From 599cb4ad9274fb45490ab293cadfd93319957024 Mon Sep 17 00:00:00 2001 From: xiaoliangstd <2303335747@qq.com> Date: Fri, 7 Apr 2023 16:51:24 +0800 Subject: [PATCH] update lib with lower gcc version and README.md --- CMakeLists.txt | 28 +- README.md | 8 +- build/CMakeCache.txt | 366 ++++++++++ build/CMakeFiles/3.16.3/CMakeCCompiler.cmake | 76 ++ .../CMakeFiles/3.16.3/CMakeCXXCompiler.cmake | 88 +++ .../3.16.3/CMakeDetermineCompilerABI_C.bin | Bin 0 -> 16544 bytes .../3.16.3/CMakeDetermineCompilerABI_CXX.bin | Bin 0 -> 16560 bytes build/CMakeFiles/3.16.3/CMakeSystem.cmake | 15 + .../3.16.3/CompilerIdC/CMakeCCompilerId.c | 671 ++++++++++++++++++ build/CMakeFiles/3.16.3/CompilerIdC/a.out | Bin 0 -> 16704 bytes .../CompilerIdCXX/CMakeCXXCompilerId.cpp | 660 +++++++++++++++++ build/CMakeFiles/3.16.3/CompilerIdCXX/a.out | Bin 0 -> 16712 bytes .../CMakeDirectoryInformation.cmake | 16 + build/CMakeFiles/CMakeOutput.log | 471 ++++++++++++ build/CMakeFiles/Makefile.cmake | 50 ++ 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create mode 100644 build/CMakeFiles/motorctrl.dir/flags.make create mode 100644 build/CMakeFiles/motorctrl.dir/link.txt create mode 100644 build/CMakeFiles/motorctrl.dir/progress.make create mode 100644 build/CMakeFiles/progress.marks create mode 100644 build/Makefile create mode 100755 build/changeID create mode 100644 build/cmake_install.cmake create mode 100755 build/motorctrl mode change 100755 => 100644 example/changeID.cpp rename include/{CRC => crc}/crc32.h (100%) delete mode 100755 lib/libunitreeMotorSDK_Arm32.so mode change 100755 => 100644 lib/libunitreeMotorSDK_Arm64.so diff --git a/CMakeLists.txt b/CMakeLists.txt index 7f4602e..303a42e 100755 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -5,20 +5,18 @@ set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -O3") include_directories(include) link_directories(lib) -set(BITNESS 32) -if(CMAKE_SIZEOF_VOID_P EQUAL 8) - set(BITNESS 64) -endif() - if(CMAKE_HOST_SYSTEM_PROCESSOR MATCHES "aarch64") - IF(BITNESS EQUAL 64) - set(EXTRA_LIBS libunitreeMotorSDK_Arm64.so) - ELSEIF(BITNESS EQUAL 32) - set(EXTRA_LIBS libunitreeMotorSDK_Arm32.so) - ENDIF() -else() - set(EXTRA_LIBS libunitreeMotorSDK_Linux64.so) -endif() + add_executable(motorctrl example/main.cpp ) + target_link_libraries(motorctrl unitreeMotorSDK_Arm64) -add_executable(motorctrl example/main.cpp) -target_link_libraries(motorctrl ${EXTRA_LIBS}) \ No newline at end of file + add_executable(changeID example/changeID.cpp) + target_link_libraries(changeID unitreeMotorSDK_Arm64) + +else() + add_executable(motorctrl example/main.cpp ) + target_link_libraries(motorctrl unitreeMotorSDK_Linux64) + + add_executable(changeID example/changeID.cpp) + target_link_libraries(changeID unitreeMotorSDK_Linux64) + +endif() diff --git a/README.md b/README.md index 45b6569..a8ec386 100644 --- a/README.md +++ b/README.md @@ -2,10 +2,16 @@ ### Notice -support motor: A1 motor、 B1 motor +support motor: A1 motor、 B1 motor not support motor: GO-M8010-6 motor (Check GO-M8010-6 branch for support) +gcc >= 5.4.0 (for libunitreeMotorSDK_Linux64.so) + +gcc >= 8.3.0 (for libunitreeMotorSDK_Arm64.so) + +run gcc -v command to check your gcc version + ### Build ```bash mkdir build diff --git a/build/CMakeCache.txt b/build/CMakeCache.txt new file mode 100644 index 0000000..6349cb0 --- /dev/null +++ b/build/CMakeCache.txt @@ -0,0 +1,366 @@ +# This is the CMakeCache file. +# For build in directory: /home/liang/Desktop/unitree_actuator_sdk/build +# It was generated by CMake: /usr/bin/cmake +# You can edit this file to change values found and used by cmake. +# If you do not want to change any of the values, simply exit the editor. +# If you do want to change a value, simply edit, save, and exit the editor. +# The syntax for the file is as follows: +# KEY:TYPE=VALUE +# KEY is the name of a variable in the cache. +# TYPE is a hint to GUIs for the type of VALUE, DO NOT EDIT TYPE!. +# VALUE is the current value for the KEY. + +######################## +# EXTERNAL cache entries 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0xFFFF) + +#elif defined(__BORLANDC__) +# define COMPILER_ID "Borland" + /* __BORLANDC__ = 0xVRR */ +# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8) +# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF) + +#elif defined(__WATCOMC__) && __WATCOMC__ < 1200 +# define COMPILER_ID "Watcom" + /* __WATCOMC__ = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__WATCOMC__) +# define COMPILER_ID "OpenWatcom" + /* __WATCOMC__ = VVRP + 1100 */ +# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__SUNPRO_C) +# define COMPILER_ID "SunPro" +# if __SUNPRO_C >= 0x5100 + /* __SUNPRO_C = 0xVRRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_C>>12) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_C>>4 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_C & 0xF) +# else + /* __SUNPRO_CC = 0xVRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_C>>8) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_C>>4 & 0xF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_C & 0xF) +# endif + +#elif defined(__HP_cc) +# define COMPILER_ID "HP" + /* __HP_cc = VVRRPP */ +# define COMPILER_VERSION_MAJOR DEC(__HP_cc/10000) +# define COMPILER_VERSION_MINOR DEC(__HP_cc/100 % 100) +# define COMPILER_VERSION_PATCH DEC(__HP_cc % 100) + +#elif defined(__DECC) +# define COMPILER_ID "Compaq" + /* __DECC_VER = VVRRTPPPP */ +# define COMPILER_VERSION_MAJOR DEC(__DECC_VER/10000000) +# define COMPILER_VERSION_MINOR DEC(__DECC_VER/100000 % 100) +# define COMPILER_VERSION_PATCH DEC(__DECC_VER % 10000) + +#elif defined(__IBMC__) && defined(__COMPILER_VER__) +# define COMPILER_ID "zOS" + /* __IBMC__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMC__ % 10) + +#elif defined(__ibmxl__) && defined(__clang__) +# define COMPILER_ID "XLClang" +# define COMPILER_VERSION_MAJOR DEC(__ibmxl_version__) +# define COMPILER_VERSION_MINOR DEC(__ibmxl_release__) +# define COMPILER_VERSION_PATCH DEC(__ibmxl_modification__) +# define COMPILER_VERSION_TWEAK DEC(__ibmxl_ptf_fix_level__) + + +#elif defined(__IBMC__) && !defined(__COMPILER_VER__) && __IBMC__ >= 800 +# define COMPILER_ID "XL" + /* __IBMC__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMC__ % 10) + +#elif defined(__IBMC__) && !defined(__COMPILER_VER__) && __IBMC__ < 800 +# define COMPILER_ID "VisualAge" + /* __IBMC__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMC__ % 10) + +#elif defined(__PGI) +# define COMPILER_ID "PGI" +# define COMPILER_VERSION_MAJOR DEC(__PGIC__) +# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__) +# if defined(__PGIC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__) +# endif + +#elif defined(_CRAYC) +# define COMPILER_ID "Cray" +# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR) +# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR) + +#elif defined(__TI_COMPILER_VERSION__) +# define COMPILER_ID "TI" + /* __TI_COMPILER_VERSION__ = VVVRRRPPP */ +# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000) +# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000 % 1000) +# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__ % 1000) + +#elif defined(__FUJITSU) || defined(__FCC_VERSION) || defined(__fcc_version) +# define COMPILER_ID "Fujitsu" + +#elif defined(__ghs__) +# define COMPILER_ID "GHS" +/* __GHS_VERSION_NUMBER = VVVVRP */ +# ifdef __GHS_VERSION_NUMBER +# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100) +# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10) +# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER % 10) +# endif + +#elif defined(__TINYC__) +# define COMPILER_ID "TinyCC" + +#elif defined(__BCC__) +# define