第一次提交

2026-05-29 17:36:34 +08:00
commit 5b3333125d
1318 changed files with 722705 additions and 0 deletions
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+#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 "shoot.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();
+    // ShootInit();
+#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();
+    // ShootTask();
+#endif
+
+#if defined(ONE_BOARD) || defined(CHASSIS_BOARD)
+    //ChassisTask();
+#endif
+
+}