适配参考

project_old/paint_robot_old/paint_robot_old.c

@@ -0,0 +1,189 @@
+/* Private includes ----------------------------------------------------------*/
+/* USER CODE BEGIN Includes */
+#include "BHBF_ROBOT.h"
+#include "bsp_FDCAN.h"
+#include <bsp_client_setting.h>
+#include <bsp_tempature.h>
+#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(&LTE_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();
+    }
+}

project_old/paint_robot_old/paint_robot_old.h

@@ -8,7 +8,45 @@ 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