COMPILER_ID "Bruce" + +#elif defined(__SCO_VERSION__) +# define COMPILER_ID "SCO" + +#elif defined(__ARMCC_VERSION) && !defined(__clang__) +# define COMPILER_ID "ARMCC" +#if __ARMCC_VERSION >= 1000000 + /* __ARMCC_VERSION = VRRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#else + /* __ARMCC_VERSION = VRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#endif + + +#elif defined(__clang__) && defined(__apple_build_version__) +# define COMPILER_ID "AppleClang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif +# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__) + +#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION) +# define COMPILER_ID "ARMClang" + # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION % 10000) +# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION) + +#elif defined(__clang__) +# define COMPILER_ID "Clang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif + +#elif defined(__GNUC__) +# define COMPILER_ID "GNU" +# define COMPILER_VERSION_MAJOR DEC(__GNUC__) +# if defined(__GNUC_MINOR__) +# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__) +# endif +# if defined(__GNUC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif defined(_MSC_VER) +# define COMPILER_ID "MSVC" + /* _MSC_VER = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100) +# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100) +# if defined(_MSC_FULL_VER) +# if _MSC_VER >= 1400 + /* _MSC_FULL_VER = VVRRPPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000) +# else + /* _MSC_FULL_VER = VVRRPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000) +# endif +# endif +# if defined(_MSC_BUILD) +# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD) +# endif + +#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__) +# define COMPILER_ID "ADSP" +#if defined(__VISUALDSPVERSION__) + /* __VISUALDSPVERSION__ = 0xVVRRPP00 */ +# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24) +# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8 & 0xFF) +#endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# define COMPILER_ID "IAR" +# if defined(__VER__) && defined(__ICCARM__) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000) +# define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000) +# define COMPILER_VERSION_PATCH DEC((__VER__) % 1000) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__)) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 100) +# define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100)) +# define COMPILER_VERSION_PATCH DEC(__SUBVERSION__) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# endif + +#elif defined(__SDCC_VERSION_MAJOR) || defined(SDCC) +# define COMPILER_ID "SDCC" +# if defined(__SDCC_VERSION_MAJOR) +# define COMPILER_VERSION_MAJOR DEC(__SDCC_VERSION_MAJOR) +# define COMPILER_VERSION_MINOR DEC(__SDCC_VERSION_MINOR) +# define COMPILER_VERSION_PATCH DEC(__SDCC_VERSION_PATCH) +# else + /* SDCC = VRP */ +# define COMPILER_VERSION_MAJOR DEC(SDCC/100) +# define COMPILER_VERSION_MINOR DEC(SDCC/10 % 10) +# define COMPILER_VERSION_PATCH DEC(SDCC % 10) +# endif + + +/* These compilers are either not known or too old to define an + identification macro. Try to identify the platform and guess that + it is the native compiler. */ +#elif defined(__hpux) || defined(__hpua) +# define COMPILER_ID "HP" + +#else /* unknown compiler */ +# define COMPILER_ID "" +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]"; +#ifdef SIMULATE_ID +char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]"; +#endif + +#ifdef __QNXNTO__ +char const* qnxnto = "INFO" ":" "qnxnto[]"; +#endif + +#if defined(__CRAYXE) || defined(__CRAYXC) +char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]"; +#endif + +#define STRINGIFY_HELPER(X) #X +#define STRINGIFY(X) STRINGIFY_HELPER(X) + +/* Identify known platforms by name. */ +#if defined(__linux) || defined(__linux__) || defined(linux) +# define PLATFORM_ID "Linux" + +#elif defined(__CYGWIN__) +# define PLATFORM_ID "Cygwin" + +#elif defined(__MINGW32__) +# define PLATFORM_ID "MinGW" + +#elif defined(__APPLE__) +# define PLATFORM_ID "Darwin" + +#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32) +# define PLATFORM_ID "Windows" + +#elif defined(__FreeBSD__) || defined(__FreeBSD) +# define PLATFORM_ID "FreeBSD" + +#elif defined(__NetBSD__) || defined(__NetBSD) +# define PLATFORM_ID "NetBSD" + +#elif defined(__OpenBSD__) || defined(__OPENBSD) +# define PLATFORM_ID "OpenBSD" + +#elif defined(__sun) || defined(sun) +# define PLATFORM_ID "SunOS" + +#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__) +# define PLATFORM_ID "AIX" + +#elif defined(__hpux) || defined(__hpux__) +# define PLATFORM_ID "HP-UX" + +#elif defined(__HAIKU__) +# define PLATFORM_ID "Haiku" + +#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS) +# define PLATFORM_ID "BeOS" + +#elif defined(__QNX__) || defined(__QNXNTO__) +# define PLATFORM_ID "QNX" + +#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__) +# define PLATFORM_ID "Tru64" + +#elif defined(__riscos) || defined(__riscos__) +# define PLATFORM_ID "RISCos" + +#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__) +# define PLATFORM_ID "SINIX" + +#elif defined(__UNIX_SV__) +# define PLATFORM_ID "UNIX_SV" + +#elif defined(__bsdos__) +# define PLATFORM_ID "BSDOS" + +#elif defined(_MPRAS) || defined(MPRAS) +# define PLATFORM_ID "MP-RAS" + +#elif defined(__osf) || defined(__osf__) +# define PLATFORM_ID "OSF1" + +#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv) +# define PLATFORM_ID "SCO_SV" + +#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX) +# define PLATFORM_ID "ULTRIX" + +#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX) +# define PLATFORM_ID "Xenix" + +#elif defined(__WATCOMC__) +# if defined(__LINUX__) +# define PLATFORM_ID "Linux" + +# elif defined(__DOS__) +# define PLATFORM_ID "DOS" + +# elif defined(__OS2__) +# define PLATFORM_ID "OS2" + +# elif defined(__WINDOWS__) +# define PLATFORM_ID "Windows3x" + +# else /* unknown platform */ +# define PLATFORM_ID +# endif + +#elif defined(__INTEGRITY) +# if defined(INT_178B) +# define PLATFORM_ID "Integrity178" + +# else /* regular Integrity */ +# define PLATFORM_ID "Integrity" +# endif + +#else /* unknown platform */ +# define PLATFORM_ID + +#endif + +/* For windows compilers MSVC and Intel we can determine + the architecture of the compiler being used. This is because + the compilers do not have flags that can change the architecture, + but rather depend on which compiler is being used +*/ +#if defined(_WIN32) && defined(_MSC_VER) +# if defined(_M_IA64) +# define ARCHITECTURE_ID "IA64" + +# elif defined(_M_X64) || defined(_M_AMD64) +# define ARCHITECTURE_ID "x64" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# elif defined(_M_ARM64) +# define ARCHITECTURE_ID "ARM64" + +# elif defined(_M_ARM) +# if _M_ARM == 4 +# define ARCHITECTURE_ID "ARMV4I" +# elif _M_ARM == 5 +# define ARCHITECTURE_ID "ARMV5I" +# else +# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM) +# endif + +# elif defined(_M_MIPS) +# define ARCHITECTURE_ID "MIPS" + +# elif defined(_M_SH) +# define ARCHITECTURE_ID "SHx" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__WATCOMC__) +# if defined(_M_I86) +# define ARCHITECTURE_ID "I86" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# if defined(__ICCARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__ICCRX__) +# define ARCHITECTURE_ID "RX" + +# elif defined(__ICCRH850__) +# define ARCHITECTURE_ID "RH850" + +# elif defined(__ICCRL78__) +# define ARCHITECTURE_ID "RL78" + +# elif defined(__ICCRISCV__) +# define ARCHITECTURE_ID "RISCV" + +# elif defined(__ICCAVR__) +# define ARCHITECTURE_ID "AVR" + +# elif defined(__ICC430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__ICCV850__) +# define ARCHITECTURE_ID "V850" + +# elif defined(__ICC8051__) +# define ARCHITECTURE_ID "8051" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__ghs__) +# if defined(__PPC64__) +# define ARCHITECTURE_ID "PPC64" + +# elif defined(__ppc__) +# define ARCHITECTURE_ID "PPC" + +# elif defined(__ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__x86_64__) +# define ARCHITECTURE_ID "x64" + +# elif defined(__i386__) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif +#else +# define ARCHITECTURE_ID +#endif + +/* Convert integer to decimal digit literals. */ +#define DEC(n) \ + ('0' + (((n) / 10000000)%10)), \ + ('0' + (((n) / 1000000)%10)), \ + ('0' + (((n) / 100000)%10)), \ + ('0' + (((n) / 10000)%10)), \ + ('0' + (((n) / 1000)%10)), \ + ('0' + (((n) / 100)%10)), \ + ('0' + (((n) / 10)%10)), \ + ('0' + ((n) % 10)) + +/* Convert integer to hex digit literals. */ +#define HEX(n) \ + ('0' + ((n)>>28 & 0xF)), \ + ('0' + ((n)>>24 & 0xF)), \ + ('0' + ((n)>>20 & 0xF)), \ + ('0' + ((n)>>16 & 0xF)), \ + ('0' + ((n)>>12 & 0xF)), \ + ('0' + ((n)>>8 & 0xF)), \ + ('0' + ((n)>>4 & 0xF)), \ + ('0' + ((n) & 0xF)) + +/* Construct a string literal encoding the version number components. */ +#ifdef COMPILER_VERSION_MAJOR +char const info_version[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[', + COMPILER_VERSION_MAJOR, +# ifdef COMPILER_VERSION_MINOR + '.', COMPILER_VERSION_MINOR, +# ifdef COMPILER_VERSION_PATCH + '.', COMPILER_VERSION_PATCH, +# ifdef COMPILER_VERSION_TWEAK + '.', COMPILER_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct a string literal encoding the internal version number. */ +#ifdef COMPILER_VERSION_INTERNAL +char const info_version_internal[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_', + 'i','n','t','e','r','n','a','l','[', + COMPILER_VERSION_INTERNAL,']','\0'}; +#endif + +/* Construct a string literal encoding the version number components. */ +#ifdef SIMULATE_VERSION_MAJOR +char const info_simulate_version[] = { + 'I', 'N', 'F', 'O', ':', + 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[', + SIMULATE_VERSION_MAJOR, +# ifdef SIMULATE_VERSION_MINOR + '.', SIMULATE_VERSION_MINOR, +# ifdef SIMULATE_VERSION_PATCH + '.', SIMULATE_VERSION_PATCH, +# ifdef SIMULATE_VERSION_TWEAK + '.', SIMULATE_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]"; +char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]"; + + + + +#if !defined(__STDC__) +# if (defined(_MSC_VER) && !defined(__clang__)) \ + || (defined(__ibmxl__) || defined(__IBMC__)) +# define C_DIALECT "90" +# else +# define C_DIALECT +# endif +#elif __STDC_VERSION__ >= 201000L +# define C_DIALECT "11" +#elif __STDC_VERSION__ >= 199901L +# define C_DIALECT "99" +#else +# define C_DIALECT "90" +#endif +const char* info_language_dialect_default = + "INFO" ":" "dialect_default[" C_DIALECT "]"; + +/*--------------------------------------------------------------------------*/ + +#ifdef ID_VOID_MAIN +void main() {} +#else +# if defined(__CLASSIC_C__) +int main(argc, argv) int argc; char *argv[]; +# else +int main(int argc, char* argv[]) +# endif +{ + int require = 0; + require += info_compiler[argc]; + require += info_platform[argc]; + require += info_arch[argc]; +#ifdef COMPILER_VERSION_MAJOR + require += info_version[argc]; +#endif +#ifdef COMPILER_VERSION_INTERNAL + require += info_version_internal[argc]; +#endif +#ifdef SIMULATE_ID + require += info_simulate[argc]; +#endif +#ifdef SIMULATE_VERSION_MAJOR + require += info_simulate_version[argc]; +#endif +#if defined(__CRAYXE) || defined(__CRAYXC) + require += info_cray[argc]; +#endif + require += info_language_dialect_default[argc]; + (void)argv; + return require; +} +#endif diff --git a/build/CMakeFiles/3.16.3/CompilerIdC/a.out b/build/CMakeFiles/3.16.3/CompilerIdC/a.out new file mode 100755 index 0000000000000000000000000000000000000000..3cd9d247d37910c71fa378f45f3795f84ac80023 GIT binary patch literal 16704 zcmeHOeQX>@6`%9jiPI+MOX}1nNt>ljC5P0PbG~pxP3~-;vsXDuNo*SAI@`5xZ6Cc4 zbGO&p5h($Owx?hSYWVsCscI3bARrZ?AP^r;Ls~#kB?5&YKtz-ZgF@;AQW;2cyf^#a zd3Sv-66FtscBH*G^Lroj_RY-R%l0iI|T%i#A8 zu|_NcxEihqvEB4SmBnCMOLBgosMm;@3UrMHLk(7950RqYLa7NIg2YtNeV|?qGN|mP zG4his^UL)qs0>Mwzh!y>1t2lC>!B+%&5|u<+MF~(^{GTz4~y~^LY6!Ko8E81f+^ScKG374 zC5g8t+{}BazJ=N$NbzS%;T0QG$$@QKHl`BIsbr=w);!j_t$Ev)P(B;lBr8V0unz1~ zJ9qaAFf)Z1g;BOeJ(ZDvrgXfg`OJ5p-}i-m#+etN-tf$x_-3|&b)pO=)aNdNWz1t8 zC}Z9KM1G7ATJ<(gBY%DLemDv zbZsb^(NoET1{9H{qF8c`E<8uL;=-RIyvc<>L->UqLMH4Bct4yj+Hk&SYksv+2=(JrW>x8| zI`PBW)AAlmTb~2?YU!Tmfz+)PC=aFY$x^3~<(9w1i{}og#owzFf0%i&r+c#IJWNg1 z$z_@(ZKuFeX=M&n{&q~AZ2LB3)XAD}Ah~bWTnSb0#ynKLq;#=v?P09=G*OT*O8KoH zL$dy+TAWc&UEZOdn)R!`m(_DO&3Z6!4;iQ}T^y=g3x2Ua`g^!725eE-(5p_gRbf^w zzHTm6kG3s>!u0x5sWhE{pOV2bRGJCdK{Q&s2B8#hc2nb!o^o&*U?S&=*pkK zO8sc;lKOeoced`NsQdnuFLoX9?<|0Sr4nu#m|Xd_07Us@b+ByZNM-5k{im(_M7N?3 zbx*e44J(=G`{Tv)(cXCRTC^uxyxyx$HrE5ZuY3IsY~$&=o28O^>W1H3+wyCQZ+G!( zckyy(@sH6`{qNL?(?0dS-xmIi?cdiQeK^`5JrLDS4-JLt)*iw8mF8^5j+sOJVp`Y4}B>M3K; zginD(dLd=@wY2mL-)jGR@OvhH`!e4sl~O>D06h-$I8gj{d1$6oIsvr)N~!cymW?bzjm{f#qzVX8Ijj4`>PS9KG5&NOg4Z|i-nb_W)EKl^GCCgtBm#XjuRr)_o z{=%1GS?2h`GEA1w6aVj2W zPCIpi$EgzsBZ?id@_w5B5VmCrFa|N^^*n!{=I+2#8TvJYm0u#GiHH?`B-VGV( zwPk;>K1>~O`QU93KldaEKOck(>*ePznbfGeQqP7PI+&xdRV9ODyFER9X1 z7?F5`P$Cw<{)@q!nKuit6KPP)9S_mWv^IzbMDlPrB$3sIQ`rGMr6tU4F0bi@F@bNc zQ-*0ILgC61crGQW>A9Rft{E9KH!g;9dfLzug>-rxRBR;;Bu$5C$1eR*qoae~j>i+= zo2GT`jqZwRvE7{-98q!VB!t%af!)zv@eU_Po`nGjUaxC0l`N>8dxf^Mdry0`Tiess zwJ+AA^+emdV`x>Lpc%{;r1x)qX2wY9rp_vJhi)Pf$Eh0)rL2=RAnQD4qb2fLZA8x` z@CZ(P4@f1F8Lf~v5+a!y%4+;BpDRJXFjN+oza0Q~AfKly1A`Eu{CL{b2Y{M6i;i$EnSnD$qau{annq|i zQwWXbvZF@M9JfIOg(RE`OC|`4w#S=IeOO5G5j{U5LW%JVRAEswXK~mMDMkeicsV1b zqk;&@kcCE5rof-ja27JAF$TZbML{wvTQX#fP^TP8fIgQjeXDm`8k`5?dOA4>?qEj< zK_iF|G)fwJJB_)wLva2NLm!^)R^s^_Q=b15Tgq}C>D_SQ+?e%w-p5n{o;{VH2Lx^d zYS-US^FXHS?8=bm=P<)@mp;!UnJO$u)UE#z;BUelpZ(``4O6Zkzgb~&`>z9rYZ}() zbq~{Hs00b`5#!AIyk1EHhPTZ6Jbz`%>n0G932oTZhoFFK7}n=`E>m6)vi~f{^a;?% zH4&G2KFn01%G~}FEG8j?F=c(8H#1epVXohO|DOY06k$I6rC5n5uTKe`*ZyAwhFxDF zJ*I4q^|{RSIhQ`q*O{{1Li%5I=|@O`=`~k_x$V8^(&zaocb&j7aT^SXoSj7y)}pW$CZ2IufJ?91yDKJV+6 z=Q7jRK)24O&-3@$W&k0voK>1DGyVoJuZ> zENNv}-%h#j*hL>9gDMSd9LM*<#s2W~ZwX-RyIubU{9}OhfXg`7YjJT7T3P>Ut0jT! 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Borland does not know .cxx for + example. */ +#ifndef __cplusplus +# error "A C compiler has been selected for C++." +#endif + + +/* Version number components: V=Version, R=Revision, P=Patch + Version date components: YYYY=Year, MM=Month, DD=Day */ + +#if defined(__COMO__) +# define COMPILER_ID "Comeau" + /* __COMO_VERSION__ = VRR */ +# define COMPILER_VERSION_MAJOR DEC(__COMO_VERSION__ / 100) +# define COMPILER_VERSION_MINOR DEC(__COMO_VERSION__ % 100) + +#elif defined(__INTEL_COMPILER) || defined(__ICC) +# define COMPILER_ID "Intel" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# if defined(__GNUC__) +# define SIMULATE_ID "GNU" +# endif + /* __INTEL_COMPILER = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100) +# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10) +# if defined(__INTEL_COMPILER_UPDATE) +# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER_UPDATE) +# else +# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER % 10) +# endif +# if defined(__INTEL_COMPILER_BUILD_DATE) + /* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */ +# define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE) +# endif +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif +# if defined(__GNUC__) +# define SIMULATE_VERSION_MAJOR DEC(__GNUC__) +# elif defined(__GNUG__) +# define SIMULATE_VERSION_MAJOR DEC(__GNUG__) +# endif +# if