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武汉理工

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HJB\13752 3 months ago
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  1. 178
      wuhanligong/G431wuhanligong/.cproject
  2. 33
      wuhanligong/G431wuhanligong/.mxproject
  3. 32
      wuhanligong/G431wuhanligong/.project
  4. 2
      wuhanligong/G431wuhanligong/.settings/com.st.stm32cube.ide.mcu.sfrview.prefs
  5. 26
      wuhanligong/G431wuhanligong/.settings/language.settings.xml
  6. 4
      wuhanligong/G431wuhanligong/.settings/stm32cubeide.project.prefs
  7. 170
      wuhanligong/G431wuhanligong/Core/Inc/BHBF_ROBOT.h
  8. 62
      wuhanligong/G431wuhanligong/Core/Inc/FSM.h
  9. 50
      wuhanligong/G431wuhanligong/Core/Inc/bsp_MB_host.h
  10. 21
      wuhanligong/G431wuhanligong/Core/Inc/bsp_TIMER.h
  11. 121
      wuhanligong/G431wuhanligong/Core/Inc/bsp_UART.h
  12. 13
      wuhanligong/G431wuhanligong/Core/Inc/bsp_client_setting.h
  13. 81
      wuhanligong/G431wuhanligong/Core/Inc/bsp_com_helper.h
  14. 48
      wuhanligong/G431wuhanligong/Core/Inc/bsp_include.h
  15. 51
      wuhanligong/G431wuhanligong/Core/Inc/bsp_pb_decode_encode.h
  16. 52
      wuhanligong/G431wuhanligong/Core/Inc/dma.h
  17. 52
      wuhanligong/G431wuhanligong/Core/Inc/fdcan.h
  18. 49
      wuhanligong/G431wuhanligong/Core/Inc/gpio.h
  19. 135
      wuhanligong/G431wuhanligong/Core/Inc/main.h
  20. 21
      wuhanligong/G431wuhanligong/Core/Inc/msp_MK32_1.h
  21. 49
      wuhanligong/G431wuhanligong/Core/Inc/msp_Steering_Engine.h
  22. 309
      wuhanligong/G431wuhanligong/Core/Inc/msp_fashion_star_uart_servo.h
  23. 82
      wuhanligong/G431wuhanligong/Core/Inc/msp_ring_buffer.h
  24. 917
      wuhanligong/G431wuhanligong/Core/Inc/pb.h
  25. 49
      wuhanligong/G431wuhanligong/Core/Inc/pb_common.h
  26. 193
      wuhanligong/G431wuhanligong/Core/Inc/pb_decode.h
  27. 185
      wuhanligong/G431wuhanligong/Core/Inc/pb_encode.h
  28. 68
      wuhanligong/G431wuhanligong/Core/Inc/robot_state.h
  29. 380
      wuhanligong/G431wuhanligong/Core/Inc/stm32g4xx_hal_conf.h
  30. 75
      wuhanligong/G431wuhanligong/Core/Inc/stm32g4xx_it.h
  31. 55
      wuhanligong/G431wuhanligong/Core/Inc/tim.h
  32. 61
      wuhanligong/G431wuhanligong/Core/Inc/usart.h
  33. 12
      wuhanligong/G431wuhanligong/Core/Protobuf/PSource/bsp_CV.pb.c
  34. 71
      wuhanligong/G431wuhanligong/Core/Protobuf/PSource/bsp_CV.pb.h
  35. 12
      wuhanligong/G431wuhanligong/Core/Protobuf/PSource/bsp_Cmd.pb.c
  36. 80
      wuhanligong/G431wuhanligong/Core/Protobuf/PSource/bsp_Cmd.pb.h
  37. 12
      wuhanligong/G431wuhanligong/Core/Protobuf/PSource/bsp_DAM.pb.c
  38. 57
      wuhanligong/G431wuhanligong/Core/Protobuf/PSource/bsp_DAM.pb.h
  39. 12
      wuhanligong/G431wuhanligong/Core/Protobuf/PSource/bsp_DMKE.pb.c
  40. 57
      wuhanligong/G431wuhanligong/Core/Protobuf/PSource/bsp_DMKE.pb.h
  41. 20
      wuhanligong/G431wuhanligong/Core/Protobuf/PSource/bsp_Desulfurizer.pb.c
  42. 57
      wuhanligong/G431wuhanligong/Core/Protobuf/PSource/bsp_Desulfurizer.pb.h
  43. 15
      wuhanligong/G431wuhanligong/Core/Protobuf/PSource/bsp_Error.pb.c
  44. 107
      wuhanligong/G431wuhanligong/Core/Protobuf/PSource/bsp_Error.pb.h
  45. 12
      wuhanligong/G431wuhanligong/Core/Protobuf/PSource/bsp_GV.pb.c
  46. 157
      wuhanligong/G431wuhanligong/Core/Protobuf/PSource/bsp_GV.pb.h
  47. 12
      wuhanligong/G431wuhanligong/Core/Protobuf/PSource/bsp_IAP.pb.c
  48. 58
      wuhanligong/G431wuhanligong/Core/Protobuf/PSource/bsp_IAP.pb.h
  49. 12
      wuhanligong/G431wuhanligong/Core/Protobuf/PSource/bsp_IO.pb.c
  50. 81
      wuhanligong/G431wuhanligong/Core/Protobuf/PSource/bsp_IO.pb.h
  51. 20
      wuhanligong/G431wuhanligong/Core/Protobuf/PSource/bsp_IV.pb.c
  52. 54
      wuhanligong/G431wuhanligong/Core/Protobuf/PSource/bsp_IV.pb.h
  53. 12
      wuhanligong/G431wuhanligong/Core/Protobuf/PSource/bsp_LazorData.pb.c
  54. 64
      wuhanligong/G431wuhanligong/Core/Protobuf/PSource/bsp_LazorData.pb.h
  55. 12
      wuhanligong/G431wuhanligong/Core/Protobuf/PSource/bsp_PV.pb.c
  56. 48
      wuhanligong/G431wuhanligong/Core/Protobuf/PSource/bsp_PV.pb.h
  57. 12
      wuhanligong/G431wuhanligong/Core/Protobuf/PSource/bsp_ReCmd.pb.c
  58. 80
      wuhanligong/G431wuhanligong/Core/Protobuf/PSource/bsp_ReCmd.pb.h
  59. 12
      wuhanligong/G431wuhanligong/Core/Protobuf/PSource/bsp_Trace.pb.c
  60. 53
      wuhanligong/G431wuhanligong/Core/Protobuf/PSource/bsp_Trace.pb.h
  61. 12
      wuhanligong/G431wuhanligong/Core/Protobuf/PSource/msp_CMCU.pb.c
  62. 48
      wuhanligong/G431wuhanligong/Core/Protobuf/PSource/msp_CMCU.pb.h
  63. 12
      wuhanligong/G431wuhanligong/Core/Protobuf/PSource/msp_DH_CAN_Remote.pb.c
  64. 111
      wuhanligong/G431wuhanligong/Core/Protobuf/PSource/msp_DH_CAN_Remote.pb.h
  65. 12
      wuhanligong/G431wuhanligong/Core/Protobuf/PSource/msp_DH_W_H.pb.c
  66. 102
      wuhanligong/G431wuhanligong/Core/Protobuf/PSource/msp_DH_W_H.pb.h
  67. 12
      wuhanligong/G431wuhanligong/Core/Protobuf/PSource/msp_KS206.pb.c
  68. 51
      wuhanligong/G431wuhanligong/Core/Protobuf/PSource/msp_KS206.pb.h
  69. 23
      wuhanligong/G431wuhanligong/Core/Protobuf/PSource/msp_LD150_I.pb.c
  70. 82
      wuhanligong/G431wuhanligong/Core/Protobuf/PSource/msp_LD150_I.pb.h
  71. 12
      wuhanligong/G431wuhanligong/Core/Protobuf/PSource/msp_LGUB500.pb.c
  72. 51
      wuhanligong/G431wuhanligong/Core/Protobuf/PSource/msp_LGUB500.pb.h
  73. 12
      wuhanligong/G431wuhanligong/Core/Protobuf/PSource/msp_LeiSai_ISV2CAN.pb.c
  74. 75
      wuhanligong/G431wuhanligong/Core/Protobuf/PSource/msp_LeiSai_ISV2CAN.pb.h
  75. 20
      wuhanligong/G431wuhanligong/Core/Protobuf/PSource/msp_MFOG40_Gyroscope.pb.c
  76. 54
      wuhanligong/G431wuhanligong/Core/Protobuf/PSource/msp_MFOG40_Gyroscope.pb.h
  77. 12
      wuhanligong/G431wuhanligong/Core/Protobuf/PSource/msp_MK32.pb.c
  78. 99
      wuhanligong/G431wuhanligong/Core/Protobuf/PSource/msp_MK32.pb.h
  79. 12
      wuhanligong/G431wuhanligong/Core/Protobuf/PSource/msp_MPU6050.pb.c
  80. 69
      wuhanligong/G431wuhanligong/Core/Protobuf/PSource/msp_MPU6050.pb.h
  81. 12
      wuhanligong/G431wuhanligong/Core/Protobuf/PSource/msp_Motor.pb.c
  82. 91
      wuhanligong/G431wuhanligong/Core/Protobuf/PSource/msp_Motor.pb.h
  83. 12
      wuhanligong/G431wuhanligong/Core/Protobuf/PSource/msp_SavedMotorParameters.pb.c
  84. 62
      wuhanligong/G431wuhanligong/Core/Protobuf/PSource/msp_SavedMotorParameters.pb.h
  85. 12
      wuhanligong/G431wuhanligong/Core/Protobuf/PSource/msp_TL720D.pb.c
  86. 72
      wuhanligong/G431wuhanligong/Core/Protobuf/PSource/msp_TL720D.pb.h
  87. 12
      wuhanligong/G431wuhanligong/Core/Protobuf/PSource/msp_UWB_LinkPG.pb.c
  88. 90
      wuhanligong/G431wuhanligong/Core/Protobuf/PSource/msp_UWB_LinkPG.pb.h
  89. 12
      wuhanligong/G431wuhanligong/Core/Protobuf/PSource/msp_ZQ_MotorParameters.pb.c
  90. 159
      wuhanligong/G431wuhanligong/Core/Protobuf/PSource/msp_ZQ_MotorParameters.pb.h
  91. BIN
      wuhanligong/G431wuhanligong/Core/Protobuf/Proto/Version2.exe
  92. 45
      wuhanligong/G431wuhanligong/Core/Protobuf/Proto/bsp_CV.proto
  93. 2
      wuhanligong/G431wuhanligong/Core/Protobuf/Proto/bsp_Cmd.options
  94. 24
      wuhanligong/G431wuhanligong/Core/Protobuf/Proto/bsp_Cmd.proto
  95. 11
      wuhanligong/G431wuhanligong/Core/Protobuf/Proto/bsp_DAM.proto
  96. 10
      wuhanligong/G431wuhanligong/Core/Protobuf/Proto/bsp_DMKE.proto
  97. 8
      wuhanligong/G431wuhanligong/Core/Protobuf/Proto/bsp_Desulfurizer.proto
  98. 3
      wuhanligong/G431wuhanligong/Core/Protobuf/Proto/bsp_Error.options
  99. 69
      wuhanligong/G431wuhanligong/Core/Protobuf/Proto/bsp_Error.proto
  100. 2
      wuhanligong/G431wuhanligong/Core/Protobuf/Proto/bsp_GV.options

178
wuhanligong/G431wuhanligong/.cproject
View File

@ -0,0 +1,178 @@
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33
wuhanligong/G431wuhanligong/.mxproject
View File

@ -0,0 +1,33 @@
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LibFiles=Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_uart.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_uart_ex.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_def.h;Drivers\STM32G4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_rcc.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_rcc_ex.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_flash.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_flash_ex.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_flash_ramfunc.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_gpio.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_gpio_ex.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_exti.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_dma.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_dma_ex.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_pwr.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_pwr_ex.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_cortex.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_tim.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_tim_ex.h;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_uart.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_uart_ex.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_rcc.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_rcc_ex.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_flash.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_flash_ex.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_flash_ramfunc.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_gpio.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_exti.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_dma.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_dma_ex.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_pwr.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_pwr_ex.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_cortex.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_tim.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_tim_ex.c;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_uart.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_uart_ex.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_def.h;Drivers\STM32G4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_rcc.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_rcc_ex.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_flash.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_flash_ex.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_flash_ramfunc.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_gpio.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_gpio_ex.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_exti.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_dma.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_dma_ex.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_pwr.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_pwr_ex.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_cortex.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_tim.h;Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_tim_ex.h;Drivers\CMSIS\Device\ST\STM32G4xx\Include\stm32g431xx.h;Drivers\CMSIS\Device\ST\STM32G4xx\Include\stm32g4xx.h;Drivers\CMSIS\Device\ST\STM32G4xx\Include\system_stm32g4xx.h;Drivers\CMSIS\Device\ST\STM32G4xx\Source\Templates\system_stm32g4xx.c;Drivers\CMSIS\Include\cmsis_armcc.h;Drivers\CMSIS\Include\cmsis_armclang.h;Drivers\CMSIS\Include\cmsis_armclang_ltm.h;Drivers\CMSIS\Include\cmsis_compiler.h;Drivers\CMSIS\Include\cmsis_gcc.h;Drivers\CMSIS\Include\cmsis_iccarm.h;Drivers\CMSIS\Include\cmsis_version.h;Drivers\CMSIS\Include\core_armv81mml.h;Drivers\CMSIS\Include\core_armv8mbl.h;Drivers\CMSIS\Include\core_armv8mml.h;Drivers\CMSIS\Include\core_cm0.h;Drivers\CMSIS\Include\core_cm0plus.h;Drivers\CMSIS\Include\core_cm1.h;Drivers\CMSIS\Include\core_cm23.h;Drivers\CMSIS\Include\core_cm3.h;Drivers\CMSIS\Include\core_cm33.h;Drivers\CMSIS\Include\core_cm35p.h;Drivers\CMSIS\Include\core_cm4.h;Drivers\CMSIS\Include\core_cm7.h;Drivers\CMSIS\Include\core_sc000.h;Drivers\CMSIS\Include\core_sc300.h;Drivers\CMSIS\Include\mpu_armv7.h;Drivers\CMSIS\Include\mpu_armv8.h;Drivers\CMSIS\Include\tz_context.h;
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SourceFiles=Core\Src\main.c;Core\Src\gpio.c;Core\Src\dma.c;Core\Src\usart.c;Core\Src\tim.c;Core\Src\stm32g4xx_it.c;Core\Src\stm32g4xx_hal_msp.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_uart.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_uart_ex.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_rcc.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_rcc_ex.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_flash.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_flash_ex.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_flash_ramfunc.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_gpio.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_exti.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_dma.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_dma_ex.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_pwr.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_pwr_ex.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_cortex.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_tim.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_tim_ex.c;Drivers\CMSIS\Device\ST\STM32G4xx\Source\Templates\system_stm32g4xx.c;Core\Src\system_stm32g4xx.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_uart.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_uart_ex.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_rcc.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_rcc_ex.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_flash.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_flash_ex.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_flash_ramfunc.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_gpio.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_exti.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_dma.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_dma_ex.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_pwr.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_pwr_ex.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_cortex.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_tim.c;Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_tim_ex.c;Drivers\CMSIS\Device\ST\STM32G4xx\Source\Templates\system_stm32g4xx.c;Core\Src\system_stm32g4xx.c;;;
HeaderPath=Drivers\STM32G4xx_HAL_Driver\Inc;Drivers\STM32G4xx_HAL_Driver\Inc\Legacy;Drivers\CMSIS\Device\ST\STM32G4xx\Include;Drivers\CMSIS\Include;Core\Inc;
CDefines=USE_HAL_DRIVER;STM32G431xx;USE_HAL_DRIVER;USE_HAL_DRIVER;
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AdvancedFolderStructure=true
HeaderFileListSize=7
HeaderFiles#0=..\Core\Inc\gpio.h
HeaderFiles#1=..\Core\Inc\dma.h
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wuhanligong/G431wuhanligong/.project
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<?xml version="1.0" encoding="UTF-8"?>
<projectDescription>
<name>G431wuhanligong</name>
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2
wuhanligong/G431wuhanligong/.settings/com.st.stm32cube.ide.mcu.sfrview.prefs
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eclipse.preferences.version=1
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26
wuhanligong/G431wuhanligong/.settings/language.settings.xml
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<?xml version="1.0" encoding="UTF-8" standalone="no"?>
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4
wuhanligong/G431wuhanligong/.settings/stm32cubeide.project.prefs
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170
wuhanligong/G431wuhanligong/Core/Inc/BHBF_ROBOT.h
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/*
* BHBF_ROBOT.h
*
* Created on: Oct 26, 2023
* Author: shiya
*/
#ifndef INC_BHBF_ROBOT_H_
#define INC_BHBF_ROBOT_H_
#include "bsp_include.h"
#include "bsp_PV.pb.h"
#include "bsp_MB_host.h"
#include "bsp_UART.h"
#include <stdio.h>
#include <string.h>
#include <stdlib.h>
#include <assert.h>
#include "BHBF_ROBOT.h"
#include "pb.h"
#include "pb_decode.h"
#include "pb_encode.h"
#include "bsp_pb_decode_encode.h"
#include "msp_Steering_Engine.h"
#include "msp_fashion_star_uart_servo.h"
#include <stdio.h>
#include <stdbool.h>
#include <stdlib.h>
#include "msp_MK32_1.h"
#include "bsp_include.h"
#include "bsp_IV.pb.h"
#include"bsp_com_helper.h"
//#include "robot_state.h"
//FLASH (rx) : ORIGIN = 0x08020000, LENGTH = 896K
//#define VECT_TAB_OFFSET 0x00020000U
//关键全局变量定义：GV、CV、PV
//其他变量定义：X1_X2_X3_X4
//X1：变量类型
//X2：所属层级 GL、MSP、BSP
//X3：所属模块
//X4：名称
//全局变量定义 X1=V
//宏定义 X1=DF
//结构体类型声明 X1=SP
//结构体定义 X1=ST
//指针类型定义 X1=P
//全局函数定义 X1=GF
//内部函数定义 X1为空，不要下划线，X2开头
//函数参数定义、函数局部变量定义 X1为空，下划线开头
#define DLTViewer 1
bool CompareTimer_Delay(int32_t Delay);
extern GV_struct_define GV;
//extern PV_struct_define PV;
extern IV_struct_define IV;
extern CV_struct_define CV;
typedef struct sys_timer_handler
{
int start_timer;
int sys_current_timer_count;
int sys_timer_flag;
}Sys_timer_handler;
extern Sys_timer_handler timer_handler_1;
extern Sys_timer_handler timer_handler_2;
extern Sys_timer_handler timer_handler_3;
extern Sys_timer_handler timer_handler_4;
//first start Timer, then WaitTimer
bool CompareTimer(int32_t DelayMiliSeconds,Sys_timer_handler * timer_handler);
void SystemTimer_Intialize();
void GF_Timer_Count();
void GF_Robot_Init(void);
void GF_Robot_MainLoop(void);
void GF_WatchDog_Loop(void);
extern void SET_BIT_1(int32_t* num,int32_t k);
extern void SET_BIT_0(int32_t* num,int32_t k);
extern int32_t Get_BIT(int32_t* num,int32_t k);
//A &= ~(1 << bit)
extern MotorParameters *Motor[7];
extern int32_t *Motor_ID_Errors[7];
extern int32_t* SystemErrorCode;
extern ErrorData* SystemErrorData;
//Error Bit Define
#define AngleEncoderErrorBitFlag 0
#define DAM_Relay_ErrorBitFlag 1
#define DH_CAN_Remote_Controller_1E4 2
#define DH_CAN_Remote_Controller_2E4 3
#define DH_Remote 4
#define force_sensor 5
#define LeiSai_ISV2CAN 6
#define mk32_sbus 7
#define steering_engine 8
#define Weld_seam_Tracking 9
#define Ti5_1 11
#define Ti5_2 12
#define Ti5_3 13
#define Ti5_4 14
#define Ti5_5 15
#define Ti5_6 16
#define TL720D 17
#define ZQ_CAN_ID1_LeftMotor 18
#define ZQ_CAN_ID2_RightMotor 19
#define ZQ_CAN_ID3_SwingMotor 20
#define wire_sensor 21
#define DHRougheningController 22
#define DAM040D_Relay_ErrorBitFlag 23
#define DMAKE_1 24
#define DMAKE_2 25
#define DMAKE_3 26
#define KeLaiFen485 27
#define KeLaiFenCAN 28
#define LD150 29
#define mfog40_gyroscope 30
#define uwb_linkpg 30
#define KS206_sensor 31
#define Cmcu_Sensor 32
extern TT_MotorParameters* TT_Motor[4];
#endif /* INC_BHBF_ROBOT_H_ */

