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<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.1253890525" name="Defaults" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults" useByScannerDiscovery="false" value="com.st.stm32cube.ide.common.services.build.inputs.revA.1.0.5 || Release || false || Executable || com.st.stm32cube.ide.mcu.gnu.managedbuild.option.toolchain.value.workspace || STM32H743VGTx || 0 || 0 || arm-none-eabi- || ${gnu_tools_for_stm32_compiler_path} || ../Middlewares/Third_Party/LwIP/src/include/netif/ppp | ../Middlewares/Third_Party/LwIP/src/include/lwip/priv | ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy | ../Middlewares/Third_Party/LwIP/src/include/compat/stdc | ../Middlewares/Third_Party/LwIP/src/include/lwip/prot | ../Middlewares/Third_Party/LwIP/src/include/lwip/apps | ../Middlewares/Third_Party/LwIP/src/include/compat/posix/sys | ../Middlewares/Third_Party/LwIP/system/arch | ../Middlewares/Third_Party/LwIP/src/include | ../LWIP/App | ../Middlewares/Third_Party/LwIP/src/include/compat/posix | ../Drivers/CMSIS/Include | ../Core/Inc | ../Drivers/CMSIS/Device/ST/STM32H7xx/Include | ../LWIP/Target | ../Middlewares/Third_Party/LwIP/src/include/lwip | ../Middlewares/Third_Party/LwIP/src/include/compat/posix/net | ../Middlewares/Third_Party/LwIP/src/include/compat/posix/arpa | ../Drivers/STM32H7xx_HAL_Driver/Inc | ../Middlewares/Third_Party/LwIP/system | ../Drivers/BSP/Components/lan8742 | ../Middlewares/Third_Party/LwIP/src/include/netif || || || USE_HAL_DRIVER | STM32H743xx || || LWIP | Drivers | Core/Startup | Middlewares | Core || || || ${workspace_loc:/${ProjName}/STM32H743VGTX_FLASH.ld} || true || NonSecure || || secure_nsclib.o || || None || " valueType="string"/> |
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<listOptionValue builtIn="false" value="../Drivers/CMSIS/Include"/> |
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<listOptionValue builtIn="false" value="../LWIP/App"/> |
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<listOptionValue builtIn="false" value="../LWIP/Target"/> |
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<listOptionValue builtIn="false" value="../Middlewares/Third_Party/LwIP/src/include"/> |
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|||
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|||
<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.linker.396124999" name="MCU GCC Linker" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.linker"> |
|||
<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.linker.option.script.1296682720" name="Linker Script (-T)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.linker.option.script" value="${workspace_loc:/${ProjName}/STM32H743VGTX_FLASH.ld}" valueType="string"/> |
|||
<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.linker.input.1544334102" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.linker.input"> |
|||
<additionalInput kind="additionalinputdependency" paths="$(USER_OBJS)"/> |
|||
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|||
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|||
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|||
<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.linker.632112878" name="MCU G++ Linker" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.linker"/> |
|||
<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.archiver.154035402" name="MCU GCC Archiver" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.archiver"/> |
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<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.size.1526108968" name="MCU Size" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.size"/> |
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<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.objdump.listfile.410298381" name="MCU Output Converter list file" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.objdump.listfile"/> |
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|||
<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.objcopy.binary.1333351797" name="MCU Output Converter Binary" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.objcopy.binary"/> |
|||
<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.objcopy.verilog.1609373878" name="MCU Output Converter Verilog" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.objcopy.verilog"/> |
|||
<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.objcopy.srec.146876246" name="MCU Output Converter Motorola S-rec" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.objcopy.srec"/> |
|||
<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.objcopy.symbolsrec.411545612" name="MCU Output Converter Motorola S-rec with symbols" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.objcopy.symbolsrec"/> |
|||
</toolChain> |
|||
</folderInfo> |
|||
<sourceEntries> |
|||
<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Core"/> |
|||
<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="LWIP"/> |
|||
<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Middlewares"/> |
|||
<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Drivers"/> |
|||
</sourceEntries> |
|||
</configuration> |
|||
</storageModule> |
|||
<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/> |
|||
</cconfiguration> |
|||
</storageModule> |
|||
<storageModule moduleId="org.eclipse.cdt.core.pathentry"/> |
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<storageModule moduleId="cdtBuildSystem" version="4.0.0"> |
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<project id="Roughening.null.1127706067" name="Roughening"/> |
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<storageModule moduleId="org.eclipse.cdt.make.core.buildtargets"/> |
|||
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|||
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|||
<scannerConfigBuildInfo instanceId="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.release.1820227184;com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.release.1820227184.;com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.498810405;com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c.166988384"> |
|||
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|||
</scannerConfigBuildInfo> |
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<scannerConfigBuildInfo instanceId="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.456396271;com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.456396271.;com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.2089750823;com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c.1369158121"> |
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<configuration configurationName="Debug"> |
|||
<resource resourceType="PROJECT" workspacePath="/Roughening"/> |
|||
</configuration> |
|||
<configuration configurationName="Release"> |
|||
<resource resourceType="PROJECT" workspacePath="/Roughening"/> |
|||
</configuration> |
|||
</storageModule> |
|||
</cproject> |
|||
@ -0,0 +1 @@ |
|||
/Debug/ |
|||
File diff suppressed because one or more lines are too long
@ -0,0 +1,32 @@ |
|||
<?xml version="1.0" encoding="UTF-8"?> |
|||
<projectDescription> |
|||
<name>Swing_Rust_UDPV1</name> |
|||
<comment></comment> |
|||
<projects> |
|||
</projects> |
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<buildSpec> |
|||
<buildCommand> |
|||
<name>org.eclipse.cdt.managedbuilder.core.genmakebuilder</name> |
|||
<triggers>clean,full,incremental,</triggers> |
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<arguments> |
|||
</arguments> |
|||
</buildCommand> |
|||
<buildCommand> |
|||
<name>org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder</name> |
|||
<triggers>full,incremental,</triggers> |
|||
<arguments> |
|||
</arguments> |
|||
</buildCommand> |
|||
</buildSpec> |
|||
<natures> |
|||
<nature>com.st.stm32cube.ide.mcu.MCUProjectNature</nature> |
|||
<nature>com.st.stm32cube.ide.mcu.MCUCubeProjectNature</nature> |
|||
<nature>org.eclipse.cdt.core.cnature</nature> |
|||
<nature>com.st.stm32cube.ide.mcu.MCUCubeIdeServicesRevAev2ProjectNature</nature> |
|||
<nature>com.st.stm32cube.ide.mcu.MCUAdvancedStructureProjectNature</nature> |
|||
<nature>com.st.stm32cube.ide.mcu.MCUSingleCpuProjectNature</nature> |
|||
<nature>com.st.stm32cube.ide.mcu.MCURootProjectNature</nature> |
|||
<nature>org.eclipse.cdt.managedbuilder.core.managedBuildNature</nature> |
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<nature>org.eclipse.cdt.managedbuilder.core.ScannerConfigNature</nature> |
|||
</natures> |
|||
</projectDescription> |
|||
@ -0,0 +1,2 @@ |
|||
eclipse.preferences.version=1 |
|||
sfrviewstate={"fFavorites"\:{"fLists"\:{}},"fProperties"\:{"fNodeProperties"\:{}}} |
|||
@ -0,0 +1,25 @@ |
|||
<?xml version="1.0" encoding="UTF-8" standalone="no"?> |
|||
<project> |
|||
<configuration id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.456396271" name="Debug"> |
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|||
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1333973149273858338" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD "${INPUTS}"" prefer-non-shared="true"> |
|||
<language-scope id="org.eclipse.cdt.core.gcc"/> |
|||
<language-scope id="org.eclipse.cdt.core.g++"/> |
|||
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|||
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|||
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|||
<configuration id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.release.1820227184" name="Release"> |
|||
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|||
<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/> |
|||
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|||
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|||
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1333973149273858338" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD "${INPUTS}"" prefer-non-shared="true"> |
|||
<language-scope id="org.eclipse.cdt.core.gcc"/> |
|||
<language-scope id="org.eclipse.cdt.core.g++"/> |
|||
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|||
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|||
</configuration> |
|||
</project> |
|||
@ -0,0 +1,194 @@ |
|||
doxygen/doxygen_new_line_after_brief=true |
|||
doxygen/doxygen_use_brief_tag=false |
|||
doxygen/doxygen_use_javadoc_tags=true |
|||
doxygen/doxygen_use_pre_tag=false |
|||
doxygen/doxygen_use_structural_commands=false |
|||
eclipse.preferences.version=1 |
|||
org.eclipse.cdt.core.formatter.alignment_for_arguments_in_method_invocation=16 |
|||
org.eclipse.cdt.core.formatter.alignment_for_assignment=16 |
|||
org.eclipse.cdt.core.formatter.alignment_for_base_clause_in_type_declaration=80 |
|||