defined(__GNUC_MINOR__) +# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__) +# endif +# if defined(__GNUC_PATCHLEVEL__) +# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif defined(__PATHCC__) +# define COMPILER_ID "PathScale" +# define COMPILER_VERSION_MAJOR DEC(__PATHCC__) +# define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__) +# if defined(__PATHCC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__) +# endif + +#elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__) +# define COMPILER_ID "Embarcadero" +# define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF) +# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF) +# define COMPILER_VERSION_PATCH DEC(__CODEGEARC_VERSION__ & 0xFFFF) + +#elif defined(__BORLANDC__) +# define COMPILER_ID "Borland" + /* __BORLANDC__ = 0xVRR */ +# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8) +# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF) + +#elif defined(__WATCOMC__) && __WATCOMC__ < 1200 +# define COMPILER_ID "Watcom" + /* __WATCOMC__ = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__WATCOMC__) +# define COMPILER_ID "OpenWatcom" + /* __WATCOMC__ = VVRP + 1100 */ +# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__SUNPRO_CC) +# define COMPILER_ID "SunPro" +# if __SUNPRO_CC >= 0x5100 + /* __SUNPRO_CC = 0xVRRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>12) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF) +# else + /* __SUNPRO_CC = 0xVRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>8) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF) +# endif + +#elif defined(__HP_aCC) +# define COMPILER_ID "HP" + /* __HP_aCC = VVRRPP */ +# define COMPILER_VERSION_MAJOR DEC(__HP_aCC/10000) +# define COMPILER_VERSION_MINOR DEC(__HP_aCC/100 % 100) +# define COMPILER_VERSION_PATCH DEC(__HP_aCC % 100) + +#elif defined(__DECCXX) +# define COMPILER_ID "Compaq" + /* __DECCXX_VER = VVRRTPPPP */ +# define COMPILER_VERSION_MAJOR DEC(__DECCXX_VER/10000000) +# define COMPILER_VERSION_MINOR DEC(__DECCXX_VER/100000 % 100) +# define COMPILER_VERSION_PATCH DEC(__DECCXX_VER % 10000) + +#elif defined(__IBMCPP__) && defined(__COMPILER_VER__) +# define COMPILER_ID "zOS" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__ibmxl__) && defined(__clang__) +# define COMPILER_ID "XLClang" +# define COMPILER_VERSION_MAJOR DEC(__ibmxl_version__) +# define COMPILER_VERSION_MINOR DEC(__ibmxl_release__) +# define COMPILER_VERSION_PATCH DEC(__ibmxl_modification__) +# define COMPILER_VERSION_TWEAK DEC(__ibmxl_ptf_fix_level__) + + +#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ >= 800 +# define COMPILER_ID "XL" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ < 800 +# define COMPILER_ID "VisualAge" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__PGI) +# define COMPILER_ID "PGI" +# define COMPILER_VERSION_MAJOR DEC(__PGIC__) +# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__) +# if defined(__PGIC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__) +# endif + +#elif defined(_CRAYC) +# define COMPILER_ID "Cray" +# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR) +# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR) + +#elif defined(__TI_COMPILER_VERSION__) +# define COMPILER_ID "TI" + /* __TI_COMPILER_VERSION__ = VVVRRRPPP */ +# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000) +# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000 % 1000) +# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__ % 1000) + +#elif defined(__FUJITSU) || defined(__FCC_VERSION) || defined(__fcc_version) +# define COMPILER_ID "Fujitsu" + +#elif defined(__ghs__) +# define COMPILER_ID "GHS" +/* __GHS_VERSION_NUMBER = VVVVRP */ +# ifdef __GHS_VERSION_NUMBER +# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100) +# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10) +# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER % 10) +# endif + +#elif defined(__SCO_VERSION__) +# define COMPILER_ID "SCO" + +#elif defined(__ARMCC_VERSION) && !defined(__clang__) +# define COMPILER_ID "ARMCC" +#if __ARMCC_VERSION >= 1000000 + /* __ARMCC_VERSION = VRRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#else + /* __ARMCC_VERSION = VRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#endif + + +#elif defined(__clang__) && defined(__apple_build_version__) +# define COMPILER_ID "AppleClang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif +# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__) + +#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION) +# define COMPILER_ID "ARMClang" + # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION % 10000) +# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION) + +#elif defined(__clang__) +# define COMPILER_ID "Clang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif + +#elif defined(__GNUC__) || defined(__GNUG__) +# define COMPILER_ID "GNU" +# if defined(__GNUC__) +# define COMPILER_VERSION_MAJOR DEC(__GNUC__) +# else +# define COMPILER_VERSION_MAJOR DEC(__GNUG__) +# endif +# if defined(__GNUC_MINOR__) +# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__) +# endif +# if defined(__GNUC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif defined(_MSC_VER) +# define COMPILER_ID "MSVC" + /* _MSC_VER = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100) +# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100) +# if defined(_MSC_FULL_VER) +# if _MSC_VER >= 1400 + /* _MSC_FULL_VER = VVRRPPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000) +# else + /* _MSC_FULL_VER = VVRRPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000) +# endif +# endif +# if defined(_MSC_BUILD) +# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD) +# endif + +#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__) +# define COMPILER_ID "ADSP" +#if defined(__VISUALDSPVERSION__) + /* __VISUALDSPVERSION__ = 0xVVRRPP00 */ +# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24) +# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8 & 0xFF) +#endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# define COMPILER_ID "IAR" +# if defined(__VER__) && defined(__ICCARM__) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000) +# define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000) +# define COMPILER_VERSION_PATCH DEC((__VER__) % 1000) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__)) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 100) +# define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100)) +# define COMPILER_VERSION_PATCH DEC(__SUBVERSION__) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# endif + + +/* These compilers are either not known or too old to define an + identification macro. Try to identify the platform and guess that + it is the native compiler. */ +#elif defined(__hpux) || defined(__hpua) +# define COMPILER_ID "HP" + +#else /* unknown compiler */ +# define COMPILER_ID "" +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]"; +#ifdef SIMULATE_ID +char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]"; +#endif + +#ifdef __QNXNTO__ +char const* qnxnto = "INFO" ":" "qnxnto[]"; +#endif + +#if defined(__CRAYXE) || defined(__CRAYXC) +char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]"; +#endif + +#define STRINGIFY_HELPER(X) #X +#define STRINGIFY(X) STRINGIFY_HELPER(X) + +/* Identify known platforms by name. */ +#if defined(__linux) || defined(__linux__) || defined(linux) +# define PLATFORM_ID "Linux" + +#elif defined(__CYGWIN__) +# define PLATFORM_ID "Cygwin" + +#elif defined(__MINGW32__) +# define PLATFORM_ID "MinGW" + +#elif defined(__APPLE__) +# define PLATFORM_ID "Darwin" + +#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32) +# define