命名空间
namespace	Algo

namespace	JointSetpointGenerator

namespace	Units

结构体
struct	BuzzerCommand

struct	BuzzerStatus

class	CommBridge

class	CommBridge< std::tuple< TxPackets... >, std::tuple< RxPackets... > >

class	FixedString

struct	IMUData
	Container for IMU sample data used by the hub. 更多...

class	ImuHub
	Hub that collects asynchronous IMU data and exposes it via HubBase. 更多...

struct	LEDCommand

struct	LEDStatus

class	Mahony

class	NBuf

class	Node

struct	node_desc

class	NotifyGuard
	状态去重 Guard，只在状态真正改变时才发送通知更多...

class	NotifyHub

class	SbusHub

class	SbusHubData

struct	SbusHubError

class	SeqlockBuf

class	SimpleMap

class	Topic

struct	topic_desc

class	VtHub

struct	VtHubDataInternal

struct	VtHubError

概念
concept	NodeConcept

concept	Printable

类型定义
template<typename... RxPackets>
using	RxOnlyCommBridge = CommBridge<std::tuple<EmptyPacket>, std::tuple<RxPackets...>>

template<typename... TxPackets>
using	TxOnlyCommBridge = CommBridge<std::tuple<TxPackets...>, std::tuple<EmptyPacket>>

typedef void(*	print_func_t) (const struct topic_desc *desc)

typedef size_t(*	get_size_func_t) ()

枚举
enum class	LEDMode : uint8_t { Solid , Blink , Breathing }

enum class	CommandType : uint8_t { SET , REMOVE }

函数
void	start_all_nodes ()

void	registerSound ()

void	playSound ()

float	vt_stick_percent (uint64_t stick)

template<float IN_MIN, float IN_MAX, float OUT_MIN, float OUT_MAX>
float	remap (const float x)

	LOG_MODULE_REGISTER (CommBridge, CONFIG_COMM_BRIDGE_LOG_LEVEL)

	RTIO_DEFINE_WITH_MEMPOOL (imu_rtio_ctx, 16, 16, 16, 512, sizeof(void *))

	LOG_MODULE_REGISTER (NodeSystem, CONFIG_NODE_LOG_LEVEL)

	LOG_MODULE_REGISTER (NotifyHub, CONFIG_NOTIFY_HUB_LOG_LEVEL)

OF_CCM_ATTR char	__aligned (4) g_buzzer_msgq_buffer[16 *sizeof(BuzzerCommand)]

	K_THREAD_STACK_DEFINE (g_buzzer_stack, 1024)

	K_THREAD_STACK_DEFINE (g_led_stack, 1024)

static bool	try_init_async (const device *uart_dev)

static bool	try_init_irq (const device *uart_dev)

static int	vthub_sys_init (void)

	SYS_INIT (vthub_sys_init, APPLICATION, CONFIG_APPLICATION_INIT_PRIORITY)

变量
constexpr size_t	MAX_KEY_LEN = 32

OF_CCM_ATTR ImuHub	imu_hub

OF_CCM_ATTR Mahony	g_mahony {1.5f, 0.0f}

OF_CCM_ATTR IMUData	g_imu_data {}

OF_CCM_ATTR SeqlockBuf< IMUData >	g_imu_buf

OF_CCM_ATTR uint64_t	g_prev_timestamp {}

std::function< void(IMUData &)>	update_func

OF_CCM_ATTR NotifyHub	hub

OF_CCM_ATTR SimpleMap< FixedString< MAX_KEY_LEN >, BuzzerStatus, 16 >	g_buzzer_noti

OF_CCM_ATTR SimpleMap< FixedString< MAX_KEY_LEN >, LEDStatus, 16 >	g_led_noti

OF_CCM_ATTR k_msgq	g_buzzer_msgq

OF_CCM_ATTR k_msgq	g_led_msgq

const device *	g_input_dev = nullptr

OF_CCM_ATTR SbusHub	sbus_hub

OF_CCM_ATTR SeqlockBuf< SbusHubData >	g_sbus_buf

constexpr uart_config	uart_cfg_dbus

static VtHubDataInternal	s_data

类型定义说明

◆ get_size_func_t

typedef size_t(* get_size_func_t) ()

◆ print_func_t

typedef void(* print_func_t) (const struct topic_desc *desc)

◆ RxOnlyCommBridge

template<typename... RxPackets>

using RxOnlyCommBridge = CommBridge<std::tuple<EmptyPacket>, std::tuple<RxPackets...>>

◆ TxOnlyCommBridge

template<typename... TxPackets>

using TxOnlyCommBridge = CommBridge<std::tuple<TxPackets...>, std::tuple<EmptyPacket>>

枚举类型说明

◆ CommandType

enum class CommandType : uint8_t

strong

枚举值
SET
REMOVE

◆ LEDMode

enum class LEDMode : uint8_t

strong

枚举值
Solid
Blink
Breathing

函数说明

◆ __aligned()

OF_CCM_ATTR char __aligned ( 4 )

◆ K_THREAD_STACK_DEFINE() [1/2]

K_THREAD_STACK_DEFINE	(	g_buzzer_stack	,
		1024	)

