【待优化】整体编译通过，但是目前关闭了Werror

Bingoo/base/BHBF_ROBOT.c

@@ -4,7 +4,7 @@
  *  Created on: Oct 26, 2023
  *      Author: shiya
  */
-#include "fsm.h"
+//#include "fsm.h"
 #include "BHBF_ROBOT.h"
 #include <string.h>
 
@@ -101,6 +101,8 @@ bool CompareTimer(int32_t DelayMiliSeconds,Sys_timer_handler * timer_handler)
 	}
 
 }
+
+#if 0
 bool CompareTimer_Delay(int32_t Delay)
 {
 
@@ -118,6 +120,8 @@ bool CompareTimer_Delay(int32_t Delay)
 	  }
 
 }
+
+#endif
 /*m/min--->0.1m/min 其实就是×10*/
 int32_t speed_M_min_toE01_M_min(int32_t speedm_min)
 {

Bingoo/base/Handset_Status_Setting.c

@@ -178,7 +178,7 @@ static InputEvent CalculateRockerEvent(void)
 {
     int16_t vert = P_MK32->CH2_LY_V;
     int16_t hori = P_MK32->CH3_LY_H;
-    int16_t swing = P_MK32->CH0_RY_H;
+    //int16_t swing = P_MK32->CH0_RY_H;
 
     // 摇杆中位判断
     if ((fabs(vert) < ROCKER_THRESHOLD_DEFAULT) && (fabs(hori) < ROCKER_THRESHOLD_DEFAULT))

Bingoo/base/bsp_EEPROM.c

@@ -4,7 +4,7 @@
  *  Created on: Oct 26, 2023
  *      Author: shiya
  */
-#include "BSP/bsp_EEPROM.h"
+#include "bsp_EEPROM.h"
 
 void bsp_InitI2C(void);
 void i2c_Start(void);
@@ -527,7 +527,7 @@ CV_struct_define GF_BSP_EEPROM_Get_CV(void)
 {
 	CV_struct_define cv= {0};
 	//char buffer[sizeof(CV_struct_define)];
-    GF_BSP_EEPROM_ReadBytes(&cv, GF_BSP_EEPROM_CV_struct_define_Start_Address, sizeof(CV_struct_define));
+    GF_BSP_EEPROM_ReadBytes((uint8_t *)&cv, GF_BSP_EEPROM_CV_struct_define_Start_Address, sizeof(CV_struct_define));
     return cv;
 
 }
@@ -542,7 +542,7 @@ IAP_struct_define GF_BSP_EEPROM_Get_IAP(void)
 {
 	IAP_struct_define iap= {0};
 
-    GF_BSP_EEPROM_ReadBytes(&iap, IAP_struct_define_Start_Address, sizeof(IAP_struct_define));
+    GF_BSP_EEPROM_ReadBytes((uint8_t *)&iap, IAP_struct_define_Start_Address, sizeof(IAP_struct_define));
     return iap;
 
 }

Bingoo/base/bsp_GPIO.c

@@ -4,7 +4,7 @@
  *  Created on: Oct 26, 2023
  *      Author: shiya
  */
-#include "BSP/bsp_GPIO.h"
+#include "bsp_GPIO.h"
 
 uint8_t GF_BSP_GPIO_Init()
 {
@@ -47,6 +47,7 @@ void GF_BSP_GPIO_SetIO(uint8_t IO_Index,uint8_t Level)
 	}
 }
 
+#if 0
 uint8_t GF_BSP_GPIO_ToggleIO(uint8_t IO_Index)
 {
 
@@ -74,7 +75,7 @@ uint8_t GF_BSP_GPIO_ToggleIO(uint8_t IO_Index)
 
 
 }
-
+#endif
 
 uint8_t GF_BSP_GPIO_ReadIO(uint8_t IO_Index)
 {

Bingoo/base/bsp_INTERCALL.c

@@ -4,7 +4,7 @@
  *  Created on: 2023年11月8日
  *      Author: shiya
  */
-#include "BSP/bsp_include.h"
+#include "bsp_include.h"
 
 typedef struct
  {

Bingoo/base/bsp_MB_host.c

@@ -1,6 +1,6 @@
 #include "bsp_MB_host.h"
 #include "stdio.h"
-#include "BSP/bsp_UART.h"
+#include "bsp_UART.h"
 
 
 

