60 lines
1.3 KiB
C
60 lines
1.3 KiB
C
#include "bsp_init.h"
|
|
#include "robot.h"
|
|
#include "robot_def.h"
|
|
#include "robot_task.h"
|
|
|
|
// 编译warning,提醒开发者修改机器人参数
|
|
#ifndef ROBOT_DEF_PARAM_WARNING
|
|
#define ROBOT_DEF_PARAM_WARNING
|
|
#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!!!"
|
|
#endif // !ROBOT_DEF_PARAM_WARNING
|
|
|
|
#if defined(ONE_BOARD) || defined(CHASSIS_BOARD)
|
|
#include "chassis.h"
|
|
#endif
|
|
|
|
#if defined(ONE_BOARD) || defined(GIMBAL_BOARD)
|
|
#include "gimbal.h"
|
|
#include "to_stretch.h"
|
|
#include "robot_cmd.h"
|
|
#endif
|
|
|
|
|
|
void RobotInit()
|
|
{
|
|
// 关闭中断,防止在初始化过程中发生中断
|
|
// 请不要在初始化过程中使用中断和延时函数！
|
|
// 若必须,则只允许使用DWT_Delay()
|
|
__disable_irq();
|
|
|
|
BSPInit();
|
|
|
|
#if defined(ONE_BOARD) || defined(GIMBAL_BOARD)
|
|
RobotCMDInit();
|
|
// GimbalInit();
|
|
To_stretchInit();
|
|
#endif
|
|
|
|
#if defined(ONE_BOARD) || defined(CHASSIS_BOARD)
|
|
ChassisInit();
|
|
#endif
|
|
|
|
OSTaskInit(); // 创建基础任务
|
|
|
|
// 初始化完成,开启中断
|
|
__enable_irq();
|
|
}
|
|
|
|
void RobotTask()
|
|
{
|
|
#if defined(ONE_BOARD) || defined(GIMBAL_BOARD)
|
|
RobotCMDTask();
|
|
// GimbalTask();
|
|
To_stretchTask();
|
|
#endif
|
|
|
|
#if defined(ONE_BOARD) || defined(CHASSIS_BOARD)
|
|
ChassisTask();
|
|
#endif
|
|
|
|
} |