62
wuhanligong/G431wuhanligong/Core/Inc/FSM.h
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/*
* fsm.h
*
* Created on: Oct 18, 2024
* Author: akeguo
*/
#ifndef INC_FSM_H_
#define INC_FSM_H_
#include "stdint.h"
#define AUTO_MODE -1000
#define MANUAL_MODE 0
#define HOME_MODE 1000
#define AUTO_SWIGN 1000
#define AUTO_TILT -1000
typedef enum _MoveSTATE_t
{
Move_HALT=0,
Manual_State,
Auto_Back_State,
} MoveSTATE_t;
//设置 换道距离和设置后退距离
typedef enum _SetSTATE_t
{
OtherMode=0,
SetLaneChangeDistance,
SetBackwardsDistance,
} SetSTATE_t;
typedef enum _SwingSTATE_t
{
SwingHALT = 0,
SwingAuto,
SwingManual,
SwingHome,
} SwingSTATE_t;
typedef enum _TiltSTATE_t
{
TiltHALT = 0,
TiltAuto,
TiltManual,
TiltHome
} TiltSTATE_t;
typedef struct _transition_t
{
int State; //状态
void (*robotRun)(void); //执行相关动作
} transition_t;
extern int32_t* RobotSpeed;
extern int32_t *JontSwingSpeed;
extern int32_t *JontTiltSpeed;
void Fsm_Init();
#endif /* INC_FSM_H_ */

50
wuhanligong/G431wuhanligong/Core/Inc/bsp_MB_host.h
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#ifndef __BSP_MB_HOST_H__
#define __BSP_MB_HOST_H__
/* 包含头文件 ----------------------------------------------------------------*/
/* 类型定义 ------------------------------------------------------------------*/
/* 宏定义 --------------------------------------------------------------------*/
#define MB_SLAVEADDR 0x0001 //从机地址
#define MB_REG_ADDR 0 //寄存器地址（离散、线圈）
#define HoldingReg 0 //保持寄存器
#define InputRegReg 0x0020 //输入寄存器
#include "bsp_include.h"
#include "bsp_UART.h"
/* 扩展变量 ------------------------------------------------------------------*/
typedef struct
{
uint16_t DATA_01H;
uint16_t DATA_02H;
uint16_t DATA_03H;
uint16_t DATA_04H;
uint16_t DATA_05H;
uint16_t DATA_06H;
uint8_t DATA_10H[64];
}MB_REG_DATA;
//;
extern uint8_t MB_rx_flag;
extern uint16_t Read_Reg_Num;
/* 函数声明 ------------------------------------------------------------------*/
uint16_t MB_CRC16(uint8_t *pushMsg, uint16_t usDataLen);
void MB_ReadCoil(uint8_t* Tx_Buf,uint8_t* TxCount_t,uint8_t _addr, uint16_t _reg, uint16_t _num);
void MB_WriteCoil(uint8_t* Tx_Buf,uint8_t* TxCount_t,uint8_t _addr, uint16_t _reg, uint16_t _sta);
void MB_ReadInput(uint8_t* Tx_Buf,uint8_t* TxCount_t,uint8_t _addr, uint16_t _reg, uint16_t _num);
void MB_ReadHoldingReg(uint8_t* Tx_Buf,uint8_t* TxCount_t,uint8_t _addr, uint16_t _reg, uint16_t _num);
void MB_ReadInputReg(uint8_t* Tx_Buf,uint8_t* TxCount_t,uint8_t _addr, uint16_t _reg, uint16_t _num);
void MB_WriteHoldingReg(uint8_t* Tx_Buf,uint8_t* TxCount_t,uint8_t _addr, uint16_t _reg, uint16_t _data);
//void MB_WriteNumHoldingReg(uint8_t* Tx_Buf,uint8_t* TxCount_t,uint8_t _addr, uint16_t _reg, uint16_t _num,uint8_t *_databuf)
void MB_WriteNumHoldingReg(uint8_t* Tx_Buf,uint8_t* TxCount_t,uint8_t _addr, uint16_t _reg, uint16_t _num,uint8_t *_databuf);
void MB_WriteNumCoil(uint8_t *Tx_Buf, uint8_t *TxCount_t, uint8_t _addr,
uint16_t _reg, uint16_t _num, uint8_t *_databuf);
#endif /* __BSP_MB_HOST_H__ */
/******************* (C) COPYRIGHT 2015-2020 硬石嵌入式开发团队 *****END OF FILE****/

21
wuhanligong/G431wuhanligong/Core/Inc/bsp_TIMER.h
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/*
* bsp_TIMER.h
*
* Created on: Oct 26, 2023
* Author: shiya
*/
#ifndef INC_BSP_TIMER_H_
#define INC_BSP_TIMER_H_
#include "bsp_include.h"
extern double Rot_current_time;
extern double Pit_current_time;
extern uint64_t cnt_2ms;
uint8_t GF_BSP_TIMER_Init(void);
void GF_BSP_TIMER_DelayUS(uint32_t n);
#endif /* INC_BSP_TIMER_H_ */

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wuhanligong/G431wuhanligong/Core/Inc/bsp_UART.h
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#ifndef INC_BSP_UART_H_
#define INC_BSP_UART_H_
#include "bsp_include.h"
#include "main.h"
#include "bsp_Error.pb.h"
#define UART_Transmit_MAX_NUM 1024
#define UART_Receive_MAX_NUM 100
extern struct UARTHandler RS_485_1_UART_Handler;
extern struct UARTHandler RS_485_2_UART_Handler;
extern struct UARTHandler RS_485_3_UART_Handler;
extern struct UARTHandler RS_485_4_UART_Handler;
extern struct UARTHandler InterCall_DEBUG_UART_Handler;
extern struct UARTHandler E28_SBUS_UART_Handler;
extern struct UARTHandler LTE_7S0_Serial_UART_Handler;
//#define InterCall_DEBUG_UART huart4
#define E28_SBUS_UART hlpuart1
//#define RS485_4_UART huart7
#define RS485_1_UART huart1
#define RS485_2_UART huart2
#define RS485_3_UART huart3
#if defined (hlpuart1Exit)
extern struct UARTHandler LPUART1_UART_Handler;
#endif
uint8_t GF_BSP_UART_Init(void);
void GF_BSP_UARTHandlers_Intialize(
int32_t RS485_1_WaitTime,
int32_t RS485_2_WaitTime,
int32_t RS485_3_WaitTime,
int32_t RS485_4_WaitTime,
int32_t LTE_7S0_Serial_WaitTime,
int32_t InterCall_DEBUG_WaitTime,
int32_t E28_SBUS_WaitTime,
int32_t LPUART1_UART_WaitTime,
int32_t RS485_1_Dispacher_Time,
int32_t RS485_2_Dispacher_Time,
int32_t RS485_3_Dispacher_Time,
int32_t RS485_4_Dispacher_Time,
int32_t LTE_7S0_Serial_Dispacher_Time,
int32_t InterCall_DEBUG_Dispacher_Time,
int32_t E28_SBUS_Dispacher_Time,
int32_t LPUART1_UART_Dispacher_Time
);
//串行发送完成后才能发送第二帧数据，没有做缓冲，如未发送完成，第二次发送无效，丢弃发送数据
void GF_BSP_UART_Transmit(const uint8_t RS485_Index,const uint8_t *pData, uint16_t Size);
typedef struct UARTSendHandler
{
uint16_t SendLength;
uint16_t SendListTimePeriod;
uint8_t Tx_Buf[502];
void (*UART_Decode)(uint8_t*, uint16_t); // 发送缓存
struct UARTSendHandler* pNext;
}UARTSendHandler;
struct UARTHandler
{
char startCountFlag; //indicate that to start counting
char send_finished; //indicate send finished or not
char decode_finished; //indicate decode finished or not
uint8_t tmp_Rx_Buf[2]; // temporary data to store received data
uint32_t Wait_time; // the time to wait
uint32_t Wait_Time_Count;
uint32_t SendList_time_Count;
uint32_t SendList_Period;
uint8_t SendListExists;
UART_HandleTypeDef* uart; //UART to use
UARTSendHandler *pCurrentUARTSendHadler; //这个结构体指针是用来干什么的？
unsigned char timeSpan; // timer elapsed time
uint8_t Rx_Buf[2048]; // 接收缓存,最大256字节
uint8_t Tx_Buf[2048]; //发送缓存 157,864
uint16_t TxCount;
uint16_t RxCount;
void (*UART_Tx)(struct UARTHandler*); //void UART_Tx(uint8_t *Tx_Buf,uint16_t TxCount);
void (*UART_Rx)(struct UARTHandler*);
void (*UART_Decode)(uint8_t*, uint16_t); //Decode Rx_Buf
void (*AddSendList)(struct UARTHandler*,
uint8_t*,
uint16_t,
uint32_t, //这里是修改等待时间
void (*UART_Decode)(uint8_t*, uint16_t));
struct _DispacherController *dispacherController;
};
void UARTHandlerTx(struct UARTHandler *uartHandler);
void UARTHandlerRX(struct UARTHandler *uartHandler);
//void IntializeUARTHandler(struct UARTHandler *uartHandler, UART_HandleTypeDef uart,int32_t WaitTime,unsigned char timeSpan);
void Counting(struct UARTHandler *uartHandler);
void IntializeUARTHandler(struct UARTHandler *uartHandler,
UART_HandleTypeDef *uart, int32_t WaitTime, unsigned char timeSpan,int32_t Dispacher_Time);
void GF_BSP_UART_Timer();
#endif /* INC_BSP_UART_H_ */

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wuhanligong/G431wuhanligong/Core/Inc/bsp_client_setting.h
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/*
* bsp_pv_setting.h
*
* Created on: Jan 8, 2025
* Author: akeguo
*/
#ifndef INC_BSP_BSP_CLIENT_SETTING_H_
#define INC_BSP_BSP_CLIENT_SETTING_H_
#include "BHBF_ROBOT.h"
void client_setting_intialize(struct UARTHandler *Handler);
#endif /* INC_BSP_BSP_CLIENT_SETTING_H_ */

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wuhanligong/G431wuhanligong/Core/Inc/bsp_com_helper.h
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/*
* bsp_com_helper.h
*
* Created on: Oct 9, 2024
* Author: akeguo
*/
#ifndef INC_BSP_BSP_COM_HELPER_H_
#define INC_BSP_BSP_COM_HELPER_H_
#include "bsp_include.h"
typedef struct _Dispatcher
{
//uint8_t IsDeleted;
void (*dispache)(void);
//struct _Dispatcher* pBefore;
struct _Dispatcher* pNext;
}Dispatcher;
//通讯链表节点结构体
typedef struct _ComHardWare
{
//void (*dispache)(void);
char Name[50];
char IsOnline;
uint32_t BitFlag;
struct _ComHardWare* pNext;
}ComHardWare;
typedef struct _DispacherController
{
Dispatcher *pHead; // = NULL; //环形链表中的数据头指针
Dispatcher *pTail; // = NULL; //环形链表中的数据尾指针
uint16_t DispacherNumber;
uint16_t DispacherCallTime;
uint16_t Dispacher_Counter;
uint16_t Dispacher_Enable; // = 0 disable 1 enable
void (*Add_Dispatcher_List)(struct _DispacherController* ,
void (*dispacher)(void)); //链表添加调度程序
void (*Dispatcher_Run)(struct _DispacherController* ); //运行调度程序
}DispacherController;
typedef struct _HardWareController
{
struct _ComHardWare *pComHWHead;
struct _ComHardWare *pComHWTail;
uint16_t HardWare_Check_Counter;
uint16_t DispacherCallTime; //= 100; //2ms 一次，
void (*Add_PCOMHardWare)(struct _HardWareController *, char* , char ,uint32_t);
void (*PCOMHardWare_Check)(struct _HardWareController *);
int (*Set_PCOMHardWare)(struct _HardWareController *, char* , char );
} HardWareController;
void Dispatch_t(DispacherController *uartHandler);
void Dispatcher_List_Add_t(DispacherController *uartHandler,void (*dispache)(void));
// void Dispatcher_List_Add_t(DispacherController *uartHandler,
// void (*dispache)(void),void (*Decode)(uint8_t*, uint16_t));
// void ComHardWare_List_Add_t(HardWareController *uartHandler, char *name,char value);
void PCOMHardWare_Check_t(HardWareController *uartHandler);
int Set_PCOMHardWare_t(HardWareController *uartHandler, char *name, char value);
void ComHardWare_List_Add_t(HardWareController *uartHandler, char *name,
char value,uint32_t bitFlag);
#endif /* INC_BSP_BSP_COM_HELPER_H_ */

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wuhanligong/G431wuhanligong/Core/Inc/bsp_include.h
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/*
* bsp_include.h
*
* Created on: Oct 26, 2023
* Author: shiya
*/
#ifndef INC_BSP_INCLUDE_H_
#define INC_BSP_INCLUDE_H_
#include "main.h"
#include "dma.h"
#include "fdcan.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"
#include "bsp_TIMER.h"
//一个中断回调函数支持多少个回调函数链接
#define DF_BSP_InterCall_Num 20
//一共支持多少种中断函数
#define DF_BSP_InterCall_Type_Num 11
enum DF_BSP_InterCall_Type
{
DF_BSP_InterCall_FDCAN1_RxFifo0Callback = 0,
DF_BSP_InterCall_FDCAN2_RxFifo0Callback,
DF_BSP_InterCall_RS485_1_RxCpltCallback,
DF_BSP_InterCall_RS485_2_RxCpltCallback,
DF_BSP_InterCall_RS485_3_RxCpltCallback,
DF_BSP_InterCall_RS485_4_RxCpltCallback,
DF_BSP_InterCall_DEBUG_RxCpltCallback,
DF_BSP_InterCall_E22_Serial_RxCpltCallback,
DF_BSP_InterCall_E28_SBUS_RxFifo0Callback,
DF_BSP_InterCall_TIM1_100ms_PeriodElapsedCallback,
DF_BSP_InterCall_TIM8_2ms_PeriodElapsedCallback
};
uint8_t GF_BSP_Interrupt_Add_CallBack(enum DF_BSP_InterCall_Type _type,
void (*_fn)(void));
void GF_BSP_Interrupt_Run_CallBack(enum DF_BSP_InterCall_Type _type);
#endif /* INC_BSP_INCLUDE_H_ */

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wuhanligong/G431wuhanligong/Core/Inc/bsp_pb_decode_encode.h
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/*
* bsp_pb_decode_encode.h
*
* Created on: Jul 5, 2024
* Author: akeguo
*/
#ifndef INC_BSP_BSP_PB_DECODE_ENCODE_H_
#define INC_BSP_BSP_PB_DECODE_ENCODE_H_
#include <stdio.h>
#include <string.h>
#include <stdlib.h>
#include <stdbool.h>
#include "pb_decode.h"
#include "pb_encode.h"
#include "pb.h"
#include "bsp_CV.pb.h"
#include "bsp_GV.pb.h"
#include "msp_MK32.pb.h"
#include "msp_Motor.pb.h"
#include "bsp_PV.pb.h"
#include "bsp_CV.pb.h"
#include "bsp_CV.pb.h"
#include "pb_common.h"
#include "bsp_Trace.pb.h"
#include "bsp_IAP.pb.h"
IAP_struct_define pb_decode_IAP(uint8_t *buf, size_t length);
typedef struct pb_buffer_arg
{
/* Buffer to be written, or reference to read buffer */
void const *buf;
/* Length of buf */
size_t buf_len;
} pb_buffer_arg;
bool pb_encode_string_cb(pb_ostream_t *stream, const pb_field_t *field, void *const *arg);
bool pb_decode_string_cb(pb_istream_t *stream, const pb_field_t *field, void **arg);
extern CV_struct_define pb_decode_CV(char *buf, size_t length);
extern void Test_CV();
//extern void pb_encode_TraceMessage(char buf[], size_t buf_len,size_t* len,TraceLevel traceLevel, char logger[], char message[] );
void pb_encode_TraceMessage(char buf[],size_t buf_len, size_t* len,
char traceLevel[], char logger[], char message[] );
#endif /* INC_BSP_BSP_PB_DECODE_ENCODE_H_ */

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wuhanligong/G431wuhanligong/Core/Inc/dma.h
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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file dma.h
* @brief This file contains all the function prototypes for
* the dma.c file
******************************************************************************
* @attention
*
* Copyright (c) 2025 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __DMA_H__
#define __DMA_H__
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "main.h"
/* DMA memory to memory transfer handles -------------------------------------*/
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
/* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */
void MX_DMA_Init(void);
/* USER CODE BEGIN Prototypes */
/* USER CODE END Prototypes */
#ifdef __cplusplus
}
#endif
#endif /* __DMA_H__ */

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wuhanligong/G431wuhanligong/Core/Inc/fdcan.h
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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file fdcan.h
* @brief This file contains all the function prototypes for
* the fdcan.c file
******************************************************************************
* @attention
*
* Copyright (c) 2025 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __FDCAN_H__
#define __FDCAN_H__
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "main.h"
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
//extern FDCAN_HandleTypeDef hfdcan1;
/* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */
void MX_FDCAN1_Init(void);
/* USER CODE BEGIN Prototypes */
/* USER CODE END Prototypes */
#ifdef __cplusplus
}
#endif
#endif /* __FDCAN_H__ */

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wuhanligong/G431wuhanligong/Core/Inc/gpio.h
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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file gpio.h
* @brief This file contains all the function prototypes for
* the gpio.c file
******************************************************************************
* @attention
*
* Copyright (c) 2025 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __GPIO_H__
#define __GPIO_H__
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "main.h"
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
/* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */
void MX_GPIO_Init(void);
/* USER CODE BEGIN Prototypes */
/* USER CODE END Prototypes */
#ifdef __cplusplus
}
#endif
#endif /*__ GPIO_H__ */

