO_ReadPin(IN_2_GPIO_Port, IN_2_Pin); - break; - case 3: - PinState = HAL_GPIO_ReadPin(IN_3_GPIO_Port, IN_3_Pin); - break; - case 4: - PinState = HAL_GPIO_ReadPin(IN_4_GPIO_Port, IN_4_Pin); - break; - case 5: - PinState = HAL_GPIO_ReadPin(IN_5_GPIO_Port, IN_5_Pin); - break; - } - return((uint8_t)PinState); -} diff --git a/project_old/paint_robot_old/BASE/Src/BSP/bsp_INTERCALL.c b/project_old/paint_robot_old/BASE/Src/BSP/bsp_INTERCALL.c deleted file mode 100644 index 8c5a95c..0000000 --- a/project_old/paint_robot_old/BASE/Src/BSP/bsp_INTERCALL.c +++ /dev/null @@ -1,41 +0,0 @@ -/* - * bsp_INTERCALL.c - * - * Created on: 2023年11月8日 - * Author: shiya - */ -#include "BSP/bsp_include.h" - -typedef struct - { - uint8_t num; //调用函数指针数量 - void(*fn[DF_BSP_InterCall_Num])(void); //被调用函数指针,最多20个回调函数 - }SD_BSP_InterCall; - -SD_BSP_InterCall V_BSP_InterCall_Array[DF_BSP_InterCall_Type_Num] = {0}; - -//给中断函数链接一个回调函数，直接添加空函数指针 -//返回值1表示添加成功，返回值0表示添加失败 -uint8_t GF_BSP_Interrupt_Add_CallBack(enum DF_BSP_InterCall_Type _type,void(*_fn)(void)) -{ - V_BSP_InterCall_Array[_type].num++; - if(V_BSP_InterCall_Array[_type].num>=DF_BSP_InterCall_Num) - { - return 0; - } - V_BSP_InterCall_Array[_type].fn[V_BSP_InterCall_Array[_type].num-1]=_fn; - return 1; -} - -//放到中断函数中，运行相应的回调函数，有几个运行几个 -void GF_BSP_Interrupt_Run_CallBack(enum DF_BSP_InterCall_Type _type) -{ - uint8_t i=0; - if(V_BSP_InterCall_Array[_type].num>0) - { - for(i=0;i> 8; /* 寄存器地址 高字节 */ - Tx_Buf[TxCount++] = _reg; /* 寄存器地址 低字节 */ - Tx_Buf[TxCount++] = _num >> 8; /* 线圈(bit)个数 高字节 */ - Tx_Buf[TxCount++] = _num; /* 线圈(bit)个数 低字节 */ - - crc = MB_CRC16(Tx_Buf, TxCount); - Tx_Buf[TxCount++] = crc; /* crc 低字节 */ - Tx_Buf[TxCount++] = crc >> 8; /* crc 高字节 */ - *TxCount_t = TxCount; - //uartHandler->UART_Tx(uartHandler,(uint8_t *)&Tx_Buf,TxCount); - //UART_Tx((uint8_t *)&Tx_Buf,TxCount); -} - -/** - * 函数功能: 写单个线圈状态(CoilStatue) - * 输入参数: _addr:从站地址,_reg:寄存器地址,_sta:待写入的线圈状态(0,1) - * 返 回 值: 无 - * 说 明: 填充数据发送缓存区,然后发送 - */ -void MB_WriteCoil(uint8_t *Tx_Buf, uint8_t *TxCount_t, uint8_t _addr, - uint16_t _reg, uint16_t _sta) -{ - uint16_t TxCount = 0; - uint16_t crc = 0; - Tx_Buf[TxCount++] = _addr; /* 从站地址 */ - Tx_Buf[TxCount++] = 0x05; /* 功能码 */ - Tx_Buf[TxCount++] = _reg >> 8; /* 寄存器地址 高字节 */ - Tx_Buf[TxCount++] = _reg; /* 寄存器地址 低字节 */ - Tx_Buf[TxCount++] = _sta >> 8; /* 线圈(bit)个数 高字节 */ - Tx_Buf[TxCount++] = _sta; /* 线圈(bit)个数 低字节 */ - - - - crc = MB_CRC16(Tx_Buf, TxCount); - Tx_Buf[TxCount++] = crc; /* crc 低字节 */ - Tx_Buf[TxCount++] = crc >> 8; /* crc 高字节 */ - *TxCount_t = TxCount; - - //UART_Tx((uint8_t *)&Tx_Buf,TxCount); - - //uartHandler->UART_Tx(uartHandler,(uint8_t *)&Tx_Buf,TxCount); -} - -void MB_WriteNumCoil(uint8_t *Tx_Buf, uint8_t *TxCount_t, uint8_t _addr, - uint16_t _reg, uint16_t _num, uint8_t *_databuf) -{ - - uint16_t i; - uint16_t TxCount = 0; - uint16_t crc = 0; - Tx_Buf[TxCount++] = _addr; /* 从站地址 */ - Tx_Buf[TxCount++] = 0x0F; /* 功能码 */ - Tx_Buf[TxCount++] = _reg >> 8; /* 寄存器地址 高字节 */ - Tx_Buf[TxCount++] = _reg; /* 寄存器地址 低字节 */ - Tx_Buf[TxCount++] = _num >> 8; /* 寄存器(16bits)个数 高字节 */ - Tx_Buf[TxCount++] = _num; /* 低字节 */ - - if(_num%8==0) - { - Tx_Buf[TxCount++] = _num / 8; - }else - { - Tx_Buf[TxCount++] = _num / 8 + 1; - } - /* 数据个数 */ - uint16_t ij=TxCount++; - for (i = 0; i < _num; i++) - { - Tx_Buf[ij]|= _databuf[i]<> 8; /* crc 高字节 */ - //UART_Tx((uint8_t *)&Tx_Buf,TxCount); - *TxCount_t = TxCount; -} - - - -/** - * 函数功能: 读输入状态状态(InputStatue) - * 输入参数: _addr:从站地址,_reg:寄存器地址,_num:待读取的输入数量 - * 返 回 值: 无 - * 说 明: 填充数据发送缓存区,然后发送 - */ -void MB_ReadInput(uint8_t *Tx_Buf, uint8_t *TxCount_t, uint8_t _addr, - uint16_t _reg, uint16_t _num) -{ - uint16_t TxCount = 0; - uint16_t crc = 0; - Tx_Buf[TxCount++] = _addr; /* 从站地址 */ - Tx_Buf[TxCount++] = 0x02; /* 功能码 */ - Tx_Buf[TxCount++] = _reg >> 8; /* 寄存器地址 高字节 */ - Tx_Buf[TxCount++] = _reg; /* 寄存器地址 低字节 */ - Tx_Buf[TxCount++] = _num >> 8; /* 开关(Input)个数 高字节 */ - Tx_Buf[TxCount++] = _num; /* 开关(Input)个数 低字节 */ - - crc = MB_CRC16(Tx_Buf, TxCount); - Tx_Buf[TxCount++] = crc; /* crc 低字节 */ - Tx_Buf[TxCount++] = crc >> 8; /* crc 高字节 */ - *TxCount_t = TxCount; - //UART_Tx((uint8_t *)&Tx_Buf,TxCount); - //uartHandler->UART_Tx(uartHandler,(uint8_t *)&Tx_Buf,TxCount); -} - -/** - * 函数功能: 读保持寄存器(HoldingRegister) - * 输入参数: _addr:从站地址,_reg:寄存器地址,_num:待读取的寄存器数量 - * 返 回 值: 无 - * 说 明: 填充数据发送缓存区,然后发送 - */ -void MB_ReadHoldingReg(uint8_t *Tx_Buf, uint8_t *TxCount_t, uint8_t _addr, - uint16_t _reg, uint16_t _num) -{ - MB_rx_flag = 2; - Read_Reg_Num = _num; - Read_Slave_ID = _addr; - - uint16_t TxCount = 0; - uint16_t crc = 0; - Tx_Buf[TxCount++] = _addr; /* 从站地址 */ - Tx_Buf[TxCount++] = 0x03; /* 功能码 */ - Tx_Buf[TxCount++] = _reg >> 8; /* 寄存器地址 高字节 */ - Tx_Buf[TxCount++] = _reg; /* 寄存器地址 低字节 */ - Tx_Buf[TxCount++] = _num >> 8; /* 寄存器(16bits)个数 高字节 */ - Tx_Buf[TxCount++] = _num; /* 低字节 */ - - crc = MB_CRC16(Tx_Buf, TxCount); - Tx_Buf[TxCount++] = crc; /* crc 低字节 */ - Tx_Buf[TxCount++] = crc >> 8; /* crc 高字节 */ - - *TxCount_t = TxCount; - //UART_Tx((uint8_t *)&Tx_Buf,TxCount); - //uartHandler->UART_Tx(uartHandler,(uint8_t *)&Tx_Buf,TxCount); -} - -/** - * 函数功能: 读N个输入寄存器(InputRegister) - * 输入参数: _addr:从站地址,_reg:寄存器地址,_num:待读取的寄存器数量 - * 返 回 值: 无 - * 说 明: 填充数据发送缓存区,然后发送. - */ -void MB_ReadInputReg(uint8_t *Tx_Buf, uint8_t *TxCount_t, uint8_t _addr, - uint16_t _reg, uint16_t _num) -{ - uint16_t TxCount = 0; - uint16_t crc = 0; - Tx_Buf[TxCount++] = _addr; /* 从站地址 */ - Tx_Buf[TxCount++] = 0x04; /* 功能码 */ - Tx_Buf[TxCount++] = _reg >> 8; /* 寄存器地址 高字节 */ - Tx_Buf[TxCount++] = _reg; /* 寄存器地址 低字节 */ - Tx_Buf[TxCount++] = _num >> 8; /* 寄存器(16bits)个数 高字节 */ - Tx_Buf[TxCount++] = _num; /* 低字节 */ - - crc = MB_CRC16(Tx_Buf, TxCount); - Tx_Buf[TxCount++] = crc; /* crc 低字节 */ - Tx_Buf[TxCount++] = crc >> 8; /* crc 高字节 */ - *TxCount_t = TxCount; - //UART_Tx((uint8_t *)&Tx_Buf,TxCount); -} - -/** - * 函数功能: 写单个保持寄存器(HoldingRegister) - * 输入参数: _addr:从站地址,_reg:寄存器地址,_data:待写入的寄存器数据 - * 返 回 值: 无 - * 说 明: 填充数据发送缓存区,然后发送 - */ -void MB_WriteHoldingReg(uint8_t *Tx_Buf, uint8_t *TxCount_t, uint8_t _addr, - uint16_t _reg, uint16_t _data) -{ - uint16_t TxCount = 0; - uint16_t crc = 0; - Tx_Buf[TxCount++] = _addr; /* 从站地址 */ - Tx_Buf[TxCount++] = 0x06; /* 功能码 */ - Tx_Buf[TxCount++] = _reg >> 8; /* 寄存器地址 高字节 */ - Tx_Buf[TxCount++] = _reg; /* 寄存器地址 低字节 */ - Tx_Buf[TxCount++] = _data >> 8; /* 寄存器(16bits)个数 高字节 */ - Tx_Buf[TxCount++] = _data; /* 低字节 */ - - crc = MB_CRC16(Tx_Buf, TxCount); - Tx_Buf[TxCount++] = crc; /* crc 低字节 */ - Tx_Buf[TxCount++] = crc >> 8; /* crc 高字节 */ - *TxCount_t = TxCount; - //UART_Tx((uint8_t *)&Tx_Buf,TxCount); - //uartHandler->UART_Tx(uartHandler,(uint8_t *)&Tx_Buf,TxCount); -} - -/** - * 函数功能: 写N个保持寄存器(HoldingRegister) - * 输入参数: _addr:从站地址,_reg:寄存器地址,_num:待写入的寄存器数量,_databuf:待写入的寄存器数据 - * 返 回 值: 无 - * 说 明: 填充数据发送缓存区,然后发送._databuf的长度需 >= _num*2 - */ -void MB_WriteNumHoldingReg(uint8_t *Tx_Buf, uint8_t *TxCount_t, uint8_t _addr, - uint16_t _reg, uint16_t _num, uint8_t *_databuf) -{ - - uint16_t i; - uint16_t TxCount = 0; - uint16_t crc = 0; - Tx_Buf[TxCount++] = _addr; /* 从站地址 */ - Tx_Buf[TxCount++] = 0x10; /* 功能码 */ - Tx_Buf[TxCount++] = _reg >> 8; /* 寄存器地址 高字节 */ - Tx_Buf[TxCount++] = _reg; /* 寄存器地址 低字节 */ - Tx_Buf[TxCount++] = _num >> 8; /* 寄存器(16bits)个数 高字节 */ - Tx_Buf[TxCount++] = _num; /* 低字节 */ - Tx_Buf[TxCount++] = _num << 1; /* 数据个数 */ - - for (i = 0; i < 2 * _num; i++) - { - Tx_Buf[TxCount++] = _databuf[i]; /* 后面的数据长度 */ - } - crc = MB_CRC16(Tx_Buf, TxCount); - Tx_Buf[TxCount++] = crc; /* crc 低字节 */ - Tx_Buf[TxCount++] = crc >> 8; /* crc 高字节 */ - //UART_Tx((uint8_t *)&Tx_Buf,TxCount); - *TxCount_t = TxCount; -} -/** - * 函数功能: 解析读取Read_Reg_Num个保持寄存器的值 (HoldingRegister) - * 输入参数: buffer:数据值,length:数据长度, Read_Reg_Num 读取几个保持寄存器, 将解析出来的数据存入 Decoded_Reg_Value 这个16进制的数据中 - * 返 回 值: 1 表示解析正确，0 表示解析错误 CRC验证错误 - * 说 明: - */ -uint8_t MB_Decode_HoldingRegs(uint8_t buffer[], uint16_t length,uint16_t Read_Reg_Num,uint16_t* Decoded_Reg_Value) -{ - /* CRC 校验 */ - uint16_t crc_check = ((buffer[length - 1] << 8) | buffer[length - 2]); - /* CRC 校验正确 */ - if (crc_check == MB_CRC16(buffer, length - 2)) - { - int i = 0; - for (i = 0; i < Read_Reg_Num; i++) - { - - Decoded_Reg_Value[ i] = - (buffer[3 + 2 * i] << 8) + buffer[4 + 2 * i]; - } - return 1; //Decoded successfully - } - else - { - return 0; //Decode Error； - } -} -uint8_t MB_Decode_InputRegs(uint8_t buffer[], uint16_t length,uint16_t Read_Reg_Num,uint16_t* Decoded_Reg_Value) -{ - /* CRC 校验 */ - uint16_t crc_check = ((buffer[length - 1] << 8) | buffer[length - 2]); - /* CRC 校验正确 */ - if (crc_check == MB_CRC16(buffer, length - 2)) - { - int i = 0; - for (i = 0; i < Read_Reg_Num; i++) - { - - Decoded_Reg_Value[ i] = - (buffer[3 + 2 * i] << 8) + buffer[4 + 2 * i]; - } - return 1; //Decoded successfully - } - else - { - - return 0; //Decode Error； - } -} - - diff --git a/project_old/paint_robot_old/BASE/Src/BSP/bsp_TIMER.c b/project_old/paint_robot_old/BASE/Src/BSP/bsp_TIMER.c deleted file mode 100644 index 1a07cd5..0000000 --- a/project_old/paint_robot_old/BASE/Src/BSP/bsp_TIMER.c +++ /dev/null @@ -1,71 +0,0 @@ -/* - * bsp_TIMER.c - * - * Created on: Oct 26, 2023 - * Author: shiya - */ -#include "BSP/bsp_TIMER.h" -#include "lwip.h" - -#include "BSP/bsp_mqtt.h" - -//返回值：：1-正常；0-错误 -uint8_t GF_BSP_TIMER_Init() -{ - HAL_TIM_Base_Start_IT(&htim1); - HAL_TIM_Base_Start_IT(&htim8); - return 1; -} - -void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) -{ - //100ms - WatchDog - if(htim->Instance == TIM1)//APB2=200Mhz,htim1.Init.Prescaler = 2000-1;htim1.Init.Period = 10000-1; TIM1=100ms - { - GF_BSP_Interrupt_Run_CallBack(DF_BSP_InterCall_TIM1_100ms_PeriodElapsedCallback); - - } - //2ms - MainLoop - if(htim->Instance == TIM8)//APB2=200Mhz,htim8.Init.Prescaler = 2000-1;htim8.Init.Period = 200-1; TIM8=2ms - { - MX_LWIP_Process(); - GF_BSP_Interrupt_Run_CallBack(DF_BSP_InterCall_TIM8_2ms_PeriodElapsedCallback); - //bsp_mqtt_test(); - } -} - -void GF_BSP_TIMER_DelayUS(uint32_t n) -{ - uint32_t ticks; - uint32_t told; - uint32_t tnow; - uint32_t tcnt = 0; - uint32_t reload; - - reload = SysTick->LOAD; - ticks = n * (SystemCoreClock / 1000000); - - tcnt = 0; - told = SysTick->VAL; - - while (1) - { - tnow = SysTick->VAL; - if (tnow != told) - { - if (tnow < told) - { - tcnt += told - tnow; - } - else - { - tcnt += reload - tnow + told; - } - told = tnow; - if (tcnt >= ticks) - { - break; - } - } - } -} diff --git a/project_old/paint_robot_old/BASE/Src/BSP/bsp_UART.c b/project_old/paint_robot_old/BASE/Src/BSP/bsp_UART.c deleted file mode 100644 index 8bb67b6..0000000 --- a/project_old/paint_robot_old/BASE/Src/BSP/bsp_UART.c +++ /dev/null @@ -1,638 +0,0 @@ -#include "BSP/bsp_UART.h" -#include "main.h" -#include - -void GF_UART_Send_List_Send(struct UARTHandler *handler); -void Dispatcher_List_Add(struct UARTHandler *uartHandler, - void (*dispache)(void)); - - - -void UARTHandlerAddTxList(struct UARTHandler *uartHandler, uint8_t *data, - uint16_t length, uint32_t txListTimePeriod, void (*UART_Decode)(uint8_t*, uint16_t)); - -//Store all the data in these buffer -uint8_t RS485_1_RxMA_buf[UART_Receive_MAX_NUM]; -uint8_t RS485_2_RxDMA_buf[UART_Receive_MAX_NUM]; -uint8_t RS485_3_RxDMA_buf[UART_Receive_MAX_NUM]; -uint8_t RS485_4_RxDMA_buf[UART_Receive_MAX_NUM]; -uint8_t Debug_RxDMA_buf[UART_Receive_MAX_NUM]; -uint8_t ExternSerial_RxDMA_buf[UART_Receive_MAX_NUM]; - -__attribute__((section(".dma_buffer"), aligned(32))) -uint8_t MyRS485_TxDMA_buf[UART_Transmit_MAX_NUM]; -uint8_t RS485_1_TxDMA_buf[UART_Transmit_MAX_NUM]; -uint8_t RS485_2_TxDMA_buf[UART_Transmit_MAX_NUM]; -uint8_t RS485_3_TxDMA_buf[UART_Transmit_MAX_NUM]; -uint8_t RS485_4_TxDMA_buf[UART_Transmit_MAX_NUM]; -uint8_t Debug_TxDMA_buf[UART_Transmit_MAX_NUM]; -uint8_t ExternSerial_TxDMA_buf[UART_Transmit_MAX_NUM]; -#define InterCall_DEBUG_UART huart4 -#define E28_SBUS_UART huart5 -#define RS485_4_UART huart7 -#define RS485_1_UART huart1 -#define LTE_7S0_Serial_UART huart2 - - -#define RS485_2_UART huart3 -#define RS485_3_UART huart6 - - -struct UARTHandler RS_485_1_UART_Handler; -struct UARTHandler RS_485_2_UART_Handler; -struct UARTHandler RS_485_3_UART_Handler; -struct UARTHandler RS_485_4_UART_Handler; -struct UARTHandler InterCall_DEBUG_UART_Handler; -struct UARTHandler E28_SBUS_UART_Handler; -struct UARTHandler LTE_7S0_Serial_UART_Handler; - - - -#if defined (hlpuart1Exit) - - #define LPUART1UART hlpuart1 - struct UARTHandler LPUART1_UART_Handler; - -#endif - -void GF_BSP_UARTHandlers_Intialize( - int32_t RS485_1_WaitTime, - int32_t RS485_2_WaitTime, - int32_t RS485_3_WaitTime, - int32_t RS485_4_WaitTime, - int32_t LTE_7S0_Serial_WaitTime, - int32_t InterCall_DEBUG_WaitTime, - int32_t E28_SBUS_WaitTime, - int32_t LPUART1_UART_WaitTime, - int32_t RS485_1_Dispacher_Time, - int32_t RS485_2_Dispacher_Time, - int32_t RS485_3_Dispacher_Time, - int32_t RS485_4_Dispacher_Time, - int32_t LTE_7S0_Serial_Dispacher_Time, - int32_t InterCall_DEBUG_Dispacher_Time, - int32_t E28_SBUS_Dispacher_Time, - int32_t LPUART1_UART_Dispacher_Time -) -{ - - IntializeUARTHandler(&RS_485_1_UART_Handler, &RS485_1_UART, RS485_1_WaitTime, 2,RS485_1_Dispacher_Time); - IntializeUARTHandler(&RS_485_2_UART_Handler, &RS485_2_UART, RS485_2_WaitTime, 2,RS485_2_Dispacher_Time); - IntializeUARTHandler(&RS_485_3_UART_Handler, &RS485_3_UART, RS485_3_WaitTime, 2,RS485_3_Dispacher_Time); - IntializeUARTHandler(&RS_485_4_UART_Handler, &RS485_4_UART, RS485_4_WaitTime, 2,RS485_4_Dispacher_Time); - IntializeUARTHandler(<E_7S0_Serial_UART_Handler, <E_7S0_Serial_UART, LTE_7S0_Serial_WaitTime, 2,LTE_7S0_Serial_Dispacher_Time); - IntializeUARTHandler(&InterCall_DEBUG_UART_Handler, &InterCall_DEBUG_UART, InterCall_DEBUG_WaitTime, 2,InterCall_DEBUG_Dispacher_Time); - IntializeUARTHandler(&E28_SBUS_UART_Handler, &E28_SBUS_UART, E28_SBUS_WaitTime, 2,E28_SBUS_Dispacher_Time); - - - HAL_UART_Receive_IT((E28_SBUS_UART_Handler.uart), - (uint8_t*) &E28_SBUS_UART_Handler.tmp_Rx_Buf, 1); - - - HAL_UART_Receive_IT((InterCall_DEBUG_UART_Handler.uart), - (uint8_t*) &InterCall_DEBUG_UART_Handler.tmp_Rx_Buf, 1); - HAL_UART_Receive_IT((RS_485_1_UART_Handler.uart), - (uint8_t*) &RS_485_1_UART_Handler.tmp_Rx_Buf, 1); - - HAL_UART_Receive_IT((RS_485_2_UART_Handler.uart), - (uint8_t*) &RS_485_2_UART_Handler.tmp_Rx_Buf, 1); - - HAL_UART_Receive_IT((RS_485_3_UART_Handler.uart), - (uint8_t*) &RS_485_3_UART_Handler.tmp_Rx_Buf, 1); - - HAL_UART_Receive_IT((RS_485_4_UART_Handler.uart), - (uint8_t*) &RS_485_4_UART_Handler.tmp_Rx_Buf, 1); - - HAL_UART_Receive_IT((LTE_7S0_Serial_UART_Handler.uart), - (uint8_t*) <E_7S0_Serial_UART_Handler.tmp_Rx_Buf, 1); - - - - -#if defined (hlpuart1Exit) - IntializeUARTHandler(&LPUART1_UART_Handler, &LPUART1UART, LPUART1_UART_WaitTime, 2,LPUART1_UART_Dispacher_Time); //10ms 剩余2ms - HAL_UART_Receive_IT((LPUART1_UART_Handler.uart), - (uint8_t*) &LPUART1_UART_Handler.tmp_Rx_Buf, 1); - -#endif - - - - - GF_BSP_Interrupt_Add_CallBack( - DF_BSP_InterCall_TIM8_2ms_PeriodElapsedCallback, GF_BSP_UART_Timer); - - //RS_485_2_UART_Handler.send_finished=1; -} -//Count Every 2 ms -void GF_BSP_UART_Timer() -{ - Counting(&RS_485_1_UART_Handler); - Counting(&RS_485_2_UART_Handler); - Counting(&RS_485_3_UART_Handler); - Counting(&RS_485_4_UART_Handler); - Counting(<E_7S0_Serial_UART_Handler); - Counting(&InterCall_DEBUG_UART_Handler); - Counting(&E28_SBUS_UART_Handler); - -#if defined (hlpuart1Exit) - Counting(&LPUART1_UART_Handler); -#endif - -// RS_485_1_UART_Handler.Dispatcher_Run(&RS_485_1_UART_Handler); -// RS_485_2_UART_Handler.Dispatcher_Run(&RS_485_2_UART_Handler); -// RS_485_3_UART_Handler.Dispatcher_Run(&RS_485_3_UART_Handler); -// RS_485_4_UART_Handler.Dispatcher_Run(&RS_485_4_UART_Handler); -// E22_Serial_UART_Handler.Dispatcher_Run(&E22_Serial_UART_Handler); -// InterCall_DEBUG_UART_Handler.Dispatcher_Run(&InterCall_DEBUG_UART_Handler); -// InterCall_DEBUG_UART_Handler.Dispatcher_Run(&InterCall_DEBUG_UART_Handler); - -} - -void UARTHandlerAddTxList(struct UARTHandler *uartHandler, uint8_t *data, - uint16_t length, uint32_t txListTimePeriod, void (*UART_Decode)(uint8_t*, uint16_t)) -{ - - UARTSendHandler *pTmp = NULL; //临时指针 - //临时指针2用于逐个申请内存 - pTmp = (UARTSendHandler*) malloc(sizeof(UARTSendHandler)); - memcpy(pTmp->Tx_Buf, data, length); - pTmp->pNext = NULL; - pTmp->SendListTimePeriod=txListTimePeriod; - pTmp->SendLength = length; - pTmp->UART_Decode = UART_Decode; - -//if NULL, call intialize one - if (uartHandler->pCurrentUARTSendHadler == NULL) - { - uartHandler->pCurrentUARTSendHadler = pTmp; //空链表 - } else - { - char i = 0; - //插到尾部 - UARTSendHandler *phead = NULL; - phead = uartHandler->pCurrentUARTSendHadler; - while (phead->pNext != NULL) - { - i++; - phead = phead->pNext; - } - phead->pNext = pTmp; - - } - -} - -void UARTHandlerTx(struct UARTHandler *uartHandler) -{ - - if (uartHandler->uart == NULL) - { - LOGFF(DL_ERROR, - "the UART Hardware did not intialize,check the setting"); - return; - } - - uartHandler->RxCount=0;//设定RxCount为0 -#if defined (hlpuart1Exit) - if(uartHandler->uart->Instance == LPUART1) - { - - HAL_UART_Transmit(uartHandler->uart, uartHandler->Tx_Buf, - uartHandler->TxCount,100); - }else - { -#endif - - if (uartHandler->uart->Instance == UART4) //**DEBUG - { - - } else if (uartHandler->uart->Instance == USART1) //**RS485_1 - { - - HAL_GPIO_WritePin(RS485_1_DIR_GPIO_Port, RS485_1_DIR_Pin, GPIO_PIN_SET); - - } else if (uartHandler->uart->Instance == USART3) //**RS485_2 - { - - HAL_GPIO_WritePin(RS485_2_DIR_GPIO_Port, RS485_2_DIR_Pin, GPIO_PIN_SET); - - } else if (uartHandler->uart->Instance == USART6) //**RS485_3 - { - - HAL_GPIO_WritePin(RS485_3_DIR_GPIO_Port, RS485_3_DIR_Pin, GPIO_PIN_SET); - - } else if (uartHandler->uart->Instance == UART7) //**RS485_4 - { - HAL_GPIO_WritePin(RS485_4_DIR_GPIO_Port, RS485_4_DIR_Pin, GPIO_PIN_SET); - - } else if (uartHandler->uart->Instance == USART2)//**E22 // External serial port - { - - } else if (uartHandler->uart->Instance == UART5) //**E28 // SBUS - { - - } - -// SCB_CleanInvalidateDCache_by_Addr((uint32_t*) uartHandler->Tx_Buf, -// uartHandler->TxCount); - memcpy(MyRS485_TxDMA_buf, uartHandler->Tx_Buf, uartHandler->TxCount); - HAL_UART_Transmit_DMA(uartHandler->uart, MyRS485_TxDMA_buf, - uartHandler->TxCount); -#if defined (hlpuart1Exit) - } -#endif - - - if (uartHandler->uart == UART4) //**DEBUG - { - - } else if (uartHandler->uart == USART1) //**RS485_1 - { - HAL_GPIO_WritePin(RS485_1_DIR_GPIO_Port, RS485_1_DIR_Pin, - GPIO_PIN_RESET); - } else if (uartHandler->uart == USART3) //**RS485_2 - { - HAL_GPIO_WritePin(RS485_2_DIR_GPIO_Port, RS485_2_DIR_Pin, - GPIO_PIN_RESET); - } else if (uartHandler->uart == USART6) //**RS485_3 - { - HAL_GPIO_WritePin(RS485_3_DIR_GPIO_Port, - RS485_3_DIR_Pin, GPIO_PIN_RESET); - } else if (uartHandler->uart == UART7) //**RS485_4 - { - HAL_GPIO_WritePin(RS485_4_DIR_GPIO_Port, - RS485_4_DIR_Pin, GPIO_PIN_RESET); - } else if (uartHandler->uart == USART2) //**E22 // External serial port - { - - } else if (uartHandler->uart == UART5) //**E28 // SBUS - { - - } -} -void UARTHandlerRX(struct UARTHandler *uartHandler) -{ - //uartHandler->Wait_Time_Count = 0; - if (uartHandler->startCountFlag == 0) - { - uartHandler->startCountFlag = 1; - uartHandler->RxCount = 0; - } - - uartHandler->Rx_Buf[uartHandler->RxCount] = uartHandler->tmp_Rx_Buf[0]; - uartHandler->RxCount++; - - HAL_UART_Receive_IT(uartHandler->uart, uartHandler->tmp_Rx_Buf, 1); - - uartHandler->Wait_Time_Count = 0; - if(uartHandler->RxCount>=1024)//接收数据过多，直接抛弃 - { - uartHandler->RxCount=0; - } - //HAL_UART_Receive_IT(uartHandler->uart, RS_485_2_UART_Handler.tmp_Rx_Buf, 1); -} - -void IntializeUARTHandler(struct UARTHandler *uartHandler, - UART_HandleTypeDef *uart, int32_t WaitTime, unsigned char timeSpan,int32_t Dispacher_Time) -{ - uartHandler->Wait_Time_Count = 0; - uartHandler->Wait_time = WaitTime; - - uartHandler->uart = uart; - uartHandler->UART_Rx = UARTHandlerRX; - uartHandler->UART_Tx = UARTHandlerTx; - uartHandler->AddSendList = UARTHandlerAddTxList; - - uartHandler->dispacherController = (DispacherController*) malloc( - sizeof(DispacherController)); - - uartHandler->dispacherController->pHead = NULL; - uartHandler->dispacherController->pTail = NULL; - uartHandler->dispacherController->Dispacher_Enable = 0; - uartHandler->dispacherController->DispacherCallTime = Dispacher_Time ; // call the function every 50 ms - uartHandler->dispacherController->Dispacher_Counter = 0; - uartHandler->dispacherController->DispacherNumber = 0; - uartHandler->dispacherController->Add_Dispatcher_List = Dispatcher_List_Add_t; - uartHandler->dispacherController->Dispatcher_Run = Dispatch_t; - - uartHandler->timeSpan = 2; - uartHandler->SendList_time_Count = 0; - uartHandler->SendList_Period = 100; - -} - -void Counting(struct UARTHandler *uartHandler) -{ - - if (uartHandler->UART_Decode == NULL) //不解析，直接返回true - { - uartHandler->decode_finished = 1; - } else - { - if (uartHandler->startCountFlag == 1) - { - uartHandler->Wait_Time_Count++; - if (uartHandler->timeSpan * uartHandler->Wait_Time_Count - >= uartHandler->Wait_time) - { - uartHandler->Wait_Time_Count = 0; - uartHandler->startCountFlag = 0; - //启动解析函数 - if (uartHandler->RxCount >= 1) - { - uartHandler->UART_Decode(uartHandler->Rx_Buf, - uartHandler->RxCount); - uartHandler->RxCount = 0; - } - } - - } - } - - if (uartHandler->pCurrentUARTSendHadler != NULL) - { - - GF_UART_Send_List_Send(uartHandler); - } else - { - uartHandler->dispacherController->Dispatcher_Run( - uartHandler->dispacherController); - } - -// uartHandler->Send_Time_Count++; -// if (uartHandler->timeSpan * uartHandler->Send_Time_Count -// >= uartHandler->DispacherCallPeriod) -// { -// uartHandler->Send_Time_Count = 0; -// if (uartHandler->pCurrentUARTSendHadler != NULL) -// { -// //拷贝数据到相关的代码中，然后发送 -// uartHandler->UART_Decode = -// uartHandler->pCurrentUARTSendHadler->UART_Decode; // -// memcpy(uartHandler->Tx_Buf, -// uartHandler->pCurrentUARTSendHadler->Tx_Buf, -// uartHandler->pCurrentUARTSendHadler->TxCount); -// -// uartHandler->TxCount = uartHandler->pCurrentUARTSendHadler->TxCount; -// uartHandler->UART_Tx(uartHandler); -// -// if (uartHandler->pCurrentUARTSendHadler->pNext != NULL) -// { -// UARTSendHandler *temp = -// uartHandler->pCurrentUARTSendHadler->pNext; -// free(uartHandler->pCurrentUARTSendHadler); //清除内存 -// uartHandler->pCurrentUARTSendHadler = temp; -// } else -// { -// free(uartHandler->pCurrentUARTSendHadler); //清除内存 -// uartHandler->pCurrentUARTSendHadler = NULL; -// } -// -// } -// -// } - -} -//_weak -void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart) -{ - if (huart->Instance == UART4) //**DEBUG - { - UARTHandlerRX(&InterCall_DEBUG_UART_Handler); - - //GF_BSP_Interrupt_Run_CallBack(DF_BSP_InterCall_DEBUG_RxCpltCallback); - - } else if (huart->Instance == USART1) //**RS485_1 - { - //GF_BSP_Interrupt_Run_CallBack(DF_BSP_InterCall_RS485_1_RxCpltCallback); - - UARTHandlerRX(&RS_485_1_UART_Handler); - } else if (huart->Instance == USART3) //**RS485_2 - { - //GF_BSP_Interrupt_Run_CallBack(DF_BSP_InterCall_RS485_2_RxCpltCallback); - UARTHandlerRX(&RS_485_2_UART_Handler); - } else if (huart->Instance == USART6) //**RS485_3 - { - //GF_BSP_Interrupt_Run_CallBack(DF_BSP_InterCall_RS485_3_RxCpltCallback); - UARTHandlerRX(&RS_485_3_UART_Handler); - } else if (huart->Instance == UART7) //**RS485_4 - { -// UARTHandlerRX(&RS_485_4_UART_Handler); - //GF_BSP_Interrupt_Run_CallBack(DF_BSP_InterCall_RS485_4_RxCpltCallback); - UARTHandlerRX(&RS_485_4_UART_Handler); - - } else if (huart->Instance == USART2) //**E22 // External serial port - { -// GF_BSP_Interrupt_Run_CallBack( -// DF_BSP_InterCall_E22_Serial_RxCpltCallback); - UARTHandlerRX(<E_7S0_Serial_UART_Handler); - } else if (huart->Instance == UART5) //**E28 // SBUS - { - -// GF_BSP_Interrupt_Run_CallBack( -// DF_BSP_InterCall_E28_SBUS_RxFifo0Callback); - UARTHandlerRX(&E28_SBUS_UART_Handler); - } - - - #if defined (hlpuart1Exit) - else if (huart->Instance == LPUART1) //**E28 // SBUS - { - UARTHandlerRX(&LPUART1_UART_Handler); - } - - - #endif -} - -void HAL_UART_TxCpltCallback(UART_HandleTypeDef *huart) -{ - - if (huart->Instance == UART4) //**DEBUG - { - - } else if (huart->Instance == USART1) //**RS485_1 - { - HAL_GPIO_WritePin(RS485_1_DIR_GPIO_Port, RS485_1_DIR_Pin, - GPIO_PIN_RESET); - } else if (huart->Instance == USART3) //**RS485_2 - { - HAL_GPIO_WritePin(RS485_2_DIR_GPIO_Port, RS485_2_DIR_Pin, - GPIO_PIN_RESET); - } else if (huart->Instance == USART6) //**RS485_3 - { - HAL_GPIO_WritePin(RS485_3_DIR_GPIO_Port, - RS485_3_DIR_Pin, GPIO_PIN_RESET); - } else if (huart->Instance == UART7) //**RS485_4 - { - HAL_GPIO_WritePin(RS485_4_DIR_GPIO_Port, - RS485_4_DIR_Pin, GPIO_PIN_RESET); - } else if (huart->Instance == USART2) //**E22 // External serial port - { - - } else if (huart->Instance == UART5) //**E28 // SBUS - { - - } - -} - -//RS485_Index:1-4 RS485; 5 ExternSerial; 6 Debug; -void GF_BSP_UART_Transmit(const uint8_t RS485_Index, const uint8_t *pData, - uint16_t Size) -{ - UART_HandleTypeDef *huart; - if (Size > UART_Transmit_MAX_NUM) - Size = UART_Transmit_MAX_NUM; - - switch (RS485_Index) - { - case 1: - huart = &huart1; - HAL_GPIO_WritePin(RS485_1_DIR_GPIO_Port, RS485_1_DIR_Pin, - GPIO_PIN_SET); - memcpy(RS485_1_TxDMA_buf, pData, Size); - SCB_CleanInvalidateDCache_by_Addr((uint32_t*) RS485_1_TxDMA_buf, - Size); - HAL_UART_Transmit_DMA(huart, RS485_1_TxDMA_buf, Size); - //HAL_UART_Transmit(&huart1, (uint8_t *)&ch, 1, 0xffff); - - break; - case 2: - huart = &huart3; - HAL_GPIO_WritePin(RS485_2_DIR_GPIO_Port, RS485_2_DIR_Pin, - GPIO_PIN_SET); - memcpy(RS485_2_TxDMA_buf, pData, Size); - SCB_CleanInvalidateDCache_by_Addr((uint32_t*) RS485_2_TxDMA_buf, - Size); - HAL_UART_Transmit_DMA(huart, RS485_2_TxDMA_buf, Size); - break; - case 3: - huart = &huart6; - HAL_GPIO_WritePin(RS485_3_DIR_GPIO_Port, RS485_3_DIR_Pin, - GPIO_PIN_SET); - memcpy(RS485_3_TxDMA_buf, pData, Size); - SCB_CleanInvalidateDCache_by_Addr((uint32_t*) RS485_3_TxDMA_buf, - Size); - HAL_UART_Transmit_DMA(huart, RS485_3_TxDMA_buf, Size); - break; - case 4: - huart = &huart7; - HAL_GPIO_WritePin(RS485_4_DIR_GPIO_Port, RS485_4_DIR_Pin, - GPIO_PIN_SET); - memcpy(RS485_4_TxDMA_buf, pData, Size); - SCB_CleanInvalidateDCache_by_Addr((uint32_t*) RS485_4_TxDMA_buf, - Size); - HAL_UART_Transmit_DMA(huart, RS485_4_TxDMA_buf, Size); - break; - case 5: - huart = &huart2; - memcpy(ExternSerial_TxDMA_buf, pData, Size); - SCB_CleanInvalidateDCache_by_Addr( - (uint32_t*) ExternSerial_TxDMA_buf, Size); - HAL_UART_Transmit_DMA(huart, ExternSerial_TxDMA_buf, Size); - break; - default: - huart = &huart4; - memcpy(Debug_TxDMA_buf, pData, Size); - SCB_CleanInvalidateDCache_by_Addr((uint32_t*) Debug_TxDMA_buf, - Size); - HAL_UART_Transmit_DMA(huart, Debug_TxDMA_buf, Size); - break; - } -} -//void USART_Dispatch(struct UARTHandler *uartHandler) -//{ -////2ms -// if (uartHandler->Dispacher_Enable == 1) -// { -// uartHandler->Dispacher_Counter++; -// if (uartHandler->DispacherNumber > 0) //列表中有数据 -// { -// if (uartHandler->Dispacher_Counter * uartHandler->timeSpan -// >= uartHandler->DispacherCallPeriod -// / uartHandler->DispacherNumber) //多长时间运行一次 -// { -// -// uartHandler->Dispacher_Counter = 0; -// if (uartHandler->pHead != NULL -// && uartHandler->pHead->pNext != NULL) -// { -// uartHandler->pHead->dispache(); -// uartHandler->pHead = uartHandler->pHead->pNext; -// } else -// { -// -// } -// } -// } -// -// } -// -//} -// -//void Dispatcher_List_Add(struct UARTHandler *uartHandler, -// void (*dispache)(void)) -//{ -// Dispatcher *pTmp = NULL; //临时指针2 -// if (uartHandler->pHead == NULL && uartHandler->pTail == NULL) //头尾部都为空 -// { -// uartHandler->pHead = uartHandler->pTail = (Dispatcher*) malloc( -// sizeof(Dispatcher)); -// uartHandler->pTail->dispache = dispache; -// uartHandler->pTail->pNext = uartHandler->pHead; -// uartHandler->DispacherNumber++; -// } else -// { -// //临时指针2用于逐个申请内存 -// pTmp = (Dispatcher*) malloc(sizeof(Dispatcher)); -// pTmp->dispache = dispache; -// pTmp->pNext = uartHandler->pHead; //set the new dispatcher .next to the header, thus make it a circle -// //临时指针1的next指向刚分配内存的临时指针2 -// uartHandler->pTail->pNext = pTmp; -// -// uartHandler->pTail = pTmp; //set pTail the last node of this ring -// uartHandler->DispacherNumber++; -// } -//} -void GF_UART_Send_List_Send(struct UARTHandler *handler) -{ - - handler->SendList_time_Count++; - if (handler->timeSpan * handler->SendList_time_Count - >= handler->SendList_Period) - { - handler->SendList_time_Count = 0; - handler->SendListExists = 1; - if (handler->pCurrentUARTSendHadler != NULL) - { - //拷贝数据到相关的代码中，然后发送 - - //handler->CAN_Decode = handler->pCurrentCANSendHadler->CAN_Decode; // - memcpy(handler->Tx_Buf, handler->pCurrentUARTSendHadler->Tx_Buf, - handler->pCurrentUARTSendHadler->SendLength); - handler->SendList_Period = - handler->pCurrentUARTSendHadler->SendListTimePeriod; - handler->TxCount = handler->pCurrentUARTSendHadler->SendLength; - handler->UART_Tx(handler); - - if (handler->pCurrentUARTSendHadler->pNext != NULL) - { - UARTSendHandler *temp = handler->pCurrentUARTSendHadler->pNext; - free(handler->pCurrentUARTSendHadler); //清除内存 - handler->pCurrentUARTSendHadler = temp; - } else - { - free(handler->pCurrentUARTSendHadler); //清除内存 - handler->pCurrentUARTSendHadler = NULL; - } - - } else - { - handler->SendListExists = 0; - - } - - } - -} diff --git a/project_old/paint_robot_old/BASE/Src/BSP/bsp_UDP.c b/project_old/paint_robot_old/BASE/Src/BSP/bsp_UDP.c deleted file mode 100644 index 96ccf4d..0000000 --- a/project_old/paint_robot_old/BASE/Src/BSP/bsp_UDP.c +++ /dev/null @@ -1,439 +0,0 @@ -/* - * bsp_UDP.c - * - * Created on: Aug 13, 2024 - * Author: akeguo - */ - -#include "stm32h7xx_hal.h" -#include "lwip.h" -#include "udp.h" -#include "string.h" -#include "bsp_UDP.h" -#include "bsp_DLT_Log.h" -#include -#include "BSP/bsp_GPIO.h" -#include "BSP/bsp_decode_command.h" -void UDP_GV_Dispatch(); -void UDP_IV_Dispatch(); -void udp_cmd_send_GV(char *pData, uint16_t Size); -/* 定义端口号 */ -#define UDP_DLT_LOCAL_PORT 8000 /* 本地端口 */ -#define UDP_CMD_LOCAL_PORT 8002 /* 本地端口 */ -#define UDP_CMD_LOCAL_Android_Listen_PORT 8006 /* 本地端口 接收安卓 */ - -#define UDP_DLT_Send_LOCAL_PORT 7000 /* 本地端口 */ -#define UDP_CMD_Send_LOCAL_PORT 7002 /* 本地端口 */ -#define UDP_GV_Send_LOCAL_PORT 7004 /* 本地端口 */ -#define UDP_Android_Send_LOCAL_PORT 7006 /* 本地端口 发给安卓*/ -/*32从7006发往安卓9006*/ -/*安卓从9006发往32的8006*/ -#define UDP_REMOTE_DLT_PORT 9000 /* 远端端口 */ -#define UDP_REMOTE_CMD_PORT 9002 /* 远端端口 */ -#define UDP_REMOTE_GV_PORT 9004 /* 远端端口 */ -#define UDP_REMOTE_Android_PORT 9006 /* 远端端口 */ - -int8_t is_udp_GV_update_loop_enalbed = 0; -unsigned char received_data[1000]; - -/* udp控制块 */ -static struct udp_pcb *upcb_Rx_DLT; -static struct udp_pcb *upcb_Rx_Cmd; -static struct udp_pcb *upcb_Rx_From_Android; - -static struct udp_pcb *upcb_Tx_DLT; -static struct udp_pcb *upcb_Tx_Cmd; -static struct udp_pcb *upcb_Tx_GV; -static struct udp_pcb *upcb_Tx_Android; - -ip_addr_t serverIP; - -ip_addr_t Android_ServerIP; - -DLT_DecodeFuncPtr UDP_DLT_ReceivedCallback; - -/****************************************************************************** - * 描述 : 接收回调函数 - * 参数 : - - * 返回 : 无 - ******************************************************************************/ -static void udp_receive_callback(void *arg, struct udp_pcb *upcb, - struct pbuf *p, const ip_addr_t *addr, u16_t port) -{ - if (p == NULL) return; - - memcpy(received_data, p->payload, p->len); - - if (upcb->local_port == UDP_DLT_LOCAL_PORT) - { - UDP_DLT_ReceivedCallback(received_data, p->len); - //DLT_DataReceiveEndCallback(received_data, p->len); - } - else if (upcb->local_port == UDP_CMD_LOCAL_PORT) - { - - if (*received_data == 0x55 && *(received_data + 1) == 0x55 - && p->len >= 3) - { - decode_command_and_feedback(received_data + 2, p->len - 2, 2, - NULL); //0代表UDP - } - else if (*received_data == 0x66 && *(received_data + 1) == 0x66 - && p->len >= 3) - { - GF_BSP_GPIO_SetIO(received_data[3], received_data[2]); - - } - else - { - udp_cmd_send_back(received_data, p->len); - } - } - else if (upcb->local_port == UDP_CMD_LOCAL_Android_Listen_PORT) - { - //对PV数据进行修改 - //if (*buffer == 0x55 && *(buffer + 1) == 0x55 && length >= 4) - if (received_data[0] != 0x55 || received_data[1] != 0x55 || p->len < 4) - { - return; - } - - uint16_t crc_check = ((received_data[p->len - 1] << 8) - | received_data[p->len - 2]); - uint16_t crc_check1 = MB_CRC16(received_data, p->len - 2); - /* CRC 校验正确 */ - if (crc_check != MB_CRC16(received_data, p->len - 2)) return; - - if (received_data[2] != 0x01 || received_data[3] != 0x01) return; - - pb_istream_t i_pv_stream = - { 0 }; - - i_pv_stream = pb_istream_from_buffer(&received_data[4], p->len - 4); - pb_decode(&i_pv_stream, PV_struct_define_fields, &_decoded_PV_temp); - HardWareErrorController->Set_PCOMHardWare(HardWareErrorController, - "mk32_UDP", 1); - if (_decoded_PV_temp.TimeStamp > decoded_PV.TimeStamp) - { - decoded_PV = _decoded_PV_temp; - } - - } - pbuf_free(p); - -} - -//char UDPprintf[100]; - -void udp_dlt_send_back(char *pData, uint16_t Size) -{ - struct pbuf *p; - - /* 分配缓冲区空间 */ - p = pbuf_alloc(PBUF_TRANSPORT, Size, PBUF_RAM); - if (p != NULL) - { - /* 填充缓冲区数据 */ - pbuf_take(p, pData, Size); - - /* 发送udp数据 */ - - //udp_send(upcb_DLT, p); - err_t t = udp_sendto(upcb_Tx_DLT, p, &serverIP, - UDP_REMOTE_DLT_PORT); - /* 释放缓冲区空间 */ - pbuf_free(p); - } -} -void udp_cmd_send_back(char *pData, uint16_t Size) -{ - struct pbuf *p; - - /* 分配缓冲区空间 */ - p = pbuf_alloc(PBUF_TRANSPORT, Size, PBUF_RAM); - - if (p != NULL) - { - /* 填充缓冲区数据 */ - pbuf_take(p, pData, Size); - - /* 发送udp数据 */ - err_t err = udp_send(upcb_Tx_Cmd, p); - if (err != ERR_OK) - { - // 发送失败 - printf("Failed to send UDP data: %d\n", err); - } - /* 释放缓冲区空间 */ - pbuf_free(p); - } -} - -void udp_cmd_send_GV(char *pData, uint16_t Size) -{ - struct pbuf *p; - - /* 分配缓冲区空间 */ - p = pbuf_alloc(PBUF_TRANSPORT, Size, PBUF_RAM); - - if (p != NULL) - { - /* 填充缓冲区数据 */ - pbuf_take(p, pData, Size); - - /* 发送udp数据 */ - err_t err = udp_send(upcb_Tx_GV, p); - if (err != ERR_OK) - { - // 发送失败 - //printf("Failed to send UDP data: %d\n", err); - } - /* 释放缓冲区空间 */ - pbuf_free(p); - } -} - -void udp_send_by_pcb(struct udp_pcb *upcb, char *pData, uint16_t Size) -{ - struct pbuf *p; - - /* 分配缓冲区空间 */ - p = pbuf_alloc(PBUF_TRANSPORT, Size, PBUF_RAM); - - if (p != NULL) - { - /* 填充缓冲区数据 */ - pbuf_take(p, pData, Size); - - /* 发送udp数据 */ - err_t err = udp_send(upcb, p); - if (err != ERR_OK) - { - // 发送失败 - //printf("Failed to send UDP data: %d\n", err); - } - /* 释放缓冲区空间 */ - pbuf_free(p); - } -} - -/****************************************************************************** - * 描述 : 创建udp客户端 - * 参数 : 无 - * 返回 : 无 - ******************************************************************************/ -void udp_client_init(void) -{ - - HardWareErrorController->Add_PCOMHardWare(HardWareErrorController, - "mk32_UDP", 0, ComError_MK32_UDP); - GF_BSP_Interrupt_Add_CallBack( - DF_BSP_InterCall_TIM8_2ms_PeriodElapsedCallback, UDP_GV_Dispatch); - //将UDP上传IV关闭 - GF_BSP_Interrupt_Add_CallBack( - DF_BSP_InterCall_TIM8_2ms_PeriodElapsedCallback, UDP_IV_Dispatch); - //Timer intialize(); - err_t err; - - IP4_ADDR(&serverIP, 192, 168, 144, 255); - IP4_ADDR(&Android_ServerIP, 192, 168, 144, 20); - - /* 创建udp控制块 */ - upcb_Rx_DLT = udp_new(); - - if (upcb_Rx_DLT != NULL) - { - /* 配置本地端口 */ - //upcb_DLT->local_port = UDP_DLT_LOCAL_PORT; - /* 配置服务器IP和端口 */ - //upcb_DLT->so_options |= SOF_BROADCAST; - //err = udp_connect(upcb_DLT, &serverIP, UDP_REMOTE_DLT_PORT); - err = udp_bind(upcb_Rx_DLT, IP_ADDR_ANY, UDP_DLT_LOCAL_PORT); - if (err == ERR_OK) - { - /* 注册接收回调函数 */ - /* 注册接收回调函数 */ - udp_recv(upcb_Rx_DLT, udp_receive_callback, NULL); - } - else - { - udp_remove(upcb_Rx_DLT); - - } - } - - upcb_Rx_From_Android = udp_new(); - - if (upcb_Rx_From_Android != NULL) - { - /* 配置本地端口 */ - //upcb_DLT->local_port = UDP_DLT_LOCAL_PORT; - /* 配置服务器IP和端口 */ - //upcb_DLT->so_options |= SOF_BROADCAST; - //err = udp_connect(upcb_DLT, &serverIP, UDP_REMOTE_DLT_PORT); - err = udp_bind(upcb_Rx_From_Android, IP_ADDR_ANY, - UDP_CMD_LOCAL_Android_Listen_PORT); - if (err == ERR_OK) - { - /* 注册接收回调函数 */ - /* 注册接收回调函数 */ - udp_recv(upcb_Rx_From_Android, udp_receive_callback, NULL); - } - else - { - udp_remove(upcb_Rx_From_Android); - - } - } - - upcb_Rx_Cmd = udp_new(); - - if (upcb_Rx_Cmd != NULL) - { - /* 配置本地端口 */ - //upcb_Cmd->local_port = UDP_CMD_LOCAL_PORT; - /* 配置服务器IP和端口 */ - //upcb_Cmd->so_options |= SOF_BROADCAST; - //err = udp_connect(upcb_Cmd, &serverIP, UDP_REMOTE_CMD_PORT); - err = udp_bind(upcb_Rx_Cmd, IP_ADDR_ANY, UDP_CMD_LOCAL_PORT); - if (err == ERR_OK) - { - /* 注册接收回调函数 */ - udp_recv(upcb_Rx_Cmd, udp_receive_callback, NULL); - } - else - { - udp_remove(upcb_Rx_Cmd); - } - } - - upcb_Tx_Cmd = udp_new(); - - if (upcb_Tx_Cmd != NULL) - { - /* 配置本地端口 */ - upcb_Tx_Cmd->local_port = UDP_CMD_Send_LOCAL_PORT; - - /* 配置服务器IP和端口 */ - //upcb_Cmd->so_options |= SOF_BROADCAST; - err = udp_connect(upcb_Tx_Cmd, &serverIP, UDP_REMOTE_CMD_PORT); - - if (err == ERR_OK) - { - /* 注册接收回调函数 */ - //udp_recv(upcb_Tx_Cmd, udp_receive_callback, NULL); - } - else - { - udp_remove(upcb_Tx_Cmd); - } - } - upcb_Tx_DLT = udp_new(); - - if (upcb_Tx_DLT != NULL) - { - /* 配置本地端口 */ - upcb_Tx_Cmd->local_port = UDP_DLT_Send_LOCAL_PORT; - /* 配置服务器IP和端口 */ - //upcb_Cmd->so_options |= SOF_BROADCAST; - err = udp_connect(upcb_Tx_DLT, &serverIP, UDP_REMOTE_DLT_PORT); - - if (err == ERR_OK) - { - /* 注册接收回调函数 */ - //udp_recv(upcb_Tx_Cmd, udp_receive_callback, NULL); - } - else - { - udp_remove(upcb_Tx_DLT); - } - } - - upcb_Tx_GV = udp_new(); - - if (upcb_Tx_GV != NULL) - { - /* 配置本地端口 */ - upcb_Tx_Cmd->local_port = UDP_GV_Send_LOCAL_PORT; - /* 配置服务器IP和端口 */ - //upcb_Cmd->so_options |= SOF_BROADCAST; - err = udp_connect(upcb_Tx_GV, &serverIP, UDP_REMOTE_GV_PORT); - - if (err == ERR_OK) - { - /* 注册接收回调函数 */ - //udp_recv(upcb_Tx_Cmd, udp_receive_callback, NULL); - } - else - { - udp_remove(upcb_Tx_GV); - } - } - - upcb_Tx_Android = udp_new(); - - if (upcb_Tx_Android != NULL) - { - /* 配置本地端口 */ - upcb_Tx_Android->local_port = UDP_Android_Send_LOCAL_PORT; - /* 配置服务器IP和端口 */ - //upcb_Cmd->so_options |= SOF_BROADCAST; - err = udp_connect(upcb_Tx_Android, &Android_ServerIP, - UDP_REMOTE_Android_PORT); - - if (err == ERR_OK) - { - /* 注册接收回调函数 */ - //udp_recv(upcb_Tx_Cmd, udp_receive_callback, NULL); - } - else - { - udp_remove(upcb_Tx_Android); - } - } - -} -int counter_index = 0; -int iv_counter_index = 0; -void UDP_GV_Dispatch() -{ - counter_index++; - if (counter_index <= 50) return; - if (is_udp_GV_update_loop_enalbed == 0) return; - counter_index = 0; - pb_ostream_t GV_o_stream = - { 0 }; - char buf[1024]; - GV_o_stream = pb_ostream_from_buffer(&buf[2], sizeof(buf)); - pb_encode(&GV_o_stream, GV_struct_define_fields, &GV); - buf[1] = 0xfe; - buf[0] = 0xfe; - //memcpy(&wh_LTE_7S0_Handler->Tx_Buf[2], buf, GV_o_stream.bytes_written); - udp_cmd_send_GV(buf, GV_o_stream.bytes_written + 2); - -} -//现在是每一百ms执行一次 -void UDP_IV_Dispatch() -{ - iv_counter_index++; - if (iv_counter_index <= 50) return; - iv_counter_index=0; - char Tx_Buf[1024]; - pb_ostream_t IV_o_stream = pb_ostream_from_buffer(&Tx_Buf[2], - sizeof(Tx_Buf) - 2); - pb_encode(&IV_o_stream, IV_struct_define_fields, &IV); - - Tx_Buf[0] = 0x55; - Tx_Buf[1] = 0x55; - int32_t TxCount = IV_o_stream.bytes_written + 4; - uint16_t crc = MB_CRC16(Tx_Buf, IV_o_stream.bytes_written + 2); - - Tx_Buf[IV_o_stream.bytes_written + 2] = (crc >> 8) & 0xff; - Tx_Buf[IV_o_stream.bytes_written + 3] = crc & 0xff; - - udp_send_by_pcb(upcb_Tx_Android, Tx_Buf, IV_o_stream.bytes_written + 4); - -} - -/******************************** END OF FILE ********************************/ - diff --git a/project_old/paint_robot_old/BASE/Src/BSP/bsp_UpperComputer_Handler.c b/project_old/paint_robot_old/BASE/Src/BSP/bsp_UpperComputer_Handler.c deleted file mode 100644 index 503f1cc..0000000 --- a/project_old/paint_robot_old/BASE/Src/BSP/bsp_UpperComputer_Handler.c +++ /dev/null @@ -1,114 +0,0 @@ -/* - * bsp_desulfurizer_handler.c - * - * Created on: Jul 29, 2024 - * Author: akeguo - */ -#include "msp_WH_LTE_7S0.h" - -#include "pb_decode.h" -#include "pb_encode.h" -#include "bsp_include.h" -#include "pb.h" - -#include "bsp_Cmd.pb.h" -#include -#include -#include - - -#include "BHBF_ROBOT.h" -#include "bsp_cpu_flash.h" -#include -#include - -#include "bsp_decode_command.h" -void decode_command_from_computer(uint8_t *buffer, uint16_t length); -struct UARTHandler *desulfurizer_message_UART_Handler; - -void upper_Computer_UART_Handler_intialize(struct UARTHandler *Handler) -{ - - //LOG("desulfurizer_message_UART_Handler_intialize"); - desulfurizer_message_UART_Handler = Handler; - desulfurizer_message_UART_Handler->dispacherController->Dispacher_Enable=0;//不周期性发送 - desulfurizer_message_UART_Handler->Wait_time=30; - desulfurizer_message_UART_Handler->UART_Decode = - decode_command_from_computer; //indicate that there is no need to listen - //desulfurizer_message_UART_Handler->DispacherCallPeriod=200; - - //desulfurizer_message_UART_Handler->Add_Dispatcher_List(desulfurizer_message_UART_Handler,steering_set_angle); - } - - - - -void send_data_to_upper_computer(double Angle, double WireLength, - double Thickness, char IsFittingPoint,char isMqtt,struct UARTHandler *send_UART_Handler) -{ -// LOG("send collected data to computer"); -// DesulfurizerMessage _desulfurizer = DesulfurizerMessage_init_default; -// pb_ostream_t output_stream = -// { 0 }; -// -// _desulfurizer.Angle = Angle; -// _desulfurizer.WireLength = WireLength; -// _desulfurizer.Thickness = Thickness; -// _desulfurizer.IsFittingPoint = IsFittingPoint; -// char buf[1024]; -// output_stream = pb_ostream_from_buffer(buf, sizeof(buf)); -// pb_encode(&output_stream, DesulfurizerMessage_fields, &_desulfurizer); //encode to buffer - -// Cmd send_Cmd = Cmd_init_default; -// -// //将数据拷贝到Command中 -// send_Cmd.CommadNum = 5; -// send_Cmd.Buff_Data_Length = output_stream.bytes_written; -// //拷贝数据到send_Cmd.Buff_Data中 -// memcpy(send_Cmd.Buff_Data, buf, send_Cmd.Buff_Data_Length); -// pb_ostream_t Cmd_out_stream = -// { 0 }; -// -// if(isMqtt==1) -// { -// Cmd_out_stream = pb_ostream_from_buffer( -// &send_UART_Handler->Tx_Buf[2], -// sizeof(desulfurizer_message_UART_Handler->Tx_Buf)-2); -// pb_encode(&Cmd_out_stream, Cmd_fields, &send_Cmd); //encode to buffer -// send_UART_Handler->Tx_Buf[0]='3'; -// send_UART_Handler->Tx_Buf[1]=','; -// send_UART_Handler->TxCount = Cmd_out_stream.bytes_written+2; -// send_UART_Handler->UART_Tx( -// send_UART_Handler); -// } -// else -// { -// Cmd_out_stream = pb_ostream_from_buffer( -// send_UART_Handler->Tx_Buf, -// sizeof(send_UART_Handler->Tx_Buf)); -// pb_encode(&Cmd_out_stream, Cmd_fields, &send_Cmd); //encode to buffer -// -// send_UART_Handler->TxCount = Cmd_out_stream.bytes_written; -// send_UART_Handler->UART_Tx( -// send_UART_Handler); -// } - -} - - - - - -void decode_command_from_computer(uint8_t *buffer, uint16_t length) -{ - - if(*buffer==0x55 && *(buffer+1)==0x55 && length>=3) - { - decode_command_and_feedback(buffer+2, length-2, 0, - desulfurizer_message_UART_Handler);//0代表非mqtt - } - -} - - - diff --git a/project_old/paint_robot_old/BASE/Src/BSP/bsp_client_setting.c b/project_old/paint_robot_old/BASE/Src/BSP/bsp_client_setting.c deleted file mode 100644 index 9340681..0000000 --- a/project_old/paint_robot_old/BASE/Src/BSP/bsp_client_setting.c +++ /dev/null @@ -1,128 +0,0 @@ -/* - * bsp_pv_setting.c - * - * Created on: Jan 8, 2025 - * Author: akeguo - */ -#include -#include "BHBF_ROBOT.h" - -#include "gpio.h" -#include "bsp_com_helper.h" -#include "BSP/bsp_UART.h" - -void UpdateIV(); -void decode_received_data_from_client(uint8_t *buffer, uint16_t length); - -struct UARTHandler *client_setting_Handler; -DispacherController *client_setting_dispacher; - -void client_setting_intialize(struct UARTHandler *Handler) -{ - - client_setting_Handler = Handler; - client_setting_Handler->Wait_time = 10; // 最低不要低于4； - - client_setting_dispacher = Handler->dispacherController; - client_setting_dispacher->Add_Dispatcher_List(client_setting_dispacher, - UpdateIV); - client_setting_dispacher->DispacherCallTime = 500; - client_setting_dispacher->Dispacher_Enable=1;//不周期性发送 - HardWareErrorController->Add_PCOMHardWare(HardWareErrorController, - "mk32_Serial", 0, ComError_MK32_Serial); - - client_setting_Handler->UART_Decode = decode_received_data_from_client; //indicate that there is no need to listen - LOG("client_setting_intialize"); -} - -void UpdateIV() -{ - - pb_ostream_t IV_o_stream = pb_ostream_from_buffer( - &client_setting_Handler->Tx_Buf[2], - sizeof(client_setting_Handler->Tx_Buf) - 2); - pb_encode(&IV_o_stream, IV_struct_define_fields, &IV); - - client_setting_Handler->Tx_Buf[0] = 0x55; - client_setting_Handler->Tx_Buf[1] = 0x55; - client_setting_Handler->TxCount = IV_o_stream.bytes_written + 4; - - uint16_t crc=MB_CRC16(&(client_setting_Handler->Tx_Buf[0]), IV_o_stream.bytes_written + 2); - - client_setting_Handler->Tx_Buf[IV_o_stream.bytes_written + 2] = (crc>>8) &0xff; - client_setting_Handler->Tx_Buf[IV_o_stream.bytes_written + 3] = crc & 0xff;; - - - client_setting_Handler->UART_Tx(client_setting_Handler); -} - -void decode_received_data_from_client(uint8_t *buffer, uint16_t length) -{ - if(length>100) - { - return; - } - uint8_t data[100]; - memcpy(data,buffer,length); - - //if (*buffer == 0x55 && *(buffer + 1) == 0x55 && length >= 4) - if (buffer[0] == 0x55 && buffer[1] == 0x55 && length >= 4) - { - uint16_t crc_check = ((buffer[length - 1] << 8) | buffer[length - 2]); - uint16_t crc_check1 = MB_CRC16(buffer, length - 2); - /* CRC 校验正确 */ - if (crc_check == MB_CRC16(buffer, length - 2)) - { - //if (*(buffer + 2) == 0x01 && *(buffer + 3) == 0x01) //01 01 设置PV - if (buffer[2] == 0x01 && buffer[3] == 0x01) //01 01 设置PV - { - - pb_istream_t i_pv_stream = - { 0 }; - - i_pv_stream = pb_istream_from_buffer(&buffer[4], length - 4); - pb_decode(&i_pv_stream, PV_struct_define_fields, &decoded_PV_variable); - //pb_decode(&i_pv_stream, PV_struct_define_fields, &decoded_PV); - HardWareErrorController->Set_PCOMHardWare(HardWareErrorController, - "mk32_Serial", 1); - - if(decoded_PV_variable.TimeStamp>decoded_PV.TimeStamp) - { - decoded_PV=decoded_PV_variable; - } - //将CV写入EEPROM - //CV_struct_define saved_cV = GF_BSP_EEPROM_Get_CV(); - //GV.PV = decoded_PV; - //GF_BSP_EEPROM_Set_CV(CV); - } - else if (*(buffer + 2) == 0x02 && *(buffer + 3) == 0x01) //设置PV - { - - } - else if (*(buffer + 2) == 0x03 && *(buffer + 3) == 0x01) //返回IV - { - - } - else - { - - } - - } - else - { - //Decode Error； - //log_error("wire sensor decoding failed"); - LOGFF(DL_ERROR, "androidd decoding failed"); - - } - - } - -// client_setting_Handler->Tx_Buf[0]='1'; -// client_setting_Handler->Tx_Buf[1]=','; -// //wh_LTE_7S0_Handler->Tx_Buf[2]='1'; -// client_setting_Handler->TxCount = 2; -// client_setting_Handler->UART_Tx(client_setting_Handler); -} - diff --git a/project_old/paint_robot_old/BASE/Src/BSP/bsp_com_helper.c b/project_old/paint_robot_old/BASE/Src/BSP/bsp_com_helper.c deleted file mode 100644 index c1fc03e..0000000 --- a/project_old/paint_robot_old/BASE/Src/BSP/bsp_com_helper.c +++ /dev/null @@ -1,191 +0,0 @@ -/* - * bsp_com_helper.c - * - * Created on: Oct 9, 2024 - * Author: akeguo - */ -#include "bsp_com_helper.h" -#include -#include "DLTuc.h" -#include "BHBF_ROBOT.h" - -void Dispatch_t(DispacherController *uartHandler) -{ -//2ms - - if (uartHandler->Dispacher_Enable == 1) - { - if (uartHandler->DispacherNumber > 0) //列表中有数据 - { - uartHandler->Dispacher_Counter++; - - if (uartHandler->Dispacher_Counter - >= uartHandler->DispacherCallTime / 2 - / (uartHandler->DispacherNumber)) //多长时间运行一次 - { - uartHandler->Dispacher_Counter = 0; - if (uartHandler->pHead != NULL - && uartHandler->pHead->pNext != NULL) - { - - uartHandler->pHead->dispache(); - - uartHandler->pHead = uartHandler->pHead->pNext; - - } else - { - - } - } - } - - } -} - -void Dispatcher_List_Add_t(DispacherController *uartHandler, - void (*dispache)(void)) -{ - Dispatcher *pTmp = NULL; //临时指针2 - - if (uartHandler->pHead == NULL && uartHandler->pTail == NULL) //头尾部都为空 - { - uartHandler->pHead = uartHandler->pTail = (Dispatcher*) malloc( - sizeof(Dispatcher)); - uartHandler->pHead->dispache = dispache; - uartHandler->pTail->dispache = dispache; - - - - uartHandler->pHead->pNext = uartHandler->pTail; - - uartHandler->pTail->pNext = uartHandler->pHead; - uartHandler->DispacherNumber++; - } else - { - //临时指针2用于逐个申请内存 - pTmp = (Dispatcher*) malloc(sizeof(Dispatcher)); - pTmp->dispache = dispache; - - - pTmp->pNext = uartHandler->pHead; //set the new dispatcher .next to the header, thus make it a circle - - //临时指针1的next指向刚分配内存的临时指针2 - uartHandler->pTail->pNext = pTmp; - - uartHandler->pTail = pTmp; //set pTail the last node of this ring - uartHandler->DispacherNumber++; - } -} - -void ComHardWare_List_Add_t(HardWareController *uartHandler, char *name, - char value,uint32_t bitFlag) -{ - - ComHardWare *pTmp = NULL; //临时指针2 - if (uartHandler->pComHWHead == NULL && uartHandler->pComHWTail == NULL) //头尾部都为空 - { - uartHandler->pComHWHead = uartHandler->pComHWTail = - (ComHardWare*) malloc(sizeof(ComHardWare)); - - memset(uartHandler->pComHWHead->Name, '\0', - sizeof(uartHandler->pComHWHead->Name)); - memcpy(uartHandler->pComHWHead->Name, name, strlen(name)); - uartHandler->pComHWHead->IsOnline = value; - uartHandler->pComHWHead->BitFlag = bitFlag; - uartHandler->pComHWHead->pNext = NULL; - } else - { - - pTmp = (ComHardWare*) malloc(sizeof(ComHardWare)); - memset(pTmp->Name, '\0', sizeof(pTmp->Name)); - memcpy(pTmp->Name, name, strlen(name)); - - pTmp->BitFlag = bitFlag; - pTmp->IsOnline = value; - pTmp->pNext = NULL; //set the new dispatcher .next to the header, thus make it a circle - uartHandler->pComHWTail->pNext = pTmp; - uartHandler->pComHWTail = pTmp; - - } - -} -//HardWareErrorController->Set_PCOMHardWare = Set_PCOMHardWare_t; -int Set_PCOMHardWare_t(HardWareController *uartHandler, char *name, char value) -{ - - ComHardWare *ptr = uartHandler->pComHWHead; - char finddata = 0; - - if (ptr == NULL) - { - - return 0; - } - - while (ptr != NULL) - { - if (strcmp(ptr->Name, name) == 0)//相等为0 - { - ptr->IsOnline = value; - finddata = 1; - return finddata; - } else - { - ptr = ptr->pNext; - } - - } - return finddata; - -} - -char str1[50] = "\0"; -void PCOMHardWare_Check_t(HardWareController *uartHandler) -{ - uartHandler->HardWare_Check_Counter++; -// if (uartHandler->HardWare_Check_Counter*2 -// >= uartHandler->DispacherCallTime * 6) //make sure every - if (uartHandler->HardWare_Check_Counter * 2 >= uartHandler->DispacherCallTime) //make sure every - { - ComHardWare *ptr = uartHandler->pComHWHead; - - if (!ptr) - { - uartHandler->HardWare_Check_Counter = 0; - //printf("链表为空\n"); - return; - } - char IsAbnornalStatus = 0; - - //check invalid state - while (ptr != NULL) - { - if (ptr->IsOnline != 1) //在线设为1 - { - memset(str1, '\0', 50); - memcpy(str1, ptr->Name, strlen(ptr->Name)); - LOGFF(DL_ERROR, "connecting Error %s", ptr->Name); - SET_BIT_1(SystemErrorCode,ptr->BitFlag); - //*SystemErrorCode=*SystemErrorCode|(1<BitFlag); - IsAbnornalStatus = 1; - }else - { - //*SystemErrorCode=*SystemErrorCode|(1<BitFlag); - SET_BIT_0(SystemErrorCode,ptr->BitFlag); - } - ptr = ptr->pNext; - } - - //set invalid state - ptr = uartHandler->pComHWHead; - while (ptr != NULL) - { - ptr->IsOnline = 0; - ptr = ptr->pNext; - } - uartHandler->HardWare_Check_Counter = 0;//perform the check of connection - } -} - - - diff --git a/project_old/paint_robot_old/BASE/Src/BSP/bsp_cpu_flash.c b/project_old/paint_robot_old/BASE/Src/BSP/bsp_cpu_flash.c deleted file mode 100644 index 8a3c2a3..0000000 --- a/project_old/paint_robot_old/BASE/Src/BSP/bsp_cpu_flash.c +++ /dev/null @@ -1,499 +0,0 @@ -/* -********************************************************************************************************* -* -* 模块名称 : cpu内部falsh操作模块(for STM32H743 H750) -* 文件名称 : bsp_cpu_flash.c -* 版 本 : V1.1 -* 说 明 : 提供读写CPU内部Flash的函数 -* 修改记录 : -* 版本号 日期 作者 说明 -* V1.0 2019-09-20 armfly 正式发布 -* V1.1 2019-10-03 armfly 写flash函数，修正长度不是32字节整数倍的bug，末尾补0写入。 -* 解决HAL库函数的 HAL_FLASH_Program（）的bug， -* 问题现象是大批量连续编程失败（报编程指令顺序错， PGSERR1、 PGSERR2） -* Copyright (C), 2019-2030, 安富莱电子 www.armfly.com -* -********************************************************************************************************* -*/ - -#include "BSP/bsp_cpu_flash.h" -#include -/* -********************************************************************************************************* -* 函数 -********************************************************************************************************* -*/ - - -/* -********************************************************************************************************* -* 宏定义 -********************************************************************************************************* -*/ -//0x08020000 - 0x08000000 = 128k;//bootload 128k // every sector 448k - -/* -********************************************************************************************************* -* 变量 -********************************************************************************************************* -*/ -__IO uint32_t uwCRCValue; -__IO uint32_t uwExpectedCRCValue; -__IO uint32_t uwAppSize; - -uint8_t buf[1024]; -uint32_t RecCount = 0; -uint32_t RecCount0 = 0; -uint32_t RecSize = 0; -uint8_t RecCplt = 0; -uint32_t filesize = 0; - -uint32_t Bus_Error=0; -uint32_t update_index = 0; -uint32_t update_index_true = 0; -uint32_t update_sum = 0; -uint32_t update_sum_true = 0; - - -/* -********************************************************************************************************* -* 函 数 名: bsp_GetSector -* 功能说明: 根据地址计算扇区首地址 -* 形 参: 无 -* 返 回 值: 扇区号（0-7) -********************************************************************************************************* -*/ -uint32_t bsp_GetSector(uint32_t Address) -{ - uint32_t sector = 0; - - if (((Address < ADDR_FLASH_SECTOR_1_BANK1) && (Address >= ADDR_FLASH_SECTOR_0_BANK1)) || \ - ((Address < ADDR_FLASH_SECTOR_1_BANK2) && (Address >= ADDR_FLASH_SECTOR_0_BANK2))) - { - sector = FLASH_SECTOR_0; - } - else if (((Address < ADDR_FLASH_SECTOR_2_BANK1) && (Address >= ADDR_FLASH_SECTOR_1_BANK1)) || \ - ((Address < ADDR_FLASH_SECTOR_2_BANK2) && (Address >= ADDR_FLASH_SECTOR_1_BANK2))) - { - sector = FLASH_SECTOR_1; - } - else if (((Address < ADDR_FLASH_SECTOR_3_BANK1) && (Address >= ADDR_FLASH_SECTOR_2_BANK1)) || \ - ((Address < ADDR_FLASH_SECTOR_3_BANK2) && (Address >= ADDR_FLASH_SECTOR_2_BANK2))) - { - sector = FLASH_SECTOR_2; - } - else if (((Address < ADDR_FLASH_SECTOR_4_BANK1) && (Address >= ADDR_FLASH_SECTOR_3_BANK1)) || \ - ((Address < ADDR_FLASH_SECTOR_4_BANK2) && (Address >= ADDR_FLASH_SECTOR_3_BANK2))) - { - sector = FLASH_SECTOR_3; - } - else if (((Address < ADDR_FLASH_SECTOR_5_BANK1) && (Address >= ADDR_FLASH_SECTOR_4_BANK1)) || \ - ((Address < ADDR_FLASH_SECTOR_5_BANK2) && (Address >= ADDR_FLASH_SECTOR_4_BANK2))) - { - sector = FLASH_SECTOR_4; - } - else if (((Address < ADDR_FLASH_SECTOR_6_BANK1) && (Address >= ADDR_FLASH_SECTOR_5_BANK1)) || \ - ((Address < ADDR_FLASH_SECTOR_6_BANK2) && (Address >= ADDR_FLASH_SECTOR_5_BANK2))) - { - sector = FLASH_SECTOR_5; - } - else if (((Address < ADDR_FLASH_SECTOR_7_BANK1) && (Address >= ADDR_FLASH_SECTOR_6_BANK1)) || \ - ((Address < ADDR_FLASH_SECTOR_7_BANK2) && (Address >= ADDR_FLASH_SECTOR_6_BANK2))) - { - sector = FLASH_SECTOR_6; - } - else if (((Address < ADDR_FLASH_SECTOR_0_BANK2) && (Address >= ADDR_FLASH_SECTOR_7_BANK1)) || \ - ((Address < CPU_FLASH_END_ADDR) && (Address >= ADDR_FLASH_SECTOR_7_BANK2))) - { - sector = FLASH_SECTOR_7; - } - else - { - sector = FLASH_SECTOR_7; - } - - return sector; -} - -/* -********************************************************************************************************* -* 函 数 名: bsp_ReadCpuFlash -* 功能说明: 读取CPU Flash的内容 -* 形 参: _ucpDst : 目标缓冲区 -* _ulFlashAddr : 起始地址 -* _ulSize : 数据大小（单位是字节） -* 返 回 值: 0=成功，1=失败 -********************************************************************************************************* -*/ -uint8_t bsp_ReadCpuFlash(uint32_t _ulFlashAddr, uint8_t *_ucpDst, uint32_t _ulSize) -{ - uint32_t i; - - if (_ulFlashAddr + _ulSize > CPU_FLASH_BASE_ADDR + CPU_FLASH_SIZE) - { - return 1; - } - - /* 长度为0时不继续操作,否则起始地址为奇地址会出错 */ - if (_ulSize == 0) - { - return 1; - } - - for (i = 0; i < _ulSize; i++) - { - *_ucpDst++ = *(uint8_t *)_ulFlashAddr++; - } - - return 0; -} - -/* -********************************************************************************************************* -* 函 数 名: bsp_CmpCpuFlash -* 功能说明: 比较Flash指定地址的数据. -* 形 参: _ulFlashAddr : Flash地址 -* _ucpBuf : 数据缓冲区 -* _ulSize : 数据大小（单位是字节） -* 返 回 值: -* FLASH_IS_EQU 0 Flash内容和待写入的数据相等，不需要擦除和写操作 -* FLASH_REQ_WRITE 1 Flash不需要擦除，直接写 -* FLASH_REQ_ERASE 2 Flash需要先擦除,再写 -* FLASH_PARAM_ERR 3 函数参数错误 -********************************************************************************************************* -*/ -uint8_t bsp_CmpCpuFlash(uint32_t _ulFlashAddr, uint8_t *_ucpBuf, uint32_t _ulSize) -{ - uint32_t i; - uint8_t ucIsEqu; /* 相等标志 */ - uint8_t ucByte; - - /* 如果偏移地址超过芯片容量，则不改写输出缓冲区 */ - if (_ulFlashAddr + _ulSize > CPU_FLASH_BASE_ADDR + CPU_FLASH_SIZE) - { - return FLASH_PARAM_ERR; /*　函数参数错误　*/ - } - - /* 长度为0时返回正确 */ - if (_ulSize == 0) - { - return FLASH_IS_EQU; /* Flash内容和待写入的数据相等 */ - } - - ucIsEqu = 1; /* 先假设所有字节和待写入的数据相等，如果遇到任何一个不相等，则设置为 0 */ - for (i = 0; i < _ulSize; i++) - { - ucByte = *(uint8_t *)_ulFlashAddr; - - if (ucByte != *_ucpBuf) - { - if (ucByte != 0xFF) - { - return FLASH_REQ_ERASE; /* 需要擦除后再写 */ - } - else - { - ucIsEqu = 0; /* 不相等，需要写 */ - } - } - - _ulFlashAddr++; - _ucpBuf++; - } - - if (ucIsEqu == 1) - { - return FLASH_IS_EQU; /* Flash内容和待写入的数据相等，不需要擦除和写操作 */ - } - else - { - return FLASH_REQ_WRITE; /* Flash不需要擦除，直接写 */ - } -} - -/* -********************************************************************************************************* -* 函 数 名: bsp_EraseCpuFlash -* 功能说明: 擦除CPU FLASH一个扇区 （128KB) -* 形 参: _ulFlashAddr : Flash地址 -* 返 回 值: 0 成功， 1 失败 -* HAL_OK = 0x00, -* HAL_ERROR = 0x01, -* HAL_BUSY = 0x02, -* HAL_TIMEOUT = 0x03 -* -********************************************************************************************************* -*/ -uint8_t bsp_EraseCpuFlash(uint32_t _ulFlashAddr) -{ - uint32_t FirstSector = 0, NbOfSectors = 0; - FLASH_EraseInitTypeDef EraseInitStruct; - uint32_t SECTORError = 0; - uint8_t re; - - /* 解锁 */ - HAL_FLASH_Unlock(); - - /* 获取此地址所在的扇区 */ - FirstSector = bsp_GetSector(_ulFlashAddr); - - /* 固定1个扇区 */ - NbOfSectors = 1; - - /* 擦除扇区配置 */ - EraseInitStruct.TypeErase = FLASH_TYPEERASE_SECTORS; - EraseInitStruct.VoltageRange = FLASH_VOLTAGE_RANGE_3; - - if (_ulFlashAddr >= ADDR_FLASH_SECTOR_0_BANK2) - { - EraseInitStruct.Banks = FLASH_BANK_2; - } - else - { - EraseInitStruct.Banks = FLASH_BANK_1; - } - - EraseInitStruct.Sector = FirstSector; - EraseInitStruct.NbSectors = NbOfSectors; - - /* 扇区擦除 */ - re = HAL_FLASHEx_Erase(&EraseInitStruct, &SECTORError); - - /* 擦除完毕后，上锁 */ - HAL_FLASH_Lock(); - - return re; -} - -/* -********************************************************************************************************* -* 函 数 名: bsp_WriteCpuFlash -* 功能说明: 写数据到CPU 内部Flash。 必须按32字节整数倍写。不支持跨扇区。扇区大小128KB. \ -* 写之前需要擦除扇区. 