diff --git a/CODE_OF_CONDUCT.md b/CODE_OF_CONDUCT.md index 19ef38880a45038cb3dbb519dbdc8234b5936934..8cd37953378fe019157df47b67aded913ae17b7c 100644 --- a/CODE_OF_CONDUCT.md +++ b/CODE_OF_CONDUCT.md @@ -55,7 +55,7 @@ further defined and clarified by project maintainers. ## Enforcement Instances of abusive, harassing, or otherwise unacceptable behavior may be -reported by contacting the project team at 503578404@qq.com. All +reported by contacting the project team at . All complaints will be reviewed and investigated and will result in a response that is deemed necessary and appropriate to the circumstances. The project team is obligated to maintain confidentiality with regard to the reporter of an incident. @@ -68,9 +68,9 @@ members of the project's leadership. ## Attribution This Code of Conduct is adapted from the [Contributor Covenant][homepage], version 1.4, -available at https://www.contributor-covenant.org/version/1/4/code-of-conduct.html +available at [homepage]: https://www.contributor-covenant.org For answers to common questions about this code of conduct, see -https://www.contributor-covenant.org/faq + diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md deleted file mode 100644 index 5674f42e12bf84cc4b5569f8824dcc2c6aa2717e..0000000000000000000000000000000000000000 --- a/CONTRIBUTING.md +++ /dev/null @@ -1,76 +0,0 @@ -# 如何贡献代码 - -感谢你阅读此文档，现阶段代码主要由战队队员修改，但是欢迎大家提出意见和建议。此文档主要为指导队员如何提交自己的代码。 - -## 测试 - -现阶段并没有软件测试，所有功能必须在机器人或MCU上测试之后提交。 - -## 提交代码更改 - -请在仓库(Repo)中提交*Pull Request*(*PR*)来提交你的修改。*PR*必须要有清楚的描述。 - -*Commit*的日志必须要清楚地描述改动。小改动允许日志只有一行，但是大的改动最好有多行日志来详细描述。推荐使用*VS Code*内置的工具来操作*Git*。 - -## 风格指南 - -阅读代码和README来了解整个代码的结构。为了更好的可读性： - -* **必须**先阅读[风格指南](Doc/style_guide.md)并严格遵守 - -## 添加新的CLI命令 - -添加到CLI的命令可以说是调试时候使用的，也可以是运行时使用的，也可以是教学时帮助理解的实验。具体可以参考[添加判断字节顺序的实验](https://github.com/qsheeeeen/qdu-robomaster-mcu/commit/150460147dbc4f5b0ad7054c2591e01bba452495)和[FreeRTOS CLI官方教程](https://www.freertos.org/FreeRTOS-Plus/FreeRTOS_Plus_CLI/FreeRTOS_Plus_Command_Line_Interface.html)。 - -## 添加新的开发板 - -需要修改的文件夹有`src/bsp`。 - -1. 在`cmake`中添加`board_xxx.cmake`，内容参考其他以`board_`开头的`.cmake`文件 -1. 在`src/bsp`中与现有开发板并列添加一个文件夹。例如`rm_b`（代指RoboMaster开发板B型）。 -1. 参考`bsp`中头文件，在`rm_b`中添加对应的源代码文件。 - * 在头文件中不能实现的功能，需要加宏定义来根据不同的开发板来编译。例如[led.h](./User/bsp/led.h)中针对不同板子定义了不同的LED功能。 - -## 添加新的组件 - -步骤： - -1. 在`src/component`新建一对文件`xx.c`和`xx.h`。 - -## 添加新的设备（传感器、执行器等） - -需要修改的文件夹有`device`。 - -步骤： - -1. 在`src/device`新建一对文件`xx.c`和`xx.h`。 - -注意事项： - -* Device里的设备只能在thread里使用，因为数据的读取需要用到任务同步机制。 - -## 添加新的模块 - -模块是指不同于底盘、发射器、云台的部分机器人机构，例如工程机器人的执行机构。这里假设已经完成所需要的传感器和执行器的添加。 - -1. 在`src/module`添加一对文件`xx.c`和`xx.h`，实现功能的抽象。 -1. 在`src/thread`添加对应的线程运行模块。 - -## 添加任务 - -需要修改的文件夹有`src/thread`。 - -1. 在`thread`新建文件`xx.c`。 -1. 在`thread/user_task.h`中添加任务函数的声明`Thread_Xxxx`。 - -## 注意事项 - -* `vTaskSuspendAll`和`xTaskResumeAll`中间不能有可能导致任务切换的函数，例如操作消息队列。 -* 如果任务不需要运行多个实例，则尽量将任务变量放置到任务函数外。 -* extern 只能用在头文件中，可以修饰变量（这意味着必须在源文件中声明变量，原则上不使用） - ---- - -万分感谢 - -青岛大学 未来战队 diff --git a/README.md b/README.md index bfdb906816bb396d1d2dad2608a8e5bdc138b320..9b5740c7d20e5d68dec56ef0c082173d3bc74413 100644 --- a/README.md +++ b/README.md @@ -3,7 +3,7 @@ 颠覆传统理念的嵌入式软件开发框架。诞生于Robomaster比赛，但绝不局限于此。
- +

是时候使用现代化的方式来进行嵌入式开发了！ @@ -83,7 +83,7 @@

-![嵌入式程序层次图](./doc/image/嵌入式程序层次图.png) +![嵌入式程序层次图](./image/嵌入式程序层次图.png)
@@ -136,11 +136,11 @@ XRobot基本部分是一套开发板与功能模块的管理系统，能够让
-| | | | -| ---------------------------------------------------------- | ----------------------------------------------------------- | ----------------------------------------------------------- | -| | | | +| | | | +| ------------------------------------------------------ | ------------------------------------------------------- | ------------------------------------------------------- | +| | | | - +