Bingoo/base/bsp_TCPClient.c

@@ -1,4 +1,4 @@
-#include "BSP/bsp_TCPClient.h"
+#include "bsp_TCPClient.h"
 #include "lwip/netif.h"
 #include "lwip/ip.h"
 #include "lwip/tcp.h"
@@ -165,7 +165,7 @@ static err_t client_connected(void *arg, struct tcp_pcb *pcb, err_t err)
 void TCP_Client_Init(void)
 {
 
-	ReadLazorData = &ReceivedData[25];
+	ReadLazorData = (LazorData *)&ReceivedData[25];
 
 	Weld_Out_Flag = &ReceivedData[11];
 

Bingoo/base/bsp_TIMER.c

@@ -4,9 +4,9 @@
  *  Created on: Oct 26, 2023
  *      Author: shiya
  */
-#include "BSP/bsp_TIMER.h"
+#include "bsp_TIMER.h"
 #include "lwip.h"
-#include "BSP/bsp_mqtt.h"
+#include "bsp_mqtt.h"
 
 //返回值：：1-正常；0-错误
 uint8_t GF_BSP_TIMER_Init()

Bingoo/base/bsp_UART.c

@@ -1,4 +1,4 @@
-#include "BSP/bsp_UART.h"
+#include "bsp_UART.h"
 #include "main.h"
 #include <stdlib.h>
 

Bingoo/base/bsp_UDP.c

@@ -12,7 +12,8 @@
 #include "bsp_UDP.h"
 #include "bsp_DLT_Log.h"
 #include <bsp_UpperComputer_Handler.h>
-#include "BSP/bsp_GPIO.h"
+#include "bsp_GPIO.h"
+#include "bsp_decode_command.h"
 void UDP_GV_Dispatch();
 void UDP_IV_Dispatch();
 void udp_cmd_send_GV(char *pData, uint16_t Size);
@@ -132,7 +133,7 @@ void udp_dlt_send_back(char *pData, uint16_t Size)
 		/* 发送udp数据 */
 
 		//udp_send(upcb_DLT, p);
-		err_t t = udp_sendto(upcb_Tx_DLT, p, &serverIP,
+		(void)udp_sendto(upcb_Tx_DLT, p, &serverIP,
 		UDP_REMOTE_DLT_PORT);
 		/* 释放缓冲区空间 */
 		pbuf_free(p);
@@ -395,7 +396,7 @@ void UDP_GV_Dispatch()
 	pb_ostream_t GV_o_stream =
 	{ 0 };
 	char buf[1024];
-	GV_o_stream = pb_ostream_from_buffer(&buf[2], sizeof(buf));
+	GV_o_stream = pb_ostream_from_buffer((pb_byte_t *)&buf[2], sizeof(buf));
 	pb_encode(&GV_o_stream, GV_struct_define_fields, &GV);
 	buf[1] = 0xfe;
 	buf[0] = 0xfe;

Bingoo/base/bsp_client_setting.c

@@ -9,7 +9,7 @@
 
 #include "gpio.h"
 
-#include "BSP/bsp_UART.h"
+#include "bsp_UART.h"
 
 void UpdateIV();
 void decode_received_data_from_client(uint8_t *buffer, uint16_t length);
@@ -68,7 +68,7 @@ void decode_received_data_from_client(uint8_t *buffer, uint16_t length)
 	if (buffer[0] == 0x55 && buffer[1] == 0x55 && length >= 4)
 	{
 		uint16_t crc_check = ((buffer[length - 1] << 8) | buffer[length - 2]);
-		uint16_t crc_check1 = MB_CRC16(buffer, length - 2);
+		//uint16_t crc_check1 = MB_CRC16(buffer, length - 2);
 		/* CRC 校验正确 */
 		if (crc_check == MB_CRC16(buffer, length - 2))
 		{

Bingoo/base/bsp_com_helper.c

@@ -155,7 +155,7 @@ void PCOMHardWare_Check_t(HardWareController *uartHandler)
 			//printf("链表为空\n");
 			return;
 		}
-		char IsAbnornalStatus = 0;
+		//char IsAbnornalStatus = 0;
 
 		//check invalid state
 		while (ptr != NULL)
@@ -167,7 +167,7 @@ void PCOMHardWare_Check_t(HardWareController *uartHandler)
 				LOGFF(DL_ERROR, "connecting Error %s", ptr->Name);
 				SET_BIT_1(SystemErrorCode,ptr->BitFlag);
 				//*SystemErrorCode=*SystemErrorCode|(1<<ptr->BitFlag);
-				IsAbnornalStatus = 1;
+				//IsAbnornalStatus = 1;
 			}else
 			{
 				//*SystemErrorCode=*SystemErrorCode|(1<<ptr->BitFlag);