org.eclipse.cdt.core.formatter.alignment_for_binary_expression=16 |
|||
org.eclipse.cdt.core.formatter.alignment_for_compact_if=16 |
|||
org.eclipse.cdt.core.formatter.alignment_for_conditional_expression=34 |
|||
org.eclipse.cdt.core.formatter.alignment_for_conditional_expression_chain=18 |
|||
org.eclipse.cdt.core.formatter.alignment_for_constructor_initializer_list=0 |
|||
org.eclipse.cdt.core.formatter.alignment_for_declarator_list=16 |
|||
org.eclipse.cdt.core.formatter.alignment_for_enumerator_list=48 |
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org.eclipse.cdt.core.formatter.alignment_for_throws_clause_in_method_declaration=16 |
|||
org.eclipse.cdt.core.formatter.brace_position_for_array_initializer=next_line |
|||
org.eclipse.cdt.core.formatter.brace_position_for_block=next_line |
|||
org.eclipse.cdt.core.formatter.brace_position_for_block_in_case=next_line |
|||
org.eclipse.cdt.core.formatter.brace_position_for_linkage_declaration=next_line |
|||
org.eclipse.cdt.core.formatter.brace_position_for_method_declaration=next_line |
|||
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|||
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|||
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|||
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org.eclipse.cdt.core.formatter.comment.min_distance_between_code_and_line_comment=1 |
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|||
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|||
org.eclipse.cdt.core.formatter.comment_formatter_off_tag=@formatter\:off |
|||
org.eclipse.cdt.core.formatter.comment_formatter_on_tag=@formatter\:on |
|||
org.eclipse.cdt.core.formatter.compact_else_if=true |
|||
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|||
org.eclipse.cdt.core.formatter.continuation_indentation_for_array_initializer=2 |
|||
org.eclipse.cdt.core.formatter.format_block_comment=true |
|||
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org.eclipse.cdt.core.formatter.format_header_comment=true |
|||
org.eclipse.cdt.core.formatter.format_line_comment=true |
|||
org.eclipse.cdt.core.formatter.indent_access_specifier_compare_to_type_header=true |
|||
org.eclipse.cdt.core.formatter.indent_access_specifier_extra_spaces=0 |
|||
org.eclipse.cdt.core.formatter.indent_body_declarations_compare_to_access_specifier=true |
|||
org.eclipse.cdt.core.formatter.indent_body_declarations_compare_to_linkage=true |
|||
org.eclipse.cdt.core.formatter.indent_body_declarations_compare_to_namespace_header=true |
|||
org.eclipse.cdt.core.formatter.indent_breaks_compare_to_cases=true |
|||
org.eclipse.cdt.core.formatter.indent_declaration_compare_to_template_header=false |
|||
org.eclipse.cdt.core.formatter.indent_empty_lines=false |
|||
org.eclipse.cdt.core.formatter.indent_label_compare_to_statements=true |
|||
org.eclipse.cdt.core.formatter.indent_statements_compare_to_block=true |
|||
org.eclipse.cdt.core.formatter.indent_statements_compare_to_body=true |
|||
org.eclipse.cdt.core.formatter.indent_switchstatements_compare_to_cases=true |
|||
org.eclipse.cdt.core.formatter.indent_switchstatements_compare_to_switch=true |
|||
org.eclipse.cdt.core.formatter.indentation.size=4 |
|||
org.eclipse.cdt.core.formatter.insert_new_line_after_colon_in_constructor_initializer_list=insert |
|||
org.eclipse.cdt.core.formatter.insert_new_line_after_label=insert |
|||
org.eclipse.cdt.core.formatter.insert_new_line_after_opening_brace_in_array_initializer=do not insert |
|||
org.eclipse.cdt.core.formatter.insert_new_line_after_template_declaration=do not insert |
|||
org.eclipse.cdt.core.formatter.insert_new_line_at_end_of_file_if_missing=do not insert |
|||
org.eclipse.cdt.core.formatter.insert_new_line_before_catch_in_try_statement=insert |
|||
org.eclipse.cdt.core.formatter.insert_new_line_before_closing_brace_in_array_initializer=do not insert |
|||
org.eclipse.cdt.core.formatter.insert_new_line_before_colon_in_constructor_initializer_list=do not insert |
|||
org.eclipse.cdt.core.formatter.insert_new_line_before_else_in_if_statement=insert |
|||
org.eclipse.cdt.core.formatter.insert_new_line_before_identifier_in_function_declaration=do not insert |
|||
org.eclipse.cdt.core.formatter.insert_new_line_before_while_in_do_statement=insert |
|||
org.eclipse.cdt.core.formatter.insert_new_line_in_empty_block=insert |
|||
org.eclipse.cdt.core.formatter.insert_space_after_assignment_operator=insert |
|||
org.eclipse.cdt.core.formatter.insert_space_after_binary_operator=insert |
|||
org.eclipse.cdt.core.formatter.insert_space_after_closing_angle_bracket_in_template_arguments=insert |
|||
org.eclipse.cdt.core.formatter.insert_space_after_closing_angle_bracket_in_template_parameters=insert |
|||
org.eclipse.cdt.core.formatter.insert_space_after_closing_brace_in_block=insert |
|||
org.eclipse.cdt.core.formatter.insert_space_after_closing_paren_in_cast=insert |
|||
org.eclipse.cdt.core.formatter.insert_space_after_colon_in_base_clause=insert |
|||
org.eclipse.cdt.core.formatter.insert_space_after_colon_in_case=insert |
|||
org.eclipse.cdt.core.formatter.insert_space_after_colon_in_conditional=insert |
|||
org.eclipse.cdt.core.formatter.insert_space_after_colon_in_labeled_statement=insert |
|||
org.eclipse.cdt.core.formatter.insert_space_after_comma_in_array_initializer=insert |
|||
org.eclipse.cdt.core.formatter.insert_space_after_comma_in_base_types=insert |
|||
org.eclipse.cdt.core.formatter.insert_space_after_comma_in_declarator_list=insert |
|||
org.eclipse.cdt.core.formatter.insert_space_after_comma_in_enum_declarations=insert |
|||
org.eclipse.cdt.core.formatter.insert_space_after_comma_in_expression_list=insert |
|||
org.eclipse.cdt.core.formatter.insert_space_after_comma_in_method_declaration_parameters=insert |
|||
org.eclipse.cdt.core.formatter.insert_space_after_comma_in_method_declaration_throws=insert |
|||
org.eclipse.cdt.core.formatter.insert_space_after_comma_in_method_invocation_arguments=insert |
|||
org.eclipse.cdt.core.formatter.insert_space_after_comma_in_structured_binding_name_list=insert |
|||
org.eclipse.cdt.core.formatter.insert_space_after_comma_in_template_arguments=insert |
|||
org.eclipse.cdt.core.formatter.insert_space_after_comma_in_template_parameters=insert |
|||
org.eclipse.cdt.core.formatter.insert_space_after_lambda_return=insert |
|||
org.eclipse.cdt.core.formatter.insert_space_after_opening_angle_bracket_in_template_arguments=do not insert |
|||
org.eclipse.cdt.core.formatter.insert_space_after_opening_angle_bracket_in_template_parameters=do not insert |
|||
org.eclipse.cdt.core.formatter.insert_space_after_opening_brace_in_array_initializer=insert |
|||
org.eclipse.cdt.core.formatter.insert_space_after_opening_bracket=do not insert |
|||
org.eclipse.cdt.core.formatter.insert_space_after_opening_paren_in_cast=do not insert |
|||
org.eclipse.cdt.core.formatter.insert_space_after_opening_paren_in_catch=do not insert |
|||
org.eclipse.cdt.core.formatter.insert_space_after_opening_paren_in_exception_specification=do not insert |
|||
org.eclipse.cdt.core.formatter.insert_space_after_opening_paren_in_for=do not insert |
|||
org.eclipse.cdt.core.formatter.insert_space_after_opening_paren_in_if=do not insert |
|||
org.eclipse.cdt.core.formatter.insert_space_after_opening_paren_in_method_declaration=do not insert |
|||
org.eclipse.cdt.core.formatter.insert_space_after_opening_paren_in_method_invocation=do not insert |
|||
org.eclipse.cdt.core.formatter.insert_space_after_opening_paren_in_parenthesized_expression=do not insert |
|||
org.eclipse.cdt.core.formatter.insert_space_after_opening_paren_in_switch=do not insert |
|||
org.eclipse.cdt.core.formatter.insert_space_after_opening_paren_in_while=do not insert |
|||
org.eclipse.cdt.core.formatter.insert_space_after_opening_structured_binding_name_list=do not insert |
|||
org.eclipse.cdt.core.formatter.insert_space_after_pointer_in_declarator_list=do not insert |
|||
org.eclipse.cdt.core.formatter.insert_space_after_pointer_in_method_declaration=do not insert |
|||
org.eclipse.cdt.core.formatter.insert_space_after_postfix_operator=do not insert |
|||
org.eclipse.cdt.core.formatter.insert_space_after_prefix_operator=do not insert |
|||
org.eclipse.cdt.core.formatter.insert_space_after_question_in_conditional=insert |
|||
org.eclipse.cdt.core.formatter.insert_space_after_semicolon_in_for=insert |
|||
org.eclipse.cdt.core.formatter.insert_space_after_unary_operator=do not insert |
|||
org.eclipse.cdt.core.formatter.insert_space_before_assignment_operator=insert |
|||
org.eclipse.cdt.core.formatter.insert_space_before_binary_operator=insert |
|||
org.eclipse.cdt.core.formatter.insert_space_before_closing_angle_bracket_in_template_arguments=do not insert |
|||
org.eclipse.cdt.core.formatter.insert_space_before_closing_angle_bracket_in_template_parameters=do not insert |
|||
org.eclipse.cdt.core.formatter.insert_space_before_closing_brace_in_array_initializer=insert |
|||
org.eclipse.cdt.core.formatter.insert_space_before_closing_bracket=do not insert |
|||
org.eclipse.cdt.core.formatter.insert_space_before_closing_paren_in_cast=do not insert |
|||
org.eclipse.cdt.core.formatter.insert_space_before_closing_paren_in_catch=do not insert |
|||
org.eclipse.cdt.core.formatter.insert_space_before_closing_paren_in_exception_specification=do not insert |
|||
org.eclipse.cdt.core.formatter.insert_space_before_closing_paren_in_for=do not insert |
|||
org.eclipse.cdt.core.formatter.insert_space_before_closing_paren_in_if=do not insert |
|||
org.eclipse.cdt.core.formatter.insert_space_before_closing_paren_in_method_declaration=do not insert |
|||
org.eclipse.cdt.core.formatter.insert_space_before_closing_paren_in_method_invocation=do not insert |
|||
org.eclipse.cdt.core.formatter.insert_space_before_closing_paren_in_parenthesized_expression=do not insert |
|||
org.eclipse.cdt.core.formatter.insert_space_before_closing_paren_in_switch=do not insert |
|||
org.eclipse.cdt.core.formatter.insert_space_before_closing_paren_in_while=do not insert |
|||
org.eclipse.cdt.core.formatter.insert_space_before_closing_structured_binding_name_list=do not insert |
|||
org.eclipse.cdt.core.formatter.insert_space_before_colon_in_base_clause=do not insert |
|||
org.eclipse.cdt.core.formatter.insert_space_before_colon_in_case=do not insert |
|||
org.eclipse.cdt.core.formatter.insert_space_before_colon_in_conditional=insert |
|||
org.eclipse.cdt.core.formatter.insert_space_before_colon_in_default=do not insert |
|||
org.eclipse.cdt.core.formatter.insert_space_before_colon_in_labeled_statement=do not insert |
|||
org.eclipse.cdt.core.formatter.insert_space_before_comma_in_array_initializer=do not insert |
|||
org.eclipse.cdt.core.formatter.insert_space_before_comma_in_base_types=do not insert |
|||
org.eclipse.cdt.core.formatter.insert_space_before_comma_in_declarator_list=do not insert |