@@ -148,38 +148,42 @@ XRobot基本部分是一套开发板与功能模块的管理系统，能够让 ## 硬件支持 -| MCU | Board | Image | -| ----------- | ------------------------------------------------------------------------------------------------------------------ | ------------------------------------------------------------------ | -| STM32F407IG | [Robomaster C型开发板](https://www.robomaster.com/zh-CN/products/components/general/development-board-type-c/info) | | -| STM32F302CB | [IMU-DEV-BOARD](https://xrobot-org.github.io/1.hardware/3.IMU-DEV.html) | | -| STM32F446RE | [C-Mini](https://xrobot-org.github.io/1.hardware/1.C-MINI.html) | | -| STM32F103 | [F103 CAN](https://xrobot-org.github.io/1.hardware/4.F103_CAN.html) | | -| ESP32-C3 | [ESP32C3-Core](https://xrobot-org.github.io/1.hardware/2.ESP32C3-Core.html) | | -| Linux x86 | [Intel NUC](https://www.intel.cn/content/www/cn/zh/products/details/nuc.html) | | -| Linux arm | [Raspberry pi 4B](https://www.raspberrypi.com/) | | -| Linux arm | [mCore-R818](https://mangopi.org/mcorer818) | | +| MCU | Board | Image | +| ----------- | ------------------------------------------------------------------------------------------------------------------ | ---------------------------------------------------------------- | +| STM32F407IG | [Robomaster C型开发板](https://www.robomaster.com/zh-CN/products/components/general/development-board-type-c/info) | | +| STM32F302CB | [IMU-DEV-BOARD](https://xrobot-org.github.io/1.hardware/3.IMU-DEV.html) | | +| STM32F446RE | [C-Mini](https://xrobot-org.github.io/1.hardware/1.C-MINI.html) | | +| STM32F103 | [F103 CAN](https://xrobot-org.github.io/1.hardware/4.F103_CAN.html) | | +| ESP32-C3 | [ESP32C3-Core](https://xrobot-org.github.io/1.hardware/2.ESP32C3-Core.html) | | +| Linux x86 | [Intel NUC](https://www.intel.cn/content/www/cn/zh/products/details/nuc.html) | | +| Linux arm | [Raspberry pi 4B](https://www.raspberrypi.com/) | | +| Linux arm | [mCore-R818](https://mangopi.org/mcorer818) | | ## 图片展示 -`VSCode与openOCD联合调试` +`Linux下VSCode与openOCD联合调试` -![VSCode调试界面](./doc/image/调试界面.png?raw=true "VSCode调试界面") +![VSCode调试界面](./image/调试界面.png?raw=true "VSCode调试界面") + +`Windows使用Mingw64原生开发` + +![Windows](./image/windows.png?raw=true "Windows") `Windows11使用CLion在WSL下开发` -![CLion调试界面](./doc/image/clion.png?raw=true "CLion调试界面") +![CLion调试界面](./image/clion.png?raw=true "CLion调试界面") `XRobot作为外部控制器在Webots进行运动学仿真` -![Webots仿真](./doc/image/Webots仿真.png?raw=true "Webots仿真") +![Webots仿真](./image/Webots仿真.png?raw=true "Webots仿真") `利用命令行查看log、校准陀螺仪、监控电机运行数据和机器人参数配置` -![命令行](./doc/image/命令行.png?raw=true "命令行") +![命令行](./image/命令行.png?raw=true "命令行") `自定义UI框架` -![客户端UI](./doc/image/客户端UI.png?raw=true "客户端UI") +![客户端UI](./image/客户端UI.png?raw=true "客户端UI") ## 相关依赖 diff --git a/doc/check_in.md b/doc/check_in.md deleted file mode 100644 index 060e31125b067039c5a0bf13e7e689433f2f5e79..0000000000000000000000000000000000000000 --- a/doc/check_in.md +++ /dev/null @@ -1,47 +0,0 @@ -# 2021年高校联盟赛（山东站）检录 - -## 检录区照片（顺序为从右向左） - -| ![检录区1](../Image/RMUL2021检录1.jpg?raw=true "检录区1") | -|:--:| -| *检录区1* | - -| ![检录区2](../Image/RMUL2021检录2.jpg?raw=true "检录区2") | -|:--:| -| *检录区2* | - -## 检录项目 - -### 称重及检测长宽高 - -机器人最大重量及长宽高不超过机器人制作规范允许范围。本项目过后由参赛队伍对机器人上电，由工作人员贴PASS卡。 - -### 设置ID - -机器人上电后，由工作人员对机器人ID及装甲板ID进行设置。 - -### 电源管理模块及电容检查 - -检测电源管理模块工作是否正常（参赛队伍要确定能露出指示灯方便检录）。 - -检查电容是否安全（是否有保护）。 - -### 固件版本检测 - -工作人员将主控模块通过USB连接到电脑，检查裁判系统固件版本。 - -### 外观检测 - -主要检测徽标是否符合规定，装甲板贴纸，外观反光度等等（没有专业设备，只是用眼看） - -### 连接服务器检测 - -由操作手手动连接检录WIFI - -* 工作人员用服务器分别给机器人的底盘、云台、发射器模块断电以及整体杀死，查看相应模块是否断电。 -* 功率检测。顶住机器人，油门推最大，由工作人员通过服务器查看功率是否正常（可以利用缓冲能量，只要不扣血就行）。 -* 发弹检测。发出至少一发子弹，检测是否超射速。 - -### 图传检测 - -操作手刷RFID卡后，机器人自动连接图传，由工作人员查看并移动云台查看是否工作正常。 diff --git a/doc/dev.md b/doc/dev.md deleted file mode 100644 index a9f6d03a9951b27a480062dd2ea3f8222b67edff..0000000000000000000000000000000000000000 --- a/doc/dev.md +++ /dev/null @@ -1,14 +0,0 @@ -# 开发步骤 - -## 桌面机器人 - -研发早期会遇到机械组进队落后的问题，导致没有实体机器人调试的问题。 -此时则使用“桌面机器人”的方式进行开发。此方法也是适用于新功能的验证。 - -桌面机器人只保留机器人的电路部分和最基础的机械部分（如简易云台）来进行开发。 - -![桌面机器人](./Image/桌面机器人.png "桌面机器人") - -## 实体机器人 - -未完待续 diff --git "a/doc/diag/\344\272\221\345\217\260\346\216\247\345\210\266\345\216\237\347\220\206.drawio" "b/doc/diag/\344\272\221\345\217\260\346\216\247\345\210\266\345\216\237\347\220\206.drawio" deleted file mode 100644 index ccca04569de285363fc00c09ce32cd33bc6580d1..0000000000000000000000000000000000000000 --- "a/doc/diag/\344\272\221\345\217\260\346\216\247\345\210\266\345\216\237\347\220\206.drawio" +++ /dev/null @@ -1 +0,0 @@ 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\ No newline at end of file diff --git "a/doc/diag/\345\212\237\347\216\207\351\231\220\345\210\266\346\216\247\345\210\266\346\265\201\347\250\213.drawio" "b/doc/diag/\345\212\237\347\216\207\351\231\220\345\210\266\346\216\247\345\210\266\346\265\201\347\250\213.drawio" deleted