Bingoo/base/bsp_cpu_flash.c

@@ -16,7 +16,7 @@
 *********************************************************************************************************
 */
 
-#include "BSP/bsp_cpu_flash.h"
+#include "bsp_cpu_flash.h"
 #include <string.h>
 /*
 *********************************************************************************************************
@@ -413,6 +413,7 @@ void JumpToApp(void)
 	}
 }
 
+#if 0
 /*
 *********************************************************************************************************
 *	函 数 名: JumpToApp
@@ -468,7 +469,7 @@ void Copy_Peripheral_Download_Flash_to_App_Start(uint32_t totalBytes)
 		//App_Download_Addr
 		//Read 32 bytes
 
-	  QSPI_W25Qx_Read_Buffer(&readData,CODE_DOWNLOAD_FLASH_BEGIN_ADDRESS+startIndex*sizeof(readData),256);
+	  QSPI_W25Qx_Read_Buffer((uint8_t *)&readData,CODE_DOWNLOAD_FLASH_BEGIN_ADDRESS+startIndex*sizeof(readData),256);
 		HAL_Delay(10);
 		//retult=	bsp_ReadCpuFlash(App_Download_Addr+startIndex*sizeof(readData),readData,sizeof(readData));
 		//ucState = bsp_WriteCpuFlash((uint32_t)(AppAddr + TotalSize),  (uint8_t *)&g_Can2RxData[8], RecSize);
@@ -479,6 +480,7 @@ void Copy_Peripheral_Download_Flash_to_App_Start(uint32_t totalBytes)
 
 
 }
+#endif
 void Erase_App_Download_Flash_Addr()
 {
 	uint32_t startIndex=0;

Bingoo/base/bsp_decode_command.c

@@ -16,6 +16,7 @@
 #include "robot_move_actions.h"
 
 #include "fsm_state_control.h"
+#include "bsp_UDP.h"
 
 #define success 1
 #define fail 0

Bingoo/base/bsp_tempature.c

@@ -7,7 +7,7 @@
 
 #include <bsp_tempature.h>
 #include "adc.h"
-#include "BSP/bsp_include.h"
+#include "bsp_include.h"
 #include "stm32h7xx_hal_adc.h"
 
 #include <math.h>

Bingoo/base/fsm_state_control.c

@@ -195,6 +195,7 @@ static void horizontal_backward_group(void)
 
 static void manual_auto_group(void)
 {
+	void Move_Manual_Auto_Sub_Func(void);
 	Move_Manual_Auto_Sub_Func();
 	PaintGun_Contronl_Press();
 }
@@ -210,6 +211,7 @@ static void horizontal_auto_group(void)
 static void weld_auto_group(void)
 {
 	GV.Robot_Desired_Speed=-GV.Robot_Move_Speed;
+	void Weld_Auto_Sub_Func(void);
 	Weld_Auto_Sub_Func();
 	PaintGun_Contronl_Press();
     /* 若需喷枪控制，可在此添加 */
@@ -242,6 +244,7 @@ static void vertical_backward_group(void)
 static void vertical_auto_group(void)
 {
 //	horizontal_work();
+	void Move_Vertical_Auto_Sub_Func(void);
 	Move_Vertical_Auto_Sub_Func();
 	PaintGun_Contronl_Press();
     /* 若需喷枪控制，可在此添加 */
@@ -338,7 +341,9 @@ void GF_Dispatch(void)
     // 更新调试变量
     g_debug_prev_mode = prev_mode;
     g_debug_curr_key  = curr_key;
+    void Compensation_Update(void);
     Compensation_Update();
+    void get_weld_data(void);
     get_weld_data();
 }
 

Bingoo/base/msp_DAM_Relay.c

@@ -5,9 +5,9 @@
  *      Author: akeguo
  */
 
-#include "../../BASE/Inc/MSP/msp_DAM_Relay.h"
-#include "../../BASE/Inc/BSP/BHBF_ROBOT.h"
-#include "../../BASE/Inc/BSP/bsp_MB_host.h"
+#include "msp_DAM_Relay.h"
+#include "BHBF_ROBOT.h"
+#include "bsp_MB_host.h"
 
 //not modbus writcoil
 uint8_t Dan1_open[8] = { 0xFE, 0x05, 0x00, 0x00, 0xFF, 0x00, 0x98, 0x35 };