长度不是32字节整数倍时，最后几个字节末尾补0写入. -* 形 参: _ulFlashAddr : Flash地址 -* _ucpSrc : 数据缓冲区 -* _ulSize : 数据大小（单位是字节, 必须是32字节整数倍） -* 返 回 值: 0-成功，1-数据长度或地址溢出，2-写Flash出错(估计Flash寿命到) -********************************************************************************************************* -*/ -uint8_t bsp_WriteCpuFlash(uint32_t _ulFlashAddr, uint8_t *_ucpSrc, uint32_t _ulSize) -{ - uint32_t i; - uint8_t ucRet; - - /* 如果偏移地址超过芯片容量，则不改写输出缓冲区 */ - if (_ulFlashAddr + _ulSize > CPU_FLASH_BASE_ADDR + CPU_FLASH_SIZE) - { - return 1; - } - - /* 长度为0时不继续操作 */ - if (_ulSize == 0) - { - return 0; - } - - ucRet = bsp_CmpCpuFlash(_ulFlashAddr, _ucpSrc, _ulSize); - - if (ucRet == FLASH_IS_EQU) - { - return 0; - } - - __set_PRIMASK(1); /* 关中断 */ - - /* FLASH 解锁 */ - HAL_FLASH_Unlock(); - - for (i = 0; i < _ulSize / 32; i++) - { - uint64_t FlashWord[4]; - - memcpy((char *)FlashWord, _ucpSrc, 32); - _ucpSrc += 32; - - if (HAL_FLASH_Program(FLASH_TYPEPROGRAM_FLASHWORD, _ulFlashAddr, (uint64_t)((uint32_t)FlashWord)) == HAL_OK) - { - _ulFlashAddr = _ulFlashAddr + 32; /* 递增，操作下一个256bit */ - } - else - { - goto err; - } - } - - /* 长度不是32字节整数倍 */ - if (_ulSize % 32) - { - uint64_t FlashWord[4]; - - FlashWord[0] = 0; - FlashWord[1] = 0; - FlashWord[2] = 0; - FlashWord[3] = 0; - memcpy((char *)FlashWord, _ucpSrc, _ulSize % 32); - if (HAL_FLASH_Program(FLASH_TYPEPROGRAM_FLASHWORD, _ulFlashAddr, (uint64_t)((uint32_t)FlashWord)) == HAL_OK) - { - ; // _ulFlashAddr = _ulFlashAddr + 32; - } - else - { - goto err; - } - } - - /* Flash 加锁，禁止写Flash控制寄存器 */ - HAL_FLASH_Lock(); - - __set_PRIMASK(0); /* 开中断 */ - - return 0; - -err: - /* Flash 加锁，禁止写Flash控制寄存器 */ - HAL_FLASH_Lock(); - - __set_PRIMASK(0); /* 开中断 */ - - return 1; -} -/* -********************************************************************************************************* -* 函 数 名: JumpToApp -* 功能说明: 跳转到应用JumpToApp -* 形 参: 无 -* 返 回 值: 无 -********************************************************************************************************* -*/ -void JumpToApp(void) -{ - uint32_t i=0; - void (*AppJump)(void); /* 声明一个函数指针 */ - - /* 关闭全局中断 */ - DISABLE_INT(); - - /* 设置所有时钟到默认状态，使用HSI时钟 */ - - __HAL_RCC_GPIOH_CLK_DISABLE(); - __HAL_RCC_GPIOB_CLK_DISABLE(); - HAL_RCC_DeInit(); - - /* 关闭滴答定时器，复位到默认值 */ - SysTick->CTRL = 0; - SysTick->LOAD = 0; - SysTick->VAL = 0; - - /* 关闭所有中断，清除所有中断挂起标志 */ - for (i = 0; i < 8; i++) - { - NVIC->ICER[i]=0xFFFFFFFF; - NVIC->ICPR[i]=0xFFFFFFFF; - } - - /* 使能全局中断 */ - ENABLE_INT(); - - /* 跳转到应用程序，首地址是MSP，地址+4是复位中断服务程序地址 */ - AppJump = (void (*)(void)) (*((uint32_t *) (App_Run_Addr + 4))); - - /* 设置主堆栈指针 */ - __set_MSP(*(uint32_t *)App_Run_Addr); - - /* 在RTOS工程，这条语句很重要，设置为特权级模式，使用MSP指针 */ - __set_CONTROL(0); - - /* 跳转到系统BootLoader */ - AppJump(); - - /* 跳转成功的话，不会执行到这里，用户可以在这里添加代码 */ - while (1) - { - - } -} - -/* -********************************************************************************************************* -* 函 数 名: JumpToApp -* 功能说明: 跳转到应用JumpToApp -* 形 参: 无 -* 返 回 值: 无 -********************************************************************************************************* -*/ -void Copy_Download_Flash_to_Start() -{ - - uint32_t startIndex=0; - - for(startIndex = 0; startIndex < 3; startIndex++) - { - bsp_EraseCpuFlash((uint32_t)(App_Run_Addr + startIndex*128*1024));//Erase this function - } - - - uint8_t readData[32]; - uint32_t total=3*128*1024/sizeof(readData); - uint8_t retult=0; - for(startIndex=0;startIndex= 1) - { - - i_stream = pb_istream_from_buffer(buffer, length); - - pb_decode(&i_stream, Cmd_fields, &decoded_Cmd); - - memcpy(&decoded_Cmd.Buff_Data, - &buffer[length - decoded_Cmd.Buff_Data_Length], - decoded_Cmd.Buff_Data_Length); - - switch (decoded_Cmd.CommadNum) - { - - case 17: // 上位机获取控制权 - { - - switch (decoded_Cmd.Parameter0) - { - case 0: - { - - //read CV - CV = GF_BSP_EEPROM_Get_CV(); //重新配置CV - is_upper_computer_take_over_control = 0; - - WrapInCmdAndSendMessage(send_Cmd, 10, success, - "return contorl to Remote Controller success", - sendWay, send_Handler); - fsm_state_set(¤t_robot_move_state, - &robot_halt_state); - //设置电机供电为 On - //fsm_state_set(¤t_motor_power_state, &motor_power_off_state); - break; - } - case 1: - { - - is_upper_computer_take_over_control = 1; - WrapInCmdAndSendMessage(send_Cmd, 17, success, - "Take control success", sendWay, send_Handler); - fsm_state_set(¤t_motor_power_state, - &motor_power_on_state); - fsm_state_set(¤t_robot_move_state, - &robot_halt_state); - GV.Robot_Move_Speed = speed_M_min_toE01_M_min( 5 ); - CV.LeftTurnSpeed = speed_M_min_toE01_M_min( 3 ); - CV.RightTurnSpeed = speed_M_min_toE01_M_min( 3 ); - break; - } - - default: - break; - - } - - break; - } - case 16: // 上位机手动控制机器人运动 - { - - switch (decoded_Cmd.Parameter0) - { - case 0: - { - - WrapInCmdAndSendMessage(send_Cmd, 16, success, - "manual control halt success", sendWay, - send_Handler); - fsm_state_set(¤t_robot_move_state, - &robot_halt_state); - break; - } - case 1: - { - WrapInCmdAndSendMessage(send_Cmd, 16, success, - "manual control forward success", sendWay, - send_Handler); - fsm_state_set(¤t_robot_move_state, - &robot_forwards_state); - break; - } - case 2: - { - WrapInCmdAndSendMessage(send_Cmd, 16, success, - "manual control backward success", sendWay, - send_Handler); - fsm_state_set(¤t_robot_move_state, - &robot_backwards_state); - break; - } - case 3: - { - WrapInCmdAndSendMessage(send_Cmd, 16, success, - "manual control turn left success", sendWay, - send_Handler); - fsm_state_set(¤t_robot_move_state, - &robot_turn_left_state); - break; - } - case 4: - { - WrapInCmdAndSendMessage(send_Cmd, 16, success, - "manual control turn right success", sendWay, - send_Handler); - fsm_state_set(¤t_robot_move_state, - &robot_turn_right_state); - break; - } - default: - break; - - } - - break; - } - - case 15: // 返回错误信息 - { - - pb_ostream_t Error_o_stream = - { 0 }; - char buf[1024]; - Error_o_stream = pb_ostream_from_buffer(buf, sizeof(buf)); - pb_encode(&Error_o_stream, ErrorData_fields, - &GV.SystemErrorData); - - //将数据拷贝到Command中 - send_Cmd.CommadNum = 16; - send_Cmd.Buff_Data_Length = Error_o_stream.bytes_written; - - WrapInCmdAndSend(send_Cmd, buf, sendWay, send_Handler); - - break; - } - - case 14: //这里是初始化Flash 好重新写入 - { - NeedToFeedBackToComputer = 1; - - WrapInCmdAndSendMessage(send_Cmd, 14, success, - "disable periodical call of serialports and can", - sendWay, send_Handler); - - Error_Detect_Enable = 0; //disable ErrorDetect Function; - - DLT_LOG_ENABLE_LEVEL = 0; //7 send all information //0 send nothing - - //将所有串口的周期性调用暂停 - RS_485_1_UART_Handler.dispacherController->Dispacher_Enable = 0; - RS_485_2_UART_Handler.dispacherController->Dispacher_Enable = 0; - RS_485_3_UART_Handler.dispacherController->Dispacher_Enable = 0; - RS_485_4_UART_Handler.dispacherController->Dispacher_Enable = 0; - E28_SBUS_UART_Handler.dispacherController->Dispacher_Enable = 0; -#if defined (hlpuart1Exit) - LPUART1_UART_Handler.dispacherController->Dispacher_Enable = 0; -#endif - InterCall_DEBUG_UART_Handler.dispacherController->Dispacher_Enable = - 0; - LTE_7S0_Serial_UART_Handler.dispacherController->Dispacher_Enable = - 0; - RS_485_4_UART_Handler.dispacherController->Dispacher_Enable = 0; - is_udp_GV_update_loop_enalbed = 0; - - //将CAN总线的周期性调用停掉 - //因为电机有可能处于运动状态，所有CAN线不能停，得发送下去 - //FD_CAN_1_Handler.dispacherController->Dispacher_Enable = 0; - //FD_CAN_2_Handler.dispacherController->Dispacher_Enable = 0; - fsm_state_set(¤t_robot_move_state, &robot_halt_state); - - break; - } - case 13: // 使能 GV 周期性性发送数据 - { - if (decoded_Cmd.Parameter0 == 0) //关闭上传 - { - NeedToFeedBackToComputer = 1; - LTE_7S0_Serial_UART_Handler.dispacherController->Dispacher_Enable = - 0; - WrapInCmdAndSendMessage(send_Cmd, 14, success, - "disable send GV", sendWay, send_Handler); - - is_udp_GV_update_loop_enalbed = 0; - } - - if (decoded_Cmd.Parameter0 == 1) //打开上传 - { - NeedToFeedBackToComputer = 0; - LTE_7S0_Serial_UART_Handler.dispacherController->Dispacher_Enable = - 1; - WrapInCmdAndSendMessage(send_Cmd, 14, success, - "enable send GV", sendWay, send_Handler); - - is_udp_GV_update_loop_enalbed = 1; - } - - break; - } - case 12: //重启系统，进入bootloader - { - - WrapInCmdAndSendMessage(send_Cmd, 12, success, "STM32 reboot", - sendWay, send_Handler); - NVIC_SystemReset(); - - break; - } - case 11: //配置无线网络模块，此处为透传指令 - { - Send_WH_LTE_7S0_Data(decoded_Cmd.Buff_Data, - decoded_Cmd.Parameter0); - break; - } - case 10: //擦除flash - { - WrapInCmdAndSendMessage(send_Cmd, 10, success, - "start erasing flash ", sendWay, send_Handler); - QSPI_W25Qx_EraseDownLoadFlash(); - downloadCount = 0; - WrapInCmdAndSendMessage(send_Cmd, 10, success, - "erase flash success", sendWay, send_Handler); - break; - } - case 9: //上位机下发保存软件代码指令 - { - memcpy(ReceivedData, - &buffer[length - decoded_Cmd.Buff_Data_Length], - decoded_Cmd.Buff_Data_Length); - - calbriation = MB_CRC16((uint8_t *)&ReceivedData, - decoded_Cmd.Buff_Data_Length); - - if (calbriation == decoded_Cmd.Parameter4) //Parameter4是校验 - { - - if (downloadCount == decoded_Cmd.Parameter3) - { - QSPI_W25Qx_Write_Buffer((uint8_t *)&decoded_Cmd.Buff_Data, - CODE_DOWNLOAD_FLASH_BEGIN_ADDRESS - + decoded_Cmd.Parameter3, - decoded_Cmd.Buff_Data_Length); - downloadCount += decoded_Cmd.Buff_Data_Length; - send_Cmd.Parameter3 = length; - WrapInCmdAndSendMessage(send_Cmd, 9, success, - "download success", sendWay, send_Handler); - - } - else - { - decoded_Cmd.Parameter2 = downloadCount; //返回download count; - send_Cmd.Parameter3 = length; - WrapInCmdAndSendMessage(send_Cmd, 9, fail, - "downloadCount!=Parameter3", sendWay, - send_Handler); - } - - if (decoded_Cmd.Parameter1 == 1) - { - WrapInCmdAndSendMessage(send_Cmd, 9, success, - "download new software sucess", sendWay, - send_Handler); - IAP_struct_define iap = GF_BSP_EEPROM_Get_IAP();//Get the version of the code - iap.UpgradeSucceeded = 1; - iap.Total_Bytes = decoded_Cmd.Parameter2; - StartDownLoadFlag = 0; - downloadCount = 0; - GF_BSP_EEPROM_Set_IAP(iap); - - } - } - else - { - - decoded_Cmd.Parameter2 = downloadCount; //返回download count; - send_Cmd.Parameter3 = length; - WrapInCmdAndSendMessage(send_Cmd, 9, fail, - "MB CRC failed and the length ", sendWay, - send_Handler); - - } - - break; - } - -// 定义 7 上位机获取拟合点 -// 定义 8 上位机获取位置点 */ - case 8: - { -// send_data_to_upper_computer(*Desulfurizer_Angle, -// *Desulfurizer_Wire_Length, *Desulfurizer_Thickness, 0, -// 0, desulfurizer_message_UART_Handler); - break; - } - case 7: - { -// send_data_to_upper_computer(*Desulfurizer_Angle, -// *Desulfurizer_Wire_Length, *Desulfurizer_Thickness, 1, -// 0, desulfurizer_message_UART_Handler); - break; - } - //定义 6 上位机设定编码器角度值为0 - case 6: - { - //reset_current_value_0(); - break; - } - //定义 4 上位机设定Trace等级值，无返回 - case 4: - { - - break; - } - //定义 3 上位机设定CV值 - case 3: - { - CV_struct_define decoded_CV = CV_struct_define_init_default; - pb_istream_t i_cv_stream = - { 0 }; - - i_cv_stream = pb_istream_from_buffer(decoded_Cmd.Buff_Data, - decoded_Cmd.Buff_Data_Length); - pb_decode(&i_cv_stream, CV_struct_define_fields, &decoded_CV); - //将CV写入EEPROM - GF_BSP_EEPROM_Set_CV(decoded_CV); - CV = decoded_CV; - send_Cmd.Parameter3 = length; - WrapInCmdAndSendMessage(send_Cmd, 3, success, - "Set CV succeeded", sendWay, send_Handler); - CV_GV_Init(); - break; - } - //定义 1 上位机获取默认CV值, 下位机返回CV的值， - //定义 2 下位机返回CV值 - case 1: - { - CV = GF_BSP_EEPROM_Get_CV(); - pb_ostream_t CV_o_stream = - { 0 }; - char buf[1024]; - CV_o_stream = pb_ostream_from_buffer(buf, sizeof(buf)); - pb_encode(&CV_o_stream, CV_struct_define_fields, &CV); - - //将数据拷贝到Command中 - send_Cmd.CommadNum = 2; - send_Cmd.Buff_Data_Length = CV_o_stream.bytes_written; - - WrapInCmdAndSend(send_Cmd, buf, sendWay, send_Handler); - - break; - } - default: - WrapInCmdAndSendMessage(send_Cmd, -1, fail, - "Not the right command", sendWay, send_Handler); - break; - - } - - } - else - { - - } - -} -void WrapInCmdAndSend(ReCmd send_Cmd, uint8_t *buf, int8_t sendWay, - struct UARTHandler *send_Handler) -{ - - memcpy(send_Cmd.Buff_Data, buf, send_Cmd.Buff_Data_Length); - pb_ostream_t ReCmd_out_stream = - { 0 }; - - if (sendWay == 1) //MQTT - { - ReCmd_out_stream = pb_ostream_from_buffer(&send_Handler->Tx_Buf[4], - sizeof(send_Handler->Tx_Buf) - 4); - pb_encode(&ReCmd_out_stream, ReCmd_fields, &send_Cmd); //encode to buffer - - send_Handler->Tx_Buf[0] = '3'; - send_Handler->Tx_Buf[1] = ','; - send_Handler->Tx_Buf[2] = 0xfe; - send_Handler->Tx_Buf[3] = 0xfe; - send_Handler->TxCount = ReCmd_out_stream.bytes_written + 4; - send_Handler->UART_Tx(send_Handler); - } - else if (sendWay == 2) //UDP 发送 - { - uint8_t Tx_Buf[2048]; - ReCmd_out_stream = pb_ostream_from_buffer(&Tx_Buf[2], - sizeof(Tx_Buf) - 2); - pb_encode(&ReCmd_out_stream, ReCmd_fields, &send_Cmd); //encode to buffer - Tx_Buf[0] = 0xfe; - Tx_Buf[1] = 0xfe; - udp_cmd_send_back(Tx_Buf, ReCmd_out_stream.bytes_written + 2); - - } - else //485发送 - { - ReCmd_out_stream = pb_ostream_from_buffer(&send_Handler->Tx_Buf[2], - sizeof(send_Handler->Tx_Buf) - 2); - pb_encode(&ReCmd_out_stream, ReCmd_fields, &send_Cmd); //encode to buffer - send_Handler->Tx_Buf[0] = 0xfe; - send_Handler->Tx_Buf[1] = 0xfe; - //send_Handler->AddSendList(send_Handler,send_Handler->Tx_Buf,send_Handler->TxCount,NULL); - send_Handler->TxCount = ReCmd_out_stream.bytes_written + 2; - //send_Handler->TxCount = 200; - send_Handler->UART_Tx(send_Handler); - } - -} - -//send_Cmd.CommadNum=0xff;//代表返回信息 -//send_Cmd.Parameter0 代表执行的指令，发过来的命令号; -//send_Cmd.Parameter1 1 代表成功，0 代表失败; -//send_Cmd.databuf 存的是相关信息，可以通过ACII转成string; - -void WrapInCmdAndSendMessage(ReCmd send_Cmd, int8_t functionNum, - int8_t isSuccess, uint8_t *buf, int8_t sendWay, - struct UARTHandler *send_Handler) -{ - - send_Cmd.CommadNum = 0xff; //代表返回信息 - send_Cmd.Parameter0 = functionNum; //代表返回信息 - send_Cmd.Parameter1 = isSuccess; //1 代表成功，0 代表失败; - send_Cmd.Buff_Data_Length = strlen(buf); - WrapInCmdAndSend(send_Cmd, buf, sendWay, send_Handler); -} - -void send_received_data_to_upper_computer(uint8_t *buffer, uint16_t length) -{ - send_Cmd.CommadNum = 12; //定义12为设定Mqtt透传向上返回的数据 - send_Cmd.Buff_Data_Length = length; - - WrapInCmdAndSend(send_Cmd, buffer, 0, desulfurizer_message_UART_Handler); - -} diff --git a/project_old/paint_robot_old/BASE/Src/BSP/bsp_qspi_w25q128.c b/project_old/paint_robot_old/BASE/Src/BSP/bsp_qspi_w25q128.c deleted file mode 100644 index 35131e5..0000000 --- a/project_old/paint_robot_old/BASE/Src/BSP/bsp_qspi_w25q128.c +++ /dev/null @@ -1,488 +0,0 @@ -/* - * bsp_quadspi_W25Q128.c - * - * Created on: Apr 25, 2021 - * Author: Administrator - * - * - * - * - * - */ -#include -#include "quadspi.h" - -/* 仅限本文件使用的函数 */ -static void QSPI_W25Qx_Write_Enable(QSPI_HandleTypeDef *hqspi); -static uint8_t QSPI_W25Qx_AutoPollingMemRead(uint32_t Timeout); -static void QSPI_W25Qx_Enter(QSPI_HandleTypeDef *hqspi); -static void QSPI_W25Qx_Exit(QSPI_HandleTypeDef *hqspi); - -/** - * 函数功能: 读取Flash状态并等待操作结束 - * 输入参数: Timeout：等待时间 - * - * 返回值: Flash的状态 - * 说明: - * - * - */ - - - -static uint8_t QSPI_W25Qx_AutoPollingMemRead(uint32_t Timeout) -{ - QSPI_CommandTypeDef s_command={0}; - QSPI_AutoPollingTypeDef s_config={0}; - - /* 基本配置 */ - s_command.InstructionMode = QSPI_INSTRUCTION_1_LINE; //1线方式发送指令 - s_command.AddressSize = QSPI_ADDRESS_24_BITS; //24位地址 - s_command.AlternateByteMode = QSPI_ALTERNATE_BYTES_NONE; //无交替字节 - s_command.DdrMode = QSPI_DDR_MODE_DISABLE; //W25Q128FV不支持DDR模式 - s_command.DdrHoldHalfCycle = QSPI_DDR_HHC_ANALOG_DELAY; //DDR模式，数据输出延迟 - s_command.SIOOMode = QSPI_SIOO_INST_EVERY_CMD; //每次传输都发指令 - - /* 配置自动轮询模式 */ - s_command.Instruction = READ_STATUS_REG1_CMD; //读取状态寄存器 - s_command.AddressMode = QSPI_ADDRESS_NONE; //没有地址 - s_command.DataMode = QSPI_DATA_1_LINE; //1线数据 - s_command.DummyCycles = 0; //无空周期 - - /* 配置自动轮询寄存器（不断查询状态寄存器bit0，等待其为0） */ - s_config.Match = 0x00; //等待其为0 - s_config.Mask = W25Q128FV_FSR_BUSY; //状态寄存器bit0 - s_config.MatchMode = QSPI_MATCH_MODE_AND; //逻辑与 - s_config.StatusBytesSize = 1; - s_config.Interval = 0x10; - s_config.AutomaticStop = QSPI_AUTOMATIC_STOP_ENABLE; - - /* 自动轮询模式等待编程结束 */ - if(HAL_QSPI_AutoPolling(&hqspi,&s_command,&s_config,Timeout) != HAL_OK) - { - user_Assert(__FILE__,__LINE__); - } - - return FLASH_OK; - -} - -/** - * 函数功能: 读取外部FLASH的ID - * 输入参数: 无 - * - * 返回值: uint32_t - * 说明: - * 1、使用SPI模式的指令 - * - */ -uint32_t QSPI_W25Qx_ReadID(void) -{ - uint32_t uiID; - - QSPI_CommandTypeDef s_command = {0}; - uint8_t buf[3]; - - /* 基本配置 */ - s_command.InstructionMode = QSPI_INSTRUCTION_1_LINE; //1线方式发送指令 - s_command.AddressSize = QSPI_ADDRESS_24_BITS; //24位地址 - s_command.AlternateByteMode = QSPI_ALTERNATE_BYTES_NONE; //无交替字节 - s_command.DdrMode = QSPI_DDR_MODE_DISABLE; //W25Q128FV不支持DDR模式 - s_command.DdrHoldHalfCycle = QSPI_DDR_HHC_ANALOG_DELAY; //DDR模式，数据输出延迟 - s_command.SIOOMode = QSPI_SIOO_INST_EVERY_CMD; //每次传输都发指令 - - /* 读取JEDEC ID */ - s_command.Instruction = READ_JEDEC_ID_CMD; //读取ID命令: 0x9F - s_command.AddressMode = QSPI_ADDRESS_NONE; //没有地址 - s_command.DataMode = QSPI_DATA_1_LINE; //1线数据 - s_command.DummyCycles = 0; //无空周期 - s_command.NbData = 3; //读取三个数据 - - /* 发送指令 */ - if(HAL_QSPI_Command(&hqspi,&s_command,HAL_QPSI_TIMEOUT_DEFAULT_VALUE) != HAL_OK) - { - user_Assert(__FILE__,__LINE__); - } - - /* 启动接收 */ - if(HAL_QSPI_Receive(&hqspi,buf,HAL_QPSI_TIMEOUT_DEFAULT_VALUE) != HAL_OK) - { - user_Assert(__FILE__,__LINE__); - } - - uiID = (buf[0] << 16) | (buf[1] << 8) | buf[2]; - - return uiID; -} - -/** - * 函数功能: 外部FLASH写使能 - * 输入参数: hqspi QSPI_HandleTypeDef句柄 - * - * 返回值: 无 - * 说明: - * 1、使用SPI模式的指令 - * - */ -static void QSPI_W25Qx_Write_Enable(QSPI_HandleTypeDef *hqspi) -{ - QSPI_CommandTypeDef s_command = {0}; - QSPI_AutoPollingTypeDef s_config={0}; - - /* 基本配置 */ - s_command.InstructionMode = QSPI_INSTRUCTION_1_LINE; //1线方式发送指令 - //s_command.AddressSize = QSPI_ADDRESS_24_BITS; //24位地址 - s_command.AlternateByteMode = QSPI_ALTERNATE_BYTES_NONE; //无交替字节 - s_command.DdrMode = QSPI_DDR_MODE_DISABLE; //W25Q128FV不支持DDR模式 - s_command.DdrHoldHalfCycle = QSPI_DDR_HHC_ANALOG_DELAY; //DDR模式，数据输出延迟 - s_command.SIOOMode = QSPI_SIOO_INST_EVERY_CMD; //每次传输都发指令 - - /* 写入使能配置 */ - s_command.Instruction = WRITE_ENABLE_CMD; //写使能命令 - s_command.AddressMode = QSPI_ADDRESS_NONE; //没有地址 - s_command.DataMode = QSPI_DATA_NONE; //没有数据 - s_command.DummyCycles = 0; //无空周期 - s_command.NbData = 0; //空数据 - - /* 发送指令 */ - if(HAL_QSPI_Command(hqspi,&s_command,HAL_QPSI_TIMEOUT_DEFAULT_VALUE) != HAL_OK) - { - user_Assert(__FILE__,__LINE__); - } - - /* 配置自动轮询模式等待操作完成 */ - s_config.Match = W25Q128FV_FSR_WREN; - s_config.Mask = W25Q128FV_FSR_WREN; - s_config.MatchMode = QSPI_MATCH_MODE_AND; - s_config.StatusBytesSize = 1; - s_config.Interval = 0x10; - s_config.AutomaticStop = QSPI_AUTOMATIC_STOP_ENABLE; - - s_command.Instruction = READ_STATUS_REG1_CMD; - s_command.DataMode = QSPI_DATA_1_LINE; - s_command.NbData = 1; - - if(HAL_QSPI_AutoPolling(hqspi,&s_command,&s_config,HAL_QSPI_TIMEOUT_DEFAULT_VALUE) != HAL_OK) - { - user_Assert(__FILE__,__LINE__); - } - -} - -/** - * 函数功能: 擦除外部FLASH的扇区（大小：4KB) - * 输入参数: _uiSectorAddr: 扇区地址，以4KB为单位的地址，比如0，4096，8192等 - * - * 返回值: 无 - * 说明: - * 1、 - * - */ -void QSPI_W25Qx_EraseSector(uint32_t _SectorAddr) -{ - QSPI_CommandTypeDef s_command = {0}; - - /* 写使能 */ - QSPI_W25Qx_Write_Enable(&hqspi); - - /* 基本配置 */ - s_command.InstructionMode = QSPI_INSTRUCTION_1_LINE; //1线方式发送指令 - s_command.AddressSize = QSPI_ADDRESS_24_BITS; //24位地址 - s_command.AlternateByteMode = QSPI_ALTERNATE_BYTES_NONE; //无交替字节 - s_command.DdrMode = QSPI_DDR_MODE_DISABLE; //W25Q128FV不支持DDR模式 - s_command.DdrHoldHalfCycle = QSPI_DDR_HHC_ANALOG_DELAY; //DDR模式，数据输出延迟 - s_command.SIOOMode = QSPI_SIOO_INST_EVERY_CMD; //每次传输都发指令 - - /* 擦除扇区配置 */ - s_command.Instruction = SECTOR_ERASE_CMD; //扇区擦除指令 - s_command.AddressMode = QSPI_ADDRESS_1_LINE; //1线地址方式 - s_command.DataMode = QSPI_DATA_NONE; //没有数据 - s_command.Address = _SectorAddr; //扇区的首地址，保证是4KB整数倍 - s_command.DummyCycles = 0; //无空周期 - - /* 发送指令 */ - if(HAL_QSPI_Command(&hqspi,&s_command,HAL_QPSI_TIMEOUT_DEFAULT_VALUE) != HAL_OK) - { - user_Assert(__FILE__,__LINE__); - } - - /* 自动轮询模式等待编程结束 */ - if(QSPI_W25Qx_AutoPollingMemRead(W25Q128FV_SUBSECTOR_ERASE_MAX_TIME) != HAL_OK) - { - user_Assert(__FILE__,__LINE__); - } - -} - -/** - * 函数功能: 页编程，通过QSPI将数据写入外部FALSH - * 输入参数: _pBuf: 需要存入数据的指针 - * _write_Addr: 目标区域首地址，即页首地址，比如0，256，512等。 - * _write_Size: 数据个数，不能超过页的大小，可以填入（1 ~ 256） - * 返回值: 无 - * 说明: - * 1、华邦的W25Q128FV仅仅支持SPI模式写入 - */ -uint8_t QSPI_W25Qx_Write_Buffer(uint8_t *_pBuf,uint32_t _write_Addr,uint16_t _write_Size) -{ - QSPI_CommandTypeDef s_command = {0}; - - /* 防止写入的大小超过256字节 */ - if(_write_Size > W25Q128FV_PAGE_SIZE) - { - /* 进入断言，提示错误 */ - user_Assert(__FILE__,__LINE__); - } - - QSPI_W25Qx_Write_Enable(&hqspi); //写使能 - - /* 基本配置 */ - s_command.InstructionMode = QSPI_INSTRUCTION_1_LINE; //1线方式发送指令 - s_command.AddressSize = QSPI_ADDRESS_24_BITS; //24位地址 - s_command.AlternateByteMode = QSPI_ALTERNATE_BYTES_NONE; //无交替字节 - s_command.DdrMode = QSPI_DDR_MODE_DISABLE; //W25Q128FV不支持DDR模式 - s_command.DdrHoldHalfCycle = QSPI_DDR_HHC_ANALOG_DELAY; //DDR模式，数据输出延迟 - s_command.SIOOMode = QSPI_SIOO_INST_EVERY_CMD; //每次传输都发指令 - - /*写入序列配置 */ - s_command.Instruction = QUAD_INPUT_PAGE_PROG_CMD; //24位四线快速写入指令 - s_command.AddressMode = QSPI_ADDRESS_1_LINE; //1线地址方式 - s_command.DataMode = QSPI_DATA_4_LINES; //4线数据方式 - s_command.Address = _write_Addr; //写入数据的地址 - s_command.NbData = _write_Size; //写入数据的大小 - s_command.DummyCycles = 0; //无空周期 - - /* 发送指令 */ - if(HAL_QSPI_Command(&hqspi,&s_command,HAL_QPSI_TIMEOUT_DEFAULT_VALUE) != HAL_OK) - { - user_Assert(__FILE__,__LINE__); - } - - /* 启动传输 */ - if(HAL_QSPI_Transmit(&hqspi,_pBuf,HAL_QPSI_TIMEOUT_DEFAULT_VALUE) != HAL_OK) - { - user_Assert(__FILE__,__LINE__); - } - - /* 自动轮询模式等待编程结束 */ - if(QSPI_W25Qx_AutoPollingMemRead(W25Q128FV_SUBSECTOR_ERASE_MAX_TIME) != HAL_OK) - { - user_Assert(__FILE__,__LINE__); - } - - return 1; -} - -/** - * 函数功能: 外部FLASH芯片进入QSPI模式 - * 输入参数: *hqspi: qspi句柄 - * - * 返回值: 无 - * 说明: - * - */ -static void QSPI_W25Qx_Enter(QSPI_HandleTypeDef *hqspi) -{ - QSPI_CommandTypeDef s_command = {0}; - /* 配置FLASH进入QPSI模式 */ - /* 基本配置 */ - s_command.InstructionMode = QSPI_INSTRUCTION_1_LINE; //1线方式发送指令 - s_command.AddressSize = QSPI_ADDRESS_24_BITS; //24位地址 - s_command.AlternateByteMode = QSPI_ALTERNATE_BYTES_NONE; //无交替字节 - s_command.DdrMode = QSPI_DDR_MODE_DISABLE; //W25Q128FV不支持DDR模式 - s_command.DdrHoldHalfCycle = QSPI_DDR_HHC_ANALOG_DELAY; //DDR模式，数据输出延迟 - s_command.SIOOMode = QSPI_SIOO_INST_EVERY_CMD; //每次传输都发指令 - - /* 写入序列配置 */ - s_command.Instruction = ENTER_QPI_MODE_CMD; //进入QSPI模式 - s_command.AddressMode = QSPI_ADDRESS_NONE; //无地址方式 - s_command.DataMode = QSPI_DATA_NONE; //无数据方式 - s_command.DummyCycles = 0; //0空闲状态周期 - - /* 发送指令 */ - if(HAL_QSPI_Command(hqspi,&s_command,HAL_QPSI_TIMEOUT_DEFAULT_VALUE) != HAL_OK) - { - user_Assert(__FILE__,__LINE__); - } - -} - -/** - * 函数功能: 外部FLASH芯片退出QSPI模式 - * 输入参数: *hqspi: qspi句柄 - * - * 返回值: 无 - * 说明: - * - */ -static void QSPI_W25Qx_Exit(QSPI_HandleTypeDef *hqspi) -{ - QSPI_CommandTypeDef s_command = {0}; - - /* 基本配置 */ - s_command.InstructionMode = QSPI_INSTRUCTION_4_LINES; //4线方式发送指令 - s_command.AddressSize = QSPI_ADDRESS_24_BITS; //24位地址 - s_command.AlternateByteMode = QSPI_ALTERNATE_BYTES_NONE; //无交替字节 - s_command.DdrMode = QSPI_DDR_MODE_DISABLE; //W25Q128FV不支持DDR模式 - s_command.DdrHoldHalfCycle = QSPI_DDR_HHC_ANALOG_DELAY; //DDR模式，数据输出延迟 - s_command.SIOOMode = QSPI_SIOO_INST_EVERY_CMD; //每次传输都发指令 - - /* 写入序列配置 */ - s_command.Instruction = EXIT_QPI_MODE_CMD; //进入QSPI模式 - s_command.AddressMode = QSPI_ADDRESS_NONE; //无地址方式 - s_command.DataMode = QSPI_DATA_NONE; //无数据方式 - s_command.DummyCycles = 0; //0空闲状态周期 - - /* 发送指令 */ - if(HAL_QSPI_Command(hqspi,&s_command,HAL_QPSI_TIMEOUT_DEFAULT_VALUE) != HAL_OK) - { - user_Assert(__FILE__,__LINE__); - } -} - -/** - * 函数功能: 连续读取若干字节，字节的个数不能超出芯片容量 - * 输入参数: _pBuf: 读取数据的存放地址 - * _read_Addr: 起始的地址 - * _read_Size: 数据个数，可以大于W25Q128FV_PAGE_SIZE,但不能超出芯片总容量 - * 返回值: 无 - * 说明: - * 1、从SPI模式切换到QSPI模式，读取完毕后切换回SPI模式（其他函数仅仅支持SPI模式）。 - */ -void QSPI_W25Qx_Read_Buffer(uint8_t *_pBuf,uint32_t _read_Addr,uint32_t _read_Size) -{ - QSPI_CommandTypeDef s_command = {0}; - - /* 进入QSPI模式 */ - QSPI_W25Qx_Enter(&hqspi); - - /* 开始从FLASH读取数据 */ - /* 基本配置 */ - s_command.InstructionMode = QSPI_INSTRUCTION_4_LINES; //1线方式发送指令 - s_command.AddressSize = QSPI_ADDRESS_24_BITS; //24位地址 - s_command.AlternateByteMode = QSPI_ALTERNATE_BYTES_NONE; //无交替字节 - s_command.DdrMode = QSPI_DDR_MODE_DISABLE; //W25Q128FV不支持DDR模式 - s_command.DdrHoldHalfCycle = QSPI_DDR_HHC_ANALOG_DELAY; //DDR模式，数据输出延迟 - s_command.SIOOMode = QSPI_SIOO_INST_EVERY_CMD; //每次传输都发指令 - - /*读取序列配置 */ - s_command.Instruction = QUAD_INOUT_FAST_READ_CMD; //24位四线快速写入指令 - s_command.AddressMode = QSPI_ADDRESS_4_LINES; //4线地址方式 - s_command.DataMode = QSPI_DATA_4_LINES; //4线数据方式 - s_command.Address = _read_Addr; //写入数据的地址 - s_command.NbData = _read_Size; //写入数据的大小 - s_command.DummyCycles = 2; //两个空闲状态周期（4个时钟周期），结合时序理解 - - /* 发送指令 */ - if(HAL_QSPI_Command(&hqspi,&s_command,HAL_QPSI_TIMEOUT_DEFAULT_VALUE) != HAL_OK) - { - user_Assert(__FILE__,__LINE__); - } - - /* 读取数据 */ - if(HAL_QSPI_Receive(&hqspi,_pBuf,HAL_QPSI_TIMEOUT_DEFAULT_VALUE) != HAL_OK) - { - user_Assert(__FILE__,__LINE__); - } - - /* 退出QSPI模式 */ - QSPI_W25Qx_Exit(&hqspi); - -} - -/** - * 函数功能: 复位外部Flash - * 输入参数: 无 - * - * 返回值: void - * 说明: - * - */ -void QSPI_W25Qx_Reset_Memory() -{ - QSPI_CommandTypeDef s_command = {0}; - - /* 基本配置 */ - s_command.InstructionMode = QSPI_INSTRUCTION_1_LINE; //1线方式发送指令 - s_command.AddressSize = QSPI_ADDRESS_24_BITS; //24位地址 - s_command.AlternateByteMode = QSPI_ALTERNATE_BYTES_NONE; //无交替字节 - s_command.DdrMode = QSPI_DDR_MODE_DISABLE; //W25Q128FV不支持DDR模式 - s_command.DdrHoldHalfCycle = QSPI_DDR_HHC_ANALOG_DELAY; //DDR模式，数据输出延迟 - s_command.SIOOMode = QSPI_SIOO_INST_EVERY_CMD; //每次传输都发指令 - - /* 复位使能W25x */ - s_command.Instruction = RESET_ENABLE_CMD; //复位使能命令 - s_command.AddressMode = QSPI_ADDRESS_NONE; //没有地址 - s_command.DataMode = QSPI_DATA_NONE; //没有数据 - s_command.DummyCycles = 0; //无空周期 - - /* 发送复位使能命令 */ - if(HAL_QSPI_Command(&hqspi,&s_command,HAL_QPSI_TIMEOUT_DEFAULT_VALUE) != HAL_OK) - { - user_Assert(__FILE__,__LINE__); - } - - /* 发送复位命令 */ - s_command.Instruction = RESET_MEMORY_CMD; //复位命令 - /* 发送复位使能命令 */ - if(HAL_QSPI_Command(&hqspi,&s_command,HAL_QPSI_TIMEOUT_DEFAULT_VALUE) != HAL_OK) - { - user_Assert(__FILE__,__LINE__); - } - - /* 自动轮询模式等待等待完成 */ - if(QSPI_W25Qx_AutoPollingMemRead(HAL_QPSI_TIMEOUT_DEFAULT_VALUE) != HAL_OK) - { - user_Assert(__FILE__,__LINE__); - } - -} - - - -/** - * 函数功能: 检查代码异常，打印出异常的位置（文件名与行号） - * 输入参数: file: 源代码文件名称。关键字__FILE__表示源代码文件名。 - * line: 代码行号，关键字__LINE__表示源代码行号 - * 返回值： void - - * 说明: - * 1、在需要断言的地方直接调用user_Assert(__FILE__,__LINE__); - */ -void user_Assert(char *file,uint32_t line) -{ - printf("Wrong parameters value: file %s on line %d\r\n",file, (unsigned int)line); - - /* 这是一个死循环，断言失败时程序会卡此处死机，以便于用户差错 */ - if(line == 0) - { - return; - } - while(1) - { - - } -} - - -/** - * 函数功能: 读取Flash状态并等待操作结束 - * 输入参数: Timeout：等待时间 - * - * 返回值: Flash的状态 - * 说明: - * - * - */ - -void QSPI_W25Qx_EraseDownLoadFlash() -{ - int i =0; - int count=CODE_FLASH_STORAGE_SIZE/4/1024; - for(i=0;i<=count;i++) - { - QSPI_W25Qx_EraseSector(i*4*1024); - // HAL_Delay(10); - } - i=10; -} diff --git a/project_old/paint_robot_old/BASE/Src/BSP/bsp_tempature.c b/project_old/paint_robot_old/BASE/Src/BSP/bsp_tempature.c deleted file mode 100644 index 74a68f7..0000000 --- a/project_old/paint_robot_old/BASE/Src/BSP/bsp_tempature.c +++ /dev/null @@ -1,81 +0,0 @@ -/* - * bsp_adc.c - * - * Created on: Feb 21, 2025 - * Author: akeguo - */ - -#include -#include "adc.h" -#include "BSP/bsp_include.h" -#include "stm32h7xx_hal_adc.h" - -#include - -// 硬件相关参数配置 -#define ADC_MAX_VALUE 0xffff // 16位ADC最大值，若为10位ADC改为1023 -#define VREF 3.3f // ADC参考电压 - -// 热敏电阻参数 (需根据实际型号确认) -#define R_REF 10000.0f // 分压电阻阻值(与热敏电阻串联) -#define B_VALUE 3380.0f // B常数 (需确认具体型号参数) -#define R0 10000.0f // 25°C时的标称阻值 -#define T0 298.15f // 25°C对应的开尔文温度(25 + 273.15) -int32_t adc_value; - -void GF_ADC_Collect(); - -int32_t * tempature; - -void ADC_Intialize() -{ - - GF_BSP_Interrupt_Add_CallBack( - DF_BSP_InterCall_TIM1_100ms_PeriodElapsedCallback, GF_ADC_Collect); -} - -void GF_ADC_Collect() -{ - *tempature = read_temperature(); -} -int32_t read_temperature() -{ - - HAL_ADC_Start(&hadc2); //开启ADC1 - - if (HAL_ADC_PollForConversion(&hadc2, 100) == HAL_OK) - { - //16 bit resolution - adc_value = HAL_ADC_GetValue(&hadc2); - - HAL_ADC_Stop(&hadc2); - // 1. 计算热敏电阻两端电压 - float voltage = (adc_value / (float) ADC_MAX_VALUE) * VREF; - - // 2. 计算热敏电阻阻值（分压电路公式） - float ntc_resistance = (voltage * R_REF) / (VREF - voltage); - //float ntc_resistance = (voltage * R_REF) / (VREF); - // 3. 使用Steinhart-Hart方程计算温度 - float steinhart; - steinhart = ntc_resistance / R0; // (R/R0) - steinhart = log(steinhart); // ln(R/R0) - steinhart /= B_VALUE; // 1/B * ln(R/R0) - steinhart += 1.0 / T0; // + (1/T0) - steinhart = 1.0 / steinhart; // 取倒数得到开尔文温度 - - - // 4. 转换为摄氏度并返回 - return (int32_t)((steinhart - 273.15)*100); - } - else - { - adc_value = 0; - HAL_ADC_Stop(&hadc2); - return 0; - } - -} - -int32_t temperature; - - diff --git a/project_old/paint_robot_old/BASE/Src/BSP/pb_common.c b/project_old/paint_robot_old/BASE/Src/BSP/pb_common.c deleted file mode 100644 index 6aee76b..0000000 --- a/project_old/paint_robot_old/BASE/Src/BSP/pb_common.c +++ /dev/null @@ -1,388 +0,0 @@ -/* pb_common.c: Common support functions for pb_encode.c and pb_decode.c. - * - * 2014 Petteri Aimonen - */ - -#include "pb_common.h" - -static bool load_descriptor_values(pb_field_iter_t *iter) -{ - uint32_t word0; - uint32_t data_offset; - int_least8_t size_offset; - - if (iter->index >= iter->descriptor->field_count) - return false; - - word0 = PB_PROGMEM_READU32(iter->descriptor->field_info[iter->field_info_index]); - iter->type = (pb_type_t)((word0 >> 8) & 0xFF); - - switch(word0 & 3) - { - case 0: { - /* 1-word format */ - iter->array_size = 1; - iter->tag = (pb_size_t)((word0 >> 2) & 0x3F); - size_offset = (int_least8_t)((word0 >> 24) & 0x0F); - data_offset = (word0 >> 16) & 0xFF; - iter->data_size = (pb_size_t)((word0 >> 28) & 0x0F); - break; - } - - case 1: { - /* 2-word format */ - uint32_t word1 = PB_PROGMEM_READU32(iter->descriptor->field_info[iter->field_info_index + 1]); - - iter->array_size = (pb_size_t)((word0 >> 16) & 0x0FFF); - iter->tag = (pb_size_t)(((word0 >> 2) & 0x3F) | ((word1 >> 28) << 6)); - size_offset = (int_least8_t)((word0 >> 28) & 0x0F); - data_offset = word1 & 0xFFFF; - iter->data_size = (pb_size_t)((word1 >> 16) & 0x0FFF); - break; - } - - case 2: { - /* 4-word format */ - uint32_t word1 = PB_PROGMEM_READU32(iter->descriptor->field_info[iter->field_info_index + 1]); - uint32_t word2 = PB_PROGMEM_READU32(iter->descriptor->field_info[iter->field_info_index + 2]); - uint32_t word3 = PB_PROGMEM_READU32(iter->descriptor->field_info[iter->field_info_index + 3]); - - iter->array_size = (pb_size_t)(word0 >> 16); - iter->tag = (pb_size_t)(((word0 >> 2) & 0x3F) | ((word1 >> 8) << 6)); - size_offset = (int_least8_t)(word1 & 0xFF); - data_offset = word2; - iter->data_size = (pb_size_t)word3; - break; - } - - default: { - /* 8-word format */ - uint32_t word1 = PB_PROGMEM_READU32(iter->descriptor->field_info[iter->field_info_index + 1]); - uint32_t word2 = PB_PROGMEM_READU32(iter->descriptor->field_info[iter->field_info_index + 2]); - uint32_t word3 = PB_PROGMEM_READU32(iter->descriptor->field_info[iter->field_info_index + 3]); - uint32_t word4 = PB_PROGMEM_READU32(iter->descriptor->field_info[iter->field_info_index + 4]); - - iter->array_size = (pb_size_t)word4; - iter->tag = (pb_size_t)(((word0 >> 2) & 0x3F) | ((word1 >> 8) << 6)); - size_offset = (int_least8_t)(word1 & 0xFF); - data_offset = word2; - iter->data_size = (pb_size_t)word3; - break; - } - } - - if (!iter->message) - { - /* Avoid doing arithmetic on null pointers, it is undefined */ - iter->pField = NULL; - iter->pSize = NULL; - } - else - { - iter->pField = (char*)iter->message + data_offset; - - if (size_offset) - { - iter->pSize = (char*)iter->pField - size_offset; - } - else if (PB_HTYPE(iter->type) == PB_HTYPE_REPEATED && - (PB_ATYPE(iter->type) == PB_ATYPE_STATIC || - PB_ATYPE(iter->type) == PB_ATYPE_POINTER)) - { - /* Fixed count array */ - iter->pSize = &iter->array_size; - } - else - { - iter->pSize = NULL; - } - - if (PB_ATYPE(iter->type) == PB_ATYPE_POINTER && iter->pField != NULL) - { - iter->pData = *(void**)iter->pField; - } - else - { - iter->pData = iter->pField; - } - } - - if (PB_LTYPE_IS_SUBMSG(iter->type)) - { - iter->submsg_desc = iter->descriptor->submsg_info[iter->submessage_index]; - } - else - { - iter->submsg_desc = NULL; - } - - return true; -} - -static void advance_iterator(pb_field_iter_t *iter) -{ - iter->index++; - - if (iter->index >= iter->descriptor->field_count) - { - /* Restart */ - iter->index = 0; - iter->field_info_index = 0; - iter->submessage_index = 0; - iter->required_field_index = 0; - } - else - { - /* Increment indexes based on previous field type. - * All field info formats have the following fields: - * - lowest 2 bits tell the amount of words in the descriptor (2^n words) - * - bits 2..7 give the lowest bits of tag number. - * - bits 8..15 give the field type. - */ - uint32_t prev_descriptor = PB_PROGMEM_READU32(iter->descriptor->field_info[iter->field_info_index]); - pb_type_t prev_type = (prev_descriptor >> 8) & 0xFF; - pb_size_t descriptor_len = (pb_size_t)(1 << (prev_descriptor & 3)); - - /* Add to fields. - * The cast to pb_size_t is needed to avoid -Wconversion warning. - * Because the data is is constants from generator, there is no danger of overflow. - */ - iter->field_info_index = (pb_size_t)(iter->field_info_index + descriptor_len); - iter->required_field_index = (pb_size_t)(iter->required_field_index + (PB_HTYPE(prev_type) == PB_HTYPE_REQUIRED)); - iter->submessage_index = (pb_size_t)(iter->submessage_index + PB_LTYPE_IS_SUBMSG(prev_type)); - } -} - -bool pb_field_iter_begin(pb_field_iter_t *iter, const pb_msgdesc_t *desc, void *message) -{ - memset(iter, 0, sizeof(*iter)); - - iter->descriptor = desc; - iter->message = message; - - return load_descriptor_values(iter); -} - -bool pb_field_iter_begin_extension(pb_field_iter_t *iter, pb_extension_t *extension) -{ - const pb_msgdesc_t *msg = (const pb_msgdesc_t*)extension->type->arg; - bool status; - - uint32_t word0 = PB_PROGMEM_READU32(msg->field_info[0]); - if (PB_ATYPE(word0 >> 8) == PB_ATYPE_POINTER) - { - /* For pointer extensions, the pointer is stored directly - * in the extension structure. This avoids having an extra - * indirection. */ - status = pb_field_iter_begin(iter, msg, &extension->dest); - } - else - { - status = pb_field_iter_begin(iter, msg, extension->dest); - } - - iter->pSize = &extension->found; - return status; -} - -bool pb_field_iter_next(pb_field_iter_t *iter) -{ - advance_iterator(iter); - (void)load_descriptor_values(iter); - return iter->index != 0; -} - -bool pb_field_iter_find(pb_field_iter_t *iter, uint32_t tag) -{ - if (iter->tag == tag) - { - return true; /* Nothing to do, correct field already. */ - } - else if (tag > iter->descriptor->largest_tag) - { - return false; - } - else - { - pb_size_t start = iter->index; - uint32_t fieldinfo; - - if (tag < iter->tag) - { - /* Fields are in tag number order, so we know that tag is between - * 0 and our start position. Setting index to end forces - * advance_iterator() call below to restart from beginning. */ - iter->index = iter->descriptor->field_count; - } - - do - { - /* Advance iterator but don't load values yet */ - advance_iterator(iter); - - /* Do fast check for tag number match */ - fieldinfo = PB_PROGMEM_READU32(iter->descriptor->field_info[iter->field_info_index]); - - if (((fieldinfo >> 2) & 0x3F) == (tag & 0x3F)) - { - /* Good candidate, check further */ - (void)load_descriptor_values(iter); - - if (iter->tag == tag && - PB_LTYPE(iter->type) != PB_LTYPE_EXTENSION) - { - /* Found it */ - return true; - } - } - } while (iter->index != start); - - /* Searched all the way back to start, and found nothing. */ - (void)load_descriptor_values(iter); - return false; - } -} - -bool pb_field_iter_find_extension(pb_field_iter_t *iter) -{ - if (PB_LTYPE(iter->type) == PB_LTYPE_EXTENSION) - { - return