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al1_blinking = !al1_blinking是什么意思

时间: 2025-08-29 13:19:10 AIGC 浏览: 12
<think>好的,我现在需要帮用户理解C/C++中布尔变量的取反操作,具体是像 'al1_blinking = !al1_blinking' 这样的表达式。首先,我应该先解释这个操作的基本语法和作用。用户可能已经看过类似代码,但不太清楚其中的机制。 首先,布尔变量在C和C++中通常用`bool`类型表示,取反操作符`!`会将`true`变为`false`,反之亦然。例如,如果`al1_blinking`当前是`true`,执行后变为`false`。需要确认C和C++中布尔值的处理是否有差异,比如C语言中可能用整数代替,而C++有明确的`bool`类型。 接下来,用户可能想知道这种操作的应用场景。比如在状态切换,比如LED灯的闪烁控制。结合用户提供的引用[2],其中提到了Android Things中控制LED闪烁,可能需要通过布尔变量来切换状态。这里可以举一个例子,比如在定时器中断中每次取反布尔值,从而控制LED的开关。 然后,要注意语法细节。`!`操作符的优先级和结合性,确保用户知道这个表达式是安全的,不会因为优先级问题导致错误。例如,`al1_blinking = !al1_blinking`中,先执行取反,再赋值。 可能还需要提到,在C语言中,如果使用整型模拟布尔值,非零为真,零为假,但使用`!`操作符时,会先将操作数转换为布尔值,再取反。这时候可能会出现一些陷阱,比如`!5`会得到`0`,而`5`原本是真值。不过,在C++中,使用`bool`类型会更明确。 用户的问题可能还涉及如何在实际代码中应用这种取反操作。例如,在循环中或者中断服务例程中切换状态。结合引用[2]中的LED控制案例,可以说明如何通过定时器触发取反操作,从而实现LED的周期性闪烁。 另外,可能需要解释为什么使用取反而不是直接赋值。比如,取反操作简洁,适用于需要切换状态的场景,避免使用条件语句,提高代码可读性。 最后,确保回答结构清晰,分步骤解释,并附上示例代码,帮助用户理解。同时,根据用户提供的引用,可能需要将知识点与实际应用场景结合,比如LED控制,这样用户更容易理解其用途。</think>### C/C++布尔变量取反操作详解 在C/C++中,布尔变量的取反操作可以通过逻辑非运算符`!`实现,语法为`变量 = !变量`。这一操作会将变量的值在`true`和`false`之间切换,具体行为如下: #### 1. 基本语法与语义 - **操作符**:`!`(逻辑非) - **作用**:将布尔值取反,即: - `!true` → `false` - `!false` → `true` - **示例**: ```cpp bool al1_blinking = true; al1_blinking = !al1_blinking; // 值变为false ``` #### 2. 底层实现 - **C语言**:布尔值通常用`int`类型模拟(`0`为假,非零为真),但使用`!`时,会先将操作数隐式转换为布尔值(非零→`1`,零→`0`),再取反。 - **C++语言**:直接操作`bool`类型,无需隐式转换,效率更高[^1]。 #### 3. 典型应用场景 - **状态切换**:如控制LED灯周期性闪烁(参考引用[2]的LED控制逻辑): ```cpp void timer_interrupt() { al1_blinking = !al1_blinking; // 每次中断切换状态 digitalWrite(LED_PIN, al1_blinking); // 更新LED状态 } ``` - **条件翻转**:简化条件判断逻辑,例如: ```cpp bool is_enabled = true; is_enabled = !is_enabled; // 关闭已开启的功能 ``` #### 4. 注意事项 - **原子性**:在多线程或中断环境中,需确保操作的原子性(如使用原子变量`std::atomic<bool>`)[^1]。 - **可读性**:避免对复杂表达式直接取反,例如`!(a && b)`建议改写为`a || b`(德摩根定律)。 #### 5. 完整示例代码 ```cpp #include <iostream> #include <atomic> std::atomic<bool> al1_blinking{false}; // 原子布尔变量 int main() { for (int i = 0; i < 5; i++) { al1_blinking = !al1_blinking; std::cout << "状态: " << (al1_blinking ? "亮" : "灭") << std::endl; } return 0; } ```
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optional LineMatchInfo left_laneline_match_info = 7; optional LineMatchInfo right_laneline_match_info = 8; } message MapInfo { enum CoordSys { WGS84 = 0; GCJ02 = 1; RFU = 2; FLU = 3; } optional CoordSys coord_sys = 1; optional string map_version = 2; optional string engine_version = 3; optional string sdmap_version = 4; optional EnvStatus env_status = 5; } enum LightStatus { NONE_LIGHT = 0; //无信号灯 GREEN_LIGHT = 1; YELLOW_LIGHT = 2; RED_LIGHT = 3; UNKNOWN_LIGHT = 4; //有信号灯状态未知 YELLOW_BLINKING = 5; FAIL_DETECTION = 6; BLOCK_FAIL = 7; GREEN_BLINKING = 8; BLURRING_MODE = 9; } enum NoneOddType { NODD_NONE = 0; NORMAL_NOT_ODD = 1; NODD_LOW_PRECISION = 22; NODD_LANE_BOUNDARY_CHANGE = 100; NODD_LANE_BOUNDARY_LOSS_WIDTH_ABNORMAL = 101; NODD_LANE_NUM_INCREASE = 102; NODD_LANE_NUM_DECREASE = 103; NODD_LANE_TYPE_CHANGE = 104; NODD_CONSTRUCTION_OPPOSITE_DIR_BORROW_WAY_NOT_DEGRADATION = 105; NODD_CONSTRUCTION_OPPOSITE_DIR_BORROW_WAY_DEGRADATION = 106; NODD_CONSTRUCTION_SAME_DIR_CHANGE_WAY_NOT_DEGRADATION = 107; NODD_CONSTRUCTION_SAME_DIR_CHANGE_WAY_DEGRADATION = 108; NODD_CONSTRUCTION_CLOSE_WAY = 109; NODD_CONSTRUCTION_CLOSE_WAY_TO_NOT_HIGHWAY_DEGRADATION = 110; NODD_RAMP_INCREASE = 111; NODD_TRAFFIC_CONE = 112; NODD_WATER_SAFETY_BARRIER = 113; NODD_UNKNOWN = 255; } enum PointSource { PS_UNKNOWN = 0; PS_BEV = 1; // 感知形点 TOPO_INSETRT = 2; // 拓扑插值点 SECTION_EXTENTED_FROM_LANEMARKER = 3; // lane使用lanemarker补齐 SECTION_EXTENTED_FROM_FIT = 4; // lane lanemarker使用自身点拟合重采样补齐 SECTION_EXTENTED_FROM_LANE = 5; // lanemarker使用lane点补齐 PS_HDMAP = 6; // 地图形点 PS_INVISIBLE = 7; // 感知不可见点 } message Point { optional double x = 1; optional double y = 2; optional double z = 3; optional double curvature = 4; optional PointSource point_source = 5; optional double mse = 6; // set value when BEV Map used } message Trajectory{ optional uint64 id = 1; optional uint64 lane_id = 2; optional uint64 start_lane_id = 3; optional uint64 end_lane_id = 4; repeated uint64 relative_lane_id = 5; repeated Point points = 6; } message LaneInfo { enum LaneType { LANE_UNKNOWN = 0; 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LEFT_TURN = 1; RIGHT_TURN = 2; U_TURN = 3; STRAIGHT_AND_LEFT_TURN = 4; STRAIGHT_AND_RIGHT_TURN = 5; STRAIGHT_AND_U_TURN = 6; LEFT_TURN_AND_U_TURN = 7; RIGHT_TURN_AND_U_TURN = 8; STRAIGHT_AND_LEFT_TURN_AND_RIGHT_TURN = 9; LEFT_TURN_AND_RIGHT_TURN = 10; STRAIGHT_AND_LEFT_TURN_AND_U_TURN = 11; STRAIGHT_AND_RIGHT_TURN_AND_U_TURN = 12; LEFT_TURN_AND_RIGHT_TURN_AND_U_TURN = 13; STRAIGHT_AND_LEFT_AND_RIGHT_AND_U_TURN = 14; OTHER_UNKNOWN = 9999; } enum SplitTopology { TOPOLOGY_SPLIT_NONE = 0; TOPOLOGY_SPLIT_LEFT = 1; // split to left TOPOLOGY_SPLIT_RIGHT = 2; // split to right TOPOLOGY_SPLIT_UNKNOWN = 3; } enum MergeTopology { TOPOLOGY_MERGE_NONE = 0; TOPOLOGY_MERGE_LEFT = 1; // merge to left, ego is on right of target lane TOPOLOGY_MERGE_RIGHT = 2; // merge to right, ego is on left of target lane TOPOLOGY_TO_BE_MERGED = 3; TOPOLOGY_MERGE_UNKNOWN = 4; } enum MergeSource { MERGE_UNKNOWN = 0; MERGE_BEV = 1; MERGE_LD = 2; MERGE_SD = 3; } enum TrafficSetReason{ UNKNOWN_STATE = 0; STAY_PREV = 1; SET_DEFAULT_OBJ = 2; 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} enum LaneMarkerColor { LM_COLOR_UNKNOWN = 0; LM_COLOR_WHITE = 1; LM_COLOR_YELLOW = 2; LM_COLOR_BLUE = 3; LM_COLOR_GREEN = 4; LM_COLOR_RED = 5; } message ColorSegment { optional LaneMarkerColor color = 1; optional uint32 start_index = 2; optional uint32 end_index = 3; }; message TypeSegment { optional LineType type = 1; optional uint32 start_index = 2; optional uint32 end_index = 3; }; optional uint64 id = 1; repeated byd.msg.basic.Point2D points = 2; optional LineType line_type = 3; repeated ColorSegment color_seg = 4; repeated TypeSegment type_seg = 5; repeated Point line_points = 6; } message RoadBoundaryInfo { enum BoundaryType { UNKNOWN_BOUNDARY = 0; FLAT_BOUNDARY = 1; LOW_BOUNDARY = 2; HIGH_BOUNDARY = 3; FENCE_BOUNDARY = 4; VIRTUAL = 12; } optional uint64 id = 1; repeated byd.msg.basic.Point2D points = 2; optional BoundaryType boundary_type = 3; repeated Point line_points = 4; } message JunctionInfo { optional uint64 id = 1; repeated byd.msg.basic.Point2D points = 2; } message CrossWalkInfo { optional uint64 id = 1; repeated byd.msg.basic.Point2D points = 2; } message StopLineInfo { optional uint64 id = 1; repeated byd.msg.basic.Point2D points = 2; optional uint32 type = 3; //type: 0 - real stopline, 1 - virtual stopline } message TrafficLightInfo { optional uint64 id = 1; optional byd.msg.basic.Point3D center_position = 2; repeated byd.msg.basic.Point3D bounding_box_geometry = 3; repeated uint64 laneids = 4; optional uint32 light_countdown = 5; optional uint32 shape = 6; optional LightStatus light_status = 7; } message NaviPosition { optional uint64 section_id = 1; optional double s_offset = 2; //uint: m } message SectionInfo { enum LDLinkTypeMask { LT_NORMAL = 0; // 0X00000000, // 普通 LT_TUNNEL = 1; // 0X00000001, // 隧道 LT_BRIDGE = 2; // 0X00000002, // 桥 LT_TOLLBOOTH = 4; // 0X00000004, // 收费站道路 LT_DEAD_END = 8; // 0X00000008, // 断头路 LT_IC = 16; // 0X00000010, // IC(高速连接普通路的道路) LT_JCT = 32; // 0X00000020, // JCT(高速连接高速的道路) LT_SAPA = 64; // 0X00000040, // SAPA(服务器、停车区道路) LT_WITHIN_INTERSECTION = 128; // 0X00000080, // 路口内道路 LT_AUTHORIZED = 256; // 0X00000100, // 授权道路 LT_TOLLGATE = 512; // 0X00000200, // 收费岛道路 LT_ABANDONED_TOLLGATE = 1024;// 0X00000400, // 废弃收费岛道路 LT_CHECKPOINT = 2048;// 0X00000800, // 检查站道路 LT_ROUNDABOUT = 4096;// 0X00001000, // 环岛内道路 LT_SERRATED = 8192;// 0X00002000, // 锯齿道路 LT_MAIN_ROAD = 16384;// 0X00004000, // 主路(main road) LT_SIDE_ROAD = 32768; // 0X00008000, // 辅路(side road) LT_MAINROAD_CONNECTION = 65536;// 0X00010000, // 主辅路连接路(mainside connection) LT_NO_S_INTERSECTION = 131072;// 0X00020000, // 无小路口 LT_S_INTERSECTION_LEFT = 262144;// 0X00040000, // 小路口左侧道路 LT_S_INTERSECTION_RIGHT= 524288;//0X00080000, // 小路口右侧道路 LT_S_INTERSECTION_BOTH = 1048576; //0X00100000, // 小路口两侧道路 LT_INJUNCTION = 2097152; //0X00200000, // 路口内道路(编译计算) LT_BOOTH_EXIT = 4194304;//0X00400000, // 出口收费站 LT_BOOTH_ENTRANCE = 8388608;//0X00800000, // 入口收费站 LT_BOOTH_EXIT_ENTRANCE = 16777216;//0X01000000 // 出入口收费站 } optional uint64 id = 1; optional double length = 2; //uint: m repeated uint64 lane_ids = 3; repeated Point points = 4; optional RoadClass road_class = 5; repeated uint64 predecessor_section_id_list = 6; repeated uint64 successor_section_id_list = 7; optional uint32 link_type = 8; //复合类型,与LdLinkTypeMask“按位与”操作判断。 } message ArrowInfo { enum ArrowType { RM_TYPE_STRAIGHT = 1; RM_TYPE_LEFT = 2; RM_TYPE_RIGHT = 3; RM_TYPE_TURNING = 4; RM_TYPE_STRAIGHT_LEFT = 5; RM_TYPE_STRAIGHT_RIGHT = 6; RM_TYPE_STRAIGHT_LEFT_RIGHT = 7; RM_TYPE_LEFT_RIGHT = 8; RM_TYPE_STRAIGHT_TURNING = 9; RM_TYPE_LEFT_TURNING = 10; } optional uint64 id = 1; optional ArrowType type = 2; optional byd.msg.basic.Point3D center_position = 3; repeated byd.msg.basic.Point3D bounding_box_geometry = 4; repeated uint64 lane_id = 5; } message SubPath { optional uint64 enter_section_id = 1; repeated SectionInfo sections = 2; } message RouteInfo { optional uint64 id = 1; optional NaviPosition navi_start = 2; //from currrent section repeated SectionInfo sections = 3; repeated SubPath subpaths = 4; optional string route_id = 5; //ld导航路径的md5值 } enum RoadClass { UNKNOWN = 0; EXPRESSWAY = 1; URBAN_EXPRESSWAY = 2; NATION_ROAD = 3; PROVINCE_ROAD = 4; COUNTRY_ROAD = 6; TOWN_ROAD = 7; SPECIAL_ROAD = 8; // 特服道路 WALK_ROAD = 9; PEOPLE_FERRY = 10; // 人渡 FERRY = 11; // 轮渡 OTHERS = 99; } enum V2RoadClassType { UNKNOWN_ROAD = 0; HIGH_WAY_ROAD = 1; EXPRESS_WAY_ROAD = 2; NATIOANL_ROAD = 3; PROVINCIAL_ROAD = 4; MAIN_ROAD = 5; SUB_ROAD = 6; } enum SDRoadClass { SD_HIGHWAY = 0; SD_CITY_FAST_WAY = 1; SD_NATIONAL_ROAD = 2; SD_PROVINCIAL_ROAD = 3; SD_COUNTY_ROAD = 4; SD_TOWNSHIP_ROAD = 5; SD_OTHER_ROAD = 6; SD_LEVEL_9_ROAD = 7; SD_FERRY = 8; SD_WALY_WAY = 9; SD_INVALID = 127; } message V2RoadClass { optional double start = 1; optional double end = 2; optional V2RoadClassType road_class = 3; } message V2RoadInfo { optional V2RoadClassType road_class = 1; optional int32 lane_num = 2; } message V2TurnInfo { optional uint64 id = 1; optional