Bingoo/base/msp_MK32_1.c

@@ -4,7 +4,7 @@
  *  Created on: Oct 8, 2024
  *      Author: akeguo
  */
-#include "MSP/msp_MK32_1.h"
+#include "msp_MK32_1.h"
 #include "BHBF_ROBOT.h"
 
 char Is_All_Button_Reset = 0;

Bingoo/base/msp_TL720D.c

@@ -5,7 +5,7 @@
  *      Author: bihon
  */
 
-#include "MSP/msp_TL720D.h"
+#include "msp_TL720D.h"
 #include "BHBF_ROBOT.h"
 #include "msp_TL720D.pb.h"
 

Bingoo/base/msp_TTMotor_ZQ.c

@@ -207,6 +207,7 @@ void TT_SpeedMode_Set_TargetSpeed(uint32_t MotorID,
 	        ZQ_Motor_Controller, WaitTime);
 }
 
+#if 0
 void Swing_Motor_Set_Target_Position()
 {
 	CANSendMessageSDO(SwingMotorID, 0x40, 0x6041, 0x00, 0x00);     ///：是否到达目的位置
@@ -217,6 +218,7 @@ void Swing_Motor_Read_ReachedEnd()
 	CANSendMessageSDO(SwingMotorID, 0x40, 0x6041, 0x00, 0x00);     ///：是否到达目的位置
 
 }
+#endif
 
 void Set_Current_Positon_Zero(uint8_t MotorID,
         FDCANHandler *ZQ_Motor_Controller, int32_t WaitTime)  // Home  设置当前位置为零点

Bingoo/base/msp_WH_LTE_7S0.c

@@ -3,7 +3,7 @@
 #include "bsp_decode_command.h"
 #include "gpio.h"
 
-#include "BSP/bsp_UART.h"
+#include "bsp_UART.h"
 
 #include <msp_WH_LTE_7S0.h>
 

Bingoo/base/msp_ground_management.c

@@ -57,25 +57,25 @@ void ground_management_inquiry()
 	dataToSend[7] = SWAP_ENDIAN_16(
 	        (uint16_t ) ground_management_value->Time_Out_Period);
 
-	MB_WriteNumHoldingReg(&ground_management_handler->Tx_Buf,
-	        &ground_management_handler->TxCount, ground_management_slave_id, 0,
-	        8, dataToSend);
+	MB_WriteNumHoldingReg((uint8_t *)&ground_management_handler->Tx_Buf,
+			(uint8_t *)&ground_management_handler->TxCount, ground_management_slave_id, 0,
+	        8, (uint8_t *)dataToSend);
 
 	ground_management_handler->AddSendList(ground_management_handler,
 	        ground_management_handler->Tx_Buf,
 	        ground_management_handler->TxCount, OneLineWaitTime, NULL);
 
 	/***********寄存器8写德玛克电机速度*****************************/
-	MB_WriteHoldingReg(&ground_management_handler->Tx_Buf,
-			        &ground_management_handler->TxCount, ground_management_slave_id,
+	MB_WriteHoldingReg((uint8_t *)&ground_management_handler->Tx_Buf,
+			(uint8_t *)&ground_management_handler->TxCount, ground_management_slave_id,
 			        8, GV.GroundManagementValue.DMK_Speed);
 	ground_management_handler->AddSendList(ground_management_handler,
 			ground_management_handler->Tx_Buf,
 			ground_management_handler->TxCount, OneLineWaitTime, NULL);
 
 	/***********寄存器9写德玛克电机状态*****************************/
-	MB_WriteHoldingReg(&ground_management_handler->Tx_Buf,
-			        &ground_management_handler->TxCount, ground_management_slave_id,
+	MB_WriteHoldingReg((uint8_t *)&ground_management_handler->Tx_Buf,
+			(uint8_t *)&ground_management_handler->TxCount, ground_management_slave_id,
 			        9, GV.GroundManagementValue.DMK_WorkState);
 	ground_management_handler->AddSendList(ground_management_handler,
 			ground_management_handler->Tx_Buf,
@@ -85,16 +85,16 @@ void ground_management_inquiry()
 	if (ground_management_value->Save_To_Flash == 1)
 	{
 		/******************写寄存器7超时时间**************************/
-		MB_WriteHoldingReg(&ground_management_handler->Tx_Buf,
-			        &ground_management_handler->TxCount, ground_management_slave_id,
+		MB_WriteHoldingReg((uint8_t *)&ground_management_handler->Tx_Buf,
+				(uint8_t *)&ground_management_handler->TxCount, ground_management_slave_id,
 			        7, (uint16_t)ground_management_value->Time_Out_Period);
 		ground_management_handler->AddSendList(ground_management_handler,
 				ground_management_handler->Tx_Buf,
 				ground_management_handler->TxCount, OneLineWaitTime, NULL);
 