true; - } - else - { - pb_size_t start = iter->index; - uint32_t fieldinfo; - - do - { - /* Advance iterator but don't load values yet */ - advance_iterator(iter); - - /* Do fast check for field type */ - fieldinfo = PB_PROGMEM_READU32(iter->descriptor->field_info[iter->field_info_index]); - - if (PB_LTYPE((fieldinfo >> 8) & 0xFF) == PB_LTYPE_EXTENSION) - { - return load_descriptor_values(iter); - } - } while (iter->index != start); - - /* Searched all the way back to start, and found nothing. */ - (void)load_descriptor_values(iter); - return false; - } -} - -static void *pb_const_cast(const void *p) -{ - /* Note: this casts away const, in order to use the common field iterator - * logic for both encoding and decoding. The cast is done using union - * to avoid spurious compiler warnings. */ - union { - void *p1; - const void *p2; - } t; - t.p2 = p; - return t.p1; -} - -bool pb_field_iter_begin_const(pb_field_iter_t *iter, const pb_msgdesc_t *desc, const void *message) -{ - return pb_field_iter_begin(iter, desc, pb_const_cast(message)); -} - -bool pb_field_iter_begin_extension_const(pb_field_iter_t *iter, const pb_extension_t *extension) -{ - return pb_field_iter_begin_extension(iter, (pb_extension_t*)pb_const_cast(extension)); -} - -bool pb_default_field_callback(pb_istream_t *istream, pb_ostream_t *ostream, const pb_field_t *field) -{ - if (field->data_size == sizeof(pb_callback_t)) - { - pb_callback_t *pCallback = (pb_callback_t*)field->pData; - - if (pCallback != NULL) - { - if (istream != NULL && pCallback->funcs.decode != NULL) - { - return pCallback->funcs.decode(istream, field, &pCallback->arg); - } - - if (ostream != NULL && pCallback->funcs.encode != NULL) - { - return pCallback->funcs.encode(ostream, field, &pCallback->arg); - } - } - } - - return true; /* Success, but didn't do anything */ - -} - -#ifdef PB_VALIDATE_UTF8 - -/* This function checks whether a string is valid UTF-8 text. - * - * Algorithm is adapted from https://www.cl.cam.ac.uk/~mgk25/ucs/utf8_check.c - * Original copyright: Markus Kuhn 2005-03-30 - * Licensed under "Short code license", which allows use under MIT license or - * any compatible with it. - */ - -bool pb_validate_utf8(const char *str) -{ - const pb_byte_t *s = (const pb_byte_t*)str; - while (*s) - { - if (*s < 0x80) - { - /* 0xxxxxxx */ - s++; - } - else if ((s[0] & 0xe0) == 0xc0) - { - /* 110XXXXx 10xxxxxx */ - if ((s[1] & 0xc0) != 0x80 || - (s[0] & 0xfe) == 0xc0) /* overlong? */ - return false; - else - s += 2; - } - else if ((s[0] & 0xf0) == 0xe0) - { - /* 1110XXXX 10Xxxxxx 10xxxxxx */ - if ((s[1] & 0xc0) != 0x80 || - (s[2] & 0xc0) != 0x80 || - (s[0] == 0xe0 && (s[1] & 0xe0) == 0x80) || /* overlong? */ - (s[0] == 0xed && (s[1] & 0xe0) == 0xa0) || /* surrogate? */ - (s[0] == 0xef && s[1] == 0xbf && - (s[2] & 0xfe) == 0xbe)) /* U+FFFE or U+FFFF? */ - return false; - else - s += 3; - } - else if ((s[0] & 0xf8) == 0xf0) - { - /* 11110XXX 10XXxxxx 10xxxxxx 10xxxxxx */ - if ((s[1] & 0xc0) != 0x80 || - (s[2] & 0xc0) != 0x80 || - (s[3] & 0xc0) != 0x80 || - (s[0] == 0xf0 && (s[1] & 0xf0) == 0x80) || /* overlong? */ - (s[0] == 0xf4 && s[1] > 0x8f) || s[0] > 0xf4) /* > U+10FFFF? */ - return false; - else - s += 4; - } - else - { - return false; - } - } - - return true; -} - -#endif - diff --git a/project_old/paint_robot_old/BASE/Src/BSP/pb_decode.c b/project_old/paint_robot_old/BASE/Src/BSP/pb_decode.c deleted file mode 100644 index 788998e..0000000 --- a/project_old/paint_robot_old/BASE/Src/BSP/pb_decode.c +++ /dev/null @@ -1,1727 +0,0 @@ -/* pb_decode.c -- decode a protobuf using minimal resources - * - * 2011 Petteri Aimonen - */ - -/* Use the GCC warn_unused_result attribute to check that all return values - * are propagated correctly. On other compilers and gcc before 3.4.0 just - * ignore the annotation. - */ -#if !defined(__GNUC__) || ( __GNUC__ < 3) || (__GNUC__ == 3 && __GNUC_MINOR__ < 4) - #define checkreturn -#else - #define checkreturn __attribute__((warn_unused_result)) -#endif - -#include "pb.h" -#include "pb_decode.h" -#include "pb_common.h" - -/************************************** - * Declarations internal to this file * - **************************************/ - -static bool checkreturn buf_read(pb_istream_t *stream, pb_byte_t *buf, size_t count); -static bool checkreturn pb_decode_varint32_eof(pb_istream_t *stream, uint32_t *dest, bool *eof); -static bool checkreturn read_raw_value(pb_istream_t *stream, pb_wire_type_t wire_type, pb_byte_t *buf, size_t *size); -static bool checkreturn decode_basic_field(pb_istream_t *stream, pb_wire_type_t wire_type, pb_field_iter_t *field); -static bool checkreturn decode_static_field(pb_istream_t *stream, pb_wire_type_t wire_type, pb_field_iter_t *field); -static bool checkreturn decode_pointer_field(pb_istream_t *stream, pb_wire_type_t wire_type, pb_field_iter_t *field); -static bool checkreturn decode_callback_field(pb_istream_t *stream, pb_wire_type_t wire_type, pb_field_iter_t *field); -static bool checkreturn decode_field(pb_istream_t *stream, pb_wire_type_t wire_type, pb_field_iter_t *field); -static bool checkreturn default_extension_decoder(pb_istream_t *stream, pb_extension_t *extension, uint32_t tag, pb_wire_type_t wire_type); -static bool checkreturn decode_extension(pb_istream_t *stream, uint32_t tag, pb_wire_type_t wire_type, pb_extension_t *extension); -static bool pb_field_set_to_default(pb_field_iter_t *field); -static bool pb_message_set_to_defaults(pb_field_iter_t *iter); -static bool checkreturn pb_dec_bool(pb_istream_t *stream, const pb_field_iter_t *field); -static bool checkreturn pb_dec_varint(pb_istream_t *stream, const pb_field_iter_t *field); -static bool checkreturn pb_dec_bytes(pb_istream_t *stream, const pb_field_iter_t *field); -static bool checkreturn pb_dec_string(pb_istream_t *stream, const pb_field_iter_t *field); -static bool checkreturn pb_dec_submessage(pb_istream_t *stream, const pb_field_iter_t *field); -static bool checkreturn pb_dec_fixed_length_bytes(pb_istream_t *stream, const pb_field_iter_t *field); -static bool checkreturn pb_skip_varint(pb_istream_t *stream); -static bool checkreturn pb_skip_string(pb_istream_t *stream); - -#ifdef PB_ENABLE_MALLOC -static bool checkreturn allocate_field(pb_istream_t *stream, void *pData, size_t data_size, size_t array_size); -static void initialize_pointer_field(void *pItem, pb_field_iter_t *field); -static bool checkreturn pb_release_union_field(pb_istream_t *stream, pb_field_iter_t *field); -static void pb_release_single_field(pb_field_iter_t *field); -#endif - -#ifdef PB_WITHOUT_64BIT -#define pb_int64_t int32_t -#define pb_uint64_t uint32_t -#else -#define pb_int64_t int64_t -#define pb_uint64_t uint64_t -#endif - -typedef struct { - uint32_t bitfield[(PB_MAX_REQUIRED_FIELDS + 31) / 32]; -} pb_fields_seen_t; - -/******************************* - * pb_istream_t implementation * - *******************************/ - -static bool checkreturn buf_read(pb_istream_t *stream, pb_byte_t *buf, size_t count) -{ - const pb_byte_t *source = (const pb_byte_t*)stream->state; - stream->state = (pb_byte_t*)stream->state + count; - - if (buf != NULL) - { - memcpy(buf, source, count * sizeof(pb_byte_t)); - } - - return true; -} - -bool checkreturn pb_read(pb_istream_t *stream, pb_byte_t *buf, size_t count) -{ - if (count == 0) - return true; - -#ifndef PB_BUFFER_ONLY - if (buf == NULL && stream->callback != buf_read) - { - /* Skip input bytes */ - pb_byte_t tmp[16]; - while (count > 16) - { - if (!pb_read(stream, tmp, 16)) - return false; - - count -= 16; - } - - return pb_read(stream, tmp, count); - } -#endif - - if (stream->bytes_left < count) - PB_RETURN_ERROR(stream, "end-of-stream"); - -#ifndef PB_BUFFER_ONLY - if (!stream->callback(stream, buf, count)) - PB_RETURN_ERROR(stream, "io error"); -#else - if (!buf_read(stream, buf, count)) - return false; -#endif - - if (stream->bytes_left < count) - stream->bytes_left = 0; - else - stream->bytes_left -= count; - - return true; -} - -/* Read a single byte from input stream. buf may not be NULL. - * This is an optimization for the varint decoding. */ -static bool checkreturn pb_readbyte(pb_istream_t *stream, pb_byte_t *buf) -{ - if (stream->bytes_left == 0) - PB_RETURN_ERROR(stream, "end-of-stream"); - -#ifndef PB_BUFFER_ONLY - if (!stream->callback(stream, buf, 1)) - PB_RETURN_ERROR(stream, "io error"); -#else - *buf = *(const pb_byte_t*)stream->state; - stream->state = (pb_byte_t*)stream->state + 1; -#endif - - stream->bytes_left--; - - return true; -} - -pb_istream_t pb_istream_from_buffer(const pb_byte_t *buf, size_t msglen) -{ - pb_istream_t stream; - /* Cast away the const from buf without a compiler error. We are - * careful to use it only in a const manner in the callbacks. - */ - union { - void *state; - const void *c_state; - } state; -#ifdef PB_BUFFER_ONLY - stream.callback = NULL; -#else - stream.callback = &buf_read; -#endif - state.c_state = buf; - stream.state = state.state; - stream.bytes_left = msglen; -#ifndef PB_NO_ERRMSG - stream.errmsg = NULL; -#endif - return stream; -} - -/******************** - * Helper functions * - ********************/ - -static bool checkreturn pb_decode_varint32_eof(pb_istream_t *stream, uint32_t *dest, bool *eof) -{ - pb_byte_t byte; - uint32_t result; - - if (!pb_readbyte(stream, &byte)) - { - if (stream->bytes_left == 0) - { - if (eof) - { - *eof = true; - } - } - - return false; - } - - if ((byte & 0x80) == 0) - { - /* Quick case, 1 byte value */ - result = byte; - } - else - { - /* Multibyte case */ - uint_fast8_t bitpos = 7; - result = byte & 0x7F; - - do - { - if (!pb_readbyte(stream, &byte)) - return false; - - if (bitpos >= 32) - { - /* Note: The varint could have trailing 0x80 bytes, or 0xFF for negative. */ - pb_byte_t sign_extension = (bitpos < 63) ? 0xFF : 0x01; - bool valid_extension = ((byte & 0x7F) == 0x00 || - ((result >> 31) != 0 && byte == sign_extension)); - - if (bitpos >= 64 || !valid_extension) - { - PB_RETURN_ERROR(stream, "varint overflow"); - } - } - else if (bitpos == 28) - { - if ((byte & 0x70) != 0 && (byte & 0x78) != 0x78) - { - PB_RETURN_ERROR(stream, "varint overflow"); - } - result |= (uint32_t)(byte & 0x0F) << bitpos; - } - else - { - result |= (uint32_t)(byte & 0x7F) << bitpos; - } - bitpos = (uint_fast8_t)(bitpos + 7); - } while (byte & 0x80); - } - - *dest = result; - return true; -} - -bool checkreturn pb_decode_varint32(pb_istream_t *stream, uint32_t *dest) -{ - return pb_decode_varint32_eof(stream, dest, NULL); -} - -#ifndef PB_WITHOUT_64BIT -bool checkreturn pb_decode_varint(pb_istream_t *stream, uint64_t *dest) -{ - pb_byte_t byte; - uint_fast8_t bitpos = 0; - uint64_t result = 0; - - do - { - if (!pb_readbyte(stream, &byte)) - return false; - - if (bitpos >= 63 && (byte & 0xFE) != 0) - PB_RETURN_ERROR(stream, "varint overflow"); - - result |= (uint64_t)(byte & 0x7F) << bitpos; - bitpos = (uint_fast8_t)(bitpos + 7); - } while (byte & 0x80); - - *dest = result; - return true; -} -#endif - -bool checkreturn pb_skip_varint(pb_istream_t *stream) -{ - pb_byte_t byte; - do - { - if (!pb_read(stream, &byte, 1)) - return false; - } while (byte & 0x80); - return true; -} - -bool checkreturn pb_skip_string(pb_istream_t *stream) -{ - uint32_t length; - if (!pb_decode_varint32(stream, &length)) - return false; - - if ((size_t)length != length) - { - PB_RETURN_ERROR(stream, "size too large"); - } - - return pb_read(stream, NULL, (size_t)length); -} - -bool checkreturn pb_decode_tag(pb_istream_t *stream, pb_wire_type_t *wire_type, uint32_t *tag, bool *eof) -{ - uint32_t temp; - *eof = false; - *wire_type = (pb_wire_type_t) 0; - *tag = 0; - - if (!pb_decode_varint32_eof(stream, &temp, eof)) - { - return false; - } - - *tag = temp >> 3; - *wire_type = (pb_wire_type_t)(temp & 7); - return true; -} - -bool checkreturn pb_skip_field(pb_istream_t *stream, pb_wire_type_t wire_type) -{ - switch (wire_type) - { - case PB_WT_VARINT: return pb_skip_varint(stream); - case PB_WT_64BIT: return pb_read(stream, NULL, 8); - case PB_WT_STRING: return pb_skip_string(stream); - case PB_WT_32BIT: return pb_read(stream, NULL, 4); - default: PB_RETURN_ERROR(stream, "invalid wire_type"); - } -} - -/* Read a raw value to buffer, for the purpose of passing it to callback as - * a substream. Size is maximum size on call, and actual size on return. - */ -static bool checkreturn read_raw_value(pb_istream_t *stream, pb_wire_type_t wire_type, pb_byte_t *buf, size_t *size) -{ - size_t max_size = *size; - switch (wire_type) - { - case PB_WT_VARINT: - *size = 0; - do - { - (*size)++; - if (*size > max_size) - PB_RETURN_ERROR(stream, "varint overflow"); - - if (!pb_read(stream, buf, 1)) - return false; - } while (*buf++ & 0x80); - return true; - - case PB_WT_64BIT: - *size = 8; - return pb_read(stream, buf, 8); - - case PB_WT_32BIT: - *size = 4; - return pb_read(stream, buf, 4); - - case PB_WT_STRING: - /* Calling read_raw_value with a PB_WT_STRING is an error. - * Explicitly handle this case and fallthrough to default to avoid - * compiler warnings. - */ - - default: PB_RETURN_ERROR(stream, "invalid wire_type"); - } -} - -/* Decode string length from stream and return a substream with limited length. - * Remember to close the substream using pb_close_string_substream(). - */ -bool checkreturn pb_make_string_substream(pb_istream_t *stream, pb_istream_t *substream) -{ - uint32_t size; - if (!pb_decode_varint32(stream, &size)) - return false; - - *substream = *stream; - if (substream->bytes_left < size) - PB_RETURN_ERROR(stream, "parent stream too short"); - - substream->bytes_left = (size_t)size; - stream->bytes_left -= (size_t)size; - return true; -} - -bool checkreturn pb_close_string_substream(pb_istream_t *stream, pb_istream_t *substream) -{ - if (substream->bytes_left) { - if (!pb_read(substream, NULL, substream->bytes_left)) - return false; - } - - stream->state = substream->state; - -#ifndef PB_NO_ERRMSG - stream->errmsg = substream->errmsg; -#endif - return true; -} - -/************************* - * Decode a single field * - *************************/ - -static bool checkreturn decode_basic_field(pb_istream_t *stream, pb_wire_type_t wire_type, pb_field_iter_t *field) -{ - switch (PB_LTYPE(field->type)) - { - case PB_LTYPE_BOOL: - if (wire_type != PB_WT_VARINT && wire_type != PB_WT_PACKED) - PB_RETURN_ERROR(stream, "wrong wire type"); - - return pb_dec_bool(stream, field); - - case PB_LTYPE_VARINT: - case PB_LTYPE_UVARINT: - case PB_LTYPE_SVARINT: - if (wire_type != PB_WT_VARINT && wire_type != PB_WT_PACKED) - PB_RETURN_ERROR(stream, "wrong wire type"); - - return pb_dec_varint(stream, field); - - case PB_LTYPE_FIXED32: - if (wire_type != PB_WT_32BIT && wire_type != PB_WT_PACKED) - PB_RETURN_ERROR(stream, "wrong wire type"); - - return pb_decode_fixed32(stream, field->pData); - - case PB_LTYPE_FIXED64: - if (wire_type != PB_WT_64BIT && wire_type != PB_WT_PACKED) - PB_RETURN_ERROR(stream, "wrong wire type"); - -#ifdef PB_CONVERT_DOUBLE_FLOAT - if (field->data_size == sizeof(float)) - { - return pb_decode_double_as_float(stream, (float*)field->pData); - } -#endif - -#ifdef PB_WITHOUT_64BIT - PB_RETURN_ERROR(stream, "invalid data_size"); -#else - return pb_decode_fixed64(stream, field->pData); -#endif - - case PB_LTYPE_BYTES: - if (wire_type != PB_WT_STRING) - PB_RETURN_ERROR(stream, "wrong wire type"); - - return pb_dec_bytes(stream, field); - - case PB_LTYPE_STRING: - if (wire_type != PB_WT_STRING) - PB_RETURN_ERROR(stream, "wrong wire type"); - - return pb_dec_string(stream, field); - - case PB_LTYPE_SUBMESSAGE: - case PB_LTYPE_SUBMSG_W_CB: - if (wire_type != PB_WT_STRING) - PB_RETURN_ERROR(stream, "wrong wire type"); - - return pb_dec_submessage(stream, field); - - case PB_LTYPE_FIXED_LENGTH_BYTES: - if (wire_type != PB_WT_STRING) - PB_RETURN_ERROR(stream, "wrong wire type"); - - return pb_dec_fixed_length_bytes(stream, field); - - default: - PB_RETURN_ERROR(stream, "invalid field type"); - } -} - -static bool checkreturn decode_static_field(pb_istream_t *stream, pb_wire_type_t wire_type, pb_field_iter_t *field) -{ - switch (PB_HTYPE(field->type)) - { - case PB_HTYPE_REQUIRED: - return decode_basic_field(stream, wire_type, field); - - case PB_HTYPE_OPTIONAL: - if (field->pSize != NULL) - *(bool*)field->pSize = true; - return decode_basic_field(stream, wire_type, field); - - case PB_HTYPE_REPEATED: - if (wire_type == PB_WT_STRING - && PB_LTYPE(field->type) <= PB_LTYPE_LAST_PACKABLE) - { - /* Packed array */ - bool status = true; - pb_istream_t substream; - pb_size_t *size = (pb_size_t*)field->pSize; - field->pData = (char*)field->pField + field->data_size * (*size); - - if (!pb_make_string_substream(stream, &substream)) - return false; - - while (substream.bytes_left > 0 && *size < field->array_size) - { - if (!decode_basic_field(&substream, PB_WT_PACKED, field)) - { - status = false; - break; - } - (*size)++; - field->pData = (char*)field->pData + field->data_size; - } - - if (substream.bytes_left != 0) - PB_RETURN_ERROR(stream, "array overflow"); - if (!pb_close_string_substream(stream, &substream)) - return false; - - return status; - } - else - { - /* Repeated field */ - pb_size_t *size = (pb_size_t*)field->pSize; - field->pData = (char*)field->pField + field->data_size * (*size); - - if ((*size)++ >= field->array_size) - PB_RETURN_ERROR(stream, "array overflow"); - - return decode_basic_field(stream, wire_type, field); - } - - case PB_HTYPE_ONEOF: - if (PB_LTYPE_IS_SUBMSG(field->type) && - *(pb_size_t*)field->pSize != field->tag) - { - /* We memset to zero so that any callbacks are set to NULL. - * This is because the callbacks might otherwise have values - * from some other union field. - * If callbacks are needed inside oneof field, use .proto - * option submsg_callback to have a separate callback function - * that can set the fields before submessage is decoded. - * pb_dec_submessage() will set any default values. */ - memset(field->pData, 0, (size_t)field->data_size); - - /* Set default values for the submessage fields. */ - if (field->submsg_desc->default_value != NULL || - field->submsg_desc->field_callback != NULL || - field->submsg_desc->submsg_info[0] != NULL) - { - pb_field_iter_t submsg_iter; - if (pb_field_iter_begin(&submsg_iter, field->submsg_desc, field->pData)) - { - if (!pb_message_set_to_defaults(&submsg_iter)) - PB_RETURN_ERROR(stream, "failed to set defaults"); - } - } - } - *(pb_size_t*)field->pSize = field->tag; - - return decode_basic_field(stream, wire_type, field); - - default: - PB_RETURN_ERROR(stream, "invalid field type"); - } -} - -#ifdef PB_ENABLE_MALLOC -/* Allocate storage for the field and store the pointer at iter->pData. - * array_size is the number of entries to reserve in an array. - * Zero size is not allowed, use pb_free() for releasing. - */ -static bool checkreturn allocate_field(pb_istream_t *stream, void *pData, size_t data_size, size_t array_size) -{ - void *ptr = *(void**)pData; - - if (data_size == 0 || array_size == 0) - PB_RETURN_ERROR(stream, "invalid size"); - -#ifdef __AVR__ - /* Workaround for AVR libc bug 53284: http://savannah.nongnu.org/bugs/?53284 - * Realloc to size of 1 byte can cause corruption of the malloc structures. - */ - if (data_size == 1 && array_size == 1) - { - data_size = 2; - } -#endif - - /* Check for multiplication overflows. - * This code avoids the costly division if the sizes are small enough. - * Multiplication is safe as long as only half of bits are set - * in either multiplicand. - */ - { - const size_t check_limit = (size_t)1 << (sizeof(size_t) * 4); - if (data_size >= check_limit || array_size >= check_limit) - { - const size_t size_max = (size_t)-1; - if (size_max / array_size < data_size) - { - PB_RETURN_ERROR(stream, "size too large"); - } - } - } - - /* Allocate new or expand previous allocation */ - /* Note: on failure the old pointer will remain in the structure, - * the message must be freed by caller also on error return. */ - ptr = pb_realloc(ptr, array_size * data_size); - if (ptr == NULL) - PB_RETURN_ERROR(stream, "realloc failed"); - - *(void**)pData = ptr; - return true; -} - -/* Clear a newly allocated item in case it contains a pointer, or is a submessage. */ -static void initialize_pointer_field(void *pItem, pb_field_iter_t *field) -{ - if (PB_LTYPE(field->type) == PB_LTYPE_STRING || - PB_LTYPE(field->type) == PB_LTYPE_BYTES) - { - *(void**)pItem = NULL; - } - else if (PB_LTYPE_IS_SUBMSG(field->type)) - { - /* We memset to zero so that any callbacks are set to NULL. - * Default values will be set by pb_dec_submessage(). */ - memset(pItem, 0, field->data_size); - } -} -#endif - -static bool checkreturn decode_pointer_field(pb_istream_t *stream, pb_wire_type_t wire_type, pb_field_iter_t *field) -{ -#ifndef PB_ENABLE_MALLOC - PB_UNUSED(wire_type); - PB_UNUSED(field); - PB_RETURN_ERROR(stream, "no malloc support"); -#else - switch (PB_HTYPE(field->type)) - { - case PB_HTYPE_REQUIRED: - case PB_HTYPE_OPTIONAL: - case PB_HTYPE_ONEOF: - if (PB_LTYPE_IS_SUBMSG(field->type) && *(void**)field->pField != NULL) - { - /* Duplicate field, have to release the old allocation first. */ - /* FIXME: Does this work correctly for oneofs? */ - pb_release_single_field(field); - } - - if (PB_HTYPE(field->type) == PB_HTYPE_ONEOF) - { - *(pb_size_t*)field->pSize = field->tag; - } - - if (PB_LTYPE(field->type) == PB_LTYPE_STRING || - PB_LTYPE(field->type) == PB_LTYPE_BYTES) - { - /* pb_dec_string and pb_dec_bytes handle allocation themselves */ - field->pData = field->pField; - return decode_basic_field(stream, wire_type, field); - } - else - { - if (!allocate_field(stream, field->pField, field->data_size, 1)) - return false; - - field->pData = *(void**)field->pField; - initialize_pointer_field(field->pData, field); - return decode_basic_field(stream, wire_type, field); - } - - case PB_HTYPE_REPEATED: - if (wire_type == PB_WT_STRING - && PB_LTYPE(field->type) <= PB_LTYPE_LAST_PACKABLE) - { - /* Packed array, multiple items come in at once. */ - bool status = true; - pb_size_t *size = (pb_size_t*)field->pSize; - size_t allocated_size = *size; - pb_istream_t substream; - - if (!pb_make_string_substream(stream, &substream)) - return false; - - while (substream.bytes_left) - { - if (*size == PB_SIZE_MAX) - { -#ifndef PB_NO_ERRMSG - stream->errmsg = "too many array entries"; -#endif - status = false; - break; - } - - if ((size_t)*size + 1 > allocated_size) - { - /* Allocate more storage. This tries to guess the - * number of remaining entries. Round the division - * upwards. */ - size_t remain = (substream.bytes_left - 1) / field->data_size + 1; - if (remain < PB_SIZE_MAX - allocated_size) - allocated_size += remain; - else - allocated_size += 1; - - if (!allocate_field(&substream, field->pField, field->data_size, allocated_size)) - { - status = false; - break; - } - } - - /* Decode the array entry */ - field->pData = *(char**)field->pField + field->data_size * (*size); - if (field->pData == NULL) - { - /* Shouldn't happen, but satisfies static analyzers */ - status = false; - break; - } - initialize_pointer_field(field->pData, field); - if (!decode_basic_field(&substream, PB_WT_PACKED, field)) - { - status = false; - break; - } - - (*size)++; - } - if (!pb_close_string_substream(stream, &substream)) - return false; - - return status; - } - else - { - /* Normal repeated field, i.e. only one item at a time. */ - pb_size_t *size = (pb_size_t*)field->pSize; - - if (*size == PB_SIZE_MAX) - PB_RETURN_ERROR(stream, "too many array entries"); - - if (!allocate_field(stream, field->pField, field->data_size, (size_t)(*size + 1))) - return false; - - field->pData = *(char**)field->pField + field->data_size * (*size); - (*size)++; - initialize_pointer_field(field->pData, field); - return decode_basic_field(stream, wire_type, field); - } - - default: - PB_RETURN_ERROR(stream, "invalid field type"); - } -#endif -} - -static bool checkreturn decode_callback_field(pb_istream_t *stream, pb_wire_type_t wire_type, pb_field_iter_t *field) -{ - if (!field->descriptor->field_callback) - return pb_skip_field(stream, wire_type); - - if (wire_type == PB_WT_STRING) - { - pb_istream_t substream; - size_t prev_bytes_left; - - if (!pb_make_string_substream(stream, &substream)) - return false; - - do - { - prev_bytes_left = substream.bytes_left; - if (!field->descriptor->field_callback(&substream, NULL, field)) - { - PB_SET_ERROR(stream, substream.errmsg ? substream.errmsg : "callback failed"); - return false; - } - } while (substream.bytes_left > 0 && substream.bytes_left < prev_bytes_left); - - if (!pb_close_string_substream(stream, &substream)) - return false; - - return true; - } - else - { - /* Copy the single scalar value to stack. - * This is required so that we can limit the stream length, - * which in turn allows to use same callback for packed and - * not-packed fields. */ - pb_istream_t substream; - pb_byte_t buffer[10]; - size_t size = sizeof(buffer); - - if (!read_raw_value(stream, wire_type, buffer, &size)) - return false; - substream = pb_istream_from_buffer(buffer, size); - - return field->descriptor->field_callback(&substream, NULL, field); - } -} - -static bool checkreturn decode_field(pb_istream_t *stream, pb_wire_type_t wire_type, pb_field_iter_t *field) -{ -#ifdef PB_ENABLE_MALLOC - /* When decoding an oneof field, check if there is old data that must be - * released first. */ - if (PB_HTYPE(field->type) == PB_HTYPE_ONEOF) - { - if (!pb_release_union_field(stream, field)) - return false; - } -#endif - - switch (PB_ATYPE(field->type)) - { - case PB_ATYPE_STATIC: - return decode_static_field(stream, wire_type, field); - - case PB_ATYPE_POINTER: - return decode_pointer_field(stream, wire_type, field); - - case PB_ATYPE_CALLBACK: - return decode_callback_field(stream, wire_type, field); - - default: - PB_RETURN_ERROR(stream, "invalid field type"); - } -} - -/* Default handler for extension fields. Expects to have a pb_msgdesc_t - * pointer in the extension->type->arg field, pointing to a message with - * only one field in it. */ -static bool checkreturn default_extension_decoder(pb_istream_t *stream, - pb_extension_t *extension, uint32_t tag, pb_wire_type_t wire_type) -{ - pb_field_iter_t iter; - - if (!pb_field_iter_begin_extension(&iter, extension)) - PB_RETURN_ERROR(stream, "invalid extension"); - - if (iter.tag != tag || !iter.message) - return true; - - extension->found = true; - return decode_field(stream, wire_type, &iter); -} - -/* Try to decode an unknown field as an extension field. Tries each extension - * decoder in turn, until one of them handles the field or loop ends. */ -static bool checkreturn decode_extension(pb_istream_t *stream, - uint32_t tag, pb_wire_type_t wire_type, pb_extension_t *extension) -{ - size_t pos = stream->bytes_left; - - while (extension != NULL && pos == stream->bytes_left) - { - bool status; - if (extension->type->decode) - status = extension->type->decode(stream, extension, tag, wire_type); - else - status = default_extension_decoder(stream, extension, tag, wire_type); - - if (!status) - return false; - - extension = extension->next; - } - - return true; -} - -/* Initialize message fields to default values, recursively */ -static bool pb_field_set_to_default(pb_field_iter_t *field) -{ - pb_type_t type; - type = field->type; - - if (PB_LTYPE(type) == PB_LTYPE_EXTENSION) - { - pb_extension_t *ext = *(pb_extension_t* const *)field->pData; - while (ext != NULL) - { - pb_field_iter_t ext_iter; - if (pb_field_iter_begin_extension(&ext_iter, ext)) - { - ext->found = false; - if (!pb_message_set_to_defaults(&ext_iter)) - return false; - } - ext = ext->next; - } - } - else if (PB_ATYPE(type) == PB_ATYPE_STATIC) - { - bool init_data = true; - if (PB_HTYPE(type) == PB_HTYPE_OPTIONAL && field->pSize != NULL) - { - /* Set has_field to false. Still initialize the optional field - * itself also. */ - *(bool*)field->pSize = false; - } - else if (PB_HTYPE(type) == PB_HTYPE_REPEATED || - PB_HTYPE(type) == PB_HTYPE_ONEOF) - { - /* REPEATED: Set array count to 0, no need to initialize contents. - ONEOF: Set which_field to 0. */ - *(pb_size_t*)field->pSize = 0; - init_data = false; - } - - if (init_data) - { - if (PB_LTYPE_IS_SUBMSG(field->type) && - (field->submsg_desc->default_value != NULL || - field->submsg_desc->field_callback != NULL || - field->submsg_desc->submsg_info[0] != NULL)) - { - /* Initialize submessage to defaults. - * Only needed if it has default values - * or callback/submessage fields. */ - pb_field_iter_t submsg_iter; - if (pb_field_iter_begin(&submsg_iter, field->submsg_desc, field->pData)) - { - if (!pb_message_set_to_defaults(&submsg_iter)) - return false; - } - } - else - { - /* Initialize to zeros */ - memset(field->pData, 0, (size_t)field->data_size); - } - } - } - else if (PB_ATYPE(type) == PB_ATYPE_POINTER) - { - /* Initialize the pointer to NULL. */ - *(void**)field->pField = NULL; - - /* Initialize array count to 0. */ - if (PB_HTYPE(type) == PB_HTYPE_REPEATED || - PB_HTYPE(type) == PB_HTYPE_ONEOF) - { - *(pb_size_t*)field->pSize = 0; - } - } - else if (PB_ATYPE(type) == PB_ATYPE_CALLBACK) - { - /* Don't overwrite callback */ - } - - return true; -} - -static bool pb_message_set_to_defaults(pb_field_iter_t *iter) -{ - pb_istream_t defstream = PB_ISTREAM_EMPTY; - uint32_t tag = 0; - pb_wire_type_t wire_type = PB_WT_VARINT; - bool eof; - - if (iter->descriptor->default_value) - { - defstream = pb_istream_from_buffer(iter->descriptor->default_value, (size_t)-1); - if (!pb_decode_tag(&defstream, &wire_type, &tag, &eof)) - return false; - } - - do - { - if (!pb_field_set_to_default(iter)) - return false; - - if (tag != 0 && iter->tag == tag) - { - /* We have a default value for this field in the defstream */ - if (!decode_field(&defstream, wire_type, iter)) - return false; - if (!pb_decode_tag(&defstream, &wire_type, &tag, &eof)) - return false; - - if (iter->pSize) - *(bool*)iter->pSize = false; - } - } while (pb_field_iter_next(iter)); - - return true; -} - -/********************* - * Decode all fields * - *********************/ - -static bool checkreturn pb_decode_inner(pb_istream_t *stream, const pb_msgdesc_t *fields, void *dest_struct, unsigned int flags) -{ - uint32_t extension_range_start = 0; - pb_extension_t *extensions = NULL; - - /* 'fixed_count_field' and 'fixed_count_size' track position of a repeated fixed - * count field. This can only handle _one_ repeated fixed count field that - * is unpacked and unordered among other (non repeated fixed count) fields. - */ - pb_size_t fixed_count_field = PB_SIZE_MAX; - pb_size_t fixed_count_size = 0; - pb_size_t fixed_count_total_size = 0; - - pb_fields_seen_t fields_seen = {{0, 0}}; - const uint32_t allbits = ~(uint32_t)0; - pb_field_iter_t iter; - - if (pb_field_iter_begin(&iter, fields, dest_struct)) - { - if ((flags & PB_DECODE_NOINIT) == 0) - { - if (!pb_message_set_to_defaults(&iter)) - PB_RETURN_ERROR(stream, "failed to set defaults"); - } - } - - while (stream->bytes_left) - { - uint32_t tag; - pb_wire_type_t wire_type; - bool eof; - - if (!pb_decode_tag(stream, &wire_type, &tag, &eof)) - { - if (eof) - break; - else - return false; - } - - if (tag == 0) - { - if (flags & PB_DECODE_NULLTERMINATED) - { - break; - } - else - { - PB_RETURN_ERROR(stream, "zero tag"); - } - } - - if (!pb_field_iter_find(&iter, tag) || PB_LTYPE(iter.type) == PB_LTYPE_EXTENSION) - { - /* No match found, check if it matches an extension. */ - if (extension_range_start == 0) - { - if (pb_field_iter_find_extension(&iter)) - { - extensions = *(pb_extension_t* const *)iter.pData; - extension_range_start = iter.tag; - } - - if (!extensions) - { - extension_range_start = (uint32_t)-1; - } - } - - if (tag >= extension_range_start) - { - size_t pos = stream->bytes_left; - - if (!decode_extension(stream, tag, wire_type, extensions)) - return false; - - if (pos != stream->bytes_left) - { - /* The