|||
org.eclipse.cdt.core.formatter.insert_space_before_comma_in_enum_declarations=do not insert |
|||
org.eclipse.cdt.core.formatter.insert_space_before_comma_in_expression_list=do not insert |
|||
org.eclipse.cdt.core.formatter.insert_space_before_comma_in_method_declaration_parameters=do not insert |
|||
org.eclipse.cdt.core.formatter.insert_space_before_comma_in_method_declaration_throws=do not insert |
|||
org.eclipse.cdt.core.formatter.insert_space_before_comma_in_method_invocation_arguments=do not insert |
|||
org.eclipse.cdt.core.formatter.insert_space_before_comma_in_structured_binding_name_list=do not insert |
|||
org.eclipse.cdt.core.formatter.insert_space_before_comma_in_template_arguments=do not insert |
|||
org.eclipse.cdt.core.formatter.insert_space_before_comma_in_template_parameters=do not insert |
|||
org.eclipse.cdt.core.formatter.insert_space_before_lambda_return=insert |
|||
org.eclipse.cdt.core.formatter.insert_space_before_opening_angle_bracket_in_template_arguments=do not insert |
|||
org.eclipse.cdt.core.formatter.insert_space_before_opening_angle_bracket_in_template_parameters=do not insert |
|||
org.eclipse.cdt.core.formatter.insert_space_before_opening_brace_in_array_initializer=insert |
|||
org.eclipse.cdt.core.formatter.insert_space_before_opening_brace_in_block=insert |
|||
org.eclipse.cdt.core.formatter.insert_space_before_opening_brace_in_linkage_declaration=insert |
|||
org.eclipse.cdt.core.formatter.insert_space_before_opening_brace_in_method_declaration=insert |
|||
org.eclipse.cdt.core.formatter.insert_space_before_opening_brace_in_namespace_declaration=insert |
|||
org.eclipse.cdt.core.formatter.insert_space_before_opening_brace_in_switch=insert |
|||
org.eclipse.cdt.core.formatter.insert_space_before_opening_brace_in_type_declaration=insert |
|||
org.eclipse.cdt.core.formatter.insert_space_before_opening_bracket=do not insert |
|||
org.eclipse.cdt.core.formatter.insert_space_before_opening_paren_in_catch=insert |
|||
org.eclipse.cdt.core.formatter.insert_space_before_opening_paren_in_exception_specification=insert |
|||
org.eclipse.cdt.core.formatter.insert_space_before_opening_paren_in_for=insert |
|||
org.eclipse.cdt.core.formatter.insert_space_before_opening_paren_in_if=insert |
|||
org.eclipse.cdt.core.formatter.insert_space_before_opening_paren_in_method_declaration=do not insert |
|||
org.eclipse.cdt.core.formatter.insert_space_before_opening_paren_in_method_invocation=do not insert |
|||
org.eclipse.cdt.core.formatter.insert_space_before_opening_paren_in_parenthesized_expression=do not insert |
|||
org.eclipse.cdt.core.formatter.insert_space_before_opening_paren_in_switch=insert |
|||
org.eclipse.cdt.core.formatter.insert_space_before_opening_paren_in_while=insert |
|||
org.eclipse.cdt.core.formatter.insert_space_before_opening_structured_binding_name_list=insert |
|||
org.eclipse.cdt.core.formatter.insert_space_before_pointer_in_declarator_list=insert |
|||
org.eclipse.cdt.core.formatter.insert_space_before_pointer_in_method_declaration=insert |
|||
org.eclipse.cdt.core.formatter.insert_space_before_postfix_operator=do not insert |
|||
org.eclipse.cdt.core.formatter.insert_space_before_prefix_operator=do not insert |
|||
org.eclipse.cdt.core.formatter.insert_space_before_question_in_conditional=insert |
|||
org.eclipse.cdt.core.formatter.insert_space_before_ref_qualifier_in_structured_binding=do not insert |
|||
org.eclipse.cdt.core.formatter.insert_space_before_semicolon=do not insert |
|||
org.eclipse.cdt.core.formatter.insert_space_before_semicolon_in_for=do not insert |
|||
org.eclipse.cdt.core.formatter.insert_space_before_unary_operator=do not insert |
|||
org.eclipse.cdt.core.formatter.insert_space_between_empty_braces_in_array_initializer=do not insert |
|||
org.eclipse.cdt.core.formatter.insert_space_between_empty_brackets=do not insert |
|||
org.eclipse.cdt.core.formatter.insert_space_between_empty_parens_in_exception_specification=do not insert |
|||
org.eclipse.cdt.core.formatter.insert_space_between_empty_parens_in_method_declaration=do not insert |
|||
org.eclipse.cdt.core.formatter.insert_space_between_empty_parens_in_method_invocation=do not insert |
|||
org.eclipse.cdt.core.formatter.join_wrapped_lines=true |
|||
org.eclipse.cdt.core.formatter.keep_else_statement_on_same_line=false |
|||
org.eclipse.cdt.core.formatter.keep_empty_array_initializer_on_one_line=false |
|||
org.eclipse.cdt.core.formatter.keep_imple_if_on_one_line=false |
|||
org.eclipse.cdt.core.formatter.keep_then_statement_on_same_line=true |
|||
org.eclipse.cdt.core.formatter.lineSplit=80 |
|||
org.eclipse.cdt.core.formatter.number_of_empty_lines_to_preserve=1 |
|||
org.eclipse.cdt.core.formatter.put_empty_statement_on_new_line=true |
|||
org.eclipse.cdt.core.formatter.tabulation.char=tab |
|||
org.eclipse.cdt.core.formatter.tabulation.size=4 |
|||
org.eclipse.cdt.core.formatter.use_comment_formatter_tag=true |
|||
org.eclipse.cdt.core.formatter.use_tabs_only_for_leading_indentations=true |
|||
@ -0,0 +1,3 @@ |
|||
eclipse.preferences.version=1 |
|||
formatter_profile=_333333 |
|||
formatter_settings_version=1 |
|||
@ -0,0 +1,6 @@ |
|||
2F62501ED4689FB349E356AB974DBE57=C1FAD6334016FA4DBFEEBFD567ADCF8D |
|||
635E684B79701B039C64EA45C3F84D30=0A24CDD2C9C910977CCC6D7CA9CB0612 |
|||
66BE74F758C12D739921AEA421D593D3=0 |
|||
8DF89ED150041C4CBC7CB9A9CAA90856=C1FAD6334016FA4DBFEEBFD567ADCF8D |
|||
DC22A860405A8BF2F2C095E5B6529F12=68A7121F69F6593E9817CACB2B0CB8AF |
|||
eclipse.preferences.version=1 |
|||
@ -0,0 +1,125 @@ |
|||
/*
|
|||
* BHBF_ROBOT.h |
|||
* |
|||
* Created on: Oct 26, 2023 |
|||
* Author: shiya |
|||
*/ |
|||
|
|||
#ifndef INC_BHBF_ROBOT_H_ |
|||
#define INC_BHBF_ROBOT_H_ |
|||
|
|||
#include <stdio.h> |
|||
#include <string.h> |
|||
#include <stdlib.h> |
|||
#include <assert.h> |
|||
#include <motors.h> |
|||
#include <stdbool.h> |
|||
|
|||
|
|||
|
|||
#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_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; |
|||
|
|||
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 LS_MotorParameters* Frames_Motor[4];
|
|||
|
|||
|
|||
extern int32_t SystemTimeMiliCount; //2ms加一
|
|||
|
|||
#endif /* INC_BHBF_ROBOT_H_ */ |
|||
@ -0,0 +1,248 @@ |
|||
/**
|
|||
* @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 <stdarg.h> |
|||
#include <string.h> |
|||
|
|||
#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_ */ |
|||
@ -0,0 +1,74 @@ |
|||
/**
|
|||
* @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
|
|||
@ -0,0 +1,16 @@ |
|||
/*
|
|||
* 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_ */ |
|||
@ -0,0 +1,73 @@ |
|||
/*
|
|||
* 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_ */ |
|||
@ -0,0 +1,25 @@ |
|||
/*
|
|||
* 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_ */ |
|||
@ -0,0 +1,84 @@ |
|||
/*
|
|||
* 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_ */ |
|||
@ -0,0 +1,18 @@ |
|||
/*
|
|||
* 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_ */ |
|||
@ -0,0 +1,50 @@ |
|||
#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****/ |
|||
@ -0,0 +1,17 @@ |
|||
/*
|
|||
* 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_ */ |
|||
@ -0,0 +1,128 @@ |
|||
|
|||
|
|||
#ifndef INC_BSP_UART_H_ |
|||
#define INC_BSP_UART_H_ |
|||
|
|||
#include "BSP/bsp_include.h" |
|||
#include "main.h" |
|||
#include "bsp_Error.pb.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_ */ |
|||
@ -0,0 +1,23 @@ |
|||
/*
|
|||
* 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_ */ |
|||
@ -0,0 +1,27 @@ |
|||
/*
|
|||
* 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 <stdio.h> |
|||
#include <string.h> |
|||
#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_ */ |
|||
@ -0,0 +1,13 @@ |
|||
/*
|
|||
* 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_ */ |
|||
@ -0,0 +1,82 @@ |
|||
/*
|
|||
* 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_ */ |
|||
@ -0,0 +1,66 @@ |
|||
/*
|
|||
* 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 <bsp_qspi_w25q128.h> |
|||
#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_ */ |
|||
@ -0,0 +1,39 @@ |
|||
/*
|
|||
* 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 <stdio.h> |
|||
#include <stdbool.h> |
|||
#include <stdlib.h> |
|||
|
|||
#include "BHBF_ROBOT.h" |
|||
#include "bsp_cpu_flash.h" |
|||
#include <bsp_qspi_w25q128.h> |
|||
#include <bsp_UpperComputer_Handler.h> |
|||
#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_ */ |
|||
@ -0,0 +1,57 @@ |
|||
/*
|
|||
* 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_ */ |
|||
@ -0,0 +1,36 @@ |
|||
|
|||
#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 */ |
|||
@ -0,0 +1,26 @@ |
|||
/*
|
|||
* 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_ */ |
|||
@ -0,0 +1,51 @@ |
|||
/*
|
|||
* 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 <stdio.h> |
|||
#include <string.h> |
|||
#include <stdlib.h> |
|||
#include <stdbool.h> |
|||
|
|||
#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_ */ |
|||
@ -0,0 +1,107 @@ |
|||
/*
|
|||
* 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_ */ |
|||
@ -0,0 +1,19 @@ |
|||
/*
|
|||
* 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_ */ |
|||
@ -0,0 +1,917 @@ |
|||
/* 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 <stdint.h> |
|||
#include <stddef.h> |
|||
#include <stdbool.h> |
|||
#include <string.h> |
|||
#include <limits.h> |
|||
|
|||
#ifdef PB_ENABLE_MALLOC |
|||
#include <stdlib.h> |
|||
#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 <avr/pgmspace.h> |
|||
#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<<bits)) |
|||
#define PB_FIELDINFO_ASSERT_1(tag, type, data_offset, data_size, size_offset, array_size) \ |
|||
PB_STATIC_ASSERT(PB_FITS(tag,6) && PB_FITS(data_offset,8) && PB_FITS(size_offset,4) && PB_FITS(data_size,4) && PB_FITS(array_size,1), FIELDINFO_DOES_NOT_FIT_width1_field ## tag) |
|||
|
|||
#define PB_FIELDINFO_ASSERT_2(tag, type, data_offset, data_size, size_offset, array_size) \ |
|||
PB_STATIC_ASSERT(PB_FITS(tag,10) && PB_FITS(data_offset,16) && PB_FITS(size_offset,4) && PB_FITS(data_size,12) && PB_FITS(array_size,12), FIELDINFO_DOES_NOT_FIT_width2_field ## tag) |
|||
|
|||
#ifndef PB_FIELD_32BIT |
|||
/* Maximum field sizes are still 16-bit if pb_size_t is 16-bit */ |
|||
#define PB_FIELDINFO_ASSERT_4(tag, type, data_offset, data_size, size_offset, array_size) \ |
|||
PB_STATIC_ASSERT(PB_FITS(tag,16) && PB_FITS(data_offset,16) && PB_FITS((int_least8_t)size_offset,8) && PB_FITS(data_size,16) && 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,16) && PB_FITS(data_offset,16) && PB_FITS((int_least8_t)size_offset,8) && PB_FITS(data_size,16) && PB_FITS(array_size,16), FIELDINFO_DOES_NOT_FIT_width8_field ## tag) |
|||
#else |
|||
/* Up to 32-bit fields supported.