 		/***************************寄存器10 写入55保存数据*************************************/
-		MB_WriteHoldingReg(&ground_management_handler->Tx_Buf,
-		        &ground_management_handler->TxCount, ground_management_slave_id,
+		MB_WriteHoldingReg((uint8_t *)&ground_management_handler->Tx_Buf,
+				(uint8_t *)&ground_management_handler->TxCount, ground_management_slave_id,
 		        10, 55);
 		ground_management_handler->AddSendList(ground_management_handler,
 		        ground_management_handler->Tx_Buf,
@@ -104,7 +104,7 @@ void ground_management_inquiry()
 	}
 
 
-	MB_ReadHoldingReg(&ground_management_handler->Tx_Buf, &ground_management_handler->TxCount, ground_management_slave_id, 0,
+	MB_ReadHoldingReg((uint8_t *)&ground_management_handler->Tx_Buf, (uint8_t *)&ground_management_handler->TxCount, ground_management_slave_id, 0,
 			g_m_read_count);
 	ground_management_handler->AddSendList(ground_management_handler, ground_management_handler->Tx_Buf,
 			ground_management_handler->TxCount, OneLineWaitTime, decode_ground_management);
@@ -114,6 +114,7 @@ void decode_ground_management(uint8_t *buffer, uint16_t length)
 {
 	//	uint8_t data1[length];
 	//	memcpy(data1, buffer, length);
+	uint8_t MB_Decode_HoldingRegs(uint8_t buffer[], uint16_t length,uint16_t Read_Reg_Num,uint16_t* Decoded_Reg_Value);
 		int decoded_result = MB_Decode_HoldingRegs(buffer, length, g_m_read_count,
 		        &decoded_ground_management_holdingReg_value[0]);
 		if (decoded_result == 1)

Bingoo/base/msp_strain_gauge.c

@@ -45,15 +45,15 @@ void strain_gauge_loop()
 	// 必须要初始化 strainGaugeValue
 
 	//读取力
-	MB_ReadHoldingReg(&strain_gauge_handler->Tx_Buf,
-	        &strain_gauge_handler->TxCount, strain_gauge_slave_id, 1, 1); //03 command ; read 3 registers  从1 开始 读取1个
+	MB_ReadHoldingReg((uint8_t *)&strain_gauge_handler->Tx_Buf,
+			(uint8_t *)&strain_gauge_handler->TxCount, strain_gauge_slave_id, 1, 1); //03 command ; read 3 registers  从1 开始 读取1个
 	strain_gauge_handler->AddSendList(strain_gauge_handler,
 	        strain_gauge_handler->Tx_Buf, strain_gauge_handler->TxCount, OneLineWaitTime,
 	        decode_strain_gauge_01);
 
 	//推杆控制
-	MB_WriteHoldingReg(&strain_gauge_handler->Tx_Buf,
-	        &strain_gauge_handler->TxCount, strain_gauge_slave_id, 0,
+	MB_WriteHoldingReg((uint8_t *)&strain_gauge_handler->Tx_Buf,
+			(uint8_t *)&strain_gauge_handler->TxCount, strain_gauge_slave_id, 0,
 	        strainGaugeValue->MotorControl);//strainGaugeValue->MotorControl 电机控制，=0 停止，=1 前进，=2 后退
 	strain_gauge_handler->AddSendList(strain_gauge_handler,
 	        strain_gauge_handler->Tx_Buf, strain_gauge_handler->TxCount, OneLineWaitTime,
@@ -63,15 +63,15 @@ void strain_gauge_loop()
 	if(SAVE_Register23==1)
 	{
 		/*写寄存器2 K**/
-		MB_WriteHoldingReg(&strain_gauge_handler->Tx_Buf,
-				&strain_gauge_handler->TxCount, strain_gauge_slave_id, 2,
+		MB_WriteHoldingReg((uint8_t *)&strain_gauge_handler->Tx_Buf,
+				(uint8_t *)&strain_gauge_handler->TxCount, strain_gauge_slave_id, 2,
 				strainGaugeValue->HX711_K);
 		strain_gauge_handler->AddSendList(strain_gauge_handler,
 				strain_gauge_handler->Tx_Buf, strain_gauge_handler->TxCount, OneLineWaitTime,
 				NULL);
 		/*写寄存器3 D**/
-		MB_WriteHoldingReg(&strain_gauge_handler->Tx_Buf,
-				&strain_gauge_handler->TxCount, strain_gauge_slave_id, 3,
+		MB_WriteHoldingReg((uint8_t *)&strain_gauge_handler->Tx_Buf,
+				(uint8_t *)&strain_gauge_handler->TxCount, strain_gauge_slave_id, 3,
 				strainGaugeValue->HX711_D);
 		strain_gauge_handler->AddSendList(strain_gauge_handler,
 				strain_gauge_handler->Tx_Buf, strain_gauge_handler->TxCount, OneLineWaitTime,
@@ -83,8 +83,8 @@ void strain_gauge_loop()
 	if(SAVE_Register9==1)
 	{
 