bool is_valid = 2; enum V2TurnType { UNKNOWN = 0; LEFT = 1; RIGHT = 2; STRAIGHT = 3; U_TURN_LEFT = 4; U_TURN_RIGHT = 5; MERGE_LEFT = 6; MERGE_RIGHT = 7; RAMP_LEFT = 11; RAMP_RIGHT = 12; RAMP_STRAIGHT = 13; RAMP_U_TURN_LEFT = 14; RAMP_U_TURN_RIGHT = 15; } optional V2TurnType turn_type = 3; enum V2DetailTurnType { NONE = 0; TURN_LEFT = 2; // 左转图标 TURN_RIGHT = 3; // 右转图标 SLIGHT_LEFT = 4; // 左前方图标 SLIGHT_RIGHT = 5; // 右前方图标 TURN_HARD_LEFT = 6; // 左后方图标 TURN_HARD_RIGHT = 7; // 右后方图标 UTURN = 8; // 左转掉头图标 (无在线图标) CONTINUE = 9; // 直行图标 TURN_RIGHT_ONLY = 10; // 右转专用道 UTURN_RIGHT = 19; // 右转掉头图标,左侧通行地区的掉头 LEFT_MERGE = 65; // 靠左图标 RIGHT_MERGE = 66; // 靠右图标 } optional V2DetailTurnType detail_turn_type = 4; optional double dist = 5; optional V2RoadInfo before_turn = 6; optional V2RoadInfo after_turn = 7; optional double v2_dist = 8; // V2提供的距离,新增加 } message NonODDInfo { optional string id = 1; optional uint64 reason = 2; optional double dist = 3; } message V2Curvature { optional double curvature = 1; // 曲率半径 optional double distance = 2; // 距离 } message V2TrafficFlow { optional double start_s = 1; optional double end_s = 2; enum V2TrafficFlowType { UNKNOWN_FLOW = 0; SMOOTH_FLOW = 1; SLOW_FLOW = 2; JAMMED_FLOW = 3; SEVERE_JAMMED_FLOW = 4; NO_FLOW = 5; } optional V2TrafficFlowType type = 3; } message EnvInfo { optional bool v2_valid = 1; optional bool v2_has_navigation = 2; optional double v2_dist_to_ramp = 3; optional double v2_dist_to_toll = 4; optional double v2_dist_to_tunnel = 5; repeated V2RoadClass v2_road_classes = 6; repeated V2TurnInfo v2_turn_info = 7; optional double dist_to_subpath = 8; optional double dist_to_split_routelanenum_dec = 9; repeated V2TrafficFlow traffic_flows = 10; repeated V2Curvature v2_curvatures = 11; repeated NonODDInfo v2_non_odd_info = 12; } message SDSectionInfo { enum SDLinkTypeMask { SDLT_INVALID = 0; SDLT_RING = 1; //环岛 0X00000001 SDLT_NOATTR = 2; //无属性 0X00000002 SDLT_MAINSEPARATE = 4; //上下行分离 0X00000004 SDLT_JCT = 8; //JCT 0X00000008 SDLT_CROSSLINK = 16; //交叉点内LINK 0X00000010 SDLT_IC = 32; //IC 0X00000020 SDLT_PARK = 64; //停车区 0X00000040 SDLT_SERVICE = 128; //服务区 0X00000080 SDLT_BRIDGE = 256; //桥 0X00000100 SDLT_WALKSTREET = 512; //步行街 0X00000200 SDLT_SIDEROAD = 1024; //辅路 0X00000400 SDLT_RAMP = 2048; //匝道 0X00000800 SDLT_CLOSEDROAD = 4096; //全封闭道路 0X00001000 SDLT_UNDEFINEDTRAFFICAREA = 8192; //未定义交通区域 0X00002000 SDLT_POICONNECTION = 16384; //连接路 0X00004000 SDLT_TUNNEL = 32768; //隧道 0X00008000 SDLT_RA_FOOTWAY = 65536; //步行道 0X00010000 SDLT_BUS = 131072; //公交专用道 0X00020000 SDLT_RIGHTTURN = 262144; //提前右转 0X00040000 SDLT_SCENICROAD = 524288; //风景线路 0X00080000 SDLT_INAREAROAD = 1048576; //区域内道路 0X00100000 SDLT_LEFTTURN = 2097152; //提前左转 0X00200000 SDLT_UTURN = 4194304; //掉头口 0X00400000 SDLT_MAINSIDECONNECT = 8388608; //主辅路出入口 0X00800000 SDLT_DUMMYLINK = 16777216; //虚拟链接路 0X01000000 SDLT_PARKLINK = 33554432; //停车位引导路 0X02000000 } enum SDDirectionType { UNKNOWN = 0; //未知 BIDIRECTIONAL_PASSABLE = 1; //双向可通行 FORWARD_ONLY = 2; //仅正向通行 REVERSE_ONLY = 3; //仅反向通行 INVALID = 4; //无效 } enum SDLinkTypeExtendMask { SDLTE_INVALID = 0; // = 0X00000000 /**< 0X00,无效值 */ SDLTE_PARKING_ENUUTRANCE = 1; // = 0X00000001, /*停车场出入口连接路 */ SDLTE_GAS_STATION_ENUUTRANCE = 2; // = 0X00000002, /*通往加油站的连接路 */ SDLTE_ESCAPE_LANE = 4; // = 0X00000004, /*避险车道 */ SDLTE_TRUCK_LANE = 8; // = 0X00000008, /*货车专用*/ SDLTE_NOTROUNDABOUT = 16; // = 0X00000010, /*非标环岛 */ SDLTE_FRONT_ROAD = 32; // = 0X00000020, /*门前路段*/ SDLTE_FOOTBRIDGE = 64; // = 0X00000040, /*跨线天桥*/ SDLTE_TUNNEL = 128; // = 0X00000080, /*跨线地道 */ SDLTE_FLYOVER = 256; // = 0X00000100, /*立交桥*/ SDLTE_TAXILANE = 512; // = 0X00000200, /*出租车专用道*/ SDLTE_PASSENGERCARLANE = 1024; // = 0X00000400, /*客运车专用道*/ SDLTE_PANSHANROAD = 2048; // = 0X00000800, /*盘山路*/ } optional uint64 id = 1; optional double length = 2; //uint: m optional uint64 lane_num = 3; repeated Point points = 4; optional SDRoadClass road_class = 5; repeated uint64 predecessor_section_id_list = 6; repeated uint64 successor_section_id_list = 7; optional uint32 link_type = 8; //与SDLinkTypeMask按位与判断 optional double speed_limit = 9; // uint: m/s optional bool has_toll_station = 10; optional SDDirectionType direction = 11; optional uint32 reverse_lane_count = 12; optional double exp_speed = 13; repeated SDLaneGroupIndex lane_group_idx = 14; optional bool has_junction = 15; optional uint32 link_type_extend = 16; //link的扩展类型,与SDLinkTypeExtendMask按位与判断 } message SDSubPath{ enum PathType { NONE = 0; SPLIT = 2; MERGE = 3; } optional uint64 enter_section_id = 1; // 汇入时为汇入主路的link, 汇出时为汇出主路的link repeated SDSectionInfo sections = 2; optional PathType path_type = 3; } message SDLaneGroupIndex { optional uint64 id = 1; optional double start_range_offset = 2; //uint: m optional double end_range_offset = 3; } message SDRecommendLaneGroup { optional uint64 lane_group_id = 1; repeated SDRecommendLGSegment recommend_lane = 2; //推荐区域车道 repeated SDRecommendLGSegment available_lane= 3; //可通行区域 } message SDRouteInfo { optional string id = 1; optional NaviPosition navi_start = 2; //from currrent section repeated SDSectionInfo mpp_sections = 3; repeated SDSubPath subpaths = 4; repeated