mirror of
https://gitee.com/dlmu-cone/tronone-h7-scaffold
synced 2026-07-24 03:27:45 +08:00
98 lines
2.4 KiB
C
98 lines
2.4 KiB
C
/**
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* @file robot.c
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* @brief
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* @author TuxMonkey (nqx2004@gmail.com)
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* @version 1.0
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* @date 2025-07-08
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*
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* @copyright Copyright (c) 2025 DLMU-C.ONE
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*
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* @par 修改日志:
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* <table>
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* <tr><th>Date <th>Version <th>Author <th>Description
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* <tr><td>2025-07-08 <td>1.0 <td>TuxMonkey <td>内容
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* </table>
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*/
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#include "bsp_init.h"
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#include "robot.h"
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#include "rc.h"
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#include "robot_def.h"
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#include "cmsis_gcc.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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volatile RobotMode_t RobotMode = REMOTE_NOT_CONNECTED;
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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 "shoot.h"
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// #include "robot_cmd.h"
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// #endif
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/**
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* @brief 机器人初始化函数
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*
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* @note 该函数在系统启动时调用,用于初始化机器人各个模块
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*
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* @attention 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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*/
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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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// HAL_GPIO_WritePin(Power1_GPIO_Port, Power1_Pin, GPIO_PIN_SET);//使能24V电源
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// HAL_GPIO_WritePin(Power2_GPIO_Port, Power2_Pin, GPIO_PIN_SET);//使能24V电源
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// HAL_GPIO_WritePin(Power_5V_EN_GPIO_Port, Power_5V_EN_Pin, GPIO_PIN_SET);//使能5V电源
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BSPInit();
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if (RemoteControlInit(&huart5) == NULL)
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RobotMode = SYS_ERROR_OCCURRED;
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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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// ShootInit();
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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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// // ShootTask();
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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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