field was handled */ - continue; - } - } - - /* No match found, skip data */ - if (!pb_skip_field(stream, wire_type)) - return false; - continue; - } - - /* If a repeated fixed count field was found, get size from - * 'fixed_count_field' as there is no counter contained in the struct. - */ - if (PB_HTYPE(iter.type) == PB_HTYPE_REPEATED && iter.pSize == &iter.array_size) - { - if (fixed_count_field != iter.index) { - /* If the new fixed count field does not match the previous one, - * check that the previous one is NULL or that it finished - * receiving all the expected data. - */ - if (fixed_count_field != PB_SIZE_MAX && - fixed_count_size != fixed_count_total_size) - { - PB_RETURN_ERROR(stream, "wrong size for fixed count field"); - } - - fixed_count_field = iter.index; - fixed_count_size = 0; - fixed_count_total_size = iter.array_size; - } - - iter.pSize = &fixed_count_size; - } - - if (PB_HTYPE(iter.type) == PB_HTYPE_REQUIRED - && iter.required_field_index < PB_MAX_REQUIRED_FIELDS) - { - uint32_t tmp = ((uint32_t)1 << (iter.required_field_index & 31)); - fields_seen.bitfield[iter.required_field_index >> 5] |= tmp; - } - - if (!decode_field(stream, wire_type, &iter)) - return false; - } - - /* Check that all elements of the last decoded fixed count field were present. */ - if (fixed_count_field != PB_SIZE_MAX && - fixed_count_size != fixed_count_total_size) - { - PB_RETURN_ERROR(stream, "wrong size for fixed count field"); - } - - /* Check that all required fields were present. */ - { - pb_size_t req_field_count = iter.descriptor->required_field_count; - - if (req_field_count > 0) - { - pb_size_t i; - - if (req_field_count > PB_MAX_REQUIRED_FIELDS) - req_field_count = PB_MAX_REQUIRED_FIELDS; - - /* Check the whole words */ - for (i = 0; i < (req_field_count >> 5); i++) - { - if (fields_seen.bitfield[i] != allbits) - PB_RETURN_ERROR(stream, "missing required field"); - } - - /* Check the remaining bits (if any) */ - if ((req_field_count & 31) != 0) - { - if (fields_seen.bitfield[req_field_count >> 5] != - (allbits >> (uint_least8_t)(32 - (req_field_count & 31)))) - { - PB_RETURN_ERROR(stream, "missing required field"); - } - } - } - } - - return true; -} - -bool checkreturn pb_decode_ex(pb_istream_t *stream, const pb_msgdesc_t *fields, void *dest_struct, unsigned int flags) -{ - bool status; - - if ((flags & PB_DECODE_DELIMITED) == 0) - { - status = pb_decode_inner(stream, fields, dest_struct, flags); - } - else - { - pb_istream_t substream; - if (!pb_make_string_substream(stream, &substream)) - return false; - - status = pb_decode_inner(&substream, fields, dest_struct, flags); - - if (!pb_close_string_substream(stream, &substream)) - return false; - } - -#ifdef PB_ENABLE_MALLOC - if (!status) - pb_release(fields, dest_struct); -#endif - - return status; -} - -bool checkreturn pb_decode(pb_istream_t *stream, const pb_msgdesc_t *fields, void *dest_struct) -{ - bool status; - - status = pb_decode_inner(stream, fields, dest_struct, 0); - -#ifdef PB_ENABLE_MALLOC - if (!status) - pb_release(fields, dest_struct); -#endif - - return status; -} - -#ifdef PB_ENABLE_MALLOC -/* Given an oneof field, if there has already been a field inside this oneof, - * release it before overwriting with a different one. */ -static bool pb_release_union_field(pb_istream_t *stream, pb_field_iter_t *field) -{ - pb_field_iter_t old_field = *field; - pb_size_t old_tag = *(pb_size_t*)field->pSize; /* Previous which_ value */ - pb_size_t new_tag = field->tag; /* New which_ value */ - - if (old_tag == 0) - return true; /* Ok, no old data in union */ - - if (old_tag == new_tag) - return true; /* Ok, old data is of same type => merge */ - - /* Release old data. The find can fail if the message struct contains - * invalid data. */ - if (!pb_field_iter_find(&old_field, old_tag)) - PB_RETURN_ERROR(stream, "invalid union tag"); - - pb_release_single_field(&old_field); - - if (PB_ATYPE(field->type) == PB_ATYPE_POINTER) - { - /* Initialize the pointer to NULL to make sure it is valid - * even in case of error return. */ - *(void**)field->pField = NULL; - field->pData = NULL; - } - - return true; -} - -static void pb_release_single_field(pb_field_iter_t *field) -{ - pb_type_t type; - type = field->type; - - if (PB_HTYPE(type) == PB_HTYPE_ONEOF) - { - if (*(pb_size_t*)field->pSize != field->tag) - return; /* This is not the current field in the union */ - } - - /* Release anything contained inside an extension or submsg. - * This has to be done even if the submsg itself is statically - * allocated. */ - if (PB_LTYPE(type) == PB_LTYPE_EXTENSION) - { - /* Release fields from all extensions in the linked list */ - pb_extension_t *ext = *(pb_extension_t**)field->pData; - while (ext != NULL) - { - pb_field_iter_t ext_iter; - if (pb_field_iter_begin_extension(&ext_iter, ext)) - { - pb_release_single_field(&ext_iter); - } - ext = ext->next; - } - } - else if (PB_LTYPE_IS_SUBMSG(type) && PB_ATYPE(type) != PB_ATYPE_CALLBACK) - { - /* Release fields in submessage or submsg array */ - pb_size_t count = 1; - - if (PB_ATYPE(type) == PB_ATYPE_POINTER) - { - field->pData = *(void**)field->pField; - } - else - { - field->pData = field->pField; - } - - if (PB_HTYPE(type) == PB_HTYPE_REPEATED) - { - count = *(pb_size_t*)field->pSize; - - if (PB_ATYPE(type) == PB_ATYPE_STATIC && count > field->array_size) - { - /* Protect against corrupted _count fields */ - count = field->array_size; - } - } - - if (field->pData) - { - for (; count > 0; count--) - { - pb_release(field->submsg_desc, field->pData); - field->pData = (char*)field->pData + field->data_size; - } - } - } - - if (PB_ATYPE(type) == PB_ATYPE_POINTER) - { - if (PB_HTYPE(type) == PB_HTYPE_REPEATED && - (PB_LTYPE(type) == PB_LTYPE_STRING || - PB_LTYPE(type) == PB_LTYPE_BYTES)) - { - /* Release entries in repeated string or bytes array */ - void **pItem = *(void***)field->pField; - pb_size_t count = *(pb_size_t*)field->pSize; - for (; count > 0; count--) - { - pb_free(*pItem); - *pItem++ = NULL; - } - } - - if (PB_HTYPE(type) == PB_HTYPE_REPEATED) - { - /* We are going to release the array, so set the size to 0 */ - *(pb_size_t*)field->pSize = 0; - } - - /* Release main pointer */ - pb_free(*(void**)field->pField); - *(void**)field->pField = NULL; - } -} - -void pb_release(const pb_msgdesc_t *fields, void *dest_struct) -{ - pb_field_iter_t iter; - - if (!dest_struct) - return; /* Ignore NULL pointers, similar to free() */ - - if (!pb_field_iter_begin(&iter, fields, dest_struct)) - return; /* Empty message type */ - - do - { - pb_release_single_field(&iter); - } while (pb_field_iter_next(&iter)); -} -#else -void pb_release(const pb_msgdesc_t *fields, void *dest_struct) -{ - /* Nothing to release without PB_ENABLE_MALLOC. */ - PB_UNUSED(fields); - PB_UNUSED(dest_struct); -} -#endif - -/* Field decoders */ - -bool pb_decode_bool(pb_istream_t *stream, bool *dest) -{ - uint32_t value; - if (!pb_decode_varint32(stream, &value)) - return false; - - *(bool*)dest = (value != 0); - return true; -} - -bool pb_decode_svarint(pb_istream_t *stream, pb_int64_t *dest) -{ - pb_uint64_t value; - if (!pb_decode_varint(stream, &value)) - return false; - - if (value & 1) - *dest = (pb_int64_t)(~(value >> 1)); - else - *dest = (pb_int64_t)(value >> 1); - - return true; -} - -bool pb_decode_fixed32(pb_istream_t *stream, void *dest) -{ - union { - uint32_t fixed32; - pb_byte_t bytes[4]; - } u; - - if (!pb_read(stream, u.bytes, 4)) - return false; - -#if defined(PB_LITTLE_ENDIAN_8BIT) && PB_LITTLE_ENDIAN_8BIT == 1 - /* fast path - if we know that we're on little endian, assign directly */ - *(uint32_t*)dest = u.fixed32; -#else - *(uint32_t*)dest = ((uint32_t)u.bytes[0] << 0) | - ((uint32_t)u.bytes[1] << 8) | - ((uint32_t)u.bytes[2] << 16) | - ((uint32_t)u.bytes[3] << 24); -#endif - return true; -} - -#ifndef PB_WITHOUT_64BIT -bool pb_decode_fixed64(pb_istream_t *stream, void *dest) -{ - union { - uint64_t fixed64; - pb_byte_t bytes[8]; - } u; - - if (!pb_read(stream, u.bytes, 8)) - return false; - -#if defined(PB_LITTLE_ENDIAN_8BIT) && PB_LITTLE_ENDIAN_8BIT == 1 - /* fast path - if we know that we're on little endian, assign directly */ - *(uint64_t*)dest = u.fixed64; -#else - *(uint64_t*)dest = ((uint64_t)u.bytes[0] << 0) | - ((uint64_t)u.bytes[1] << 8) | - ((uint64_t)u.bytes[2] << 16) | - ((uint64_t)u.bytes[3] << 24) | - ((uint64_t)u.bytes[4] << 32) | - ((uint64_t)u.bytes[5] << 40) | - ((uint64_t)u.bytes[6] << 48) | - ((uint64_t)u.bytes[7] << 56); -#endif - return true; -} -#endif - -static bool checkreturn pb_dec_bool(pb_istream_t *stream, const pb_field_iter_t *field) -{ - return pb_decode_bool(stream, (bool*)field->pData); -} - -static bool checkreturn pb_dec_varint(pb_istream_t *stream, const pb_field_iter_t *field) -{ - if (PB_LTYPE(field->type) == PB_LTYPE_UVARINT) - { - pb_uint64_t value, clamped; - if (!pb_decode_varint(stream, &value)) - return false; - - /* Cast to the proper field size, while checking for overflows */ - if (field->data_size == sizeof(pb_uint64_t)) - clamped = *(pb_uint64_t*)field->pData = value; - else if (field->data_size == sizeof(uint32_t)) - clamped = *(uint32_t*)field->pData = (uint32_t)value; - else if (field->data_size == sizeof(uint_least16_t)) - clamped = *(uint_least16_t*)field->pData = (uint_least16_t)value; - else if (field->data_size == sizeof(uint_least8_t)) - clamped = *(uint_least8_t*)field->pData = (uint_least8_t)value; - else - PB_RETURN_ERROR(stream, "invalid data_size"); - - if (clamped != value) - PB_RETURN_ERROR(stream, "integer too large"); - - return true; - } - else - { - pb_uint64_t value; - pb_int64_t svalue; - pb_int64_t clamped; - - if (PB_LTYPE(field->type) == PB_LTYPE_SVARINT) - { - if (!pb_decode_svarint(stream, &svalue)) - return false; - } - else - { - if (!pb_decode_varint(stream, &value)) - return false; - - /* See issue 97: Google's C++ protobuf allows negative varint values to - * be cast as int32_t, instead of the int64_t that should be used when - * encoding. Nanopb versions before 0.2.5 had a bug in encoding. In order to - * not break decoding of such messages, we cast <=32 bit fields to - * int32_t first to get the sign correct. - */ - if (field->data_size == sizeof(pb_int64_t)) - svalue = (pb_int64_t)value; - else - svalue = (int32_t)value; - } - - /* Cast to the proper field size, while checking for overflows */ - if (field->data_size == sizeof(pb_int64_t)) - clamped = *(pb_int64_t*)field->pData = svalue; - else if (field->data_size == sizeof(int32_t)) - clamped = *(int32_t*)field->pData = (int32_t)svalue; - else if (field->data_size == sizeof(int_least16_t)) - clamped = *(int_least16_t*)field->pData = (int_least16_t)svalue; - else if (field->data_size == sizeof(int_least8_t)) - clamped = *(int_least8_t*)field->pData = (int_least8_t)svalue; - else - PB_RETURN_ERROR(stream, "invalid data_size"); - - if (clamped != svalue) - PB_RETURN_ERROR(stream, "integer too large"); - - return true; - } -} - -static bool checkreturn pb_dec_bytes(pb_istream_t *stream, const pb_field_iter_t *field) -{ - uint32_t size; - size_t alloc_size; - pb_bytes_array_t *dest; - - if (!pb_decode_varint32(stream, &size)) - return false; - - if (size > PB_SIZE_MAX) - PB_RETURN_ERROR(stream, "bytes overflow"); - - alloc_size = PB_BYTES_ARRAY_T_ALLOCSIZE(size); - if (size > alloc_size) - PB_RETURN_ERROR(stream, "size too large"); - - if (PB_ATYPE(field->type) == PB_ATYPE_POINTER) - { -#ifndef PB_ENABLE_MALLOC - PB_RETURN_ERROR(stream, "no malloc support"); -#else - if (stream->bytes_left < size) - PB_RETURN_ERROR(stream, "end-of-stream"); - - if (!allocate_field(stream, field->pData, alloc_size, 1)) - return false; - dest = *(pb_bytes_array_t**)field->pData; -#endif - } - else - { - if (alloc_size > field->data_size) - PB_RETURN_ERROR(stream, "bytes overflow"); - dest = (pb_bytes_array_t*)field->pData; - } - - dest->size = (pb_size_t)size; - return pb_read(stream, dest->bytes, (size_t)size); -} - -static bool checkreturn pb_dec_string(pb_istream_t *stream, const pb_field_iter_t *field) -{ - uint32_t size; - size_t alloc_size; - pb_byte_t *dest = (pb_byte_t*)field->pData; - - if (!pb_decode_varint32(stream, &size)) - return false; - - if (size == (uint32_t)-1) - PB_RETURN_ERROR(stream, "size too large"); - - /* Space for null terminator */ - alloc_size = (size_t)(size + 1); - - if (alloc_size < size) - PB_RETURN_ERROR(stream, "size too large"); - - if (PB_ATYPE(field->type) == PB_ATYPE_POINTER) - { -#ifndef PB_ENABLE_MALLOC - PB_RETURN_ERROR(stream, "no malloc support"); -#else - if (stream->bytes_left < size) - PB_RETURN_ERROR(stream, "end-of-stream"); - - if (!allocate_field(stream, field->pData, alloc_size, 1)) - return false; - dest = *(pb_byte_t**)field->pData; -#endif - } - else - { - if (alloc_size > field->data_size) - PB_RETURN_ERROR(stream, "string overflow"); - } - - dest[size] = 0; - - if (!pb_read(stream, dest, (size_t)size)) - return false; - -#ifdef PB_VALIDATE_UTF8 - if (!pb_validate_utf8((const char*)dest)) - PB_RETURN_ERROR(stream, "invalid utf8"); -#endif - - return true; -} - -static bool checkreturn pb_dec_submessage(pb_istream_t *stream, const pb_field_iter_t *field) -{ - bool status = true; - bool submsg_consumed = false; - pb_istream_t substream; - - if (!pb_make_string_substream(stream, &substream)) - return false; - - if (field->submsg_desc == NULL) - PB_RETURN_ERROR(stream, "invalid field descriptor"); - - /* Submessages can have a separate message-level callback that is called - * before decoding the message. Typically it is used to set callback fields - * inside oneofs. */ - if (PB_LTYPE(field->type) == PB_LTYPE_SUBMSG_W_CB && field->pSize != NULL) - { - /* Message callback is stored right before pSize. */ - pb_callback_t *callback = (pb_callback_t*)field->pSize - 1; - if (callback->funcs.decode) - { - status = callback->funcs.decode(&substream, field, &callback->arg); - - if (substream.bytes_left == 0) - { - submsg_consumed = true; - } - } - } - - /* Now decode the submessage contents */ - if (status && !submsg_consumed) - { - unsigned int flags = 0; - - /* Static required/optional fields are already initialized by top-level - * pb_decode(), no need to initialize them again. */ - if (PB_ATYPE(field->type) == PB_ATYPE_STATIC && - PB_HTYPE(field->type) != PB_HTYPE_REPEATED) - { - flags = PB_DECODE_NOINIT; - } - - status = pb_decode_inner(&substream, field->submsg_desc, field->pData, flags); - } - - if (!pb_close_string_substream(stream, &substream)) - return false; - - return status; -} - -static bool checkreturn pb_dec_fixed_length_bytes(pb_istream_t *stream, const pb_field_iter_t *field) -{ - uint32_t size; - - if (!pb_decode_varint32(stream, &size)) - return false; - - if (size > PB_SIZE_MAX) - PB_RETURN_ERROR(stream, "bytes overflow"); - - if (size == 0) - { - /* As a special case, treat empty bytes string as all zeros for fixed_length_bytes. */ - memset(field->pData, 0, (size_t)field->data_size); - return true; - } - - if (size != field->data_size) - PB_RETURN_ERROR(stream, "incorrect fixed length bytes size"); - - return pb_read(stream, (pb_byte_t*)field->pData, (size_t)field->data_size); -} - -#ifdef PB_CONVERT_DOUBLE_FLOAT -bool pb_decode_double_as_float(pb_istream_t *stream, float *dest) -{ - uint_least8_t sign; - int exponent; - uint32_t mantissa; - uint64_t value; - union { float f; uint32_t i; } out; - - if (!pb_decode_fixed64(stream, &value)) - return false; - - /* Decompose input value */ - sign = (uint_least8_t)((value >> 63) & 1); - exponent = (int)((value >> 52) & 0x7FF) - 1023; - mantissa = (value >> 28) & 0xFFFFFF; /* Highest 24 bits */ - - /* Figure if value is in range representable by floats. */ - if (exponent == 1024) - { - /* Special value */ - exponent = 128; - mantissa >>= 1; - } - else - { - if (exponent > 127) - { - /* Too large, convert to infinity */ - exponent = 128; - mantissa = 0; - } - else if (exponent < -150) - { - /* Too small, convert to zero */ - exponent = -127; - mantissa = 0; - } - else if (exponent < -126) - { - /* Denormalized */ - mantissa |= 0x1000000; - mantissa >>= (-126 - exponent); - exponent = -127; - } - - /* Round off mantissa */ - mantissa = (mantissa + 1) >> 1; - - /* Check if mantissa went over 2.0 */ - if (mantissa & 0x800000) - { - exponent += 1; - mantissa &= 0x7FFFFF; - mantissa >>= 1; - } - } - - /* Combine fields */ - out.i = mantissa; - out.i |= (uint32_t)(exponent + 127) << 23; - out.i |= (uint32_t)sign << 31; - - *dest = out.f; - return true; -} -#endif diff --git a/project_old/paint_robot_old/BASE/Src/BSP/pb_encode.c b/project_old/paint_robot_old/BASE/Src/BSP/pb_encode.c deleted file mode 100644 index 7f56201..0000000 --- a/project_old/paint_robot_old/BASE/Src/BSP/pb_encode.c +++ /dev/null @@ -1,1000 +0,0 @@ -/* pb_encode.c -- encode a protobuf using minimal resources - * - * 2011 Petteri Aimonen - */ - -#include "pb.h" -#include "pb_encode.h" -#include "pb_common.h" - -/* Use the GCC warn_unused_result attribute to check that all return values - * are propagated correctly. On other compilers and gcc before 3.4.0 just - * ignore the annotation. - */ -#if !defined(__GNUC__) || ( __GNUC__ < 3) || (__GNUC__ == 3 && __GNUC_MINOR__ < 4) - #define checkreturn -#else - #define checkreturn __attribute__((warn_unused_result)) -#endif - -/************************************** - * Declarations internal to this file * - **************************************/ -static bool checkreturn buf_write(pb_ostream_t *stream, const pb_byte_t *buf, size_t count); -static bool checkreturn encode_array(pb_ostream_t *stream, pb_field_iter_t *field); -static bool checkreturn pb_check_proto3_default_value(const pb_field_iter_t *field); -static bool checkreturn encode_basic_field(pb_ostream_t *stream, const pb_field_iter_t *field); -static bool checkreturn encode_callback_field(pb_ostream_t *stream, const pb_field_iter_t *field); -static bool checkreturn encode_field(pb_ostream_t *stream, pb_field_iter_t *field); -static bool checkreturn encode_extension_field(pb_ostream_t *stream, const pb_field_iter_t *field); -static bool checkreturn default_extension_encoder(pb_ostream_t *stream, const pb_extension_t *extension); -static bool checkreturn pb_encode_varint_32(pb_ostream_t *stream, uint32_t low, uint32_t high); -static bool checkreturn pb_enc_bool(pb_ostream_t *stream, const pb_field_iter_t *field); -static bool checkreturn pb_enc_varint(pb_ostream_t *stream, const pb_field_iter_t *field); -static bool checkreturn pb_enc_fixed(pb_ostream_t *stream, const pb_field_iter_t *field); -static bool checkreturn pb_enc_bytes(pb_ostream_t *stream, const pb_field_iter_t *field); -static bool checkreturn pb_enc_string(pb_ostream_t *stream, const pb_field_iter_t *field); -static bool checkreturn pb_enc_submessage(pb_ostream_t *stream, const pb_field_iter_t *field); -static bool checkreturn pb_enc_fixed_length_bytes(pb_ostream_t *stream, const pb_field_iter_t *field); - -#ifdef PB_WITHOUT_64BIT -#define pb_int64_t int32_t -#define pb_uint64_t uint32_t -#else -#define pb_int64_t int64_t -#define pb_uint64_t uint64_t -#endif - -/******************************* - * pb_ostream_t implementation * - *******************************/ - -static bool checkreturn buf_write(pb_ostream_t *stream, const pb_byte_t *buf, size_t count) -{ - pb_byte_t *dest = (pb_byte_t*)stream->state; - stream->state = dest + count; - - memcpy(dest, buf, count * sizeof(pb_byte_t)); - - return true; -} - -pb_ostream_t pb_ostream_from_buffer(pb_byte_t *buf, size_t bufsize) -{ - pb_ostream_t stream; -#ifdef PB_BUFFER_ONLY - /* In PB_BUFFER_ONLY configuration the callback pointer is just int*. - * NULL pointer marks a sizing field, so put a non-NULL value to mark a buffer stream. - */ - static const int marker = 0; - stream.callback = ▮ -#else - stream.callback = &buf_write; -#endif - stream.state = buf; - stream.max_size = bufsize; - stream.bytes_written = 0; -#ifndef PB_NO_ERRMSG - stream.errmsg = NULL; -#endif - return stream; -} - -bool checkreturn pb_write(pb_ostream_t *stream, const pb_byte_t *buf, size_t count) -{ - if (count > 0 && stream->callback != NULL) - { - if (stream->bytes_written + count < stream->bytes_written || - stream->bytes_written + count > stream->max_size) - { - PB_RETURN_ERROR(stream, "stream full"); - } - -#ifdef PB_BUFFER_ONLY - if (!buf_write(stream, buf, count)) - PB_RETURN_ERROR(stream, "io error"); -#else - if (!stream->callback(stream, buf, count)) - PB_RETURN_ERROR(stream, "io error"); -#endif - } - - stream->bytes_written += count; - return true; -} - -/************************* - * Encode a single field * - *************************/ - -/* Read a bool value without causing undefined behavior even if the value - * is invalid. See issue #434 and - * https://stackoverflow.com/questions/27661768/weird-results-for-conditional - */ -static bool safe_read_bool(const void *pSize) -{ - const char *p = (const char *)pSize; - size_t i; - for (i = 0; i < sizeof(bool); i++) - { - if (p[i] != 0) - return true; - } - return false; -} - -/* Encode a static array. Handles the size calculations and possible packing. */ -static bool checkreturn encode_array(pb_ostream_t *stream, pb_field_iter_t *field) -{ - pb_size_t i; - pb_size_t count; -#ifndef PB_ENCODE_ARRAYS_UNPACKED - size_t size; -#endif - - count = *(pb_size_t*)field->pSize; - - if (count == 0) - return true; - - if (PB_ATYPE(field->type) != PB_ATYPE_POINTER && count > field->array_size) - PB_RETURN_ERROR(stream, "array max size exceeded"); - -#ifndef PB_ENCODE_ARRAYS_UNPACKED - /* We always pack arrays if the datatype allows it. */ - if (PB_LTYPE(field->type) <= PB_LTYPE_LAST_PACKABLE) - { - if (!pb_encode_tag(stream, PB_WT_STRING, field->tag)) - return false; - - /* Determine the total size of packed array. */ - if (PB_LTYPE(field->type) == PB_LTYPE_FIXED32) - { - size = 4 * (size_t)count; - } - else if (PB_LTYPE(field->type) == PB_LTYPE_FIXED64) - { - size = 8 * (size_t)count; - } - else - { - pb_ostream_t sizestream = PB_OSTREAM_SIZING; - void *pData_orig = field->pData; - for (i = 0; i < count; i++) - { - if (!pb_enc_varint(&sizestream, field)) - PB_RETURN_ERROR(stream, PB_GET_ERROR(&sizestream)); - field->pData = (char*)field->pData + field->data_size; - } - field->pData = pData_orig; - size = sizestream.bytes_written; - } - - if (!pb_encode_varint(stream, (pb_uint64_t)size)) - return false; - - if (stream->callback == NULL) - return pb_write(stream, NULL, size); /* Just sizing.. */ - - /* Write the data */ - for (i = 0; i < count; i++) - { - if (PB_LTYPE(field->type) == PB_LTYPE_FIXED32 || PB_LTYPE(field->type) == PB_LTYPE_FIXED64) - { - if (!pb_enc_fixed(stream, field)) - return false; - } - else - { - if (!pb_enc_varint(stream, field)) - return false; - } - - field->pData = (char*)field->pData + field->data_size; - } - } - else /* Unpacked fields */ -#endif - { - for (i = 0; i < count; i++) - { - /* Normally the data is stored directly in the array entries, but - * for pointer-type string and bytes fields, the array entries are - * actually pointers themselves also. So we have to dereference once - * more to get to the actual data. */ - if (PB_ATYPE(field->type) == PB_ATYPE_POINTER && - (PB_LTYPE(field->type) == PB_LTYPE_STRING || - PB_LTYPE(field->type) == PB_LTYPE_BYTES)) - { - bool status; - void *pData_orig = field->pData; - field->pData = *(void* const*)field->pData; - - if (!field->pData) - { - /* Null pointer in array is treated as empty string / bytes */ - status = pb_encode_tag_for_field(stream, field) && - pb_encode_varint(stream, 0); - } - else - { - status = encode_basic_field(stream, field); - } - - field->pData = pData_orig; - - if (!status) - return false; - } - else - { - if (!encode_basic_field(stream, field)) - return false; - } - field->pData = (char*)field->pData + field->data_size; - } - } - - return true; -} - -/* In proto3, all fields are optional and are only encoded if their value is "non-zero". - * This function implements the check for the zero value. */ -static bool checkreturn pb_check_proto3_default_value(const pb_field_iter_t *field) -{ - pb_type_t type = field->type; - - if (PB_ATYPE(type) == PB_ATYPE_STATIC) - { - if (PB_HTYPE(type) == PB_HTYPE_REQUIRED) - { - /* Required proto2 fields inside proto3 submessage, pretty rare case */ - return false; - } - else if (PB_HTYPE(type) == PB_HTYPE_REPEATED) - { - /* Repeated fields inside proto3 submessage: present if count != 0 */ - return *(const pb_size_t*)field->pSize == 0; - } - else if (PB_HTYPE(type) == PB_HTYPE_ONEOF) - { - /* Oneof fields */ - return *(const pb_size_t*)field->pSize == 0; - } - else if (PB_HTYPE(type) == PB_HTYPE_OPTIONAL && field->pSize != NULL) - { - /* Proto2 optional fields inside proto3 message, or proto3 - * submessage fields. */ - return safe_read_bool(field->pSize) == false; - } - else if (field->descriptor->default_value) - { - /* Proto3 messages do not have default values, but proto2 messages - * can contain optional fields without has_fields (generator option 'proto3'). - * In this case they must always be encoded, to make sure that the - * non-zero default value is overwritten. - */ - return false; - } - - /* Rest is proto3 singular fields */ - if (PB_LTYPE(type) <= PB_LTYPE_LAST_PACKABLE) - { - /* Simple integer / float fields */ - pb_size_t i; - const char *p = (const char*)field->pData; - for (i = 0; i < field->data_size; i++) - { - if (p[i] != 0) - { - return false; - } - } - - return true; - } - else if (PB_LTYPE(type) == PB_LTYPE_BYTES) - { - const pb_bytes_array_t *bytes = (const pb_bytes_array_t*)field->pData; - return bytes->size == 0; - } - else if (PB_LTYPE(type) == PB_LTYPE_STRING) - { - return *(const char*)field->pData == '\0'; - } - else if (PB_LTYPE(type) == PB_LTYPE_FIXED_LENGTH_BYTES) - { - /* Fixed length bytes is only empty if its length is fixed - * as 0. Which would be pretty strange, but we can check - * it anyway. */ - return field->data_size == 0; - } - else if (PB_LTYPE_IS_SUBMSG(type)) - { - /* Check all fields in the submessage to find if any of them - * are non-zero. The comparison cannot be done byte-per-byte - * because the C struct may contain padding bytes that must - * be skipped. Note that usually proto3 submessages have - * a separate has_field that is checked earlier in this if. - */ - pb_field_iter_t iter; - if (pb_field_iter_begin(&iter, field->submsg_desc, field->pData)) - { - do - { - if (!pb_check_proto3_default_value(&iter)) - { - return false; - } - } while (pb_field_iter_next(&iter)); - } - return true; - } - } - else if (PB_ATYPE(type) == PB_ATYPE_POINTER) - { - return field->pData == NULL; - } - else if (PB_ATYPE(type) == PB_ATYPE_CALLBACK) - { - if (PB_LTYPE(type) == PB_LTYPE_EXTENSION) - { - const pb_extension_t *extension = *(const pb_extension_t* const *)field->pData; - return extension == NULL; - } - else if (field->descriptor->field_callback == pb_default_field_callback) - { - pb_callback_t *pCallback = (pb_callback_t*)field->pData; - return pCallback->funcs.encode == NULL; - } - else - { - return field->descriptor->field_callback == NULL; - } - } - - return false; /* Not typically reached, safe default for weird special cases. */ -} - -/* Encode a field with static or pointer allocation, i.e. one whose data - * is available to the encoder directly. */ -static bool checkreturn encode_basic_field(pb_ostream_t *stream, const pb_field_iter_t *field) -{ - if (!field->pData) - { - /* Missing pointer field */ - return true; - } - - if (!pb_encode_tag_for_field(stream, field)) - return false; - - switch (PB_LTYPE(field->type)) - { - case PB_LTYPE_BOOL: - return pb_enc_bool(stream, field); - - case PB_LTYPE_VARINT: - case PB_LTYPE_UVARINT: - case PB_LTYPE_SVARINT: - return pb_enc_varint(stream, field); - - case PB_LTYPE_FIXED32: - case PB_LTYPE_FIXED64: - return pb_enc_fixed(stream, field); - - case PB_LTYPE_BYTES: - return pb_enc_bytes(stream, field); - - case PB_LTYPE_STRING: - return pb_enc_string(stream, field); - - case PB_LTYPE_SUBMESSAGE: - case PB_LTYPE_SUBMSG_W_CB: - return pb_enc_submessage(stream, field); - - case PB_LTYPE_FIXED_LENGTH_BYTES: - return pb_enc_fixed_length_bytes(stream, field); - - default: - PB_RETURN_ERROR(stream, "invalid field type"); - } -} - -/* Encode a field with callback semantics. This means that a user function is - * called to provide and encode the actual data. */ -static bool checkreturn encode_callback_field(pb_ostream_t *stream, const pb_field_iter_t *field) -{ - if (field->descriptor->field_callback != NULL) - { - if (!field->descriptor->field_callback(NULL, stream, field)) - PB_RETURN_ERROR(stream, "callback error"); - } - return true; -} - -/* Encode a single field of any callback, pointer or static type. */ -static bool checkreturn encode_field(pb_ostream_t *stream, pb_field_iter_t *field) -{ - /* Check field presence */ - if (PB_HTYPE(field->type) == PB_HTYPE_ONEOF) - { - if (*(const pb_size_t*)field->pSize != field->tag) - { - /* Different type oneof field */ - return true; - } - } - else if (PB_HTYPE(field->type) == PB_HTYPE_OPTIONAL) - { - if (field->pSize) - { - if (safe_read_bool(field->pSize) == false) - { - /* Missing optional field */ - return true; - } - } - else if (PB_ATYPE(field->type) == PB_ATYPE_STATIC) - { - /* Proto3 singular field */ - if (pb_check_proto3_default_value(field)) - return true; - } - } - - if (!field->pData) - { - if (PB_HTYPE(field->type) == PB_HTYPE_REQUIRED) - PB_RETURN_ERROR(stream, "missing required field"); - - /* Pointer field set to NULL */ - return true; - } - - /* Then encode field contents */ - if (PB_ATYPE(field->type) == PB_ATYPE_CALLBACK) - { - return encode_callback_field(stream, field); - } - else if (PB_HTYPE(field->type) == PB_HTYPE_REPEATED) - { - return encode_array(stream, field); - } - else - { - return encode_basic_field(stream, field); - } -} - -/* Default handler for extension fields. Expects to have a pb_msgdesc_t - * pointer in the extension->type->arg field, pointing to a message with - * only one field in it. */ -static bool checkreturn default_extension_encoder(pb_ostream_t *stream, const pb_extension_t *extension) -{ - pb_field_iter_t iter; - - if (!pb_field_iter_begin_extension_const(&iter, extension)) - PB_RETURN_ERROR(stream, "invalid extension"); - - return encode_field(stream, &iter); -} - - -/* Walk through all the registered extensions and give them a chance - * to encode themselves. */ -static bool checkreturn encode_extension_field(pb_ostream_t *stream, const pb_field_iter_t *field) -{ - const pb_extension_t *extension = *(const pb_extension_t* const *)field->pData; - - while (extension) - { - bool status; - if (extension->type->encode) - status = extension->type->encode(stream, extension); - else - status = default_extension_encoder(stream, extension); - - if (!status) - return false; - - extension = extension->next; - } - - return true; -} - -/********************* - * Encode all fields * - *********************/ - -bool checkreturn pb_encode(pb_ostream_t *stream, const pb_msgdesc_t *fields, const void *src_struct) -{ - pb_field_iter_t iter; - if (!pb_field_iter_begin_const(&iter, fields, src_struct)) - return true; /* Empty message type */ - - do { - if (PB_LTYPE(iter.type) == PB_LTYPE_EXTENSION) - { - /* Special case for the extension field placeholder */ - if (!encode_extension_field(stream, &iter)) - return false; - } - else - { - /* Regular field */ - if (!encode_field(stream, &iter)) - return false; - } - } while (pb_field_iter_next(&iter)); - - return true; -} - -bool checkreturn pb_encode_ex(pb_ostream_t *stream, const pb_msgdesc_t *fields, const void *src_struct, unsigned int flags) -{ - if ((flags & PB_ENCODE_DELIMITED) != 0) - { - return pb_encode_submessage(stream, fields, src_struct); - } - else if ((flags & PB_ENCODE_NULLTERMINATED) != 0) - { - const pb_byte_t zero = 0; - - if (!pb_encode(stream, fields, src_struct)) - return false; - - return pb_write(stream, &zero, 