|
|||
* Note that the checks are against 31 bits to avoid compiler warnings about shift wider than type in the test. |
|||
* I expect that there is no reasonable use for >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 <typename GenMessageT> struct MessageDescriptor; |
|||
} // namespace nanopb
|
|||
} |
|||
#endif /* __cplusplus */ |
|||
|
|||
#endif |
|||
@ -0,0 +1,49 @@ |
|||
/* 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 |
|||
|
|||
@ -0,0 +1,193 @@ |
|||
/* 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 |
|||
@ -0,0 +1,185 @@ |
|||
/* 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 |
|||
@ -0,0 +1,38 @@ |
|||
|
|||
|
|||
/*
|
|||
* 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_ */ |
|||
@ -0,0 +1,49 @@ |
|||
/*
|
|||
* 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 <stdint.h> |
|||
|
|||
// 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_ */ |
|||
@ -0,0 +1,13 @@ |
|||
/*
|
|||
* 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_ */ |
|||
@ -0,0 +1,15 @@ |
|||
/*
|
|||
* 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_ */ |
|||
@ -0,0 +1,18 @@ |
|||
/*
|
|||
* 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_ */ |
|||
@ -0,0 +1,18 @@ |
|||
|
|||
/*
|
|||
* msp_PID.h - 两轮差速机器人角度追踪PID（内置参数，数组输出） |
|||
*/ |
|||
|
|||
#ifndef INC_MSP_MSP_PID_H_ |
|||
#define INC_MSP_MSP_PID_H_ |
|||
/**
|
|||
* @brief 两轮差速角度控制（内置 dt=0.1s，最大速度 = 1.6 * |base_speed|） |
|||
* @param current_angle 当前角度（度） |
|||
* @param desired_angle 期望角度（度） |
|||
* @param base_speed 基础前进速度（可正可负） |
|||
* @param speeds 输出速度数组，speeds[0]=左轮，speeds[1]=右轮 |
|||
*/ |
|||
void TwoWheel_AngleControl(float current_angle, float desired_angle, |
|||
float base_speed, float speeds[2]); |
|||
|
|||
#endif |
|||
@ -0,0 +1,24 @@ |
|||
/*
|
|||
* msp_TL720D.h |
|||
* |
|||
* Created on: Jul 19, 2024 |
|||
* Author: bihon |
|||
*/ |
|||
|
|||
#ifndef INC_MSP_MSP_TL720D_H_ |
|||
#define INC_MSP_MSP_TL720D_H_ |
|||
|
|||
#include <stdio.h> |
|||
#include <string.h> |
|||
#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_ */ |
|||
@ -0,0 +1,104 @@ |
|||
/*
|
|||
* msp_TTMotor_ZQ.h |
|||
* |
|||
* Created on: Oct 10, 2024 |
|||
* Author: akeguo |
|||
*/ |
|||
|
|||
#ifndef INC_MSP_MSP_TTMOTOR_ZQ_H_ |
|||
#define INC_MSP_MSP_TTMOTOR_ZQ_H_ |
|||
#include "bsp_include.h" |
|||
#include "bsp_FDCAN.h" |
|||
#include "msp_ZQ_MotorParameters.pb.h" |
|||
|
|||
|
|||
#include "fsm.h" |
|||
|
|||
#define DF_MSP_TT_Motor_PositionMode 01 |
|||
#define DF_MSP_TT_Motor_SpeedMode 02 |
|||
#define DF_MSP_TT_Motor_CurrentMode 03 |
|||
#define DF_MSP_TT_Motor_Posi_Now 04 |
|||
|
|||
#define TT_One_Deg_Count 11014///32768*121/360(减速比121)=11014
|
|||
|
|||
#define TT_Left_limt 84080 //-775000+75*11014
|
|||
#define TT_Right_limt -1568020 //-775000-75*11014
|
|||
//#define Sw_Rust_Mid_Posi -775000 //-775000-75*11014
|
|||
|
|||
//double Sw_Rust_Mid_Posi=-775000;//需检测修改
|
|||
#define DF_MSP_TT_Motor_StartID 2 |
|||
|
|||
void SwingMotorSetCheckTargetPositon(); |
|||
|
|||
void TT_Analytic_Fun(int32_t ID_A_T_A, char *buffer); |
|||
|
|||
extern int SwingMotorID; |
|||
extern int LeftMotorID; |
|||
extern int RightMotorID; |
|||
|
|||
extern void ActivateMotor(int32_t MotorID, FDCANHandler *ZQ_Motor_Controller, |
|||
int32_t WaitTime) ; |
|||
|
|||
extern void CANSendMessageSDO_ADD_To_SendList(int32_t MotorID, uint8_t Function, |
|||
uint16_t ControlWord, uint8_t subWord, int32_t ControlWordValue, |
|||
FDCANHandler *ZQ_Motor_Controller, int32_t WaitTime); |
|||
|
|||
//位置速度模式
|
|||
extern void Postion_Velcocity_Run_SetParameter(int32_t MotorID, int32_t TargetPosition, |
|||
int32_t TargetSpeed, int32_t AccTime, int32_t DecTime, |
|||
FDCANHandler *ZQ_Motor_Controller, int32_t WaitTime); |
|||
extern void Postion_Velcocity_Set_Position(int32_t MotorID, int32_t TargetPosition, |
|||
FDCANHandler *ZQ_Motor_Controller, int32_t WaitTime) ; |
|||
|
|||
extern void Driver_ReadError(int32_t MotorID, FDCANHandler *ZQ_Motor_Controller, |
|||
int32_t WaitTime); |
|||
extern void SetMotorTargetPosition(int32_t MotorID, int32_t TargetPosition, |
|||
FDCANHandler *ZQ_Motor_Controller, int32_t WaitTime) ; |
|||
|
|||
extern void Postion_Velcocity_Stop(int32_t MotorID, FDCANHandler *ZQ_Motor_Controller, |
|||
int32_t WaitTime) ; |
|||
|
|||
//extern void SetCurrentPositionZero(int MotorID, FDCANHandler *ZQ_Motor_Controller,
|
|||
// int32_t WaitTime) ;
|
|||
|
|||
extern void Motor_Controller_intialize(FDCANHandler *Handler); |
|||
|
|||
extern void Swing_Motor_Set_Target_Position() ; |
|||
|
|||
extern void Swing_Motor_Read_ReachedEnd() ; |
|||
extern void Set_Current_Positon_Zero(uint8_t MotorID, |
|||
FDCANHandler *ZQ_Motor_Controller, int32_t WaitTime) ; |
|||
|
|||
extern void TT_Request_Position(uint32_t Motor_ID_1, |
|||
FDCANHandler *ZQ_Motor_Controller, int32_t WaitTime) ; |
|||
extern void TT_Request_Velocity(uint32_t Motor_ID_1, |
|||
FDCANHandler *ZQ_Motor_Controller, int32_t WaitTime) ; |
|||
|
|||
|
|||
extern void Position_Immediately_Setting(uint8_t MotorID, FDCANHandler *ZQ_Motor_Controller, |
|||
int32_t Deri_Position,int32_t Deri_Speed, int32_t WaitTime); // Home 设置当前位置为零点
|
|||
|
|||
extern void Position_Lag_Setting(uint8_t MotorID, FDCANHandler *ZQ_Motor_Controller, |
|||
int32_t Deri_Position,int32_t Deri_Speed, int32_t WaitTime) ; // Home 设置当前位置为零点
|
|||
|
|||
extern void TT_Request_Fault(uint32_t Motor_ID_1, |
|||
FDCANHandler *ZQ_Motor_Controller, int32_t WaitTime) ; |
|||
|
|||
extern void TT_Request_Current(uint32_t Motor_ID_1, |
|||
FDCANHandler *ZQ_Motor_Controller, int32_t WaitTime); |
|||
|
|||
extern void TT_Analytic_Fun(int32_t ID_A_T_A, char *buffer); |
|||
|
|||
|
|||
extern void TT_Analytic_Fun(int32_t ID_A_T_A, char *buffer); |
|||
|
|||
extern void SpeedModeSetup(int32_t MotorID,FDCANHandler *ZQ_Motor_Controller,int32_t WaitTime,int32_t Acc, int32_t Dec, int32_t TargetVelocity); //设定速度模式，并更改相关速度
|
|||
|
|||
extern void TT_Analytic_Fun(int32_t ID_A_T_A, char *buffer); |
|||
extern void TT_SpeedMode_Set_TargetSpeed(uint32_t MotorID,FDCANHandler *ZQ_Motor_Controller,int32_t WaitTime,int32_t TargetSpeed); |
|||
|
|||
|
|||
extern void Enable_NMT(int32_t MotorID, FDCANHandler *ZQ_Motor_Controller, int32_t Node_Number, int32_t WaitTime); |
|||
extern void Configure_Asynchronous_Mode(int32_t MotorID, FDCANHandler *ZQ_Motor_Controller, int32_t Node_Number, int32_t WaitTime); |
|||
extern void Consumer_Or_microcontroller_Heartbeat(int32_t MotorID, FDCANHandler *ZQ_Motor_Controller, int32_t WaitTime); |
|||
#endif /* INC_MSP_MSP_TTMOTOR_ZQ_H_ */ |
|||
@ -0,0 +1,21 @@ |
|||
/*
|
|||
* 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_ */ |
|||
@ -0,0 +1,20 @@ |
|||
/* 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 |
|||
|
|||
@ -0,0 +1,125 @@ |
|||
/* 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 |
|||
@ -0,0 +1,12 @@ |
|||
/* 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) |
|||
|
|||
|
|||
|
|||
@ -0,0 +1,80 @@ |
|||
/* 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 |
|||
@ -0,0 +1,13 @@ |
|||
/* 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) |
|||
|
|||
|
|||
|
|||
|
|||
@ -0,0 +1,76 @@ |
|||
/* 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, /* proto3版本中，首成员必须为0，成员不应有相同的值 */ |
|||
ComError_MK32_Serial = 1, |
|||
ComError_MK32_InitialState = 2, |
|||
ComError_TL720D = 3, |
|||
ComError_ZQ_CAN_ID1_LeftMotor = 4, |
|||
ComError_ZQ_CAN_ID2_RightMotor = 5, |
|||
ComError_ZQ_CAN_ID3_SwingMotor = 6, |
|||