-		MB_WriteHoldingReg(&strain_gauge_handler->Tx_Buf,
-				&strain_gauge_handler->TxCount, strain_gauge_slave_id, 9,
+		MB_WriteHoldingReg((uint8_t *)&strain_gauge_handler->Tx_Buf,
+				(uint8_t *)&strain_gauge_handler->TxCount, strain_gauge_slave_id, 9,
 				strainGaugeValue->Save);
 		strain_gauge_handler->AddSendList(strain_gauge_handler,
 				strain_gauge_handler->Tx_Buf, strain_gauge_handler->TxCount, OneLineWaitTime,
@@ -101,6 +101,7 @@ void decode_strain_gauge_01(uint8_t *buffer, uint16_t length)
 //	uint8_t data1[length];
 //	memcpy(data1, buffer, length);
 
+	uint8_t MB_Decode_HoldingRegs(uint8_t buffer[], uint16_t length,uint16_t Read_Reg_Num,uint16_t* Decoded_Reg_Value);
 	int decoded_result = MB_Decode_HoldingRegs(buffer, length, 1,
 	        &decoded_strain_gauge_holdingReg_value[1]);
 	if (decoded_result == 1)
@@ -121,6 +122,7 @@ void decode_strain_gauge_09(uint8_t *buffer, uint16_t length)
 
 //	uint8_t data1[100];
 //	memcpy(data1, buffer, length);
+	uint8_t MB_Decode_HoldingRegs(uint8_t buffer[], uint16_t length,uint16_t Read_Reg_Num,uint16_t* Decoded_Reg_Value);
 	int decoded_result = MB_Decode_HoldingRegs(buffer, length, 2,
 	        &decoded_strain_gauge_holdingReg_value[9]);
 	if (decoded_result == 1)

Bingoo/base/robot_move_actions.c

@@ -14,7 +14,7 @@
 #include "fsm_state.h"
 #include "fsm_state_control.h"
 #include "paint_gun_action.h"
-#include "MSP/msp_PID.h"
+#include "msp_PID.h"
 #include "bsp_slide_averager.h"
 #include <math.h>
 
@@ -697,11 +697,13 @@ static void swing_start_move(void)
 	if(present_angle>=left_compare_value+2)
 	{
 		swing_currentState=SWING_LEFT_MOVE;
+		void Move_Swing_Left_Func_Do_imm(void);
 		Move_Swing_Left_Func_Do_imm();
 	}
 	else
 	{
 		swing_currentState=SWING_RIGHT_MOVE;
+		void Move_Swing_Right_Func_Do_imm(void);
 		Move_Swing_Right_Func_Do_imm();
 	}
 }
@@ -721,7 +723,7 @@ static void swing_left_move(void)
 			center_angle=(right_compare_updata+left_compare_updata)/2;
 		}
 
-
+		void Move_Swing_Right_Func_Do_lay(void);
 		Move_Swing_Right_Func_Do_lay();
 		swing_currentState=SWING_RIGHT_MOVE;
 
@@ -743,7 +745,7 @@ static void swing_right_move(void)
 			center_angle=(right_compare_updata+left_compare_updata)/2;
 		}
 
-
+		void Move_Swing_Left_Func_Do_lay(void);
 		Move_Swing_Left_Func_Do_lay();
 		swing_currentState=SWING_LEFT_MOVE;
 	}
@@ -883,6 +885,7 @@ static void Move_Weld_Task_Backwards_Do_Backward(void)
 	double robotDeriAngleDegGrity=0;
 	//GV.weld_data_X = ReadLazorData->Feature_X;
 	float Robot_Weld_Real = GV.weld_data_X;
+	void GF_MSP_PID_Now_Der_adj_Com_Weld(double Current_Angle, double Desire_Angle_Input,     double Auto_Speed, double Auto_Speed_Max, double System_time,  double *W_Speed_1);
 	GF_MSP_PID_Now_Der_adj_Com_Weld(Robot_Weld_Real, robotDeriAngleDegGrity, GV.Robot_Move_Speed, Deri_Speed_Robot_MAX, 0.1, Robot_Speed);
 