1); - } - else - { - return pb_encode(stream, fields, src_struct); - } -} - -bool pb_get_encoded_size(size_t *size, const pb_msgdesc_t *fields, const void *src_struct) -{ - pb_ostream_t stream = PB_OSTREAM_SIZING; - - if (!pb_encode(&stream, fields, src_struct)) - return false; - - *size = stream.bytes_written; - return true; -} - -/******************** - * Helper functions * - ********************/ - -/* This function avoids 64-bit shifts as they are quite slow on many platforms. */ -static bool checkreturn pb_encode_varint_32(pb_ostream_t *stream, uint32_t low, uint32_t high) -{ - size_t i = 0; - pb_byte_t buffer[10]; - pb_byte_t byte = (pb_byte_t)(low & 0x7F); - low >>= 7; - - while (i < 4 && (low != 0 || high != 0)) - { - byte |= 0x80; - buffer[i++] = byte; - byte = (pb_byte_t)(low & 0x7F); - low >>= 7; - } - - if (high) - { - byte = (pb_byte_t)(byte | ((high & 0x07) << 4)); - high >>= 3; - - while (high) - { - byte |= 0x80; - buffer[i++] = byte; - byte = (pb_byte_t)(high & 0x7F); - high >>= 7; - } - } - - buffer[i++] = byte; - - return pb_write(stream, buffer, i); -} - -bool checkreturn pb_encode_varint(pb_ostream_t *stream, pb_uint64_t value) -{ - if (value <= 0x7F) - { - /* Fast path: single byte */ - pb_byte_t byte = (pb_byte_t)value; - return pb_write(stream, &byte, 1); - } - else - { -#ifdef PB_WITHOUT_64BIT - return pb_encode_varint_32(stream, value, 0); -#else - return pb_encode_varint_32(stream, (uint32_t)value, (uint32_t)(value >> 32)); -#endif - } -} - -bool checkreturn pb_encode_svarint(pb_ostream_t *stream, pb_int64_t value) -{ - pb_uint64_t zigzagged; - pb_uint64_t mask = ((pb_uint64_t)-1) >> 1; /* Satisfy clang -fsanitize=integer */ - if (value < 0) - zigzagged = ~(((pb_uint64_t)value & mask) << 1); - else - zigzagged = (pb_uint64_t)value << 1; - - return pb_encode_varint(stream, zigzagged); -} - -bool checkreturn pb_encode_fixed32(pb_ostream_t *stream, const void *value) -{ -#if defined(PB_LITTLE_ENDIAN_8BIT) && PB_LITTLE_ENDIAN_8BIT == 1 - /* Fast path if we know that we're on little endian */ - return pb_write(stream, (const pb_byte_t*)value, 4); -#else - uint32_t val = *(const uint32_t*)value; - pb_byte_t bytes[4]; - bytes[0] = (pb_byte_t)(val & 0xFF); - bytes[1] = (pb_byte_t)((val >> 8) & 0xFF); - bytes[2] = (pb_byte_t)((val >> 16) & 0xFF); - bytes[3] = (pb_byte_t)((val >> 24) & 0xFF); - return pb_write(stream, bytes, 4); -#endif -} - -#ifndef PB_WITHOUT_64BIT -bool checkreturn pb_encode_fixed64(pb_ostream_t *stream, const void *value) -{ -#if defined(PB_LITTLE_ENDIAN_8BIT) && PB_LITTLE_ENDIAN_8BIT == 1 - /* Fast path if we know that we're on little endian */ - return pb_write(stream, (const pb_byte_t*)value, 8); -#else - uint64_t val = *(const uint64_t*)value; - pb_byte_t bytes[8]; - bytes[0] = (pb_byte_t)(val & 0xFF); - bytes[1] = (pb_byte_t)((val >> 8) & 0xFF); - bytes[2] = (pb_byte_t)((val >> 16) & 0xFF); - bytes[3] = (pb_byte_t)((val >> 24) & 0xFF); - bytes[4] = (pb_byte_t)((val >> 32) & 0xFF); - bytes[5] = (pb_byte_t)((val >> 40) & 0xFF); - bytes[6] = (pb_byte_t)((val >> 48) & 0xFF); - bytes[7] = (pb_byte_t)((val >> 56) & 0xFF); - return pb_write(stream, bytes, 8); -#endif -} -#endif - -bool checkreturn pb_encode_tag(pb_ostream_t *stream, pb_wire_type_t wiretype, uint32_t field_number) -{ - pb_uint64_t tag = ((pb_uint64_t)field_number << 3) | wiretype; - return pb_encode_varint(stream, tag); -} - -bool pb_encode_tag_for_field ( pb_ostream_t* stream, const pb_field_iter_t* field ) -{ - pb_wire_type_t wiretype; - switch (PB_LTYPE(field->type)) - { - case PB_LTYPE_BOOL: - case PB_LTYPE_VARINT: - case PB_LTYPE_UVARINT: - case PB_LTYPE_SVARINT: - wiretype = PB_WT_VARINT; - break; - - case PB_LTYPE_FIXED32: - wiretype = PB_WT_32BIT; - break; - - case PB_LTYPE_FIXED64: - wiretype = PB_WT_64BIT; - break; - - case PB_LTYPE_BYTES: - case PB_LTYPE_STRING: - case PB_LTYPE_SUBMESSAGE: - case PB_LTYPE_SUBMSG_W_CB: - case PB_LTYPE_FIXED_LENGTH_BYTES: - wiretype = PB_WT_STRING; - break; - - default: - PB_RETURN_ERROR(stream, "invalid field type"); - } - - return pb_encode_tag(stream, wiretype, field->tag); -} - -bool checkreturn pb_encode_string(pb_ostream_t *stream, const pb_byte_t *buffer, size_t size) -{ - if (!pb_encode_varint(stream, (pb_uint64_t)size)) - return false; - - return pb_write(stream, buffer, size); -} - -bool checkreturn pb_encode_submessage(pb_ostream_t *stream, const pb_msgdesc_t *fields, const void *src_struct) -{ - /* First calculate the message size using a non-writing substream. */ - pb_ostream_t substream = PB_OSTREAM_SIZING; - size_t size; - bool status; - - if (!pb_encode(&substream, fields, src_struct)) - { -#ifndef PB_NO_ERRMSG - stream->errmsg = substream.errmsg; -#endif - return false; - } - - size = substream.bytes_written; - - if (!pb_encode_varint(stream, (pb_uint64_t)size)) - return false; - - if (stream->callback == NULL) - return pb_write(stream, NULL, size); /* Just sizing */ - - if (stream->bytes_written + size > stream->max_size) - PB_RETURN_ERROR(stream, "stream full"); - - /* Use a substream to verify that a callback doesn't write more than - * what it did the first time. */ - substream.callback = stream->callback; - substream.state = stream->state; - substream.max_size = size; - substream.bytes_written = 0; -#ifndef PB_NO_ERRMSG - substream.errmsg = NULL; -#endif - - status = pb_encode(&substream, fields, src_struct); - - stream->bytes_written += substream.bytes_written; - stream->state = substream.state; -#ifndef PB_NO_ERRMSG - stream->errmsg = substream.errmsg; -#endif - - if (substream.bytes_written != size) - PB_RETURN_ERROR(stream, "submsg size changed"); - - return status; -} - -/* Field encoders */ - -static bool checkreturn pb_enc_bool(pb_ostream_t *stream, const pb_field_iter_t *field) -{ - uint32_t value = safe_read_bool(field->pData) ? 1 : 0; - PB_UNUSED(field); - return pb_encode_varint(stream, value); -} - -static bool checkreturn pb_enc_varint(pb_ostream_t *stream, const pb_field_iter_t *field) -{ - if (PB_LTYPE(field->type) == PB_LTYPE_UVARINT) - { - /* Perform unsigned integer extension */ - pb_uint64_t value = 0; - - if (field->data_size == sizeof(uint_least8_t)) - value = *(const uint_least8_t*)field->pData; - else if (field->data_size == sizeof(uint_least16_t)) - value = *(const uint_least16_t*)field->pData; - else if (field->data_size == sizeof(uint32_t)) - value = *(const uint32_t*)field->pData; - else if (field->data_size == sizeof(pb_uint64_t)) - value = *(const pb_uint64_t*)field->pData; - else - PB_RETURN_ERROR(stream, "invalid data_size"); - - return pb_encode_varint(stream, value); - } - else - { - /* Perform signed integer extension */ - pb_int64_t value = 0; - - if (field->data_size == sizeof(int_least8_t)) - value = *(const int_least8_t*)field->pData; - else if (field->data_size == sizeof(int_least16_t)) - value = *(const int_least16_t*)field->pData; - else if (field->data_size == sizeof(int32_t)) - value = *(const int32_t*)field->pData; - else if (field->data_size == sizeof(pb_int64_t)) - value = *(const pb_int64_t*)field->pData; - else - PB_RETURN_ERROR(stream, "invalid data_size"); - - if (PB_LTYPE(field->type) == PB_LTYPE_SVARINT) - return pb_encode_svarint(stream, value); -#ifdef PB_WITHOUT_64BIT - else if (value < 0) - return pb_encode_varint_32(stream, (uint32_t)value, (uint32_t)-1); -#endif - else - return pb_encode_varint(stream, (pb_uint64_t)value); - - } -} - -static bool checkreturn pb_enc_fixed(pb_ostream_t *stream, const pb_field_iter_t *field) -{ -#ifdef PB_CONVERT_DOUBLE_FLOAT - if (field->data_size == sizeof(float) && PB_LTYPE(field->type) == PB_LTYPE_FIXED64) - { - return pb_encode_float_as_double(stream, *(float*)field->pData); - } -#endif - - if (field->data_size == sizeof(uint32_t)) - { - return pb_encode_fixed32(stream, field->pData); - } -#ifndef PB_WITHOUT_64BIT - else if (field->data_size == sizeof(uint64_t)) - { - return pb_encode_fixed64(stream, field->pData); - } -#endif - else - { - PB_RETURN_ERROR(stream, "invalid data_size"); - } -} - -static bool checkreturn pb_enc_bytes(pb_ostream_t *stream, const pb_field_iter_t *field) -{ - const pb_bytes_array_t *bytes = NULL; - - bytes = (const pb_bytes_array_t*)field->pData; - - if (bytes == NULL) - { - /* Treat null pointer as an empty bytes field */ - return pb_encode_string(stream, NULL, 0); - } - - if (PB_ATYPE(field->type) == PB_ATYPE_STATIC && - bytes->size > field->data_size - offsetof(pb_bytes_array_t, bytes)) - { - PB_RETURN_ERROR(stream, "bytes size exceeded"); - } - - return pb_encode_string(stream, bytes->bytes, (size_t)bytes->size); -} - -static bool checkreturn pb_enc_string(pb_ostream_t *stream, const pb_field_iter_t *field) -{ - size_t size = 0; - size_t max_size = (size_t)field->data_size; - const char *str = (const char*)field->pData; - - if (PB_ATYPE(field->type) == PB_ATYPE_POINTER) - { - max_size = (size_t)-1; - } - else - { - /* pb_dec_string() assumes string fields end with a null - * terminator when the type isn't PB_ATYPE_POINTER, so we - * shouldn't allow more than max-1 bytes to be written to - * allow space for the null terminator. - */ - if (max_size == 0) - PB_RETURN_ERROR(stream, "zero-length string"); - - max_size -= 1; - } - - - if (str == NULL) - { - size = 0; /* Treat null pointer as an empty string */ - } - else - { - const char *p = str; - - /* strnlen() is not always available, so just use a loop */ - while (size < max_size && *p != '\0') - { - size++; - p++; - } - - if (*p != '\0') - { - PB_RETURN_ERROR(stream, "unterminated string"); - } - } - -#ifdef PB_VALIDATE_UTF8 - if (!pb_validate_utf8(str)) - PB_RETURN_ERROR(stream, "invalid utf8"); -#endif - - return pb_encode_string(stream, (const pb_byte_t*)str, size); -} - -static bool checkreturn pb_enc_submessage(pb_ostream_t *stream, const pb_field_iter_t *field) -{ - if (field->submsg_desc == NULL) - PB_RETURN_ERROR(stream, "invalid field descriptor"); - - if (PB_LTYPE(field->type) == PB_LTYPE_SUBMSG_W_CB && field->pSize != NULL) - { - /* Message callback is stored right before pSize. */ - pb_callback_t *callback = (pb_callback_t*)field->pSize - 1; - if (callback->funcs.encode) - { - if (!callback->funcs.encode(stream, field, &callback->arg)) - return false; - } - } - - return pb_encode_submessage(stream, field->submsg_desc, field->pData); -} - -static bool checkreturn pb_enc_fixed_length_bytes(pb_ostream_t *stream, const pb_field_iter_t *field) -{ - return pb_encode_string(stream, (const pb_byte_t*)field->pData, (size_t)field->data_size); -} - -#ifdef PB_CONVERT_DOUBLE_FLOAT -bool pb_encode_float_as_double(pb_ostream_t *stream, float value) -{ - union { float f; uint32_t i; } in; - uint_least8_t sign; - int exponent; - uint64_t mantissa; - - in.f = value; - - /* Decompose input value */ - sign = (uint_least8_t)((in.i >> 31) & 1); - exponent = (int)((in.i >> 23) & 0xFF) - 127; - mantissa = in.i & 0x7FFFFF; - - if (exponent == 128) - { - /* Special value (NaN etc.) */ - exponent = 1024; - } - else if (exponent == -127) - { - if (!mantissa) - { - /* Zero */ - exponent = -1023; - } - else - { - /* Denormalized */ - mantissa <<= 1; - while (!(mantissa & 0x800000)) - { - mantissa <<= 1; - exponent--; - } - mantissa &= 0x7FFFFF; - } - } - - /* Combine fields */ - mantissa <<= 29; - mantissa |= (uint64_t)(exponent + 1023) << 52; - mantissa |= (uint64_t)sign << 63; - - return pb_encode_fixed64(stream, &mantissa); -} -#endif diff --git a/project_old/paint_robot_old/BASE/Src/BSP/tcp_server.c b/project_old/paint_robot_old/BASE/Src/BSP/tcp_server.c deleted file mode 100644 index 041ec3c..0000000 --- a/project_old/paint_robot_old/BASE/Src/BSP/tcp_server.c +++ /dev/null @@ -1,251 +0,0 @@ -#include "tcp_server.h" -#include "lwip/tcp.h" -#include "lwip/memp.h" -#include -#include "lwip.h" - -#include "string.h" -#include "bsp_UDP.h" -#include "bsp_DLT_Log.h" -#include -#include "BSP/bsp_GPIO.h" -static client_conn_t clients[MAX_CLIENTS]; -static struct tcp_pcb *server_pcb = NULL; -void send_tcp(SendDataNode **head); -// 回调函数声明 -static err_t tcp_accept_cb(void *arg, struct tcp_pcb *newpcb, err_t err); -static err_t tcp_recv_cb(void *arg, struct tcp_pcb *tpcb, struct pbuf *p, - err_t err); -static void tcp_err_cb(void *arg, err_t err); -static err_t tcp_sent_cb(void *arg, struct tcp_pcb *tpcb, u16_t len); -SendDataNode *pTcpHead = NULL; /*初始化链表头指针，使其为空*/ -void tcp_server_timer_callback(); -char listIndex = 0; -SendDataNode* CreateSendDataNode(uint8_t *tx_Buf, uint8_t tx_count) -{ - SendDataNode *newNode = (SendDataNode*) malloc(sizeof(SendDataNode)); - if (newNode == NULL) - { - return NULL; - } - memcpy(newNode->Tx_Buf, tx_Buf, tx_count); - newNode->Tx_Count = tx_count; - newNode->next = NULL; - return newNode; -} - -void insertAtTail(SendDataNode **head, uint8_t *tx_Buf, uint8_t tx_count) -{ - SendDataNode *newNode = CreateSendDataNode(tx_Buf, tx_count); - // 如果链表为空 - if (*head == NULL) - { - - *head = newNode; - return; - } - listIndex = 0; - // 遍历到链表尾部 - SendDataNode *current = *head; - while (current->next != NULL) - { -// listIndex++; -// if (listIndex >= 50) -// { -// free(current); -// return; -// } - current = current->next; - } - //SendDataNode *newNode = CreateSendDataNode(tx_Buf, tx_count); - current->next = newNode; // 尾部节点指向新节点 - -} - -void tcp_add_sendList(uint8_t *tx_Buf, uint8_t tx_count) -{ - - for (int i = 0; i < MAX_CLIENTS; i++) - { - if (clients[i].active) - { - insertAtTail(&pTcpHead, tx_Buf, tx_count); - return; - } - } -} - -void send_tcp(SendDataNode **head) -{ - if (*head == NULL) - { - return; - } - tcp_send_to_all_clients((*head)->Tx_Buf, (*head)->Tx_Count); - SendDataNode *temp = *head; - *head = (*head)->next; - free(temp); - -} - -// 初始化TCP服务器 -void tcp_server_init(uint16_t port) -{ - GF_BSP_Interrupt_Add_CallBack( - DF_BSP_InterCall_TIM8_2ms_PeriodElapsedCallback, - tcp_server_timer_callback); - err_t err; - - // 创建TCP控制块 - server_pcb = tcp_new_ip_type(IPADDR_TYPE_ANY); - if (!server_pcb) return; - - // 绑定到指定端口 - err = tcp_bind(server_pcb, IP_ANY_TYPE, port); - if (err != ERR_OK) - { - memp_free(MEMP_TCP_PCB, server_pcb); - server_pcb = NULL; - return; - } - - // 开始监听 - server_pcb = tcp_listen(server_pcb); - if (!server_pcb) return; - - // 设置接受连接回调 - tcp_accept(server_pcb, tcp_accept_cb); - - // 初始化客户端数组 - memset(clients, 0, sizeof(clients)); - -} - -// 接受新连接回调 -static err_t tcp_accept_cb(void *arg, struct tcp_pcb *newpcb, err_t err) -{ - LWIP_UNUSED_ARG(arg); - LWIP_UNUSED_ARG(err); - - // 查找空闲的客户端槽位 - int free_index = -1; - for (int i = 0; i < MAX_CLIENTS; i++) - { - if (!clients[i].active) - { - free_index = i; - break; - } - } - - if (free_index == -1) - { - // 没有可用槽位，拒绝连接 - tcp_abort(newpcb); - return ERR_ABRT; - } - - // 配置新连接 - tcp_setprio(newpcb, TCP_PRIO_MIN); - tcp_recv(newpcb, tcp_recv_cb); - tcp_err(newpcb, tcp_err_cb); - tcp_sent(newpcb, tcp_sent_cb); - - // 保存客户端信息 - clients[free_index].pcb = newpcb; - clients[free_index].active = 1; - - return ERR_OK; -} - -// 接收数据回调 -static err_t tcp_recv_cb(void *arg, struct tcp_pcb *tpcb, struct pbuf *p, - err_t err) -{ - LWIP_UNUSED_ARG(arg); - - if (!p) - { - // 连接关闭 - for (int i = 0; i < MAX_CLIENTS; i++) - { - if (clients[i].pcb == tpcb) - { - clients[i].active = 0; - break; - } - } - tcp_close(tpcb); - return ERR_OK; - } - - // 处理接收到的数据（这里简单释放） - tcp_recved(tpcb, p->tot_len); - pbuf_free(p); - - return ERR_OK; -} - -// 错误回调 -static void tcp_err_cb(void *arg, err_t err) -{ - LWIP_UNUSED_ARG(err); - - for (int i = 0; i < MAX_CLIENTS; i++) - { - if (clients[i].pcb == arg) - { - clients[i].active = 0; - break; - } - } -} - -// 数据发送完成回调 -static err_t tcp_sent_cb(void *arg, struct tcp_pcb *tpcb, u16_t len) -{ - LWIP_UNUSED_ARG(arg); - LWIP_UNUSED_ARG(tpcb); - LWIP_UNUSED_ARG(len); - // 可在此实现流量控制 -} - -// 向所有活跃客户端发送数据 -void tcp_send_to_all_clients(const char *data, uint16_t len) -{ - for (int i = 0; i < MAX_CLIENTS; i++) - { - if (clients[i].active) - { - //clients[i].pcb->flags= -// err_t err = tcp_write(clients[i].pcb, data, len, -// TCP_WRITE_FLAG_COPY); - err_t err = tcp_write(clients[i].pcb, data, len, - TCP_WRITE_FLAG_COPY); - if (err == ERR_OK) - { - tcp_output(clients[i].pcb); - } - else - { - // 发送失败，关闭连接 - //clients[i].active = 0; - //tcp_close(clients[i].pcb); - } - } - } -} -int32_t counter = 0; -// 定时器回调（从主定时器中断调用） -void tcp_server_timer_callback() -{ - - counter++; - if (counter > 5) - { - counter = 0; - send_tcp(&pTcpHead); - }; - -} - diff --git a/project_old/paint_robot_old/BASE/Src/MSP/msp_LeiSai_ISV2_CAN.c b/project_old/paint_robot_old/BASE/Src/MSP/msp_LeiSai_ISV2_CAN.c deleted file mode 100644 index 7862e4a..0000000 --- a/project_old/paint_robot_old/BASE/Src/MSP/msp_LeiSai_ISV2_CAN.c +++ /dev/null @@ -1,390 +0,0 @@ -/* - * msp_LeiSai_ISV2_CAN.c - * - * Created on: Oct 22, 2024 - * Author: akeguo - */ - -#include "msp_LeiSai_ISV2_CAN.h" -#include "BHBF_ROBOT.h" - - - - - - -double wheel_diameter_m = 0.260; //1m 260mm -double motor_pulses_rer_rotation = 10000; //1 pulse -double wheel_reduction_ratio = 70; -double wheel_001m_per_min_to_plus_per_s_ratio = 1;//mmm -double wheel_plus_per_s_to_m_per_min_ratio = 1; - -HardWareController *LeiSaiISV_HardController; -DispacherController *LeiSaiISV_DispacherController; - -LS_MotorParameters *LS_Motor[7]; -#define Wheel_Diameters 280 - - -void CANSendMessageSDO_ADD_To_SendList(int32_t MotorID, uint8_t Function, - uint16_t ControlWord, uint8_t subWord, int32_t ControlWordValue, - FDCANHandler *Motor_Controller, int32_t WaitTime); - -/* SDO 队列发送 - * @MotorID:COB-ID - * @Function: SDO命令字 - * @ControlWord:对象索引 - * @subWord:对象子索引 - * @ControlWordValue: 数据 - * CANSendMessageSDO_ADD_To_SendList(MotorID, 0x2b, 0x6040, 0x00, 0x06, Motor_Controller, 100); - * */ -void CANSendMessageSDO_ADD_To_SendList(int32_t MotorID, uint8_t Function, - uint16_t ControlWord, uint8_t subWord, int32_t ControlWordValue, - FDCANHandler *Motor_Controller, int32_t WaitTime) -{ - //copy the corresponsiding data to the send Array - Motor_Controller->Tx_Buf[0] = Function; //FDCAN1 2b - memcpy(&Motor_Controller->Tx_Buf[1], &ControlWord, 2); //6040 - Motor_Controller->Tx_Buf[3] = subWord; //00 - memcpy(&Motor_Controller->Tx_Buf[4], &ControlWordValue, 4); - //send 8 bytes data - - Motor_Controller->AddCANSendList(Motor_Controller, 0x600 + MotorID, 8, - Motor_Controller->Tx_Buf, WaitTime, NULL); -} -/* - * 解析函数 - * */ -void LS_Analytic_Fun(int32_t MotorID, uint8_t *buffer) -{ - - uint16_t Function_code = (uint16_t) (buffer[1] | buffer[2] << 8); - switch (Function_code) - { - case 0x6064: - { - LS_Motor[MotorID]->Real_Position = (int) (buffer[4] - | (buffer[5]) << 8 | (buffer[6]) << 16 | (buffer[7] << 24)); - - if (LS_Motor[MotorID]->Start_Measuring == 1) - { - LS_Motor[MotorID]->Start_Measuring = 0; - LS_Motor[MotorID]->Number_Of_Rounds = 0; - - LS_Motor[MotorID]->Start_Measuring_Position =LS_Motor[MotorID]->Real_Position;//起始位置 - LS_Motor[MotorID]->Last_Real_Position =LS_Motor[MotorID]->Real_Position; //最后位置 - } - else - { - if (abs(LS_Motor[MotorID]->Real_Position- LS_Motor[MotorID]->Last_Real_Position) - >= 0x3fffffff) - { - if (LS_Motor[MotorID]->Real_Position > 0) - { - LS_Motor[MotorID]->Number_Of_Rounds -= 1; - } - else - { - LS_Motor[MotorID]->Number_Of_Rounds += 1; - } - } - } - - LS_Motor[MotorID]->Last_Real_Position = - LS_Motor[MotorID]->Real_Position; - - double CircleLength = 3.14 * wheel_diameter_m ; //pi*d //m - - double _tempDeltCounts = LS_Motor[MotorID]->Real_Position - - LS_Motor[MotorID]->Start_Measuring_Position; - /**除10000是电机圈数 除70是车轮圈数*/ - LS_Motor[MotorID]->Real_Disatnce = (_tempDeltCounts / 10000 / 70 - + (double) LS_Motor[MotorID]->Number_Of_Rounds) - * CircleLength; - - } - - break; - case 0x603f: - LS_Motor[MotorID]->Motor_Fault = (int) (buffer[4] | (buffer[5]) << 8 - | (buffer[6]) << 16 | (buffer[7] << 24)); - - break; - - case 0x606C: - LS_Motor[MotorID]->Real_Velcity = (int) (buffer[4] - | (buffer[5]) << 8 | (buffer[6]) << 16 | (buffer[7] << 24)); - break; - - default: - - break; - } -} - -/* DO输出 - * @Do: 1/2 - * @state: 1:ON; 0:OFF; - * */ -void LS_DO_Set(int32_t MotorID, int32_t Do, uint8_t state, - FDCANHandler *Motor_Controller, int32_t WaitTime) -{ - uint16_t ControlWord = 0; - int32_t ControlWordValue = 0; - switch (Do) - { - case 1: - { - - ControlWord = 0x2410; - break; - } - case 2: - { - - ControlWord = 0x2411; - break; - } - default: - break; - } - if (ControlWord != 0) - { - if (state == 1) - { - ControlWordValue = 1; - } - else - { - ControlWordValue = 0; - } - } - - CANSendMessageSDO_ADD_To_SendList(MotorID, 0x23, ControlWord, 0x00, - ControlWordValue, Motor_Controller, WaitTime); - //uint8_t DO1_ON[8]= {0x23, 0x10, 0x24, 0x00, 0x01, 0x00, 0x00, 0x00}; - //uint8_t DO1_OFF[8]={0x23, 0x10, 0x24, 0x00, 0x00, 0x00, 0x00, 0x00}; -} - -void LS_Set_Current_Positon_Zero(uint8_t MotorID, - FDCANHandler *Motor_Controller, int32_t WaitTime) // Home 设置当前位置为零点 -{ - - CANSendMessageSDO_ADD_To_SendList(MotorID, 0x2f, 0x6060, 0x00, 0x06, - Motor_Controller, WaitTime); //2：设置操作模式，向索引0x6060:00写入0x06 - CANSendMessageSDO_ADD_To_SendList(MotorID, 0x2f, 0x6098, 0x00, 0x23, - Motor_Controller, WaitTime); //1. 设置定位的方式,向索引0x6098:00写入0X23 - CANSendMessageSDO_ADD_To_SendList(MotorID, 0x2b, 0x6040, 0x00, 0x06, - Motor_Controller, WaitTime); - CANSendMessageSDO_ADD_To_SendList(MotorID, 0x2b, 0x6040, 0x00, 0x07, - Motor_Controller, WaitTime); - CANSendMessageSDO_ADD_To_SendList(MotorID, 0x2b, 0x6040, 0x00, 0x0f, - Motor_Controller, WaitTime); - CANSendMessageSDO_ADD_To_SendList(MotorID, 0x2b, 0x6040, 0x00, 0x1f, - Motor_Controller, 8 * WaitTime); -// CANSendMessageSDO_ADD_To_SendList(MotorID, 0x2b, 0x6040, 0x00, 0x07, Motor_Controller, WaitTime); -// CANSendMessageSDO_ADD_To_SendList(MotorID, 0x2b, 0x6040, 0x00, 0x06, Motor_Controller, WaitTime); - -} - -/*5004 06 watchdog 1000ms*/ -void LS_Set_WatchDogTime(int32_t MotorID, FDCANHandler *Motor_Controller, - int32_t WaitTime) -{ - CANSendMessageSDO_ADD_To_SendList(MotorID, 0x2B, 0x5004, 0x06, 0x03E8, - Motor_Controller, WaitTime); -} - -/* 读电机位置 (单位pulse) - * */ -void LS_Request_Position(int32_t MotorID, FDCANHandler *Motor_Controller, - int32_t WaitTime) -{ - CANSendMessageSDO_ADD_To_SendList(MotorID, 0x40, 0x6064, 0x00, 0x00, - Motor_Controller, WaitTime); -} - -/* 读电机速度(单位pulse/s) - * */ -void LS_Request_Velocity(int32_t MotorID, FDCANHandler *Motor_Controller, - int32_t WaitTime) -{ - CANSendMessageSDO_ADD_To_SendList(MotorID, 0x40, 0x606C, 0x00, 0x00, - Motor_Controller, WaitTime); - -} - -/* 读电机电流(单位 ) 此处为实际转矩 - * */ -void LS_Request_Current(int32_t MotorID, FDCANHandler *Motor_Controller, - int32_t WaitTime) -{ - CANSendMessageSDO_ADD_To_SendList(MotorID, 0x40, 0x6077, 0x00, 0x00, - Motor_Controller, WaitTime); -} - -/* 读错误码 - * */ -void LS_Request_Fault(int32_t MotorID, FDCANHandler *Motor_Controller, - int32_t WaitTime) -{ - CANSendMessageSDO_ADD_To_SendList(MotorID, 0x40, 0x603f, 0x00, 0, - Motor_Controller, WaitTime); -} - -/* 复位所有节点*/ -void LS_Reset_All_Motors(FDCANHandler *Motor_Controller, int32_t WaitTime) -{ - Motor_Controller->SendFrameID=0; - Motor_Controller->SendLength=8; - memset(Motor_Controller->Tx_Buf, 0, 8); - Motor_Controller->Tx_Buf[0] = 0x81; - Motor_Controller->AddCANSendList(Motor_Controller, 0, 2, - Motor_Controller->Tx_Buf, WaitTime, NULL); - -} -/* 启动所有节点的远程控制 */ -void LS_Activate_All_Motors(FDCANHandler *Motor_Controller, int32_t WaitTime) -{ - Motor_Controller->SendFrameID=0; - Motor_Controller->SendLength=8; - - memset(Motor_Controller->Tx_Buf, 0, 8); - Motor_Controller->Tx_Buf[0] = 0x01; - Motor_Controller->Tx_Buf[1] = 0x01; - - Motor_Controller->AddCANSendList(Motor_Controller, 0, 2, - Motor_Controller->Tx_Buf, WaitTime, NULL); //wait for 5 seconds to send - - memset(Motor_Controller->Tx_Buf, 0, 8); - Motor_Controller->Tx_Buf[0] = 0x01; - Motor_Controller->Tx_Buf[1] = 0x02; - - Motor_Controller->AddCANSendList(Motor_Controller, 0, 2, - Motor_Controller->Tx_Buf, WaitTime, NULL); //wait for 5 seconds to send - -} - -/* 速度模式 - * MotorID：电机ID - * Motor_Controller：FDCANHandler - * WaitTime： - * Acc：加速度 (单位为pulse/s2)//不用 - * Dec：减速度 (单位为pulse/s2)不用 - * TargetSpeed：(单位pulse/s) - * 只发送一次 - * */ -void LS_SpeedModeSetup(int32_t MotorID, FDCANHandler *Motor_Controller, - int32_t WaitTime, int32_t AccTime, int32_t DecTime, int32_t TargetSpeed) //设定速度模式，并更改相关速度 -{ - //写控制字0x6040为06H，状态机切换状态 - CANSendMessageSDO_ADD_To_SendList(MotorID, 0x2b, 0x6040, 0x00, 0x06, - Motor_Controller, 100); - //写控制字为07H，状态机切换状态 - CANSendMessageSDO_ADD_To_SendList(MotorID, 0x2b, 0x6040, 0x00, 0x07, - Motor_Controller, WaitTime); - //写控制字为0fH，状态机切换状态 - CANSendMessageSDO_ADD_To_SendList(MotorID, 0x2b, 0x6040, 0x00, 0x0F, - Motor_Controller, WaitTime); - //写操作模式0x6060为3H，即速度控制模式 - CANSendMessageSDO_ADD_To_SendList(MotorID, 0x2f, 0x6060, 0x00, 0x03, - Motor_Controller, WaitTime); - -// //写协议加速度为3D090H（即1秒加速到1500转/分，默认10000PP/r”）(单位为pulse/s2)。 -// CANSendMessageSDO_ADD_To_SendList(MotorID, 0x23, 0x6083, 0x00, AccTime, Motor_Controller, WaitTime); -// //写协议减速度为3D090H（即1秒加速到1500转/分，默认10000PP/r”）(单位为pulse/s2)。 -// CANSendMessageSDO_ADD_To_SendList(MotorID, 0x23, 0x6084, 0x00, DecTime, Motor_Controller, WaitTime); -// //写协议速度为3D090H（即1500转/分，默认10000PP/r”）(单位pulse/s) - - CANSendMessageSDO_ADD_To_SendList(MotorID, 0x23, 0x60ff, 0x00, TargetSpeed, - Motor_Controller, 4*WaitTime); - //写控制字为07H，状态机切换状态 - //CANSendMessageSDO_ADD_To_SendList(MotorID, 0x2b, 0x6040, 0x00, 0x06, Motor_Controller, WaitTime); - //写控制字为06H，状态机切换状态 - //CANSendMessageSDO_ADD_To_SendList(MotorID, 0x2b, 0x6040, 0x00, 0x06, Motor_Controller, WaitTime); - -} - -/* 速度模式 - * 设置目标速度 - *TargetSpeed:(单位pulse/s) - * */ -void LS_SpeedMode_Set_TargetSpeed(int32_t MotorID, - FDCANHandler *Motor_Controller, int32_t WaitTime, int32_t TargetSpeed) -{ - //写协议速度为3D090H（即1500转/分，默认10000PP/r”）(单位pulse/s) - CANSendMessageSDO_ADD_To_SendList(MotorID, 0x23, 0x60ff, 0x00, TargetSpeed, - Motor_Controller, WaitTime); -} - -/* 位置速度模式 - * MotorID：电机ID - * Motor_Controller：FDCANHandler - * WaitTime： - * Acc：加速度 - * Dec：减速度 - * TargetSpeed：(单位pulse/s) - * TargetPosition ：(单位pulse) - * */ -void LS_PostionModeSetUp(int32_t MotorID, int32_t TargetPosition, - int32_t TargetSpeed, int32_t AccTime, int32_t DecTime, - FDCANHandler *Motor_Controller, int32_t WaitTime) -{ - //写控制字0x6040为06H，状态机切换状态 - CANSendMessageSDO_ADD_To_SendList(MotorID, 0x2b, 0x6040, 0x00, 0x06, - Motor_Controller, 100); - //写控制字为07H，状态机切换状态 - CANSendMessageSDO_ADD_To_SendList(MotorID, 0x2b, 0x6060, 0x00, 0x07, - Motor_Controller, WaitTime); - //写控制字为0fH，状态机切换状态 - CANSendMessageSDO_ADD_To_SendList(MotorID, 0x2b, 0x6040, 0x00, 0x0F, - Motor_Controller, WaitTime); - //写操作模式0x6060为3H，即速度控制模式 - CANSendMessageSDO_ADD_To_SendList(MotorID, 0x2f, 0x6060, 0x00, 0x01, - Motor_Controller, WaitTime); - //写协议加速度为3D090H（即1秒加速到1500转/分，默认10000PP/r”）(单位为pulse/s2)。 - CANSendMessageSDO_ADD_To_SendList(MotorID, 0x23, 0x6083, 0x00, AccTime, - Motor_Controller, WaitTime); - //写协议减速度为3D090H（即1秒加速到1500转/分，默认10000PP/r”）(单位为pulse/s2)。 - CANSendMessageSDO_ADD_To_SendList(MotorID, 0x23, 0x6084, 0x00, DecTime, - Motor_Controller, WaitTime); - //写协议速度为3D090H（即1500转/分，默认10000PP/r”）(单位pulse/s) - CANSendMessageSDO_ADD_To_SendList(MotorID, 0x23, 0x60ff, 0x00, TargetSpeed, - Motor_Controller, WaitTime); - //写目标位置为4E20H（即2圈，默认10000PP/r”） - CANSendMessageSDO_ADD_To_SendList(MotorID, 0x23, 0x607a, 0x00, - TargetPosition, Motor_Controller, WaitTime); - //写控制字为4fH，设置为相对运动模式 - CANSendMessageSDO_ADD_To_SendList(MotorID, 0x2b, 0x6040, 0x00, 0x4F, - Motor_Controller, WaitTime); - //写控制字为5fH，电机开始运动 - CANSendMessageSDO_ADD_To_SendList(MotorID, 0x2b, 0x6040, 0x00, 0x5F, - Motor_Controller, WaitTime); - //写控制字为07H，状态机切换状态 - //CANSendMessageSDO_ADD_To_SendList(MotorID, 0x2b, 0x6040, 0x00, 0x06, Motor_Controller, WaitTime); - //写控制字为06H，状态机切换状态 - //CANSendMessageSDO_ADD_To_SendList(MotorID, 0x2b, 0x6040, 0x00, 0x06, Motor_Controller, WaitTime); - -} - -/* 位置速度模式 - * MotorID：电机ID - * Motor_Controller：FDCANHandler - * WaitTime： - * TargetPosition ：(单位pulse) - * */ -void LS_PostionMode_Set_Position(int32_t MotorID, int32_t TargetPosition, - FDCANHandler *Motor_Controller, int32_t WaitTime) -{ - //写目标位置为4E20H（即2圈，默认10000PP/r”） - CANSendMessageSDO_ADD_To_SendList(MotorID, 0x23, 0x607a, 0x00, - TargetPosition, Motor_Controller, WaitTime); - //写控制字为4fH，设置为相对运动模式 - CANSendMessageSDO_ADD_To_SendList(MotorID, 0x2b, 0x6040, 0x00, 0x4F, - Motor_Controller, WaitTime); - //写控制字为5fH，电机开始运动 - CANSendMessageSDO_ADD_To_SendList(MotorID, 0x2b, 0x6040, 0x00, 0x5F, - Motor_Controller, WaitTime); - -} - diff --git a/project_old/paint_robot_old/BASE/Src/MSP/msp_MK32_1.c b/project_old/paint_robot_old/BASE/Src/MSP/msp_MK32_1.c deleted file mode 100644 index 84dcb72..0000000 --- a/project_old/paint_robot_old/BASE/Src/MSP/msp_MK32_1.c +++ /dev/null @@ -1,118 +0,0 @@ -/* - * msp_MK32_1.c - * - * Created on: Oct 8, 2024 - * Author: akeguo - */ -#include "MSP/msp_MK32_1.h" -#include "BHBF_ROBOT.h" - -char Is_All_Button_Reset = 0; -SP_MSP_MK32_Button *P_MK32; - -struct UARTHandler *MK32_Sbus_Controller; - -void decode_MK32Data(uint8_t *buffer, uint16_t length) -{ - if (length != 25) - { - return; - } - if (buffer[0] == 0X0f && buffer[24] == 0X00) - { - Sbus_Data_Count(&buffer[1], (int32_t*) (P_MK32)); - } -// int32_t RxIndex; -// int32_t CH0_RY_H; /* 上1000，下-1000 */ -// int32_t CH1_RY_V; /* 上1000，下-1000 */ -// int32_t CH2_LY_V; /* 上1000，下-1000 */ -// int32_t CH3_LY_H; /* 上1000，下-1000 */ -// int32_t CH4_SA; /* 上-1000，下1000 */ -// int32_t CH5_SB; /* 上-1000，下1000 */ -// int32_t CH6_SC; /* 上-1000，下1000 */ -// int32_t CH7_SD; /* 上-1000，下1000 */ -// int32_t CH8_SE; /* 上-1000，下1000 */ -// int32_t CH9_SF; /* 上-1000，下1000 */ -// int32_t CH10_LD1; -// int32_t CH11_RD1; -// int32_t CH12_S1; -// int32_t CH13_S2; -// int32_t CH14_LT; -// int32_t CH15_RT; -// int32_t IsOnline; - - if (Is_All_Button_Reset == 0) - { - if (P_MK32->CH4_SA == 0 && P_MK32->CH5_SB == 0 && P_MK32->CH6_SC == 0 - && P_MK32->CH7_SD == 0 && P_MK32->IsOnline == 1) - { - HardWareErrorController->Set_PCOMHardWare(HardWareErrorController, - "Need_To_Reset", 1); - Is_All_Button_Reset = 1; - } - } - else if (Is_All_Button_Reset == 1) - { - HardWareErrorController->Set_PCOMHardWare(HardWareErrorController, - "Need_To_Reset", 1); - } - - HardWareErrorController->Set_PCOMHardWare(HardWareErrorController, - "mk32_sbus", 1); - -} - -void Sbus_Data_Count(uint8_t *buf, int32_t *But_Value) -{ - - int16_t CH[16]; - int Start_byte = -1; - - CH[0] = ((buf[Start_byte + 1] | buf[Start_byte + 2] << 8) & 0x07FF); - CH[1] = ((buf[Start_byte + 2] >> 3 | buf[Start_byte + 3] << 5) & 0x07FF); - CH[2] = ((buf[Start_byte + 3] >> 6 | buf[Start_byte + 4] << 2 - | buf[Start_byte + 5] << 10) & 0x07FF); - CH[3] = ((buf[Start_byte + 5] >> 1 | buf[Start_byte + 6] << 7) & 0x07FF); - CH[4] = ((buf[Start_byte + 6] >> 4 | buf[Start_byte + 7] << 4) & 0x07FF); - CH[5] = ((buf[Start_byte + 7] >> 7 | buf[Start_byte + 8] << 1 - | buf[Start_byte + 9] << 9) & 0x07FF); - CH[6] = ((buf[Start_byte + 9] >> 2 | buf[Start_byte + 10] << 6) & 0x07FF); - CH[7] = ((buf[Start_byte + 10] >> 5 | buf[Start_byte + 11] << 3) & 0x07FF); - CH[8] = ((buf[Start_byte + 12] | buf[Start_byte + 13] << 8) & 0x07FF); - CH[9] = ((buf[Start_byte + 13] >> 3 | buf[Start_byte + 14] << 5) & 0x07FF); - CH[10] = ((buf[Start_byte + 14] >> 6 | buf[Start_byte + 15] << 2 - | buf[Start_byte + 16] << 10) & 0x07FF); - CH[11] = ((buf[Start_byte + 16] >> 1 | buf[Start_byte + 17] << 7) & 0x07FF); - CH[12] = ((buf[Start_byte + 17] >> 4 | buf[Start_byte + 18] << 4) & 0x07FF); - CH[13] = ((buf[Start_byte + 18] >> 7 | buf[Start_byte + 19] << 1 - | buf[Start_byte + 20] << 9) & 0x07FF); - CH[14] = ((buf[Start_byte + 20] >> 2 | buf[Start_byte + 21] << 6) & 0x07FF); - CH[15] = ((buf[Start_byte + 21] >> 5 | buf[Start_byte + 22] << 3) & 0x07FF); - - //按键数值：1050为中间值，272-1712 - for (int i = 0; i < 16; i++) - { - But_Value[i + 1] = (int32_t) ((CH[i] - 992) * 1.388889); - } - - //遥控器地面站在线状态 - if (buf[22] == 0) But_Value[17] = 1; - else - But_Value[17] = 0; - - But_Value[0]++; -} - -void MK32_Sbus_UART_Handler_intialize(struct UARTHandler *Handler) -{ - MK32_Sbus_Controller = Handler; - MK32_Sbus_Controller->UART_Decode = decode_MK32Data; - MK32_Sbus_Controller->Wait_time = 4; - MK32_Sbus_Controller->dispacherController->Dispacher_Enable = 0; //不周期性发送 - - HardWareErrorController->Add_PCOMHardWare(HardWareErrorController, - "Need_To_Reset", 0, ComError_Remote_Button_Reset_State); - HardWareErrorController->Add_PCOMHardWare(HardWareErrorController, - "mk32_sbus", 0, ComError_MK32_SBus); - LOG("MK32_Sbus_intialize"); -} diff --git a/project_old/paint_robot_old/BASE/Src/MSP/msp_PID.c b/project_old/paint_robot_old/BASE/Src/MSP/msp_PID.c deleted file mode 100644 index 55c817d..0000000 --- a/project_old/paint_robot_old/BASE/Src/MSP/msp_PID.c +++ /dev/null @@ -1,96 +0,0 @@ -/* - * msp_PID.c - * - * Created on: 2024年1月18日 - * Author: Administrator - */ - -#include "MSP/msp_PID.h" -#include - -void Speedl_PID(double CurrentValue, double TargetValue, double Sys_T, - double *Gain_speed); -double Desire_Angle = 0; -double PID_KP = 50; -double PID_KD = 12; -//double Sys_T=0.01;//System time -double k_1_error = 0; - - -/* PID - * CurrentAngle :0.01度 - * TargetAngle :0.01度 - * MaxValue :0.1rpm - * */ -double Angle_Tune_PID(double CurrentAngle, double TargetAngle, double Position_KP, - double Position_KI, double Position_KD, double MaxValue) -{ - static double Bias, delta_Speed, Integral_bias, Last_Bias; - /* - if (TargetValue - CurrentValue >= 180) - { - Bias = (TargetValue - CurrentValue) - 360; - } - if (pidTargetValue - pidCurrentValue <= -180) - { - Bias = TargetValue - CurrentValue + 360; - } - */ - - Bias = CurrentAngle - TargetAngle; - Integral_bias += Bias; - - - delta_Speed = Position_KP * Bias + Position_KI * Integral_bias - + Position_KD * (Bias - Last_Bias); - Last_Bias = Bias; - if (delta_Speed >= MaxValue) - { - delta_Speed = MaxValue; - } - if (delta_Speed <= -MaxValue) - { - delta_Speed = -MaxValue; - } - - return delta_Speed; -} - - - -//喷漆机器人PID算法 -int32_t PositionalPID(double pidTargetValue, double pidCurrentValue, double Kp, - double Kd) -{ - double Error = 0; - double P_Error = 0; - double I_Error = 0; - double D_Error = 0; - double delta = 0; - - Error = pidTargetValue - pidCurrentValue; - // - if (pidTargetValue - pidCurrentValue >= 180) - { - Error = (pidTargetValue - pidCurrentValue) - 360; - } - if (pidTargetValue - pidCurrentValue <= -180) - { - Error = pidTargetValue - pidCurrentValue + 360; - } - //计算误差 - P_Error = Error; //比例环节 - - D_Error = Error - k_1_error; //微分环节 - - //deltaSpeed = Kp * P_Error + Ki * I_Error + Kd * D_Error; //计算Speed输出值 - - delta = Kp * P_Error + Kd * D_Error; - - k_1_error = Error; - - return (int32_t) (delta); -} - - - diff --git a/project_old/paint_robot_old/BASE/Src/MSP/msp_TL720D.c b/project_old/paint_robot_old/BASE/Src/MSP/msp_TL720D.c deleted file mode 100644 index d7e715d..0000000 --- a/project_old/paint_robot_old/BASE/Src/MSP/msp_TL720D.c +++ /dev/null @@ -1,114 +0,0 @@ -/* - * msp_TL720D.c - * - * Created on: Jul 19, 2024 - * Author: bihon - */ - -#include "MSP/msp_TL720D.h" -#include "BHBF_ROBOT.h" -#include "msp_TL720D.pb.h" - -//Roll：0.01° -int32_t *RobotAngle; - -struct UARTHandler *TL720D_UART_Handler; - -MSP_TL720DParameters* SP_MSP_RF_TL720D_Parameters_In; - - - -void decode_TL720D(uint8_t *buffer, uint16_t length); -int16_t getDeci(uint8_t *data); - -void TL720D_intialize(struct UARTHandler *Handler) -{ - - //TL720D_UART_Handler->UART_Decode = NULL; - TL720D_UART_Handler = Handler; - TL720D_UART_Handler->Wait_time=6; - TL720D_UART_Handler->dispacherController->Dispacher_Enable=0;//不周期性发送 - TL720D_UART_Handler->UART_Decode = decode_TL720D; - HardWareErrorController->Add_PCOMHardWare(HardWareErrorController,"TL720D",0,ComError_TL720D); - //log_info("TL720D_intialize"); - LOGFF(DL_ERROR,"TL720D_intialize"); -} -void decode_TL720D(uint8_t *buffer, uint16_t length) -{ - - - if(length<32) - { - return; - } - uint8_t check_sum = 0; - // 遍历除SOF(0号字节)和校验和(31号字节)之外的所有待校验字节 - for(uint8_t i = 1; i < 31; i++) - { - check_sum += buffer[i]; - } - // 校验和不匹配则直接丢弃该帧，避免错误数据被解析 - if(check_sum != buffer[31]) - { - return; - } - if (buffer[0] == 0x68 && buffer[1] == 0x1F && buffer[2] == 0x00 - && buffer[3] == 0x84) - { - //SP_MSP_RF_TL720D_Parameters_In. - SP_MSP_RF_TL720D_Parameters_In->RF_Angle_Roll = getDeci(&buffer[4]); - SP_MSP_RF_TL720D_Parameters_In->RF_Angle_Pitch = getDeci(&buffer[7]); - SP_MSP_RF_TL720D_Parameters_In->RF_Angle_Yaw = getDeci(&buffer[10]); - SP_MSP_RF_TL720D_Parameters_In->RF_Acc_X = getDeci(&buffer[13]); - SP_MSP_RF_TL720D_Parameters_In->RF_Acc_Y = getDeci(&buffer[16]); - SP_MSP_RF_TL720D_Parameters_In->RF_Acc_Z = getDeci(&buffer[19]); - SP_MSP_RF_TL720D_Parameters_In->RF_Gro_X = getDeci(&buffer[22]); - SP_MSP_RF_TL720D_Parameters_In->RF_Gro_Y = getDeci(&buffer[25]); - SP_MSP_RF_TL720D_Parameters_In->RF_Gro_Z = getDeci(&buffer[28]); - - *RobotAngle=SP_MSP_RF_TL720D_Parameters_In->RF_Angle_Roll; - HardWareErrorController->Set_PCOMHardWare(HardWareErrorController,"TL720D",1); - - LOGF(DL_INFO,"decode angle succeed,and the angle is %d ",SP_MSP_RF_TL720D_Parameters_In->RF_Angle_Roll); - } - else - { - LOGF(DL_ERROR,"TL720D decoding failed"); - } -} - -/* 数值计算 - * data: 数据地址 - * return: 单位: 0.01 - * */ -int16_t getDeci(uint8_t *data) -{ - char isNegative = 0; - - if (*data >> 4) - { - isNegative = 1; - } else - { - isNegative = 0; - } - - int16_t data_value = 0; - data_value = ((*data) & 0x0f) * 10000; - data++; - data_value += (*data >> 4) * 1000; - data_value += ((*data) & 0x0f) * 100; - data++; - - int16_t xiaoshu = 0; - xiaoshu = (*data >> 4) * 10; - xiaoshu += (*data) & 0x0f; - if (isNegative) - { - return -(data_value + xiaoshu); - } else - { - return (data_value + xiaoshu); - } - -} diff --git a/project_old/paint_robot_old/BASE/Src/MSP/msp_WH_LTE_7S0.c b/project_old/paint_robot_old/BASE/Src/MSP/msp_WH_LTE_7S0.c deleted file mode 100644 index 5e8e5da..0000000 --- a/project_old/paint_robot_old/BASE/Src/MSP/msp_WH_LTE_7S0.c +++ /dev/null @@ -1,98 +0,0 @@ - -#include "BHBF_ROBOT.h" -#include "bsp_decode_command.h" -#include "gpio.h" - -#include "BSP/bsp_UART.h" - -#include - - -char NeedToFeedBackToComputer = 0; - -struct UARTHandler *wh_LTE_7S0_Handler; -DispacherController* wh_LTE_7S0_dispacher; - - -void Reset() -{ - HAL_GPIO_WritePin(S0_RESET_GPIO_Port, S0_RESET_Pin, GPIO_PIN_RESET); -} -void NormalState() -{ - HAL_GPIO_WritePin(S0_RESET_GPIO_Port, S0_RESET_Pin, GPIO_PIN_SET); -} -void WH_LTE_7S0_intialize(struct UARTHandler *Handler) -{ - //NormalState(); - HAL_GPIO_WritePin(S0_RESET_GPIO_Port, GPIO_PIN_10, GPIO_PIN_SET); - wh_LTE_7S0_Handler = Handler; - wh_LTE_7S0_Handler->Wait_time = 40; // 最低不要低于4； - wh_LTE_7S0_dispacher=Handler->dispacherController; - //不周期性发送 - wh_LTE_7S0_dispacher->Dispacher_Enable=1; - wh_LTE_7S0_dispacher->Add_Dispatcher_List(wh_LTE_7S0_dispacher,UpdateGV); - wh_LTE_7S0_dispacher->DispacherCallTime=1000; - //DispacherController* disp=wh_LTE_7S0_Handler->dispacherController; - - //disp->Add_Dispatcher_List(disp,UpdateGV);//周期性update GV数据 - - LOG("WH_LTE_7S0_intialize"); - - wh_LTE_7S0_Handler->UART_Decode = decode_received_data_from_computer; //indicate that there is no need to listen - -} - -void Send_WH_LTE_7S0_Data(uint8_t *data, int length) -{ - - char datass[100]; - memcpy(datass, data, length); - wh_LTE_7S0_Handler->UART_Decode = decode_received_data_from_computer; - memcpy(wh_LTE_7S0_Handler->Tx_Buf, data, length); - wh_LTE_7S0_Handler->TxCount = length; - wh_LTE_7S0_Handler->UART_Tx(wh_LTE_7S0_Handler); - -} -void UpdateGV() -{ - - //wh_LTE_7S0_Handler->UART_Decode = decode_received_data_from_computer; - pb_ostream_t GV_o_stream = - { 0 }; - char buf[1024]; - GV_o_stream = pb_ostream_from_buffer(buf, sizeof(buf)); - pb_encode(&GV_o_stream, GV_struct_define_fields, &GV); - - - memcpy(&wh_LTE_7S0_Handler->Tx_Buf[2], buf, GV_o_stream.bytes_written); - wh_LTE_7S0_Handler->Tx_Buf[0]='1'; - wh_LTE_7S0_Handler->Tx_Buf[1]=','; - //wh_LTE_7S0_Handler->Tx_Buf[2]='1'; - - wh_LTE_7S0_Handler->TxCount = GV_o_stream.bytes_written+2; - wh_LTE_7S0_Handler->UART_Tx(wh_LTE_7S0_Handler); -} - -void decode_received_data_from_computer(uint8_t *buffer, uint16_t length) -{ - char buf[1024]; - memcpy(buf, buffer, length); - if(buffer[0]=='2'&&buffer[1]==',') - { - //Decode protobuf - //decode_command_from_computer(buffer+2,length-2); - decode_command_and_feedback(buffer+2,length-2,1,wh_LTE_7S0_Handler); - - } - if(NeedToFeedBackToComputer==1) - { - send_received_data_to_upper_computer(buffer, length); - } - -} - - - - - diff --git a/project_old/paint_robot_old/CMakeLists.txt b/project_old/paint_robot_old/CMakeLists.txt deleted file mode 100644 index 0256c09..0000000 --- a/project_old/paint_robot_old/CMakeLists.txt +++ /dev/null @@ -1,30 +0,0 @@ -cmake_minimum_required(VERSION 3.10) - -get_filename_component(TARGET_NAME "${CMAKE_CURRENT_SOURCE_DIR}" NAME) - -set(COMMON_CMAKE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/../../library/CMakeLists.txt") - -if(EXISTS "${COMMON_CMAKE_PATH}") - include("${COMMON_CMAKE_PATH}") -else() - message(FATAL_ERROR "Cannot find common build logic at ${COMMON_CMAKE_PATH}") -endif() - -if(TARGET stm32cubemx) - target_link_libraries(${TARGET_NAME} PUBLIC stm32cubemx) -else() - message(WARNING "[${TARGET_NAME}] Dependency 'stm32cubemx' not found.") -endif() - -target_include_directories(${TARGET_NAME} PRIVATE - ${CMAKE_CURRENT_SOURCE_DIR}/BASE/Inc - ${CMAKE_CURRENT_SOURCE_DIR}/BASE/Protobuf/PSource - ${CMAKE_CURRENT_SOURCE_DIR}/BASE/Inc/BSP/DLT - ${CMAKE_CURRENT_SOURCE_DIR}/BASE/Inc/MSP - ${CMAKE_CURRENT_SOURCE_DIR}/BASE/Inc/BSP - ${CMAKE_CURRENT_SOURCE_DIR}/FSM/Inc - ) - -target_compile_options(${TARGET_NAME} PRIVATE - -Wno-error -) \ No newline at end of file diff --git a/project_old/paint_robot_old/FSM/Inc/change_line_control.h b/project_old/paint_robot_old/FSM/Inc/change_line_control.h deleted file mode 100644 index e1e08a8..0000000 --- a/project_old/paint_robot_old/FSM/Inc/change_line_control.h +++ /dev/null @@ -1,56 +0,0 @@ -/* - * change_line_control.h - * - * Created on: 2025年8月12日 - * Author: xsq - */ - -#ifndef FSM_INC_CHANGE_LINE_CONTROL_H_ -#define FSM_INC_CHANGE_LINE_CONTROL_H_ - - -typedef enum _vertical_LaneChangeState -{ - VerticalChange_TurnToUP, - VerticalChange_TurnToDown, - VerticalChange_TurnToLeft, - VerticalChange_TurnToRight, - VerticalChange_DelayMove, - VerticalChange_End, - VerticalChange_StateZero, - //0---6 -} Lane_Vertical_ChangeState; -/**********************************************************/ -typedef enum _horizontal_LaneChangeState -{ - HorizontalChange_TurnToUP, - HorizontalChange_TurnToDown, - HorizontalChange_TurnToLeft, - HorizontalChange_TurnToRight, - HorizontalChange_DelayMove, - HorizontalChange_End, - HorizontalChange_StateZero, - -} Lane_Horizontal_ChangeState; -/***********************************************************************/ -//设置 换道距离和设置后退距离 -typedef enum _laneChangeControlSTATE_t -{ - Lane_Change_Stop = 0, Lane_Change_Start, - -} LaneChangeControlSTATE; -/*****************************************************************************/ -extern Lane_Vertical_ChangeState Current_Vertical_ChangeState; - -extern LaneChangeControlSTATE VerticalLaneChangeState; /*当前换道处于开始或者结束*/ -extern int LaneChangeControl_Paint(); - - - -extern void Vertical_Lane_Change_From_Left_To_Right_UP_Control(); -extern void Vertical_Lane_Change_From_Left_To_Right_Down_Control(); -extern void Vertical_Lane_Change_From_Right_To_Left_UP_Control(); -extern void Vertical_Lane_Change_From_Right_To_Left_Down_Control(); - -extern int LaneChangeWaittime ; -#endif /* FSM_INC_CHANGE_LINE_CONTROL_H_ */ diff --git a/project_old/paint_robot_old/FSM/Inc/fsm_state.h b/project_old/paint_robot_old/FSM/Inc/fsm_state.h deleted file mode 100644 index 2bd95b7..0000000 --- a/project_old/paint_robot_old/FSM/Inc/fsm_state.h +++ /dev/null @@ -1,44 +0,0 @@ -/* - * fsm.h - * - * Created on: 2025年7月14日 - * Author: akeguo - */ - -#ifndef FSM_INC_FSM_STATE_H_ -#define FSM_INC_FSM_STATE_H_ -#include "stdint.h" -#include - - -struct _transition_t; -typedef struct _transition_t transition_t; - - -//抽象类，用于派生其他类 将事件处理方法包含在基类中 - -typedef struct _transition_state_t -{ - - void (*robotEnter)(transition_t* p_transition); //执行Enter 激活标志位 - void (*robotRun)(transition_t* p_transition); //执行相关动作 - void (*robotExit)(transition_t* p_transition); //执行Exit - int State; //状态 - -}transition_state_t; - - - -typedef struct _transition_t { - transition_state_t* p_state; -}transition_t; - - -extern void fsm_state_set(transition_t* p_this, transition_state_t* p_new_state); -extern void fsm_state_run(transition_t* p_this); - -extern void fsm_state_init(transition_t* p_this,transition_state_t* inti_state); - - - -#endif /* FSM_INC_FSM_STATE_H_ */ diff --git a/project_old/paint_robot_old/FSM/Inc/fsm_state_control.h b/project_old/paint_robot_old/FSM/Inc/fsm_state_control.h deleted file mode 100644 index 4a83ab8..0000000 --- a/project_old/paint_robot_old/FSM/Inc/fsm_state_control.h +++ /dev/null @@ -1,24 +0,0 @@ -/* - * fsm_state_control.h - * - * Created on: 2025年7月14日 - * Author: akeguo - */ - -#ifndef FSM_INC_FSM_STATE_CONTROL_H_ -#define FSM_INC_FSM_STATE_CONTROL_H_ - - - - - -void Fsm_Init(); -void GF_Dispatch(); - - -void IV_control(); -void MoveControl(); - -extern int32_t speed_selection; -extern char is_upper_computer_take_over_control; -#endif /* FSM_INC_FSM_STATE_CONTROL_H_ */ diff --git a/project_old/paint_robot_old/FSM/Inc/motors.h b/project_old/paint_robot_old/FSM/Inc/motors.h deleted file mode 100644 index 2b45289..0000000 --- a/project_old/paint_robot_old/FSM/Inc/motors.h +++ /dev/null @@ -1,15 +0,0 @@ -/* - * motors.h - * - * Created on: Nov 11, 2024 - * Author: akeguo - */ -#ifndef FSM_INC_MOTORS_H_ -#define FSM_INC_MOTORS_H_ - - -#include "bsp_FDCAN.h" -#include "bsp_Error_Detect.h" -#include "BHBF_ROBOT.h" - -#endif diff --git a/project_old/paint_robot_old/FSM/Inc/motors_power_action.h b/project_old/paint_robot_old/FSM/Inc/motors_power_action.h deleted file mode 100644 index fa01361..0000000 --- a/project_old/paint_robot_old/FSM/Inc/motors_power_action.h +++ /dev/null @@ -1,31 +0,0 @@ -/* - * motors_power_action.h - * - * Created on: 2025年7月14日 - * Author: akeguo - */ - -#ifndef FSM_INC_MOTORS_POWER_ACTION_H_ -#define FSM_INC_MOTORS_POWER_ACTION_H_ - -#include "fsm_state.h" - - - - - -void Motors_Power_On_Do(transition_t *p_this); -void Motors_Power_Off_Do(transition_t *p_this); -void Motors_Power_On_Enter(transition_t *p_this); -void Motors_Power_On_Exit(transition_t *p_this); - - - -extern transition_t current_motor_power_state; - -extern transition_state_t motor_power_on_state; -extern transition_state_t motor_power_off_state; - - - -#endif /* FSM_INC_MOTORS_POWER_ACTION_H_ */ diff --git a/project_old/paint_robot_old/FSM/Inc/paint_gun_action.h b/project_old/paint_robot_old/FSM/Inc/paint_gun_action.h deleted file mode 100644 index e4d0208..0000000 --- a/project_old/paint_robot_old/FSM/Inc/paint_gun_action.h +++ /dev/null @@ -1,22 +0,0 @@ -/* - * paint_gun_action.h - * - * Created on: 2025年8月7日 - * Author: xsq - */ - -#ifndef FSM_INC_PAINT_GUN_ACTION_H_ -#define FSM_INC_PAINT_GUN_ACTION_H_ - -#include "fsm_state.h" -extern transition_t current_paintgun_state; -extern transition_state_t paintgun_on_state; -extern transition_state_t paintgun_off_state; -extern void PaintGun_ON_Do(); -extern void PaintGun_OFF_Do(); -extern void PaintGun_ON_Enter(); -extern void PaintGun_ON_Exit(); -extern void PaintGun_OFF_Enter(); -extern void PaintGun_OFF_Exit(); -extern char Paint_Gun_ButtonReset_Flag; //喷枪开启 1yes -#endif /* FSM_INC_PAINT_GUN_ACTION_H_ */ diff --git a/project_old/paint_robot_old/FSM/Inc/robot_move_actions.h b/project_old/paint_robot_old/FSM/Inc/robot_move_actions.h deleted file mode 100644 index 6da5da2..0000000 --- a/project_old/paint_robot_old/FSM/Inc/robot_move_actions.h +++ /dev/null @@ -1,69 +0,0 @@ -/* - * robot_move_actions.h - * - * Created on: 2025年7月14日 - * Author: akeguo - */ - -#ifndef FSM_INC_ROBOT_MOVE_ACTIONS_H_ -#define FSM_INC_ROBOT_MOVE_ACTIONS_H_ -#include "BHBF_ROBOT.h" -#include "fsm_state.h" -#include "fsm_state.h" - - -extern void Forwards_State_Do(transition_t *p_this); -extern void Backwards_State_Do(transition_t *p_this); -extern void TurnLeft_State_Do(transition_t *p_this); -extern void TurnRight_State_Do(transition_t *p_this); -extern void HALT_State_Do(transition_t *p_this); - -extern void Move_Vertical_Task_Forwards_Do(transition_t *p_this); -extern void Move_Vertical_Task_Backwards_Do(transition_t *p_this); - -extern void Move_Horizontal_Task_Forwards_Right_Do(transition_t *p_this); -extern void Move_Horizontal_Task_Forwards_Left_Do(transition_t *p_this); -extern void Move_Horizontal_Task_Backwards_Right_Do(transition_t *p_this); -extern void Move_Horizontal_Task_Backwards_Left_Do(transition_t *p_this); - - -extern void Move_Head_To_UP_Do(transition_t *p_this); -extern void Move_Head_To_Down_Do(transition_t *p_this); -extern void Move_Head_To_Left_Do(transition_t *p_this); -extern void Move_Head_To_Right_Do(transition_t *p_this); - - -extern void HALT_State_Enter(transition_t *p_this); -extern void HALT_State_Exit(transition_t *p_this); - -extern int32_t GetVehicleSpeed(); - -extern int32_t* DHRoughening_Speed[10]; - - -extern transition_t current_robot_move_state; - -extern transition_state_t robot_halt_state; -extern transition_state_t robot_forwards_state; -extern transition_state_t robot_backwards_state; -extern transition_state_t robot_turn_left_state; -extern transition_state_t robot_turn_right_state; - -extern transition_state_t robot_move_vertical_task_forwards_state; -extern transition_state_t robot_move_vertical_task_backwards_state; - -extern transition_state_t robot_move_horizontal_task_forwards_left_state; /* 水平纠偏前进 头朝左*/ -extern transition_state_t robot_move_horizontal_task_backwards_left_state;/* 水平纠偏后退 头朝左*/ -extern transition_state_t robot_move_horizontal_task_forwards_right_state; /* 水平纠偏前进 头朝右*/ -extern transition_state_t robot_move_horizontal_task_backwards_right_state;/* 水平纠偏后退 头朝右*/ - - - -extern transition_state_t robot_move_head_to_left_enum_state; -extern transition_state_t robot_move_head_to_up_enum_state; -extern transition_state_t robot_move_head_to_right_enum_state; -extern transition_state_t robot_move_head_to_down_enum_state; - - -extern char IsRobotHaltSateChangedFlag; -#endif /* FSM_INC_ROBOT_MOVE_ACTIONS_H_ */ diff --git a/project_old/paint_robot_old/FSM/Src/change_line_control.c b/project_old/paint_robot_old/FSM/Src/change_line_control.c deleted file mode 100644 index f97c9bb..0000000 --- a/project_old/paint_robot_old/FSM/Src/change_line_control.c +++ /dev/null @@ -1,405 +0,0 @@ -/* - * change_line_control.c - * - * Created on: 2025年8月12日 - * Author: xsq - */ -#include "change_line_control.h" -#include "BHBF_ROBOT.h" -#include "paint_robot_old.h" - -#define Veritical_To_Left_Flag 1 -#define Veritical_To_Right_Flag 2 - - -int LaneChangeWaittime_ms = 0; -/* - * return: ms - */ -int32_t RunTime_DistanceCm_SpeedE_2MPMin(); -int LaneChangeWaittime = 0; - -char LaneChangeFlage = -1; - - -Lane_Vertical_ChangeState Current_Vertical_ChangeState; - -LaneChangeControlSTATE VerticalLaneChangeState; /*当前换道处于开始或者结束*/ - -/* 手动换道 - * 换道依据当前车头朝向 - * */ -int LaneChangeControl_Paint() -{ -//机器人SA按键处于中间状态 - if (P_MK32->CH4_SA == 0) - { - VerticalLaneChangeState = Lane_Change_Start; - Current_Vertical_ChangeState = VerticalChange_StateZero; - - if (abs(GV.Robot_Angle - CV.RobotUpAngleValue) //头朝上 - <= 45 * 100) - { - if (GV.PV.RunMode == Move_Vertical_Move_To_Left) - { - LaneChangeFlage = Veritical_To_Left_Flag; - - } - if (GV.PV.RunMode == Move_Vertical_Move_To_Right) - { - LaneChangeFlage = Veritical_To_Right_Flag; - - } - return 0; - } - LaneChangeFlage = -1; - return 0; - } - - if (P_MK32->CH4_SA == -1000) /*竖直上or水平换道*/ - { - - if (GV.PV.RunMode != Move_Vertical_Move_To_Left - && GV.PV.RunMode != Move_Vertical_Move_To_Right)/*竖直换道*/ - { - return 0; - } - - - if (VerticalLaneChangeState != Lane_Change_Start) - { - fsm_state_set(¤t_robot_move_state, &robot_halt_state); - return 1; - } - - if (LaneChangeFlage == Veritical_To_Left_Flag) /*向左作业*/ - { - Vertical_Lane_Change_From_Right_To_Left_UP_Control(); /*竖直上换道*/ - return 1; - } - if (LaneChangeFlage == Veritical_To_Right_Flag) /*向右作业*/ - { - Vertical_Lane_Change_From_Left_To_Right_UP_Control(); /*竖直上换道*/ - return 1; - } - return 1; - - } - - if (P_MK32->CH4_SA == 1000) //竖直下换道 - { - if (GV.PV.RunMode != Move_Vertical_Move_To_Left - && GV.PV.RunMode != Move_Vertical_Move_To_Right) - { - return 0; - } - - if (VerticalLaneChangeState != Lane_Change_Start) /*换道结束了*/ - { - fsm_state_set(¤t_robot_move_state, &robot_halt_state); - return 1; - } - if (LaneChangeFlage == Veritical_To_Left_Flag) /*向左作业*/ - { - Vertical_Lane_Change_From_Right_To_Left_Down_Control(); /*竖直下换道*/ - return 1; - } - if (LaneChangeFlage == Veritical_To_Right_Flag) /*向右作业*/ - { - Vertical_Lane_Change_From_Left_To_Right_Down_Control(); /*竖直下换道*/ - return 1; - } - return 1; - } - - return 0; - -} - - - -/* 竖直从左往右作业 上端 向右换道 最终头朝上 - * */ -void Vertical_Lane_Change_From_Left_To_Right_UP_Control() -{ - - GV.Robot_Move_Speed = speed_M_min_toE01_M_min( CV.Lane_Change_Speed_m_per_min); - switch (Current_Vertical_ChangeState) - { - case VerticalChange_StateZero: - { - Current_Vertical_ChangeState = VerticalChange_TurnToLeft; - break; - } - case VerticalChange_TurnToLeft: - { - if (abs(GV.Robot_Angle - CV.RobotLeftAngleValue) - >= CV.Allowable_Error_For_Angle_Tracking) - { - fsm_state_set(¤t_robot_move_state, - &robot_move_head_to_left_enum_state); /* 移动至头朝左 */ - } - else - { - - fsm_state_set(¤t_robot_move_state, - &robot_move_horizontal_task_backwards_left_state);/* 水平纠偏后退 头朝左*/ - //开启计时 - timer_handler_1.start_timer = 1; - Current_Vertical_ChangeState = VerticalChange_DelayMove; - } - break; - } - case VerticalChange_DelayMove: - { - LaneChangeWaittime = RunTime_DistanceCm_SpeedE_2MPMin(); - if (CompareTimer(LaneChangeWaittime, &timer_handler_1)) - { - - Current_Vertical_ChangeState = VerticalChange_TurnToUP; - } - break; - } - case VerticalChange_TurnToUP: - { - if (abs(GV.Robot_Angle - CV.RobotUpAngleValue) - >= CV.Allowable_Error_For_Angle_Tracking) - { - fsm_state_set(¤t_robot_move_state, - &robot_move_head_to_up_enum_state); /* 移动至头朝上 */ - } - else - { - Current_Vertical_ChangeState = VerticalChange_End; - } - - break; - } - case VerticalChange_End: - { - VerticalLaneChangeState = Lane_Change_Stop; - break; - } - default: - break; - } -} - -/* 竖直从左往右作业 下端 向右换道 最终头朝上 - * */ -void Vertical_Lane_Change_From_Left_To_Right_Down_Control() -{ - - GV.Robot_Move_Speed = speed_M_min_toE01_M_min( CV.Lane_Change_Speed_m_per_min); - switch (Current_Vertical_ChangeState) - { - case VerticalChange_StateZero: - { - Current_Vertical_ChangeState = VerticalChange_TurnToRight; - - break; - } - case VerticalChange_TurnToRight: - { - if (abs(GV.Robot_Angle - CV.RobotRightAngleValue) - >= CV.Allowable_Error_For_Angle_Tracking) - { - fsm_state_set(¤t_robot_move_state, - &robot_move_head_to_right_enum_state); /* 移动至头朝右 */ - } - else - { - - fsm_state_set(¤t_robot_move_state, - &robot_move_horizontal_task_forwards_right_state);/* 水平纠偏前进 头朝右*/ - //开启计时 - timer_handler_1.start_timer = 1; - Current_Vertical_ChangeState = VerticalChange_DelayMove; - } - break; - } - case VerticalChange_DelayMove: - { - LaneChangeWaittime = RunTime_DistanceCm_SpeedE_2MPMin(); - if (CompareTimer(LaneChangeWaittime, &timer_handler_1)) - { - - Current_Vertical_ChangeState = VerticalChange_TurnToUP; - - } - break; - } - case VerticalChange_TurnToUP: - { - if (abs(GV.Robot_Angle - CV.RobotUpAngleValue) - >= CV.Allowable_Error_For_Angle_Tracking) //误差在1度内 - { - fsm_state_set(¤t_robot_move_state, - &robot_move_head_to_up_enum_state); /* 移动至头朝上 */ - } - else - { - Current_Vertical_ChangeState = VerticalChange_End; - } - break; - } - case VerticalChange_End: - { - VerticalLaneChangeState = Lane_Change_Stop; - break; - } - default: - break; - } - -} - - -/* 竖直从右往左作业 上端 向左换道 最终头朝上 - * */ -void Vertical_Lane_Change_From_Right_To_Left_UP_Control() -{ - - GV.Robot_Move_Speed = speed_M_min_toE01_M_min( CV.Lane_Change_Speed_m_per_min); - switch (Current_Vertical_ChangeState) - { - case VerticalChange_StateZero: - { - Current_Vertical_ChangeState = VerticalChange_TurnToRight; - break; - } - case VerticalChange_TurnToRight: - { - if (abs(GV.Robot_Angle - CV.RobotRightAngleValue) - >= CV.Allowable_Error_For_Angle_Tracking) - { - fsm_state_set(¤t_robot_move_state, - &robot_move_head_to_right_enum_state); /* 移动至头朝右 */ - } - else - { - - fsm_state_set(¤t_robot_move_state, - &robot_move_horizontal_task_backwards_right_state);/* 水平纠偏后退 头朝右*/ - //开启计时 - timer_handler_1.start_timer = 1; - Current_Vertical_ChangeState = VerticalChange_DelayMove; - } - break; - } - case VerticalChange_DelayMove: - { - LaneChangeWaittime = RunTime_DistanceCm_SpeedE_2MPMin(); - if (CompareTimer(LaneChangeWaittime, &timer_handler_1)) - { - Current_Vertical_ChangeState = VerticalChange_TurnToUP; - } - break; - } - case VerticalChange_TurnToUP: - { - if (abs(GV.Robot_Angle - CV.RobotUpAngleValue) - >= CV.Allowable_Error_For_Angle_Tracking) - { - fsm_state_set(¤t_robot_move_state, - &robot_move_head_to_up_enum_state); /* 移动至头朝上 */ - } - else - { - Current_Vertical_ChangeState = VerticalChange_End; - } - - break; - } - case VerticalChange_End: - { - VerticalLaneChangeState = Lane_Change_Stop; - break; - } - default: - break; - } - -} - -/* 竖直从右往左作业 下端 向左换道 最终头朝上 - * */ -void Vertical_Lane_Change_From_Right_To_Left_Down_Control() -{ - - GV.Robot_Move_Speed = speed_M_min_toE01_M_min( CV.Lane_Change_Speed_m_per_min);//转完 前进or后退得速度 - switch (Current_Vertical_ChangeState) - { - case VerticalChange_StateZero: - { - Current_Vertical_ChangeState = VerticalChange_TurnToLeft; - - break; - } - case VerticalChange_TurnToLeft: - { - if (abs(GV.Robot_Angle - CV.RobotLeftAngleValue) - >= CV.Allowable_Error_For_Angle_Tracking) - { - fsm_state_set(¤t_robot_move_state, - &robot_move_head_to_left_enum_state); /* 移动至头朝左 */ - } - else - { - fsm_state_set(¤t_robot_move_state, - &robot_move_horizontal_task_forwards_left_state);/* 水平纠偏前进 头朝左*/ - //开启计时 - timer_handler_1.start_timer = 1; - Current_Vertical_ChangeState = VerticalChange_DelayMove; - } - break; - } - case VerticalChange_DelayMove: - { - LaneChangeWaittime = RunTime_DistanceCm_SpeedE_2MPMin(); - if (CompareTimer(LaneChangeWaittime, &timer_handler_1)) - { - - Current_Vertical_ChangeState = VerticalChange_TurnToUP; - - } - break; - } - case VerticalChange_TurnToUP: - { - if (abs(GV.Robot_Angle - CV.RobotUpAngleValue) - >= CV.Allowable_Error_For_Angle_Tracking) //误差在1度内 - { - fsm_state_set(¤t_robot_move_state, - &robot_move_head_to_up_enum_state); /* 移动至头朝上 */ - } - else - { - Current_Vertical_ChangeState = VerticalChange_End; - } - break; - } - case VerticalChange_End: - { - VerticalLaneChangeState = Lane_Change_Stop; - break; - } - default: - break; - } - -} - -/* - * return: ms - */ -int32_t RunTime_DistanceCm_SpeedE_2MPMin() -{ - - LaneChangeWaittime_ms = 600 * (GV.PV.LaneChangeDistance+CV.Vertical_ChangeLane_Compensation) - / CV.Lane_Change_Speed_m_per_min; - - return LaneChangeWaittime_ms; - -} - diff --git a/project_old/paint_robot_old/FSM/Src/fsm_state.c b/project_old/paint_robot_old/FSM/Src/fsm_state.c deleted file mode 100644 index 366c394..0000000 --- a/project_old/paint_robot_old/FSM/Src/fsm_state.c +++ /dev/null @@ -1,51 +0,0 @@ -/* - * fsm.c - * - * Created on: 2025年7月14日 - * Author: akeguo - */ -#include "fsm_state.h" -#include "stdint.h" - - - - -void fsm_state_run(transition_t* p_this) -{ - // turnstile_pass(&turnstile) - if (p_this->p_state->robotRun!= NULL) - { - p_this->p_state->robotRun(p_this); - } - -} - - -//修改状态机状态，若状态机修改后，则查看是否有enter 和 exit命令进行运动 -void fsm_state_set(transition_t* p_this, transition_state_t* p_new_state) -{ - if(p_this==NULL){return;} - // turnstile_pass(&turnstile) - if (p_this->p_state!= p_new_state) /* 状态不等 */ - { - if (p_this->p_state->robotExit!=NULL) - { - p_this->p_state->robotExit(p_this); - } - - p_this->p_state = p_new_state; - if (p_this->p_state->robotEnter != NULL) - { - p_this->p_state->robotEnter(p_this); - } - //exit - - } - -} -//状态机初始化设定 -void fsm_state_init(transition_t* p_this,transition_state_t* inti_state) -{ - p_this->p_state =inti_state; -} - diff --git a/project_old/paint_robot_old/FSM/Src/fsm_state_control.c b/project_old/paint_robot_old/FSM/Src/fsm_state_control.c deleted file mode 100644 index 0ee204a..0000000 --- a/project_old/paint_robot_old/FSM/Src/fsm_state_control.c +++ /dev/null @@ -1,464 +0,0 @@ -/* - * fsm.c - * - * Created on: Oct 18, 2024 - * Author: akeguo - */ -// 自动运行 换道 左补偿/右补偿 control -#include -#include - -#include "BHBF_ROBOT.h" -#include "bsp_include.h" -#include "msp_PID.h" -#include "msp_MK32_1.h" -#include "motors.h" -#include "fsm_state.h" -#include "motors_power_action.h" -#include "fsm_state_control.h" -#include "robot_move_actions.h" -#include "paint_robot_old.h" - -#define M_PI 3.14159265358979323846 -#define Move_Horizontal_AngleThreshold_D 85 - -void PaintGunControl(); -void IV_control(); -void PV_Data_Reading(); -void MoveControl(); -uint8_t MotorErrorDetect(); - -int Move_Halt_AngleError(); -void paintrobot_backwards(); -void paintrobot_forwards(); -void paint_joysticker_manual_control(); -int AbnormalDetect();//异常检测); -char is_upper_computer_take_over_control=0; -int CH13_S2_Value ; -int paintOffCount=0; //5° 计数 超过1s 关枪 -uint8_t angle_protect_lock=0; //作业时角度偏差过5°，停车标记位 -int32_t power_on_lock = 0; /*上电锁*/ -uint8_t error = 99; -int32_t serialAndUDP_DisconnectCount=0;//串口网口断联一段时间后在处理 - - -void Fsm_Init() -{ - - //机器人运动状态初始化 - fsm_state_init(¤t_robot_move_state, &robot_halt_state); - //喷漆初始化 - fsm_state_init(¤t_paintgun_state, &paintgun_off_state); - //机器人电机供电状态初始化 - fsm_state_init(¤t_motor_power_state, &motor_power_off_state); - - GF_BSP_Interrupt_Add_CallBack( - DF_BSP_InterCall_TIM8_2ms_PeriodElapsedCallback, GF_Dispatch); - IV.IsRestart=1; /* 是否重启 0否 1是 */ - -} - -/* - * 主逻辑函数 - * */ -void GF_Dispatch() -{ - fsm_state_run(¤t_robot_move_state); - fsm_state_run(¤t_paintgun_state); - fsm_state_run(¤t_motor_power_state); - - if (current_robot_move_state.p_state != &robot_halt_state) - { - IsRobotHaltSateChangedFlag = 1; //机器人动了就是1 - } - PV_Data_Reading(); ////按钮复位时 app数据生效 - - GV.LaneChangeDistance = GV.PV.LaneChangeDistance; - IV_control(); - - /*包含上电按钮检测 急停 SBUS 串口 等*/ - error=AbnormalDetect(); - if(AbnormalDetect()==1) - { - return; - } - - if(0 == power_on_lock && 0 == AbnormalDetect() ) /*只执行一次上电*/ - { - fsm_state_set(¤t_motor_power_state, &motor_power_on_state); - power_on_lock=1; - timer_handler_2.start_timer = 1; /*上电开始计时，10s通讯未连接 断电*/ - } - - - /*moetor alarm*/ - if (MotorErrorDetect() == 1) - { /*报警断48v，会导致错误码不更新，持续检测到错误无法上电，只能重启机器人*/ - fsm_state_set(¤t_robot_move_state, &robot_halt_state); /*停止机器人*/ - fsm_state_set(¤t_motor_power_state, &motor_power_off_state); /*关闭电机电磁阀*/ - return; - - } -// //电机断线 - if (Get_BIT(SystemErrorCode, ComError_LS_LeftMotor) == DISCONNECTED || Get_BIT(SystemErrorCode, ComError_LS_RightMotor) == DISCONNECTED ) - { - if(CompareTimer(20000, &timer_handler_2)) /*上电20s未连接 断电*/ - { - fsm_state_set(¤t_motor_power_state, &motor_power_off_state); /*关闭电机电磁阀*/ - fsm_state_set(¤t_robot_move_state, &robot_halt_state); /*停止机器人*/ - return; - } - - } - /*按下遥控 app无法选择*/ - if ((fabs(P_MK32->CH2_LY_V) <= 200) && (fabs(P_MK32->CH3_LY_H) <= 200) - && (fabs(P_MK32->CH0_RY_H) <= 200) && (fabs(P_MK32->CH1_RY_V) <= 200) - && (P_MK32->CH4_SA ==0) && (P_MK32->CH5_SB == 0) - && (P_MK32->CH6_SC != -1000) ) - { - - IV.IsWorking = 0; - angle_protect_lock = 0; // 拨杆复位 → 解开角度锁 - paintOffCount = 0; //计数清零 - } - else - { - IV.IsWorking = 1; - } - - - if (GV.PV.RunMode == Move_Manual) //app 无 的时候才能使用测试开启按钮 - { - PaintGunControl(); //测试开启关闭 - } - else if (GV.PV.RunMode >= Move_Vertical_Move_To_Left - && GV.PV.RunMode <= Move_Vertical_Move_To_Right) //不是app无 时 控制开喷枪 - { - - if (P_MK32->CH13_S2 != CH13_S2_Value) - { - if(GV.LeftMotor.Real_Velcity!