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sentry_chassis_hzz
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修改编译器的类型支持，将老旧的struct_typedef替换为新的stdint-gcc.h

This commit is contained in:
NeoZeng 2022-11-19 15:34:15 +08:00
parent 6c56d4d19f
commit 1dc8622f53
14 changed files with 77 additions and 103 deletions
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6
.vscode/settings.json vendored
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@ -1,6 +1,8 @@
{
"files.associations": {
"memory.h": "c"
"memory.h": "c",
"stdint-gcc.h": "c",
"led_task.h": "c",
"stdint.h": "c"
},
"C_Cpp.errorSquiggles": "Disabled"
}

5
bsp/bsp_buzzer.h
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@ -1,10 +1,11 @@
#ifndef BSP_BUZZER_H
#define BSP_BUZZER_H
#include "struct_typedef.h"
#include <stdint-gcc.h>
#include <stdint.h>
void buzzer_init();
extern void buzzer_on(uint16_t psc, uint16_t pwm,uint8_t level);
extern void buzzer_on(uint16_t psc, uint16_t pwm, uint8_t level);
extern void buzzer_off(void);
#endif

2
bsp/bsp_can.h
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@ -1,7 +1,7 @@
#ifndef BSP_CAN_H
#define BSP_CAN_H
#include "struct_typedef.h"
#include <stdint-gcc.h>
#include "can.h"
#define MX_REGISTER_DEVICE_CNT 12 // maximum number of device can be registered to CAN service

3
bsp/bsp_led.h
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@ -1,8 +1,7 @@
#ifndef BSP_LED_H
#define BSP_LED_H
#include "struct_typedef.h"
#include <stdint-gcc.h>
void LED_init();
extern void aRGB_led_show(uint32_t aRGB);

2
bsp/bsp_usart.h
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@ -1,7 +1,7 @@
#ifndef BSP_RC_H
#define BSP_RC_H
#include "struct_typedef.h"
#include <stdint-gcc.h>
#include "main.h"
#define DEVICE_USART_CNT 3 // C板至多分配3个串口

5
bsp/struct_typedef.h
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@ -22,10 +22,7 @@ typedef unsigned int uint32_t;
typedef unsigned long long uint64_t;
typedef unsigned char bool_t;
typedef float fp32;
typedef float float;
typedef double fp64;
#endif