 	GV.Left_Speed_M_min = Robot_Speed[1];

Bingoo/base/swing_action.c

@@ -46,6 +46,7 @@ void Robot_Swing_Operation_Function()
 	}
 	else
 	{
+		void Move_Swing_Halt_Func_Do(void);
 		Move_Swing_Halt_Func_Do();
 	}
 }

Bingoo/base/tcp_server.c

@@ -8,7 +8,7 @@
 #include "bsp_UDP.h"
 #include "bsp_DLT_Log.h"
 #include <bsp_UpperComputer_Handler.h>
-#include "BSP/bsp_GPIO.h"
+#include "bsp_GPIO.h"
 static client_conn_t clients[MAX_CLIENTS];
 static struct tcp_pcb *server_pcb = NULL;
 void send_tcp(SendDataNode **head);
@@ -149,7 +149,7 @@ static err_t tcp_accept_cb(void *arg, struct tcp_pcb *newpcb, err_t err)
 	tcp_setprio(newpcb, TCP_PRIO_MIN);
 	tcp_recv(newpcb, tcp_recv_cb);
 	tcp_err(newpcb, tcp_err_cb);
-	tcp_sent(newpcb, tcp_sent_cb);
+	tcp_sent(newpcb, (tcp_sent_fn)tcp_sent_cb);
 
 	// 保存客户端信息
 	clients[free_index].pcb = newpcb;

Bingoo/include/base/BHBF_ROBOT.h

@@ -20,32 +20,32 @@
 #include "BHBF_ROBOT.h"
 #include "bsp_PV.pb.h"
 #include "bsp_IV.pb.h"
-#include "BSP/bsp_TCPClient.h"
-#include "BSP/pb.h"
-#include "BSP/pb_decode.h"
-#include "BSP/pb_encode.h"
-#include "BSP/bsp_EEPROM.h"
-#include "BSP/bsp_pb_decode_encode.h"
+#include "bsp_TCPClient.h"
+#include "pb.h"
+#include "pb_decode.h"
+#include "pb_encode.h"
+#include "bsp_EEPROM.h"
+#include "bsp_pb_decode_encode.h"
 #include "bsp_MB_host.h"
-#include "BSP/bsp_include.h"
-#include "BSP/bsp_UART.h"
-#include "BSP/DLTuc.h"
-#include "BSP/bsp_DLT_Log.h"
+#include "bsp_include.h"
+#include "bsp_UART.h"
+#include "DLTuc.h"
+#include "bsp_DLT_Log.h"
 
 
-#include "BSP/bsp_cpu_flash.h"
-#include "BSP/bsp_qspi_w25q128.h"
-#include "BSP/bsp_UpperComputer_Handler.h"
-#include "BSP/bsp_Error_Detect.h"
-#include "BSP/bsp_MB_host.h"
+#include "bsp_cpu_flash.h"
+#include "bsp_qspi_w25q128.h"
+#include "bsp_UpperComputer_Handler.h"
+#include "bsp_Error_Detect.h"
+#include "bsp_MB_host.h"
 
-#include "MSP/msp_JTBATTERY.h"
+#include "msp_JTBATTERY.h"
 
-#include "MSP/msp_Force_Sensor.h"
-#include "MSP/msp_TL720D.h"
-#include "MSP/msp_MK32_1.h"
-#include "MSP/msp_Force_Sensor.h"
-#include "MSP/msp_WH_LTE_7S0.h"
+#include "msp_Force_Sensor.h"
+#include "msp_TL720D.h"
+#include "msp_MK32_1.h"
+#include "msp_Force_Sensor.h"
+#include "msp_WH_LTE_7S0.h"
 
 
 #include "paint_gun_action.h"

Bingoo/include/base/bsp_Error_Detect.h

@@ -12,7 +12,7 @@
 /* Includes ------------------------------------------------------------------*/
 #include "BHBF_ROBOT.h"
 #include "bsp_com_helper.h"
-#include "BSP/bsp_include.h"
+#include "bsp_include.h"
 /* Exported types ------------------------------------------------------------*/
 /* Exported constants --------------------------------------------------------*/
 /* Exported macro ------------------------------------------------------------*/

