paint_robot_new【编译通过】增加RBcore模块初版

RBcore/BHBF.c

@@ -18,8 +18,7 @@
 ******************************************************************************/
 #include "BHBF.h"
 #include "common.h"
-
-#include "task.h"
+#include "msg_center.h"
 
 /*----------------------------------------------*
  * 外部变量说明                                 *
@@ -36,7 +35,7 @@
 /*----------------------------------------------*
  * 全局变量                                     *
  *----------------------------------------------*/
-GV_define GV = {0};
+static uint32_t g_uiRBcoreModuleID = 0;
 
 /*----------------------------------------------*
  * 模块级变量                                   *
@@ -49,40 +48,59 @@ GV_define GV = {0};
 /*----------------------------------------------*
  * 宏定义                                       *
  *----------------------------------------------*/
-GV_define *GetGV(void)
+static void RBcore_ModuleHandler(const Msg_t *pstMsg)
+{
+    if (NULL == pstMsg)
     {
-    static GV_define tmpGV = {0};
-    RD_MEMSET(&tmpGV, 0, sizeof(tmpGV));
-    RD_MEMCPY(&tmpGV, &GV, sizeof(GV_define));
-    return &tmpGV;
+        return;
     }
 
-void SetGV(GV_define *_pGV)
+    switch (pstMsg->m_uiMsgID)
+    {
+        case MOTOR_CMD_SET_SPEED:
+        {
+
+            break;
+        }
+        case MOTOR_CMD_STOP:
         {
-    RD_MEMCPY(&GV, _pGV, sizeof(GV_define));
+
+            break;
         }
+        case MOTOR_CMD_SET_HOME:
+        {
 
-void GF_FsmStart(GF_CMD GFCmd)
+            break;
+        }
+        case MOTOR_CMD_GET_STATUS:
         {
 
+            break;
         }
+        default:
+            break;
+    }
+}
+
 
-void GF_Dispatch(void *argument)
+void RBcore_Task(void *argument)
 {
     while(1)
     {
-        //GF_CMD GFCmd = MK32_Task(GV.m_iWorkMode);
-        GF_FsmStart(0);
+        // 处理消息
+        MsgCenter_ProcessWait(g_uiRBcoreModuleID, 2);
     }
 }
 
-void GF_Init(void)
+void RBcore_Init(void)
 {
-//    const osThreadAttr_t GF_Dispatch_attributes = {
-//        .name = "GF_Task",
-//        .stack_size = 1024,
-//        .priority = (osPriority_t) osPriorityRealtime1,
-//    };
-//    (void)osThreadNew(GF_Dispatch, NULL, &GF_Dispatch_attributes);
+    g_uiRBcoreModuleID = MsgCenter_Register(MODULE_NAME_RBCORE, RBcore_ModuleHandler);
+
+    const osThreadAttr_t GF_Dispatch_attributes = {
+        .name = MODULE_NAME_RBCORE,
+        .stack_size = 1024,
+        .priority = (osPriority_t) osPriorityRealtime1,
+    };
+    (void)osThreadNew(RBcore_Task, NULL, &GF_Dispatch_attributes);
 }
 

RBcore/drv_interface.c

@@ -255,6 +255,7 @@ void SendAll_Task(void *argument)
     }
 }
 
+extern void RBcore_Init(void);
 extern void MotorInit(void);
 extern void MotorMgr_ParseResponse(uint8_t ucMotorID, const uint8_t *pucData, uint32_t uiLen);
 

RBcore/include/BHBF.h

@@ -68,16 +68,21 @@ extern "C"{
 /*==============================================*
  *      constants or macros define              *
  *----------------------------------------------*/
+#define MODULE_NAME_RBCORE       "RBcore"
 #define MODULE_NAME_MOTOR       "motor"
 
 typedef enum {
-    MOTOR_CMD_SET_SPEED = 0x01,         // 设置速度
-    MOTOR_CMD_SET_POSITION = 0x02,      // 设置位置
-    MOTOR_CMD_STOP = 0x03,              // 停止
-    MOTOR_CMD_GET_STATUS = 0x04,        // 获取状态
-    MOTOR_CMD_SET_HOME = 0x05,          // 设置零点
-    MOTOR_CMD_SPEED_MODE = 0x06,        // 速度模式
-    MOTOR_CMD_POSITION_MODE = 0x07,     // 位置模式
+    MOTOR_CMD_SET_SPEED = 0x0001,         // 设置速度
+    MOTOR_CMD_SET_POSITION,      // 设置位置
+    MOTOR_CMD_STOP,              // 停止
+    MOTOR_CMD_GET_STATUS,        // 获取状态
+    MOTOR_CMD_SET_HOME,          // 设置零点
+    MOTOR_CMD_SPEED_MODE,        // 速度模式
+    MOTOR_CMD_POSITION_MODE,     // 位置模式
+
+    MOTOR_CMD_END = 0x0100,
+    RBCORE_CMD_MANUAL_FORWARD,
+    RBCORE_CMD_MANUAL_BACKWARD,
 } Motor_Cmd_e;
     
 // 电机命令数据结构
@@ -94,8 +99,6 @@ typedef struct {
     uint32_t    m_uiFaultCode;
 } Motor_StatusData_t;
 
-#define MODULE_NAME_RBCORE       "RBcore"
-
 typedef enum {
     GF_CMD_DEFAULT_NULL = 0,
     GF_CMD_STOP_ALL,
@@ -120,9 +123,6 @@ typedef struct _GV_struct_define
 /*==============================================*
  *      routines' or functions' implementations *
  *----------------------------------------------*/
-GV_define *GetGV(void);
-void SetGV(GV_define *_pGV);
-// 待实现接口
 
 #ifdef __cplusplus
 #if __cplusplus

motor/motor_example.c

@@ -325,7 +325,7 @@ void MotorInit(void)
 
     // 创建电机任务
     const osThreadAttr_t motor_task_attributes = {
-        .name = "motor_task",
+        .name = MODULE_NAME_MOTOR,
         .stack_size = 1024,
         .priority = (osPriority_t) osPriorityHigh5,
     };