PLATFORM_ID "Windows" + +#elif defined(__FreeBSD__) || defined(__FreeBSD) +# define PLATFORM_ID "FreeBSD" + +#elif defined(__NetBSD__) || defined(__NetBSD) +# define PLATFORM_ID "NetBSD" + +#elif defined(__OpenBSD__) || defined(__OPENBSD) +# define PLATFORM_ID "OpenBSD" + +#elif defined(__sun) || defined(sun) +# define PLATFORM_ID "SunOS" + +#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__) +# define PLATFORM_ID "AIX" + +#elif defined(__hpux) || defined(__hpux__) +# define PLATFORM_ID "HP-UX" + +#elif defined(__HAIKU__) +# define PLATFORM_ID "Haiku" + +#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS) +# define PLATFORM_ID "BeOS" + +#elif defined(__QNX__) || defined(__QNXNTO__) +# define PLATFORM_ID "QNX" + +#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__) +# define PLATFORM_ID "Tru64" + +#elif defined(__riscos) || defined(__riscos__) +# define PLATFORM_ID "RISCos" + +#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__) +# define PLATFORM_ID "SINIX" + +#elif defined(__UNIX_SV__) +# define PLATFORM_ID "UNIX_SV" + +#elif defined(__bsdos__) +# define PLATFORM_ID "BSDOS" + +#elif defined(_MPRAS) || defined(MPRAS) +# define PLATFORM_ID "MP-RAS" + +#elif defined(__osf) || defined(__osf__) +# define PLATFORM_ID "OSF1" + +#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv) +# define PLATFORM_ID "SCO_SV" + +#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX) +# define PLATFORM_ID "ULTRIX" + +#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX) +# define PLATFORM_ID "Xenix" + +#elif defined(__WATCOMC__) +# if defined(__LINUX__) +# define PLATFORM_ID "Linux" + +# elif defined(__DOS__) +# define PLATFORM_ID "DOS" + +# elif defined(__OS2__) +# define PLATFORM_ID "OS2" + +# elif defined(__WINDOWS__) +# define PLATFORM_ID "Windows3x" + +# else /* unknown platform */ +# define PLATFORM_ID +# endif + +#elif defined(__INTEGRITY) +# if defined(INT_178B) +# define PLATFORM_ID "Integrity178" + +# else /* regular Integrity */ +# define PLATFORM_ID "Integrity" +# endif + +#else /* unknown platform */ +# define PLATFORM_ID + +#endif + +/* For windows compilers MSVC and Intel we can determine + the architecture of the compiler being used. This is because + the compilers do not have flags that can change the architecture, + but rather depend on which compiler is being used +*/ +#if defined(_WIN32) && defined(_MSC_VER) +# if defined(_M_IA64) +# define ARCHITECTURE_ID "IA64" + +# elif defined(_M_X64) || defined(_M_AMD64) +# define ARCHITECTURE_ID "x64" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# elif defined(_M_ARM64) +# define ARCHITECTURE_ID "ARM64" + +# elif defined(_M_ARM) +# if _M_ARM == 4 +# define ARCHITECTURE_ID "ARMV4I" +# elif _M_ARM == 5 +# define ARCHITECTURE_ID "ARMV5I" +# else +# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM) +# endif + +# elif defined(_M_MIPS) +# define ARCHITECTURE_ID "MIPS" + +# elif defined(_M_SH) +# define ARCHITECTURE_ID "SHx" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__WATCOMC__) +# if defined(_M_I86) +# define ARCHITECTURE_ID "I86" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# if defined(__ICCARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__ICCRX__) +# define ARCHITECTURE_ID "RX" + +# elif defined(__ICCRH850__) +# define ARCHITECTURE_ID "RH850" + +# elif defined(__ICCRL78__) +# define ARCHITECTURE_ID "RL78" + +# elif defined(__ICCRISCV__) +# define ARCHITECTURE_ID "RISCV" + +# elif defined(__ICCAVR__) +# define ARCHITECTURE_ID "AVR" + +# elif defined(__ICC430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__ICCV850__) +# define ARCHITECTURE_ID "V850" + +# elif defined(__ICC8051__) +# define ARCHITECTURE_ID "8051" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__ghs__) +# if defined(__PPC64__) +# define ARCHITECTURE_ID "PPC64" + +# elif defined(__ppc__) +# define ARCHITECTURE_ID "PPC" + +# elif defined(__ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__x86_64__) +# define ARCHITECTURE_ID "x64" + +# elif defined(__i386__) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif +#else +# define ARCHITECTURE_ID +#endif + +/* Convert integer to decimal digit literals. */ +#define DEC(n) \ + ('0' + (((n) / 10000000)%10)), \ + ('0' + (((n) / 1000000)%10)), \ + ('0' + (((n) / 100000)%10)), \ + ('0' + (((n) / 10000)%10)), \ + ('0' + (((n) / 1000)%10)), \ + ('0' + (((n) / 100)%10)), \ + ('0' + (((n) / 10)%10)), \ + ('0' + ((n) % 10)) + +/* Convert integer to hex digit literals. */ +#define HEX(n) \ + ('0' + ((n)>>28 & 0xF)), \ + ('0' + ((n)>>24 & 0xF)), \ + ('0' + ((n)>>20 & 0xF)), \ + ('0' + ((n)>>16 & 0xF)), \ + ('0' + ((n)>>12 & 0xF)), \ + ('0' + ((n)>>8 & 0xF)), \ + ('0' + ((n)>>4 & 0xF)), \ + ('0' + ((n) & 0xF)) + +/* Construct a string literal encoding the version number components. */ +#ifdef COMPILER_VERSION_MAJOR +char const info_version[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[', + COMPILER_VERSION_MAJOR, +# ifdef COMPILER_VERSION_MINOR + '.', COMPILER_VERSION_MINOR, +# ifdef COMPILER_VERSION_PATCH + '.', COMPILER_VERSION_PATCH, +# ifdef COMPILER_VERSION_TWEAK + '.', COMPILER_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct a string literal encoding the internal version number. */ +#ifdef COMPILER_VERSION_INTERNAL +char const info_version_internal[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_', + 'i','n','t','e','r','n','a','l','[', + COMPILER_VERSION_INTERNAL,']','\0'}; +#endif + +/* Construct a string literal encoding the version number components. */ +#ifdef SIMULATE_VERSION_MAJOR +char const info_simulate_version[] = { + 'I', 'N', 'F', 'O', ':', + 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[', + SIMULATE_VERSION_MAJOR, +# ifdef SIMULATE_VERSION_MINOR + '.', SIMULATE_VERSION_MINOR, +# ifdef SIMULATE_VERSION_PATCH + '.', SIMULATE_VERSION_PATCH, +# ifdef SIMULATE_VERSION_TWEAK + '.', SIMULATE_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]"; +char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]"; + + + + +#if defined(__INTEL_COMPILER) && defined(_MSVC_LANG) && _MSVC_LANG < 201403L +# if defined(__INTEL_CXX11_MODE__) +# if defined(__cpp_aggregate_nsdmi) +# define CXX_STD 201402L +# else +# define CXX_STD 201103L +# endif +# else +# define CXX_STD 199711L +# endif +#elif defined(_MSC_VER) && defined(_MSVC_LANG) +# define CXX_STD _MSVC_LANG +#else +# define CXX_STD __cplusplus +#endif + +const char* info_language_dialect_default = "INFO" ":" "dialect_default[" +#if CXX_STD > 201703L + "20" +#elif CXX_STD >= 201703L + "17" +#elif CXX_STD >= 201402L + "14" +#elif CXX_STD >= 201103L + "11" +#else + "98" +#endif +"]"; + 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directory: /home/liang/Desktop/unitree_actuator_sdk + +# Set the install prefix +if(NOT DEFINED CMAKE_INSTALL_PREFIX) + set(CMAKE_INSTALL_PREFIX "/usr/local") +endif() +string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}") + +# Set the install configuration name. +if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME) + if(BUILD_TYPE) + string(REGEX REPLACE "^[^A-Za-z0-9_]+" "" + CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}") + else() + set(CMAKE_INSTALL_CONFIG_NAME "") + endif() + message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"") +endif() + +# Set the component getting installed. +if(NOT CMAKE_INSTALL_COMPONENT) + if(COMPONENT) + message(STATUS "Install component: \"${COMPONENT}\"") + set(CMAKE_INSTALL_COMPONENT "${COMPONENT}") + else() + set(CMAKE_INSTALL_COMPONENT) + endif() +endif() + +# Install shared libraries without execute permission? +if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE) + set(CMAKE_INSTALL_SO_NO_EXE "1") +endif() + +# Is this installation the 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cc09380..ab83910 --- a/example/changeID.cpp +++ b/example/changeID.cpp @@ -1,55 +1,61 @@ -#include -#include -#include -#include -#include "serialPort/SerialPort.h" - -#define BroadAllMotorID 0xBB -#define MotorPulsator 11 - -int main(){ - char serial_name[100]; - - MOTOR_send motor_s; - MOTOR_recv motor_r; - - motor_s.motorType = MotorType::B1; // set the motor type, A1 or B1 - motor_r.motorType = motor_s.motorType; - - printf("Please input the name of serial port.