From 9e5ea40c573a7bc3b220586d9f1926041cba7e1d Mon Sep 17 00:00:00 2001 From: xueyq <799393978@qq.com> Date: Thu, 14 Mar 2024 21:05:35 +0800 Subject: [PATCH 1/2] =?UTF-8?q?TB67H450Base=20MT6816Base=20=E9=83=A8?= =?UTF-8?q?=E5=88=86=E8=99=9A=E5=87=BD=E6=95=B0=E5=A3=B0=E6=98=8E=E4=BF=AE?= =?UTF-8?q?=E6=94=B9?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../Ctrl/Driver/tb67h450_base.h | 10 +++++----- .../Ctrl/Sensor/Encoder/mt6816_base.h | 4 ++-- 2 files changed, 7 insertions(+), 7 deletions(-) diff --git a/2.Firmware/Ctrl-Step-Driver-STM32F1-fw/Ctrl/Driver/tb67h450_base.h b/2.Firmware/Ctrl-Step-Driver-STM32F1-fw/Ctrl/Driver/tb67h450_base.h index 3cfea1c..59d40f1 100644 --- a/2.Firmware/Ctrl-Step-Driver-STM32F1-fw/Ctrl/Driver/tb67h450_base.h +++ b/2.Firmware/Ctrl-Step-Driver-STM32F1-fw/Ctrl/Driver/tb67h450_base.h @@ -23,15 +23,15 @@ class TB67H450Base : public DriverBase /***** Port Specified Implements *****/ - virtual void InitGpio(); + virtual void InitGpio() = 0; - virtual void InitPwm(); + virtual void InitPwm() = 0; - virtual void DacOutputVoltage(uint16_t _voltageA_3300mVIn12bits, uint16_t _voltageB_3300mVIn12bits); + virtual void DacOutputVoltage(uint16_t _voltageA_3300mVIn12bits, uint16_t _voltageB_3300mVIn12bits) = 0; - virtual void SetInputA(bool _statusAp, bool _statusAm); + virtual void SetInputA(bool _statusAp, bool _statusAm) = 0; - virtual void SetInputB(bool _statusBp, bool _statusBm); + virtual void SetInputB(bool _statusBp, bool _statusBm) = 0; }; #endif diff --git a/2.Firmware/Ctrl-Step-Driver-STM32F1-fw/Ctrl/Sensor/Encoder/mt6816_base.h b/2.Firmware/Ctrl-Step-Driver-STM32F1-fw/Ctrl/Sensor/Encoder/mt6816_base.h index 2aae806..f2ddd71 100644 --- a/2.Firmware/Ctrl-Step-Driver-STM32F1-fw/Ctrl/Sensor/Encoder/mt6816_base.h +++ b/2.Firmware/Ctrl-Step-Driver-STM32F1-fw/Ctrl/Sensor/Encoder/mt6816_base.h @@ -37,9 +37,9 @@ class MT6816Base : public EncoderBase /***** Port Specified Implements *****/ - virtual void SpiInit(); + virtual void SpiInit() = 0; - virtual uint16_t SpiTransmitAndRead16Bits(uint16_t _dataTx); + virtual uint16_t SpiTransmitAndRead16Bits(uint16_t _dataTx) = 0; }; From 163c763082306d644a9c862969dd05f996b10340 Mon Sep 17 00:00:00 2001 From: xueyq <799393978@qq.com> Date: Thu, 14 Mar 2024 22:02:17 +0800 Subject: [PATCH 2/2] =?UTF-8?q?=E6=B7=BB=E5=8A=A0=E9=83=A8=E5=88=86?= =?UTF-8?q?=E5=A4=B4=E6=96=87=E4=BB=B6?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../3rdParty/fibre/cpp/include/fibre/protocol.hpp | 3 +++ 2.Firmware/Core-STM32F4-fw/3rdParty/fibre/cpp/protocol.cpp | 1 + 2.Firmware/Core-STM32F4-fw/Robot/instances/dummy_robot.h | 2 +- 3 files changed, 5 insertions(+), 1 deletion(-) diff --git a/2.Firmware/Core-STM32F4-fw/3rdParty/fibre/cpp/include/fibre/protocol.hpp b/2.Firmware/Core-STM32F4-fw/3rdParty/fibre/cpp/include/fibre/protocol.hpp index 77f2d18..74f7cd6 100644 --- a/2.Firmware/Core-STM32F4-fw/3rdParty/fibre/cpp/include/fibre/protocol.hpp +++ b/2.Firmware/Core-STM32F4-fw/3rdParty/fibre/cpp/include/fibre/protocol.hpp @@ -5,6 +5,9 @@ see protocol.md for the protocol specification #ifndef __PROTOCOL_HPP #define __PROTOCOL_HPP +#include + + // TODO: resolve assert #define assert(expr) diff --git a/2.Firmware/Core-STM32F4-fw/3rdParty/fibre/cpp/protocol.cpp b/2.Firmware/Core-STM32F4-fw/3rdParty/fibre/cpp/protocol.cpp index 23a2e0a..f315382 100644 --- a/2.Firmware/Core-STM32F4-fw/3rdParty/fibre/cpp/protocol.cpp +++ b/2.Firmware/Core-STM32F4-fw/3rdParty/fibre/cpp/protocol.cpp @@ -1,5 +1,6 @@ /* Includes ------------------------------------------------------------------*/ +#include #include #include diff --git a/2.Firmware/Core-STM32F4-fw/Robot/instances/dummy_robot.h b/2.Firmware/Core-STM32F4-fw/Robot/instances/dummy_robot.h index 6bb7bda..3209fe5 100644 --- a/2.Firmware/Core-STM32F4-fw/Robot/instances/dummy_robot.h +++ b/2.Firmware/Core-STM32F4-fw/Robot/instances/dummy_robot.h @@ -1,6 +1,6 @@ #ifndef REF_STM32F4_FW_DUMMY_ROBOT_H #define REF_STM32F4_FW_DUMMY_ROBOT_H - +#include #include "algorithms/kinematic/6dof_kinematic.h" #include "actuators/ctrl_step/ctrl_step.hpp"