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wuhanligong/G431wuhanligong/Core/Inc/main.h
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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : main.h
* @brief : Header for main.c file.
* This file contains the common defines of the application.
******************************************************************************
* @attention
*
* Copyright (c) 2025 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __MAIN_H
#define __MAIN_H
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "stm32g4xx_hal.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
/* Exported types ------------------------------------------------------------*/
/* USER CODE BEGIN ET */
/* USER CODE END ET */
/* Exported constants --------------------------------------------------------*/
/* USER CODE BEGIN EC */
/* USER CODE END EC */
/* Exported macro ------------------------------------------------------------*/
/* USER CODE BEGIN EM */
/* USER CODE END EM */
/* Exported functions prototypes ---------------------------------------------*/
void Error_Handler(void);
/* USER CODE BEGIN EFP */
/* USER CODE END EFP */
/* Private defines -----------------------------------------------------------*/
#define LED_Pin GPIO_PIN_5
#define LED_GPIO_Port GPIOA
/* USER CODE BEGIN Private defines */
#define IN_0_Pin GPIO_PIN_2
#define IN_0_GPIO_Port GPIOE
#define IN_1_Pin GPIO_PIN_3
#define IN_1_GPIO_Port GPIOE
#define IN_2_Pin GPIO_PIN_4
#define IN_2_GPIO_Port GPIOE
#define IN_3_Pin GPIO_PIN_5
#define IN_3_GPIO_Port GPIOE
#define IN_4_Pin GPIO_PIN_6
#define IN_4_GPIO_Port GPIOE
#define IN_5_Pin GPIO_PIN_13
#define IN_5_GPIO_Port GPIOC
#define S0_RESET_Pin GPIO_PIN_0
#define S0_RESET_GPIO_Port GPIOC
#define OUT_0_Pin GPIO_PIN_2
#define OUT_0_GPIO_Port GPIOC
#define OUT_1_Pin GPIO_PIN_3
#define OUT_1_GPIO_Port GPIOC
#define OUT_2_Pin GPIO_PIN_0
#define OUT_2_GPIO_Port GPIOA
#define OUT_3_Pin GPIO_PIN_3
#define OUT_3_GPIO_Port GPIOA
#define OUT_4_Pin GPIO_PIN_4
#define OUT_4_GPIO_Port GPIOA
#define OUT_5_Pin GPIO_PIN_5
#define OUT_5_GPIO_Port GPIOA
#define ETH_RST_Pin GPIO_PIN_6
#define ETH_RST_GPIO_Port GPIOA
#define EEPROM_WP_Pin GPIO_PIN_11
#define EEPROM_WP_GPIO_Port GPIOE
#define EEPROM_SCL_Pin GPIO_PIN_12
#define EEPROM_SCL_GPIO_Port GPIOE
#define EEPROM_SDA_Pin GPIO_PIN_13
#define EEPROM_SDA_GPIO_Port GPIOE
#define RS485_1_DIR_Pin GPIO_PIN_10
#define RS485_1_DIR_GPIO_Port GPIOD
#define RS485_2_DIR_Pin GPIO_PIN_11
#define RS485_2_DIR_GPIO_Port GPIOD
#define RS485_3_DIR_Pin GPIO_PIN_8
#define RS485_3_DIR_GPIO_Port GPIOC
#define RS485_4_DIR_Pin GPIO_PIN_9
#define RS485_4_DIR_GPIO_Port GPIOC
#define E22_RST_Pin GPIO_PIN_10
#define E22_RST_GPIO_Port GPIOC
#define E28_M0_Pin GPIO_PIN_0
#define E28_M0_GPIO_Port GPIOD
#define E28_M1_Pin GPIO_PIN_1
#define E28_M1_GPIO_Port GPIOD
#define E28_M2_Pin GPIO_PIN_3
#define E28_M2_GPIO_Port GPIOD
#define E28_AUX_Pin GPIO_PIN_4
#define E28_AUX_GPIO_Port GPIOD
#define S0_NET_Pin GPIO_PIN_3
#define S0_NET_GPIO_Port GPIOB
#define S0_LINKA_Pin GPIO_PIN_4
#define S0_LINKA_GPIO_Port GPIOB
#define E22_M1_Pin GPIO_PIN_7
#define E22_M1_GPIO_Port GPIOB
#define E22_M0_Pin GPIO_PIN_0
#define E22_M0_GPIO_Port GPIOE
#define E22_AUX_Pin GPIO_PIN_1
#define E22_AUX_GPIO_Port GPIOE
#define hlpuart1Exit 1
#define NewCANSendVersion 1
/* USER CODE END Private defines */
#ifdef __cplusplus
}
#endif
#endif /* __MAIN_H */

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wuhanligong/G431wuhanligong/Core/Inc/msp_MK32_1.h
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/*
* msp_MK32_1.h
*
* Created on: Oct 8, 2024
* Author: akeguo
*/
#ifndef INC_MSP_MSP_MK32_1_H_
#define INC_MSP_MSP_MK32_1_H_
#include "bsp_UART.h"
#include "msp_MK32.pb.h"
extern SP_MSP_MK32_Button *P_MK32;
void Sbus_Data_Count(uint8_t *buf, int32_t *But_Value);
extern SP_MSP_MK32_Button *P_MK32;
//
void MK32_Sbus_UART_Handler_intialize(struct UARTHandler* Handler);
#endif /* INC_MSP_MSP_MK32_1_H_ */

49
wuhanligong/G431wuhanligong/Core/Inc/msp_Steering_Engine.h
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/*
* bsp_steering_engine.h
*
* Created on: Jul 29, 2024
* Author: akeguo
*/
#ifndef INC_MSP_MSP_STEERING_ENGINE_H_
#define INC_MSP_MSP_STEERING_ENGINE_H_
#include <stdio.h>
#include <string.h>
#include "stdio.h"
#include "bsp_UART.h"
#include "usart.h"
#include "gpio.h"
extern int32_t* Desulfurizer_Steering_Set_Speed_1;
extern int32_t* Desulfurizer_Steering_Set_Speed_2;
extern int32_t* Desulfurizer_Steering_Set_Speed_3;
extern int32_t* Desulfurizer_Steering_Set_Speed_4;
extern int32_t* Desulfurizer_Steering_Angle_3;
extern int32_t* Desulfurizer_Steering_Angle_4;
extern int32_t* Desulfurizer_Steering_Current;
extern int32_t* Desulfurizer_Steering_Real_Angle;
extern int32_t* Desulfurizer_Steering_Real_Angle_3;
extern int32_t* Desulfurizer_Steering_Real_Angle_4;
extern int32_t* Steering_damping_power_1;
extern int32_t* Steering_damping_power_2;
extern int32_t* Steering_damping_power_3;
extern int32_t* Steering_damping_power_4;
void setSteeringRobotProtectionMode();
void Clear_current_laps();
void update_steering_state();
void steering_engine_intialize(struct UARTHandler *Handler);
void steering_engine_intialize_12(struct UARTHandler *Handler);
void read_steering_Angle();
void steering_homing_control();
void SteeringDampingPowerControl(uint8_t steering_id1,
int32_t Steering_damping_power);
//FSUS_STATUS FSUS_ReadData(uint8_t servo_id, uint8_t address, uint8_t *sendbytes, uint8_t *length);
void read_steering_current();
void decode_steering_angle_03(uint8_t *buffer, uint16_t length);
#endif /* INC_MSP_MSP_STEERING_ENGINE_H_ */

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wuhanligong/G431wuhanligong/Core/Inc/msp_fashion_star_uart_servo.h
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/*
* msp_fashion_star_uart_servo.h
*
* Created on: Jul 29, 2024
* Author: akeguo
*/
#ifndef SRC_MSP_MSP_FASHION_STAR_UART_SERVO_H_
#define SRC_MSP_MSP_FASHION_STAR_UART_SERVO_H_
#include "usart.h"
#include "msp_ring_buffer.h"
void FSUS_QueryServoAngle(uint8_t servo_id, uint8_t *sendbytes, uint8_t *length);
// FSUS通信协议
// 注: FSUS是Fashion Star Uart Servo的缩写
// 串口通讯超时设置
#define FSUS_TIMEOUT_MS 100
// 舵机用户自定义数据块的大小 单位Byte
#define FSUS_SERVO_BATCH_DATA_SIZE 32
// 返回的响应数据包最长的长度
#define FSUS_PACK_RESPONSE_MAX_SIZE 50
// 在串口舵机的通信系统设计里, 使用的字节序为Little Endian(低字节序/小端格式)
// STM32系统的数值存储模式就是Little Endian
// 所以0x4c12 这个数值, 在实际发送的时候低位会在前面 0x12, 0x4c
#define FSUS_PACK_REQUEST_HEADER 0x4c12
#define FSUS_PACK_RESPONSE_HEADER 0x1c05
// FSUS控制指令数据
// 注: 一下所有的指令都是针对单个舵机的
#define FSUS_CMD_NUM 17
#define FSUS_CMD_PING 1 // 舵机通讯检测
#define FSUS_CMD_RESET_USER_DATA 2 // 重置用户数据
#define FSUS_CMD_READ_DATA 3 // 单个舵机 读取数据库
#define FSUS_CMD_WRITE_DATA 4 // 单个舵机 写入数据块
#define FSUS_CMD_READ_BATCH_DATA 5 // 单个舵机 批次读取(读取一个舵机所有的数据)
#define FSUS_CMD_WRITE_BATCH_DATA 6 // 单个舵机 批次写入(写入一个舵机所有的数据)
#define FSUS_CMD_SPIN 7 // 单个舵机 设置轮式模式
#define FSUS_CMD_ROTATE 8 // 角度控制模式(设置舵机的角度))
#define FSUS_CMD_DAMPING 9 // 阻尼模式
#define FSUS_CMD_READ_ANGLE 10 // 舵机角度读取
#define FSUS_CMD_SET_SERVO_ANGLE_BY_INTERVAL 11 // 角度设置(指定周期)
#define FSUS_CMD_SET_SERVO_ANGLE_BY_VELOCITY 12 // 角度设置(指定转速)
#define FSUS_CMD_SET_SERVO_ANGLE_MTURN 13 // 多圈角度设置
#define FSUS_CMD_SET_SERVO_ANGLE_MTURN_BY_INTERVAL 14 // 多圈角度设置(指定周期)
#define FSUS_CMD_SET_SERVO_ANGLE_MTURN_BY_VELOCITY 15 // 多圈角度设置(指定转速)
#define FSUS_CMD_QUERY_SERVO_ANGLE_MTURN 16 // 查询舵机角度(多圈)
// FSUS状态码
#define FSUS_STATUS uint8_t
#define FSUS_STATUS_SUCCESS 0 // 设置/读取成功
#define FSUS_STATUS_FAIL 1 // 设置/读取失败
#define FSUS_STATUS_TIMEOUT 2 // 等待超时
#define FSUS_STATUS_WRONG_RESPONSE_HEADER 3 // 响应头不对
#define FSUS_STATUS_UNKOWN_CMD_ID 4 // 未知的控制指令
#define FSUS_STATUS_SIZE_TOO_BIG 5 // 参数的size大于FSUS_PACK_RESPONSE_MAX_SIZE里面的限制
#define FSUS_STATUS_CHECKSUM_ERROR 6 // 校验和错误
#define FSUS_STATUS_ID_NOT_MATCH 7 // 请求的舵机ID跟反馈回来的舵机ID不匹配
// 静止状态判断条件
#define FSUS_ANGLE_DEADAREA 1.0f // 电机角度死区
#define FSUS_WAIT_COUNT_MAX 10000 // 等待重复查询角度的最大次数
/* 舵机用户自定义参数的数据ID及使用说明 (可度也可写)*/
/* 此项设置同时具备两个功能
* 在轮式模式与角度控制模式下
* 1. 舵机指令是否可以中断 interruptable?
* 2. 是否产生反馈数据?
* 0x00(默认)
* 舵机控制指令执行可以被中断, 新的指令覆盖旧的指令
* 无反馈数据
* 0x01
* 舵机控制指令不可以被中断, 新的指令添加到等候队列里面
* 等候队列的长度是1, 需要自己在程序里面维护一个队列
* 当新的控制指令超出了缓冲区的大小之后, 新添加的指令被忽略
* 指令执行结束之后发送反馈数据
*/
#define FSUS_PARAM_RESPONSE_SWITCH 33
/*
* 舵机的ID号, (字节长度 1)
* 取值范围是 0-254
* 255号为广播地址，不能赋值给舵机 广播地址在PING指令中使用。
*/
#define FSUS_PARAM_SERVO_ID 34
/*
* 串口通讯的波特率ID (字节长度 1)
* 取值范围 [0x01,0x07] , 默认值0x05
* 0x01-9600,
* 0x02-19200,
* 0x03-38400,
* 0x04-57600,
* 0x05-115200 (默认波特率),
* 0x06-250000,
* 0x07-500000,
* 波特率设置时即生效
*/
#define FSUS_PARAM_BAUDRATE 36
/* 舵机保护值相关设置, 超过阈值舵机就进入保护模式 */
/*
* 舵机堵转保护模式 (字节长度 1)
* 0x00-模式1 降功率到堵轉功率上限
* 0x01-模式2 释放舵机锁力
*/
#define FSUS_PARAM_STALL_PROTECT 37
/* 舵机堵转功率上限, (单位mW) (字节长度 2) */
#define FSUS_PARAM_STALL_POWER_LIMIT 38
/* 舵机电压下限 (单位mV) (字节长度 2) */
#define FSUS_PARAM_OVER_VOLT_LOW 39
/* 舵机电压上限 (单位mV) (字节长度 2) */
#define FSUS_PARAM_OVER_VOLT_HIGH 40
/* 舵机温度上限 (单位 摄氏度) (字节长度 2) */
#define FSUS_PARAM_OVER_TEMPERATURE 41
/* 舵机功率上限 (单位mW) (字节长度 2) */
#define FSUS_PARAM_OVER_POWER 42
/* 舵机电流上限 (单位mA) (字节长度 2) */
#define FSUS_PARAM_OVER_CURRENT 43
/*
* 舵机启动加速度处理开关 (字节长度 1)
* 0x00 不启动加速度处理 (无效设置)
* 0x01 启用加速度处理(默认值)
* 舵机梯形速度控制,根据时间t推算加速度a
* 行程前1/4 加速
* 行程中间1/2保持匀速
* 行程后1/4
*/
#define FSUS_PARAM_ACCEL_SWITCH 44
/*
* 舵机上电锁力开关 (字节长度 1)
* 0x00 上电舵机释放锁力(默认值)
* 0x11 上电时刹车
*/
#define FSUS_PARAM_POWER_ON_LOCK_SWITCH 46
/*
* [轮式模式] 轮式模式刹车开关 (字节长度 1)
* 0x00 停止时舵机释放锁力(默认)
* 0x01 停止时刹车
*/
#define FSUS_PARAM_WHEEL_MODE_BRAKE_SWITCH 47
/*
* [角度模式] 角度限制开关 (字节长度 1)
* 0x00 关闭角度限制
* 0x01 开启角度限制
* 注: 只有角度限制模式开启之后, 角度上限下限才有效
*/
#define FSUS_PARAM_ANGLE_LIMIT_SWITCH 48
/*
* [角度模式] 舵机上电首次角度设置缓慢执行 (字节长度 1)
* 0x00 关闭
* 0x01 开启
* 开启后更安全
* 缓慢旋转的时间周期即为下方的”舵机上电启动时间“
*/
#define FSUS_PARAM_SOFT_START_SWITCH 49
/*
* [角度模式] 舵机上电启动时间 (单位ms)(字节长度 2)
* 默认值: 0x0bb8
*/
#define FSUS_PARAM_SOFT_START_TIME 50
/*
* [角度模式] 舵机角度上限 (单位0.1度)(字节长度 2)
*/
#define FSUS_PARAM_ANGLE_LIMIT_HIGH 51
/*
* [角度模式] 舵机角度下限 (单位0.1度)(字节长度 2)
*/
#define FSUS_PARAM_ANGLE_LIMIT_LOW 52
/*
* [角度模式] 舵机中位角度偏移 (单位0.1度)(字节长度 2)
*/
#define FSUS_PARAM_ANGLE_MID_OFFSET 53
// 帧头接收完成的标志位
#define FSUS_RECV_FLAG_HEADER 0x01
// 控制指令接收完成的标志位
#define FSUS_RECV_FLAG_CMD_ID 0x02
// 内容长度接收完成的标志位
#define FSUS_RECV_FLAG_SIZE 0x04
// 内容接收完成的标志位
#define FSUS_RECV_FLAG_CONTENT 0x08
// 校验和接收的标志位
#define FSUS_RECV_FLAG_CHECKSUM 0x10
// 轮式模式参数定义
// Bit 0 是否运行
#define FSUS_SPIN_METHOD_STOP 0x00 // 轮子停止旋转
#define FSUS_SPIN_METHOD_START 0x01 // 轮子旋转
#define FSUS_SPIN_METHOD_CIRCLE 0x02 // 轮子定圈
#define FSUS_SPIN_METHOD_TIME 0x03 // 轮子定时
#define FSUS_SPIN_METHOD_CCW 0x00 // 轮子逆时针旋转
#define FSUS_SPIN_METHOD_CW 0x80 // 轮子顺时针旋转
// 串口舵机用户自定义设置
// 是否开启响应模式
#define FSUS_IS_RESPONSE_ON 0
// 请求数据帧的结构体
typedef struct
{
uint16_t header; // 请求头
uint8_t cmdId; // 指令ID号
uint8_t size; // 包的长度
uint8_t content[FSUS_PACK_RESPONSE_MAX_SIZE]; // 包的内容
uint8_t checksum; // 校验和
// 用于帧的接收
// 数据帧的接收状态 flag标志位
uint8_t status;
} PackageTypeDef;
// 数据帧转换为字节数组
void FSUS_Package2RingBuffer(PackageTypeDef *pkg, RingBufferTypeDef *ringBuf);
// 销毁数据帧 (释放数据帧申请的内存)
void FSUS_DestroyPackage(PackageTypeDef *pkg);
// 计算校验和
uint8_t FSUS_CalcChecksum(PackageTypeDef *pkg);
// 判断是否为有效的请求头的
FSUS_STATUS FSUS_IsValidResponsePackage(PackageTypeDef *pkg);
// 字节数组转换为数据帧
FSUS_STATUS FSUS_RingBuffer2Package(RingBufferTypeDef *ringBuf,
PackageTypeDef *pkg);
// 构造发送数据帧
//void FSUS_SendPackage(Usart_DataTypeDef *usart, uint8_t cmdId, uint8_t size, uint8_t *content);
// 接收数据帧 (在接收的时候动态的申请内存)
//FSUS_STATUS FSUS_RecvPackage(Usart_DataTypeDef *usart, PackageTypeDef *pkg);
// 舵机通讯检测
// 注: 如果没有舵机响应这个Ping指令的话, 就会超时
//FSUS_STATUS FSUS_Ping(Usart_DataTypeDef *usart, uint8_t servo_id);
// 重置舵机的用户资料
//FSUS_STATUS FSUS_ResetUserData(Usart_DataTypeDef *usart, uint8_t servo_id);
// 读取数据
//FSUS_STATUS FSUS_ReadData(Usart_DataTypeDef *usart, uint8_t servo_id, uint8_t address, uint8_t *value, uint8_t *size);
// 写入数据
//FSUS_STATUS FSUS_WriteData(Usart_DataTypeDef *usart, uint8_t servo_id, uint8_t address, uint8_t *value, uint8_t size);
// 读取单个舵机所有的资料信息(注: 未实现)
// 写入单个舵机所有的资料信息(注: 未实现)
// 批次写入过于麻烦, 用户手动配置单个舵机就得写至少32行参数设置代码
// 而且不同的控制模式, 有些是不需要设置的.
// 推荐单项设置
/*
* 轮式控制模式
* speed单位 °/s
*/
//FSUS_STATUS FSUS_WheelMove(Usart_DataTypeDef *usart, uint8_t servo_id, uint8_t method, uint16_t speed, uint16_t value);
// 轮式模式, 舵机停止转动
FSUS_STATUS FSUS_WheelStop(uint8_t servo_id, uint8_t *sendbytes,
uint8_t *length);
// 轮式模式
FSUS_STATUS FSUS_WheelKeepMove(uint8_t servo_id, uint8_t is_cw, uint16_t speed,
uint8_t *sendbytes, uint8_t *length);
// 轮式模式 按照特定的速度旋转特定的时间
//FSUS_STATUS FSUS_WheelMoveTime(Usart_DataTypeDef *usart, uint8_t servo_id, uint8_t is_cw, uint16_t speed, uint16_t nTime);
// 轮式模式 旋转特定的圈数
//FSUS_STATUS FSUS_WheelMoveNCircle(Usart_DataTypeDef *usart, uint8_t servo_id, uint8_t is_cw, uint16_t speed, uint16_t nCircle);
// 设置舵机的角度
// @angle 单位度
// @interval 单位ms
// @power 舵机执行功率 单位mW
// 若power=0或者大于保护值
//FSUS_STATUS FSUS_SetServoAngle(Usart_DataTypeDef *usart, uint8_t servo_id, float angle, uint16_t interval, uint16_t power, uint8_t wait);
/* 设置舵机的角度(指定周期) */
//FSUS_STATUS FSUS_SetServoAngleByInterval(Usart_DataTypeDef *usart, uint8_t servo_id, \
float angle, uint16_t interval, uint16_t t_acc, \
uint16_t t_dec, uint16_t power, uint8_t wait);
/* 设置舵机的角度(指定转速) */
//FSUS_STATUS FSUS_SetServoAngleByVelocity(Usart_DataTypeDef *usart, uint8_t servo_id, \
float angle, float velocity, uint16_t t_acc, \
uint16_t t_dec, uint16_t power, uint8_t wait);
/* 查询单个舵机的角度信息 angle 单位度 */
//FSUS_STATUS FSUS_QueryServoAngle(Usart_DataTypeDef *usart, uint8_t servo_id, float *angle);
/* 设置舵机的角度(多圈模式) */
//FSUS_STATUS FSUS_SetServoAngleMTurn(Usart_DataTypeDef *usart, uint8_t servo_id, float angle, \
uint32_t interval, uint16_t power, uint8_t wait);
/* 设置舵机的角度(多圈模式, 指定周期) */
//FSUS_STATUS FSUS_SetServoAngleMTurnByInterval(Usart_DataTypeDef *usart, uint8_t servo_id, float angle, \
uint32_t interval, uint16_t t_acc, uint16_t t_dec, uint16_t power, uint8_t wait);
/* 设置舵机的角度(多圈模式, 指定转速) */
//FSUS_STATUS FSUS_SetServoAngleMTurnByVelocity(Usart_DataTypeDef *usart, uint8_t servo_id, float angle, \
float velocity, uint16_t t_acc, uint16_t t_dec, uint16_t power, uint8_t wait);
/* 查询舵机的角度(多圈模式) */
//FSUS_STATUS FSUS_QueryServoAngleMTurn(Usart_DataTypeDef *usart, uint8_t servo_id, float *angle);
/* 舵机阻尼模式 */
//FSUS_STATUS FSUS_DampingMode(Usart_DataTypeDef *usart, uint8_t servo_id, uint16_t power);
/* 等待电机旋转到特定的位置 */
//FSUS_STATUS FSUS_Wait(Usart_DataTypeDef *usart, uint8_t servo_id, float target_angle, uint8_t is_mturn);
FSUS_STATUS FSUS_SetServoAngle(uint8_t servo_id, float angle, uint16_t interval,
uint16_t power, uint8_t wait, uint8_t *sendbytes, uint8_t *length);
#endif /* SRC_MSP_MSP_FASHION_STAR_UART_SERVO_H_ */