◆ K_THREAD_STACK_DEFINE() [2/2]

K_THREAD_STACK_DEFINE	(	g_led_stack	,
		1024	)

◆ LOG_MODULE_REGISTER() [1/3]

LOG_MODULE_REGISTER	(	CommBridge	,
		CONFIG_COMM_BRIDGE_LOG_LEVEL	)

◆ LOG_MODULE_REGISTER() [2/3]

LOG_MODULE_REGISTER	(	NodeSystem	,
		CONFIG_NODE_LOG_LEVEL	)

◆ LOG_MODULE_REGISTER() [3/3]

LOG_MODULE_REGISTER	(	NotifyHub	,
		CONFIG_NOTIFY_HUB_LOG_LEVEL	)

◆ playSound()

void playSound ( )

◆ registerSound()

void registerSound ( )

◆ remap()

template<float IN_MIN, float IN_MAX, float OUT_MIN, float OUT_MAX>

float remap ( const float x )

nodiscard

◆ RTIO_DEFINE_WITH_MEMPOOL()

RTIO_DEFINE_WITH_MEMPOOL	(	imu_rtio_ctx	,
		16	,
		16	,
		16	,
		512	,
		sizeof(void *)	)

◆ start_all_nodes()

void start_all_nodes ( )

◆ SYS_INIT()

SYS_INIT	(	vthub_sys_init	,
		APPLICATION	,
		CONFIG_APPLICATION_INIT_PRIORITY	)

◆ try_init_async()

static bool try_init_async ( const device * uart_dev )

static

◆ try_init_irq()

static bool try_init_irq ( const device * uart_dev )

static

◆ vt_stick_percent()

float vt_stick_percent ( uint64_t stick )

◆ vthub_sys_init()

static int vthub_sys_init ( void )

static

变量说明

◆ g_buzzer_msgq

OF_CCM_ATTR k_msgq g_buzzer_msgq

◆ g_buzzer_noti

OF_CCM_ATTR SimpleMap<FixedString<MAX_KEY_LEN>, BuzzerStatus, 16> g_buzzer_noti

◆ g_imu_buf

OF_CCM_ATTR SeqlockBuf<IMUData> g_imu_buf

◆ g_imu_data

OF_CCM_ATTR IMUData g_imu_data {}

◆ g_input_dev

const device* g_input_dev = nullptr

◆ g_led_msgq

OF_CCM_ATTR k_msgq g_led_msgq

◆ g_led_noti

OF_CCM_ATTR SimpleMap<FixedString<MAX_KEY_LEN>, LEDStatus, 16> g_led_noti

◆ g_mahony

OF_CCM_ATTR Mahony g_mahony {1.5f, 0.0f}

◆ g_prev_timestamp

OF_CCM_ATTR uint64_t g_prev_timestamp {}

◆ g_sbus_buf

OF_CCM_ATTR SeqlockBuf<SbusHubData> g_sbus_buf

◆ hub

OF_CCM_ATTR NotifyHub hub

◆ imu_hub

OF_CCM_ATTR ImuHub imu_hub

◆ MAX_KEY_LEN

size_t MAX_KEY_LEN = 32

constexpr

◆ s_data

VtHubDataInternal s_data

static

◆ sbus_hub

OF_CCM_ATTR SbusHub sbus_hub

◆ uart_cfg_dbus

uart_config uart_cfg_dbus

constexpr

初始值:

= {
        .baudrate = 100000,
        .parity = UART_CFG_PARITY_EVEN,
        .stop_bits = UART_CFG_STOP_BITS_2,
        .data_bits = UART_CFG_DATA_BITS_8,
        .flow_ctrl = UART_CFG_FLOW_CTRL_NONE
    }

◆ update_func

std::function<void(IMUData&)> update_func

命名空间

结构体

概念

类型定义

枚举

函数

变量

类型定义说明

◆ get_size_func_t

◆ print_func_t

◆ RxOnlyCommBridge

◆ TxOnlyCommBridge

枚举类型说明

◆ CommandType

◆ LEDMode

函数说明

◆ __aligned()

◆ K_THREAD_STACK_DEFINE() [1/2]

◆ K_THREAD_STACK_DEFINE() [2/2]

◆ LOG_MODULE_REGISTER() [1/3]

◆ LOG_MODULE_REGISTER() [2/3]

◆ LOG_MODULE_REGISTER() [3/3]

◆ playSound()

◆ registerSound()

◆ remap()

◆ RTIO_DEFINE_WITH_MEMPOOL()

◆ start_all_nodes()

◆ SYS_INIT()

◆ try_init_async()

◆ try_init_irq()

◆ vt_stick_percent()

◆ vthub_sys_init()

变量说明

◆ g_buzzer_msgq

◆ g_buzzer_noti

◆ g_imu_buf

◆ g_imu_data

◆ g_input_dev

◆ g_led_msgq

◆ g_led_noti

◆ g_mahony

◆ g_prev_timestamp

◆ g_sbus_buf

◆ hub

◆ imu_hub

◆ MAX_KEY_LEN

◆ s_data

◆ sbus_hub

◆ uart_cfg_dbus

◆ update_func