Lawnmower_STM32H7.git

			@@ -7,257 +7,54 @@
			#include "motion_path_data.h"

			const float g_motion_path_xy[] = {
			23.36f, -42.93f,
			29.26f, -52.99f,
			29.26f, -52.99f,
			30.29f, -53.77f,
			30.29f, -53.77f,
			1.17f, -4.06f,
			1.17f, -4.06f,
			0.58f, -2.05f,
			0.58f, -2.05f,
			30.97f, -53.94f,
			30.97f, -53.94f,
			31.65f, -54.12f,
			31.65f, -54.12f,
			0.36f, -0.70f,
			0.36f, -0.70f,
			0.68f, -0.24f,
			0.68f, -0.24f,
			32.18f, -54.04f,
			32.18f, -54.04f,
			32.71f, -53.95f,
			32.71f, -53.95f,
			1.21f, -0.16f,
			1.21f, -0.16f,
			1.74f, -0.08f,
			1.74f, -0.08f,
			33.21f, -53.81f,
			33.21f, -53.81f,
			33.65f, -53.58f,
			33.65f, -53.58f,
			2.27f, -0.00f,
			2.27f, -0.00f,
			2.81f, 0.08f,
			2.81f, 0.08f,
			34.10f, -53.34f,
			34.10f, -53.34f,
			34.54f, -53.11f,
			34.54f, -53.11f,
			3.34f, 0.16f,
			3.34f, 0.16f,
			3.87f, 0.24f,
			3.87f, 0.24f,
			34.98f, -52.87f,
			34.98f, -52.87f,
			35.42f, -52.64f,
			35.42f, -52.64f,
			4.40f, 0.32f,
			4.40f, 0.32f,
			4.93f, 0.40f,
			4.93f, 0.40f,
			35.86f, -52.40f,
			35.86f, -52.40f,
			36.30f, -52.16f,
			36.30f, -52.16f,
			5.47f, 0.48f,
			5.47f, 0.48f,
			6.00f, 0.56f,
			6.00f, 0.56f,
			36.75f, -51.93f,
			36.75f, -51.93f,
			37.19f, -51.69f,
			37.19f, -51.69f,
			6.53f, 0.64f,
			6.53f, 0.64f,
			7.06f, 0.73f,
			7.06f, 0.73f,
			37.63f, -51.46f,
			37.63f, -51.46f,
			38.07f, -51.22f,
			38.07f, -51.22f,
			7.59f, 0.81f,
			7.59f, 0.81f,
			8.13f, 0.89f,
			8.13f, 0.89f,
			38.51f, -50.99f,
			38.51f, -50.99f,
			38.95f, -50.75f,
			38.95f, -50.75f,
			8.66f, 0.97f,
			8.66f, 0.97f,
			9.19f, 1.05f,
			9.19f, 1.05f,
			39.39f, -50.52f,
			39.39f, -50.52f,
			39.84f, -50.28f,
			39.84f, -50.28f,
			9.72f, 1.13f,
			9.72f, 1.13f,
			10.26f, 1.21f,
			10.26f, 1.21f,
			40.28f, -50.04f,
			40.28f, -50.04f,
			40.72f, -49.81f,
			40.72f, -49.81f,
			10.79f, 1.29f,
			10.79f, 1.29f,
			11.32f, 1.37f,
			11.32f, 1.37f,
			41.16f, -49.57f,
			41.16f, -49.57f,
			41.60f, -49.34f,
			41.60f, -49.34f,
			11.85f, 1.45f,
			11.85f, 1.45f,
			12.38f, 1.53f,
			12.38f, 1.53f,
			42.04f, -49.10f,
			42.04f, -49.10f,
			42.48f, -48.87f,
			42.48f, -48.87f,
			12.92f, 1.61f,
			12.92f, 1.61f,
			13.45f, 1.69f,
			13.45f, 1.69f,
			42.93f, -48.63f,
			42.93f, -48.63f,
			43.37f, -48.40f,
			43.37f, -48.40f,
			13.98f, 1.78f,
			13.98f, 1.78f,
			14.51f, 1.86f,
			14.51f, 1.86f,
			43.81f, -48.16f,
			43.81f, -48.16f,
			44.25f, -47.92f,
			44.25f, -47.92f,
			15.04f, 1.94f,
			15.04f, 1.94f,
			15.58f, 2.02f,
			15.58f, 2.02f,
			44.69f, -47.69f,
			44.69f, -47.69f,
			45.13f, -47.45f,
			45.13f, -47.45f,
			16.11f, 2.10f,
			16.11f, 2.10f,
			16.64f, 2.18f,
			16.64f, 2.18f,
			45.58f, -47.22f,
			45.58f, -47.22f,
			46.02f, -46.98f,
			46.02f, -46.98f,
			17.17f, 2.26f,
			17.17f, 2.26f,
			17.71f, 2.34f,
			17.71f, 2.34f,
			46.45f, -46.74f,
			46.45f, -46.74f,
			46.88f, -46.48f,
			46.88f, -46.48f,
			18.24f, 2.42f,
			18.24f, 2.42f,
			18.77f, 2.50f,
			18.77f, 2.50f,
			47.31f, -46.22f,
			47.31f, -46.22f,
			47.74f, -45.96f,
			47.74f, -45.96f,
			19.30f, 2.58f,
			19.30f, 2.58f,
			19.83f, 2.66f,
			19.83f, 2.66f,
			48.16f, -45.70f,
			48.16f, -45.70f,
			48.59f, -45.44f,
			48.59f, -45.44f,
			20.37f, 2.75f,
			20.37f, 2.75f,
			20.90f, 2.83f,
			20.90f, 2.83f,
			49.02f, -45.18f,
			49.02f, -45.18f,
			49.44f, -44.92f,
			49.44f, -44.92f,
			21.43f, 2.91f,
			21.43f, 2.91f,
			21.96f, 2.99f,
			21.96f, 2.99f,
			49.87f, -44.66f,
			49.87f, -44.66f,
			50.30f, -44.40f,
			50.30f, -44.40f,
			22.49f, 3.07f,
			22.49f, 3.07f,
			23.03f, 3.15f,
			23.03f, 3.15f,
			50.73f, -44.14f,
			50.73f, -44.14f,
			51.15f, -43.88f,
			51.15f, -43.88f,
			23.56f, 3.23f,
			23.56f, 3.23f,
			24.09f, 3.31f,
			24.09f, 3.31f,
			51.58f, -43.62f,
			51.58f, -43.62f,
			52.01f, -43.36f,
			52.01f, -43.36f,
			24.62f, 3.39f,
			24.62f, 3.39f,
			25.16f, 3.47f,
			25.16f, 3.47f,
			52.44f, -43.10f,
			52.44f, -43.10f,
			52.86f, -42.84f,
			52.86f, -42.84f,
			25.69f, 3.55f,
			25.69f, 3.55f,
			26.22f, 3.63f,
			26.22f, 3.63f,
			53.29f, -42.58f,
			53.29f, -42.58f,
			53.72f, -42.32f,
			53.72f, -42.32f,
			26.75f, 3.71f,
			26.75f, 3.71f,
			27.28f, 3.80f,
			27.28f, 3.80f,
			54.15f, -42.06f,
			54.15f, -42.06f,
			54.57f, -41.81f,
			54.57f, -41.81f,
			27.82f, 3.88f,
			27.82f, 3.88f,
			28.35f, 3.96f,
			28.35f, 3.96f,
			55.00f, -41.55f,
			55.00f, -41.55f,
			55.43f, -41.29f,
			55.43f, -41.29f,
			28.88f, 4.04f,
			28.88f, 4.04f,
			29.45f, 4.05f,
			29.45f, 4.05f,
			55.86f, -41.03f,
			55.86f, -41.03f,
			56.28f, -40.77f,
			56.28f, -40.77f,
			30.07f, 3.99f,
			30.07f, 3.99f,
			30.68f, 3.93f,
			30.68f, 3.93f,
			56.62f, -40.36f,
			56.62f, -40.36f,
			56.92f, -39.88f,
			56.92f, -39.88f,
			31.29f, 3.87f,
			31.29f, 3.87f,
			37.19f, -5.20f,
			37.19f, -5.20f,
			55.51f, -36.47f
			// 5.61f, -9.91f,
			// 4.45f, -3.43f,
			// 3.79f, -2.59f,
			// 5.32f, -11.12f,
			// 4.97f, -11.98f,
			// 2.87f, -0.32f,
			// 2.26f, 0.26f,
			// 4.47f, -12.06f,
			// 3.98f, -12.14f,
			1.77f, 0.16f,
			1.28f, 0.05f,
			3.49f, -12.22f,
			2.95f, -12.05f,
			0.79f, -0.06f,
			0.30f, -0.16f,
			2.39f, -11.76f
			};

