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https://github.com/goldenfishs/MRobot.git
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83 lines
1.6 KiB
C
83 lines
1.6 KiB
C
/*
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错误检测。
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*/
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#pragma once
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#ifdef __cplusplus
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extern "C" {
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#endif
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#include <stdbool.h>
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#include <stdint.h>
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/* USER INCLUDE BEGIN */
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/* USER INCLUDE END */
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/* USER DEFINE BEGIN */
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/* USER DEFINE END */
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typedef enum {
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/* Low priority */
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ERROR_DETECT_UNIT_NO_DEV = 0,
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ERROR_DETECT_UNIT_REFEREE,
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ERROR_DETECT_UNIT_CHASSIS_M1,
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ERROR_DETECT_UNIT_CHASSIS_M2,
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ERROR_DETECT_UNIT_CHASSIS_M3,
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ERROR_DETECT_UNIT_CHASSIS_M4,
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ERROR_DETECT_UNIT_TRIGGER,
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ERROR_DETECT_UNIT_FEED,
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ERROR_DETECT_UNIT_GIMBAL_YAW,
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ERROR_DETECT_UNIT_GIMBAL_PIT,
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ERROR_DETECT_UNIT_GYRO,
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ERROR_DETECT_UNIT_ACCL,
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ERROR_DETECT_UNIT_MAGN,
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ERROR_DETECT_UNIT_DBUS,
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ERROR_DETECT_UNIT_NUM,
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/* High priority */
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} ErrorDetect_Unit_t;
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typedef struct {
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bool enable;
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uint8_t priority;
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uint32_t patient_lost;
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uint32_t patient_work;
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uint32_t showup;
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uint32_t showup_last;
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uint32_t cycle_time;
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uint32_t duration_lost;
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uint32_t duration_work;
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uint32_t found_lost;
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bool error_exist;
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bool is_lost;
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uint8_t data_is_error;
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} ErrorDetect_Error_t;
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typedef struct {
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ErrorDetect_Error_t error[ERROR_DETECT_UNIT_NUM];
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} ErrorDetect_t;
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/* USER STRUCT BEGIN */
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/* USER STRUCT END */
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int8_t ErrorDetect_Init(void);
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void ErrorDetect_Processing(uint32_t sys_time);
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bool ErrorDetect_ErrorExist(ErrorDetect_Unit_t unit);
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ErrorDetect_Unit_t ErrorDetect_GetErrorUnit(void);
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const ErrorDetect_Error_t *ErrorDetect_GetDetail(ErrorDetect_Unit_t unit);
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void ErrorDetect_Update(ErrorDetect_Unit_t unit, uint32_t time_current);
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/* USER FUNCTION BEGIN */
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/* USER FUNCTION END */
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#ifdef __cplusplus
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}
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#endif
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