(e.g. Linux:/dev/ttyUSB0, Windows:\\\\.\\COM3)\n"); - scanf("%s",serial_name); - printf("The serial port is %s\n", serial_name); - - memset(static_cast(&motor_s), 0, sizeof(motor_s)); - motor_s.id = BroadAllMotorID; - motor_s.mode = 10; - modify_data(&motor_s); - // printf("The motor ID is: %X\n", motor_s.motor_send_data.head.motorID); - - //进入伺服模式 - SerialPort serial(serial_name); // set the serial port name - serial.send((uint8_t*)&(motor_s.motor_send_data), motor_s.hex_len); - - usleep(100000); //sleep 0.1s - - //进入拨轮模式（修改ID） - motor_s.mode = MotorPulsator; - modify_data(&motor_s); - serial.send((uint8_t*)&(motor_s.motor_send_data), motor_s.hex_len); - - printf("Please turn the motor.\n"); - printf("One time: id=0; Two times: id=1, Three times: id=2\n"); - printf("ID can only be 0, 1, 2\n"); - printf("Once finished, press 'a'\n"); - - // int c; - while(getchar() != (int)'a'); - printf("Turn finished\n"); - - //保存ID - motor_s.mode = 0; - modify_data(&motor_s); - serial.send((uint8_t*)&(motor_s.motor_send_data), motor_s.hex_len); - - return 0; -} +#include +#include +#include +#include +#include "serialPort/SerialPort.h" + +#define BroadAllMotorID 0xBB +#define MotorPulsator 11 + +int main() +{ + char serial_name[100]; + + SerialPort *serial; + MotorCmd motor_s; + motor_s.motorType = MotorType::A1; // set the motor type, A1 or B1 + + printf("Please input the name of serial port.(e.g. Linux:/dev/ttyUSB0, Windows:\\\\.\\COM3)\n"); + scanf("%s", serial_name); + printf("The serial port is %s\n", serial_name); + + memset(static_cast(&motor_s), 0, sizeof(motor_s)); + motor_s.id = BroadAllMotorID; + motor_s.mode = 10; + motor_s.modify_data(&motor_s); + + printf("The motor ID is: %X\n", motor_s.motor_send_data.head.motorID); + + //进入伺服模式 + if (motor_s.motorType == MotorType::A1) + serial = new SerialPort(serial_name, 78, 4800000); // set the serial port name + else + serial = new SerialPort(serial_name, 78, 6000000); // set the serial port name + + serial->send((uint8_t *)&(motor_s.motor_send_data), 34); + + usleep(100000); // sleep 0.1s + + //进入拨轮模式（修改ID） + motor_s.mode = MotorPulsator; + motor_s.modify_data(&motor_s); + serial->send((uint8_t *)&(motor_s.motor_send_data), 34); + + printf("Please turn the motor.\n"); + printf("One time: id=0; Two times: id=1, Three times: id=2\n"); + printf("ID can only be 0, 1, 2\n"); + printf("Once finished, press 'a'\n"); + + // int c; + while (getchar() != (int)'a') + { + } + printf("Turn finished\n"); + + //保存ID + motor_s.mode = 0; + motor_s.modify_data(&motor_s); + serial->send((uint8_t *)&(motor_s.motor_send_data), 34); + + return 0; +} \ No newline at end of file diff --git a/example/main.cpp b/example/main.cpp index 4ab1bb5..a6042fa 100644 --- a/example/main.cpp +++ b/example/main.cpp @@ -1,49 +1,34 @@ #include "serialPort/SerialPort.h" -#include +#include -int main(){ - // set the serial port name - SerialPort serial("/dev/ttyUSB0"); +int main() +{ - // send message struct - MOTOR_send motor_run, motor_stop; - // receive message struct - MOTOR_recv motor_r; + SerialPort serial("/dev/ttyUSB0"); + MotorCmd cmd; + MotorData data; - // set the id of motor - motor_run.id = 0; - // set the motor type, A1 or B1 - motor_run.motorType = MotorType::A1; - motor_run.mode = 5; - motor_run.T = 0.0; - motor_run.W = 0.0; - motor_run.Pos = 0.0; - motor_run.K_P = 0.0; - motor_run.K_W = 0.0; + while (true) + { + cmd.motorType = MotorType::A1; + data.motorType = MotorType::A1; + cmd.id = 1; + cmd.mode = 5; + cmd.K_P = 0.0; + cmd.K_W = 0.1; + cmd.Pos = 0.0; + cmd.W = 6.28; + cmd.T = 0.0; + serial.sendRecv(&cmd, &data); - motor_stop.id = motor_run.id; - motor_stop.motorType = motor_run.motorType; - motor_stop.mode = 0; + std::cout << std::endl; + std::cout << "motor.Pos: " << data.Pos << std::endl; + std::cout << "motor.Temp: " << data.Temp << std::endl; + std::cout << "motor.W: " << data.W << std::endl; + std::cout << "motor.T: " << data.T << std::endl; + std::cout << "motor.MError: " << data.MError << std::endl; + std::cout << std::endl; - motor_r.motorType = motor_run.motorType; - - // encode data into motor commands - modify_data(&motor_run); - modify_data(&motor_stop); - - // turn for 3 second - for(int i(0); i<3; ++i){ - serial.sendRecv(&motor_run, &motor_r); - // decode data from motor states - extract_data(&motor_r); - std::cout << "Pos: " << motor_r.Pos << std::endl; - usleep(1000000); - } - - // stop the motor - while(!serial.sendRecv(&motor_stop, &motor_r)){ - usleep(100000); - } - - return 0; -} + usleep(200); + } +} \ No newline at end of file diff --git a/include/IOPort/IOPort.h b/include/IOPort/IOPort.h index 4b5aaa4..173b617 100755 --- a/include/IOPort/IOPort.h +++ b/include/IOPort/IOPort.h @@ -1,5 +1,5 @@ -#ifndef BIANLIB_IOPORT_H -#define BIANLIB_IOPORT_H +#ifndef __IOPORT_H +#define __IOPORT_H #include #include @@ -13,16 +13,20 @@ enum class BlockYN{ class IOPort{ public: - IOPort(){} + IOPort(BlockYN blockYN, size_t recvLength, size_t timeOutUs){ + resetIO(blockYN, recvLength, timeOutUs); + } virtual ~IOPort(){} virtual size_t send(uint8_t *sendMsg, size_t sendLength) = 0; + virtual size_t recv(uint8_t *recvMsg, size_t recvLength) = 0; virtual size_t recv(uint8_t *recvMsg) = 0; - virtual bool sendRecv(std::vector &sendVec, std::vector &recvVec) = 0; + virtual bool sendRecv(std::vector &sendVec, std::vector &recvVec) = 0; void resetIO(BlockYN blockYN, size_t recvLength, size_t timeOutUs); protected: BlockYN _blockYN = BlockYN::NO; size_t _recvLength; timeval _timeout; + timeval _timeoutSaved; }; inline void IOPort::resetIO(BlockYN blockYN, size_t recvLength, size_t timeOutUs){ @@ -30,7 +34,8 @@ inline void IOPort::resetIO(BlockYN blockYN, size_t recvLength, size_t timeOutUs _recvLength = recvLength; _timeout.tv_sec = timeOutUs / 1000000; _timeout.tv_usec = timeOutUs % 1000000; + _timeoutSaved = _timeout; } -#endif // BIANLIB_IOPORT_H \ No newline at end of file +#endif // z1_lib_IOPORT_H \ No newline at end of file diff --git a/include/CRC/crc32.h b/include/crc/crc32.h similarity index 100% rename from include/CRC/crc32.h rename to include/crc/crc32.h diff --git a/include/serialPort/SerialPort.h b/include/serialPort/SerialPort.h index 880e4c4..1b46f93 100755 --- a/include/serialPort/SerialPort.h +++ b/include/serialPort/SerialPort.h @@ -1,20 +1,18 @@ -#ifndef SERIALPORT_H -#define SERIALPORT_H +#ifndef __SERIALPORT_H +#define __SERIALPORT_H -/* +/* High frequency serial communication, Not that common, but useful for motor communication. */ #include -// #include #include - #include #include #include #include #include -#include //serial驱动相关 +#include #include #include @@ -22,14 +20,16 @@ Not that common, but useful for motor communication. #include "unitreeMotor/unitreeMotor.h" #include "IOPort/IOPort.h" -enum class bytesize_t{ +enum class bytesize_t +{ fivebits, sixbits, sevenbits, eightbits }; -enum class parity_t{ +enum class parity_t +{ parity_none, parity_odd, parity_even, @@ -37,31 +37,32 @@ enum class parity_t{ parity_space }; -enum class stopbits_t{ +enum class stopbits_t +{ stopbits_one, stopbits_two, stopbits_one_point_five }; -enum class flowcontrol_t{ +enum class flowcontrol_t +{ flowcontrol_none, flowcontrol_software, flowcontrol_hardware }; - - -class SerialPort : public IOPort{ +class SerialPort : public IOPort +{ public: SerialPort(const std::string &portName, - size_t recvLength = 78, - uint32_t baudrate = 4800000, - size_t timeOutUs = 20000, - BlockYN blockYN = BlockYN::NO, - bytesize_t bytesize = bytesize_t::eightbits, - parity_t parity = parity_t::parity_none, - stopbits_t stopbits = stopbits_t::stopbits_one, - flowcontrol_t flowcontrol = flowcontrol_t::flowcontrol_none); + size_t recvLength = 78, + uint32_t baudrate = 4800000, + size_t timeOutUs = 20000, + BlockYN blockYN = BlockYN::NO, + bytesize_t bytesize = bytesize_t::eightbits, + parity_t parity = parity_t::parity_none, + stopbits_t stopbits = stopbits_t::stopbits_one, + flowcontrol_t flowcontrol = flowcontrol_t::flowcontrol_none); virtual ~SerialPort(); void resetSerial(size_t recvLength = 78, uint32_t baudrate = 4800000, @@ -72,16 +73,17 @@ public: stopbits_t stopbits = stopbits_t::stopbits_one, flowcontrol_t flowcontrol = flowcontrol_t::flowcontrol_none); size_t send(uint8_t *sendMsg, size_t sendLength); + size_t recv(uint8_t *recvMsg, size_t recvLength); size_t recv(uint8_t *recvMsg); bool sendRecv(uint8_t *sendMsg, uint8_t *recvMsg, size_t sendLength); - bool sendRecv(MOTOR_send* sendMsg, MOTOR_recv* recvMsg); - bool sendRecv(std::vector &sendVec, std::vector &recvVec); + bool sendRecv(MotorCmd *sendMsg, MotorData *recvMsg); + bool sendRecv(std::vector &sendVec, std::vector &recvVec); private: void _open(); void _set(); void _close(); - size_t _nonBlockRecv(uint8_t *recvMsg, size_t readLen); // only visual in pubSDK + size_t _nonBlockRecv(uint8_t *recvMsg, size_t readLen); std::string _portName; uint32_t _baudrate; bytesize_t _bytesize; @@ -90,11 +92,8 @@ private: flowcontrol_t _flowcontrol; bool _xonxoff; bool _rtscts; - int _fd; fd_set _rSet; - }; - -#endif // SERIALPORT_H \ No newline at end of file +#endif // SERIALPORT_H \ No newline at end of file diff --git a/include/serialPort/include/errorClass.h b/include/serialPort/include/errorClass.h index 92af50b..48313c3 100755 --- a/include/serialPort/include/errorClass.h +++ b/include/serialPort/include/errorClass.h @@ -1,5 +1,5 @@ -#ifndef ERRORCLASS_H -#define ERRORCLASS_H +#ifndef __ERRORCLASS_H +#define __ERRORCLASS_H #include #include diff --git a/include/unitreeMotor/include/motor_msg.h b/include/unitreeMotor/include/motor_msg.h index 168b589..8efe653 100755 --- a/include/unitreeMotor/include/motor_msg.h +++ b/include/unitreeMotor/include/motor_msg.h @@ -7,156 +7,161 @@ typedef int16_t q15_t; #pragma pack(1) // 发送用单个数据数据结构 -typedef union{ - int32_t L; - uint8_t u8[4]; - uint16_t u16[2]; - uint32_t u32; - float F; -}COMData32; +typedef union +{ + int32_t L; + uint8_t u8[4]; + uint16_t u16[2]; + uint32_t u32; + float F; +} COMData32; -typedef struct { - // 定义 数据包头 - unsigned char start[2]; // 包头 - unsigned char motorID; // 电机ID 0,1,2,3 ... 0xBB 表示向所有电机广播（此时无返回） - unsigned char reserved; -}COMHead; +typedef struct +{ + // 定义 数据包头 + unsigned char start[2]; // 包头 + unsigned char motorID; // 电机ID 0,1,2,3 ... 0xBB 表示向所有电机广播（此时无返回） + unsigned char reserved; +} COMHead; #pragma pack() #pragma pack(1) -typedef struct { - - uint8_t fan_d; // 关节上的散热风扇转速 - uint8_t Fmusic; // 电机发声频率 /64*1000 15.625f 频率分度 - uint8_t Hmusic; // 电机发声强度 推荐值4 声音强度 0.1 分度 - uint8_t reserved4; - - uint8_t FRGB[4]; // 足端LED - -}LowHzMotorCmd; +typedef struct +{ -typedef struct { // 以 4个字节一组排列 ，不然编译器会凑整 - // 定义 数据 - uint8_t mode; // 关节模式选择 - uint8_t ModifyBit; // 电机控制参数修改位 - uint8_t ReadBit; // 电机控制参数发送位 - uint8_t reserved; + uint8_t fan_d; // 关节上的散热风扇转速 + uint8_t Fmusic; // 电机发声频率 /64*1000 15.625f 频率分度 + uint8_t Hmusic; // 电机发声强度 推荐值4 声音强度 0.1 分度 + uint8_t reserved4; - COMData32 Modify; // 电机参数修改 的数据 + uint8_t FRGB[4]; // 足端LED + +} LowHzMotorCmd; + +typedef struct +{ // 以 4个字节一组排列 ，不然编译器会凑整 + // 定义 数据 + uint8_t mode; // 关节模式选择 + uint8_t ModifyBit; // 电机控制参数修改位 + uint8_t ReadBit; // 电机控制参数发送位 + uint8_t reserved; + + COMData32 Modify; // 电机参数修改 的数据 //实际给FOC的指令力矩为： - //K_P*delta_Pos + K_W*delta_W + T - q15_t T; // 期望关节的输出力矩（电机本身的力矩）x256, 7 + 8 描述 - q15_t W; // 期望关节速度 （电机本身的速度） x128, 8 + 7描述 - int32_t Pos; // 期望关节位置 x 16384/6.2832, 14位编码器（主控0点修正，电机关节还是以编码器0点为准） + // K_P*delta_Pos + K_W*delta_W + T + q15_t T; // 期望关节的输出力矩（电机本身的力矩）x256, 7 + 8 描述 + q15_t W; // 期望关节速度 （电机本身的速度） x128, 8 + 7描述 + int32_t Pos; // 期望关节位置 x 16384/6.2832, 14位编码器（主控0点修正，电机关节还是以编码器0点为准） - q15_t K_P; // 关节刚度系数 x2048 4+11 描述 - q15_t K_W; // 关节速度系数 x1024 5+10 描述 + q15_t K_P; // 关节刚度系数 x2048 4+11 描述 + q15_t K_W; // 关节速度系数 x1024 5+10 描述 - uint8_t LowHzMotorCmdIndex; // 电机低频率控制命令的索引, 0-7, 分别代表LowHzMotorCmd中的8个字节 - uint8_t LowHzMotorCmdByte; // 电机低频率控制命令的字节 - - COMData32 Res[1]; // 通讯 保留字节 用于实现别的一些通讯内容 - -}MasterComdV3; // 加上数据包的包头 和CRC 34字节 + uint8_t LowHzMotorCmdIndex; // 电机低频率控制命令的索引, 0-7, 分别代表LowHzMotorCmd中的8个字节 + uint8_t LowHzMotorCmdByte; // 电机低频率控制命令的字节 -typedef struct { - // 定义 电机控制命令数据包 - COMHead head; + COMData32 Res[1]; // 通讯 保留字节 用于实现别的一些通讯内容 + +} MasterComdV3; // 加上数据包的包头 和CRC 34字节 + +typedef struct +{ + // 定义 电机控制命令数据包 + COMHead head; MasterComdV3 Mdata; COMData32 CRCdata; -}MasterComdDataV3;//返回数据 +} MasterComdDataV3; //返回数据 // typedef struct { // // 定义 总得485 数据包 - + // MasterComdData M1; // MasterComdData M2; // MasterComdData M3; - + // }DMA485TxDataV3; #pragma pack() #pragma pack(1) -typedef struct { // 以 4个字节一组排列 ，不然编译器会凑整 +typedef struct +{ // 以 4个字节一组排列 ，不然编译器会凑整 // 定义 数据 - uint8_t mode; // 当前关节模式 - uint8_t ReadBit; // 电机控制参数修改 是否成功位 - int8_t Temp; // 电机当前平均温度 - uint8_t MError; // 电机错误 标识 - - COMData32 Read; // 读取的当前 电机 的控制数据 - int16_t T; // 当前实际电机输出力矩 7 + 8 描述 + uint8_t mode; // 当前关节模式 + uint8_t ReadBit; // 电机控制参数修改 是否成功位 + int8_t Temp; // 电机当前平均温度 + uint8_t MError; // 电机错误 标识 - int16_t W; // 当前实际电机速度（高速） 8 + 7 描述 - float LW; // 当前实际电机速度（低速） + COMData32 Read; // 读取的当前 电机 的控制数据 + int16_t T; // 当前实际电机输出力矩 7 + 8 描述 - int16_t W2; // 当前实际关节速度（高速） 8 + 7 描述 - float LW2; // 当前实际关节速度（低速） + int16_t W; // 当前实际电机速度（高速） 8 + 7 描述 + float LW; // 当前实际电机速度（低速） - int16_t Acc; // 电机转子加速度 15+0 描述 惯量较小 - int16_t OutAcc; // 输出轴加速度 12+3 描述 惯量较大 - - int32_t Pos; // 当前电机位置（主控0点修正，电机关节还是以编码器0点为准） - int32_t Pos2; // 关节编码器位置(输出编码器) + int16_t W2; // 当前实际关节速度（高速） 8 + 7 描述 + float LW2; // 当前实际关节速度（低速） - int16_t gyro[3]; // 电机驱动板6轴传感器数据 - int16_t acc[3]; + int16_t Acc; // 电机转子加速度 15+0 描述 惯量较小 + int16_t OutAcc; // 输出轴加速度 12+3 描述 惯量较大 - // 力传感器的数据 - int16_t Fgyro[3]; // - int16_t Facc[3]; - int16_t Fmag[3]; - uint8_t Ftemp; // 8位表示的温度 7位（-28~100度） 1位0.5度分辨率 - - int16_t Force16; // 力传感器高16位数据 - int8_t Force8; // 力传感器低8位数据 - - uint8_t FError; // 足端传感器错误标识 - - int8_t Res[1]; // 通讯 保留字节 - -}ServoComdV3; // 加上数据包的包头 和CRC 78字节（4+70+4） + int32_t Pos; // 当前电机位置（主控0点修正，电机关节还是以编码器0点为准） + int32_t Pos2; // 关节编码器位置(输出编码器) -typedef struct { - // 定义 电机控制命令数据包 - COMHead head; - ServoComdV3 Mdata; + int16_t gyro[3]; // 电机驱动板6轴传感器数据 + int16_t acc[3]; - COMData32 CRCdata; + // 力传感器的数据 + int16_t Fgyro[3]; // + int16_t Facc[3]; + int16_t Fmag[3]; + uint8_t Ftemp; // 8位表示的温度 7位（-28~100度） 1位0.5度分辨率 -}ServoComdDataV3; //发送数据 + int16_t Force16; // 力传感器高16位数据 + int8_t Force8; // 力传感器低8位数据 + + uint8_t FError; // 足端传感器错误标识 + + int8_t Res[1]; // 通讯 保留字节 + +} ServoComdV3; // 加上数据包的包头 和CRC 78字节（4+70+4） + +typedef struct +{ + // 定义 电机控制命令数据包 + COMHead head; + ServoComdV3 Mdata; + + COMData32 CRCdata; + +} ServoComdDataV3; //发送数据 // typedef struct { // // 定义 总的485 接受数据包 - + // ServoComdDataV3 M[3]; // // uint8_t nullbyte1; - -// }DMA485RxDataV3; +// }DMA485RxDataV3; #pragma pack() -// 00 00 00 00 00 -// 00 00 00 00 00 -// 00 00 00 00 00 +// 00 00 00 00 00 +// 00 00 00 00 00 +// 