91
modules/led_light/led_task.c
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@ -2,7 +2,7 @@
****************************(C) COPYRIGHT 2019 DJI****************************
* @file led_trigger_task.c/h
* @brief led RGB show.led RGB灯效。
* @note
* @note
* @history
* Version Date Author Modification
* V1.0.0 Nov-11-2019 RM 1. rgb led
@ -19,62 +19,59 @@
#include "cmsis_os.h"
#include "main.h"
#define RGB_FLOW_COLOR_CHANGE_TIME 1000
#define RGB_FLOW_COLOR_LENGHT 6
//blue-> green(dark)-> red -> blue(dark) -> green(dark) -> red(dark) -> blue
//蓝 -> 绿(灭) -> 红 -> 蓝(灭) -> 绿 -> 红(灭) -> 蓝
#define RGB_FLOW_COLOR_CHANGE_TIME 1000
#define RGB_FLOW_COLOR_LENGHT 6
// blue-> green(dark)-> red -> blue(dark) -> green(dark) -> red(dark) -> blue
// 蓝 -> 绿(灭) -> 红 -> 蓝(灭) -> 绿 -> 红(灭) -> 蓝
uint32_t RGB_flow_color[RGB_FLOW_COLOR_LENGHT + 1] = {0xFF0000FF, 0x0000FF00, 0xFFFF0000, 0x000000FF, 0xFF00FF00, 0x00FF0000, 0xFF0000FF};
/**
* @brief led rgb task
* @param[in] pvParameters: NULL
* @retval none
*/
* @brief led rgb task
* @param[in] pvParameters: NULL
* @retval none
*/
/**
* @brief led RGB任务
* @param[in] pvParameters: NULL
* @retval none
*/
* @brief led RGB任务
* @param[in] pvParameters: NULL
* @retval none
*/
void led_RGB_flow_task()
{
uint16_t i, j;
fp32 delta_alpha, delta_red, delta_green, delta_blue;
fp32 alpha,red,green,blue;
uint32_t aRGB;
uint16_t i, j;
float delta_alpha, delta_red, delta_green, delta_blue;
float alpha, red, green, blue;
uint32_t aRGB;
while(1)
while (1)
{
for (i = 0; i < RGB_FLOW_COLOR_LENGHT; i++)
{
alpha = (RGB_flow_color[i] & 0xFF000000) >> 24;
red = ((RGB_flow_color[i] & 0x00FF0000) >> 16);
green = ((RGB_flow_color[i] & 0x0000FF00) >> 8);
blue = ((RGB_flow_color[i] & 0x000000FF) >> 0);
for(i = 0; i < RGB_FLOW_COLOR_LENGHT; i++)
{
alpha = (RGB_flow_color[i] & 0xFF000000) >> 24;
red = ((RGB_flow_color[i] & 0x00FF0000) >> 16);
green = ((RGB_flow_color[i] & 0x0000FF00) >> 8);
blue = ((RGB_flow_color[i] & 0x000000FF) >> 0);
delta_alpha = (float)((RGB_flow_color[i + 1] & 0xFF000000) >> 24) - (float)((RGB_flow_color[i] & 0xFF000000) >> 24);
delta_red = (float)((RGB_flow_color[i + 1] & 0x00FF0000) >> 16) - (float)((RGB_flow_color[i] & 0x00FF0000) >> 16);
delta_green = (float)((RGB_flow_color[i + 1] & 0x0000FF00) >> 8) - (float)((RGB_flow_color[i] & 0x0000FF00) >> 8);
delta_blue = (float)((RGB_flow_color[i + 1] & 0x000000FF) >> 0) - (float)((RGB_flow_color[i] & 0x000000FF) >> 0);
delta_alpha = (fp32)((RGB_flow_color[i + 1] & 0xFF000000) >> 24) - (fp32)((RGB_flow_color[i] & 0xFF000000) >> 24);
delta_red = (fp32)((RGB_flow_color[i + 1] & 0x00FF0000) >> 16) - (fp32)((RGB_flow_color[i] & 0x00FF0000) >> 16);
delta_green = (fp32)((RGB_flow_color[i + 1] & 0x0000FF00) >> 8) - (fp32)((RGB_flow_color[i] & 0x0000FF00) >> 8);
delta_blue = (fp32)((RGB_flow_color[i + 1] & 0x000000FF) >> 0) - (fp32)((RGB_flow_color[i] & 0x000000FF) >> 0);
delta_alpha /= RGB_FLOW_COLOR_CHANGE_TIME;
delta_red /= RGB_FLOW_COLOR_CHANGE_TIME;
delta_green /= RGB_FLOW_COLOR_CHANGE_TIME;
delta_blue /= RGB_FLOW_COLOR_CHANGE_TIME;
for (j = 0; j < RGB_FLOW_COLOR_CHANGE_TIME; j++)
{
alpha += delta_alpha;
red += delta_red;
green += delta_green;
blue += delta_blue;
delta_alpha /= RGB_FLOW_COLOR_CHANGE_TIME;
delta_red /= RGB_FLOW_COLOR_CHANGE_TIME;
delta_green /= RGB_FLOW_COLOR_CHANGE_TIME;
delta_blue /= RGB_FLOW_COLOR_CHANGE_TIME;
for(j = 0; j < RGB_FLOW_COLOR_CHANGE_TIME; j++)
{
alpha += delta_alpha;
red += delta_red;
green += delta_green;
blue += delta_blue;
aRGB = ((uint32_t)(alpha)) << 24 | ((uint32_t)(red)) << 16 | ((uint32_t)(green)) << 8 | ((uint32_t)(blue)) << 0;
aRGB_led_show(aRGB);
osDelay(1);
}
}
aRGB = ((uint32_t)(alpha)) << 24 | ((uint32_t)(red)) << 16 | ((uint32_t)(green)) << 8 | ((uint32_t)(blue)) << 0;
aRGB_led_show(aRGB);
osDelay(1);
}
}
}
}

24
modules/led_light/led_task.h
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@ -2,7 +2,7 @@
****************************(C) COPYRIGHT 2019 DJI****************************
* @file led_trigger_task.c/h
* @brief led RGB show.led RGB<EFBFBD><EFBFBD>Ч<EFBFBD><EFBFBD>
* @note
* @note
* @history
* Version Date Author Modification
* V1.0.0 Nov-11-2019 RM 1. rgb led
@ -17,22 +17,18 @@
#ifndef LED_TRIGGER_TASK_H
#define LED_TRIGGER_TASK_H
#include "struct_typedef.h"
#include <stdint-gcc.h>
/**
* @brief led rgb task
* @param[in] pvParameters: NULL
* @retval none
*/
* @brief led rgb task
* @param[in] pvParameters: NULL
* @retval none
*/
/**
* @brief led RGB<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
* @param[in] pvParameters: NULL
* @retval none
*/
* @brief led RGB<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
* @param[in] pvParameters: NULL
* @retval none
*/
extern void led_RGB_flow_task();
#endif

2
modules/motor/HT04.h
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@ -1,7 +1,7 @@
#ifndef HT04_H
#define HT04_H
#include "struct_typedef.h"
#include <stdint-gcc.h>
#include "bsp_can.h"
#include "controller.h"

2
modules/motor/LK9025.h
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@ -1,7 +1,7 @@
#ifndef LK9025_H
#define LK9025_H
#include "struct_typedef.h"
#include <stdint-gcc.h>
#include "bsp_can.h"
#include "controller.h"

