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174 lines
3.8 KiB
174 lines
3.8 KiB
/*
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* BHBF_ROBOT.h
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*
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* Created on: Oct 26, 2023
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* Author: shiya
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*/
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#ifndef INC_BHBF_ROBOT_H_
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#define INC_BHBF_ROBOT_H_
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#include <stdio.h>
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#include <string.h>
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#include <stdlib.h>
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#include <assert.h>
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#include <motors.h>
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#include <stdbool.h>
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#include "BHBF_ROBOT.h"
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#include "bsp_PV.pb.h"
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#include "bsp_IV.pb.h"
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#include "BSP/pb.h"
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#include "BSP/pb_decode.h"
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#include "BSP/pb_encode.h"
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#include "BSP/bsp_EEPROM.h"
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#include "BSP/bsp_pb_decode_encode.h"
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#include "bsp_MB_host.h"
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#include "BSP/bsp_include.h"
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#include "BSP/bsp_UART.h"
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#include "bsp_FDCAN.h"
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#include "BSP/DLTuc.h"
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#include "BSP/bsp_DLT_Log.h"
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#include "BSP/bsp_UDP.h"
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#include "BSP/tcp_server.h"
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#include "BSP/bsp_cpu_flash.h"
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#include "BSP/bsp_qspi_w25q128.h"
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#include "BSP/bsp_UpperComputer_Handler.h"
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#include "BSP/bsp_Error_Detect.h"
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#include "BSP/bsp_MB_host.h"
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#include "MSP/msp_JTBATTERY.h"
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#include "MSP/msp_LeiSai_ISV2_CAN.h"
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#include "MSP/msp_Force_Sensor.h"
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#include "MSP/msp_TL720D.h"
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#include "MSP/msp_MK32_1.h"
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#include "MSP/msp_Force_Sensor.h"
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#include "MSP/msp_WH_LTE_7S0.h"
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#include "msp_K1061DC.h"
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#include "msp_wire_sensor.h"
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#include "msp_Wire_Motor_C20.h"
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#include "MSP/msp_UWB_20.h"
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#include "motors.h"
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#include "paint_gun_action.h"
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#include "motors_power_action.h"
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#include "robot_move_actions.h"
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#include "blowers_pwm_action.h" // 风机
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#include "fsm_state_control.h"
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#include "fsm_state.h"
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#include "change_line_control.h"
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#include "Automatic_task_Control.h"
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#include "MSP/msp_PID.h"
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//#include "robot_state.h"
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//FLASH (rx) : ORIGIN = 0x08020000, LENGTH = 896K
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//#define VECT_TAB_OFFSET 0x00020000U
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#define DLTViewer 1
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bool CompareTimer_Delay(int32_t Delay);
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extern GV_struct_define GV;
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extern IV_struct_define IV; //串口发送到遥控数据
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extern CV_struct_define CV; //
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extern PV_struct_define decoded_PV; //串口从遥控接收数据
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typedef struct sys_timer_handler
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{
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int start_timer;
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int sys_current_timer_count;
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int sys_timer_flag;
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}Sys_timer_handler;
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extern Sys_timer_handler timer_handler_1;
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extern Sys_timer_handler timer_handler_2;
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extern Sys_timer_handler timer_handler_3;
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extern Sys_timer_handler timer_handler_4;
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//first start Timer, then WaitTimer
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bool CompareTimer(int32_t DelayMiliSeconds,Sys_timer_handler * timer_handler);
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void SystemTimer_Intialize();
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void GF_Timer_Count();
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void GF_Robot_Init(void);
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void GF_Robot_MainLoop(void);
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void GF_WatchDog_Loop(void);
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extern void SET_BIT_1(int32_t* num,int32_t k);
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extern void SET_BIT_0(int32_t* num,int32_t k);
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extern int32_t Get_BIT(int32_t* num,int32_t k);
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//A &= ~(1 << bit)
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extern int32_t* SystemErrorCode;
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extern ErrorData* SystemErrorData;
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//Error Bit Define
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#define AngleEncoderErrorBitFlag 0
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#define DAM_Relay_ErrorBitFlag 1
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#define DH_CAN_Remote_Controller_1E4 2
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#define DH_CAN_Remote_Controller_2E4 3
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#define DH_Remote 4
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#define force_sensor 5
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#define LeiSai_ISV2CAN 6
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#define mk32_sbus 7
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#define steering_engine 8
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#define Weld_seam_Tracking 9
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#define Ti5_1 11
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#define Ti5_2 12
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#define Ti5_3 13
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#define Ti5_4 14
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#define Ti5_5 15
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#define Ti5_6 16
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#define TL720D 17
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#define ZQ_CAN_ID1_LeftMotor 18
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#define ZQ_CAN_ID2_RightMotor 19
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#define ZQ_CAN_ID3_SwingMotor 20
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#define wire_sensor 21
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#define DHRougheningController 22
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#define DAM040D_Relay_ErrorBitFlag 23
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#define DMAKE_1 24
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#define DMAKE_2 25
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#define DMAKE_3 26
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#define pressure_sensor 27
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#define IV_Run_Mode_Maunal 0
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#define IV_Run_Mode_Automation 1
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#define IV_Run_Mode_EmergencyStop 2
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#define IV_Run_Mode_Vertical_LaneChange 3
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#define IV_Run_Mode_Horizontal_LaneChange 4
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#define IV_Run_Mode_Forward 5
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#define IV_Run_Mode_BackWard 6
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#define IV_Run_Mode_TurnLeft 7
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#define IV_Run_Mode_TurnRight 8
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#define IV_Run_Mode_HALT 9
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//extern LS_MotorParameters* Frames_Motor[4];
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#endif /* INC_BHBF_ROBOT_H_ */
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