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161 lines
2.9 KiB
161 lines
2.9 KiB
2 weeks 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 "BSP/bsp_include.h"
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#include "bsp_PV.pb.h"
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#include "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 "BHBF_ROBOT.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_pb_decode_encode.h"
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#include "bsp_MB_host.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 "DLTuc.h"
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#include "MSP/msp_MK32_1.h"
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//#include "MSP/msp_MK32.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_pb_decode_encode.h"
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#include "bsp_MB_host.h"
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#include "bsp_include.h"
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#include "bsp_DLT_Log.h"
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#include "bsp_UDP.h"
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#include "BSP/bsp_cpu_flash.h"
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#include <bsp_qspi_w25q128.h>
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#include <bsp_UpperComputer_Handler.h>
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#include "bsp_Error_Detect.h"
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#include "bsp_IV.pb.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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bool CompareTimer_Delay(int32_t Delay);
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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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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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extern int32_t *Motor_ID_Errors[7];
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extern int32_t* SystemErrorCode;
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extern ErrorData* SystemErrorData;
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#define IV_Run_Mode_Automation 1
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#define IV_Run_Mode_Maunal 0
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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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#endif /* INC_BHBF_ROBOT_H_ */
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