添加前端强磨机控制

diaoerqiege/BHBF_Robot_Lifting_Lug/.settings/language.settings.xml

@@ -5,7 +5,7 @@
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="464747038937607816" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1478844030219557014" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>
@@ -16,7 +16,7 @@
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="464747038937607816" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1478844030219557014" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>

diaoerqiege/BHBF_Robot_Lifting_Lug/Core/BASE/Inc/MSP/msp_Strong_grinding_machine.h

@@ -0,0 +1,20 @@
+/*
+ * msp_Strong_grinding_machine.h
+ *
+ *  Created on: 2026年3月27日
+ *      Author: 13752
+ */
+
+#ifndef BASE_INC_MSP_MSP_STRONG_GRINDING_MACHINE_H_
+#define BASE_INC_MSP_MSP_STRONG_GRINDING_MACHINE_H_
+
+#include "bsp_UART.h"
+#include "BHBF_ROBOT.h"
+#include "msp_zhr29_200_laser_sensor.pb.h"
+#include "bsp_MB_host.h"
+
+extern uint8_t strong_grinding_machine_cmd;
+
+extern void strong_grinding_machine_intialize(struct UARTHandler *Handler);
+
+#endif /* BASE_INC_MSP_MSP_STRONG_GRINDING_MACHINE_H_ */

diaoerqiege/BHBF_Robot_Lifting_Lug/Core/BASE/Src/MSP/msp_Strong_grinding_machine.c

@@ -0,0 +1,88 @@
+/*
+ * msp_Strong_grinding_machine.c
+ *
+ *  Created on: 2026年3月27日
+ *      Author: 13752
+ */
+
+
+#include "msp_Strong_grinding_machine.h"
+
+static struct UARTHandler *Strong_grinding_machine_handler;
+static DispacherController *Strong_grinding_machine_dispacherController;
+
+static void Strong_grinding_machine_cmd(void);
+//static void decode_Strong_grinding_machine(uint8_t *buffer, uint16_t length);
+
+static const uint8_t inquiry_interval = 50;
+
+void strong_grinding_machine_intialize(struct UARTHandler *Handler)
+{
+	Strong_grinding_machine_handler = Handler;
+
+	Strong_grinding_machine_handler->Wait_time = 10;
+
+	Strong_grinding_machine_dispacherController = Handler->dispacherController;
+	Strong_grinding_machine_dispacherController->Dispacher_Enable = 1;
+	Strong_grinding_machine_dispacherController->DispacherCallTime = 100;
+	Strong_grinding_machine_dispacherController->Add_Dispatcher_List(Strong_grinding_machine_dispacherController,
+			Strong_grinding_machine_cmd);
+}
+
+// 测试，转速20rpm
+const uint8_t strong_grinding_machine_set_speed_cmd[8] = {0x01, 0x06, 0x00, 0x02, 0x00, 0x14, 0x28, 0x05};
+const uint8_t strong_grinding_machine_start_cmd[8] = {0x01, 0x06, 0x00, 0x01, 0x08, 0x82, 0x5F, 0xAB};
+const uint8_t strong_grinding_machine_stop_cmd[8] = {0x01, 0x06, 0x00, 0x01, 0x08, 0x81, 0x1F, 0xAA};
+
+static uint8_t strong_grinding_machine_cmd_flag = 0;
+uint8_t strong_grinding_machine_cmd = 0;
+const uint16_t strong_grinding_machine_speed = 20;
+
+void Strong_grinding_machine_cmd(void)
+{
+	switch(strong_grinding_machine_cmd_flag)
+	{
+		case 0:
+
+			MB_WriteHoldingReg(&Strong_grinding_machine_handler->Tx_Buf, Strong_grinding_machine_handler->TxCount,
+					0x01, 0x0002, strong_grinding_machine_speed);
+//			Strong_grinding_machine_handler->TxCount = 8;
+//			memcpy(&Strong_grinding_machine_handler->Tx_Buf, &strong_grinding_machine_set_speed_cmd, Strong_grinding_machine_handler->TxCount);
+			Strong_grinding_machine_handler->AddSendList(Strong_grinding_machine_handler, Strong_grinding_machine_handler->Tx_Buf, Strong_grinding_machine_handler->TxCount,
+					inquiry_interval, NULL);
+			strong_grinding_machine_cmd_flag = 1;
+			break;
+		case 1:
+			if(strong_grinding_machine_cmd == 0)
+			{
+				Strong_grinding_machine_handler->TxCount = 8;
+				memcpy(&Strong_grinding_machine_handler->Tx_Buf, &strong_grinding_machine_stop_cmd, Strong_grinding_machine_handler->TxCount);
+				Strong_grinding_machine_handler->AddSendList(Strong_grinding_machine_handler, Strong_grinding_machine_handler->Tx_Buf, Strong_grinding_machine_handler->TxCount,
+						inquiry_interval, NULL);
+			}
+			else if(strong_grinding_machine_cmd == 1)
+			{
+				Strong_grinding_machine_handler->TxCount = 8;
+				memcpy(&Strong_grinding_machine_handler->Tx_Buf, &strong_grinding_machine_start_cmd, Strong_grinding_machine_handler->TxCount);
+				Strong_grinding_machine_handler->AddSendList(Strong_grinding_machine_handler, Strong_grinding_machine_handler->Tx_Buf, Strong_grinding_machine_handler->TxCount,
+						inquiry_interval, NULL);
+			}
+			else{
+
+			}
+			strong_grinding_machine_cmd_flag = 0;
+			break;
+	}
+
+}
+
+
+
+
+
+
+
+
+
+
+

diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Inc/FSM.h

@@ -26,6 +26,13 @@ typedef enum _Front_MoveSTATE_t
 
 } Front_MoveSTATE_t;
 
+typedef enum _Strong_Grinding_Machine_MoveSTATE_t
+{
+	STRONG_GRINDING_MACHINE_HALT_STATE = 0,
+	STRONG_GRINDING_MACHINE_MOTION_STATE,
+
+} Strong_Grinding_Machine_MoveSTATE_t;
+
 typedef struct _transition_t
 {
 	int State; //状态

diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Inc/robot_state.h

@@ -25,4 +25,8 @@ extern void Manual_Up_State_Do(void);
 extern void Manual_Down_State_Do(void);
 extern void FrontEnd_Halt_State_Do(void);
 
+// ********强磨机运动控制***********
+extern void Strong_Grinding_Machine_Halt_State_Do(void);
+extern void Strong_Grinding_Machine_Motion_State_Do(void);
+
 #endif /* INC_ROBOT_STATE_H_ */

diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/FSM.c

@@ -12,6 +12,7 @@
 #include "msp_TL720D.h"
 #include "robot_state.h"
 #include "bsp_TIMER.h"
+#include "msp_Strong_grinding_machine.h"
 
 
 void action_perfrom(transition_t transitions[], int length, int state);
@@ -24,6 +25,8 @@ static void Frontend_Control();
 
 MoveSTATE_t CurrentMoveState;
 Front_MoveSTATE_t  CurrentFrontEndState;
+Strong_Grinding_Machine_MoveSTATE_t StrongGrindingMachineCurrentState;
+
 
 static int index_counter = 0;
 
@@ -34,7 +37,6 @@ transition_t MoveTransitions[] =
 	{ Move_HALT, HALT_State_Do },
 };
 
-
 transition_t FrontendMoveTransitions[] =
 {
 	{ HALT_STATE, FrontEnd_Halt_State_Do},
@@ -43,6 +45,16 @@ transition_t FrontendMoveTransitions[] =
 
 };
 
+transition_t StrongGrindingMachineTransitions[] =
+{
+	{ STRONG_GRINDING_MACHINE_HALT_STATE, Strong_Grinding_Machine_Halt_State_Do},
+	{ STRONG_GRINDING_MACHINE_MOTION_STATE, Strong_Grinding_Machine_Motion_State_Do},
+
+};
+
+
+
+
 void Fsm_Init()
 {
 	GF_BSP_Interrupt_Add_CallBack(
@@ -60,9 +72,67 @@ void GF_Dispatch()
 	// 前端控制
 	Frontend_Control();
 
