no message

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/雷赛CAN指令.txt

@@ -1,47 +0,0 @@
-CAN指令
-
-81 00 00 00 00 00 00 00	复位所有节点
-
-01 00 00 00 00 00 00 00	启动所有节点的远程控制
-
-
-步骤1（复位节点）和步骤2（启动节点）的帧ID是“0x0000”，其余的步骤的帧ID为SDO的地址0X0600+节点号
-
-
-2b 40 60 00 06 00 00 00	写控制字06H，状态机切换状态
-
-2b 40 60 00 07 00 00 00	写控制字07H，状态机切换状态
-
-2b 40 60 00 0f 00 00 00	写控制字0FH，状态机切换状态
-
-
-一、速度模式发以下指令
-
-2f 60 60 00 03 00 00 00 	速度模式
-
-23 ff 60 00 A0 86 01 00 	正转
-
-23 ff 60 00 60 79 FE FF 		反转
-
-23 ff 60 00 00 00 00 00		停车
-
-
-
-
-二、位置模式发以下指令
-2f 60 60 00 01 00 00 00	位置模式
-
-23 81 60 00 A0 86 01 00	写速度
-
-23 7a 60 00 A0 86 01 00	正转10圈（5mm）
-
-23 7a 60 00 60 79 FE FF	反转10圈（5mm）
-
-23 7a 60 00 C0 D4 01 00	正转12圈（6mm）
-
-23 7a 60 00 40 2B FE FF	反转12圈（6mm）
-
-2b 40 60 00 4f 00 00 00	设置为相对运动模式
-
-2b 40 60 00 5f 00 00 00	电机开始运动
-

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++"/>
 			</provider>

guohuafengdian/Paint----6(1)/Paint_(1)/.settings/stm32cubeide.project.prefs

@@ -1,6 +1,6 @@
-2F62501ED4689FB349E356AB974DBE57=1E2381E617183AADF4456CCD6D53D61D
+2F62501ED4689FB349E356AB974DBE57=A84465D0AB7FC85C43037569F99B7E82
 635E684B79701B039C64EA45C3F84D30=0A24CDD2C9C910977CCC6D7CA9CB0612
 66BE74F758C12D739921AEA421D593D3=0
-8DF89ED150041C4CBC7CB9A9CAA90856=1E2381E617183AADF4456CCD6D53D61D
+8DF89ED150041C4CBC7CB9A9CAA90856=A84465D0AB7FC85C43037569F99B7E82
-DC22A860405A8BF2F2C095E5B6529F12=BFAB4159B488818C3ED3C0C9D5058F5A
+DC22A860405A8BF2F2C095E5B6529F12=87EF6E86AD82C44D77A3A904E01D2A08
 eclipse.preferences.version=1

jueyuanzijiance/Insulator_Inspection/.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="-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">
 				<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="-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">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>

jueyuanzijiance/Insulator_Inspection/.settings/stm32cubeide.project.prefs

@@ -1,6 +1,6 @@
-2F62501ED4689FB349E356AB974DBE57=C1FAD6334016FA4DBFEEBFD567ADCF8D
+2F62501ED4689FB349E356AB974DBE57=072A9A3C3EA2FF5DA5BFC344F13F526F
 635E684B79701B039C64EA45C3F84D30=0A24CDD2C9C910977CCC6D7CA9CB0612
 66BE74F758C12D739921AEA421D593D3=0
-8DF89ED150041C4CBC7CB9A9CAA90856=C1FAD6334016FA4DBFEEBFD567ADCF8D
+8DF89ED150041C4CBC7CB9A9CAA90856=072A9A3C3EA2FF5DA5BFC344F13F526F
-DC22A860405A8BF2F2C095E5B6529F12=68A7121F69F6593E9817CACB2B0CB8AF
+DC22A860405A8BF2F2C095E5B6529F12=87EF6E86AD82C44D77A3A904E01D2A08
 eclipse.preferences.version=1