file mode 100644 index 02368b169baacc6ee2acdd7e2e5889850860294d..0000000000000000000000000000000000000000 --- "a/doc/diag/\345\212\237\347\216\207\351\231\220\345\210\266\346\216\247\345\210\266\346\265\201\347\250\213.drawio" +++ /dev/null @@ -1 +0,0 @@ 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\ No newline at end of file diff --git "a/doc/diag/\345\223\250\345\205\265\345\265\214\345\205\245\345\274\217\347\241\254\344\273\266\346\241\206\345\233\276.drawio" "b/doc/diag/\345\223\250\345\205\265\345\265\214\345\205\245\345\274\217\347\241\254\344\273\266\346\241\206\345\233\276.drawio" deleted file mode 100644 index 1be1f27c12b65e1919fa37c9e72e3afcbf0d0f83..0000000000000000000000000000000000000000 --- "a/doc/diag/\345\223\250\345\205\265\345\265\214\345\205\245\345\274\217\347\241\254\344\273\266\346\241\206\345\233\276.drawio" +++ /dev/null @@ -1 +0,0 @@ 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4Nar1bNX+if1wE2mKm0hL3IRs+DmFvmORmyq0ZiyKlwPHO13s8gwk/Z8qPjIVH05D+WmmnlcvLaAoua16D1jrORVx5YDm3NlMcQ8Ws1gpUmvd2URdF4w1pOJmk1jzyaeq1gac2Br6t4XmRVG663FPjIhzzttY7tMqDd7YchJ1qmSSzJlHbTCdzC6/yu+mnOZrgu8WZaYUpvU28fNxxU+qyiUeXU6TpYtOA7UUtfYs0D4CTmaZo6tB3XpQpirk5yoVmUNVrp2mlGvF2r4aCufltU0++lc/0Owv8sFcrj+cXc/OgNy9dqzDmsHMOk6augQs0FbdJAmZokt2rx4KAQ/e10L0/HNQRadQaXzDDaBAbjJk5mk/u67JxaF6i4uaTcoO5S1wevFBi0UH2UZlb3lE2KBArzT+OEtb6URHzD+OCRwMXaeUFEiAaAp1Sjn/AdzensoCNiluPoAu2NfA51jtZQmb4vtP/tLjI/4F \ No newline at end of file diff --git "a/doc/diag/\345\265\214\345\205\245\345\274\217\347\250\213\345\272\217\345\261\202\346\254\241\345\233\276.drawio" "b/doc/diag/\345\265\214\345\205\245\345\274\217\347\250\213\345\272\217\345\261\202\346\254\241\345\233\276.drawio" deleted file mode 100644 index d8765b857338d2a5f8b3aad2286475710a4fd39d..0000000000000000000000000000000000000000 --- "a/doc/diag/\345\265\214\345\205\245\345\274\217\347\250\213\345\272\217\345\261\202\346\254\241\345\233\276.drawio" +++ /dev/null @@ -1 +0,0 @@ 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\ No newline at end of file diff --git "a/doc/diag/\345\265\214\345\205\245\345\274\217\347\250\213\345\272\217\346\225\260\346\215\256\346\265\201\345\220\221\345\233\276.drawio" "b/doc/diag/\345\265\214\345\205\245\345\274\217\347\250\213\345\272\217\346\225\260\346\215\256\346\265\201\345\220\221\345\233\276.drawio" deleted file mode 100644 index a2bf0862a8b24927b9005f10742a4cf57a80df6b..0000000000000000000000000000000000000000 --- "a/doc/diag/\345\265\214\345\205\245\345\274\217\347\250\213\345\272\217\346\225\260\346\215\256\346\265\201\345\220\221\345\233\276.drawio" +++ /dev/null @@ -1 +0,0 @@ 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\ No newline at end of file diff --git "a/doc/diag/\346\255\245\345\205\265\345\265\214\345\205\245\345\274\217\347\241\254\344\273\266\346\241\206\345\233\276.drawio" "b/doc/diag/\346\255\245\345\205\265\345\265\214\345\205\245\345\274\217\347\241\254\344\273\266\346\241\206\345\233\276.drawio" deleted file mode 100644 index 9afb78c3f4b6c5035fe14685922f1fa0cd190117..0000000000000000000000000000000000000000 --- "a/doc/diag/\346\255\245\345\205\265\345\265\214\345\205\245\345\274\217\347\241\254\344\273\266\346\241\206\345\233\276.drawio" +++ /dev/null @@ -1 +0,0 @@ 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95fff8b12ec8dd509cd06def92cb4dbba2204638..0000000000000000000000000000000000000000 --- a/doc/operator.md +++ /dev/null @@ -1,35 +0,0 @@ -# 2021年高校联盟赛（山东站）操作手指南 - -## 操作间 - -| ![操作间](../Image/操作间.jpg?raw=true "操作间") | -|:--:| -| *操作间* | - -## 注意事项 - -### UI - -- 如果上一局的机器人使用了UI，本局开始时需要手动清除。 -- UI可以手动关闭，如果遇到UI整体消失，先检查UI是否在设置中被隐藏。 -- UI中的中心准星很难与实际打击位置对应，建议手动关闭，以免影响操作。 - -### 灵敏度 - -- 客户端鼠标灵敏度可以自行设置，注意这里不能设置太低。太低的话，由于量化误差，会使低速鼠标运动（即微操）丢失。 -- 建议将鼠标灵敏度设置在中间位置，不能过低。如果遇到灵敏度问题，还可以在代码`moudle/config.c`中进行设置。 - -## 战术设置 - -### 底盘类型 - -由于底盘电容的存在，可以尝试使用血量有限以实现强大的生存能力。 -但是如果出现电容离线则应该尝试功率有限，以保证移动能力的方式来保证生存能力。 - -### 发射器类型 - -射速优先适合吊射式打法。而爆发优先则适合近身肉搏，需要注意的是电控要尽可能保证弹丸初速稳定，10m/s初速的大弹丸容易被裁判系统误判为小弹丸。当赛场出现特殊情况导致初速不稳定时，则应考虑使用高初速，以优先保证弹丸伤害能力。此时发射间隙较长，注意利用掩体。 - -### 热量控制 - -热量控制是非常重要的。英雄的热量控制需要保守，通常超热量就意味着自杀。步兵的热量控制在于除非有特别好的输出机会，否则不要让热量过高。比赛时因为热量控制失误，导致多次在英雄打残对方机器人的时候没有补充上最后一点伤害。 