4. C/C++ 混編專案架構

<h1 style="text-align: center; color: gold;">機器人全端技術開源筆記</h1> <ul style="font-style: italic; text-align: center; list-style-type: none; margin-right: 27px"> <li><a href="/@925/robot">Homepage</a></li> </ul> <p style="font-style: italic; text-align: center; margin-top:-35px"> <br>大學期間做過的機器人筆記最終整理 <br>留下個人認為基礎、重要、實用、常用的部分 <br>~ 歡迎留言或建議修訂 ~ </p> <ul style="text-align: center; list-style-type: none; margin-right: 27px"> <li><a href="/@925/read">!! 閱讀前希望能先看過這篇 !! </a></li> </ul> </br> <h2 style="text-align: center; color: orange;"> 🛠️ 【硬體】Hardware 🛠️ </h2> <div class="text-center"> :::info 細節做滿，或許實際效果沒差太多。但出錯時至少我們可以不用去懷疑。 ::: </div>   <h3 style="display: inline-block; width: 35%; text-align: right; color: lightgreen; margin: 0; vertical-align: middle;"> 設計細節 </h3> <span style="display: inline-block; width: 2px; height: 190px; background-color: lightgreen; margin: 0 15px; vertical-align: middle;"></span> <ul style="display: inline-block; width: 45%; padding: 0; margin: 0 15px; text-align: left; vertical-align: middle;"> <li><a href="https://hackmd.io/@925/diypcb" style="color:skyblue">1. 設計大電流降壓板思路</a></li> <li><a href="https://hackmd.io/@925/inverse" style="color:skyblue">2-1. 反相電壓保護（二極體）</a></li> <li><a href="https://hackmd.io/@925/pmos" style="color:skyblue">2-2. 反相電壓保護（PMOS）</a></li> <li><a href="/@925/bypass" style="color:skyblue">3. 去藕電容</a></li> <li><a href="https://hackmd.io/@925/bucker" style="color:skyblue">4. 可調式降壓晶片</a></li> </ul> <hr style="width: 92%; border: none; height: 0.5px; background-color: lightgreen; margin: 10px auto; vertical-align: middle;"> <h3 style="display: inline-block; width: 35%; text-align: right; color: lightgreen; margin: 0; vertical-align: middle;"> EDA、叫板相關 </h3> <span style="display: inline-block; width: 2px; height: 100px; background-color: lightgreen; margin: 0 15px; vertical-align: middle;"></span> <ul style="display: inline-block; width: 45%; padding: 0; margin: 0 15px; text-align: left; vertical-align: middle;"> <li><a href="/@925/jclpcb" style="color:skyblue">1. 嘉立創打印流程</a></li> <li><a href="/@925/jcleda" style="color:skyblue">2. 嘉立創EDA設計流程</a></li> </ul>   </br></br> <h2 style="text-align: center; color: orange;"> 🛠️ 【韌體】Firmware 🛠️ </h2> --- <div class="text-center"> :::info 主要就針對 Arm Cortex-M 內核的 STM32 說明囉。 ::: </div>   <h3 style="display: inline-block; width: 35%; text-align: right; color: lightgreen; margin: 0; vertical-align: middle;"> STM32、CubeIDE </h3> <span style="display: inline-block; width: 2px; height: 230px; background-color: lightgreen; margin: 0 15px; vertical-align: middle;"></span> <ul style="display: inline-block; width: 45%; padding: 0; margin: 0 15px; text-align: left; vertical-align: middle;"> <li><a href="/@925/robot" style="color:skyblue">1. STM32 微控制器簡介</a></li> <li><a href="/@925/robot" style="color:skyblue">2. 專案開發流程</a></li> <li><a href="/@925/robot" style="color:skyblue">3. 建立新專案、編譯及燒錄</a></li> <li><a href="/@925/stm-project" style="color:skyblue">4. C/C++ 混編專案架構</a></li> <li><a href="/@925/stmros" style="color:skyblue">5. STM x ROS1</a></li> <li><a href="/@925/stm-remote" style="color:skyblue">6. PPM 訊號讀取（遙控器）</a></li> </ul> <hr style="width: 92%; border: none; height: 0.5px; background-color: lightgreen; margin: 10px auto; vertical-align: middle;"> <h3 style="display: inline-block; width: 35%; text-align: right; color: lightgreen; margin: 0; vertical-align: middle;"> 直流馬達控制 </h3> <span style="display: inline-block; width: 2px; height: 100px; background-color: lightgreen; margin: 0 15px; vertical-align: middle;"></span> <ul style="display: inline-block; width: 45%; padding: 0; margin: 0 15px; text-align: left; vertical-align: middle;"> <li><a href="/@925/robot" style="color:skyblue">Encoder 讀取〔未校正〕</a></li> <li><a href="/@925/robot" style="color:skyblue">全代碼含 PWM 輸出〔未校正〕</a></li> <li><a href="#" style="color:skyblue">Matlab x PID〔未校正〕</a></li> </ul>   <br/><br/> <h2 style="text-align: center; color: orange;"> 🛠️ 【軟體】Software 🛠️ </h2> --- <div class="text-center"> :::info 機器人後端平台主要為 ROS2 Humble。 ::: </div>   <h3 style="display: inline-block; width: 35%; text-align: right; color: lightgreen; margin: 0; vertical-align: middle;"> 版控工具 Git </h3> <span style="display: inline-block; width: 2px; height: 170px; background-color: lightgreen; margin: 0 15px; vertical-align: middle;"></span> <ul style="display: inline-block; width: 45%; padding: 0; margin: 0 15px; text-align: left; vertical-align: middle;"> <li><a href="/@925/git-basic" style="color:skyblue">1. 基本知識 & 操作</a></li> <li><a href="/@925/robot" style="color:skyblue">2. 版本恢復〔未校正〕</a></li> <li><a href="/@925/robot" style="color:skyblue">3. 使用 .gitignore〔未校正〕</a></li> <li><a href="/@925/submodule" style="color:skyblue">4. Git Submodule</a></li> </ul> <hr style="width: 92%; border: none; height: 0.5px; background-color: lightgreen; margin: 10px auto; vertical-align: middle;"> <h3 style="display: inline-block; width: 35%; text-align: right; color: lightgreen; margin: 0; vertical-align: middle;"> 必學的 Docker </h3> <span style="display: inline-block; width: 2px; height: 230px; background-color: lightgreen; margin: 0 15px; vertical-align: middle;"></span> <ul style="display: inline-block; width: 45%; padding: 0; margin: 0 15px; text-align: left; vertical-align: middle;"> <li><a href="/@925/docker" style="color:skyblue">0. Docker 淺談</a></li> <li><a href="/@925/docker-basic" style="color:skyblue">1. Docker 基本操作</a></li> <li><a href="/@925/dockerfile" style="color:skyblue">2. Dockerfile 細節</a></li> <li><a href="/@925/compose" style="color:skyblue">3. compose.yml 細節</a></li> <li><a href="/@925/multi-stage" style="color:skyblue">4. 利用 Multi-Stage builds 節省容量</a></li> <li><a href="/@925/actions" style="color:skyblue">5. Github Actions 流程自動化</a></li> <li><a href="/@925/chmod" style="color:skyblue">6. Container 文件權限問題</a></li> <li><a href="/@925/wsl2usb" style="color:skyblue">7. Docker Desktop x WSL2 USB 問題</a></li> </ul> <hr style="width: 92%; border: none; height: 0.5px; background-color: lightgreen; margin: 10px auto; vertical-align: middle;"> <h3 style="display: inline-block; width: 35%; text-align: right; color: lightgreen; margin: 0; vertical-align: middle;"> 網路、通訊 </h3> <span style="display: inline-block; width: 2px; height: 160px; background-color: lightgreen; margin: 0 15px; vertical-align: middle;"></span> <ul style="display: inline-block; width: 45%; padding: 0; margin: 0 15px; text-align: left; vertical-align: middle;"> <li><a href="/@925/mdns" style="color:skyblue">1. mDNS 設定</a></li> <li><a href="/@925/mobaxterm" style="color:skyblue">2. MobaXTerm 遠端連線軟體</a></li> <li><a href="/@925/rpi" style="color:skyblue">3. 不同通訊下的開發方式（樹梅派）</a></li> </ul> <hr style="width: 92%; border: none; height: 0.5px; background-color: lightgreen; margin: 10px auto; vertical-align: middle;"> <h3 style="display: inline-block; width: 35%; text-align: right; color: lightgreen; margin: 0; vertical-align: middle;"> 影像處理 </h3> <span style="display: inline-block; width: 2px; height: 210px; background-color: lightgreen; margin: 0 15px; vertical-align: middle;"></span> <ul style="display: inline-block; width: 45%; padding: 0; margin: 0 15px; text-align: left; vertical-align: middle;"> <li><a href="/@925/camera" style="color:skyblue">0. 機器人相機解決方案淺談</a></li> <li><a href="/@925/model" style="color:skyblue">1.【物件偵測】模型訓練知識及流程</a></li> <li><a href="/@925/collect" style="color:skyblue">2.【物件偵測】Collect 階段</a></li> <li><a href="/@925/annotate" style="color:skyblue">3.【物件偵測】Annotate 階段</a></li> <li><a href="/@925/training" style="color:skyblue">4.