ComError_Force_Sensor = 7, |
|||
ComError_Mfog40 = 8, |
|||
ComError_Ultrasonic_Sensor = 9, |
|||
ComError_UWB_20_Error = 10 |
|||
} 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_UWB_20_Error |
|||
#define _ComError_ARRAYSIZE ((ComError)(ComError_UWB_20_Error+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 |
|||
@ -0,0 +1,12 @@ |
|||
/* 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) |
|||
|
|||
|
|||
|
|||
@ -0,0 +1,117 @@ |
|||
/* 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_ZQ_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 */ |
|||
float Robot_Angle_Desire; /* 机器人期望角度 //改为 float，单位：度（不再需要0.01缩放） */ |
|||
float Robot_Move_Speed; /* 0.1rpm */ |
|||
float Left_Speed_M_min; /* m/Min */ |
|||
float Right_Speed_M_min; /* m/Min */ |
|||
float Vertical_Adjust; /* 0.1° */ |
|||
int32_t ForceValue; |
|||
int32_t LaneChangeDistance; |
|||
bool has_P_MK32; |
|||
SP_MSP_MK32_Button P_MK32; |
|||
bool has_LeftMotor; |
|||
TT_MotorParameters LeftMotor; /* 左电机 ID2 */ |
|||
bool has_RightMotor; |
|||
TT_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, 0, 0, 0, false, SP_MSP_MK32_Button_init_default, false, TT_MotorParameters_init_default, false, TT_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, 0, 0, 0, false, SP_MSP_MK32_Button_init_zero, false, TT_MotorParameters_init_zero, false, TT_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_Desire_tag 4 |
|||
#define GV_struct_define_Robot_Move_Speed_tag 5 |
|||
#define GV_struct_define_Left_Speed_M_min_tag 6 |
|||
#define GV_struct_define_Right_Speed_M_min_tag 7 |
|||
#define GV_struct_define_Vertical_Adjust_tag 8 |
|||
#define GV_struct_define_ForceValue_tag 9 |
|||
#define GV_struct_define_LaneChangeDistance_tag 10 |
|||
#define GV_struct_define_P_MK32_tag 11 |
|||
#define GV_struct_define_LeftMotor_tag 12 |
|||
#define GV_struct_define_RightMotor_tag 13 |
|||
#define GV_struct_define_TL720DParameters_tag 14 |
|||
#define GV_struct_define_IO_tag 15 |
|||
#define GV_struct_define_SystemErrorData_tag 16 |
|||
#define GV_struct_define_PV_tag 17 |
|||
|
|||
/* 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, FLOAT, Robot_Angle_Desire, 4) \ |
|||
X(a, STATIC, SINGULAR, FLOAT, Robot_Move_Speed, 5) \ |
|||
X(a, STATIC, SINGULAR, FLOAT, Left_Speed_M_min, 6) \ |
|||
X(a, STATIC, SINGULAR, FLOAT, Right_Speed_M_min, 7) \ |
|||
X(a, STATIC, SINGULAR, FLOAT, Vertical_Adjust, 8) \ |
|||
X(a, STATIC, SINGULAR, INT32, ForceValue, 9) \ |
|||
X(a, STATIC, SINGULAR, INT32, LaneChangeDistance, 10) \ |
|||
X(a, STATIC, OPTIONAL, MESSAGE, P_MK32, 11) \ |
|||
X(a, STATIC, OPTIONAL, MESSAGE, LeftMotor, 12) \ |
|||
X(a, STATIC, OPTIONAL, MESSAGE, RightMotor, 13) \ |
|||
X(a, STATIC, OPTIONAL, MESSAGE, TL720DParameters, 14) \ |
|||
X(a, STATIC, OPTIONAL, MESSAGE, IO, 15) \ |
|||
X(a, STATIC, OPTIONAL, MESSAGE, SystemErrorData, 16) \ |
|||
X(a, STATIC, OPTIONAL, MESSAGE, PV, 17) |
|||
#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 TT_MotorParameters |
|||
#define GV_struct_define_RightMotor_MSGTYPE TT_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 1399 |
|||
|
|||
#ifdef __cplusplus |
|||
} /* extern "C" */ |
|||
#endif |
|||
|
|||
#endif |
|||
@ -0,0 +1,12 @@ |
|||
/* 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) |
|||
|
|||
|
|||
|
|||
@ -0,0 +1,58 @@ |
|||
/* 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 |
|||
@ -0,0 +1,12 @@ |
|||
/* 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) |
|||
|
|||
|
|||
|
|||
@ -0,0 +1,81 @@ |
|||
/* 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 |
|||
@ -0,0 +1,12 @@ |
|||
/* 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) |
|||
|
|||
|
|||
|
|||
@ -0,0 +1,121 @@ |
|||
/* 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" |
|||
#include "bsp_PV.pb.h" |
|||
|
|||
#if PB_PROTO_HEADER_VERSION != 40 |
|||
#error Regenerate this file with the current version of nanopb generator. |
|||
#endif |
|||
|
|||
/* Struct definitions */ |
|||
/* 抛丸机器人状态采集参数结构体（IV：Input/Status Value）
|
|||
作用：用于机器人控制系统向APP/上位机上报实时状态、传感器数据、故障报警信息 */ |
|||
typedef struct _IV_struct_define { |
|||
/* 左侧补偿值（摆臂/位置角度补偿）
|
|||
单位换算：发送值 ÷ 100 = 实际显示角度（°），例：发送100 → 显示1°，发送250 → 显示2.5° */ |
|||
int32_t LeftCompensation; |
|||
/* 右侧补偿值（摆臂/位置角度补偿）
|
|||
单位换算：发送值 ÷ 100 = 实际显示角度（°），例：发送100 → 显示1°，发送300 → 显示3° */ |
|||
int32_t RightCompensation; |
|||
/* 机器人实际移动速度（派生采集值）
|
|||
单位换算：发送值 ÷ 10 = 实际显示速度（m/min），例：发送100 → 显示10m/min，发送180 → 显示18m/min（最大速度） |
|||
作用：上报机器人当前行走速度，匹配协议书中0~18m/min的速度范围 */ |
|||
int32_t Robot_Move_Deri_Speed; |
|||
/* 机器人陀螺仪角度（姿态检测）
|
|||
单位换算：发送值 ÷ 100 = 实际显示角度（°），例：发送100 → 显示1°，发送9000 → 显示90° |
|||
作用：上报机器人当前姿态角度（水平/竖直/倾斜），用于作业面姿态校准 */ |
|||
int32_t Robot_Gyro; |
|||
/* 距离传感器采集值（测距/避障）
|
|||
单位换算：发送值 ÷ 10 = 实际显示距离（cm），例：发送100 → 显示10cm，发送500 → 显示50cm |
|||
作用：检测机器人与作业面/障碍物的距离，防止碰撞或吸附失效 */ |
|||
int32_t Distance_Sensor; |
|||
/* 系统级错误码
|
|||
取值规则：0 = 无错误；非0 = 错误类型（需配套错误码表） |
|||
错误类型：包含硬件通讯故障、按键未初始化故障等核心系统异常 */ |
|||
int32_t SystemError; |
|||
/* 左轮电机报警状态
|
|||
取值规则：0 = 正常（无报警）；1 = 报警（过流/过载/堵转等） |
|||
作用：上报左轮驱动电机的故障状态，用于电机故障排查 */ |
|||
int32_t Left_Motor_Err; |
|||
/* 右轮电机报警状态
|
|||
取值规则：0 = 正常（无报警）；1 = 报警（过流/过载/堵转等） |
|||
作用：上报右轮驱动电机的故障状态，用于电机故障排查 */ |
|||
int32_t Right_Motor_Err; |
|||
/* 摆臂电机报警状态
|
|||
取值规则：0 = 正常（无报警）；1 = 报警（过流/过载/堵转等） |
|||
作用：上报抛丸/喷砂摆臂电机的故障状态，适配摆臂速度≥25°/S的作业要求 */ |
|||
int32_t Swing_Motor_Err; |
|||
/* 机器人在线状态
|
|||
取值规则：0 = 离线（通讯中断）；1 = 在线（通讯正常） |
|||
作用：APP/上位机判断机器人通讯状态，离线时触发声光报警 */ |
|||
int32_t Is_Online; |
|||
/* 备用数据1
|
|||
用途：预留扩展字段，可用于后续新增传感器/状态采集（如吸附压力、吸尘装置状态等） */ |
|||
int32_t Spara_Data_1; |
|||
/* 备用数据2
|
|||
用途：预留扩展字段，可用于后续新增传感器/状态采集（如作业面温度等） */ |
|||
int32_t Spara_Data_2; |
|||
/* 备用数据3
|
|||
用途：预留扩展字段，可用于后续新增传感器/状态采集（如急停按钮状态、电池电量等） */ |
|||
int32_t Spara_Data_3; |
|||
} 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, 0, 0, 0} |
|||
#define IV_struct_define_init_zero {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0} |
|||
|
|||
/* Field tags (for use in manual encoding/decoding) */ |
|||
#define IV_struct_define_LeftCompensation_tag 1 |
|||
#define IV_struct_define_RightCompensation_tag 2 |
|||
#define IV_struct_define_Robot_Move_Deri_Speed_tag 3 |
|||
#define IV_struct_define_Robot_Gyro_tag 4 |
|||
#define IV_struct_define_Distance_Sensor_tag 5 |
|||
#define IV_struct_define_SystemError_tag 6 |
|||
#define IV_struct_define_Left_Motor_Err_tag 7 |
|||
#define IV_struct_define_Right_Motor_Err_tag 8 |
|||
#define IV_struct_define_Swing_Motor_Err_tag 9 |
|||
#define IV_struct_define_Is_Online_tag 10 |
|||
#define IV_struct_define_Spara_Data_1_tag 11 |
|||
#define IV_struct_define_Spara_Data_2_tag 12 |
|||
#define IV_struct_define_Spara_Data_3_tag 13 |
|||
|
|||
/* Struct field encoding specification for nanopb */ |
|||
#define IV_struct_define_FIELDLIST(X, a) \ |
|||
X(a, STATIC, SINGULAR, INT32, LeftCompensation, 1) \ |
|||
X(a, STATIC, SINGULAR, INT32, RightCompensation, 2) \ |
|||
X(a, STATIC, SINGULAR, INT32, Robot_Move_Deri_Speed, 3) \ |
|||
X(a, STATIC, SINGULAR, INT32, Robot_Gyro, 4) \ |
|||
X(a, STATIC, SINGULAR, INT32, Distance_Sensor, 5) \ |
|||
X(a, STATIC, SINGULAR, INT32, SystemError, 6) \ |
|||
X(a, STATIC, SINGULAR, INT32, Left_Motor_Err, 7) \ |
|||
X(a, STATIC, SINGULAR, INT32, Right_Motor_Err, 8) \ |
|||
X(a, STATIC, SINGULAR, INT32, Swing_Motor_Err, 9) \ |
|||
X(a, STATIC, SINGULAR, INT32, Is_Online, 10) \ |
|||
X(a, STATIC, SINGULAR, INT32, Spara_Data_1, 11) \ |
|||
X(a, STATIC, SINGULAR, INT32, Spara_Data_2, 12) \ |
|||
X(a, STATIC, SINGULAR, INT32, Spara_Data_3, 13) |
|||
