init

BALANCE/system.h

@@ -0,0 +1,124 @@
+#ifndef __SYSTEM_H
+#define __SYSTEM_H
+
+// Refer to all header files you need
+//引用所有需要用到的头文件
+#include "FreeRTOSConfig.h"
+//FreeRTOS相关头文件 
+//FreeRTOS related header files
+#include "FreeRTOS.h"
+#include "stm32f4xx.h"
+#include "task.h"
+#include "queue.h"
+#include "timers.h"
+#include "semphr.h"
+//The associated header file for the peripheral 
+//外设的相关头文件
+#include "sys.h"
+#include "delay.h"
+#include "usart.h"
+#include "balance.h"
+#include "led.h"
+#include "oled.h"
+#include "usart.h"
+#include "usartx.h"
+#include "adc.h"
+#include "can.h"
+#include "motor.h"
+#include "timer.h"
+#include "encoder.h"
+#include "show.h"								   
+#include "pstwo.h"
+#include "key.h"
+#include "robot_select_init.h"
+#include "I2C.h"
+#include "MPU6050.h"
+
+
+// Enumeration of car types
+//小车型号的枚举定义
+typedef enum 
+{
+	Mec_Car = 0, 
+	Omni_Car, 
+	Akm_Car, 
+	Diff_Car, 
+	FourWheel_Car, 
+	Tank_Car
+} CarMode;
+
+//Motor speed control related parameters of the structure
+//电机速度控制相关参数结构体
+typedef struct  
+{
+	float Encoder;     //Read the real time speed of the motor by encoder //编码器数值，读取电机实时速度
+	float Motor_Pwm;   //Motor PWM value, control the real-time speed of the motor //电机PWM数值，控制电机实时速度
+	float Target;      //Control the target speed of the motor //电机目标速度值，控制电机目标速度
+	float Velocity_KP; //Speed control PID parameters //速度控制PID参数
+	float	Velocity_KI; //Speed control PID parameters //速度控制PID参数
+}Motor_parameter;
+
+//Smoothed the speed of the three axes
+//平滑处理后的三轴速度
+typedef struct  
+{
+	float VX;
+	float VY;
+	float VZ;
+}Smooth_Control;
+
+/****** external variable definition. When system.h is referenced in other C files, 
+        other C files can also use the variable defined by system.c           ******/
+/****** 外部变量定义，当其它c文件引用system.h时，也可以使用system.c定义的变量 ******/
+extern u8 Flag_Stop;
+extern int Divisor_Mode;
+extern u8 Car_Mode;
+extern int Servo;
+extern float RC_Velocity;
+extern float Move_X, Move_Y, Move_Z; 
+extern float Velocity_KP, Velocity_KI;	
+extern Smooth_Control smooth_control;
+extern Motor_parameter MOTOR_A, MOTOR_B, MOTOR_C, MOTOR_D;
+extern float Encoder_precision;
+extern float Wheel_perimeter;
+extern float Wheel_spacing; 
+extern float Axle_spacing; 
+extern float Omni_turn_radiaus; 
+extern u8 PS2_ON_Flag, APP_ON_Flag, Remote_ON_Flag, CAN_ON_Flag, Usart1_ON_Flag, Usart5_ON_Flag;
+extern u8 Flag_Left, Flag_Right, Flag_Direction, Turn_Flag; 
+extern u8 PID_Send;                                            										                 
+extern float PS2_LX,PS2_LY,PS2_RX,PS2_RY,PS2_KEY;
+extern int Check, Checking, Checked, CheckCount, CheckPhrase1, CheckPhrase2;
+extern long int ErrorCode; 
+
+void systemInit(void);
+
+/***Macros define***/ /***宏定义***/
+//After starting the car (1000/100Hz =10) for seconds, it is allowed to control the car to move
+//开机(1000/100hz=10)秒后才允许控制小车进行运动
+#define CONTROL_DELAY		1000
+//The number of robot types to determine the value of Divisor_Mode. There are currently 6 car types
+//机器人型号数量，决定Divisor_Mode的值，目前有6种小车类型
+#define CAR_NUMBER    6      
+#define RATE_1_HZ		  1
+#define RATE_5_HZ		  5
+#define RATE_10_HZ		10
+#define RATE_20_HZ		20
+#define RATE_25_HZ		25
+#define RATE_50_HZ		50
+#define RATE_100_HZ		100
+#define RATE_200_HZ 	200
+#define RATE_250_HZ 	250
+#define RATE_500_HZ 	500
+#define RATE_1000_HZ 	1000
+/***Macros define***/ /***宏定义***/
+
+//C library function related header file
+//C库函数的相关头文件
+#include <stdio.h> 
+#include <stdint.h>
+#include <stdlib.h>
+#include <string.h>
+#include <math.h>
+#include "stdarg.h"
+#endif