SDRecommendLaneGroup recommend_lane_list = 5; //导航推荐车道 repeated uint64 mpp_lanegroup_id_list = 6; //lane_group级别的mpp id列表 } message SDRecommendLGSegment{ optional uint32 start_offset = 1; //车道组开始的位置(相对于langroup起点的距离,单位:m) optional uint32 end_offset = 2; //车道组结束的位置(相对于langroup起点的距离,单位:m) repeated uint32 lane_seqs = 3; //车道序号 optional uint32 lane_num = 4; //车道数 } message SDLaneGroupInfo { optional uint64 id = 1; optional double length = 2; //uint: m repeated uint64 successor_lane_group_ids = 3; repeated uint64 predecessor_lane_group_ids = 4; optional uint32 lane_num = 5; repeated LaneInfo lane_info = 6; repeated SDRecommendLGSegment recommend_lane = 7; //推荐区域车道 repeated SDRecommendLGSegment available_lane= 8; //可通行区域 } enum SpeedLimitMode{ passive_mode = 0x0; fusion_mode = 0x1; map_mode = 0x2; vision_mode = 0x3; } enum NormalSpeedStatus{ NORMAL = 0x0; UNKNOWN_LIMIT_SPEED = 0x1; UNLIMITED = 0x2; SPL_CANCELLED = 0x3; NO_DISPLAY = 0x4; } enum UnknownLimitStatus{ INVALID = 0x0; VALID = 0x1; UNCLEAR = 0x2; PRESERVE = 0x3; } enum ConditionType{ UNSPECIFIED = 0; TIME_CONDITION = 1; RAIN_CONDITION = 2; SNOW_CONDITION = 3; } message ConditionLimit{ optional float condition_limit_speed_value = 1; optional uint32 condition_type = 2; } message FusionSpeedInfo{ optional basic.Header header = 1; optional float speed_value = 2; optional uint32 normal_speed_status = 3; optional uint32 unknown_limit_status = 4; optional uint32 speed_limit_mode = 5; optional bool time_condition = 6; optional bool snow_condition = 7; optional bool rain_condition = 8; optional bool distance_condition = 9; repeated ConditionLimit condition_limit = 10; } message SensorStatusInfo{ optional uint32 sensor_status = 1; optional uint64 special_type = 2; } message RoutingMap { enum MapType { UNKOWN_MAP = 0; PERCEPTION_MAP = 1; HD_MAP = 2; BEV_MAP = 3; } optional basic.Header header = 1; optional MapInfo map_info = 2; optional MapType map_type = 3; repeated LaneInfo lanes = 4; repeated LaneBoundaryInfo lane_boundaries = 5; repeated RoadBoundaryInfo road_boundaries = 6; repeated StopLineInfo stop_lines = 7; repeated JunctionInfo junctions = 8; repeated CrossWalkInfo cross_walks = 9; optional RouteInfo route = 10; optional RoadClass cur_road_class = 11; repeated TrafficLightInfo traffic_lights = 12; repeated ArrowInfo arrows = 13; optional bool is_on_highway = 14; repeated byd.msg.basic.Point2D nodes = 15; optional EnvInfo env_info = 16; optional SDRouteInfo sd_route = 17; repeated SDLaneGroupInfo sd_lane_groups = 18; optional FusionSpeedInfo fusionSpeedInfo = 19; optional string debug_info = 20; repeated Trajectory exp_trajectories = 21; optional SensorStatusInfo sensor_status_info = 22; optional TrafficLightStatus traffic_light_uturn = 23; // for env auto_test optional TrafficLightStatus traffic_light_left = 24; // for env auto_test optional TrafficLightStatus traffic_light_straight = 25; // for env auto_test optional TrafficLightStatus traffic_light_right = 26; // for env auto_test } message TrafficLightStatus { optional LightStatus light_status = 1; // 红绿灯颜色 optional LaneInfo.TurnType turn_type = 2; // 红绿灯的转向类型 repeated byd.msg.basic.Point2D stop_line_pts = 3; // 应该在红绿灯前停车的线的位置 optional uint32 traffic_light_num = 4; // 红绿灯倒计时 repeated uint32 lane_ids = 5; // 红绿灯状态对应的lane id optional bool is_navi_light = 6; optional uint64 traffic_obj_id = 7; optional uint64 perception_sequence = 8; optional uint64 stay_prev_counter = 9; optional uint64 invalid_counter = 10; optional LaneInfo.TrafficSetReason traffic_reason = 11; repeated byd.msg.basic.Point2D stop_line_pts_wait = 12; // 应该在红绿灯前停车的线的位置 optional bool stopline_is_virtual = 13; optional double distance_to_stopline = 14; optional bool traffic_match_cloud_file = 15; }; message TrafficLightsE2EInfo { optional basic.Header header = 1; // 里面有seq信息,lane_ids是对应seq地图里面的 repeated TrafficLightStatus traffic_status = 2; // 所有红绿灯状态 optional byd.msg.basic.Point3D pose = 3; // 红绿灯位置 optional TrafficLightStatus traffic_light_uturn = 4; // for env auto_test optional TrafficLightStatus traffic_light_left = 5; // for env auto_test optional TrafficLightStatus traffic_light_straight = 6; // for env auto_test optional TrafficLightStatus traffic_light_right = 7; // for env auto_test repeated TrafficLightInfo traffic_lights = 8; }; 详细解释下接口proto

#include <stdio.h> #include <stdlib.h> #include <string.h> #include <fcntl.h> #include <unistd.h> #include <sys/time.h> #include <math.h> #include <time.h> // LED控制路径 const char *LED_PATH = "/sys/class/leds/:user/brightness"; // 系统文件路径 #define LOADAVG_FILE "/proc/loadavg" #define MEMINFO_FILE "/proc/meminfo" // 负载阈值定义 (单位:1分钟平均负载) #define LOW_LOAD_THRESHOLD 0.5 #define MED_LOAD_THRESHOLD 1.5 // 内存使用率告警阈值 #define MEM_ALERT_THRESHOLD 80.0 // 80% // 打印间隔 (毫秒) #define PRINT_INTERVAL 2000 // LED闪烁模式定义 (亮/灭时间 ms) typedef struct { const char *name; unsigned long on_time; unsigned long off_time; } LedMode; // 不同负载对应的LED模式 const LedMode modes[] = { {"low", 1000, 1000}, // 低负载: 1秒周期 {"medium", 500, 500}, // 中负载: 0.5秒周期 {"high", 200, 200}, // 高负载: 0.2秒周期 {"alert", 100, 100} // 内存告警: 0.1秒快速闪烁 }; // 获取当前时间(毫秒) unsigned long get_current_time_ms() { struct timeval