#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 143 |
|||
|
|||
#ifdef __cplusplus |
|||
} /* extern "C" */ |
|||
#endif |
|||
|
|||
#endif |
|||
@ -0,0 +1,20 @@ |
|||
/* 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 |
|||
|
|||
@ -0,0 +1,57 @@ |
|||
/* 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 |
|||
@ -0,0 +1,12 @@ |
|||
/* 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) |
|||
|
|||
|
|||
|
|||
@ -0,0 +1,142 @@ |
|||
/* 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 */ |
|||
/* 抛丸机器人作业参数结构体定义
|
|||
作用：用于APP/遥控器与机器人控制系统之间的参数传输，涵盖操作模式、运动参数、摆臂参数、作业参数等核心配置 */ |
|||
typedef struct _PV_struct_define { |
|||
/* 操作模式（枚举值）
|
|||
1 - 手动模式：人工摇杆/按键控制机器人所有动作 |
|||
2 - 水平模式：适配水平作业面的半自动/手动操作 |
|||
3 - 平面模式：适配平面作业面的操作（修正原文笔误：原"平民"为"平面"） |
|||
4 - 竖直左模式：左侧垂直作业面（如船舶外壁左侧）操作 |
|||
5 - 竖直右模式：右侧垂直作业面（如船舶外壁右侧）操作 |
|||
6 - 水平区域自动：水平作业面的区域自动作业模式 |
|||
7 - 平面区域自动：平面作业面的区域自动作业模式 */ |
|||
int32_t Robot_Operation_Mode; |
|||
/* 机器人移动速度（基础行走速度）
|
|||
单位：0.1m/min（字段值×0.1=实际速度，如值为10则实际速度1m/min） |
|||
取值范围：0~180（对应实际0~18m/min，符合协议书中最大18m/min的要求） */ |
|||
int32_t Robot_Move_Speed; |
|||
/* 换道距离（自动换道功能的核心参数）
|
|||
单位：mm（建议，可根据实际硬件标定调整） |
|||
作用：一键换道时机器人横向移动的距离，用于控制换道压边量 */ |
|||
int32_t Robot_Change_Lane_Distance; |
|||
/* 摆臂速度（抛丸/喷砂摆臂装置的摆动速度）
|
|||
单位：°/s（度/秒） |
|||
取值要求：≥25（对应协议书中摆臂速度≥25°/S的要求） */ |
|||
int32_t Robot_Swing_Speed; |
|||
/* 摆臂角度设置模式（对称/非对称）
|
|||
1 - 对称模式：摆臂以中心轴左右对称摆动 |
|||
2 - 非对称模式：摆臂仅单侧（左/右）摆动 */ |
|||
int32_t Robot_symmetricalOrNot; |
|||
/* 对称模式下摆臂总摆动角度
|
|||
单位：°（度） |
|||
示例：值为90则摆臂从-45°~+45°对称摆动 */ |
|||
int32_t Robot_Swing_Range_Angle; |
|||
/* 非对称模式下的摆动侧选择
|
|||
1 - 左侧：仅摆臂左侧区域摆动 |
|||
2 - 右侧：仅摆臂右侧区域摆动 */ |
|||
int32_t Robot_asymmetricalAngleSetValue; |
|||
/* 后退作业模式（抛丸/喷砂作业时的后退逻辑）
|
|||
1 - 打退交替：作业一段距离后停止作业，后退指定距离再继续作业 |
|||
2 - 边打边退：作业过程中同步后退，持续作业无中断 */ |
|||
int32_t Robot_backMode; |
|||
/* 打退交替模式下的后退距离
|
|||
单位：mm（建议） |
|||
作用：打退交替时单次后退的距离，适配不同作业面的补抛需求 */ |
|||
int32_t Robot_Back_Distance; |
|||
/* 边打边退模式下的后退速度
|
|||
单位：0.1m/min（同Robot_Move_Speed） |
|||
取值范围：0~180（对应实际0~18m/min） */ |
|||
int32_t Robot_Back_Speed; |
|||
/* 压力设置（抛丸/喷砂作业的介质压力）
|
|||
单位：0.01MPa（建议，如值为50则实际0.5MPa） |
|||
作用：控制抛丸/喷砂的强度，适配不同表面处理等级（≥Sa2.5） */ |
|||
int32_t Robot_Press_Set; |
|||
/* 竖直微调（竖直作业模式下的位置微调量）
|
|||
单位：mm（建议） |
|||
作用：竖直作业时微调机器人位置，补偿曲面/安装误差 */ |
|||
int32_t Robot_Vertical_Adjust; |
|||
/* 自动模式下的作业长度
|
|||
单位：mm（建议） |
|||
作用：区域自动作业时，单次作业的纵向长度（完成后自动换道） */ |
|||
int32_t Robot_Length_Homework; |
|||
/* 自动模式下的作业宽度
|
|||
单位：mm（建议） |
|||
作用：区域自动作业时，单次作业的横向宽度（默认适配110mm标准作业宽度） */ |
|||
int32_t Robot_Width_Homework; |
|||
int32_t Robot_SandBalst_Encode_One; /* 喷砂机编码1 输入为空发1 */ |
|||
int32_t Robot_SandBalst_Encode_Two; /* 喷砂机编码2 输入为空发2 */ |
|||
} 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, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0} |
|||
#define PV_struct_define_init_zero {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 PV_struct_define_Robot_Operation_Mode_tag 1 |
|||
#define PV_struct_define_Robot_Move_Speed_tag 2 |
|||
#define PV_struct_define_Robot_Change_Lane_Distance_tag 3 |
|||
#define PV_struct_define_Robot_Swing_Speed_tag 4 |
|||
#define PV_struct_define_Robot_symmetricalOrNot_tag 5 |
|||
#define PV_struct_define_Robot_Swing_Range_Angle_tag 6 |
|||
#define PV_struct_define_Robot_asymmetricalAngleSetValue_tag 7 |
|||
#define PV_struct_define_Robot_backMode_tag 8 |
|||
#define PV_struct_define_Robot_Back_Distance_tag 9 |
|||
#define PV_struct_define_Robot_Back_Speed_tag 10 |
|||
#define PV_struct_define_Robot_Press_Set_tag 11 |
|||
#define PV_struct_define_Robot_Vertical_Adjust_tag 12 |
|||
#define PV_struct_define_Robot_Length_Homework_tag 13 |
|||
#define PV_struct_define_Robot_Width_Homework_tag 14 |
|||
#define PV_struct_define_Robot_SandBalst_Encode_One_tag 15 |
|||
#define PV_struct_define_Robot_SandBalst_Encode_Two_tag 16 |
|||
|
|||
/* Struct field encoding specification for nanopb */ |
|||
#define PV_struct_define_FIELDLIST(X, a) \ |
|||
X(a, STATIC, SINGULAR, INT32, Robot_Operation_Mode, 1) \ |
|||
X(a, STATIC, SINGULAR, INT32, Robot_Move_Speed, 2) \ |
|||
X(a, STATIC, SINGULAR, INT32, Robot_Change_Lane_Distance, 3) \ |
|||
X(a, STATIC, SINGULAR, INT32, Robot_Swing_Speed, 4) \ |
|||
X(a, STATIC, SINGULAR, INT32, Robot_symmetricalOrNot, 5) \ |
|||
X(a, STATIC, SINGULAR, INT32, Robot_Swing_Range_Angle, 6) \ |
|||
X(a, STATIC, SINGULAR, INT32, Robot_asymmetricalAngleSetValue, 7) \ |
|||
X(a, STATIC, SINGULAR, INT32, Robot_backMode, 8) \ |
|||
X(a, STATIC, SINGULAR, INT32, Robot_Back_Distance, 9) \ |
|||
X(a, STATIC, SINGULAR, INT32, Robot_Back_Speed, 10) \ |
|||
X(a, STATIC, SINGULAR, INT32, Robot_Press_Set, 11) \ |
|||
X(a, STATIC, SINGULAR, INT32, Robot_Vertical_Adjust, 12) \ |
|||
X(a, STATIC, SINGULAR, INT32, Robot_Length_Homework, 13) \ |
|||
X(a, STATIC, SINGULAR, INT32, Robot_Width_Homework, 14) \ |
|||
X(a, STATIC, SINGULAR, INT32, Robot_SandBalst_Encode_One, 15) \ |
|||
X(a, STATIC, SINGULAR, INT32, Robot_SandBalst_Encode_Two, 16) |
|||
#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 177 |
|||
|
|||
#ifdef __cplusplus |
|||
} /* extern "C" */ |
|||
#endif |
|||
|
|||
#endif |
|||
@ -0,0 +1,12 @@ |
|||
/* 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) |
|||
|
|||
|
|||
|
|||
@ -0,0 +1,80 @@ |
|||
/* 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 |
|||
@ -0,0 +1,12 @@ |
|||
/* 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) |
|||
|
|||
|
|||
|
|||
@ -0,0 +1,99 @@ |
|||
/* 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 |
|||
@ -0,0 +1,12 @@ |
|||
/* 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) |
|||
|
|||
|
|||
|
|||
@ -0,0 +1,91 @@ |
|||
/* 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 |
|||
@ -0,0 +1,12 @@ |
|||
/* 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) |
|||
|
|||
|
|||
|
|||
@ -0,0 +1,72 @@ |
|||
/* 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 |
|||
@ -0,0 +1,20 @@ |
|||
/* Automatically generated nanopb constant definitions */ |
|||
/* Generated by nanopb-0.4.8 */ |
|||
|
|||
#include "msp_ZQ_MotorParameters.pb.h" |
|||
#if PB_PROTO_HEADER_VERSION != 40 |
|||
#error Regenerate this file with the current version of nanopb generator. |
|||
#endif |
|||
|
|||
PB_BIND(TT_MotorParameters, TT_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 |
|||
|
|||
@ -0,0 +1,129 @@ |
|||
/* Automatically generated nanopb header */ |
|||
/* Generated by nanopb-0.4.8 */ |
|||
|
|||
#ifndef PB_MSP_ZQ_MOTORPARAMETERS_PB_H_INCLUDED |
|||
#define PB_MSP_ZQ_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 _TT_MotorParameters { |
|||
int32_t MotorID; |
|||
int32_t Real_Current; |
|||
int32_t Target_Current; |
|||
int32_t Real_Velcity; |
|||
int32_t Target_Velcity; |
|||
int32_t Target_Position; |
|||
int32_t Act_Suc; |
|||
int32_t Cont_Posi_Suc; |
|||
int32_t Acc_Suc; |
|||
int32_t Dec_Suc; |
|||
int32_t Target_Posi_Suc; |
|||
int32_t Run_Speed_Suc; |
|||
int32_t Clear_Suc; |
|||
int32_t Real_Position; |
|||
int32_t Acc_Suc_Speed; |
|||
int32_t Dec_Suc_Speed; |
|||
int32_t Suc_Speed_S; |
|||
int32_t TT_Motor_Fault; |
|||
int32_t AccTime; |
|||
int32_t DecTime; |
|||
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 */ |
|||
int32_t Position_immediately1_Lag2; /* 位置环模式，立即生效1，延后生效2 */ |
|||
int32_t Tar_Position_count; /* 位置环模式，期望位置 */ |
|||
int32_t Tar_Position_Velcity_RPM; /* 位置环模式，速度 */ |
|||
} TT_MotorParameters; |
|||
|
|||
|
|||
#ifdef __cplusplus |
|||
extern "C" { |
|||
#endif |
|||
|
|||
/* Initializer values for message structs */ |
|||