			//const float g_motion_path_xy[] = {
			// 5.61f, -9.91f,
			// 4.45f, -3.43f,
			// 4.45f, -3.43f,
			// 3.79f, -2.59f,
			// 3.79f, -2.59f,
			// 5.32f, -11.12f,
			// 5.32f, -11.12f,
			// 4.97f, -11.98f,
			// 4.97f, -11.98f,
			// 2.87f, -0.32f,
			// 2.87f, -0.32f,
			// 2.26f, 0.26f,
			// 2.26f, 0.26f,
			// 4.47f, -12.06f,
			// 4.47f, -12.06f,
			// 3.98f, -12.14f,
			// 3.98f, -12.14f,
			// 1.77f, 0.16f,
			// 1.77f, 0.16f,
			// 1.28f, 0.05f,
			// 1.28f, 0.05f,
			// 3.49f, -12.22f,
			// 3.49f, -12.22f,
			// 2.95f, -12.05f,
			// 2.95f, -12.05f,
			// 0.79f, -0.06f,
			// 0.79f, -0.06f,
			// 0.30f, -0.16f,
			// 0.30f, -0.16f,
			// 2.39f, -11.76f
			//};
			const HIDO_UINT32 g_motion_path_point_count = sizeof(g_motion_path_xy) / (sizeof(float) * 2U);