tv; gettimeofday(&tv, NULL); return tv.tv_sec * 1000 + tv.tv_usec / 1000; } // 获取格式化时间字符串 void get_formatted_time(char *buffer, size_t size) { time_t now = time(NULL); struct tm *tm_info = localtime(&now); strftime(buffer, size, "%Y-%m-%d %H:%M:%S", tm_info); } // 获取系统1分钟平均负载 float get_cpu_load() { FILE *fp = fopen(LOADAVG_FILE, "r"); if (!fp) return -1.0; float load1, load5, load15; fscanf(fp, "%f %f %f", &load1, &load5, &load15); fclose(fp); return load1; // 返回1分钟平均负载 } // 获取内存使用率百分比 float get_mem_usage() { FILE *fp = fopen(MEMINFO_FILE, "r"); if (!fp) return -1.0; char line[128]; long mem_total = 0, mem_available = 0; while (fgets(line, sizeof(line), fp)) { if (sscanf(line, "MemTotal: %ld kB", &mem_total) == 1) continue; if (sscanf(line, "MemAvailable: %ld kB", &mem_available) == 1) break; } fclose(fp); if (mem_total <= 0) return -1.0; return 100.0 * (1.0 - (float)mem_available / mem_total); } // 设置LED状态 void set_led_state(int state) { static int led_fd = -1; if (led_fd < 0) { led_fd = open(LED_PATH, O_WRONLY); if (led_fd < 0) return; } lseek(led_fd, 0, SEEK_SET); write(led_fd, state ? "1" : "0", 1); } // 根据负载选择LED模式 int select_led_mode(float load, float mem_usage) { // 内存使用率优先检测 if (mem_usage >= MEM_ALERT_THRESHOLD) { return 3; // 内存告警模式 } // 根据CPU负载选择模式 if (load < LOW_LOAD_THRESHOLD) { return 0; // 低负载模式 } else if (load < MED_LOAD_THRESHOLD) { return 1; // 中负载模式 } else { return 2; // 高负载模式 } } // 打印系统状态 void print_system_status(float cpu_load, float mem_usage, int mode) { char timestamp[32]; get_formatted_time(timestamp, sizeof(timestamp)); printf("[%s] CPU Load: %.2f, Mem Usage: %.1f%%, LED Mode: %s\n", timestamp, cpu_load, mem_usage, modes[mode].name); } int main() { unsigned long last_load_check = 0; unsigned long last_led_change = 0; unsigned long last_print_time = 0; int current_led_state = 0; int current_mode = 0; // 初始负载检查 float cpu_load = get_cpu_load(); float mem_usage = get_mem_usage(); current_mode = select_led_mode(cpu_load, mem_usage); print_system_status(cpu_load, mem_usage, current_mode); while (1) { unsigned long now = get_current_time_ms(); // 每秒检查一次系统负载 if (now - last_load_check >= 1000) { cpu_load = get_cpu_load(); mem_usage = get_mem_usage(); current_mode = select_led_mode(cpu_load, mem_usage); last_load_check = now; } // LED状态切换逻辑 unsigned long cycle_time = current_led_state ? modes[current_mode].on_time : modes[current_mode].off_time; if (now - last_led_change >= cycle_time) { current_led_state = !current_led_state; set_led_state(current_led_state); last_led_change = now; } // 每2秒打印一次系统状态 if (now - last_print_time >= PRINT_INTERVAL) { print_system_status(cpu_load, mem_usage, current_mode); last_print_time = now; } // 睡眠50ms减少CPU占用 usleep(50000); } return 0; } 根据这个代码改一下,保留里面的led控制,现在用websocket来实现改成服务器端,再帮我用c语言写一个pc端的客户端,功能是pc端可以控制设备端led打开和闪烁

enum event_t //触发事件 { EVENT_NONE = 0,//无事件 EVENT_RISE,//上升沿 EVENT_FALL,//下降沿 EVENT_TIMEOUT//超时 }; enum state_t//更新状态 { STATE_PRESS,//按下 STATE_RELEASE,//松开 STATE_LONG//长按 }; int event = EVENT_NONE;//初始无事件触发 int state = STATE_RELEASE;//初始状态为松开 int old_level = HAL_GPIO_ReadPin(LED_GPIO_Port, LED_Pin);//读取初始的事件 int old_time = HAL_GetTick();//读取初始的时间 int timeout = 2000; while (1) { int level = HAL_GPIO_ReadPin(LED_GPIO_Port, LED_Pin);//读取现在的状态 if(level != old_level) { old_level = level;//发送事件后,需更新状态 if(level == 1) { event = EVENT_RISE; // 发送上升沿事件 } else { event = EVENT_FALL; // 发送下降沿事件 } } int time = HAL_GetTick();//读取现在的时间 int delta_time = time - old_time;//时间间隔 if (delta_time > timeout) { old_time = time;//更新时间 event = EVENT_TIMEOUT; // 发送超时事件 } //////////////////////////////////////处理事件 if (event != EVENT_NONE) { if (state == STATE_RELEASE)//读取现在状态,分情况处理 { if (event == EVENT_FALL) { state = STATE_PRESS;//更新状态 event = EVENT_NONE; UART_PRINTF("按下\n"); } event = EVENT_NONE; old_time = time; // 让二者没有超时时间差 } else if (state == STATE_PRESS) { if (event == EVENT_RISE) { state = STATE_RELEASE; event = EVENT_NONE; UART_PRINTF("松开\n"); } else if (event == EVENT_TIMEOUT) { state = STATE_LONG; event = EVENT_NONE; UART_PRINTF("长按\n"); } } else if (state == STATE_LONG) { if (event == EVENT_RISE) { state = STATE_RELEASE; event = EVENT_NONE; UART_PRINTF("松开\n"); } event = EVENT_NONE; old_time = time; // 让二者没有超时时间差 } }

You are required to write a C program to: • Initialize GPIO peripherals • Initialise UART peripheral for receiving ASCII characters ‘A’ to ‘Z’ at baud 9600 • Initialise an internal array to hold 10 characters with head and tail: CharBuff • Repeat the following:o When data is received on the serial communication port, read ASCII character X, o If received character X is a capital letter add it to CharBuff, else ignore. o While CharBuff is not empty, transmit the morse code of the oldest stored character by blinking the LED (code provided for you). o When CharBuff is full, disable UART RX. o If UART RX is disabled, pushing the button P_B1 will activate it; otherwise, pushing the button does not affect your programme. You are recommended to use interrupt to control UART receiving data and coordinate the operation between CharBuff and P_LD2. 