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173 lines
3.8 KiB
173 lines
3.8 KiB
3 days ago
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/*
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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 "../../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_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_CMCU.h"
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#include "../../BASE/Inc/MSP/msp_T_F4.h"
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#include "../../BASE/Inc/MSP/msp_PaintThickness.h"
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#include "../../BASE/Inc/MSP/msp_Ultrasonic_Sensor.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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//#include "msp_pressure_sensor.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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//关键全局变量定义：GV、CV、PV
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//其他变量定义：X1_X2_X3_X4
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//X1：变量类型
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//X2：所属层级 GL、MSP、BSP
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//X3：所属模块
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//X4：名称
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//全局变量定义 X1=V
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//宏定义 X1=DF
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//结构体类型声明 X1=SP
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//结构体定义 X1=ST
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//指针类型定义 X1=P
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//全局函数定义 X1=GF
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//内部函数定义 X1为空，不要下划线，X2开头
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//函数参数定义、函数局部变量定义 X1为空，下划线开头
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#define DLTViewer 1
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extern GV_struct_define GV;
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//extern PV_struct_define PV;
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extern IV_struct_define IV;
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extern CV_struct_define CV;
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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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//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 u7_sbus 28
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extern TT_MotorParameters* TT_Motor[4];
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#endif /* INC_BHBF_ROBOT_H_ */
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