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/*
* msp_ring_buffer.h
*
* Created on: Jul 29, 2024
* Author: akeguo
*/
#ifndef INC_MSP_MSP_RING_BUFFER_H_
#define INC_MSP_MSP_RING_BUFFER_H_
//#include "sys.h"
#include "stdint.h"
#include<stdio.h>
#include <string.h>
#include <stdlib.h>
// 环形队列结构体
typedef struct
{
uint8_t *buffer; // 缓冲区
uint16_t head; // 队首指针
uint16_t tail; // 队尾指针
uint16_t size; // 环形队列的尺寸
} RingBufferTypeDef;
// 创建队列
void RingBuffer_Init(RingBufferTypeDef *ringBuf, uint16_t capacity,
uint8_t *buffer);
// 队列重置
void RingBuffer_Reset(RingBufferTypeDef *ringBuf);
// 销毁队列
void RingBuffer_Destory(RingBufferTypeDef *ringBuf);
// 获取队列的容量
uint16_t RingBuffer_GetCapacity(RingBufferTypeDef *ringBuf);
// 获取环形队列已经存好的字节数
uint16_t RingBuffer_GetByteUsed(RingBufferTypeDef *ringBuf);
// 获取队列的剩余的空闲字节
uint16_t RingBuffer_GetByteFree(RingBufferTypeDef *ringBuf);
// 队列是否为空
uint8_t RingBuffer_IsEmpty(RingBufferTypeDef *ringBuf);
// 队列是否已满
uint8_t RingBuffer_IsFull(RingBufferTypeDef *ringBuf);
// 根据索引号读取第i个元素
uint8_t RingBuffer_GetValueByIndex(RingBufferTypeDef *ringBuf, uint16_t index);
// 弹出队首元素
uint8_t RingBuffer_Pop(RingBufferTypeDef *ringBuf);
// 读取单个字节
uint8_t RingBuffer_ReadByte(RingBufferTypeDef *ringBuf);
// 读取字节数组
void RingBuffer_ReadByteArray(RingBufferTypeDef *ringBuf, uint8_t *dest,
uint16_t size);
// 读取有符号Short整数(两个字节)
int16_t RingBuffer_ReadShort(RingBufferTypeDef *ringBuf);
// 读取无符号Short整数(两个字节)
uint16_t RingBuffer_ReadUShort(RingBufferTypeDef *ringBuf);
// 读取有符号Long类型的整数(四个字节)
int32_t RingBuffer_ReadLong(RingBufferTypeDef *ringBuf);
// 读取无符号Long类型的整数(四个字节)
uint32_t RingBuffer_ReadULong(RingBufferTypeDef *ringBuf);
// 读取浮点数(四个字节)
float RingBuffer_ReadFloat(RingBufferTypeDef *ringBuf);
// 写入队尾元素
void RingBuffer_Push(RingBufferTypeDef *ringBuf, uint8_t value);
// 写入单个字节
void RingBuffer_WriteByte(RingBufferTypeDef *ringBuf, uint8_t value);
// 写入字节数组
void RingBuffer_WriteByteArray(RingBufferTypeDef *ringBuf, uint8_t *src,
uint16_t size);
// 写入有符号Short整数(两个字节)
void RingBuffer_WriteShort(RingBufferTypeDef *ringBuf, int16_t value);
// 写入无符号Short整数(两个字节)
void RingBuffer_WriteUShort(RingBufferTypeDef *ringBuf, uint16_t value);
// 写入有符号Long类型的整数(四个字节)
void RingBuffer_WriteLong(RingBufferTypeDef *ringBuf, int32_t value);
// 写入无符号Long类型的整数(四个字节)
void RingBuffer_WriteULong(RingBufferTypeDef *ringBuf, uint32_t value);
// 写入浮点数(四个字节)
void RingBuffer_WriteFloat(RingBufferTypeDef *ringBuf, float value);
// 计算缓冲区所有自己的校验和()
uint8_t RingBuffer_GetChecksum(RingBufferTypeDef *ringBuf);
#endif /* INC_MSP_MSP_RING_BUFFER_H_ */

