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153 lines
3.3 KiB
153 lines
3.3 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 "left_right_compensation_control.h"
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#include "../../BASE/Inc/BSP/bsp_include.h"
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#include "bsp_PV.pb.h"
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#include "../../BASE/Inc/MSP/msp_TI5MOTOR.h"
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#include "../../BASE/Inc/BSP/bsp_UART.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 "../../BASE/Inc/BSP/BHBF_ROBOT.h"
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#include "../../BASE/Inc/BSP/bsp_mqtt.h"
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#include "../../BASE/Inc/BSP/pb.h"
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#include "../../BASE/Inc/MSP/msp_CMCU.h"
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#include "../../BASE/Inc/MSP/msp_Dynamometer_Sensor.h"
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#include "../../BASE/Inc/BSP/pb_decode.h"
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#include "../../BASE/Inc/BSP/pb_encode.h"
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#include "../../BASE/Inc/BSP/bsp_EEPROM.h"
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#include "../../BASE/Inc/BSP/bsp_pb_decode_encode.h"
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#include "../../BASE/Inc/BSP/bsp_MB_host.h"
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#include "../../BASE/Inc/MSP/msp_TL720D.h"
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#include <stdio.h>
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#include <stdbool.h>
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#include <stdlib.h>
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#include "../../BASE/Inc/BSP/DLT/DLTuc.h"
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#include "../../BASE/Inc/MSP/msp_U7.h"
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#include "../../BASE/Inc/BSP/bsp_mqtt.h"
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#include "../../BASE/Inc/BSP/pb.h"
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#include "../../BASE/Inc/BSP/pb_decode.h"
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#include "../../BASE/Inc/BSP/pb_encode.h"
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#include "../../BASE/Inc/BSP/bsp_EEPROM.h"
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#include "../../BASE/Inc/BSP/bsp_pb_decode_encode.h"
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#include "../../BASE/Inc/BSP/bsp_MB_host.h"
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#include "../../BASE/Inc/BSP/bsp_DLT_Log.h"
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#include "../../BASE/Inc/BSP/bsp_UDP.h"
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#include "../../BASE/Inc/BSP/bsp_cpu_flash.h"
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#include "../../BASE/Inc/BSP/bsp_qspi_w25q128.h"
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#include "../../BASE/Inc/BSP/bsp_UpperComputer_Handler.h"
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#include "../../BASE/Inc/MSP/msp_TTMotor_ZQ.h"
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#include "../../BASE/Inc/BSP/bsp_Error_Detect.h"
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#include "bsp_IV.pb.h"
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#include "bsp_PV.pb.h"
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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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extern bool CompareTimer(int32_t DelayMiliSeconds,Sys_timer_handler * timer_handler);
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extern void SystemTimer_Intialize();
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extern void GF_Timer_Count();
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#define DLTViewer 1
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extern GV_struct_define GV;
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extern IV_struct_define IV;
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extern CV_struct_define CV;
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extern PV_struct_define decoded_PV;
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extern PV_struct_define _decoded_PV_temp;
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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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void CV_GV_Init();
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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 MotorParameters *Motor[3];
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extern int32_t *Motor_ID_Errors[3];
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extern int32_t* SystemErrorCode;
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extern ErrorData* SystemErrorData;
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typedef enum _Upper_TakeControl_State
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{
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Not_Taken_Over = 0, Taken_Over = 1,
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} Upper_TakeControl_State;
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typedef enum _Button_Reset_State
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{
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Has_Reset = 0, Has_Not_Reset = 1,
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} Button_Reset_State;
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typedef enum _HardWare_Disconnected_State
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{
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CONNECTED = 0, DISCONNECTED = 1,
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} HardWare_Disconnected_State;
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typedef enum _HardWare_ErrorExisted_State
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{
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NOT_ErrorExisted = 0, ErrorExisted = 1,
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} HardWare_ErrorExisted_State;
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extern TT_MotorParameters* TT_Motor[4];
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extern int32_t SystemTimeMiliCount; //2ms加一
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#endif /* INC_BHBF_ROBOT_H_ */
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