【物件偵測】Training 階段</a></li> <li><a href="/@925/deploy" style="color:skyblue">5.【物件偵測】Deploying 階段</a></li> </ul> <hr style="width: 92%; border: none; height: 0.5px; background-color: lightgreen; amrgin: 10px auto; vertical-align: middle;"> <h3 style="display: inline-block; width: 35%; text-align: right; color: lightgreen; margin: 0; vertical-align: middle;"> 同步建圖與定位技術 </h3> <span style="display: inline-block; width: 2px; height: 120px; background-color: lightgreen; margin: 0 15px; vertical-align: middle;"></span> <ul style="display: inline-block; width: 45%; padding: 0; margin: 0 15px; text-align: left; vertical-align: middle;"> <li><a href="/@925/robot" style="color:skyblue">0. SLAM 應用場景</a></li> <li><a href="/@925/robot" style="color:skyblue">1. RTAB-Map x Intel® RealSense™ D435 </a></li> <li><a href="/@925/mapping_localization" style="color:skyblue">2. RTAB-Map 建圖/定位模式〔未校正〕</a></li> </ul> <hr style="width: 92%; border: none; height: 0.5px; background-color: lightgreen; margin: 10px auto; vertical-align: middle;"> <h3 style="display: inline-block; width: 35%; text-align: right; color: lightgreen; margin: 0; vertical-align: middle;"> Nav2 導航堆棧 </h3> <span style="display: inline-block; width: 2px; height: 100px; background-color: lightgreen; margin: 0 15px; vertical-align: middle;"></span> <ul style="display: inline-block; width: 45%; padding: 0; margin: 0 15px; text-align: left; vertical-align: middle;"> <li><a href="/@925/robot" style="color:skyblue">0. 導航框架初探〔未校正〕 </a></li> <li><a href="/@925/classical-nav" style="color:skyblue">1. 經典導航算法</a></li> <li><a href="/@925/motion-planning" style="color:skyblue">2. Motion Planning</a></li> </ul> <hr style="width: 92%; border: none; height: 0.5px; background-color: lightgreen; margin: 10px auto; vertical-align: middle;"> <h3 style="display: inline-block; width: 35%; text-align: right; color: lightgreen; margin: 0; vertical-align: middle;"> High-DoF Robots </h3> <span style="display: inline-block; width: 2px; height: 100px; background-color: lightgreen; margin: 0 15px; vertical-align: middle;"></span> <ul style="display: inline-block; width: 45%; padding: 0; margin: 0 15px; text-align: left; vertical-align: middle;"> <li><a href="/@925/dof" style="color:skyblue">0. 淺談多自由度機器人</a></li> <li><a href="/@925/dh" style="color:skyblue">1. 順向運動學求法</a></li> <li><a href="/@925/robot" style="color:skyblue">建立機器狗的 URDF〔未校正〕</a></li> </ul> <hr style="width: 92%; border: none; height: 0.5px; background-color: lightgreen; margin: 10px auto; vertical-align: middle;"> <h3 style="display: inline-block; width: 35%; text-align: right; color: lightgreen; margin: 0; vertical-align: middle;"> 前端網頁 </h3> <span style="display: inline-block; width: 2px; height: 100px; background-color: lightgreen; margin: 0 15px; vertical-align: middle;"></span> <ul style="display: inline-block; width: 45%; padding: 0; margin: 0 15px; text-align: left; vertical-align: middle;"> <li><a href="/@925/frontend" style="color:skyblue">0. 前端概念淺談</a></li> <li><a href="/@925/robot" style="color:skyblue">1. 前端與後端的串接〔未校正〕</a></li> </ul> <br/><br/>   <h2 style="text-align: center; color: orange;"> 🛠️ 其他 Others 🛠️ </h2> <div class="text-center"> :::info 就其他 :) ::: </div>   <h3 style="display: inline-block; width: 35%; text-align: right; color: lightgreen; margin: 0; vertical-align: middle;"> 不是業配 </h3> <span style="display: inline-block; width: 2px; height: 100px; background-color: lightgreen; margin: 0 15px; vertical-align: middle;"></span> <ul style="display: inline-block; width: 45%; padding: 0; margin: 0 15px; text-align: left; vertical-align: middle;"> <li><a href="/@925/products" style="color:skyblue">實用產品清單</a></li> <li><a href="/@925/tools" style="color:skyblue">實用開發工具清單</a></li> </ul>