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/* Common parts of the nanopb library. Most of these are quite low-level
* stuff. For the high-level interface, see pb_encode.h and pb_decode.h.
*/
#ifndef PB_H_INCLUDED
#define PB_H_INCLUDED
/*****************************************************************
* Nanopb compilation time options. You can change these here by *
* uncommenting the lines, or on the compiler command line. *
*****************************************************************/
/* Enable support for dynamically allocated fields */
/* #define PB_ENABLE_MALLOC 1 */
/* Define this if your CPU / compiler combination does not support
* unaligned memory access to packed structures. Note that packed
* structures are only used when requested in .proto options. */
/* #define PB_NO_PACKED_STRUCTS 1 */
/* Increase the number of required fields that are tracked.
* A compiler warning will tell if you need this. */
/* #define PB_MAX_REQUIRED_FIELDS 256 */
/* Add support for tag numbers > 65536 and fields larger than 65536 bytes. */
/* #define PB_FIELD_32BIT 1 */
/* Disable support for error messages in order to save some code space. */
/* #define PB_NO_ERRMSG 1 */
/* Disable support for custom streams (support only memory buffers). */
/* #define PB_BUFFER_ONLY 1 */
/* Disable support for 64-bit datatypes, for compilers without int64_t
or to save some code space. */
/* #define PB_WITHOUT_64BIT 1 */
/* Don't encode scalar arrays as packed. This is only to be used when
* the decoder on the receiving side cannot process packed scalar arrays.
* Such example is older protobuf.js. */
/* #define PB_ENCODE_ARRAYS_UNPACKED 1 */
/* Enable conversion of doubles to floats for platforms that do not
* support 64-bit doubles. Most commonly AVR. */
/* #define PB_CONVERT_DOUBLE_FLOAT 1 */
/* Check whether incoming strings are valid UTF-8 sequences. Slows down
* the string processing slightly and slightly increases code size. */
/* #define PB_VALIDATE_UTF8 1 */
/* This can be defined if the platform is little-endian and has 8-bit bytes.
* Normally it is automatically detected based on __BYTE_ORDER__ macro. */
/* #define PB_LITTLE_ENDIAN_8BIT 1 */
/* Configure static assert mechanism. Instead of changing these, set your
* compiler to C11 standard mode if possible. */
/* #define PB_C99_STATIC_ASSERT 1 */
/* #define PB_NO_STATIC_ASSERT 1 */
/******************************************************************
* You usually don't need to change anything below this line. *
* Feel free to look around and use the defined macros, though. *
******************************************************************/
/* Version of the nanopb library. Just in case you want to check it in
* your own program. */
#define NANOPB_VERSION "nanopb-0.4.8-dev"
/* Include all the system headers needed by nanopb. You will need the
* definitions of the following:
* - strlen, memcpy, memset functions
* - [u]int_least8_t, uint_fast8_t, [u]int_least16_t, [u]int32_t, [u]int64_t
* - size_t
* - bool
*
* If you don't have the standard header files, you can instead provide
* a custom header that defines or includes all this. In that case,
* define PB_SYSTEM_HEADER to the path of this file.
*/
#ifdef PB_SYSTEM_HEADER
#include PB_SYSTEM_HEADER
#else
#include <stdint.h>
#include <stddef.h>
#include <stdbool.h>
#include <string.h>
#include <limits.h>
#ifdef PB_ENABLE_MALLOC
#include <stdlib.h>
#endif
#endif
#ifdef __cplusplus
extern "C" {
#endif
/* Macro for defining packed structures (compiler dependent).
* This just reduces memory requirements, but is not required.
*/
#if defined(PB_NO_PACKED_STRUCTS)
/* Disable struct packing */
# define PB_PACKED_STRUCT_START
# define PB_PACKED_STRUCT_END
# define pb_packed
#elif defined(__GNUC__) || defined(__clang__)
/* For GCC and clang */
# define PB_PACKED_STRUCT_START
# define PB_PACKED_STRUCT_END
# define pb_packed __attribute__((packed))
#elif defined(__ICCARM__) || defined(__CC_ARM)
/* For IAR ARM and Keil MDK-ARM compilers */
# define PB_PACKED_STRUCT_START _Pragma("pack(push, 1)")
# define PB_PACKED_STRUCT_END _Pragma("pack(pop)")
# define pb_packed
#elif defined(_MSC_VER) && (_MSC_VER >= 1500)
/* For Microsoft Visual C++ */
# define PB_PACKED_STRUCT_START __pragma(pack(push, 1))
# define PB_PACKED_STRUCT_END __pragma(pack(pop))
# define pb_packed
#else
/* Unknown compiler */
# define PB_PACKED_STRUCT_START
# define PB_PACKED_STRUCT_END
# define pb_packed
#endif
/* Detect endianness */
#ifndef PB_LITTLE_ENDIAN_8BIT
#if ((defined(__BYTE_ORDER) && __BYTE_ORDER == __LITTLE_ENDIAN) || \
(defined(__BYTE_ORDER__) && __BYTE_ORDER__ == __ORDER_LITTLE_ENDIAN__) || \
defined(__LITTLE_ENDIAN__) || defined(__ARMEL__) || \
defined(__THUMBEL__) || defined(__AARCH64EL__) || defined(_MIPSEL) || \
defined(_M_IX86) || defined(_M_X64) || defined(_M_ARM)) \
&& CHAR_BIT == 8
#define PB_LITTLE_ENDIAN_8BIT 1
#endif
#endif
/* Handly macro for suppressing unreferenced-parameter compiler warnings. */
#ifndef PB_UNUSED
#define PB_UNUSED(x) (void)(x)
#endif
/* Harvard-architecture processors may need special attributes for storing
* field information in program memory. */
#ifndef PB_PROGMEM
#ifdef __AVR__
#include <avr/pgmspace.h>
#define PB_PROGMEM PROGMEM
#define PB_PROGMEM_READU32(x) pgm_read_dword(&x)
#else
#define PB_PROGMEM
#define PB_PROGMEM_READU32(x) (x)
#endif
#endif
/* Compile-time assertion, used for checking compatible compilation options.
* If this does not work properly on your compiler, use
* #define PB_NO_STATIC_ASSERT to disable it.
*
* But before doing that, check carefully the error message / place where it
* comes from to see if the error has a real cause. Unfortunately the error
* message is not always very clear to read, but you can see the reason better
* in the place where the PB_STATIC_ASSERT macro was called.
*/
#ifndef PB_NO_STATIC_ASSERT
# ifndef PB_STATIC_ASSERT
# if defined(__ICCARM__)
/* IAR has static_assert keyword but no _Static_assert */
# define PB_STATIC_ASSERT(COND,MSG) static_assert(COND,#MSG);
# elif defined(_MSC_VER) && (!defined(__STDC_VERSION__) || __STDC_VERSION__ < 201112)
/* MSVC in C89 mode supports static_assert() keyword anyway */
# define PB_STATIC_ASSERT(COND,MSG) static_assert(COND,#MSG);
# elif defined(PB_C99_STATIC_ASSERT)
/* Classic negative-size-array static assert mechanism */
# define PB_STATIC_ASSERT(COND,MSG) typedef char PB_STATIC_ASSERT_MSG(MSG, __LINE__, __COUNTER__)[(COND)?1:-1];
# define PB_STATIC_ASSERT_MSG(MSG, LINE, COUNTER) PB_STATIC_ASSERT_MSG_(MSG, LINE, COUNTER)
# define PB_STATIC_ASSERT_MSG_(MSG, LINE, COUNTER) pb_static_assertion_##MSG##_##LINE##_##COUNTER
# elif defined(__cplusplus)
/* C++11 standard static_assert mechanism */
# define PB_STATIC_ASSERT(COND,MSG) static_assert(COND,#MSG);
# else
/* C11 standard _Static_assert mechanism */
# define PB_STATIC_ASSERT(COND,MSG) _Static_assert(COND,#MSG);
# endif
# endif
#else
/* Static asserts disabled by PB_NO_STATIC_ASSERT */
# define PB_STATIC_ASSERT(COND,MSG)
#endif
/* Test that PB_STATIC_ASSERT works
* If you get errors here, you may need to do one of these:
* - Enable C11 standard support in your compiler
* - Define PB_C99_STATIC_ASSERT to enable C99 standard support
* - Define PB_NO_STATIC_ASSERT to disable static asserts altogether
*/
PB_STATIC_ASSERT(1, STATIC_ASSERT_IS_NOT_WORKING)
/* Number of required fields to keep track of. */
#ifndef PB_MAX_REQUIRED_FIELDS
#define PB_MAX_REQUIRED_FIELDS 64
#endif
#if PB_MAX_REQUIRED_FIELDS < 64
#error You should not lower PB_MAX_REQUIRED_FIELDS from the default value (64).
#endif
#ifdef PB_WITHOUT_64BIT
#ifdef PB_CONVERT_DOUBLE_FLOAT
/* Cannot use doubles without 64-bit types */
#undef PB_CONVERT_DOUBLE_FLOAT
#endif
#endif
/* List of possible field types. These are used in the autogenerated code.
* Least-significant 4 bits tell the scalar type
* Most-significant 4 bits specify repeated/required/packed etc.
*/
typedef uint_least8_t pb_type_t;
/**** Field data types ****/
/* Numeric types */
#define PB_LTYPE_BOOL 0x00U /* bool */
#define PB_LTYPE_VARINT 0x01U /* int32, int64, enum, bool */
#define PB_LTYPE_UVARINT 0x02U /* uint32, uint64 */
#define PB_LTYPE_SVARINT 0x03U /* sint32, sint64 */
#define PB_LTYPE_FIXED32 0x04U /* fixed32, sfixed32, float */
#define PB_LTYPE_FIXED64 0x05U /* fixed64, sfixed64, double */
/* Marker for last packable field type. */
#define PB_LTYPE_LAST_PACKABLE 0x05U
/* Byte array with pre-allocated buffer.
* data_size is the length of the allocated PB_BYTES_ARRAY structure. */
#define PB_LTYPE_BYTES 0x06U
/* String with pre-allocated buffer.
* data_size is the maximum length. */
#define PB_LTYPE_STRING 0x07U
/* Submessage
* submsg_fields is pointer to field descriptions */
#define PB_LTYPE_SUBMESSAGE 0x08U
/* Submessage with pre-decoding callback
* The pre-decoding callback is stored as pb_callback_t right before pSize.
* submsg_fields is pointer to field descriptions */
#define PB_LTYPE_SUBMSG_W_CB 0x09U
/* Extension pseudo-field
* The field contains a pointer to pb_extension_t */
#define PB_LTYPE_EXTENSION 0x0AU
/* Byte array with inline, pre-allocated byffer.
* data_size is the length of the inline, allocated buffer.
* This differs from PB_LTYPE_BYTES by defining the element as
* pb_byte_t[data_size] rather than pb_bytes_array_t. */
#define PB_LTYPE_FIXED_LENGTH_BYTES 0x0BU
/* Number of declared LTYPES */
#define PB_LTYPES_COUNT 0x0CU
#define PB_LTYPE_MASK 0x0FU
/**** Field repetition rules ****/
#define PB_HTYPE_REQUIRED 0x00U
#define PB_HTYPE_OPTIONAL 0x10U
#define PB_HTYPE_SINGULAR 0x10U
#define PB_HTYPE_REPEATED 0x20U
#define PB_HTYPE_FIXARRAY 0x20U
#define PB_HTYPE_ONEOF 0x30U
#define PB_HTYPE_MASK 0x30U
/**** Field allocation types ****/
#define PB_ATYPE_STATIC 0x00U
#define PB_ATYPE_POINTER 0x80U
#define PB_ATYPE_CALLBACK 0x40U
#define PB_ATYPE_MASK 0xC0U
#define PB_ATYPE(x) ((x) & PB_ATYPE_MASK)
#define PB_HTYPE(x) ((x) & PB_HTYPE_MASK)
#define PB_LTYPE(x) ((x) & PB_LTYPE_MASK)
#define PB_LTYPE_IS_SUBMSG(x) (PB_LTYPE(x) == PB_LTYPE_SUBMESSAGE || \
PB_LTYPE(x) == PB_LTYPE_SUBMSG_W_CB)
/* Data type used for storing sizes of struct fields
* and array counts.
*/
#if defined(PB_FIELD_32BIT)
typedef uint32_t pb_size_t;
typedef int32_t pb_ssize_t;
#else
typedef uint_least16_t pb_size_t;
typedef int_least16_t pb_ssize_t;
#endif
#define PB_SIZE_MAX ((pb_size_t)-1)
/* Data type for storing encoded data and other byte streams.
* This typedef exists to support platforms where uint8_t does not exist.
* You can regard it as equivalent on uint8_t on other platforms.
*/
typedef uint_least8_t pb_byte_t;
/* Forward declaration of struct types */
typedef struct pb_istream_s pb_istream_t;
typedef struct pb_ostream_s pb_ostream_t;
typedef struct pb_field_iter_s pb_field_iter_t;
/* This structure is used in auto-generated constants
* to specify struct fields.
*/
typedef struct pb_msgdesc_s pb_msgdesc_t;
struct pb_msgdesc_s {
const uint32_t *field_info;
const pb_msgdesc_t * const * submsg_info;
const pb_byte_t *default_value;
bool (*field_callback)(pb_istream_t *istream, pb_ostream_t *ostream, const pb_field_iter_t *field);
pb_size_t field_count;
pb_size_t required_field_count;
pb_size_t largest_tag;
};
/* Iterator for message descriptor */
struct pb_field_iter_s {
const pb_msgdesc_t *descriptor; /* Pointer to message descriptor constant */
void *message; /* Pointer to start of the structure */
pb_size_t index; /* Index of the field */
pb_size_t field_info_index; /* Index to descriptor->field_info array */
pb_size_t required_field_index; /* Index that counts only the required fields */
pb_size_t submessage_index; /* Index that counts only submessages */
pb_size_t tag; /* Tag of current field */
pb_size_t data_size; /* sizeof() of a single item */
pb_size_t array_size; /* Number of array entries */
pb_type_t type; /* Type of current field */
void *pField; /* Pointer to current field in struct */
void *pData; /* Pointer to current data contents. Different than pField for arrays and pointers. */
void *pSize; /* Pointer to count/has field */
const pb_msgdesc_t *submsg_desc; /* For submessage fields, pointer to field descriptor for the submessage. */
};
/* For compatibility with legacy code */
typedef pb_field_iter_t pb_field_t;
/* Make sure that the standard integer types are of the expected sizes.
* Otherwise fixed32/fixed64 fields can break.
*
* If you get errors here, it probably means that your stdint.h is not
* correct for your platform.
*/
#ifndef PB_WITHOUT_64BIT
PB_STATIC_ASSERT(sizeof(int64_t) == 2 * sizeof(int32_t), INT64_T_WRONG_SIZE)
PB_STATIC_ASSERT(sizeof(uint64_t) == 2 * sizeof(uint32_t), UINT64_T_WRONG_SIZE)
#endif
/* This structure is used for 'bytes' arrays.
* It has the number of bytes in the beginning, and after that an array.
* Note that actual structs used will have a different length of bytes array.
*/
#define PB_BYTES_ARRAY_T(n) struct { pb_size_t size; pb_byte_t bytes[n]; }
#define PB_BYTES_ARRAY_T_ALLOCSIZE(n) ((size_t)n + offsetof(pb_bytes_array_t, bytes))
struct pb_bytes_array_s {
pb_size_t size;
pb_byte_t bytes[1];
};
typedef struct pb_bytes_array_s pb_bytes_array_t;
/* This structure is used for giving the callback function.
* It is stored in the message structure and filled in by the method that
* calls pb_decode.
*
* The decoding callback will be given a limited-length stream
* If the wire type was string, the length is the length of the string.
* If the wire type was a varint/fixed32/fixed64, the length is the length
* of the actual value.
* The function may be called multiple times (especially for repeated types,
* but also otherwise if the message happens to contain the field multiple
* times.)
*
* The encoding callback will receive the actual output stream.
* It should write all the data in one call, including the field tag and
* wire type. It can write multiple fields.
*
* The callback can be null if you want to skip a field.
*/
typedef struct pb_callback_s pb_callback_t;
struct pb_callback_s {
/* Callback functions receive a pointer to the arg field.
* You can access the value of the field as *arg, and modify it if needed.
*/
union {
bool (*decode)(pb_istream_t *stream, const pb_field_t *field, void **arg);
bool (*encode)(pb_ostream_t *stream, const pb_field_t *field, void * const *arg);
} funcs;
/* Free arg for use by callback */
void *arg;
};
extern bool pb_default_field_callback(pb_istream_t *istream, pb_ostream_t *ostream, const pb_field_t *field);
/* Wire types. Library user needs these only in encoder callbacks. */
typedef enum {
PB_WT_VARINT = 0,
PB_WT_64BIT = 1,
PB_WT_STRING = 2,
PB_WT_32BIT = 5,
PB_WT_PACKED = 255 /* PB_WT_PACKED is internal marker for packed arrays. */
} pb_wire_type_t;
/* Structure for defining the handling of unknown/extension fields.
* Usually the pb_extension_type_t structure is automatically generated,
* while the pb_extension_t structure is created by the user. However,
* if you want to catch all unknown fields, you can also create a custom
* pb_extension_type_t with your own callback.
*/
typedef struct pb_extension_type_s pb_extension_type_t;
typedef struct pb_extension_s pb_extension_t;
struct pb_extension_type_s {
/* Called for each unknown field in the message.
* If you handle the field, read off all of its data and return true.
* If you do not handle the field, do not read anything and return true.
* If you run into an error, return false.
* Set to NULL for default handler.
*/
bool (*decode)(pb_istream_t *stream, pb_extension_t *extension,
uint32_t tag, pb_wire_type_t wire_type);
/* Called once after all regular fields have been encoded.
* If you have something to write, do so and return true.
* If you do not have anything to write, just return true.
* If you run into an error, return false.
* Set to NULL for default handler.
*/
bool (*encode)(pb_ostream_t *stream, const pb_extension_t *extension);
/* Free field for use by the callback. */
const void *arg;
};
struct pb_extension_s {
/* Type describing the extension field. Usually you'll initialize
* this to a pointer to the automatically generated structure. */
const pb_extension_type_t *type;
/* Destination for the decoded data. This must match the datatype
* of the extension field. */
void *dest;
/* Pointer to the next extension handler, or NULL.
* If this extension does not match a field, the next handler is
* automatically called. */
pb_extension_t *next;
/* The decoder sets this to true if the extension was found.
* Ignored for encoding. */
bool found;
};
#define pb_extension_init_zero {NULL,NULL,NULL,false}
/* Memory allocation functions to use. You can define pb_realloc and
* pb_free to custom functions if you want. */
#ifdef PB_ENABLE_MALLOC
# ifndef pb_realloc
# define pb_realloc(ptr, size) realloc(ptr, size)
# endif
# ifndef pb_free
# define pb_free(ptr) free(ptr)
# endif
#endif
/* This is used to inform about need to regenerate .pb.h/.pb.c files. */
#define PB_PROTO_HEADER_VERSION 40
/* These macros are used to declare pb_field_t's in the constant array. */
/* Size of a structure member, in bytes. */
#define pb_membersize(st, m) (sizeof ((st*)0)->m)
/* Number of entries in an array. */
#define pb_arraysize(st, m) (pb_membersize(st, m) / pb_membersize(st, m[0]))
/* Delta from start of one member to the start of another member. */
#define pb_delta(st, m1, m2) ((int)offsetof(st, m1) - (int)offsetof(st, m2))
/* Force expansion of macro value */
#define PB_EXPAND(x) x
/* Binding of a message field set into a specific structure */
#define PB_BIND(msgname, structname, width) \
const uint32_t structname ## _field_info[] PB_PROGMEM = \
{ \
msgname ## _FIELDLIST(PB_GEN_FIELD_INFO_ ## width, structname) \
0 \
}; \
const pb_msgdesc_t* const structname ## _submsg_info[] = \
{ \
msgname ## _FIELDLIST(PB_GEN_SUBMSG_INFO, structname) \
NULL \
}; \
const pb_msgdesc_t structname ## _msg = \
{ \
structname ## _field_info, \
structname ## _submsg_info, \
msgname ## _DEFAULT, \
msgname ## _CALLBACK, \
0 msgname ## _FIELDLIST(PB_GEN_FIELD_COUNT, structname), \
0 msgname ## _FIELDLIST(PB_GEN_REQ_FIELD_COUNT, structname), \
0 msgname ## _FIELDLIST(PB_GEN_LARGEST_TAG, structname), \
}; \
msgname ## _FIELDLIST(PB_GEN_FIELD_INFO_ASSERT_ ## width, structname)
#define PB_GEN_FIELD_COUNT(structname, atype, htype, ltype, fieldname, tag) +1
#define PB_GEN_REQ_FIELD_COUNT(structname, atype, htype, ltype, fieldname, tag) \
+ (PB_HTYPE_ ## htype == PB_HTYPE_REQUIRED)
#define PB_GEN_LARGEST_TAG(structname, atype, htype, ltype, fieldname, tag) \
* 0 + tag
/* X-macro for generating the entries in struct_field_info[] array. */
#define PB_GEN_FIELD_INFO_1(structname, atype, htype, ltype, fieldname, tag) \
PB_FIELDINFO_1(tag, PB_ATYPE_ ## atype | PB_HTYPE_ ## htype | PB_LTYPE_MAP_ ## ltype, \
PB_DATA_OFFSET_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \
PB_DATA_SIZE_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \
PB_SIZE_OFFSET_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \
PB_ARRAY_SIZE_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname))
#define PB_GEN_FIELD_INFO_2(structname, atype, htype, ltype, fieldname, tag) \
PB_FIELDINFO_2(tag, PB_ATYPE_ ## atype | PB_HTYPE_ ## htype | PB_LTYPE_MAP_ ## ltype, \
PB_DATA_OFFSET_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \
PB_DATA_SIZE_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \
PB_SIZE_OFFSET_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \
PB_ARRAY_SIZE_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname))
#define PB_GEN_FIELD_INFO_4(structname, atype, htype, ltype, fieldname, tag) \
PB_FIELDINFO_4(tag, PB_ATYPE_ ## atype | PB_HTYPE_ ## htype | PB_LTYPE_MAP_ ## ltype, \
PB_DATA_OFFSET_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \
PB_DATA_SIZE_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \
PB_SIZE_OFFSET_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \
PB_ARRAY_SIZE_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname))
#define PB_GEN_FIELD_INFO_8(structname, atype, htype, ltype, fieldname, tag) \
PB_FIELDINFO_8(tag, PB_ATYPE_ ## atype | PB_HTYPE_ ## htype | PB_LTYPE_MAP_ ## ltype, \
PB_DATA_OFFSET_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \
PB_DATA_SIZE_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \
PB_SIZE_OFFSET_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \
PB_ARRAY_SIZE_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname))
#define PB_GEN_FIELD_INFO_AUTO(structname, atype, htype, ltype, fieldname, tag) \
PB_FIELDINFO_AUTO2(PB_FIELDINFO_WIDTH_AUTO(_PB_ATYPE_ ## atype, _PB_HTYPE_ ## htype, _PB_LTYPE_ ## ltype), \
tag, PB_ATYPE_ ## atype | PB_HTYPE_ ## htype | PB_LTYPE_MAP_ ## ltype, \
PB_DATA_OFFSET_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \
PB_DATA_SIZE_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \
PB_SIZE_OFFSET_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \
PB_ARRAY_SIZE_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname))
#define PB_FIELDINFO_AUTO2(width, tag, type, data_offset, data_size, size_offset, array_size) \
PB_FIELDINFO_AUTO3(width, tag, type, data_offset, data_size, size_offset, array_size)
#define PB_FIELDINFO_AUTO3(width, tag, type, data_offset, data_size, size_offset, array_size) \
PB_FIELDINFO_ ## width(tag, type, data_offset, data_size, size_offset, array_size)
/* X-macro for generating asserts that entries fit in struct_field_info[] array.
* The structure of macros here must match the structure above in PB_GEN_FIELD_INFO_x(),
* but it is not easily reused because of how macro substitutions work. */
#define PB_GEN_FIELD_INFO_ASSERT_1(structname, atype, htype, ltype, fieldname, tag) \
PB_FIELDINFO_ASSERT_1(tag, PB_ATYPE_ ## atype | PB_HTYPE_ ## htype | PB_LTYPE_MAP_ ## ltype, \
PB_DATA_OFFSET_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \
PB_DATA_SIZE_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \
PB_SIZE_OFFSET_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \
PB_ARRAY_SIZE_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname))
#define PB_GEN_FIELD_INFO_ASSERT_2(structname, atype, htype, ltype, fieldname, tag) \
PB_FIELDINFO_ASSERT_2(tag, PB_ATYPE_ ## atype | PB_HTYPE_ ## htype | PB_LTYPE_MAP_ ## ltype, \
PB_DATA_OFFSET_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \
PB_DATA_SIZE_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \
PB_SIZE_OFFSET_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \
PB_ARRAY_SIZE_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname))
#define PB_GEN_FIELD_INFO_ASSERT_4(structname, atype, htype, ltype, fieldname, tag) \
PB_FIELDINFO_ASSERT_4(tag, PB_ATYPE_ ## atype | PB_HTYPE_ ## htype | PB_LTYPE_MAP_ ## ltype, \
PB_DATA_OFFSET_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \
PB_DATA_SIZE_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \
PB_SIZE_OFFSET_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \
PB_ARRAY_SIZE_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname))
#define PB_GEN_FIELD_INFO_ASSERT_8(structname, atype, htype, ltype, fieldname, tag) \
PB_FIELDINFO_ASSERT_8(tag, PB_ATYPE_ ## atype | PB_HTYPE_ ## htype | PB_LTYPE_MAP_ ## ltype, \
PB_DATA_OFFSET_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \
PB_DATA_SIZE_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \
PB_SIZE_OFFSET_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \
PB_ARRAY_SIZE_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname))
#define PB_GEN_FIELD_INFO_ASSERT_AUTO(structname, atype, htype, ltype, fieldname, tag) \
PB_FIELDINFO_ASSERT_AUTO2(PB_FIELDINFO_WIDTH_AUTO(_PB_ATYPE_ ## atype, _PB_HTYPE_ ## htype, _PB_LTYPE_ ## ltype), \
tag, PB_ATYPE_ ## atype | PB_HTYPE_ ## htype | PB_LTYPE_MAP_ ## ltype, \
PB_DATA_OFFSET_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \
PB_DATA_SIZE_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \
PB_SIZE_OFFSET_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \
PB_ARRAY_SIZE_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname))
#define PB_FIELDINFO_ASSERT_AUTO2(width, tag, type, data_offset, data_size, size_offset, array_size) \
PB_FIELDINFO_ASSERT_AUTO3(width, tag, type, data_offset, data_size, size_offset, array_size)
#define PB_FIELDINFO_ASSERT_AUTO3(width, tag, type, data_offset, data_size, size_offset, array_size) \
PB_FIELDINFO_ASSERT_ ## width(tag, type, data_offset, data_size, size_offset, array_size)
#define PB_DATA_OFFSET_STATIC(htype, structname, fieldname) PB_DO ## htype(structname, fieldname)
#define PB_DATA_OFFSET_POINTER(htype, structname, fieldname) PB_DO ## htype(structname, fieldname)
#define PB_DATA_OFFSET_CALLBACK(htype, structname, fieldname) PB_DO ## htype(structname, fieldname)
#define PB_DO_PB_HTYPE_REQUIRED(structname, fieldname) offsetof(structname, fieldname)
#define PB_DO_PB_HTYPE_SINGULAR(structname, fieldname) offsetof(structname, fieldname)
#define PB_DO_PB_HTYPE_ONEOF(structname, fieldname) offsetof(structname, PB_ONEOF_NAME(FULL, fieldname))
#define PB_DO_PB_HTYPE_OPTIONAL(structname, fieldname) offsetof(structname, fieldname)
#define PB_DO_PB_HTYPE_REPEATED(structname, fieldname) offsetof(structname, fieldname)
#define PB_DO_PB_HTYPE_FIXARRAY(structname, fieldname) offsetof(structname, fieldname)
#define PB_SIZE_OFFSET_STATIC(htype, structname, fieldname) PB_SO ## htype(structname, fieldname)
#define PB_SIZE_OFFSET_POINTER(htype, structname, fieldname) PB_SO_PTR ## htype(structname, fieldname)
#define PB_SIZE_OFFSET_CALLBACK(htype, structname, fieldname) PB_SO_CB ## htype(structname, fieldname)
#define PB_SO_PB_HTYPE_REQUIRED(structname, fieldname) 0
#define PB_SO_PB_HTYPE_SINGULAR(structname, fieldname) 0
#define PB_SO_PB_HTYPE_ONEOF(structname, fieldname) PB_SO_PB_HTYPE_ONEOF2(structname, PB_ONEOF_NAME(FULL, fieldname), PB_ONEOF_NAME(UNION, fieldname))
#define PB_SO_PB_HTYPE_ONEOF2(structname, fullname, unionname) PB_SO_PB_HTYPE_ONEOF3(structname, fullname, unionname)
#define PB_SO_PB_HTYPE_ONEOF3(structname, fullname, unionname) pb_delta(structname, fullname, which_ ## unionname)
#define PB_SO_PB_HTYPE_OPTIONAL(structname, fieldname) pb_delta(structname, fieldname, has_ ## fieldname)
#define PB_SO_PB_HTYPE_REPEATED(structname, fieldname) pb_delta(structname, fieldname, fieldname ## _count)
#define PB_SO_PB_HTYPE_FIXARRAY(structname, fieldname) 0
#define PB_SO_PTR_PB_HTYPE_REQUIRED(structname, fieldname) 0
#define PB_SO_PTR_PB_HTYPE_SINGULAR(structname, fieldname) 0
#define PB_SO_PTR_PB_HTYPE_ONEOF(structname, fieldname) PB_SO_PB_HTYPE_ONEOF(structname, fieldname)
#define PB_SO_PTR_PB_HTYPE_OPTIONAL(structname, fieldname) 0
#define PB_SO_PTR_PB_HTYPE_REPEATED(structname, fieldname) PB_SO_PB_HTYPE_REPEATED(structname, fieldname)
#define PB_SO_PTR_PB_HTYPE_FIXARRAY(structname, fieldname) 0
#define PB_SO_CB_PB_HTYPE_REQUIRED(structname, fieldname) 0
#define PB_SO_CB_PB_HTYPE_SINGULAR(structname, fieldname) 0
#define PB_SO_CB_PB_HTYPE_ONEOF(structname, fieldname) PB_SO_PB_HTYPE_ONEOF(structname, fieldname)
#define PB_SO_CB_PB_HTYPE_OPTIONAL(structname, fieldname) 0
#define PB_SO_CB_PB_HTYPE_REPEATED(structname, fieldname) 0
#define PB_SO_CB_PB_HTYPE_FIXARRAY(structname, fieldname) 0
#define PB_ARRAY_SIZE_STATIC(htype, structname, fieldname) PB_AS ## htype(structname, fieldname)
#define PB_ARRAY_SIZE_POINTER(htype, structname, fieldname) PB_AS_PTR ## htype(structname, fieldname)
#define PB_ARRAY_SIZE_CALLBACK(htype, structname, fieldname) 1
#define PB_AS_PB_HTYPE_REQUIRED(structname, fieldname) 1
#define PB_AS_PB_HTYPE_SINGULAR(structname, fieldname) 1
#define PB_AS_PB_HTYPE_OPTIONAL(structname, fieldname) 1
#define PB_AS_PB_HTYPE_ONEOF(structname, fieldname) 1
#define PB_AS_PB_HTYPE_REPEATED(structname, fieldname) pb_arraysize(structname, fieldname)
#define PB_AS_PB_HTYPE_FIXARRAY(structname, fieldname) pb_arraysize(structname, fieldname)
#define PB_AS_PTR_PB_HTYPE_REQUIRED(structname, fieldname) 1
#define PB_AS_PTR_PB_HTYPE_SINGULAR(structname, fieldname) 1
#define PB_AS_PTR_PB_HTYPE_OPTIONAL(structname, fieldname) 1
#define PB_AS_PTR_PB_HTYPE_ONEOF(structname, fieldname) 1
#define PB_AS_PTR_PB_HTYPE_REPEATED(structname, fieldname) 1
#define PB_AS_PTR_PB_HTYPE_FIXARRAY(structname, fieldname) pb_arraysize(structname, fieldname[0])
#define PB_DATA_SIZE_STATIC(htype, structname, fieldname) PB_DS ## htype(structname, fieldname)
#define PB_DATA_SIZE_POINTER(htype, structname, fieldname) PB_DS_PTR ## htype(structname, fieldname)
#define PB_DATA_SIZE_CALLBACK(htype, structname, fieldname) PB_DS_CB ## htype(structname, fieldname)
#define PB_DS_PB_HTYPE_REQUIRED(structname, fieldname) pb_membersize(structname, fieldname)
#define PB_DS_PB_HTYPE_SINGULAR(structname, fieldname) pb_membersize(structname, fieldname)
#define PB_DS_PB_HTYPE_OPTIONAL(structname, fieldname) pb_membersize(structname, fieldname)
#define PB_DS_PB_HTYPE_ONEOF(structname, fieldname) pb_membersize(structname, PB_ONEOF_NAME(FULL, fieldname))
#define PB_DS_PB_HTYPE_REPEATED(structname, fieldname) pb_membersize(structname, fieldname[0])
#define PB_DS_PB_HTYPE_FIXARRAY(structname, fieldname) pb_membersize(structname, fieldname[0])
#define PB_DS_PTR_PB_HTYPE_REQUIRED(structname, fieldname) pb_membersize(structname, fieldname[0])
#define PB_DS_PTR_PB_HTYPE_SINGULAR(structname, fieldname) pb_membersize(structname, fieldname[0])
#define PB_DS_PTR_PB_HTYPE_OPTIONAL(structname, fieldname) pb_membersize(structname, fieldname[0])
#define PB_DS_PTR_PB_HTYPE_ONEOF(structname, fieldname) pb_membersize(structname, PB_ONEOF_NAME(FULL, fieldname)[0])
#define PB_DS_PTR_PB_HTYPE_REPEATED(structname, fieldname) pb_membersize(structname, fieldname[0])
#define PB_DS_PTR_PB_HTYPE_FIXARRAY(structname, fieldname) pb_membersize(structname, fieldname[0][0])
#define PB_DS_CB_PB_HTYPE_REQUIRED(structname, fieldname) pb_membersize(structname, fieldname)
#define PB_DS_CB_PB_HTYPE_SINGULAR(structname, fieldname) pb_membersize(structname, fieldname)
#define PB_DS_CB_PB_HTYPE_OPTIONAL(structname, fieldname) pb_membersize(structname, fieldname)
#define PB_DS_CB_PB_HTYPE_ONEOF(structname, fieldname) pb_membersize(structname, PB_ONEOF_NAME(FULL, fieldname))
#define PB_DS_CB_PB_HTYPE_REPEATED(structname, fieldname) pb_membersize(structname, fieldname)
#define PB_DS_CB_PB_HTYPE_FIXARRAY(structname, fieldname) pb_membersize(structname, fieldname)
#define PB_ONEOF_NAME(type, tuple) PB_EXPAND(PB_ONEOF_NAME_ ## type tuple)
#define PB_ONEOF_NAME_UNION(unionname,membername,fullname) unionname
#define PB_ONEOF_NAME_MEMBER(unionname,membername,fullname) membername
#define PB_ONEOF_NAME_FULL(unionname,membername,fullname) fullname
#define PB_GEN_SUBMSG_INFO(structname, atype, htype, ltype, fieldname, tag) \
PB_SUBMSG_INFO_ ## htype(_PB_LTYPE_ ## ltype, structname, fieldname)
#define PB_SUBMSG_INFO_REQUIRED(ltype, structname, fieldname) PB_SI ## ltype(structname ## _ ## fieldname ## _MSGTYPE)
#define PB_SUBMSG_INFO_SINGULAR(ltype, structname, fieldname) PB_SI ## ltype(structname ## _ ## fieldname ## _MSGTYPE)
#define PB_SUBMSG_INFO_OPTIONAL(ltype, structname, fieldname) PB_SI ## ltype(structname ## _ ## fieldname ## _MSGTYPE)
#define PB_SUBMSG_INFO_ONEOF(ltype, structname, fieldname) PB_SUBMSG_INFO_ONEOF2(ltype, structname, PB_ONEOF_NAME(UNION, fieldname), PB_ONEOF_NAME(MEMBER, fieldname))
#define PB_SUBMSG_INFO_ONEOF2(ltype, structname, unionname, membername) PB_SUBMSG_INFO_ONEOF3(ltype, structname, unionname, membername)
#define PB_SUBMSG_INFO_ONEOF3(ltype, structname, unionname, membername) PB_SI ## ltype(structname ## _ ## unionname ## _ ## membername ## _MSGTYPE)
#define PB_SUBMSG_INFO_REPEATED(ltype, structname, fieldname) PB_SI ## ltype(structname ## _ ## fieldname ## _MSGTYPE)
#define PB_SUBMSG_INFO_FIXARRAY(ltype, structname, fieldname) PB_SI ## ltype(structname ## _ ## fieldname ## _MSGTYPE)
#define PB_SI_PB_LTYPE_BOOL(t)
#define PB_SI_PB_LTYPE_BYTES(t)
#define PB_SI_PB_LTYPE_DOUBLE(t)
#define PB_SI_PB_LTYPE_ENUM(t)
#define PB_SI_PB_LTYPE_UENUM(t)
#define PB_SI_PB_LTYPE_FIXED32(t)
#define PB_SI_PB_LTYPE_FIXED64(t)
#define PB_SI_PB_LTYPE_FLOAT(t)
#define PB_SI_PB_LTYPE_INT32(t)
#define PB_SI_PB_LTYPE_INT64(t)
#define PB_SI_PB_LTYPE_MESSAGE(t) PB_SUBMSG_DESCRIPTOR(t)
#define PB_SI_PB_LTYPE_MSG_W_CB(t) PB_SUBMSG_DESCRIPTOR(t)
#define PB_SI_PB_LTYPE_SFIXED32(t)
#define PB_SI_PB_LTYPE_SFIXED64(t)
#define PB_SI_PB_LTYPE_SINT32(t)
#define PB_SI_PB_LTYPE_SINT64(t)
#define PB_SI_PB_LTYPE_STRING(t)
#define PB_SI_PB_LTYPE_UINT32(t)
#define PB_SI_PB_LTYPE_UINT64(t)
#define PB_SI_PB_LTYPE_EXTENSION(t)
#define PB_SI_PB_LTYPE_FIXED_LENGTH_BYTES(t)
#define PB_SUBMSG_DESCRIPTOR(t) &(t ## _msg),
/* The field descriptors use a variable width format, with width of either
* 1, 2, 4 or 8 of 32-bit words. The two lowest bytes of the first byte always
* encode the descriptor size, 6 lowest bits of field tag number, and 8 bits
* of the field type.
*
* Descriptor size is encoded as 0 = 1 word, 1 = 2 words, 2 = 4 words, 3 = 8 words.
*
* Formats, listed starting with the least significant bit of the first word.
* 1 word: [2-bit len] [6-bit tag] [8-bit type] [8-bit data_offset] [4-bit size_offset] [4-bit data_size]
*
* 2 words: [2-bit len] [6-bit tag] [8-bit type] [12-bit array_size] [4-bit size_offset]
* [16-bit data_offset] [12-bit data_size] [4-bit tag>>6]
*
* 4 words: [2-bit len] [6-bit tag] [8-bit type] [16-bit array_size]
* [8-bit size_offset] [24-bit tag>>6]
* [32-bit data_offset]
* [32-bit data_size]
*
* 8 words: [2-bit len] [6-bit tag] [8-bit type] [16-bit reserved]
* [8-bit size_offset] [24-bit tag>>6]
* [32-bit data_offset]
* [32-bit data_size]
* [32-bit array_size]
* [32-bit reserved]
* [32-bit reserved]
* [32-bit reserved]
*/
#define PB_FIELDINFO_1(tag, type, data_offset, data_size, size_offset, array_size) \
(0 | (((tag) << 2) & 0xFF) | ((type) << 8) | (((uint32_t)(data_offset) & 0xFF) << 16) | \
(((uint32_t)(size_offset) & 0x0F) << 24) | (((uint32_t)(data_size) & 0x0F) << 28)),
#define PB_FIELDINFO_2(tag, type, data_offset, data_size, size_offset, array_size) \
(1 | (((tag) << 2) & 0xFF) | ((type) << 8) | (((uint32_t)(array_size) & 0xFFF) << 16) | (((uint32_t)(size_offset) & 0x0F) << 28)), \
(((uint32_t)(data_offset) & 0xFFFF) | (((uint32_t)(data_size) & 0xFFF) << 16) | (((uint32_t)(tag) & 0x3c0) << 22)),
#define PB_FIELDINFO_4(tag, type, data_offset, data_size, size_offset, array_size) \
(2 | (((tag) << 2) & 0xFF) | ((type) << 8) | (((uint32_t)(array_size) & 0xFFFF) << 16)), \
((uint32_t)(int_least8_t)(size_offset) | (((uint32_t)(tag) << 2) & 0xFFFFFF00)), \
(data_offset), (data_size),
#define PB_FIELDINFO_8(tag, type, data_offset, data_size, size_offset, array_size) \
(3 | (((tag) << 2) & 0xFF) | ((type) << 8)), \
((uint32_t)(int_least8_t)(size_offset) | (((uint32_t)(tag) << 2) & 0xFFFFFF00)), \
(data_offset), (data_size), (array_size), 0, 0, 0,
/* These assertions verify that the field information fits in the allocated space.
* The generator tries to automatically determine the correct width that can fit all
* data associated with a message. These asserts will fail only if there has been a
* problem in the automatic logic - this may be worth reporting as a bug. As a workaround,
* you can increase the descriptor width by defining PB_FIELDINFO_WIDTH or by setting
* descriptorsize option in .options file.
*/
#define PB_FITS(value,bits) ((uint32_t)(value) < ((uint32_t)1<<bits))
#define PB_FIELDINFO_ASSERT_1(tag, type, data_offset, data_size, size_offset, array_size) \
PB_STATIC_ASSERT(PB_FITS(tag,6) && PB_FITS(data_offset,8) && PB_FITS(size_offset,4) && PB_FITS(data_size,4) && PB_FITS(array_size,1), FIELDINFO_DOES_NOT_FIT_width1_field ## tag)
#define PB_FIELDINFO_ASSERT_2(tag, type, data_offset, data_size, size_offset, array_size) \
PB_STATIC_ASSERT(PB_FITS(tag,10) && PB_FITS(data_offset,16) && PB_FITS(size_offset,4) && PB_FITS(data_size,12) && PB_FITS(array_size,12), FIELDINFO_DOES_NOT_FIT_width2_field ## tag)
#ifndef PB_FIELD_32BIT
/* Maximum field sizes are still 16-bit if pb_size_t is 16-bit */
#define PB_FIELDINFO_ASSERT_4(tag, type, data_offset, data_size, size_offset, array_size) \
PB_STATIC_ASSERT(PB_FITS(tag,16) && PB_FITS(data_offset,16) && PB_FITS((int_least8_t)size_offset,8) && PB_FITS(data_size,16) && PB_FITS(array_size,16), FIELDINFO_DOES_NOT_FIT_width4_field ## tag)
#define PB_FIELDINFO_ASSERT_8(tag, type, data_offset, data_size, size_offset, array_size) \
PB_STATIC_ASSERT(PB_FITS(tag,16) && PB_FITS(data_offset,16) && PB_FITS((int_least8_t)size_offset,8) && PB_FITS(data_size,16) && PB_FITS(array_size,16), FIELDINFO_DOES_NOT_FIT_width8_field ## tag)
#else
/* Up to 32-bit fields supported.
* Note that the checks are against 31 bits to avoid compiler warnings about shift wider than type in the test.
* I expect that there is no reasonable use for >2GB messages with nanopb anyway.
*/
#define PB_FIELDINFO_ASSERT_4(tag, type, data_offset, data_size, size_offset, array_size) \
PB_STATIC_ASSERT(PB_FITS(tag,30) && PB_FITS(data_offset,31) && PB_FITS(size_offset,8) && PB_FITS(data_size,31) && PB_FITS(array_size,16), FIELDINFO_DOES_NOT_FIT_width4_field ## tag)
#define PB_FIELDINFO_ASSERT_8(tag, type, data_offset, data_size, size_offset, array_size) \
PB_STATIC_ASSERT(PB_FITS(tag,30) && PB_FITS(data_offset,31) && PB_FITS(size_offset,8) && PB_FITS(data_size,31) && PB_FITS(array_size,31), FIELDINFO_DOES_NOT_FIT_width8_field ## tag)
#endif
/* Automatic picking of FIELDINFO width:
* Uses width 1 when possible, otherwise resorts to width 2.
* This is used when PB_BIND() is called with "AUTO" as the argument.
* The generator will give explicit size argument when it knows that a message
* structure grows beyond 1-word format limits.
*/
#define PB_FIELDINFO_WIDTH_AUTO(atype, htype, ltype) PB_FI_WIDTH ## atype(htype, ltype)
#define PB_FI_WIDTH_PB_ATYPE_STATIC(htype, ltype) PB_FI_WIDTH ## htype(ltype)
#define PB_FI_WIDTH_PB_ATYPE_POINTER(htype, ltype) PB_FI_WIDTH ## htype(ltype)
#define PB_FI_WIDTH_PB_ATYPE_CALLBACK(htype, ltype) 2
#define PB_FI_WIDTH_PB_HTYPE_REQUIRED(ltype) PB_FI_WIDTH ## ltype
#define PB_FI_WIDTH_PB_HTYPE_SINGULAR(ltype) PB_FI_WIDTH ## ltype
#define PB_FI_WIDTH_PB_HTYPE_OPTIONAL(ltype) PB_FI_WIDTH ## ltype
#define PB_FI_WIDTH_PB_HTYPE_ONEOF(ltype) PB_FI_WIDTH ## ltype
#define PB_FI_WIDTH_PB_HTYPE_REPEATED(ltype) 2
#define PB_FI_WIDTH_PB_HTYPE_FIXARRAY(ltype) 2
#define PB_FI_WIDTH_PB_LTYPE_BOOL 1
#define PB_FI_WIDTH_PB_LTYPE_BYTES 2
#define PB_FI_WIDTH_PB_LTYPE_DOUBLE 1
#define PB_FI_WIDTH_PB_LTYPE_ENUM 1
#define PB_FI_WIDTH_PB_LTYPE_UENUM 1
#define PB_FI_WIDTH_PB_LTYPE_FIXED32 1
#define PB_FI_WIDTH_PB_LTYPE_FIXED64 1
#define PB_FI_WIDTH_PB_LTYPE_FLOAT 1
#define PB_FI_WIDTH_PB_LTYPE_INT32 1
#define PB_FI_WIDTH_PB_LTYPE_INT64 1
#define PB_FI_WIDTH_PB_LTYPE_MESSAGE 2
#define PB_FI_WIDTH_PB_LTYPE_MSG_W_CB 2
#define PB_FI_WIDTH_PB_LTYPE_SFIXED32 1
#define PB_FI_WIDTH_PB_LTYPE_SFIXED64 1
#define PB_FI_WIDTH_PB_LTYPE_SINT32 1
#define PB_FI_WIDTH_PB_LTYPE_SINT64 1
#define PB_FI_WIDTH_PB_LTYPE_STRING 2
#define PB_FI_WIDTH_PB_LTYPE_UINT32 1
#define PB_FI_WIDTH_PB_LTYPE_UINT64 1
#define PB_FI_WIDTH_PB_LTYPE_EXTENSION 1
#define PB_FI_WIDTH_PB_LTYPE_FIXED_LENGTH_BYTES 2
/* The mapping from protobuf types to LTYPEs is done using these macros. */
#define PB_LTYPE_MAP_BOOL PB_LTYPE_BOOL
#define PB_LTYPE_MAP_BYTES PB_LTYPE_BYTES
#define PB_LTYPE_MAP_DOUBLE PB_LTYPE_FIXED64
#define PB_LTYPE_MAP_ENUM PB_LTYPE_VARINT
#define PB_LTYPE_MAP_UENUM PB_LTYPE_UVARINT
#define PB_LTYPE_MAP_FIXED32 PB_LTYPE_FIXED32
#define PB_LTYPE_MAP_FIXED64 PB_LTYPE_FIXED64
#define PB_LTYPE_MAP_FLOAT PB_LTYPE_FIXED32
#define PB_LTYPE_MAP_INT32 PB_LTYPE_VARINT
#define PB_LTYPE_MAP_INT64 PB_LTYPE_VARINT
#define PB_LTYPE_MAP_MESSAGE PB_LTYPE_SUBMESSAGE
#define PB_LTYPE_MAP_MSG_W_CB PB_LTYPE_SUBMSG_W_CB
#define PB_LTYPE_MAP_SFIXED32 PB_LTYPE_FIXED32
#define PB_LTYPE_MAP_SFIXED64 PB_LTYPE_FIXED64
#define PB_LTYPE_MAP_SINT32 PB_LTYPE_SVARINT
#define PB_LTYPE_MAP_SINT64 PB_LTYPE_SVARINT
#define PB_LTYPE_MAP_STRING PB_LTYPE_STRING
#define PB_LTYPE_MAP_UINT32 PB_LTYPE_UVARINT
#define PB_LTYPE_MAP_UINT64 PB_LTYPE_UVARINT
#define PB_LTYPE_MAP_EXTENSION PB_LTYPE_EXTENSION
#define PB_LTYPE_MAP_FIXED_LENGTH_BYTES PB_LTYPE_FIXED_LENGTH_BYTES
/* These macros are used for giving out error messages.
* They are mostly a debugging aid; the main error information
* is the true/false return value from functions.
* Some code space can be saved by disabling the error
* messages if not used.
*
* PB_SET_ERROR() sets the error message if none has been set yet.
* msg must be a constant string literal.
* PB_GET_ERROR() always returns a pointer to a string.
* PB_RETURN_ERROR() sets the error and returns false from current
* function.
*/
#ifdef PB_NO_ERRMSG
#define PB_SET_ERROR(stream, msg) PB_UNUSED(stream)
#define PB_GET_ERROR(stream) "(errmsg disabled)"
#else
#define PB_SET_ERROR(stream, msg) (stream->errmsg = (stream)->errmsg ? (stream)->errmsg : (msg))
#define PB_GET_ERROR(stream) ((stream)->errmsg ? (stream)->errmsg : "(none)")
#endif
#define PB_RETURN_ERROR(stream, msg) return PB_SET_ERROR(stream, msg), false
#ifdef __cplusplus
} /* extern "C" */
#endif
#ifdef __cplusplus
#if __cplusplus >= 201103L
#define PB_CONSTEXPR constexpr
#else // __cplusplus >= 201103L
#define PB_CONSTEXPR
#endif // __cplusplus >= 201103L
#if __cplusplus >= 201703L
#define PB_INLINE_CONSTEXPR inline constexpr
#else // __cplusplus >= 201703L
#define PB_INLINE_CONSTEXPR PB_CONSTEXPR
#endif // __cplusplus >= 201703L
extern "C++"
{
namespace nanopb {
// Each type will be partially specialized by the generator.
template <typename GenMessageT> struct MessageDescriptor;
} // namespace nanopb
}
#endif /* __cplusplus */
#endif

