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修复类型支持问题和重复定义

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This commit is contained in:
NeoZeng
2022-11-19 15:40:38 +08:00
parent acf93052b2
commit 076973f41e
12 changed files with 71 additions and 113 deletions
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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<47><42>Ч<EFBFBD><D0A7>
* @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<47><42><EFBFBD><EFBFBD>
* @param[in] pvParameters: NULL
* @retval none
*/
* @brief led RGB<47><42><EFBFBD><EFBFBD>
* @param[in] pvParameters: NULL
* @retval none
*/
extern void led_RGB_flow_task();
#endif

3
modules/motor/HT04.h
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@@ -1,9 +1,10 @@
#ifndef HT04_H
#define HT04_H
#include "struct_typedef.h"
#include <stdint-gcc.h>
#include "bsp_can.h"
#include "controller.h"
#include "motor_def.h"
#define HT_MOTOR_CNT 4

4
modules/motor/LK9025.h
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@@ -1,16 +1,14 @@
#ifndef LK9025_H
#define LK9025_H
#include "struct_typedef.h"
#include "bsp_can.h"
#include "controller.h"
#include "motor_def.h"
#define LK_MOTOR_CNT 2
#define I_MIN -2000
#define I_MAX 2000
#define LIMIT_MIN_MAX(x, min, max) (x) = (((x) <= (min)) ? (min) : (((x) >= (max)) ? (max) : (x)))
typedef struct // 9025
{
uint16_t last_ecd;

3
modules/motor/motor_def.h
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@@ -13,6 +13,9 @@
#define MOTOR_DEF_H
#include "controller.h"
#include <stdint-gcc.h>
#define LIMIT_MIN_MAX(x, min, max) (x) = (((x) <= (min)) ? (min) : (((x) >= (max)) ? (max) : (x)))
/**
* @brief 闭环类型,如果需要多个闭环,则使用或运算

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)