=0) - { - fsm_state_set(¤t_paintgun_state, &paintgun_on_state); /*打开喷枪电磁阀*/ - CH13_S2_Value = P_MK32->CH13_S2; - - } - - } - CH13_S2_Value = P_MK32->CH13_S2;/**防止补作业得时候按s2导致下次前进直接开枪*/ - - } - - - if(Move_Halt_AngleError()==1) - { - return; - } - - MoveControl(); - -} -/* 机器人运动状态调度 */ -void MoveControl() -{ - if (GV.PV.RunMode == 0) //app发0 无法行走（app重启时） - { - fsm_state_set(¤t_robot_move_state, &robot_halt_state); /*停止机器人*/ - return; - } - - /* 速度选择索引 0-30 */ - GV.Robot_Move_Speed = speed_M_min_toE01_M_min( GetVehicleSpeed() );/*获取旋钮速度*/ - IV.RobotMoveSpeed= GetVehicleSpeed(); - - //换道优先级优于普通的运行; - if (LaneChangeControl_Paint() == 1) - { - fsm_state_set(¤t_paintgun_state, &paintgun_off_state); /*换道关闭喷枪电磁阀*/ - return; - } - - if (P_MK32->CH5_SB == -1000) //自动巡航前进模式 不是换道和自动就能用 - { - paintrobot_forwards(); - return; - } - if (P_MK32->CH5_SB == 1000) //自动巡航后退模式,根据app，模式自动选择纠偏与否 - { - paintrobot_backwards(); - return; - } - paint_joysticker_manual_control(); //摇杆手动控制 -} - - /* @brief: 电机出现报警返回1，电机正常返回0 */ -uint8_t MotorErrorDetect() -{ - if (GV.LeftMotor.Motor_Fault != 0 || GV.RightMotor.Motor_Fault != 0) - { - return 1; - } - return 0; -} - - - - -/** - * @brief 手动模式下自动巡航前进， - * @function 前进 - * @param 无 - * @retval 无 - */ -void paintrobot_forwards() -{ - - /* 竖直向左 向右 */ - if (GV.PV.RunMode == Move_Vertical_Move_To_Left || GV.PV.RunMode == Move_Vertical_Move_To_Right) - { - fsm_state_set(¤t_robot_move_state, &robot_move_vertical_task_forwards_state);/* 前进纠偏 */ - return; - } - fsm_state_set(¤t_robot_move_state, &robot_forwards_state);/* app 无 前进纠偏 */ - return; -} - -/** - * @brief 手动模式下自动巡航后退， - * @function 自动后退： 竖直模式下 - * @param 无 - * @retval 无 - */ -void paintrobot_backwards() -{ - /*竖直*/ - if (GV.PV.RunMode == Move_Vertical_Move_To_Left - || GV.PV.RunMode == Move_Vertical_Move_To_Right) - { - - fsm_state_set(¤t_robot_move_state, - &robot_move_vertical_task_backwards_state);/* 后退纠偏 */ - - return; - } - fsm_state_set(¤t_robot_move_state, &robot_backwards_state);/* 后退 */ - return; - -} - - - -/** - * @brief 手动模式下运动，根据左侧控制按钮的值进行控制 - * @detail 前进，后退;水平模式下的前进后退，需要有校准，竖直的前进后退也需要有校准 - */ -void paint_joysticker_manual_control() -{ - - /*停止*/ - if (abs(P_MK32->CH2_LY_V) <= CV.Joy_Sticker_Value_Allowance && abs(P_MK32->CH3_LY_H) <= CV.Joy_Sticker_Value_Allowance) - { - fsm_state_set(¤t_robot_move_state, &robot_halt_state); /*停止机器人*/ - return; - } - int angle = atan2(P_MK32->CH2_LY_V, P_MK32->CH3_LY_H) * 180 / M_PI; - - if (abs(angle - 90) <= CV.Joy_Sticker_Angle_Allowance) - { - /*前进*/ - paintrobot_forwards(); //根据app模式选择纠偏与不纠偏 - return; - } - /*后退*/ - if (abs(angle - (-90)) <= CV.Joy_Sticker_Angle_Allowance) - { - paintrobot_backwards(); - return; - } - /*右转*/ - if (abs(angle - 0) <= CV.Joy_Sticker_Angle_Allowance) - { - fsm_state_set(¤t_robot_move_state, &robot_turn_right_state); /*右转*/ - return; - } - /*左转*/ - if (abs(angle - 180) <= CV.Joy_Sticker_Angle_Allowance || abs(angle - (-180)) <= CV.Joy_Sticker_Angle_Allowance) - { - fsm_state_set(¤t_robot_move_state, &robot_turn_left_state); /*左转*/ - return; - } - -} - - -///* 作业过程中，角度偏差超过允许值时 关闭喷枪并停车 -// * 扫描当前车体运动状态 及 当前车体角度 -// * */ -int Move_Halt_AngleError() -{ - - if (angle_protect_lock == 1) - { - return 1; // 锁死：不执行运动代码 - } - - /**********竖直方向**************/ - if (GV.PV.RunMode != Move_Vertical_Move_To_Right - && GV.PV.RunMode != Move_Vertical_Move_To_Left) - { - return 0; - } - - if (current_robot_move_state.p_state - != &robot_move_vertical_task_forwards_state - && (current_robot_move_state.p_state - != &robot_move_vertical_task_backwards_state)) - { - return 0; - } - - if ( (abs(GV.Robot_Angle - CV.RobotUpAngleValue) > CV.Robot_Permitted_Angler_Error_Value_E_2D) - && (current_paintgun_state.p_state==&paintgun_on_state) ) - { - if(++paintOffCount>500) - { - fsm_state_set(¤t_robot_move_state, &robot_halt_state); /*停止机器人*/ - angle_protect_lock = 1; - return 1; // 本次立即返回1，停止运动 - } - } - else - { - //计数器清零 - paintOffCount = 0; - } - - return 0; - - -} - -/* 暂存App传输的PV数据，用于在业务执行过程中进行数据隔离 - */ -void PV_Data_Reading() //按钮复位时 app数据生效 -{ - - if(decoded_PV.IV_IsRestart_Notified==1)//收到安卓的重启1 双方都知道了重启了 - { - IV.IsRestart=0;//置为非重启装态 - } - - - if (P_MK32->CH4_SA == 0 && P_MK32->CH5_SB == 0 && P_MK32->CH7_SD == 0 ) - { - GV.PV = decoded_PV; - - } - -} - -/* IV 更新 */ -void IV_control() -{ - - - /* 返回值是脉冲/s P*60/10000/70/(Πd)=V */ - IV.CurrentSpeed=GV.LeftMotor.Real_Velcity*60.0/CV.pulse_Per_Circle/CV.wheel_Reduction_Ratio*M_PI*CV.wheel_Diameter_m; - - IV.RobotMoveSpeed=GetVehicleSpeed(); - IV.CurrentAngle = GV.Robot_Angle; - IV.SBUS_State=GV.P_MK32.IsOnline; - IV.SystemError = GV.SystemErrorData.Com_Error_Code; /* SystemErrorCode = &GV.SystemErrorData.Com_Error_Code; */ - IV.Left_Motor_Err = GV.LeftMotor.Motor_Fault; - IV.Right_Motor_Err = GV.RightMotor.Motor_Fault; - IV.TimeStamp = SystemTimeMiliCount; -} -/* 测试喷枪控制* */ -void PaintGunControl() -{ - if (P_MK32->CH6_SC == -1000) - { - if (Paint_Gun_ButtonReset_Flag == 0) - { - fsm_state_set(¤t_paintgun_state, &paintgun_on_state); /*开启喷枪电磁阀*/ - Paint_Gun_ButtonReset_Flag = 1; - } - } - else if (P_MK32->CH6_SC == 0) - { - fsm_state_set(¤t_paintgun_state, &paintgun_off_state); /*关闭喷枪电磁阀*/ - Paint_Gun_ButtonReset_Flag = 0; - } - else if (P_MK32->CH6_SC == 1000) - { - fsm_state_set(¤t_paintgun_state, &paintgun_off_state); /*关闭喷枪电磁阀*/ - Paint_Gun_ButtonReset_Flag = 0; - } -} - -int AbnormalDetect(){ - - //上位机此时，其他设备全部处于不可操作状态，喷漆停止、摆臂上抬，只保持轮子的基本操作（为处理遥控器无法使用的情况） - if (is_upper_computer_take_over_control == Taken_Over) - { - GV.PV.RunMode = Move_Manual; - fsm_state_set(¤t_paintgun_state, &paintgun_off_state); - fsm_state_set(¤t_motor_power_state, &motor_power_on_state); //电机上电，上电后，激活电机， - return 1; - } - /* SBUS出错 断电 */ - if (Get_BIT(SystemErrorCode, ComError_MK32_SBus) == DISCONNECTED) - { - fsm_state_set(¤t_robot_move_state, &robot_halt_state); /*停止机器人*/ - fsm_state_set(¤t_motor_power_state, &motor_power_off_state); /*关闭电机电磁阀*/ - return 1; - } - /*急停*/ - if (P_MK32->CH8_SE == -1000 && P_MK32->CH9_SF == -1000) - { - - fsm_state_set(¤t_robot_move_state, &robot_halt_state); /*停止机器人*/ - fsm_state_set(¤t_motor_power_state, &motor_power_off_state); /*关闭电机电磁阀*/ - Is_All_Button_Reset = 0;//急停之后必须复位才能动 - return 1; - } - - /* 按钮未复位 第一次上电 SystemErrorCode不为0 计算值为1 未复位 */ - if (Get_BIT(SystemErrorCode, ComError_Remote_Button_Reset_State) //按钮未复位 SystemErrorCode 右移ComError_Remote_Button_Reset_State位 - != Has_Reset) //Has_Reset 0 复位 1未复位 - { - CH13_S2_Value = P_MK32->CH13_S2; - fsm_state_set(¤t_robot_move_state, &robot_halt_state); /*停止机器人*/ - - return 1; - } - if (P_MK32->IsOnline == 0) //等于0时 subus有数，但是遥控器关机了，或者失联 - { - fsm_state_set(¤t_robot_move_state, &robot_halt_state); /*停止机器人*/ - fsm_state_set(¤t_motor_power_state, &motor_power_off_state); /*关闭电机电磁阀*/ - Is_All_Button_Reset = 0;//急停之后必须复位才能动 - return 1; - } -// /******网口，串口同时断联 成功******/ -// -// if(Get_BIT(SystemErrorCode, ComError_MK32_Serial) == DISCONNECTED -// && Get_BIT(SystemErrorCode, ComError_MK32_UDP) == DISCONNECTED) -// { -// if(++serialAndUDP_DisconnectCount>=2000) /*x s*/ -// { -// GV.PV.RunMode=1;//只允许手动操作 -// fsm_state_set(¤t_paintgun_state, &paintgun_off_state); /*关闭喷枪电磁阀*/ -// return 0; -// } -// -// } -// else{serialAndUDP_DisconnectCount=0; /*重新计数*/} - //陀螺仪无信号 - if (Get_BIT(SystemErrorCode, ComError_TL720D) == DISCONNECTED) - { - GV.PV.RunMode=1;//只允许手动操作 - fsm_state_set(¤t_paintgun_state, &paintgun_off_state); /*关闭喷枪电磁阀*/ - return 0; - } - return 0; -} diff --git a/project_old/paint_robot_old/FSM/Src/motors.c b/project_old/paint_robot_old/FSM/Src/motors.c deleted file mode 100644 index 367aafa..0000000 --- a/project_old/paint_robot_old/FSM/Src/motors.c +++ /dev/null @@ -1,152 +0,0 @@ -/* - * LS_CAN_Motor_Frames.c - * - * Created on: Mar 21, 2025 - * Author: BingooRobotFJX - */ - -#include -#include "fsm_state_control.h" -#include "BHBF_ROBOT.h" -FDCANHandler *LS_Motor_Controller; -DispacherController *LS_DispacherController; - -void MotorCommandsLoop(); -void MotorDecodeCAN(uint32_t canID, uint8_t *buffer, uint32_t length); -int32_t speed_E01m_per_min_to_pulse_s(int32_t speed_E01m_per_min); - - - -char LS_Motor_Need_To_Activate = 0; -char LS_Motor_Config_Count = 0; - -/* - * - * */ -void LS_Motor_Controller_intialize(FDCANHandler *Handler) -{ - - - //初始化 - LS_Motor_Controller = Handler; - LS_Motor_Controller->CAN_Decode = MotorDecodeCAN; - - HardWareErrorController->Add_PCOMHardWare(HardWareErrorController, - "LS_CAN_ID1_LeftMotor", 0, ComError_LS_LeftMotor); - - HardWareErrorController->Add_PCOMHardWare(HardWareErrorController, - "LS_CAN_ID2_RightMotor", 0, ComError_LS_RightMotor); - - LS_DispacherController = Handler->dispacherController; - LS_DispacherController->DispacherCallTime = 2; - LS_DispacherController->Add_Dispatcher_List(LS_DispacherController, - MotorCommandsLoop); -} - -/* - * - * */ -void MotorCommandsLoop() -{ - if (LS_Motor_Need_To_Activate == 1) - { - - - LS_Reset_All_Motors(LS_Motor_Controller, 1000);//等待1s - LS_Reset_All_Motors(LS_Motor_Controller, 500); - - LS_Activate_All_Motors(LS_Motor_Controller, 1000); - LS_Activate_All_Motors(LS_Motor_Controller, 1000); - LS_Activate_All_Motors(LS_Motor_Controller, 500); - LS_Activate_All_Motors(LS_Motor_Controller, 500); - LS_Activate_All_Motors(LS_Motor_Controller, 500); - - - LS_Set_Current_Positon_Zero(GV.LeftMotor.MotorID, LS_Motor_Controller, 50); - LS_Set_Current_Positon_Zero(GV.RightMotor.MotorID, LS_Motor_Controller, 50); - LS_SpeedModeSetup(GV.LeftMotor.MotorID, LS_Motor_Controller, 10, 1500000, 1500000, - 0); - LS_SpeedModeSetup(GV.RightMotor.MotorID, LS_Motor_Controller, 10, 1500000, 1500000, - 0); - - LS_Motor_Need_To_Activate = 0; - } - else - { - if(LS_Motor_Config_Count <= 200) /*confirm complete config -->stop send*/ - { - LS_Motor_Config_Count++; - LS_Set_WatchDogTime(GV.LeftMotor.MotorID, LS_Motor_Controller, 5); - LS_Set_WatchDogTime(GV.RightMotor.MotorID, LS_Motor_Controller, 5); - - } - LS_Request_Position(GV.LeftMotor.MotorID, LS_Motor_Controller, 2); - LS_Request_Fault(GV.LeftMotor.MotorID, LS_Motor_Controller, 2); - LS_Request_Velocity(GV.LeftMotor.MotorID, LS_Motor_Controller, 2); - LS_Request_Position(GV.RightMotor.MotorID, LS_Motor_Controller, 2); - LS_Request_Fault(GV.RightMotor.MotorID, LS_Motor_Controller, 2); - - LS_SpeedMode_Set_TargetSpeed(GV.LeftMotor.MotorID, LS_Motor_Controller, 2, - speed_E01m_per_min_to_pulse_s(GV.LeftMotor.Target_Velcity) ); - - LS_SpeedMode_Set_TargetSpeed(GV.RightMotor.MotorID, LS_Motor_Controller, 2, - speed_E01m_per_min_to_pulse_s(GV.RightMotor.Target_Velcity) ); - - } - -} - -/* - * 解析函数 - * - * */ -void MotorDecodeCAN(uint32_t canID, uint8_t *buffer, uint32_t length) -{ - switch (canID - 0x580) - { - - case 1: - { - HardWareErrorController->Set_PCOMHardWare(HardWareErrorController, - "LS_CAN_ID1_LeftMotor", 1); - LS_Analytic_Fun(GV.LeftMotor.MotorID, buffer); //ID 和数据 - } - break; - case 2: - { - HardWareErrorController->Set_PCOMHardWare(HardWareErrorController, - "LS_CAN_ID2_RightMotor", 1); - LS_Analytic_Fun(GV.RightMotor.MotorID, buffer); - } - break; - } - -} - -/* DO输出 - * @state: 1:ON; 0:OFF; - * */ -void LS_Motor_DOSet(uint8_t state) -{ - if (state == 1) - { - LS_DO_Set(GV.LeftMotor.MotorID, 1, state, LS_Motor_Controller, 10); - } - else if (state == 0) - { - LS_DO_Set(GV.LeftMotor.MotorID, 1, state, LS_Motor_Controller, 10); - } -} - -/* - * SpeedMPMin:0.1 m/min - * P*60/10000/70/(Πd)=V - * return:1 pulse/s - * */ -int32_t speed_E01m_per_min_to_pulse_s(int32_t speed_E01m_per_min) -{ - return (int32_t) (speed_E01m_per_min*0.1 *CV.pulse_Per_Circle * CV.wheel_Reduction_Ratio / 60 - / (3.14 * CV.wheel_Diameter_m)); -} - - diff --git a/project_old/paint_robot_old/FSM/Src/motors_power_action.c b/project_old/paint_robot_old/FSM/Src/motors_power_action.c deleted file mode 100644 index 34d33c8..0000000 --- a/project_old/paint_robot_old/FSM/Src/motors_power_action.c +++ /dev/null @@ -1,36 +0,0 @@ -/* - * motors_power_action.c - * - * Created on: 2025年7月14日 - * Author: akeguo - */ -#include "motors_power_action.h" -#include "motors.h" -#include "paint_robot_old.h" - -transition_t current_motor_power_state; - -transition_state_t motor_power_on_state={Motors_Power_On_Enter,Motors_Power_On_Do,Motors_Power_On_Exit}; -transition_state_t motor_power_off_state={NULL,Motors_Power_Off_Do,NULL}; - - - -void Motors_Power_On_Do(transition_t *p_this) -{ - GF_BSP_GPIO_SetIO(Motor_Power_IO_CTL, K_ON_Motor); -} - -void Motors_Power_Off_Do(transition_t *p_this) -{ - GF_BSP_GPIO_SetIO(Motor_Power_IO_CTL, K_OFF_Motor); -} - -void Motors_Power_On_Enter(transition_t *p_this) -{ - LS_Motor_Need_To_Activate=1; -} -void Motors_Power_On_Exit(transition_t *p_this) -{ - -} - diff --git a/project_old/paint_robot_old/FSM/Src/paint_gun_action.c b/project_old/paint_robot_old/FSM/Src/paint_gun_action.c deleted file mode 100644 index f085e04..0000000 --- a/project_old/paint_robot_old/FSM/Src/paint_gun_action.c +++ /dev/null @@ -1,47 +0,0 @@ -/* - * paint_gun_action.c - * - * Created on: 2025年8月7日 - * Author: xsq - */ -#include "paint_gun_action.h" -#include "fsm_state.h" -#include "BHBF_ROBOT.h" -#include "paint_robot_old.h" -transition_t current_paintgun_state; /*transition_t 成员是 指针的 transition_state_t */ - -transition_state_t paintgun_on_state={PaintGun_ON_Enter,PaintGun_ON_Do,NULL}; /* State 成员，它会被默认初始化为 0 */ -transition_state_t paintgun_off_state={PaintGun_OFF_Enter,PaintGun_OFF_Do,NULL}; - -char Paint_Gun_ButtonReset_Flag = 0; //喷枪开启 1yes - -/* 喷枪控制 */ -void PaintGun_ON_Do() -{ - GF_BSP_GPIO_SetIO(PaintGun_IO_CTL, K_ON_PaintGun);//0开 -} - -void PaintGun_OFF_Do() -{ - GF_BSP_GPIO_SetIO(PaintGun_IO_CTL, K_OFF_PaintGun);//1关 -} - -void PaintGun_ON_Enter() -{ - -} -void PaintGun_ON_Exit() -{ - -} -void PaintGun_OFF_Enter() -{ - - -} -void PaintGun_OFF_Exit() -{ - -} - - diff --git a/project_old/paint_robot_old/FSM/Src/robot_move_actions.c b/project_old/paint_robot_old/FSM/Src/robot_move_actions.c deleted file mode 100644 index 44d8479..0000000 --- a/project_old/paint_robot_old/FSM/Src/robot_move_actions.c +++ /dev/null @@ -1,313 +0,0 @@ -/* - * robot_move_actions.c - * - * Created on: 2025年7月14日 - * Author: akeguo - */ -#include "robot_move_actions.h" -#include "fsm_state.h" -#include "fsm_state_control.h" -#include "paint_gun_action.h" -#include "MSP/msp_PID.h" -transition_t current_robot_move_state; -transition_t current_robot_automove_state; - -transition_state_t robot_halt_state={HALT_State_Enter,HALT_State_Do,HALT_State_Exit}; /* 停 */ -transition_state_t robot_forwards_state={NULL,Forwards_State_Do,NULL}; /* 前 */ -transition_state_t robot_backwards_state={NULL,Backwards_State_Do,NULL}; /* 后 */ -transition_state_t robot_turn_left_state={NULL,TurnLeft_State_Do,NULL}; /* 左 */ -transition_state_t robot_turn_right_state={NULL,TurnRight_State_Do,NULL}; /* 右 */ - -transition_state_t robot_move_vertical_task_forwards_state={NULL,Move_Vertical_Task_Forwards_Do,NULL}; /* 竖直纠偏前进 */ -transition_state_t robot_move_vertical_task_backwards_state={NULL,Move_Vertical_Task_Backwards_Do,NULL}; /* 竖直纠偏后退 */ - -transition_state_t robot_move_horizontal_task_forwards_left_state={NULL,Move_Horizontal_Task_Forwards_Left_Do,NULL}; /* 水平纠偏前进 头朝左*/ -transition_state_t robot_move_horizontal_task_backwards_left_state={NULL,Move_Horizontal_Task_Backwards_Left_Do,NULL};/* 水平纠偏后退 头朝左*/ -transition_state_t robot_move_horizontal_task_forwards_right_state={NULL,Move_Horizontal_Task_Forwards_Right_Do,NULL}; /* 水平纠偏前进 头朝右*/ -transition_state_t robot_move_horizontal_task_backwards_right_state={NULL,Move_Horizontal_Task_Backwards_Right_Do,NULL};/* 水平纠偏后退 头朝右*/ - -transition_state_t robot_move_head_to_left_enum_state={NULL,Move_Head_To_Left_Do,NULL}; /* 移动至头朝左 */ -transition_state_t robot_move_head_to_up_enum_state={NULL,Move_Head_To_UP_Do,NULL}; /* 移动至头朝上 */ -transition_state_t robot_move_head_to_right_enum_state={NULL,Move_Head_To_Right_Do,NULL}; /* 移动至头朝右 */ -transition_state_t robot_move_head_to_down_enum_state={NULL,Move_Head_To_Down_Do,NULL}; /* 移动至头朝下 */ - - -/* 声明最底层函数 */ -void Move_Forwards_Do(int32_t Target_Angle); -void Move_Backwards_Do(int32_t Target_Angle); -void Calbrate_Robot_Positon(int Target_Angle); - - -static int dletAngle = 0; -char IsRobotHaltSateChangedFlag = 0; - -void Forwards_State_Do(transition_t *p_this) -{ - GV.LeftMotor.Target_Velcity = GV.Robot_Move_Speed; - GV.RightMotor.Target_Velcity = GV.Robot_Move_Speed; -} - -void Backwards_State_Do(transition_t *p_this) -{ - - GV.LeftMotor.Target_Velcity = -GV.Robot_Move_Speed; - GV.RightMotor.Target_Velcity = -GV.Robot_Move_Speed; -} -/* 向左转 - * - * */ -void TurnLeft_State_Do(transition_t *p_this) -{ - - GV.LeftMotor.Target_Velcity = -CV.LeftTurnSpeed; - GV.RightMotor.Target_Velcity = CV.RightTurnSpeed; -} - -/* 向右转 - * - * */ -void TurnRight_State_Do(transition_t *p_this) -{ - - GV.LeftMotor.Target_Velcity =CV.LeftTurnSpeed; - GV.RightMotor.Target_Velcity = -CV.RightTurnSpeed; -} - -/* 停止 - * 零速停止，不关闭抱闸 - * */ -void HALT_State_Do(transition_t *p_this) -{ - if (IsRobotHaltSateChangedFlag == 1)//机器人为运动状态 - { - - if (current_paintgun_state.p_state == &paintgun_on_state) //停车看喷枪状态 开了关喷枪计时停车 - { - fsm_state_set(¤t_paintgun_state, &paintgun_off_state); - timer_handler_3.start_timer = 1; //开始计时 - return; - } - - if (CompareTimer( - 600 * CV.Paint_Gun_Shutdown_Distance / GetVehicleSpeed(), - &timer_handler_3)) //喷枪开 计时停 关 直接停 - { - IsRobotHaltSateChangedFlag = 0; - GV.LeftMotor.Target_Velcity = 0; - GV.RightMotor.Target_Velcity = 0; - - } - - } - else - { - GV.LeftMotor.Target_Velcity = 0; - GV.RightMotor.Target_Velcity = 0; - IsRobotHaltSateChangedFlag=0; - } - -} -/* 竖直前进，保持目标角度 CV.RobotUpAngleValue - * Target_Angle: 0.01度 - * */ -void Move_Vertical_Task_Forwards_Do(transition_t *p_this) -{ - Move_Forwards_Do(CV.RobotUpAngleValue + GV.PV.Vertical_Calibration); -} - -/* 竖直后退，保持目标角度 CV.RobotUpAngleValue - * Target_Angle: 0.01度 - * */ -void Move_Vertical_Task_Backwards_Do(transition_t *p_this) -{ - Move_Backwards_Do(CV.RobotUpAngleValue + GV.PV.Vertical_Calibration); -} - - -void HALT_State_Enter(transition_t *p_this) -{ - -} -void HALT_State_Exit(transition_t *p_this) -{ - - -} - -/* 水平头朝右前进 - * 带补偿 - * */ -void Move_Horizontal_Task_Forwards_Right_Do(transition_t *p_this) -{ - Move_Forwards_Do(CV.RobotRightAngleValue - GV.Right_Compensation); -} -/* 水平头朝右后退 ，向左退 左补偿生效 - * 带补偿 - * */ -void Move_Horizontal_Task_Backwards_Right_Do(transition_t *p_this) -{ - Move_Backwards_Do(CV.RobotRightAngleValue + GV.Left_Compensation); -} -/* 水平头朝左前进 - * 带补偿 - * */ -void Move_Horizontal_Task_Forwards_Left_Do(transition_t *p_this) -{ - Move_Forwards_Do(CV.RobotLeftAngleValue + GV.Left_Compensation); -} - - -/* 水平头朝左后退 向右退 右补偿 - * 带补偿 - * */ -void Move_Horizontal_Task_Backwards_Left_Do(transition_t *p_this) -{ - Move_Backwards_Do(CV.RobotLeftAngleValue - GV.Right_Compensation); -} - - -/* 原地PID转向至目标角度 CV.RobotUpAngleValue - * Target_Angle： 目标角度 （单位 0.01 度） - * */ -void Move_Head_To_UP_Do(transition_t *p_this) -{ - Calbrate_Robot_Positon(CV.RobotUpAngleValue); - -} - -/* 原地PID转向至目标角度 CV.RobotDownAngleValue - * Target_Angle： 目标角度 （单位 0.01 度） - * */ -void Move_Head_To_Down_Do(transition_t *p_this) -{ - Calbrate_Robot_Positon(CV.RobotDownAngleValue); -} - -/* 原地PID转向至目标角度 CV.RobotLeftAngleValue - * Target_Angle： 目标角度 （单位 0.01 度） - * */ -void Move_Head_To_Left_Do(transition_t *p_this) -{ - Calbrate_Robot_Positon(CV.RobotLeftAngleValue); -} - -/* 原地PID转向至目标角度 CV.RobotRightAngleValue - * Target_Angle： 目标角度 （单位 0.01 度） - * */ -void Move_Head_To_Right_Do(transition_t *p_this) -{ - Calbrate_Robot_Positon(CV.RobotRightAngleValue); -} - - -/*******************以下纠偏底层函数**********************************/ -/* - * 底层前进，保持目标角度 纠偏 被调用 - * Target_Angle: 0.1度 - * */ -int delt=0; -void Move_Forwards_Do(int32_t Target_Angle) -{ - - - - if (abs(GV.Robot_Angle - Target_Angle) <= CV.PID_mid.PID_Angle) //// 误差在正负5度内 - { - if (abs(GV.Robot_Angle - Target_Angle) < CV.PID_low.PID_Angle) //// 误差在正负0.3度内 - { - dletAngle = Angle_Tune_PID((double)GV.Robot_Angle, Target_Angle, - CV.PID_low.Kp, CV.PID_low.Ki, CV.PID_low.Kd, 10); - } - else //中角度 - { - dletAngle = Angle_Tune_PID((double)GV.Robot_Angle, Target_Angle, - CV.PID_mid.Kp, CV.PID_mid.Ki, CV.PID_mid.Kd, 10); - - } - GV.LeftMotor.Target_Velcity = GV.Robot_Move_Speed - dletAngle ; - GV.RightMotor.Target_Velcity =GV.Robot_Move_Speed + dletAngle ; - - - } - else //大于CV.PID_high.PID_Angle - { - dletAngle = Angle_Tune_PID((double)GV.Robot_Angle, Target_Angle, - CV.PID_high.Kp, CV.PID_high.Ki, CV.PID_high.Kd,50); - GV.LeftMotor.Target_Velcity = -dletAngle ; - GV.RightMotor.Target_Velcity = dletAngle ; - } - delt=dletAngle; -} - - - -/* 后退，保持目标角度 纠偏 - * Target_Angle: 0.01度 - * */ -void Move_Backwards_Do(int32_t Target_Angle) -{ - - if (abs(GV.Robot_Angle - Target_Angle) <= CV.PID_mid.PID_Angle) //// 误差在正负4度内 - { - if (abs(GV.Robot_Angle - Target_Angle) < CV.PID_low.PID_Angle) //// 误差在正负1度内 - { - dletAngle = Angle_Tune_PID((double)GV.Robot_Angle, Target_Angle, - CV.PID_low.Kp, CV.PID_low.Ki, CV.PID_low.Kd, 10); - } - else /*1-4*/ - { - dletAngle = Angle_Tune_PID((double)GV.Robot_Angle, Target_Angle, - CV.PID_mid.Kp, CV.PID_mid.Ki, CV.PID_mid.Kd, 10); - } - GV.LeftMotor.Target_Velcity = -GV.Robot_Move_Speed - dletAngle ; - GV.RightMotor.Target_Velcity = -GV.Robot_Move_Speed + dletAngle; - } - else /*大于4*/ - { - dletAngle = Angle_Tune_PID((double)GV.Robot_Angle, Target_Angle, - CV.PID_high.Kp, CV.PID_high.Ki, CV.PID_high.Kd, 50); - GV.LeftMotor.Target_Velcity = -dletAngle ; - GV.RightMotor.Target_Velcity = dletAngle ; - } - -} - -/* 原地PID转向至目标角度 - * Target_Angle： 目标角度 （单位 0.01 度） - * */ -void Calbrate_Robot_Positon(int Target_Angle) -{ - - - - if (abs(GV.Robot_Angle - Target_Angle) <= 50) //误差在正负1度内 - { - GV.LeftMotor.Target_Velcity = 0; - GV.RightMotor.Target_Velcity = 0; - } - else if (abs(GV.Robot_Angle - Target_Angle) <= 1000) //误差在正负1度内 1-5° - { - dletAngle = Angle_Tune_PID((double)GV.Robot_Angle, Target_Angle, 1, 0,0.5, 10); - GV.LeftMotor.Target_Velcity = -dletAngle ; - GV.RightMotor.Target_Velcity = dletAngle; - } - else//大于2° - { - - dletAngle = Angle_Tune_PID((double)GV.Robot_Angle, Target_Angle, 2, 0, 0.5, 85); - GV.LeftMotor.Target_Velcity = -dletAngle ; - GV.RightMotor.Target_Velcity = dletAngle ; - } -} - - -/* 车体速度选择 具体车速在配置结构体CV 0.01m/min */ -int32_t GetVehicleSpeed(void) -{ - int speed_selection = 3 * (P_MK32->CH11_RD1 + 1000) / 200; - if(speed_selection==0) - { - return 1; - } - return CV.Speed_m_per_min*speed_selection/30; -} diff --git a/project_old/paint_robot_old/include/bsp_fsm.h b/project_old/paint_robot_old/include/bsp_fsm.h deleted file mode 100644 index e7a93a3..0000000 --- a/project_old/paint_robot_old/include/bsp_fsm.h +++ /dev/null @@ -1,13 +0,0 @@ -/* - * bsp_fsm.h - * - * Created on: Oct 18, 2024 - * Author: akeguo - */ - -#ifndef INC_BSP_FSM_H_ -#define INC_BSP_FSM_H_ - - - -#endif /* INC_BSP_FSM_H_ */ diff --git a/project_old/paint_robot_old/include/com.pb.h b/project_old/paint_robot_old/include/com.pb.h deleted file mode 100644 index 0904289..0000000 --- a/project_old/paint_robot_old/include/com.pb.h +++ /dev/null @@ -1,57 +0,0 @@ -/* Automatically generated nanopb header */ -/* Generated by nanopb-0.4.8 */ - -#ifndef PB_COM_PB_H_INCLUDED -#define PB_COM_PB_H_INCLUDED -#include "BSP/pb.h" - -#if PB_PROTO_HEADER_VERSION != 40 -#error Regenerate this file with the current version of nanopb generator. -#endif - -/* Struct definitions */ -typedef struct _UplaodtoSerial { - int32_t Speed_1; - int32_t Speed_2; - int32_t Speed_3; - int32_t Speed_4; -} UplaodtoSerial; - - -#ifdef __cplusplus -extern "C" { -#endif - -/* Initializer values for message structs */ -#define UplaodtoSerial_init_default {0, 0, 0, 0} -#define UplaodtoSerial_init_zero {0, 0, 0, 0} - -/* Field tags (for use in manual encoding/decoding) */ -#define UplaodtoSerial_Speed_1_tag 1 -#define UplaodtoSerial_Speed_2_tag 2 -#define UplaodtoSerial_Speed_3_tag 3 -#define UplaodtoSerial_Speed_4_tag 4 - -/* Struct field encoding specification for nanopb */ -#define UplaodtoSerial_FIELDLIST(X, a) \ -X(a, STATIC, SINGULAR, INT32, Speed_1, 1) \ -X(a, STATIC, SINGULAR, INT32, Speed_2, 2) \ -X(a, STATIC, SINGULAR, INT32, Speed_3, 3) \ -X(a, STATIC, SINGULAR, INT32, Speed_4, 4) -#define UplaodtoSerial_CALLBACK NULL -#define UplaodtoSerial_DEFAULT NULL - -extern const pb_msgdesc_t UplaodtoSerial_msg; - -/* Defines for backwards compatibility with code written before nanopb-0.4.0 */ -#define UplaodtoSerial_fields &UplaodtoSerial_msg - -/* Maximum encoded size of messages (where known) */ -#define COM_PB_H_MAX_SIZE UplaodtoSerial_size -#define UplaodtoSerial_size 44 - -#ifdef __cplusplus -} /* extern "C" */ -#endif - -#endif diff --git a/project_old/paint_robot_old/include/motors.h b/project_old/paint_robot_old/include/motors.h deleted file mode 100644 index 7367d58..0000000 --- a/project_old/paint_robot_old/include/motors.h +++ /dev/null @@ -1,22 +0,0 @@ -/* - * LS_CAN_Motor_Frames.h - * - * Created on: Mar 21, 2025 - * Author: BingooRobotFJX - */ - -#ifndef SRC_LS_CAN_MOTOR_FRAMES_H_ -#define SRC_LS_CAN_MOTOR_FRAMES_H_ - -#include "BHBF_ROBOT.h" -#include "BSP/bsp_FDCAN.h" -#include "bsp_Error_Detect.h" -#include "MSP/msp_LeiSai_ISV2_CAN.h" -extern char LS_Motor_Need_To_Activate; -void LS_Motor_Controller_intialize(FDCANHandler *Handler); -void LS_Motor_DOSet(uint8_t state); -int32_t speed_m_per_min_to_pulse_s(int32_t speed_m_per_min); - -int32_t RunTime_DistanceCm_SpeedE_2MPMin(); - -#endif /* SRC_LS_CAN_MOTOR_FRAMES_H_ */ diff --git a/project_old/paint_robot_old/paint_robot_old.c b/project_old/paint_robot_old/paint_robot_old.c deleted file mode 100644 index 420ad53..0000000 --- a/project_old/paint_robot_old/paint_robot_old.c +++ /dev/null @@ -1,189 +0,0 @@ -/* Private includes ----------------------------------------------------------*/ -/* USER CODE BEGIN Includes */ -#include "BHBF_ROBOT.h" -#include "bsp_FDCAN.h" -#include -#include -#include "paint_robot_old.h" -//#include "msp_DMKE_485_Motor.h" -/* USER CODE END Includes */ - -/* Private typedef -----------------------------------------------------------*/ -/* USER CODE BEGIN PTD */ -void GF_Robot_Init(); -/* USER CODE END PTD */ - -/* Private define ------------------------------------------------------------*/ -/* USER CODE BEGIN PD */ - -#define RS485_1_WaitTime 6 - -#define RS485_2_WaitTime 6 -#define RS485_3_WaitTime 6 -#define RS485_4_WaitTime 6 -#define LTE_7S0_Serial_WaitTime 6 -#define InterCall_DEBUG_WaitTime 6 -#define E28_SBUS_WaitTime 4 -#define LPUART1_UART_WaitTime 6 -#define RS485_1_Dispacher_Time 100 -#define RS485_2_Dispacher_Time 100 -#define RS485_3_Dispacher_Time 100 -#define RS485_4_Dispacher_Time 100 -#define LTE_7S0_Serial_Dispacher_Time 100 -#define InterCall_DEBUG_Dispacher_Time 100 -#define E28_SBUS_Dispacher_Time 100 -#define LPUART1_UART_Dispacher_Time 100 -int can1_sendListPeriod = 10; -int can1_DispacherPeriod = 4; -int can2_sendListPeriod = 10; -int can2_DispacherPeriod = 20; - -int SAVE_To_CV = 0; - -/* USER CODE END PD */ - -/* Private macro -------------------------------------------------------------*/ -/* USER CODE BEGIN PM */ - -/* USER CODE END PM */ - -/* Private variables ---------------------------------------------------------*/ - -/* USER CODE BEGIN PV */ -void protobuf_mqtt_setting_test(void); -/* USER CODE END PV */ - -/* Private function prototypes -----------------------------------------------*/ -void SystemClock_Config(void); -static void MPU_Config(void); -/* USER CODE BEGIN PFP */ -char ReadIO[8]; - -/* USER CODE END PFP */ - -/* Private user code ---------------------------------------------------------*/ -/* USER CODE BEGIN 0 */ - -/* USER CODE END 0 */ - -void GF_Robot_Init() -{ - - - - //2ms调度 - GF_BSP_EEPROM_Init(); - - CV_GV_Init(); - - //初始化encoder - GF_BSP_UARTHandlers_Intialize( - RS485_1_WaitTime, - RS485_2_WaitTime, - RS485_3_WaitTime, - RS485_4_WaitTime, - LTE_7S0_Serial_WaitTime, - InterCall_DEBUG_WaitTime, - E28_SBUS_WaitTime, - LPUART1_UART_WaitTime, - RS485_1_Dispacher_Time, - RS485_2_Dispacher_Time, - RS485_3_Dispacher_Time, - RS485_4_Dispacher_Time, - LTE_7S0_Serial_Dispacher_Time, - InterCall_DEBUG_Dispacher_Time, - E28_SBUS_Dispacher_Time, - LPUART1_UART_Dispacher_Time); - - - - is_upper_computer_take_over_control = 0; - DLT_LOG_ENABLE_LEVEL = 7; //7 send all information //0 send nothing - //dLT_Log_intialize(&InterCall_DEBUG_UART_Handler); //huart4 - //dLT_Log_intialize(&RS_485_4_UART_Handler); - udp_client_init(); - tcp_server_init(3490); - //dLT_Log_intialize_udp_tcp(); - upper_Computer_UART_Handler_intialize(&RS_485_4_UART_Handler);//send to computer to 485 - TL720D_intialize(&RS_485_1_UART_Handler); - MK32_Sbus_UART_Handler_intialize(&E28_SBUS_UART_Handler); //huart5 - client_setting_intialize(&LPUART1_UART_Handler); - - //WH_LTE_7S0_intialize(<E_7S0_Serial_UART_Handler);//huart2 - - GF_BSP_FDCAN_Init();//初始化FDCAN - - GF_BSP_CANHandler_Init(can1_sendListPeriod, can1_DispacherPeriod, - can2_sendListPeriod, can2_DispacherPeriod); - - - LS_Motor_Controller_intialize(&FD_CAN_1_Handler); - - Fsm_Init(); - - GF_BSP_TIMER_Init(); //定时器最后启 - - -} -/* - * */ -void CV_GV_Init() -{ - //Read CV - CV = GF_BSP_EEPROM_Get_CV(); - CV.has_PID_high=true; - CV.has_PID_mid=true; - CV.has_PID_low=true; - - SystemErrorCode = &GV.SystemErrorData.Com_Error_Code; - - //电机绑定 - LS_Motor[1]=&GV.LeftMotor; - LS_Motor[2]=&GV.RightMotor; - - LS_Motor[1]->MotorID=1; - LS_Motor[2]->MotorID=2; - - P_MK32 = &GV.P_MK32; - - SP_MSP_RF_TL720D_Parameters_In = &GV.TL720DParameters; - - - - RobotAngle = &GV.Robot_Angle; - - tempature = &GV.TempatureE_2C; - - GV.has_P_MK32 = true; - GV.has_LeftMotor = true; - GV.has_RightMotor = true; - GV.has_TL720DParameters = true; - GV.has_IO = true; - GV.has_SystemErrorData = true; - -} - -int BHBF_robot_init(void) -{ - SystemTimer_Intialize(); - - Error_Detect_Intialzie(1000); //every 1 seconds - GF_Robot_Init(); - GV.Robot_Move_Speed = 1; - return 0; -} - -void BHBF_robot_task(void) -{ - /* 刷新看门狗计数器（喂狗） */ - //HAL_IWDG_Refresh(&hiwdg1); - - if (SAVE_To_CV == 1) - { - SAVE_To_CV = 0; - //CV写入falsh�??????? - GF_BSP_EEPROM_Set_CV(CV); - CV = GF_BSP_EEPROM_Get_CV(); - //FS_SetZero(); - } -} diff --git a/project_old/paint_robot_old/paint_robot_old.h b/project_old/paint_robot_old/paint_robot_old.h deleted file mode 100644 index c679b3f..0000000 --- a/project_old/paint_robot_old/paint_robot_old.h +++ /dev/null @@ -1,58 +0,0 @@ -#ifndef __PAINT_ROBOT_OLD_H__ -#define __PAINT_ROBOT_OLD_H__ - - -#ifdef __cplusplus -#if __cplusplus -extern "C"{ -#endif -#endif /* __cplusplus */ - -#define hlpuart1Exit 6 -#define NewCANSendVersion 1 - -/*******IO***************/ -#define Motor_Power_IO_CTL 0 //K1 -#define PaintGun_IO_CTL 1 /*喷枪K2*/ - -/********PINSTATE*********/ -#define K_ON_PaintGun 0 /*喷枪�???�???*/ -#define K_OFF_PaintGun 1 - -#define K_ON_Motor 0 /*驱动电机*/ -#define K_OFF_Motor 1 - -/*********************************************/ - -/*手动*/ -#define Move_Manual 1 //�?? -#define Move_Vertical_Move_To_Left 2 //竖直向左 -#define Move_Vertical_Move_To_Right 3 //竖直向右 - -typedef enum _Upper_TakeControl_State -{ - Not_Taken_Over = 0, Taken_Over = 1, -} Upper_TakeControl_State; -typedef enum _Button_Reset_State -{ - Has_Reset = 0, Has_Not_Reset = 1, -} Button_Reset_State; -typedef enum _HardWare_Disconnected_State -{ - CONNECTED = 0, DISCONNECTED = 1, -} HardWare_Disconnected_State; -typedef enum _HardWare_ErrorExisted_State -{ - NOT_ErrorExisted = 0, ErrorExisted = 1, -} HardWare_ErrorExisted_State; - -void CV_GV_Init(); - -#ifdef __cplusplus -#if __cplusplus -} -#endif -#endif /* __cplusplus */ - - -#endif \ No newline at end of file