60 lines
1.3 KiB
C
60 lines
1.3 KiB
C
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#include "bsp_init.h"
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#include "robot.h"
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#include "robot_def.h"
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#include "robot_task.h"
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// 编译warning,提醒开发者修改机器人参数
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#ifndef ROBOT_DEF_PARAM_WARNING
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#define ROBOT_DEF_PARAM_WARNING
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#pragma message "check if you have configured the parameters in robot_def.h, IF NOT, please refer to the comments AND DO IT, otherwise the robot will have FATAL ERRORS!!!"
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#endif // !ROBOT_DEF_PARAM_WARNING
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#if defined(ONE_BOARD) || defined(CHASSIS_BOARD)
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#include "chassis.h"
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#endif
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#if defined(ONE_BOARD) || defined(GIMBAL_BOARD)
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#include "gimbal.h"
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#include "to_stretch.h"
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#include "robot_cmd.h"
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#endif
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void RobotInit()
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{
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// 关闭中断,防止在初始化过程中发生中断
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// 请不要在初始化过程中使用中断和延时函数！
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// 若必须,则只允许使用DWT_Delay()
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__disable_irq();
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BSPInit();
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#if defined(ONE_BOARD) || defined(GIMBAL_BOARD)
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RobotCMDInit();
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// GimbalInit();
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To_stretchInit();
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#endif
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#if defined(ONE_BOARD) || defined(CHASSIS_BOARD)
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ChassisInit();
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#endif
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OSTaskInit(); // 创建基础任务
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// 初始化完成,开启中断
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__enable_irq();
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}
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void RobotTask()
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{
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#if defined(ONE_BOARD) || defined(GIMBAL_BOARD)
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RobotCMDTask();
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// GimbalTask();
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To_stretchTask();
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#endif
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#if defined(ONE_BOARD) || defined(CHASSIS_BOARD)
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ChassisTask();
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#endif
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}
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