00 00 00 00 00 // 00 00 00 -// 数据包默认初始化 -// 主机发送的数据包 +// 数据包默认初始化 +// 主机发送的数据包 /* - Tx485Data[_FR][i].head.start[0] = 0xFE ; Tx485Data[_FR][i].head.start[1] = 0xEE; // 数据包头 - Tx485Data[_FR][i].Mdata.ModifyBit = 0xFF; Tx485Data[_FR][i].Mdata.mode = 0; // 默认不修改数据 和 电机的默认工作模式 - Tx485Data[_FR][i].head.motorID = i; 0 // 目标电机标号 - Tx485Data[_FR][i].Mdata.T = 0.0f; // 默认目标关节输出力矩 motor1.Extra_Torque = motorRxData[1].Mdata.T*0.390625f; // N.M 转化为 N.CM IQ8描述 - Tx485Data[_FR][i].Mdata.Pos = 0x7FE95C80; // 默认目标关节位置 不启用位置环 14位分辨率 - Tx485Data[_FR][i].Mdata.W = 16000.0f; // 默认目标关节速度 不启用速度环 1+8+7描述 motor1.Target_Speed = motorRxData[1].Mdata.W*0.0078125f; // 单位 rad/s IQ7描述 - Tx485Data[_FR][i].Mdata.K_P = (q15_t)(0.6f*(1<<11)); // 默认关节刚度系数 4+11 描述 motor1.K_Pos = ((float)motorRxData[1].Mdata.K_P)/(1<<11); // 描述刚度的通讯数据格式 4+11 - Tx485Data[_FR][i].Mdata.K_W = (q15_t)(1.0f*(1<<10)); // 默认关节速度系数 5+10 描述 motor1.K_Speed = ((float)motorRxData[1].Mdata.K_W)/(1<<10); // 描述阻尼的通讯数据格式 5+10 -*/ - + Tx485Data[_FR][i].head.start[0] = 0xFE ; Tx485Data[_FR][i].head.start[1] = 0xEE; // 数据包头 + Tx485Data[_FR][i].Mdata.ModifyBit = 0xFF; Tx485Data[_FR][i].Mdata.mode = 0; // 默认不修改数据 和 电机的默认工作模式 + Tx485Data[_FR][i].head.motorID = i; 0 // 目标电机标号 + Tx485Data[_FR][i].Mdata.T = 0.0f; // 默认目标关节输出力矩 motor1.Extra_Torque = motorRxData[1].Mdata.T*0.390625f; // N.M 转化为 N.CM IQ8描述 + Tx485Data[_FR][i].Mdata.Pos = 0x7FE95C80; // 默认目标关节位置 不启用位置环 14位分辨率 + Tx485Data[_FR][i].Mdata.W = 16000.0f; // 默认目标关节速度 不启用速度环 1+8+7描述 motor1.Target_Speed = motorRxData[1].Mdata.W*0.0078125f; // 单位 rad/s IQ7描述 + Tx485Data[_FR][i].Mdata.K_P = (q15_t)(0.6f*(1<<11)); // 默认关节刚度系数 4+11 描述 motor1.K_Pos = ((float)motorRxData[1].Mdata.K_P)/(1<<11); // 描述刚度的通讯数据格式 4+11 + Tx485Data[_FR][i].Mdata.K_W = (q15_t)(1.0f*(1<<10)); // 默认关节速度系数 5+10 描述 motor1.K_Speed = ((float)motorRxData[1].Mdata.K_W)/(1<<10); // 描述阻尼的通讯数据格式 5+10 +*/ #endif \ No newline at end of file diff --git a/include/unitreeMotor/unitreeMotor.h b/include/unitreeMotor/unitreeMotor.h index 8964299..522a87f 100755 --- a/include/unitreeMotor/unitreeMotor.h +++ b/include/unitreeMotor/unitreeMotor.h @@ -1,116 +1,57 @@ -#ifndef UNITREEMOTOR_H -#define UNITREEMOTOR_H +#ifndef __UNITREEMOTOR_H +#define __UNITREEMOTOR_H -#include "unitreeMotor/include/motor_msg.h" // 电机通信协议 -#include "CRC/crc32.h" // CRC32校验算法 +#include "unitreeMotor/include/motor_msg.h" // 电机通信协议 #include #include -enum class MotorType{ - A1, // 4.8M baudrate, K_W x1024 - B1 // 6.0M baudrate, K_W x512 +enum class MotorType +{ + A1, // 4.8M baudrate, K_W x1024 + B1 // 6.0M baudrate, K_W x512 + }; -struct MOTOR_send{ - // 定义 发送格式化数据 - MasterComdDataV3 motor_send_data; //电机控制数据结构体，详见motor_msg.h - MotorType motorType = MotorType::A1; - int hex_len = 34; //发送的16进制命令数组长度, 34 - // long long send_time; //发送该命令的时间, 微秒(us) - // 待发送的各项数据 - unsigned short id; //电机ID，0xBB代表全部电机 - unsigned short mode; //0:空闲, 5:开环转动, 10:闭环FOC控制 - //实际给FOC的指令力矩为： - //K_P*delta_Pos + K_W*delta_W + T - float T; //期望关节的输出力矩（电机本身的力矩）（Nm） - float W; //期望关节速度（电机本身的速度）(rad/s) - float Pos; //期望关节位置（rad） - float K_P; //关节刚度系数 - float K_W; //关节速度系数 - COMData32 Res; // 通讯 保留字节 用于实现别的一些通讯内容 +struct MotorCmd +{ + // 定义 发送格式化数据 +public: + MotorType motorType; + int hex_len = 34; + unsigned short id; //电机ID，0xBB代表全部电机 + unsigned short mode; // 0:空闲, 5:开环转动, 10:闭环FOC控制 + float T; //期望关节的输出力矩（电机本身的力矩）（Nm） + float W; //期望关节速度（电机本身的速度）(rad/s) + float Pos; //期望关节位置（rad） + float K_P; //关节刚度系数 + float K_W; //关节速度系数 + void modify_data(MotorCmd *motor_s); + uint8_t *get_motor_send_data(); + COMData32 Res; // 通讯 保留字节 用于实现别的一些通讯内容 + MasterComdDataV3 motor_send_data; //电机控制数据结构体，详见motor_msg.h }; -struct MOTOR_recv{ - // 定义 接收数据 - ServoComdDataV3 motor_recv_data; //电机接收数据结构体，详见motor_msg.h - MotorType motorType = MotorType::A1; - int hex_len = 78; //接收的16进制命令数组长度, 78 - // long long resv_time; //接收该命令的时间, 微秒(us) - bool correct = false; //接收数据是否完整（true完整，false不完整） - //解读得出的电机数据 - unsigned char motor_id; //电机ID - unsigned char mode; //0:空闲, 5:开环转动, 10:闭环FOC控制 - int Temp; //温度 - unsigned char MError; //错误码 - - float T; // 当前实际电机输出力矩 - float W; // 当前实际电机速度（高速） - float LW; // 当前实际电机速度（低速） - int Acc; // 电机转子加速度 - float Pos; // 当前电机位置（主控0点修正，电机关节还是以编码器0点为准） - - float gyro[3]; // 电机驱动板6轴传感器数据 - float acc[3]; +struct MotorData +{ + // 定义 接收数据 +public: + MotorType motorType; + int hex_len = 78; //接收的16进制命令数组长度, 78 + unsigned char motor_id; //电机ID + unsigned char mode; // 0:空闲, 5:开环转动, 10:闭环FOC控制 + int Temp; //温度 + int MError; //错误码 + float T; // 当前实际电机输出力矩 + float W; // 当前实际电机速度（高速） + float Pos; // 当前电机位置 + bool correct = false; //接收数据是否完整（true完整，false不完整） + bool extract_data(MotorData *motor_r); + uint8_t *get_motor_recv_data(); + float LW; // 当前实际电机速度（低速） + int Acc; // 电机转子加速度 + float gyro[3]; // 电机驱动板6轴传感器数据 + float acc[3]; + ServoComdDataV3 motor_recv_data; //电机接收数据结构体，详见motor_msg_A1B1.h }; -inline void modify_data(MOTOR_send* motor_s){ - motor_s->hex_len = 34; - motor_s->motor_send_data.head.start[0] = 0xFE; - motor_s->motor_send_data.head.start[1] = 0xEE; - motor_s->motor_send_data.head.motorID = motor_s->id; - motor_s->motor_send_data.head.reserved = 0x0; - motor_s->motor_send_data.Mdata.mode = motor_s->mode; - motor_s->motor_send_data.Mdata.ModifyBit = 0xFF; - motor_s->motor_send_data.Mdata.ReadBit = 0x0; - motor_s->motor_send_data.Mdata.reserved = 0x0; - motor_s->motor_send_data.Mdata.Modify.L = 0; - motor_s->motor_send_data.Mdata.T = motor_s->T*256; - motor_s->motor_send_data.Mdata.W = motor_s->W*128; - motor_s->motor_send_data.Mdata.Pos = (int)((motor_s->Pos/6.2832)*16384.0); - motor_s->motor_send_data.Mdata.K_P = motor_s->K_P*2048; - - if(motor_s->motorType == MotorType::A1){ - motor_s->motor_send_data.Mdata.K_W = motor_s->K_W*1024; - } - else if(motor_s->motorType == MotorType::B1){ - motor_s->motor_send_data.Mdata.K_W = motor_s->K_W*512; - } - - motor_s->motor_send_data.Mdata.LowHzMotorCmdIndex = 0; - motor_s->motor_send_data.Mdata.LowHzMotorCmdByte = 0; - motor_s->motor_send_data.Mdata.Res[0] = motor_s->Res; - motor_s->motor_send_data.CRCdata.u32 = crc32_core((uint32_t*)(&(motor_s->motor_send_data)), 7); -} - -inline bool extract_data(MOTOR_recv* motor_r){ - if(motor_r->motor_recv_data.CRCdata.u32 != - crc32_core((uint32_t*)(&(motor_r->motor_recv_data)), 18)){ - std::cout << "[WARNING] Receive data CRC error" << std::endl; - motor_r->correct = false; - return motor_r->correct; - }else{ - motor_r->motor_id = motor_r->motor_recv_data.head.motorID; - motor_r->mode = motor_r->motor_recv_data.Mdata.mode; - motor_r->Temp = motor_r->motor_recv_data.Mdata.Temp; - motor_r->MError = motor_r->motor_recv_data.Mdata.MError; - motor_r->T = ((float)motor_r->motor_recv_data.Mdata.T) / 256; - motor_r->W = ((float)motor_r->motor_recv_data.Mdata.W) / 128; - motor_r->LW = motor_r->motor_recv_data.Mdata.LW; - - motor_r->Acc = (int)motor_r->motor_recv_data.Mdata.Acc; - motor_r->Pos = 6.2832*((float)motor_r->motor_recv_data.Mdata.Pos) / 16384; - - motor_r->gyro[0] = ((float)motor_r->motor_recv_data.Mdata.gyro[0]) * 0.00107993176; - motor_r->gyro[1] = ((float)motor_r->motor_recv_data.Mdata.gyro[1]) * 0.00107993176; - motor_r->gyro[2] = ((float)motor_r->motor_recv_data.Mdata.gyro[2]) * 0.00107993176; - - motor_r->acc[0] = ((float)motor_r->motor_recv_data.Mdata.acc[0]) * 0.0023911132; - motor_r->acc[1] = ((float)motor_r->motor_recv_data.Mdata.acc[1]) * 0.0023911132; - motor_r->acc[2] = ((float)motor_r->motor_recv_data.Mdata.acc[2]) * 0.0023911132; - - motor_r->correct = true; - return motor_r->correct; - } -} - -#endif // UNITREEMOTOR_H \ No newline at end of file +#endif // UNITREEMOTOR_H \ No newline at end of file diff --git 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