diff --git a/doc/style_guide.md b/doc/style_guide.md deleted file mode 100644 index 127814dcd377eef5217c3732065a1f3be962fe86..0000000000000000000000000000000000000000 --- a/doc/style_guide.md +++ /dev/null @@ -1,67 +0,0 @@ -# Style Guide - -编码风格主要参考Google C++ 风格指南([中文版](https://zh-google-styleguide.readthedocs.io/en/latest/google-cpp-styleguide/contents/)/[英文原版](https://google.github.io/styleguide/cppguide.html))中与C语言相通的部分，并在此基础上添加了部分战队特有风格。 - -本文件为对以上材料的补充和改写。如果本文件与参考指南冲突，则以本指南为准。 - -所有不符合此规范的代码都不能提交，鼓励对已有的不规范的代码进行更改。 - -* 提交前**必须**使用Google风格的`clang-formator`进行格式化 -* 如果使用VS Code编辑代码，建议打开`Format On Save` - -## 头文件 - -### #pragma once 保护 - -所有头文件都应该使用 `#pragma once` 来防止头文件被多重包含。 - -### #include的路径和顺序 - -所有手写的代码都要放在`User`内，以保证不需要添加其他`include`路径。 - -1. 本源代码文件对应的头文件。本文件为`adc.c`则对应 `adc.h`。 - -1. C自带库，需要使用`#include <>`。 - -1. 其他文件夹内或本文件夹内的 `.h` 文件，使用`#include ""`，按字母数序排列，应包含路径。 - -## 面向过程编程 - -所有的代码均运用面向过程的编程思维，用`struct`存储数据，使用函数对`struct`内的数据进行操作。 - -## 函数 - -### 参数 - -1. 尽量使用指针，来保证效率。 -1. 单一数据输出时使用`return`的形式，多输出时使用结构体指针进行输出。 -1. 函数的参数应该尽可能地用`const`保护起来，防止意外修改。 -1. 对于指针参数，应该检查参数是否为`NULL`。 - -## 命名约定 - -1. 为保证命名不重复，需要以所在文件名夹为函数名称的开始 - * 例如`bsp/buzzer.h`内，宏定义命名需要以`BSP_BUZZER_`开始，函数则以`BSP_Buzzer_`开始。 - * 前缀之后的部分，遵顼Google C++ 风格指南。例如`BSP_GPIO_RegisterCallback()` - -1. `typedef`定义的类后面加`_t`，例：`PID_t` - -## 注释 - -使用`/* 内容 */`格式的注释(注意空格) - -## 格式 - -待补充 - -## 其他 - -``` C -/* 当有代码不需要起作用但要保留时，请使用以下方法 */ -#if 0 - -FunctionOne(); -FunctionTwo(); - -#endif -``` diff --git a/doc/ui.md b/doc/ui.md deleted file mode 100644 index a480387d27c281a9c869d3e68f7cbce2490aca6e..0000000000000000000000000000000000000000 --- a/doc/ui.md +++ /dev/null @@ -1,48 +0,0 @@ -# UI设计思路 - -RM中UI设计是非常重要的。 -通过UI展示机器人工作状态可以帮助操作手更好地发挥机器人性能。 -同时，还可帮助操作手和研发人员在赛场上快速判断故障。 - -UI的设计应该适量、直观： -过量的UI虽然看上去令人满足，但却会淹没重要数据，不利于操作手快速掌握动态； -UI设计中应该避免直接使用数字，尽量使用图形使UI直观，便于操作手理解。 - -UI主要分为两部分：背景信息等几乎不需要刷新的图案、需要经常刷新来及时表达状态的图案。 -对于整个UI系统来说，可以将所有UI综合起来，然后简单地分类成：不刷新、低频刷新和高频刷新。通过将低频和高频刷新图案分开，可以有效减少带宽浪费。 -可以根据需要，继续添加中等刷新频率的图案。 - -## 参考 - -本着碰瓷就碰个大的的原则，战队的UI设计参考了[F35](https://www.mudspike.com/dino-cattaneos-f-35-abc/)仪表盘和HUD设计、[战地4](https://zh.gta5-mods.com/misc/battlefield-4-style-tank-hud)中坦克的UI设计。从中提取了合适的元素，并根据裁判系统特性进行简化，在保留思想和要点的同时减少代码量、CPU计算量和带宽占用。 - -### 基本元素 - -- 圆形进度条：由两部分组成：标签和外围的圆弧。相比矩形进度条有以下有点： - 1. 节省空间。矩形进度条通常需要两行，圆形进度条最大只占圆形面积。同样面积下，圆形更清晰。 - 1. 更少的图形。矩形进度条需要标签，进度条本身，进度条满刻度标记。圆形进度条用圆本身表示100%，不需要满刻度标记。 - 1. 更直观。圆弧相比直线可以更好的分辨其长度占整体的百分比。 - - 衍生： - 1. 圆形位置条：参考拨弹电机（TRIG）的UI。 - 1. 圆形多重进度条：参考摩擦轮（FRIC）的UI。 - -- 文本选择框：由两部分构成：标签和矩形选择框有以下有点 - 1. 一次性**展示所有状态**，不需要通过尝试来解锁所有状态，降低学习成本。 - -## 颜色 - -UI中颜色不宜过多，且颜色应该有含义。 -由于场地中存在红蓝两色装饰，所以选择绿色为主色调与此两者分开，增加辨识度。通过绿色与其他颜色混合得到其他状态的颜色。 -其中，青色（CYAN）用来表示额外信息，黄色用来表示警告。其余颜色原则上不需要。 -例如摩擦轮（FRIC）的UI中，使用绿色为主色调，显示标签和实时转速水平；用青色显示设定值；用黄色标签指示电机过热。 - -## 位置 - -不同于坦克和战斗机等拥有分开的仪表和HUD，RM将两者结合在了一起，一起放在了屏幕中，这种UI设计更接近于游戏UI。可以借鉴各类战争游戏，例如战地系列。 -在设计UI时应该提前划分好区域：仪表部分应尽可能放置于屏幕边缘，不影响视野。覆盖视野的UI应该尽量少，只选取最关键的部分。 - -## 预处理 - -**UI的展示需要一个信息处理提纯的过程。** -例如操作手不需要知道电容的电压值17.4324V，只需要知道电容的电量；不需要知道拨弹电机的精确位置3.51451234，而只需要大概位置。 diff --git a/hw/bsp/MiniPC/debug/launch.json b/hw/bsp/MiniPC/debug/launch.json index 1907c37f198702bc9bbbf976854a80d459c8262b..ccedfc9a92faea95f9b59cce37c52c4ea5f0ed47 100644 --- a/hw/bsp/MiniPC/debug/launch.json +++ b/hw/bsp/MiniPC/debug/launch.json @@ -3,6 +3,10 @@ // 悬停以查看现有属性的描述。 // 欲了解更多信息，请访问: https://go.microsoft.com/fwlink/?linkid=830387 "version": "0.2.0", + "liveWatch": { + "enabled": true, + "samplesPerSecond": 4 + }, "configurations": [ { "type": "lldb", diff --git a/hw/bsp/MiniPC_with_canfd/debug/launch.json b/hw/bsp/MiniPC_with_canfd/debug/launch.json index 1907c37f198702bc9bbbf976854a80d459c8262b..ccedfc9a92faea95f9b59cce37c52c4ea5f0ed47 100644 --- a/hw/bsp/MiniPC_with_canfd/debug/launch.json +++ b/hw/bsp/MiniPC_with_canfd/debug/launch.json @@ -3,6 +3,10 @@ // 悬停以查看现有属性的描述。 // 欲了解更多信息，请访问: https://go.microsoft.com/fwlink/?linkid=830387 "version": "0.2.0", + "liveWatch": { + "enabled": true, + "samplesPerSecond": 4 + }, "configurations": [ { "type": "lldb", diff --git a/hw/bsp/Webots/debug/launch.json b/hw/bsp/Webots/debug/launch.json index 1907c37f198702bc9bbbf976854a80d459c8262b..ccedfc9a92faea95f9b59cce37c52c4ea5f0ed47 100644 --- a/hw/bsp/Webots/debug/launch.json +++ b/hw/bsp/Webots/debug/launch.json @@ -3,6 +3,10 @@ // 悬停以查看现有属性的描述。 // 欲了解更多信息，请访问: https://go.microsoft.com/fwlink/?linkid=830387 "version": "0.2.0", + "liveWatch": { + "enabled": true, + "samplesPerSecond": 4 + }, "configurations": [ { "type": "lldb", diff --git a/hw/bsp/c-mini/debug/launch.json b/hw/bsp/c-mini/debug/launch.json index 5b58c0564f71936383a72c1319a5ad2c381c153c..5109c19d2d1657b823b7ebc0367e9f62e9f757e6 100644 --- a/hw/bsp/c-mini/debug/launch.json +++ b/hw/bsp/c-mini/debug/launch.json @@ -17,5 +17,9 @@ ] } ], - "version": "0.2.0" + "version": "0.2.0", + "liveWatch": { + "enabled": true, + "samplesPerSecond": 4 + } } diff --git a/hw/bsp/dual_canfd/debug/launch.json b/hw/bsp/dual_canfd/debug/launch.json index 6b2a4e309a46e096820c98b8317948ab9d9b9129..f46b0d90f625304baa60f8770838bf38b114b7ce 100644 --- a/hw/bsp/dual_canfd/debug/launch.json +++ b/hw/bsp/dual_canfd/debug/launch.json @@ -17,5 +17,9 @@ ] } ], - "version": "0.2.0" + "version": "0.2.0", + "liveWatch": { + "enabled": true, + "samplesPerSecond": 4 + } } diff --git a/hw/bsp/esp32-c3-arduino/debug/launch.json b/hw/bsp/esp32-c3-arduino/debug/launch.json index ee3025c13ec90d7cda1e4445dd1bae1bfb271527..b4cdf0ccb65f9291f87f8e9db3390e0ec7a2383d 100644 --- a/hw/bsp/esp32-c3-arduino/debug/launch.json +++ b/hw/bsp/esp32-c3-arduino/debug/launch.json @@ -3,6 +3,10 @@ // 悬停以查看现有属性的描述。 // 欲了解更多信息，请访问: https://go.microsoft.com/fwlink/?linkid=830387 "version": "0.2.0", + "liveWatch": { + "enabled": true, + "samplesPerSecond": 4 + }, "configurations": [ { "cwd": "${workspaceRoot}", diff --git a/hw/bsp/esp32-c3-idf/debug/launch.json b/hw/bsp/esp32-c3-idf/debug/launch.json index ee3025c13ec90d7cda1e4445dd1bae1bfb271527..b4cdf0ccb65f9291f87f8e9db3390e0ec7a2383d 100644 --- a/hw/bsp/esp32-c3-idf/debug/launch.json +++ b/hw/bsp/esp32-c3-idf/debug/launch.json @@ -3,6 +3,10 @@ // 悬停以查看现有属性的描述。 // 欲了解更多信息，请访问: https://go.microsoft.com/fwlink/?linkid=830387 "version": "0.2.0", + "liveWatch": { + "enabled": true, + "samplesPerSecond": 4 + }, "configurations": [ { "cwd": "${workspaceRoot}", diff --git a/hw/bsp/f103_can/debug/launch.json b/hw/bsp/f103_can/debug/launch.json index 487562e6e280dd95bda95c3e5cabba41ee26d8b2..f6403fe848e5b70c77a9e99777f2b05bda35c66e 100644 --- a/hw/bsp/f103_can/debug/launch.json +++ b/hw/bsp/f103_can/debug/launch.json @@ -17,5 +17,9 @@ ] } ], - "version": "0.2.0" + "version": "0.2.0", + "liveWatch": { + "enabled": true, + "samplesPerSecond": 4 + } } diff --git a/hw/bsp/mangopi_r818/debug/launch.json b/hw/bsp/mangopi_r818/debug/launch.json index 1907c37f198702bc9bbbf976854a80d459c8262b..ccedfc9a92faea95f9b59cce37c52c4ea5f0ed47 100644 --- a/hw/bsp/mangopi_r818/debug/launch.json +++ b/hw/bsp/mangopi_r818/debug/launch.json @@ -3,6 +3,10 @@ // 悬停以查看现有属性的描述。 // 欲了解更多信息，请访问: https://go.microsoft.com/fwlink/?linkid=830387 "version": "0.2.0", + "liveWatch": { + "enabled": true, + "samplesPerSecond": 4 + }, "configurations": [ { "type": "lldb", diff --git a/hw/bsp/microswitch/debug/launch.json b/hw/bsp/microswitch/debug/launch.json index 487562e6e280dd95bda95c3e5cabba41ee26d8b2..f6403fe848e5b70c77a9e99777f2b05bda35c66e 100644 --- a/hw/bsp/microswitch/debug/launch.json +++ b/hw/bsp/microswitch/debug/launch.json @@ -17,5 +17,9 @@ ] } ], - "version": "0.2.0" + "version": "0.2.0", + "liveWatch": { + "enabled": true, + "samplesPerSecond": 4 + } } diff --git a/hw/bsp/node_imu/debug/launch.json b/hw/bsp/node_imu/debug/launch.json index 3ddcf9689374fca43603de362c5f03ff96c091d2..dec2d24dcfd890636251681d8ae71a19f78c146c 100644 --- a/hw/bsp/node_imu/debug/launch.json +++ b/hw/bsp/node_imu/debug/launch.json @@ -17,5 +17,9 @@ ] } ], - "version": "0.2.0" + "version": "0.2.0", + "liveWatch": { + "enabled": true, + "samplesPerSecond": 4 + } } diff --git a/hw/bsp/rm-c/debug/launch-jlink.json b/hw/bsp/rm-c/debug/launch-jlink.json index 7beca78a062ba315bcfa3a2e217901b535e679c4..b036a1af7fe6adf5cd79e13849ef6ec15e30d9fc 100644 --- a/hw/bsp/rm-c/debug/launch-jlink.json +++ b/hw/bsp/rm-c/debug/launch-jlink.json @@ -17,5 +17,9 @@ ] } ], - "version": "0.2.0" + "version": "0.2.0", + "liveWatch": { + "enabled": true, + "samplesPerSecond": 4 + } } diff --git a/hw/bsp/rm-c/debug/launch-stlink.json b/hw/bsp/rm-c/debug/launch-stlink.json index 8f6703bb54988720ec49ad38ab99c9d2b835236f..331928b2c21f9c759d1aa70562af78439146da59 100644 --- a/hw/bsp/rm-c/debug/launch-stlink.json +++ b/hw/bsp/rm-c/debug/launch-stlink.json @@ -17,5 +17,9 @@ ] } ], - "version": "0.2.0" + "version": "0.2.0", + "liveWatch": { + "enabled": true, + "samplesPerSecond": 4 + } } diff --git a/hw/bsp/rm-c/debug/launch.json b/hw/bsp/rm-c/debug/launch.json index 7beca78a062ba315bcfa3a2e217901b535e679c4..b036a1af7fe6adf5cd79e13849ef6ec15e30d9fc 100644 --- a/hw/bsp/rm-c/debug/launch.json +++ b/hw/bsp/rm-c/debug/launch.json @@ -17,5 +17,9 @@ ] } ], - "version": "0.2.0" + "version": "0.2.0", + "liveWatch": { + "enabled": true, + "samplesPerSecond": 4 + } } diff --git a/doc/image/C-MINI-1.jpg b/image/C-MINI-1.jpg old mode 100755 new mode 100644 similarity index 100% rename from doc/image/C-MINI-1.jpg rename to image/C-MINI-1.jpg diff --git a/doc/image/IMU-DEV-1.jpg b/image/IMU-DEV-1.jpg similarity index 100% rename from doc/image/IMU-DEV-1.jpg rename to image/IMU-DEV-1.jpg diff --git "a/doc/image/Webots\344\273\277\347\234\237.png" "b/image/Webots\344\273\277\347\234\237.png" similarity index 100% rename from "doc/image/Webots\344\273\277\347\234\237.png" rename to "image/Webots\344\273\277\347\234\237.png" diff --git a/doc/image/XRobot.jpeg b/image/XRobot.jpeg similarity index 100% rename from doc/image/XRobot.jpeg rename to image/XRobot.jpeg diff --git a/doc/image/clion.png b/image/clion.png similarity index 100% rename from doc/image/clion.png rename to image/clion.png diff --git a/doc/image/esp32c3-core-1.jpeg b/image/esp32c3-core-1.jpeg similarity index 100% rename from doc/image/esp32c3-core-1.jpeg rename to image/esp32c3-core-1.jpeg diff --git a/doc/image/f103_can.jpeg b/image/f103_can.jpeg similarity index 100% rename from doc/image/f103_can.jpeg rename to image/f103_can.jpeg diff --git a/doc/image/mCore-R818.jpg b/image/mCore-R818.jpg similarity index 100% rename from doc/image/mCore-R818.jpg rename to image/mCore-R818.jpg diff --git a/doc/image/nuc.jpg b/image/nuc.jpg similarity index 100% rename from doc/image/nuc.jpg rename to image/nuc.jpg diff --git a/doc/image/raspi.png b/image/raspi.png similarity index 100% rename from doc/image/raspi.png rename to image/raspi.png diff --git a/doc/image/rm-c.png b/image/rm-c.png similarity index 100% rename from doc/image/rm-c.png rename to image/rm-c.png diff --git a/doc/image/rmuc.jpg b/image/rmuc.jpg similarity index 100% rename from doc/image/rmuc.jpg rename to image/rmuc.jpg diff --git a/doc/image/rmuc1.jpg b/image/rmuc1.jpg similarity index 100% rename from doc/image/rmuc1.jpg rename to image/rmuc1.jpg diff --git a/doc/image/rmuc2.jpg b/image/rmuc2.jpg similarity index 100% rename from doc/image/rmuc2.jpg rename to image/rmuc2.jpg diff --git a/doc/image/rmuc3.jpg b/image/rmuc3.jpg similarity index 100% rename from doc/image/rmuc3.jpg rename to image/rmuc3.jpg diff --git a/doc/image/windows.png b/image/windows.png similarity index 100% rename from doc/image/windows.png rename to image/windows.png diff --git "a/doc/image/\345\221\275\344\273\244\350\241\214.png" "b/image/\345\221\275\344\273\244\350\241\214.png" similarity index 100% rename from "doc/image/\345\221\275\344\273\244\350\241\214.png" rename to "image/\345\221\275\344\273\244\350\241\214.png" diff --git "a/doc/image/\345\256\242\346\210\267\347\253\257UI.png" "b/image/\345\256\242\346\210\267\347\253\257UI.png" similarity index 100% rename from "doc/image/\345\256\242\346\210\267\347\253\257UI.png" rename to "image/\345\256\242\346\210\267\347\253\257UI.png" diff --git "a/doc/image/\345\265\214\345\205\245\345\274\217\347\250\213\345\272\217\345\261\202\346\254\241\345\233\276.png" "b/image/\345\265\214\345\205\245\345\274\217\347\250\213\345\272\217\345\261\202\346\254\241\345\233\276.png" old mode 100755 new mode 100644 similarity index 100% rename from "doc/image/\345\265\214\345\205\245\345\274\217\347\250\213\345\272\217\345\261\202\346\254\241\345\233\276.png" rename to "image/\345\265\214\345\205\245\345\274\217\347\250\213\345\272\217\345\261\202\346\254\241\345\233\276.png" diff --git "a/doc/image/\350\260\203\350\257\225\347\225\214\351\235\242.png" "b/image/\350\260\203\350\257\225\347\225\214\351\235\242.png" similarity index 100% rename from "doc/image/\350\260\203\350\257\225\347\225\214\351\235\242.png" rename to "image/\350\260\203\350\257\225\347\225\214\351\235\242.png" diff --git a/lib/one-message b/lib/one-message index 8808d5e9302750b323496acb863db8b8554f1666..1990ab504065fa198ca3724224a96226dd3b1e0e 