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/* pb_common.h: Common support functions for pb_encode.c and pb_decode.c.
* These functions are rarely needed by applications directly.
*/
#ifndef PB_COMMON_H_INCLUDED
#define PB_COMMON_H_INCLUDED
#include "pb.h"
#ifdef __cplusplus
extern "C" {
#endif
/* Initialize the field iterator structure to beginning.
* Returns false if the message type is empty. */
bool pb_field_iter_begin(pb_field_iter_t *iter, const pb_msgdesc_t *desc, void *message);
/* Get a field iterator for extension field. */
bool pb_field_iter_begin_extension(pb_field_iter_t *iter, pb_extension_t *extension);
/* Same as pb_field_iter_begin(), but for const message pointer.
* Note that the pointers in pb_field_iter_t will be non-const but shouldn't
* be written to when using these functions. */
bool pb_field_iter_begin_const(pb_field_iter_t *iter, const pb_msgdesc_t *desc, const void *message);
bool pb_field_iter_begin_extension_const(pb_field_iter_t *iter, const pb_extension_t *extension);
/* Advance the iterator to the next field.
* Returns false when the iterator wraps back to the first field. */
bool pb_field_iter_next(pb_field_iter_t *iter);
/* Advance the iterator until it points at a field with the given tag.
* Returns false if no such field exists. */
bool pb_field_iter_find(pb_field_iter_t *iter, uint32_t tag);
/* Find a field with type PB_LTYPE_EXTENSION, or return false if not found.
* There can be only one extension range field per message. */
bool pb_field_iter_find_extension(pb_field_iter_t *iter);
#ifdef PB_VALIDATE_UTF8
/* Validate UTF-8 text string */
bool pb_validate_utf8(const char *s);
#endif
#ifdef __cplusplus
} /* extern "C" */
#endif
#endif