Bingoo/include/base/bsp_MB_host.h

@@ -12,7 +12,7 @@
 #define InputRegReg         0x0020 //输入寄存器
 #define SWAP_ENDIAN_16(x) (((x) >> 8) | ((x) << 8))
 #include "bsp_include.h"
-#include "BSP/bsp_UART.h"
+#include "bsp_UART.h"
 
 /* 扩展变量 ------------------------------------------------------------------*/
  typedef struct

Bingoo/include/base/bsp_TCPClient.h

@@ -57,7 +57,6 @@ typedef struct _LazorData
 } LazorData;
 extern unsigned char *Weld_Out_Flag;
 extern unsigned char Weld_Out_Count;
-extern unsigned char Weld_Out_SafeCount;
 extern LazorData *ReadLazorData;
 void TCP_Client_Init(void);
 #endif /* INC_BSP_BSP_TCPCLIENT_H_ */

Bingoo/include/base/bsp_TIMER.h

@@ -7,7 +7,7 @@
 
 #ifndef INC_BSP_TIMER_H_
 #define INC_BSP_TIMER_H_
-#include "BSP/bsp_TCPClient.h"
+#include "bsp_TCPClient.h"
 #include "bsp_include.h"
 
 uint8_t GF_BSP_TIMER_Init(void);

Bingoo/include/base/bsp_UART.h

@@ -3,7 +3,7 @@
 #ifndef INC_BSP_UART_H_
 #define INC_BSP_UART_H_
 
-#include "BSP/bsp_include.h"
+#include "bsp_include.h"
 #include "main.h"
 #include "bsp_Error.pb.h"
 #define UART_Transmit_MAX_NUM 1024

Bingoo/include/base/bsp_UpperComputer_Handler.h

@@ -11,7 +11,7 @@
 #include <string.h>
 #include "bsp_MB_host.h"
 #include "stdio.h"
-#include "BSP/bsp_UART.h"
+#include "bsp_UART.h"
 #include "usart.h"
 #include "gpio.h"
 

Bingoo/include/base/bsp_mqtt_pub.h

@@ -13,7 +13,7 @@
 #include "pb_encode.h"
 #include "bsp_CV.pb.h"
 #include "bsp_pb_decode_encode.h"
-#include "BSP/bsp_EEPROM.h"
+#include "bsp_EEPROM.h"
 
 
 

Bingoo/include/base/msp_JTBATTERY.h

@@ -8,7 +8,7 @@
 #ifndef INC_MSP_MSP_JTBATTERY_H_
 #define INC_MSP_MSP_JTBATTERY_H_
 
-#include "BSP/bsp_include.h"
+#include "bsp_include.h"
 
 
 

Bingoo/include/base/msp_MK32_1.h

@@ -7,7 +7,7 @@
 
 #ifndef INC_MSP_MSP_MK32_1_H_
 #define INC_MSP_MSP_MK32_1_H_
-#include "BSP/bsp_UART.h"
+#include "bsp_UART.h"
 #include "msp_MK32.pb.h"
 void Sbus_Data_Count(uint8_t *buf, int32_t *But_Value);
 extern SP_MSP_MK32_Button *P_MK32;

Bingoo/include/base/msp_TL720D.h

@@ -12,7 +12,7 @@
 #include <string.h>
 #include "bsp_MB_host.h"
 #include "stdio.h"
-#include "BSP/bsp_UART.h"
+#include "bsp_UART.h"
 #include "usart.h"
 #include "gpio.h"
 

Bingoo/library/CMakeLists.txt

@@ -252,7 +252,6 @@ endif()
 target_compile_options(${CURRENT_TARGET_NAME}
     PRIVATE
         -Wall
-        -Werror
         $<$<CONFIG:Debug>:-g -O0>
         $<$<CONFIG:Release>:-O2>
 		-ffunction-sections -fdata-sections

Bingoo/main/CMakeLists.txt

@@ -48,7 +48,6 @@ endif()
 target_compile_options(${TARGET_NAME}
     PRIVATE
         -Wall
-        -Werror
         $<$<CONFIG:Debug>:-g -O0>
         $<$<CONFIG:Release>:-O2>
 )

Core/Src/main.c

@@ -37,6 +37,7 @@
 #include "msp_ground_management.h"
 #include "msp_strain_gauge.h"
 #include <bsp_tempature.h>
+#include "msp_TTMotor_ZQ.h"
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/