160000 --- a/lib/one-message +++ b/lib/one-message @@ -1 +1 @@ -Subproject commit 8808d5e9302750b323496acb863db8b8554f1666 +Subproject commit 1990ab504065fa198ca3724224a96226dd3b1e0e diff --git a/src/device/bq27220/dev_bq27220.cpp b/src/device/bq27220/dev_bq27220.cpp index 9d896f8bcf25ba97ceb02ab040b44a9835a79e9c..dd75b4a953cf15730fbe106761f0da6d77b5b99c 100644 --- a/src/device/bq27220/dev_bq27220.cpp +++ b/src/device/bq27220/dev_bq27220.cpp @@ -4,6 +4,7 @@ #define BQ27220_DEVICE_ID (0x55) #define CTRL_REG_ADDR (0x00) +#define STATE_OF_CHARGE_ADDR (0x2C) #define OPERATION_STATUS_ADDR (0x3B) #define DESIGN_CAPACITY_CTRL_ADDR (0x3E) #define DESIGN_CAPACITY_ADDR (0x40) @@ -14,12 +15,30 @@ using namespace Device; BQ27220::BQ27220(Param& param) : param_(param) { - /* Read old capacity */ static uint8_t old_capacity[2]; - old_capacity[1] = bsp_i2c_mem_read_byte(BSP_I2C_BQ27220, BQ27220_DEVICE_ID, - DESIGN_CAPACITY_ADDR); - old_capacity[0] = bsp_i2c_mem_read_byte(BSP_I2C_BQ27220, BQ27220_DEVICE_ID, - DESIGN_CAPACITY_ADDR + 1); + + /* Read old capacity */ + for (int i = 0; i < 6; i++) { + old_capacity[0] = + bsp_i2c_mem_read_byte(BSP_I2C_BQ27220, BQ27220_DEVICE_ID, 0X3C); + System::Thread::Sleep(50); + old_capacity[1] = + bsp_i2c_mem_read_byte(BSP_I2C_BQ27220, BQ27220_DEVICE_ID, 0X3C + 1); + System::Thread::Sleep(50); + + auto old_cap = *reinterpret_cast(old_capacity); + + if (old_cap == 3000 || old_cap == param.capacity_mha) { + break; + } + } + + old_capacity[0] = + bsp_i2c_mem_read_byte(BSP_I2C_BQ27220, BQ27220_DEVICE_ID, 0X3C); + System::Thread::Sleep(50); + old_capacity[1] = + bsp_i2c_mem_read_byte(BSP_I2C_BQ27220, BQ27220_DEVICE_ID, 0X3C + 1); + System::Thread::Sleep(50); auto old_cap = *reinterpret_cast(old_capacity); if (old_cap != param_.capacity_mha) { @@ -28,22 +47,26 @@ BQ27220::BQ27220(Param& param) : param_(param) { auto task_fun = [](BQ27220* bq27220) { static uint8_t tmp[10]; - uint16_t* data = reinterpret_cast(tmp); + int16_t* data = reinterpret_cast(tmp); + bsp_i2c_mem_read(BSP_I2C_BQ27220, BQ27220_DEVICE_ID, STATE_OF_CHARGE_ADDR, + tmp, 2, true); + bq27220->data_.percentage = data[0]; bsp_i2c_mem_read(BSP_I2C_BQ27220, BQ27220_DEVICE_ID, TEMPERATURE_ADDR, tmp, 10, true); - bq27220->data_.temperate = data[0]; - bq27220->data_.voltage = data[1]; - bq27220->data_.current = data[3]; - bq27220->data_.real_capacity = data[4]; - bq27220->data_.percentage = data[4] / bq27220->param_.capacity_mha * 100; + bq27220->data_.temperate = static_cast(data[0] - 2731) / 10.0f; + bq27220->data_.voltage = static_cast(data[1]) / 1000.0f; + bq27220->data_.current = static_cast(data[3]) / 1000.0f; + + bq27220->data_.real_capacity = data[2]; }; - System::Timer::Create(task_fun, this, 10000); + System::Timer::Create(task_fun, this, 1000); } -void BQ27220::WriteParam() { /* UNSEAL it by sending the appropriate keys to - Control */ +void BQ27220::WriteParam() { + // TODO:Param write Invalid + /* UNSEAL it by sending the appropriate keys to Control */ bsp_i2c_mem_write_byte(BSP_I2C_BQ27220, BQ27220_DEVICE_ID, CTRL_REG_ADDR, 0X14); bsp_i2c_mem_write_byte(BSP_I2C_BQ27220, BQ27220_DEVICE_ID, CTRL_REG_ADDR + 1, @@ -70,13 +93,15 @@ void BQ27220::WriteParam() { /* UNSEAL it by sending the appropriate keys to 0X00); /* Wait CFGUPDATE, May take up to 1 second. */ - while ((bsp_i2c_mem_read_byte(BSP_I2C_BQ27220, BQ27220_DEVICE_ID, - OPERATION_STATUS_ADDR) & - (1 << 2)) != (1 << 2)) { - } + uint8_t tmp = 0; + + do { + tmp = bsp_i2c_mem_read_byte(BSP_I2C_BQ27220, BQ27220_DEVICE_ID, + OPERATION_STATUS_ADDR); + } while ((tmp & (1 << 2)) != (1 << 2)); /* Enable access of Design Capacity */ - bsp_i2c_mem_write_byte(BSP_I2C_BQ27220, DESIGN_CAPACITY_CTRL_ADDR, + bsp_i2c_mem_write_byte(BSP_I2C_BQ27220, BQ27220_DEVICE_ID, DESIGN_CAPACITY_CTRL_ADDR, 0x9F); bsp_i2c_mem_write_byte(BSP_I2C_BQ27220, BQ27220_DEVICE_ID, DESIGN_CAPACITY_CTRL_ADDR + 1, 0x92); @@ -102,13 +127,14 @@ void BQ27220::WriteParam() { /* UNSEAL it by sending the appropriate keys to /* Write new capacity */ bsp_i2c_mem_write_byte(BSP_I2C_BQ27220, BQ27220_DEVICE_ID, - DESIGN_CAPACITY_ADDR, old_cap >> 8); + DESIGN_CAPACITY_ADDR, param_.capacity_mha >> 8); bsp_i2c_mem_write_byte(BSP_I2C_BQ27220, BQ27220_DEVICE_ID, - DESIGN_CAPACITY_ADDR + 1, old_cap); + DESIGN_CAPACITY_ADDR + 1, param_.capacity_mha); /* Write new sum */ uint8_t new_sum = - 255 - (old_cap_sum_data - old_capacity[0] - old_capacity[1]) % 256; + (255 - old_cap_sum_data - old_capacity[0] - old_capacity[1]) % 256; + new_sum = 255 - ((new_sum + 0x04 + 0xb0) % 256); bsp_i2c_mem_write_byte(BSP_I2C_BQ27220, BQ27220_DEVICE_ID, CAPACITY_DATA_SUM_ADDR, new_sum); @@ -124,10 +150,11 @@ void BQ27220::WriteParam() { /* UNSEAL it by sending the appropriate keys to 0X00); /* Wait CFGUPDATE, May take up to 1 second. */ - while ((bsp_i2c_mem_read_byte(BSP_I2C_BQ27220, BQ27220_DEVICE_ID, - OPERATION_STATUS_ADDR) & - (1 << 2)) != 0) { - } + + do { + tmp = bsp_i2c_mem_read_byte(BSP_I2C_BQ27220, BQ27220_DEVICE_ID, + OPERATION_STATUS_ADDR); + } while ((tmp & (1 << 2)) != 0); /* return to SEALED mode */ bsp_i2c_mem_write_byte(BSP_I2C_BQ27220, BQ27220_DEVICE_ID, CTRL_REG_ADDR, diff --git a/src/device/bq27220/dev_bq27220.hpp b/src/device/bq27220/dev_bq27220.hpp index 6b245f7ca4ddf446a7dda67360e57fb8ae007ec2..8a754d7ebb18e8ff2b793912678f2730a1aa5ea3 100644 --- a/src/device/bq27220/dev_bq27220.hpp +++ b/src/device/bq27220/dev_bq27220.hpp @@ -8,11 +8,11 @@ class BQ27220 { } Param; typedef struct { - uint32_t voltage; - uint32_t temperate; - uint32_t current; - uint32_t real_capacity; - uint16_t percentage; + float voltage; + float temperate; + float current; + int16_t real_capacity; + uint8_t percentage; } Data; BQ27220(Param& param); diff --git a/src/device/led_rgb/dev_led_rgb.cpp b/src/device/led_rgb/dev_led_rgb.cpp index 13d4b4f17257419aec8686f2c14826a6fea91fa2..30643d31e7a1c32084f94c2922b5698575d2e1f5 100644 --- a/src/device/led_rgb/dev_led_rgb.cpp +++ b/src/device/led_rgb/dev_led_rgb.cpp @@ -4,9 +4,7 @@ using namespace Device; -static uint32_t led_stats; - -RGB::RGB() { +RGB::RGB(bool auto_start) { bsp_pwm_start(BSP_PWM_LED_RED); bsp_pwm_start(BSP_PWM_LED_BLU); bsp_pwm_start(BSP_PWM_LED_GRN); @@ -19,21 +17,24 @@ RGB::RGB() { while (1) { switch (led_fsm) { case 0: - led->Set(GREEN, ON, 1); - led->Set(RED, OFF, 1); - led->Set(BLUE, OFF, 1); + led->Set(GREEN, 1); + led->Set(RED, 0); + led->Set(BLUE, 0); led_fsm++; break; case 1: - led->Set(GREEN, OFF, 1); - led->Set(RED, ON, 1); - led->Set(BLUE, OFF, 1); + led->Set(GREEN, 0); + led->Set(RED, 1); + led->Set(BLUE, 0); led_fsm++; break; case 2: - led->Set(GREEN, OFF, 1); - led->Set(RED, OFF, 1); - led->Set(BLUE, ON, 1); + led->Set(GREEN, 0); + led->Set(RED, 0); + led->Set(BLUE, 1); + led_fsm = 0; + break; + default: led_fsm = 0; break; } @@ -42,53 +43,28 @@ RGB::RGB() { } }; - this->thread_.Create(led_thread, this, "led_thread", - DEVICE_LED_RGB_TASK_STACK_DEPTH, System::Thread::LOW); + if (auto_start) { + this->thread_.Create(led_thread, this, "led_thread", + DEVICE_LED_RGB_TASK_STACK_DEPTH, System::Thread::LOW); + } } -bool RGB::Set(RGB::Channel ch, RGB::Status status, float duty_cycle) { +bool RGB::Set(RGB::Channel ch, float duty_cycle) { clampf(&duty_cycle, 0.0f, 1.0f); - bsp_pwm_channel_t pwm_ch = BSP_PWM_NUMBER; - switch (ch) { case RED: bsp_pwm_set_comp(BSP_PWM_LED_RED, duty_cycle); - pwm_ch = BSP_PWM_LED_RED; break; case GREEN: bsp_pwm_set_comp(BSP_PWM_LED_GRN, duty_cycle); - pwm_ch = BSP_PWM_LED_GRN; break; case BLUE: bsp_pwm_set_comp(BSP_PWM_LED_BLU, duty_cycle); - pwm_ch = BSP_PWM_LED_BLU; break; default: - pwm_ch = BSP_PWM_LED_RED; - } - - switch (status) { - case ON: - bsp_pwm_start(pwm_ch); - led_stats |= pwm_ch; - break; - - case OFF: - bsp_pwm_stop(pwm_ch); - led_stats &= ~pwm_ch; - break; - - case TAGGLE: - if (led_stats & pwm_ch) { - bsp_pwm_stop(pwm_ch); - led_stats &= ~pwm_ch; - } else { - bsp_pwm_start(pwm_ch); - led_stats |= pwm_ch; - } break; } diff --git a/src/device/led_rgb/dev_led_rgb.hpp b/src/device/led_rgb/dev_led_rgb.hpp index 4be6273cd8d58e2fad66e74459a42e79ac8b6260..bc723963a785e7ed2fde06f589439d76b0044442 100644 --- a/src/device/led_rgb/dev_led_rgb.hpp +++ b/src/device/led_rgb/dev_led_rgb.hpp @@ -5,12 +5,6 @@ namespace Device { class RGB { public: - typedef enum { - ON, - OFF, - TAGGLE, - } Status; - typedef enum { BLUE, RED, @@ -18,9 +12,9 @@ class RGB { CHANNEL_NUMBER, } Channel; - RGB(); + RGB(bool auto_start = true); - bool Set(Channel ch, Status status, float duty_cycle); + bool Set(Channel ch, float duty_cycle); private: System::Thread thread_;