在我的代码基础上完成以上任务#include #include <gpio.h> #include "delay.h" #include "uart.h" #include <stm32f4xx.h> /* ***************NOTE*********************** YOU CAN USE THE IN-UILT FUNCTION delay_ms(HOW_LONG) TO CAUSE A DELAY OF HOW_LONG MILLI SECONDS ******************************************* */ //placeholder /*void uart_rx_isr(uint8_t rx){ }*/ #define MAX 10 int uart_rx_enabled = 1; char CharBuff[MAX]; int head = 0; int tail = 0; int is_full() { return (tail + 1) % MAX == head; } int is_empty() { return head == tail; } void add_to_buffer(char c) { if (!is_full()) { CharBuff[tail] = c; tail = (tail + 1) % MAX; } else { uart_rx_enabled = 0; //uart_disable(); } } void uart_rx_isr(uint8_t c){ if (c >= 'A' && c <= 'Z') { if (!is_full()) { CharBuff[tail] = c; tail = (tail + 1) % MAX; } else { uart_rx_enabled = 0; //uart_disable(); } } } char remove_from_buffer() { char c = CharBuff[head]; head = (head + 1) % MAX; if (uart_rx_enabled == 0 && !is_full()) {//The buffer is not full after removing a char uart_rx_enabled = 1;//enable the Uart RX uart_enable(); } return c; } int main(void) { // Initialise GPIO. gpio_set_mode(P_LD2, Output); gpio_set_mode(P_B1, PullUp); // hardware/peripheral initialisation uart_init(9600); uart_enable(); uart_set_rx_callback(uart_rx_isr);//This callback function is triggered when data is received through the serial port while(1){ if(!is_empty()){ gpio_set(P_LD2, LED_ON); char c = remove_from_buffer(); } } } // ******* ARM University Program Copyright © ARM Ltd 2016 ****************** // ******* Queen Mary University of London Copyright Matthew Tang 2021 ******

/* USER CODE BEGIN Header */ /** ****************************************************************************** * @file : main.c * @brief : Main program body ****************************************************************************** * @attention * * Copyright (c) 2021 STMicroelectronics. * All rights reserved. * * This software is licensed under terms that can be found in the LICENSE file * in the root directory of this software component. * If no LICENSE file comes with this software, it is provided AS-IS. * ****************************************************************************** */ /* USER CODE END Header */ /* Includes ------------------------------------------------------------------*/ #include "main.h" /* Private includes ----------------------------------------------------------*/ /* USER CODE BEGIN Includes */ /* USER CODE END Includes */ /* Private typedef -----------------------------------------------------------*/ /* USER CODE BEGIN PTD */ /* USER CODE END PTD */ /* Private define ------------------------------------------------------------*/ /* USER CODE BEGIN PD */ /* USER CODE END PD */ /* Private macro -------------------------------------------------------------*/ /* USER CODE BEGIN PM */ /* USER CODE END PM */ /* Private variables ---------------------------------------------------------*/ FMAC_HandleTypeDef hfmac; DMA_HandleTypeDef handle_GPDMA1_Channel1; /* USER CODE BEGIN PV */ /* FMAC configuration structure */ FMAC_FilterConfigTypeDef sFmacConfig; /* Array of filter coefficients A (feedback coefficients) in Q1.15 format */ static int16_t aFilterCoeffA[COEFF_VECTOR_A_SIZE] = { 10432,-17296, 17696,-12512, 5536, -1296 }; /* Array of filter coefficients B (feed-forward taps) in Q1.15 format */ static int16_t aFilterCoeffB[COEFF_VECTOR_B_SIZE] = { 828, 1170, 2360, 2293, 2360, 1170, 828 }; /* Array of input values in Q1.15 format */ static int16_t aInputValues[ARRAY_SIZE] = { 0, 660, -194, 1731, 1, 2194, 725, 2018, 1775, 1501, 2703, 1085, 3072, 1084, 2701, 1499, 1772, 2014, 721, 2189, -5, 1725, -200, 653, -6, -666, 187, -1737, -7, -2199, -730, -2022, -1778, -1504, -2705, -1086, -3072, -1083, -2700, -1496, -1768, -2010, -716, -2184, 10, -1719, 206, -647, 13, 672, -181, 1742, 12, 2204, 734, 2026, 1781, 1506, 2706, 1086, 3072, 1082, 2698, 1494, 1765, 2006, 712, 2179, -16, 1713, -212, 640, -19, -679, 175, -1748, -18, -2209, -739, -2030, -1784, -1509, -2708, -1087, -3072, -1081, -2696, -1491, -1762, -2002, -707, -2173, 21, -1707, 218, -634, 26, 685, -169, 1754, 23, 2214, 743, 2033, 1787, 1511, 2710, 1088, 3072, 1080, 2695, 1489, 1758, 1998, 702, 2168, -27, 1701, -225, 628, -32, -691, 163, -1760, -29, -2219, -748, -2037, -1791, -1513, -2711, -1089, -3072, -1080, -2693, -1486, -1755, -1994, -698, -2163, 33, -1695, 231, -621, 39, 698, -156, 1766, 34, 2224, 752, 2041, 1794, 1516, 2713, 1089, 3072, 1079, 2691, 1484, 1752, 1990, 693, 2158, -38, 1689, -237, 615, -45, -704, 150, -1772, -40, -2229, -757, -2045, -1797, -1518, -2714, -1090, -3071, -1078, -2689, -1481, -1749, -1986, -688, -2153, 44, -1683, 243, -608, 52, 710, -144, 1778, 45, 2234, 761, 2049, 1800, 1520, 2716, 1091, 3071, 1077, 2687, 1478, 1745, 1982, 684, 2148, -50, 1677, -250, 602, -58, -717, 138, -1784, -51, -2239, -766, -2052, -1803, -1523, -2717, -1092, -3071, -1076, -2686, -1476, -1742, -1978, -679, -2142, 55, -1671, 256, -596, 64, 723, -132, 1790, 56, 2244, 770, 2056, 1806, 1525, 2719, 1092, 3071, 1075, 2684, 1473 }; /* Array of output data to preload in Q1.15 format */ static int16_t aOutputDataToPreload[COEFF_VECTOR_A_SIZE] = { 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000 }; /* Array of calculated filtered data in Q1.15 format */ static int16_t aCalculatedFilteredData[ARRAY_SIZE]; /* Expected number of calculated samples */ uint16_t ExpectedCalculatedOutputSize = MEMORY_PARAMETER_D2; /* Status of the FMAC callbacks */ __IO uint32_t HalfOutputDataReadyCallback = CALLBACK_NOT_CALLED; __IO uint32_t OutputDataReadyCallback = CALLBACK_NOT_CALLED; __IO uint32_t ErrorCount = 0; /* Array of reference filtered data for IIR "7 feed-forward taps, 6 feedback coefficients, gain = 1" in Q1.15 format */ static const int16_t aRefFilteredData[ARRAY_SIZE] = { 0x01c6, 0x0403, 0x03a5, 0x03e6, 0x05b0, 0x0588, 0x051d, 0x0664, 0x06c7, 0x057a, 0x0631, 0x06c8, 0x0539, 0x0500, 0x05a5, 0x0453, 0x02f5, 0x03b2, 0x02a0, 0x00b3, 0x00fe, 0x008c, 0xfe75, 0xfe03, 0xfe6e, 0xfc64, 0xfb84, 0xfc4c, 0xfb0a, 0xf9ba, 0xfa9c, 0xfa87, 0xf8df, 0xf9d2, 0xfaa0, 0xf95d, 0xf9da, 0xfb7d, 0xfaf9, 0xfac9, 0xfd0d, 0xfd3b, 0xfcc5, 0xfecf, 0xfffd, 0xff53, 0x00ae, 0x02be, 0x01f7, 0x029c, 0x04cb, 0x0487, 0x041b, 0x0609, 0x066e, 0x0504, 0x0663, 0x0722, 0x0576, 0x0598, 0x06be, 0x0521, 0x03f7, 0x0544, 0x03f1, 0x01fe, 0x02b2, 0x0246, 0xffbf, 0xffb1, 0x0031, 0xfd99, 0xfcdc, 0xfdc8, 0xfc12, 0xfa6f, 0xfbac, 0xfb1e, 0xf8f9, 0xfa31, 0xfaba, 0xf8e4, 0xf963, 0xfb2a, 0xf9ea, 0xf9ac, 0xfc34, 0xfbdb, 0xfb28, 0xfd85, 0xfe95, 0xfd63, 0xff3a, 0x0162, 0x0027, 0x011e, 0x03b3, 0x032b, 0x02bf, 0x056e, 0x05a2, 0x0426, 0x0638, 0x071b, 0x0536, 0x05d6, 0x0788, 0x057c, 0x04b2, 0x0696, 0x04fd, 0x0307, 0x0458, 0x03e4, 0x00e7, 0x0179, 0x0201, 0xfede, 0xfe5d, 0xff91, 0xfd45, 0xfb6b, 0xfd2c, 0xfbff, 0xf96e, 0xfb01, 0xfb45, 0xf8b6, 0xf963, 0xfb49, 0xf91d, 0xf8f0, 0xfbb9, 0xfabb, 0xf9b5, 0xfc8b, 0xfd49, 0xfb76, 0xfdeb, 0x0004, 0xfe37, 0xff85, 0x028d, 0x017c, 0x0122, 0x04a4, 0x046f, 0x02e1, 0x05bb, 0x06b8, 0x046c, 0x05c4, 0x07f7, 0x0556, 0x0516, 0x07a2, 0x05ae, 0x03b5, 0x05e6, 0x0542, 0x01d6, 0x0342, 0x03c8, 0x0010, 0xfff2, 0x0195, 0xfe7f, 0xfca1, 0xff07, 0xfd19, 0xfa2a, 0xfc41, 0xfc38, 0xf8c9, 0xf9e7, 0xfbd7, 0xf89e, 0xf8a2, 0xfbb2, 0xf9e3, 0xf881, 0xfc01, 0xfc27, 0xf9a9, 0xfcd9, 0xfec2, 0xfc37, 0xfdf0, 0x0173, 0xff87, 0xff61, 0x03bb, 0x02e9, 0x0141, 0x0506, 0x05fc, 0x031a, 0x056e, 0x0801, 0x04ab, 0x051b, 0x0864, 0x05e5, 0x03f9, 0x074f, 0x0640, 0x0277, 0x04f3, 0x0570, 0x0109, 0x018d, 0x03b9, 0xff9d, 0xfe01, 0x0128, 0xfe56, 0xfb14, 0xfdf5, 0xfd7c, 0xf90e, 0xfaf7, 0xfccf, 0xf864, 0xf8c4, 0xfc36, 0xf94a, 0xf79e, 0xfc01, 0xfb37, 0xf810, 0xfc24, 0xfdb8, 0xfa2e, 0xfc8d, 0x0081, 0xfd5b, 0xfd9c, 0x02d3, 0x0120, 0xff50, 0x043e, 0x04e9, 0x0148, 0x04e8, 0x07af, 0x0377, 0x04c1, 0x08e7, 0x058c, 0x03d3, 0x088c, 0x06c6, 0x02b3, 0x0682, 0x06e5, 0x019d }; /* USER CODE END PV */ /* Private function prototypes -----------------------------------------------*/ void SystemClock_Config(void); static void SystemPower_Config(void); static void MX_GPDMA1_Init(void); static void MX_ICACHE_Init(void); static void MX_FMAC_Init(void); /* USER CODE BEGIN PFP */ /* USER CODE END PFP */ /* Private user code ---------------------------------------------------------*/ /* USER CODE BEGIN 0 */ /* USER CODE END 0 */ /** * @brief The application entry point. * @retval int */ int main(void) { /* USER CODE BEGIN 1 */ /* STM32U5xx HAL library initialization: - Configure the Flash prefetch - Configure the Systick to generate an interrupt each 1 msec - Set NVIC Group Priority to 3 - Low Level Initialization */ /* USER CODE END 1 */ /* MCU Configuration--------------------------------------------------------*/ /* Reset of all peripherals, Initializes the Flash interface and the Systick. */ HAL_Init(); /* USER CODE BEGIN Init */ /* USER CODE END Init */ /* Configure the system clock */ SystemClock_Config(); /* Configure the System Power */ SystemPower_Config(); /* USER CODE BEGIN SysInit */ /* Configure LED1 */ BSP_LED_Init(LED1); /* USER CODE END SysInit */ /* Initialize all configured peripherals */ MX_GPDMA1_Init(); MX_ICACHE_Init(); MX_FMAC_Init(); /* USER CODE BEGIN 2 */ /*## Configure the FMAC peripheral ###########################################*/ sFmacConfig.InputBaseAddress = INPUT_BUFFER_BASE; sFmacConfig.InputBufferSize = INPUT_BUFFER_SIZE; sFmacConfig.InputThreshold = INPUT_THRESHOLD; sFmacConfig.CoeffBaseAddress = COEFFICIENT_BUFFER_BASE; sFmacConfig.CoeffBufferSize = COEFFICIENT_BUFFER_SIZE; sFmacConfig.OutputBaseAddress = OUTPUT_BUFFER_BASE; sFmacConfig.OutputBufferSize = OUTPUT_BUFFER_SIZE; sFmacConfig.OutputThreshold = OUTPUT_THRESHOLD; sFmacConfig.pCoeffA = aFilterCoeffA; sFmacConfig.CoeffASize = COEFF_VECTOR_A_SIZE; sFmacConfig.pCoeffB = aFilterCoeffB; sFmacConfig.CoeffBSize = COEFF_VECTOR_B_SIZE; sFmacConfig.Filter = FMAC_FUNC_IIR_DIRECT_FORM_1; sFmacConfig.InputAccess = FMAC_BUFFER_ACCESS_POLLING; sFmacConfig.OutputAccess = FMAC_BUFFER_ACCESS_DMA; sFmacConfig.Clip = FMAC_CLIP_DISABLED; sFmacConfig.P = COEFF_VECTOR_B_SIZE; sFmacConfig.Q = COEFF_VECTOR_A_SIZE; sFmacConfig.R = GAIN; if (HAL_FMAC_FilterConfig(&hfmac, &sFmacConfig) != HAL_OK) { /* Configuration Error */ Error_Handler(); } /*## Preload the input and output buffers ####################################*/ if (HAL_FMAC_FilterPreload(&hfmac, aInputValues, INPUT_BUFFER_SIZE, aOutputDataToPreload, COEFF_VECTOR_A_SIZE) != HAL_OK) { /* Configuration