12
modules/referee/crc.h
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@ -1,18 +1,18 @@
#ifndef __CRC_H_
#define __CRC_H_
#include "struct_typedef.h"
#include <stdint-gcc.h>
#define TRUE 1
#define FALSE 0
// CRC8
void Append_CRC8_Check_Sum( uint8_t *pchMessage, uint16_t dwLength);
uint32_t Verify_CRC8_Check_Sum( uint8_t *pchMessage, uint16_t dwLength);
uint8_t Get_CRC8_Check_Sum( uint8_t *pchMessage, uint16_t dwLength, uint8_t ucCRC8 );
void Append_CRC8_Check_Sum(uint8_t *pchMessage, uint16_t dwLength);
uint32_t Verify_CRC8_Check_Sum(uint8_t *pchMessage, uint16_t dwLength);
uint8_t Get_CRC8_Check_Sum(uint8_t *pchMessage, uint16_t dwLength, uint8_t ucCRC8);
// CRC16
void Append_CRC16_Check_Sum(uint8_t * pchMessage,uint32_t dwLength);
void Append_CRC16_Check_Sum(uint8_t *pchMessage, uint32_t dwLength);
uint32_t Verify_CRC16_Check_Sum(uint8_t *pchMessage, uint32_t dwLength);
uint16_t Get_CRC16_Check_Sum(uint8_t *pchMessage,uint32_t dwLength,uint16_t wCRC);
uint16_t Get_CRC16_Check_Sum(uint8_t *pchMessage, uint32_t dwLength, uint16_t wCRC);
#endif

20
modules/referee/referee.c
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@ -13,7 +13,6 @@ usart_instance referee_usart_instance;
/**************裁判系统数据******************/
referee_info_t referee_info;
bool_t Judge_Data_TF = FALSE; //裁判数据是否可用,辅助函数调用
uint8_t Judge_Self_ID; //当前机器人的ID
uint16_t Judge_SelfClient_ID; //发送者机器人对应的客户端ID
@ -21,7 +20,7 @@ uint16_t Judge_SelfClient_ID; //发送者机器人对应的客户端ID
static void ReceiveCallback()
{
Judge_Data_TF=Judge_Read_Data(referee_usart_instance.recv_buff);
Judge_Read_Data(referee_usart_instance.recv_buff);
}
void referee_init(UART_HandleTypeDef *referee_usart_handle)
@ -39,9 +38,8 @@ void referee_init(UART_HandleTypeDef *referee_usart_handle)
* @retval 是否对正误判断做处理
* @attention 在此判断帧头和CRC校验,无误再写入数据，不重复判断帧头
*/
bool_t Judge_Read_Data(uint8_t *ReadFromUsart)
void Judge_Read_Data(uint8_t *ReadFromUsart)
{
bool_t retval_tf = FALSE; //数据正确与否标志,每次调用读取裁判系统数据函数都先默认为错误
uint16_t judge_length; //统计一帧数据长度
// referee_info.CmdID = 0; //数据命令码解析
//空数据包，则不作任何处理
@ -64,7 +62,6 @@ bool_t Judge_Read_Data(uint8_t *ReadFromUsart)
//帧尾CRC16校验
if (Verify_CRC16_Check_Sum(ReadFromUsart, judge_length) == TRUE)
{
retval_tf = TRUE; //都校验过了则说明数据可用
// 2个8位拼成16位int
referee_info.CmdID = (ReadFromUsart[6] << 8 | ReadFromUsart[5]);
//解析数据命令码,将数据拷贝到相应结构体中(注意拷贝数据的长度)
@ -129,21 +126,8 @@ bool_t Judge_Read_Data(uint8_t *ReadFromUsart)
}
}
return retval_tf; //返回此次接收到的数据是否时有效的
}
/**
* @brief 数据是否可用
* @param void
* @retval TRUE可用 FALSE不可用
* @attention 在裁判读取函数中实时改变返回值
*/
bool_t JUDGE_sGetDataState(void)
{
return Judge_Data_TF;
}
/**
* @brief 读取瞬时功率
* @param void

4
modules/referee/referee.h
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@ -342,9 +342,7 @@ typedef struct
extern referee_info_t referee_info;
void referee_init(UART_HandleTypeDef *referee_usart_handle);
bool_t Judge_Read_Data(uint8_t *ReadFromUsart);
bool_t JUDGE_sGetDataState(void);
void Judge_Read_Data(uint8_t *ReadFromUsart);
float JUDGE_fGetChassisPower(void);
#endif // !REFEREE_H

2
modules/remote/remote_control.h
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@ -13,7 +13,7 @@
#ifndef REMOTE_CONTROL_H
#define REMOTE_CONTROL_H
#include "struct_typedef.h"
#include <stdint-gcc.h>
#include "main.h"
#define RC_CH_VALUE_MIN ((uint16_t)364)