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/* pb_decode.h: Functions to decode protocol buffers. Depends on pb_decode.c.
* The main function is pb_decode. You also need an input stream, and the
* field descriptions created by nanopb_generator.py.
*/
#ifndef PB_DECODE_H_INCLUDED
#define PB_DECODE_H_INCLUDED
#include "pb.h"
#ifdef __cplusplus
extern "C" {
#endif
/* Structure for defining custom input streams. You will need to provide
* a callback function to read the bytes from your storage, which can be
* for example a file or a network socket.
*
* The callback must conform to these rules:
*
* 1) Return false on IO errors. This will cause decoding to abort.
* 2) You can use state to store your own data (e.g. buffer pointer),
* and rely on pb_read to verify that no-body reads past bytes_left.
* 3) Your callback may be used with substreams, in which case bytes_left
* is different than from the main stream. Don't use bytes_left to compute
* any pointers.
*/
struct pb_istream_s
{
#ifdef PB_BUFFER_ONLY
/* Callback pointer is not used in buffer-only configuration.
* Having an int pointer here allows binary compatibility but
* gives an error if someone tries to assign callback function.
*/
int *callback;
#else
bool (*callback)(pb_istream_t *stream, pb_byte_t *buf, size_t count);
#endif
void *state; /* Free field for use by callback implementation */
size_t bytes_left;
#ifndef PB_NO_ERRMSG
const char *errmsg;
#endif
};
#ifndef PB_NO_ERRMSG
#define PB_ISTREAM_EMPTY {0,0,0,0}
#else
#define PB_ISTREAM_EMPTY {0,0,0}
#endif
/***************************
* Main decoding functions *
***************************/
/* Decode a single protocol buffers message from input stream into a C structure.
* Returns true on success, false on any failure.
* The actual struct pointed to by dest must match the description in fields.
* Callback fields of the destination structure must be initialized by caller.
* All other fields will be initialized by this function.
*
* Example usage:
* MyMessage msg = {};
* uint8_t buffer[64];
* pb_istream_t stream;
*
* // ... read some data into buffer ...
*
* stream = pb_istream_from_buffer(buffer, count);
* pb_decode(&stream, MyMessage_fields, &msg);
*/
bool pb_decode(pb_istream_t *stream, const pb_msgdesc_t *fields, void *dest_struct);
/* Extended version of pb_decode, with several options to control
* the decoding process:
*
* PB_DECODE_NOINIT: Do not initialize the fields to default values.
* This is slightly faster if you do not need the default
* values and instead initialize the structure to 0 using
* e.g. memset(). This can also be used for merging two
* messages, i.e. combine already existing data with new
* values.
*
* PB_DECODE_DELIMITED: Input message starts with the message size as varint.
* Corresponds to parseDelimitedFrom() in Google's
* protobuf API.
*
* PB_DECODE_NULLTERMINATED: Stop reading when field tag is read as 0. This allows
* reading null terminated messages.
* NOTE: Until nanopb-0.4.0, pb_decode() also allows
* null-termination. This behaviour is not supported in
* most other protobuf implementations, so PB_DECODE_DELIMITED
* is a better option for compatibility.
*
* Multiple flags can be combined with bitwise or (| operator)
*/
#define PB_DECODE_NOINIT 0x01U
#define PB_DECODE_DELIMITED 0x02U
#define PB_DECODE_NULLTERMINATED 0x04U
bool pb_decode_ex(pb_istream_t *stream, const pb_msgdesc_t *fields, void *dest_struct, unsigned int flags);
/* Defines for backwards compatibility with code written before nanopb-0.4.0 */
#define pb_decode_noinit(s,f,d) pb_decode_ex(s,f,d, PB_DECODE_NOINIT)
#define pb_decode_delimited(s,f,d) pb_decode_ex(s,f,d, PB_DECODE_DELIMITED)
#define pb_decode_delimited_noinit(s,f,d) pb_decode_ex(s,f,d, PB_DECODE_DELIMITED | PB_DECODE_NOINIT)
#define pb_decode_nullterminated(s,f,d) pb_decode_ex(s,f,d, PB_DECODE_NULLTERMINATED)
/* Release any allocated pointer fields. If you use dynamic allocation, you should
* call this for any successfully decoded message when you are done with it. If
* pb_decode() returns with an error, the message is already released.
*/
void pb_release(const pb_msgdesc_t *fields, void *dest_struct);
/**************************************
* Functions for manipulating streams *
**************************************/
/* Create an input stream for reading from a memory buffer.
*
* msglen should be the actual length of the message, not the full size of
* allocated buffer.
*
* Alternatively, you can use a custom stream that reads directly from e.g.
* a file or a network socket.
*/
pb_istream_t pb_istream_from_buffer(const pb_byte_t *buf, size_t msglen);
/* Function to read from a pb_istream_t. You can use this if you need to
* read some custom header data, or to read data in field callbacks.
*/
bool pb_read(pb_istream_t *stream, pb_byte_t *buf, size_t count);
/************************************************
* Helper functions for writing field callbacks *
************************************************/
/* Decode the tag for the next field in the stream. Gives the wire type and
* field tag. At end of the message, returns false and sets eof to true. */
bool pb_decode_tag(pb_istream_t *stream, pb_wire_type_t *wire_type, uint32_t *tag, bool *eof);
/* Skip the field payload data, given the wire type. */
bool pb_skip_field(pb_istream_t *stream, pb_wire_type_t wire_type);
/* Decode an integer in the varint format. This works for enum, int32,
* int64, uint32 and uint64 field types. */
#ifndef PB_WITHOUT_64BIT
bool pb_decode_varint(pb_istream_t *stream, uint64_t *dest);
#else
#define pb_decode_varint pb_decode_varint32
#endif
/* Decode an integer in the varint format. This works for enum, int32,
* and uint32 field types. */
bool pb_decode_varint32(pb_istream_t *stream, uint32_t *dest);
/* Decode a bool value in varint format. */
bool pb_decode_bool(pb_istream_t *stream, bool *dest);
/* Decode an integer in the zig-zagged svarint format. This works for sint32
* and sint64. */
#ifndef PB_WITHOUT_64BIT
bool pb_decode_svarint(pb_istream_t *stream, int64_t *dest);
#else
bool pb_decode_svarint(pb_istream_t *stream, int32_t *dest);
#endif
/* Decode a fixed32, sfixed32 or float value. You need to pass a pointer to
* a 4-byte wide C variable. */
bool pb_decode_fixed32(pb_istream_t *stream, void *dest);
#ifndef PB_WITHOUT_64BIT
/* Decode a fixed64, sfixed64 or double value. You need to pass a pointer to
* a 8-byte wide C variable. */
bool pb_decode_fixed64(pb_istream_t *stream, void *dest);
#endif
#ifdef PB_CONVERT_DOUBLE_FLOAT
/* Decode a double value into float variable. */
bool pb_decode_double_as_float(pb_istream_t *stream, float *dest);
#endif
/* Make a limited-length substream for reading a PB_WT_STRING field. */
bool pb_make_string_substream(pb_istream_t *stream, pb_istream_t *substream);
bool pb_close_string_substream(pb_istream_t *stream, pb_istream_t *substream);
#ifdef __cplusplus
} /* extern "C" */
#endif
#endif

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/* pb_encode.h: Functions to encode protocol buffers. Depends on pb_encode.c.
* The main function is pb_encode. You also need an output stream, and the
* field descriptions created by nanopb_generator.py.
*/
#ifndef PB_ENCODE_H_INCLUDED
#define PB_ENCODE_H_INCLUDED
#include "pb.h"
#ifdef __cplusplus
extern "C" {
#endif
/* Structure for defining custom output streams. You will need to provide
* a callback function to write the bytes to your storage, which can be
* for example a file or a network socket.
*
* The callback must conform to these rules:
*
* 1) Return false on IO errors. This will cause encoding to abort.
* 2) You can use state to store your own data (e.g. buffer pointer).
* 3) pb_write will update bytes_written after your callback runs.
* 4) Substreams will modify max_size and bytes_written. Don't use them
* to calculate any pointers.
*/
struct pb_ostream_s
{
#ifdef PB_BUFFER_ONLY
/* Callback pointer is not used in buffer-only configuration.
* Having an int pointer here allows binary compatibility but
* gives an error if someone tries to assign callback function.
* Also, NULL pointer marks a 'sizing stream' that does not
* write anything.
*/
const int *callback;
#else
bool (*callback)(pb_ostream_t *stream, const pb_byte_t *buf, size_t count);
#endif
void *state; /* Free field for use by callback implementation. */
size_t max_size; /* Limit number of output bytes written (or use SIZE_MAX). */
size_t bytes_written; /* Number of bytes written so far. */
#ifndef PB_NO_ERRMSG
const char *errmsg;
#endif
};
/***************************
* Main encoding functions *
***************************/
/* Encode a single protocol buffers message from C structure into a stream.
* Returns true on success, false on any failure.
* The actual struct pointed to by src_struct must match the description in fields.
* All required fields in the struct are assumed to have been filled in.
*
* Example usage:
* MyMessage msg = {};
* uint8_t buffer[64];
* pb_ostream_t stream;
*
* msg.field1 = 42;
* stream = pb_ostream_from_buffer(buffer, sizeof(buffer));
* pb_encode(&stream, MyMessage_fields, &msg);
*/
bool pb_encode(pb_ostream_t *stream, const pb_msgdesc_t *fields, const void *src_struct);
/* Extended version of pb_encode, with several options to control the
* encoding process:
*
* PB_ENCODE_DELIMITED: Prepend the length of message as a varint.
* Corresponds to writeDelimitedTo() in Google's
* protobuf API.
*
* PB_ENCODE_NULLTERMINATED: Append a null byte to the message for termination.
* NOTE: This behaviour is not supported in most other
* protobuf implementations, so PB_ENCODE_DELIMITED
* is a better option for compatibility.
*/
#define PB_ENCODE_DELIMITED 0x02U
#define PB_ENCODE_NULLTERMINATED 0x04U
bool pb_encode_ex(pb_ostream_t *stream, const pb_msgdesc_t *fields, const void *src_struct, unsigned int flags);
/* Defines for backwards compatibility with code written before nanopb-0.4.0 */
#define pb_encode_delimited(s,f,d) pb_encode_ex(s,f,d, PB_ENCODE_DELIMITED)
#define pb_encode_nullterminated(s,f,d) pb_encode_ex(s,f,d, PB_ENCODE_NULLTERMINATED)
/* Encode the message to get the size of the encoded data, but do not store
* the data. */
bool pb_get_encoded_size(size_t *size, const pb_msgdesc_t *fields, const void *src_struct);
/**************************************
* Functions for manipulating streams *
**************************************/
/* Create an output stream for writing into a memory buffer.
* The number of bytes written can be found in stream.bytes_written after
* encoding the message.
*
* Alternatively, you can use a custom stream that writes directly to e.g.
* a file or a network socket.
*/
pb_ostream_t pb_ostream_from_buffer(pb_byte_t *buf, size_t bufsize);
/* Pseudo-stream for measuring the size of a message without actually storing
* the encoded data.
*
* Example usage:
* MyMessage msg = {};
* pb_ostream_t stream = PB_OSTREAM_SIZING;
* pb_encode(&stream, MyMessage_fields, &msg);
* printf("Message size is %d\n", stream.bytes_written);
*/
#ifndef PB_NO_ERRMSG
#define PB_OSTREAM_SIZING {0,0,0,0,0}
#else
#define PB_OSTREAM_SIZING {0,0,0,0}
#endif
/* Function to write into a pb_ostream_t stream. You can use this if you need
* to append or prepend some custom headers to the message.
*/
bool pb_write(pb_ostream_t *stream, const pb_byte_t *buf, size_t count);
/************************************************
* Helper functions for writing field callbacks *
************************************************/
/* Encode field header based on type and field number defined in the field
* structure. Call this from the callback before writing out field contents. */
bool pb_encode_tag_for_field(pb_ostream_t *stream, const pb_field_iter_t *field);
/* Encode field header by manually specifying wire type. You need to use this
* if you want to write out packed arrays from a callback field. */
bool pb_encode_tag(pb_ostream_t *stream, pb_wire_type_t wiretype, uint32_t field_number);
/* Encode an integer in the varint format.
* This works for bool, enum, int32, int64, uint32 and uint64 field types. */
#ifndef PB_WITHOUT_64BIT
bool pb_encode_varint(pb_ostream_t *stream, uint64_t value);
#else
bool pb_encode_varint(pb_ostream_t *stream, uint32_t value);
#endif
/* Encode an integer in the zig-zagged svarint format.
* This works for sint32 and sint64. */
#ifndef PB_WITHOUT_64BIT
bool pb_encode_svarint(pb_ostream_t *stream, int64_t value);
#else
bool pb_encode_svarint(pb_ostream_t *stream, int32_t value);
#endif
/* Encode a string or bytes type field. For strings, pass strlen(s) as size. */
bool pb_encode_string(pb_ostream_t *stream, const pb_byte_t *buffer, size_t size);
/* Encode a fixed32, sfixed32 or float value.
* You need to pass a pointer to a 4-byte wide C variable. */
bool pb_encode_fixed32(pb_ostream_t *stream, const void *value);
#ifndef PB_WITHOUT_64BIT
/* Encode a fixed64, sfixed64 or double value.
* You need to pass a pointer to a 8-byte wide C variable. */
bool pb_encode_fixed64(pb_ostream_t *stream, const void *value);
#endif
#ifdef PB_CONVERT_DOUBLE_FLOAT
/* Encode a float value so that it appears like a double in the encoded
* message. */
bool pb_encode_float_as_double(pb_ostream_t *stream, float value);
#endif
/* Encode a submessage field.
* You need to pass the pb_field_t array and pointer to struct, just like
* with pb_encode(). This internally encodes the submessage twice, first to
* calculate message size and then to actually write it out.
*/
bool pb_encode_submessage(pb_ostream_t *stream, const pb_msgdesc_t *fields, const void *src_struct);
#ifdef __cplusplus
} /* extern "C" */
#endif
#endif

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/*
* robot_state.h
*
* Created on: Aug 2, 2024
* Author: akeguo
*/
#ifndef INC_ROBOT_STATE_H_
#define INC_ROBOT_STATE_H_
#include "BHBF_ROBOT.h"
#include "bsp_include.h"
extern uint8_t Pit_flag;
extern int32_t Pit_Position_fir;
extern int32_t Pit_Position_sec;
extern int32_t Rot_Position_fir;
extern int32_t Rot_Position_sec;
extern uint8_t Rot_dir_flag;
extern uint8_t Pitch_dir_flag;
extern double Act_Speed;
extern double RP_speed_act;
extern double Pit_time;
extern double Rot_time;
void Manual_State_Entry(void);
void Manual_State_Do(void);
void Auto_Back_State_Do(void);
void LaneChangeDistance_Setting_State_Do(void);
void BackWardsDistance_Setting_State_Do(void);
void Auto_State_Do(void);
void Abnormal_State_Do(void);
//前进、后退、左转、右转
void Forwards_State_Do(void);
void Backwards_State_Do(void);
void TurnLeft_State_Do(void);
void TurnRight_State_Do(void);
void HALT_State_Do(void);//停止
void SwingHALT_State_Do(void);
void SwingLeft_State_Do(void);
void SwingRight_State_Do(void);
void SwingAuto_Do(void);
void SwingManual_Do(void);
void SwingHome_Do(void);
void SetLaneChangeDistance_State_Do(void);
void SetBackwardsDistance_State_Do(void);
void OtherMode_State_Do(void);
void TiltUp_Do();
void TiltDown_Do();
void TiltHalt_Do();
void TiltAuto_Do(void);
void TiltManual_Do(void);
void TiltHome_Do();
void TiltCurrentModeDown_Do();
#endif /* INC_ROBOT_STATE_H_ */