Error */ Error_Handler(); } /*## Start calculation of IIR filter in polling/DMA mode #####################*/ if (HAL_FMAC_FilterStart(&hfmac, aCalculatedFilteredData, &ExpectedCalculatedOutputSize) != HAL_OK) { /* Processing Error */ Error_Handler(); } /*## Wait for the end of the handling (no new data written) #################*/ /* For simplicity reasons, this example is just waiting till the end of the calculation, but the application may perform other tasks while the operation is ongoing. */ while(HalfOutputDataReadyCallback == CALLBACK_NOT_CALLED) { } while(OutputDataReadyCallback == CALLBACK_NOT_CALLED) { } /*## Stop the calculation of IIR filter in polling/DMA mode ##################*/ if (HAL_FMAC_FilterStop(&hfmac) != HAL_OK) { /* Processing Error */ Error_Handler(); } /*## Check the final error status ############################################*/ if(ErrorCount != 0) { /* Processing Error */ Error_Handler(); } /*## Compare FMAC results to the reference values #####################*/ for (uint32_t i = 0; i < ExpectedCalculatedOutputSize; i++) { if (aCalculatedFilteredData[i] != aRefFilteredData[i]) { /* Processing Error */ Error_Handler(); } } /* There is no error in the output values: Turn LED1 on */ BSP_LED_On(LED1); /* USER CODE END 2 */ /* Infinite loop */ /* USER CODE BEGIN WHILE */ while (1) { /* USER CODE END WHILE */ /* USER CODE BEGIN 3 */ } /* USER CODE END 3 */ } /** * @brief System Clock Configuration * @retval None */ void SystemClock_Config(void) { RCC_OscInitTypeDef RCC_OscInitStruct = {0}; RCC_ClkInitTypeDef RCC_ClkInitStruct = {0}; /** Configure the main internal regulator output voltage */ if (HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1) != HAL_OK) { Error_Handler(); } /** Initializes the CPU, AHB and APB buses clocks */ RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_MSI; RCC_OscInitStruct.MSIState = RCC_MSI_ON; RCC_OscInitStruct.MSICalibrationValue = RCC_MSICALIBRATION_DEFAULT; RCC_OscInitStruct.MSIClockRange = RCC_MSIRANGE_4; RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON; RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_MSI; RCC_OscInitStruct.PLL.PLLMBOOST = RCC_PLLMBOOST_DIV1; RCC_OscInitStruct.PLL.PLLM = 1; RCC_OscInitStruct.PLL.PLLN = 80; RCC_OscInitStruct.PLL.PLLP = 2; RCC_OscInitStruct.PLL.PLLQ = 2; RCC_OscInitStruct.PLL.PLLR = 2; RCC_OscInitStruct.PLL.PLLRGE = RCC_PLLVCIRANGE_0; RCC_OscInitStruct.PLL.PLLFRACN = 0; if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) { Error_Handler(); } /** Initializes the CPU, AHB and APB buses clocks */ RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2 |RCC_CLOCKTYPE_PCLK3; RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK; RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1; RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1; RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1; RCC_ClkInitStruct.APB3CLKDivider = RCC_HCLK_DIV1; if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_4) != HAL_OK) { Error_Handler(); } } /** * @brief Power Configuration * @retval None */ static void SystemPower_Config(void) { /* * Disable the internal Pull-Up in Dead Battery pins of UCPD peripheral */ HAL_PWREx_DisableUCPDDeadBattery(); /* * Switch to SMPS regulator instead of LDO */ if (HAL_PWREx_ConfigSupply(PWR_SMPS_SUPPLY) != HAL_OK) { Error_Handler(); } /* USER CODE BEGIN PWR */ /* USER CODE END PWR */ } /** * @brief FMAC Initialization Function * @param None * @retval None */ static void MX_FMAC_Init(void) { /* USER CODE BEGIN FMAC_Init 0 */ /* USER CODE END FMAC_Init 0 */ /* USER CODE BEGIN FMAC_Init 1 */ /* USER CODE END FMAC_Init 1 */ hfmac.Instance = FMAC; if (HAL_FMAC_Init(&hfmac) != HAL_OK) { Error_Handler(); } /* USER CODE BEGIN FMAC_Init 2 */ /* USER CODE END FMAC_Init 2 */ } /** * @brief GPDMA1 Initialization Function * @param None * @retval None */ static void MX_GPDMA1_Init(void) { /* USER CODE BEGIN GPDMA1_Init 0 */ /* USER CODE END GPDMA1_Init 0 */ /* Peripheral clock enable */ __HAL_RCC_GPDMA1_CLK_ENABLE(); /* GPDMA1 interrupt Init */ HAL_NVIC_SetPriority(GPDMA1_Channel1_IRQn, 0, 0); HAL_NVIC_EnableIRQ(GPDMA1_Channel1_IRQn); /* USER CODE BEGIN GPDMA1_Init 1 */ /* USER CODE END GPDMA1_Init 1 */ /* USER CODE BEGIN GPDMA1_Init 2 */ /* USER CODE END GPDMA1_Init 2 */ } /** * @brief ICACHE Initialization Function * @param None * @retval None */ static void MX_ICACHE_Init(void) { /* USER CODE BEGIN ICACHE_Init 0 */ /* USER CODE END ICACHE_Init 0 */ /* USER CODE BEGIN ICACHE_Init 1 */ /* USER CODE END ICACHE_Init 1 */ /** Enable instruction cache in 1-way (direct mapped cache) */ if (HAL_ICACHE_ConfigAssociativityMode(ICACHE_1WAY) != HAL_OK) { Error_Handler(); } if (HAL_ICACHE_Enable() != HAL_OK) { Error_Handler(); } /* USER CODE BEGIN ICACHE_Init 2 */ /* USER CODE END ICACHE_Init 2 */ } /* USER CODE BEGIN 4 */ /** * @brief FMAC half output data ready callback * @par hfmac: FMAC HAL handle * @retval None */ void HAL_FMAC_HalfOutputDataReadyCallback(FMAC_HandleTypeDef *hfmac) { HalfOutputDataReadyCallback = CALLBACK_CALLED; 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