#define TT_MotorParameters_init_default {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0} |
|||
#define TT_MotorParameters_init_zero {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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 TT_MotorParameters_MotorID_tag 1 |
|||
#define TT_MotorParameters_Real_Current_tag 4 |
|||
#define TT_MotorParameters_Target_Current_tag 5 |
|||
#define TT_MotorParameters_Real_Velcity_tag 6 |
|||
#define TT_MotorParameters_Target_Velcity_tag 7 |
|||
#define TT_MotorParameters_Target_Position_tag 8 |
|||
#define TT_MotorParameters_Act_Suc_tag 25 |
|||
#define TT_MotorParameters_Cont_Posi_Suc_tag 26 |
|||
#define TT_MotorParameters_Acc_Suc_tag 27 |
|||
#define TT_MotorParameters_Dec_Suc_tag 28 |
|||
#define TT_MotorParameters_Target_Posi_Suc_tag 29 |
|||
#define TT_MotorParameters_Run_Speed_Suc_tag 30 |
|||
#define TT_MotorParameters_Clear_Suc_tag 31 |
|||
#define TT_MotorParameters_Real_Position_tag 32 |
|||
#define TT_MotorParameters_Acc_Suc_Speed_tag 33 |
|||
#define TT_MotorParameters_Dec_Suc_Speed_tag 34 |
|||
#define TT_MotorParameters_Suc_Speed_S_tag 35 |
|||
#define TT_MotorParameters_TT_Motor_Fault_tag 36 |
|||
#define TT_MotorParameters_AccTime_tag 37 |
|||
#define TT_MotorParameters_DecTime_tag 38 |
|||
#define TT_MotorParameters_Number_Of_Rounds_tag 39 |
|||
#define TT_MotorParameters_Start_Measuring_Position_tag 40 |
|||
#define TT_MotorParameters_Last_Real_Position_tag 43 |
|||
#define TT_MotorParameters_Real_Disatnce_tag 44 |
|||
#define TT_MotorParameters_Start_Measuring_tag 45 |
|||
#define TT_MotorParameters_Position_immediately1_Lag2_tag 46 |
|||
#define TT_MotorParameters_Tar_Position_count_tag 47 |
|||
#define TT_MotorParameters_Tar_Position_Velcity_RPM_tag 49 |
|||
|
|||
/* Struct field encoding specification for nanopb */ |
|||
#define TT_MotorParameters_FIELDLIST(X, a) \ |
|||
X(a, STATIC, SINGULAR, INT32, MotorID, 1) \ |
|||
X(a, STATIC, SINGULAR, INT32, Real_Current, 4) \ |
|||
X(a, STATIC, SINGULAR, INT32, Target_Current, 5) \ |
|||
X(a, STATIC, SINGULAR, INT32, Real_Velcity, 6) \ |
|||
X(a, STATIC, SINGULAR, INT32, Target_Velcity, 7) \ |
|||
X(a, STATIC, SINGULAR, INT32, Target_Position, 8) \ |
|||
X(a, STATIC, SINGULAR, INT32, Act_Suc, 25) \ |
|||
X(a, STATIC, SINGULAR, INT32, Cont_Posi_Suc, 26) \ |
|||
X(a, STATIC, SINGULAR, INT32, Acc_Suc, 27) \ |
|||
X(a, STATIC, SINGULAR, INT32, Dec_Suc, 28) \ |
|||
X(a, STATIC, SINGULAR, INT32, Target_Posi_Suc, 29) \ |
|||
X(a, STATIC, SINGULAR, INT32, Run_Speed_Suc, 30) \ |
|||
X(a, STATIC, SINGULAR, INT32, Clear_Suc, 31) \ |
|||
X(a, STATIC, SINGULAR, INT32, Real_Position, 32) \ |
|||
X(a, STATIC, SINGULAR, INT32, Acc_Suc_Speed, 33) \ |
|||
X(a, STATIC, SINGULAR, INT32, Dec_Suc_Speed, 34) \ |
|||
X(a, STATIC, SINGULAR, INT32, Suc_Speed_S, 35) \ |
|||
X(a, STATIC, SINGULAR, INT32, TT_Motor_Fault, 36) \ |
|||
X(a, STATIC, SINGULAR, INT32, AccTime, 37) \ |
|||
X(a, STATIC, SINGULAR, INT32, DecTime, 38) \ |
|||
X(a, STATIC, SINGULAR, INT32, Number_Of_Rounds, 39) \ |
|||
X(a, STATIC, SINGULAR, INT32, Start_Measuring_Position, 40) \ |
|||
X(a, STATIC, SINGULAR, INT32, Last_Real_Position, 43) \ |
|||
X(a, STATIC, SINGULAR, DOUBLE, Real_Disatnce, 44) \ |
|||
X(a, STATIC, SINGULAR, INT32, Start_Measuring, 45) \ |
|||
X(a, STATIC, SINGULAR, INT32, Position_immediately1_Lag2, 46) \ |
|||
X(a, STATIC, SINGULAR, INT32, Tar_Position_count, 47) \ |
|||
X(a, STATIC, SINGULAR, INT32, Tar_Position_Velcity_RPM, 49) |
|||
#define TT_MotorParameters_CALLBACK NULL |
|||
#define TT_MotorParameters_DEFAULT NULL |
|||
|
|||
extern const pb_msgdesc_t TT_MotorParameters_msg; |
|||
|
|||
/* Defines for backwards compatibility with code written before nanopb-0.4.0 */ |
|||
#define TT_MotorParameters_fields &TT_MotorParameters_msg |
|||
|
|||
/* Maximum encoded size of messages (where known) */ |
|||
#define MSP_ZQ_MOTORPARAMETERS_PB_H_MAX_SIZE TT_MotorParameters_size |
|||
#define TT_MotorParameters_size 328 |
|||
|
|||
#ifdef __cplusplus |
|||
} /* extern "C" */ |
|||
#endif |
|||
|
|||
#endif |
|||
Binary file not shown.
@ -0,0 +1,42 @@ |
|||
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; |
|||
|
|||
|
|||
} |
|||
|
|||
@ -0,0 +1,2 @@ |
|||
# lock.options |
|||
Cmd.Buff_Data max_size:512 fixed_length:true |
|||
@ -0,0 +1,24 @@ |
|||
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; |
|||
|
|||
}; |
|||
|
|||
@ -0,0 +1,31 @@ |
|||
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; //proto3版本中，首成员必须为0，成员不应有相同的值 |
|||
MK32_Serial =1; |
|||
MK32_InitialState =2; |
|||
TL720D =3; |
|||
|
|||
ZQ_CAN_ID1_LeftMotor =4; |
|||
ZQ_CAN_ID2_RightMotor =5; |
|||
ZQ_CAN_ID3_SwingMotor =6; |
|||
Force_Sensor =7; |
|||
|
|||
Mfog40 =8; |
|||
Ultrasonic_Sensor =9; |
|||
UWB_20_Error=10; |
|||
} |
|||
|
|||
//protoc --nanopb_out=. *.proto |
|||
@ -0,0 +1,2 @@ |
|||
# lock.options |
|||
GV_struct_define.Motor_P max_size:50 fixed_length:true |
|||
@ -0,0 +1,34 @@ |
|||
syntax = "proto3"; |
|||
import "msp_MK32.proto"; |
|||
import "msp_Motor.proto"; |
|||
import "msp_ZQ_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 |
|||
float Robot_Angle_Desire=4; //机器人期望角度 //改为 float，单位：度（不再需要0.01缩放） |
|||
float Robot_Move_Speed=5; // 0.1rpm |
|||
float Left_Speed_M_min= 6; // m/Min |
|||
float Right_Speed_M_min=7; // m/Min |
|||
float Vertical_Adjust=8; //0.1° |
|||
int32 ForceValue= 9; |
|||
int32 LaneChangeDistance=10; |
|||
SP_MSP_MK32_Button P_MK32=11; |
|||
TT_MotorParameters LeftMotor=12;//左电机 ID2 |
|||
TT_MotorParameters RightMotor=13;// 右电机 ID3 |
|||
MSP_TL720DParameters TL720DParameters=14; |
|||
IO_Data IO=15; |
|||
ErrorData SystemErrorData=16; |
|||
PV_struct_define PV=17;//用户配置数据 |
|||
|
|||
}; |
|||
|
|||
//protoc --nanopb_out=. *.proto |
|||
@ -0,0 +1,2 @@ |
|||
# lock.options |
|||
# IAP_struct_define.Buff_Data max_size:64 fixed_length:true |
|||
@ -0,0 +1,11 @@ |
|||
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;// |
|||
|
|||
}; |
|||
|
|||
@ -0,0 +1,19 @@ |
|||
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 |
|||
@ -0,0 +1,71 @@ |
|||
syntax = "proto3"; |
|||
// 引入外部参数定义文件（包含机器人作业参数结构体） |
|||
import "bsp_PV.proto"; |
|||
|
|||
option java_multiple_files = false; |
|||
option java_package = "com.example.rougheningapp.models"; |
|||
|
|||
// 抛丸机器人状态采集参数结构体（IV：Input/Status Value） |
|||
// 作用：用于机器人控制系统向APP/上位机上报实时状态、传感器数据、故障报警信息 |
|||
message IV_struct_define |
|||
{ |
|||
// 左侧补偿值（摆臂/位置角度补偿） |
|||
// 单位换算：发送值 ÷ 100 = 实际显示角度（°），例：发送100 → 显示1°，发送250 → 显示2.5° |
|||
int32 LeftCompensation = 1; |
|||
|
|||
// 右侧补偿值（摆臂/位置角度补偿） |
|||
// 单位换算：发送值 ÷ 100 = 实际显示角度（°），例：发送100 → 显示1°，发送300 → 显示3° |
|||
int32 RightCompensation = 2; |
|||
|
|||
// 机器人实际移动速度（派生采集值） |
|||
// 单位换算：发送值 ÷ 10 = 实际显示速度（m/min），例：发送100 → 显示10m/min，发送180 → 显示18m/min（最大速度） |
|||
// 作用：上报机器人当前行走速度，匹配协议书中0~18m/min的速度范围 |
|||
int32 Robot_Move_Deri_Speed = 3; |
|||
|
|||
// 机器人陀螺仪角度（姿态检测） |
|||
// 单位换算：发送值 ÷ 100 = 实际显示角度（°），例：发送100 → 显示1°，发送9000 → 显示90° |
|||
// 作用：上报机器人当前姿态角度（水平/竖直/倾斜），用于作业面姿态校准 |
|||
int32 Robot_Gyro = 4; |
|||
|
|||
// 距离传感器采集值（测距/避障） |
|||
// 单位换算：发送值 ÷ 10 = 实际显示距离（cm），例：发送100 → 显示10cm，发送500 → 显示50cm |
|||
// 作用：检测机器人与作业面/障碍物的距离，防止碰撞或吸附失效 |
|||
int32 Distance_Sensor = 5; |
|||
|
|||
// 系统级错误码 |
|||
// 取值规则：0 = 无错误；非0 = 错误类型（需配套错误码表） |
|||
// 错误类型：包含硬件通讯故障、按键未初始化故障等核心系统异常 |
|||
int32 SystemError = 6; |
|||
|
|||
// 左轮电机报警状态 |
|||
// 取值规则：0 = 正常（无报警）；1 = 报警（过流/过载/堵转等） |
|||
// 作用：上报左轮驱动电机的故障状态，用于电机故障排查 |
|||
int32 Left_Motor_Err = 7; |
|||
|
|||
// 右轮电机报警状态 |
|||