+	//强磨机控制
+	Strong_Grinding_Machine_Control();
+
+
+
 	action_perfrom(MoveTransitions,sizeof(MoveTransitions) / sizeof(transition_t), CurrentMoveState);
 	action_perfrom(FrontendMoveTransitions,
 					sizeof(FrontendMoveTransitions) / sizeof(transition_t), CurrentFrontEndState);
+	action_perfrom(StrongGrindingMachineTransitions,
+						sizeof(StrongGrindingMachineTransitions) / sizeof(transition_t), StrongGrindingMachineCurrentState);
+}
+
+
+uint8_t IsAllowRotation = 0;
+void Strong_Grinding_Machine_Control()
+{
+	GF_BSP_GPIO_SetIO(4, 1);
+	IsAllowRotation = Knife_Detection();
+	if(IsAllowRotation == 1)
+	{
+		if(GV.MK32_Key.CH7_SD == -1000)
+		{
+			StrongGrindingMachineCurrentState = STRONG_GRINDING_MACHINE_MOTION_STATE;
+		}
+		else{
+			StrongGrindingMachineCurrentState = STRONG_GRINDING_MACHINE_HALT_STATE;
+		}
+
+	}
+	else{
+		StrongGrindingMachineCurrentState = STRONG_GRINDING_MACHINE_HALT_STATE;
+	}
+
+}
+
+
+uint8_t loosening_knife_signal = 0;
+uint8_t clamping_knife_signal = 0;
+
+int Knife_Detection(void)
+{
+//	 uint8_t loosening_knife_signal = 1;
+//	 uint8_t clamping_knife_signal = 1;
+
+	// 夹刀信号检测
+	clamping_knife_signal = GF_BSP_GPIO_ReadIO(0);
+	// 松刀信号检测
+	loosening_knife_signal = GF_BSP_GPIO_ReadIO(1);
+
+	if(loosening_knife_signal == 0)
+	{
+		return 0;
+	}
+	else if(clamping_knife_signal == 0)
+	{
+		return 1;
+	}
+	else{
+		return 0;
+	}
+
 }
 
 void Frontend_Control()

diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/main.c

@@ -35,6 +35,7 @@
 #include "motors.h"
 #include "SliderControl.h"
 #include "msp_zhr29_laser_sensor.h"
+#include "msp_Strong_grinding_machine.h"
 
 /* USER CODE END Includes */
 
@@ -168,7 +169,6 @@ int main(void)
 	while (1)
 	{
 
-
 	//MX_LWIP_Process();
     /* USER CODE END WHILE */
 
@@ -272,6 +272,9 @@ void CV_GV_Init()
 
 	P_MK32 = &GV.MK32_Key;
 
+	// 强磨机默认发送停止命令
+	strong_grinding_machine_cmd = 0;
+
 	// �?光测距传感器指针同步
 	g_zhr29_200_laser_sensor_1 = &GV.ZHR29_200_measure_results.laser_sensor_1_measure_distance;
 	g_zhr29_200_laser_sensor_2 = &GV.ZHR29_200_measure_results.laser_sensor_2_measure_distance;
@@ -340,6 +343,9 @@ void GF_Robot_Init()
 	// �?光测距传感器�?115200
 	zhr29_200_laser_sensor_intialize(&RS_485_3_UART_Handler);
 
+	// 强磨机
+	strong_grinding_machine_intialize(&RS_485_2_UART_Handler);
+
 	Fsm_Init();
 
 	uint8_t _state = 1;

diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/robot_state.c

@@ -6,6 +6,7 @@
  */
 #include "robot_state.h"
 #include "bsp_GPIO.h"
+#include "msp_Strong_grinding_machine.h"
 
 #define PI 3.1415926
 
@@ -259,6 +260,15 @@ void FrontEnd_Halt_State_Do(void)
 	GV.LS_FrontEnd_Motor.Target_Velcity = 0;
 }
 
+void Strong_Grinding_Machine_Halt_State_Do(void)
+{
+	strong_grinding_machine_cmd = 0;
+}
+
+void Strong_Grinding_Machine_Motion_State_Do(void)
+{
+	strong_grinding_machine_cmd = 1;
+}
 
 
 //void Manual_Up_Down_State_Do()

guohuafengdian/Paint----6(1)/Paint_(1)/.settings/language.settings.xml

@@ -5,7 +5,7 @@
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-502868833884792188" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-778603957833102363" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>
@@ -16,7 +16,7 @@
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-502868833884792188" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-778603957833102363" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
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guohuafengdian/Paint----6(1)/Paint_(1)/.settings/stm32cubeide.project.prefs

@@ -1,6 +1,6 @@
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jueyuanzijiance/Insulator_Inspection/.settings/language.settings.xml

@@ -5,7 +5,7 @@
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 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-288714553323475631" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1802675058949885453" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
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-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-288714553323475631" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1802675058949885453" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
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jueyuanzijiance/Insulator_Inspection/.settings/stm32cubeide.project.prefs

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