// 取值规则：0 = 正常（无报警）；1 = 报警（过流/过载/堵转等） |
|||
// 作用：上报右轮驱动电机的故障状态，用于电机故障排查 |
|||
int32 Right_Motor_Err = 8; |
|||
|
|||
// 摆臂电机报警状态 |
|||
// 取值规则：0 = 正常（无报警）；1 = 报警（过流/过载/堵转等） |
|||
// 作用：上报抛丸/喷砂摆臂电机的故障状态，适配摆臂速度≥25°/S的作业要求 |
|||
int32 Swing_Motor_Err = 9; |
|||
|
|||
// 机器人在线状态 |
|||
// 取值规则：0 = 离线（通讯中断）；1 = 在线（通讯正常） |
|||
// 作用：APP/上位机判断机器人通讯状态，离线时触发声光报警 |
|||
int32 Is_Online = 10; |
|||
|
|||
// 备用数据1 |
|||
// 用途：预留扩展字段，可用于后续新增传感器/状态采集（如吸附压力、吸尘装置状态等） |
|||
int32 Spara_Data_1 = 11; |
|||
|
|||
// 备用数据2 |
|||
// 用途：预留扩展字段，可用于后续新增传感器/状态采集（如作业面温度等） |
|||
int32 Spara_Data_2 = 12; |
|||
|
|||
// 备用数据3 |
|||
// 用途：预留扩展字段，可用于后续新增传感器/状态采集（如急停按钮状态、电池电量等） |
|||
int32 Spara_Data_3 = 13; |
|||
}; |
|||
@ -0,0 +1,9 @@ |
|||
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; |
|||
|
|||
} |
|||
@ -0,0 +1,86 @@ |
|||
syntax = "proto3"; |
|||
|
|||
option java_multiple_files = false; |
|||
option java_package = "com.example.swingarmapp.models"; |
|||
|
|||
// 抛丸机器人作业参数结构体定义 |
|||
// 作用：用于APP/遥控器与机器人控制系统之间的参数传输，涵盖操作模式、运动参数、摆臂参数、作业参数等核心配置 |
|||
message PV_struct_define{ |
|||
// 操作模式（枚举值） |
|||
// 1 - 手动模式：人工摇杆/按键控制机器人所有动作 |
|||
// 2 - 水平模式：适配水平作业面的半自动/手动操作 |
|||
// 3 - 平面模式：适配平面作业面的操作（修正原文笔误：原"平民"为"平面"） |
|||
// 4 - 竖直左模式：左侧垂直作业面（如船舶外壁左侧）操作 |
|||
// 5 - 竖直右模式：右侧垂直作业面（如船舶外壁右侧）操作 |
|||
// 6 - 水平区域自动：水平作业面的区域自动作业模式 |
|||
// 7 - 平面区域自动：平面作业面的区域自动作业模式 |
|||
int32 Robot_Operation_Mode = 1; |
|||
|
|||
// 机器人移动速度（基础行走速度） |
|||
// 单位：0.1m/min（字段值×0.1=实际速度，如值为10则实际速度1m/min） |
|||
// 取值范围：0~180（对应实际0~18m/min，符合协议书中最大18m/min的要求） |
|||
int32 Robot_Move_Speed = 2; |
|||
|
|||
// 换道距离（自动换道功能的核心参数） |
|||
// 单位：mm（建议，可根据实际硬件标定调整） |
|||
// 作用：一键换道时机器人横向移动的距离，用于控制换道压边量 |
|||
int32 Robot_Change_Lane_Distance = 3; |
|||
|
|||
// 摆臂速度（抛丸/喷砂摆臂装置的摆动速度） |
|||
// 单位：°/s（度/秒） |
|||
// 取值要求：≥25（对应协议书中摆臂速度≥25°/S的要求） |
|||
int32 Robot_Swing_Speed = 4; |
|||
|
|||
// 摆臂角度设置模式（对称/非对称） |
|||
// 1 - 对称模式：摆臂以中心轴左右对称摆动 |
|||
// 2 - 非对称模式：摆臂仅单侧（左/右）摆动 |
|||
int32 Robot_symmetricalOrNot = 5; |
|||
|
|||
// 对称模式下摆臂总摆动角度 |
|||
// 单位：°（度） |
|||
// 示例：值为90则摆臂从-45°~+45°对称摆动 |
|||
int32 Robot_Swing_Range_Angle = 6; |
|||
|
|||
// 非对称模式下的摆动侧选择 |
|||
// 1 - 左侧：仅摆臂左侧区域摆动 |
|||
// 2 - 右侧：仅摆臂右侧区域摆动 |
|||
int32 Robot_asymmetricalAngleSetValue = 7; |
|||
|
|||
// 后退作业模式（抛丸/喷砂作业时的后退逻辑） |
|||
// 1 - 打退交替：作业一段距离后停止作业，后退指定距离再继续作业 |
|||
// 2 - 边打边退：作业过程中同步后退，持续作业无中断 |
|||
int32 Robot_backMode = 8; |
|||
|
|||
// 打退交替模式下的后退距离 |
|||
// 单位：mm（建议） |
|||
// 作用：打退交替时单次后退的距离，适配不同作业面的补抛需求 |
|||
int32 Robot_Back_Distance = 9; |
|||
|
|||
// 边打边退模式下的后退速度 |
|||
// 单位：0.1m/min（同Robot_Move_Speed） |
|||
// 取值范围：0~180（对应实际0~18m/min） |
|||
int32 Robot_Back_Speed = 10; |
|||
|
|||
// 压力设置（抛丸/喷砂作业的介质压力） |
|||
// 单位：0.01MPa（建议，如值为50则实际0.5MPa） |
|||
// 作用：控制抛丸/喷砂的强度，适配不同表面处理等级（≥Sa2.5） |
|||
int32 Robot_Press_Set = 11; |
|||
|
|||
// 竖直微调（竖直作业模式下的位置微调量） |
|||
// 单位：mm（建议） |
|||
// 作用：竖直作业时微调机器人位置，补偿曲面/安装误差 |
|||
int32 Robot_Vertical_Adjust = 12; |
|||
|
|||
// 自动模式下的作业长度 |
|||
// 单位：mm（建议） |
|||
// 作用：区域自动作业时，单次作业的纵向长度（完成后自动换道） |
|||
int32 Robot_Length_Homework = 13; |
|||
|
|||
// 自动模式下的作业宽度 |
|||
// 单位：mm（建议） |
|||
// 作用：区域自动作业时，单次作业的横向宽度（默认适配110mm标准作业宽度） |
|||
int32 Robot_Width_Homework = 14; |
|||
|
|||
int32 Robot_SandBalst_Encode_One = 15; //喷砂机编码1 输入为空发1 |
|||
int32 Robot_SandBalst_Encode_Two = 16; //喷砂机编码2 输入为空发2 |
|||
}; |
|||
@ -0,0 +1,2 @@ |
|||
# lock.options |
|||
ReCmd.Buff_Data max_size:512 fixed_length:true |
|||
@ -0,0 +1,24 @@ |
|||
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; |
|||
|
|||
}; |
|||
|
|||
@ -0,0 +1,22 @@ |
|||
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; |
|||
} |
|||
@ -0,0 +1,23 @@ |
|||
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）" |
|||
|
|||
}; |
|||
|
|||
@ -0,0 +1,20 @@ |
|||
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*/ |
|||
|
|||
|
|||
}; |
|||
|
|||
@ -0,0 +1,36 @@ |
|||
syntax = "proto3"; |
|||
|
|||
message TT_MotorParameters { |
|||
int32 MotorID=1; |
|||
int32 Real_Current=4; |
|||
int32 Target_Current=5; |
|||
int32 Real_Velcity=6; |
|||
int32 Target_Velcity=7; |
|||
int32 Target_Position=8; |
|||
int32 Real_Position=32; |
|||
|
|||
int32 Act_Suc=25; |
|||
int32 Cont_Posi_Suc=26; |
|||
int32 Acc_Suc=27; |
|||
int32 Dec_Suc=28; |
|||
int32 Target_Posi_Suc=29; |
|||
int32 Run_Speed_Suc=30; |
|||
int32 Clear_Suc=31; |
|||
|
|||
int32 Acc_Suc_Speed=33; |
|||
int32 Dec_Suc_Speed=34; |
|||
int32 Suc_Speed_S=35; |
|||
int32 TT_Motor_Fault=36; |
|||
int32 AccTime=37; |
|||
int32 DecTime=38; |
|||
int32 Number_Of_Rounds=39; |
|||
int32 Start_Measuring_Position=40; |
|||
int32 Last_Real_Position=43; |
|||
int32 Position_immediately1_Lag2=46;//位置环模式，立即生效1，延后生效2 |
|||
int32 Tar_Position_count=47; //位置环模式，期望位置 |
|||
int32 Tar_Position_Velcity_RPM=49; //位置环模式，速度 |
|||
double Real_Disatnce=44; |
|||
int32 Start_Measuring=45;//开始测距 |
|||
|
|||
} |
|||
|
|||
@ -0,0 +1,127 @@ |
|||
/*
|
|||
* BHBF_ROBOT.c |
|||
* |
|||
* Created on: Oct 26, 2023 |
|||
* Author: shiya |
|||
*/ |
|||
#include "fsm.h" |
|||
#include "BHBF_ROBOT.h" |
|||
#include <string.h> |
|||
|
|||
|
|||
#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 }; |
|||
|
|||
|
|||
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; |
|||
} |
|||
|
|||
|
|||
@ -0,0 +1,636 @@ |
|||
/**
|
|||
* @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 <stdarg.h> |
|||
#include <string.h> |
|||
|
|||
/*
|
|||
* ******************************************************************************************* |
|||
* 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<sizeof(DltLogDroppedInfo); i++) |
|||
{ |
|||
DltLogDroppedInfoBuffer[i+DLT_ACT_HEADER_SIZE] = DltLogDroppedInfo[i]; |
|||
} |
|||
|
|||
DLtLogDroppedSize = DLT_ACT_HEADER_SIZE + sizeof(DltLogDroppedInfo); |
|||
} |
|||
|
|||
void DLTuc_MessageTransmitDone(void) |
|||
{ |
|||
uint8_t TmpMessageSize=0; |
|||
uint8_t *TmpMessagePointer = NULL; |
|||
uint32_t ActualSysTime = 0u; |
|||
|
|||
if(GetSystemTimeMs != NULL) |
|||
{ |
|||
ActualSysTime = GetSystemTimeMs(); |
|||
} |
|||
|
|||
if(LogDroppedFlag == true && (ActualSysTime - PrevLogDropSendTime > 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; |
|||
} |
|||
|
|||
|
|||
@ -0,0 +1,126 @@ |
|||
/*
|
|||
* bsp_DLT_Log.c |
|||
* |
|||
* Created on: Aug 8, 2024 |
|||
* Author: akeguo |
|||
*/ |
|||
|
|||
#include "bsp_DLT_Log.h" |
|||
#include <tcp_server.h> |
|||
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(); |
|||
} |
|||
@ -0,0 +1,570 @@ |
|||
/*
|
|||
* 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(&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(&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);
|
|||
//}
|
|||
|
|||
@ -0,0 +1,31 @@ |
|||
/*
|
|||
* 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); |
|||
} |
|||
} |
|||
@ -0,0 +1,334 @@ |
|||
/*
|
|||
* bsp_FDCAN.c |
|||
* |
|||
* Created on: Oct 26, 2023 |
|||
* Author: shiya |
|||
*/ |
|||
#include "bsp_FDCAN.h" |
|||
#include "main.h" |
|||
#include <stdlib.h> |
|||
#include "bsp_Error.pb.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; |
|||
|
|||
} |
|||
|
|||
} |
|||
|
|||
@ -0,0 +1,104 @@ |
|||
/*
|
|||
* 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); |
|||
} |
|||
@ -0,0 +1,41 @@ |
|||
/*
|
|||
* 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<V_BSP_InterCall_Array[_type].num;i++) |
|||
{ |
|||
(*(V_BSP_InterCall_Array[_type].fn[i]))(); |
|||
} |
|||
} |
|||
} |
|||
Some files were not shown because too many files changed in this diff
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Reference in new issue