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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file stm32g4xx_hal_conf.h
* @author MCD Application Team
* @brief HAL configuration file
******************************************************************************
* @attention
*
* Copyright (c) 2019 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef STM32G4xx_HAL_CONF_H
#define STM32G4xx_HAL_CONF_H
#ifdef __cplusplus
extern "C" {
#endif
/* Exported types ------------------------------------------------------------*/
/* Exported constants --------------------------------------------------------*/
/* ########################## Module Selection ############################## */
/**
* @brief This is the list of modules to be used in the HAL driver
*/
#define HAL_MODULE_ENABLED
/*#define HAL_ADC_MODULE_ENABLED */
/*#define HAL_COMP_MODULE_ENABLED */
/*#define HAL_CORDIC_MODULE_ENABLED */
/*#define HAL_CRC_MODULE_ENABLED */
/*#define HAL_CRYP_MODULE_ENABLED */
/*#define HAL_DAC_MODULE_ENABLED */
/*#define HAL_FDCAN_MODULE_ENABLED */
/*#define HAL_FMAC_MODULE_ENABLED */
/*#define HAL_HRTIM_MODULE_ENABLED */
/*#define HAL_IRDA_MODULE_ENABLED */
/*#define HAL_IWDG_MODULE_ENABLED */
/*#define HAL_I2C_MODULE_ENABLED */
/*#define HAL_I2S_MODULE_ENABLED */
/*#define HAL_LPTIM_MODULE_ENABLED */
/*#define HAL_NAND_MODULE_ENABLED */
/*#define HAL_NOR_MODULE_ENABLED */
/*#define HAL_OPAMP_MODULE_ENABLED */
/*#define HAL_PCD_MODULE_ENABLED */
/*#define HAL_QSPI_MODULE_ENABLED */
/*#define HAL_RNG_MODULE_ENABLED */
/*#define HAL_RTC_MODULE_ENABLED */
/*#define HAL_SAI_MODULE_ENABLED */
/*#define HAL_SMARTCARD_MODULE_ENABLED */
/*#define HAL_SMBUS_MODULE_ENABLED */
/*#define HAL_SPI_MODULE_ENABLED */
/*#define HAL_SRAM_MODULE_ENABLED */
#define HAL_TIM_MODULE_ENABLED
#define HAL_UART_MODULE_ENABLED
/*#define HAL_USART_MODULE_ENABLED */
/*#define HAL_WWDG_MODULE_ENABLED */
#define HAL_GPIO_MODULE_ENABLED
#define HAL_EXTI_MODULE_ENABLED
#define HAL_DMA_MODULE_ENABLED
#define HAL_RCC_MODULE_ENABLED
#define HAL_FLASH_MODULE_ENABLED
#define HAL_PWR_MODULE_ENABLED
#define HAL_CORTEX_MODULE_ENABLED
/* ########################## Register Callbacks selection ############################## */
/**
* @brief This is the list of modules where register callback can be used
*/
#define USE_HAL_ADC_REGISTER_CALLBACKS 0U
#define USE_HAL_COMP_REGISTER_CALLBACKS 0U
#define USE_HAL_CORDIC_REGISTER_CALLBACKS 0U
#define USE_HAL_CRYP_REGISTER_CALLBACKS 0U
#define USE_HAL_DAC_REGISTER_CALLBACKS 0U
#define USE_HAL_EXTI_REGISTER_CALLBACKS 0U
#define USE_HAL_FDCAN_REGISTER_CALLBACKS 0U
#define USE_HAL_FMAC_REGISTER_CALLBACKS 0U
#define USE_HAL_HRTIM_REGISTER_CALLBACKS 0U
#define USE_HAL_I2C_REGISTER_CALLBACKS 0U
#define USE_HAL_I2S_REGISTER_CALLBACKS 0U
#define USE_HAL_IRDA_REGISTER_CALLBACKS 0U
#define USE_HAL_LPTIM_REGISTER_CALLBACKS 0U
#define USE_HAL_NAND_REGISTER_CALLBACKS 0U
#define USE_HAL_NOR_REGISTER_CALLBACKS 0U
#define USE_HAL_OPAMP_REGISTER_CALLBACKS 0U
#define USE_HAL_PCD_REGISTER_CALLBACKS 0U
#define USE_HAL_QSPI_REGISTER_CALLBACKS 0U
#define USE_HAL_RNG_REGISTER_CALLBACKS 0U
#define USE_HAL_RTC_REGISTER_CALLBACKS 0U
#define USE_HAL_SAI_REGISTER_CALLBACKS 0U
#define USE_HAL_SMARTCARD_REGISTER_CALLBACKS 0U
#define USE_HAL_SMBUS_REGISTER_CALLBACKS 0U
#define USE_HAL_SPI_REGISTER_CALLBACKS 0U
#define USE_HAL_SRAM_REGISTER_CALLBACKS 0U
#define USE_HAL_TIM_REGISTER_CALLBACKS 0U
#define USE_HAL_UART_REGISTER_CALLBACKS 0U
#define USE_HAL_USART_REGISTER_CALLBACKS 0U
#define USE_HAL_WWDG_REGISTER_CALLBACKS 0U
/* ########################## Oscillator Values adaptation ####################*/
/**
* @brief Adjust the value of External High Speed oscillator (HSE) used in your application.
* This value is used by the RCC HAL module to compute the system frequency
* (when HSE is used as system clock source, directly or through the PLL).
*/
#if !defined (HSE_VALUE)
#define HSE_VALUE (12000000UL) /*!< Value of the External oscillator in Hz */
#endif /* HSE_VALUE */
#if !defined (HSE_STARTUP_TIMEOUT)
#define HSE_STARTUP_TIMEOUT (100UL) /*!< Time out for HSE start up, in ms */
#endif /* HSE_STARTUP_TIMEOUT */
/**
* @brief Internal High Speed oscillator (HSI) value.
* This value is used by the RCC HAL module to compute the system frequency
* (when HSI is used as system clock source, directly or through the PLL).
*/
#if !defined (HSI_VALUE)
#define HSI_VALUE (16000000UL) /*!< Value of the Internal oscillator in Hz*/
#endif /* HSI_VALUE */
/**
* @brief Internal High Speed oscillator (HSI48) value for USB FS and RNG.
* This internal oscillator is mainly dedicated to provide a high precision clock to
* the USB peripheral by means of a special Clock Recovery System (CRS) circuitry.
* When the CRS is not used, the HSI48 RC oscillator runs on it default frequency
* which is subject to manufacturing process variations.
*/
#if !defined (HSI48_VALUE)
#define HSI48_VALUE (48000000UL) /*!< Value of the Internal High Speed oscillator for USB FS/RNG in Hz.
The real value my vary depending on manufacturing process variations.*/
#endif /* HSI48_VALUE */
/**
* @brief Internal Low Speed oscillator (LSI) value.
*/
#if !defined (LSI_VALUE)
/*!< Value of the Internal Low Speed oscillator in Hz
The real value may vary depending on the variations in voltage and temperature.*/
#define LSI_VALUE (32000UL) /*!< LSI Typical Value in Hz*/
#endif /* LSI_VALUE */
/**
* @brief External Low Speed oscillator (LSE) value.
* This value is used by the UART, RTC HAL module to compute the system frequency
*/
#if !defined (LSE_VALUE)
#define LSE_VALUE (32768UL) /*!< Value of the External Low Speed oscillator in Hz */
#endif /* LSE_VALUE */
#if !defined (LSE_STARTUP_TIMEOUT)
#define LSE_STARTUP_TIMEOUT (5000UL) /*!< Time out for LSE start up, in ms */
#endif /* LSE_STARTUP_TIMEOUT */
/**
* @brief External clock source for I2S and SAI peripherals
* This value is used by the I2S and SAI HAL modules to compute the I2S and SAI clock source
* frequency, this source is inserted directly through I2S_CKIN pad.
*/
#if !defined (EXTERNAL_CLOCK_VALUE)
#define EXTERNAL_CLOCK_VALUE (12288000UL) /*!< Value of the External oscillator in Hz*/
#endif /* EXTERNAL_CLOCK_VALUE */
/* Tip: To avoid modifying this file each time you need to use different HSE,
=== you can define the HSE value in your toolchain compiler preprocessor. */
/* ########################### System Configuration ######################### */
/**
* @brief This is the HAL system configuration section
*/
#define VDD_VALUE (3300UL) /*!< Value of VDD in mv */
#define TICK_INT_PRIORITY (15UL) /*!< tick interrupt priority (lowest by default) */
#define USE_RTOS 0U
#define PREFETCH_ENABLE 0U
#define INSTRUCTION_CACHE_ENABLE 1U
#define DATA_CACHE_ENABLE 1U
/* ########################## Assert Selection ############################## */
/**
* @brief Uncomment the line below to expanse the "assert_param" macro in the
* HAL drivers code
*/
/* #define USE_FULL_ASSERT 1U */
/* ################## SPI peripheral configuration ########################## */
/* CRC FEATURE: Use to activate CRC feature inside HAL SPI Driver
* Activated: CRC code is present inside driver
* Deactivated: CRC code cleaned from driver
*/
#define USE_SPI_CRC 0U
/* Includes ------------------------------------------------------------------*/
/**
* @brief Include module's header file
*/
#ifdef HAL_RCC_MODULE_ENABLED
#include "stm32g4xx_hal_rcc.h"
#endif /* HAL_RCC_MODULE_ENABLED */
#ifdef HAL_GPIO_MODULE_ENABLED
#include "stm32g4xx_hal_gpio.h"
#endif /* HAL_GPIO_MODULE_ENABLED */
#ifdef HAL_DMA_MODULE_ENABLED
#include "stm32g4xx_hal_dma.h"
#endif /* HAL_DMA_MODULE_ENABLED */
#ifdef HAL_CORTEX_MODULE_ENABLED
#include "stm32g4xx_hal_cortex.h"
#endif /* HAL_CORTEX_MODULE_ENABLED */
#ifdef HAL_ADC_MODULE_ENABLED
#include "stm32g4xx_hal_adc.h"
#endif /* HAL_ADC_MODULE_ENABLED */
#ifdef HAL_COMP_MODULE_ENABLED
#include "stm32g4xx_hal_comp.h"
#endif /* HAL_COMP_MODULE_ENABLED */
#ifdef HAL_CORDIC_MODULE_ENABLED
#include "stm32g4xx_hal_cordic.h"
#endif /* HAL_CORDIC_MODULE_ENABLED */
#ifdef HAL_CRC_MODULE_ENABLED
#include "stm32g4xx_hal_crc.h"
#endif /* HAL_CRC_MODULE_ENABLED */
#ifdef HAL_CRYP_MODULE_ENABLED
#include "stm32g4xx_hal_cryp.h"
#endif /* HAL_CRYP_MODULE_ENABLED */
#ifdef HAL_DAC_MODULE_ENABLED
#include "stm32g4xx_hal_dac.h"
#endif /* HAL_DAC_MODULE_ENABLED */
#ifdef HAL_EXTI_MODULE_ENABLED
#include "stm32g4xx_hal_exti.h"
#endif /* HAL_EXTI_MODULE_ENABLED */
#ifdef HAL_FDCAN_MODULE_ENABLED
#include "stm32g4xx_hal_fdcan.h"
#endif /* HAL_FDCAN_MODULE_ENABLED */
#ifdef HAL_FLASH_MODULE_ENABLED
#include "stm32g4xx_hal_flash.h"
#endif /* HAL_FLASH_MODULE_ENABLED */
#ifdef HAL_FMAC_MODULE_ENABLED
#include "stm32g4xx_hal_fmac.h"
#endif /* HAL_FMAC_MODULE_ENABLED */
#ifdef HAL_HRTIM_MODULE_ENABLED
#include "stm32g4xx_hal_hrtim.h"
#endif /* HAL_HRTIM_MODULE_ENABLED */
#ifdef HAL_IRDA_MODULE_ENABLED
#include "stm32g4xx_hal_irda.h"
#endif /* HAL_IRDA_MODULE_ENABLED */
#ifdef HAL_IWDG_MODULE_ENABLED
#include "stm32g4xx_hal_iwdg.h"
#endif /* HAL_IWDG_MODULE_ENABLED */
#ifdef HAL_I2C_MODULE_ENABLED
#include "stm32g4xx_hal_i2c.h"
#endif /* HAL_I2C_MODULE_ENABLED */
#ifdef HAL_I2S_MODULE_ENABLED
#include "stm32g4xx_hal_i2s.h"
#endif /* HAL_I2S_MODULE_ENABLED */
#ifdef HAL_LPTIM_MODULE_ENABLED
#include "stm32g4xx_hal_lptim.h"
#endif /* HAL_LPTIM_MODULE_ENABLED */
#ifdef HAL_NAND_MODULE_ENABLED
#include "stm32g4xx_hal_nand.h"
#endif /* HAL_NAND_MODULE_ENABLED */
#ifdef HAL_NOR_MODULE_ENABLED
#include "stm32g4xx_hal_nor.h"
#endif /* HAL_NOR_MODULE_ENABLED */
#ifdef HAL_OPAMP_MODULE_ENABLED
#include "stm32g4xx_hal_opamp.h"
#endif /* HAL_OPAMP_MODULE_ENABLED */
#ifdef HAL_PCD_MODULE_ENABLED
#include "stm32g4xx_hal_pcd.h"
#endif /* HAL_PCD_MODULE_ENABLED */
#ifdef HAL_PWR_MODULE_ENABLED
#include "stm32g4xx_hal_pwr.h"
#endif /* HAL_PWR_MODULE_ENABLED */
#ifdef HAL_QSPI_MODULE_ENABLED
#include "stm32g4xx_hal_qspi.h"
#endif /* HAL_QSPI_MODULE_ENABLED */
#ifdef HAL_RNG_MODULE_ENABLED
#include "stm32g4xx_hal_rng.h"
#endif /* HAL_RNG_MODULE_ENABLED */
#ifdef HAL_RTC_MODULE_ENABLED
#include "stm32g4xx_hal_rtc.h"
#endif /* HAL_RTC_MODULE_ENABLED */
#ifdef HAL_SAI_MODULE_ENABLED
#include "stm32g4xx_hal_sai.h"
#endif /* HAL_SAI_MODULE_ENABLED */
#ifdef HAL_SMARTCARD_MODULE_ENABLED
#include "stm32g4xx_hal_smartcard.h"
#endif /* HAL_SMARTCARD_MODULE_ENABLED */
#ifdef HAL_SMBUS_MODULE_ENABLED
#include "stm32g4xx_hal_smbus.h"
#endif /* HAL_SMBUS_MODULE_ENABLED */
#ifdef HAL_SPI_MODULE_ENABLED
#include "stm32g4xx_hal_spi.h"
#endif /* HAL_SPI_MODULE_ENABLED */
#ifdef HAL_SRAM_MODULE_ENABLED
#include "stm32g4xx_hal_sram.h"
#endif /* HAL_SRAM_MODULE_ENABLED */
#ifdef HAL_TIM_MODULE_ENABLED
#include "stm32g4xx_hal_tim.h"
#endif /* HAL_TIM_MODULE_ENABLED */
#ifdef HAL_UART_MODULE_ENABLED
#include "stm32g4xx_hal_uart.h"
#endif /* HAL_UART_MODULE_ENABLED */
#ifdef HAL_USART_MODULE_ENABLED
#include "stm32g4xx_hal_usart.h"
#endif /* HAL_USART_MODULE_ENABLED */
#ifdef HAL_WWDG_MODULE_ENABLED
#include "stm32g4xx_hal_wwdg.h"
#endif /* HAL_WWDG_MODULE_ENABLED */
/* Exported macro ------------------------------------------------------------*/
#ifdef USE_FULL_ASSERT
/**
* @brief The assert_param macro is used for function's parameters check.
* @param expr: If expr is false, it calls assert_failed function
* which reports the name of the source file and the source
* line number of the call that failed.
* If expr is true, it returns no value.
* @retval None
*/
#define assert_param(expr) ((expr) ? (void)0U : assert_failed((uint8_t *)__FILE__, __LINE__))
/* Exported functions ------------------------------------------------------- */
void assert_failed(uint8_t *file, uint32_t line);
#else
#define assert_param(expr) ((void)0U)
#endif /* USE_FULL_ASSERT */
#ifdef __cplusplus
}
#endif
#endif /* STM32G4xx_HAL_CONF_H */

75
wuhanligong/G431wuhanligong/Core/Inc/stm32g4xx_it.h
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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file stm32g4xx_it.h
* @brief This file contains the headers of the interrupt handlers.
******************************************************************************
* @attention
*
* Copyright (c) 2025 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __STM32G4xx_IT_H
#define __STM32G4xx_IT_H
#ifdef __cplusplus
extern "C" {
#endif
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
/* Exported types ------------------------------------------------------------*/
/* USER CODE BEGIN ET */
/* USER CODE END ET */
/* Exported constants --------------------------------------------------------*/
/* USER CODE BEGIN EC */
/* USER CODE END EC */
/* Exported macro ------------------------------------------------------------*/
/* USER CODE BEGIN EM */
/* USER CODE END EM */
/* Exported functions prototypes ---------------------------------------------*/
void NMI_Handler(void);
void HardFault_Handler(void);
void MemManage_Handler(void);
void BusFault_Handler(void);
void UsageFault_Handler(void);
void SVC_Handler(void);
void DebugMon_Handler(void);
void PendSV_Handler(void);
void SysTick_Handler(void);
void DMA1_Channel1_IRQHandler(void);
void DMA1_Channel2_IRQHandler(void);
void DMA1_Channel3_IRQHandler(void);
void TIM1_UP_TIM16_IRQHandler(void);
void USART1_IRQHandler(void);
void USART2_IRQHandler(void);
void USART3_IRQHandler(void);
void TIM8_UP_IRQHandler(void);
void LPUART1_IRQHandler(void);
/* USER CODE BEGIN EFP */
/* USER CODE END EFP */
#ifdef __cplusplus
}
#endif
#endif /* __STM32G4xx_IT_H */

55
wuhanligong/G431wuhanligong/Core/Inc/tim.h
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@ -0,0 +1,55 @@
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file tim.h
* @brief This file contains all the function prototypes for
* the tim.c file
******************************************************************************
* @attention
*
* Copyright (c) 2025 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __TIM_H__
#define __TIM_H__
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "main.h"
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
extern TIM_HandleTypeDef htim1;
extern TIM_HandleTypeDef htim8;
/* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */
void MX_TIM1_Init(void);
void MX_TIM8_Init(void);
/* USER CODE BEGIN Prototypes */
/* USER CODE END Prototypes */
#ifdef __cplusplus
}
#endif
#endif /* __TIM_H__ */

61
wuhanligong/G431wuhanligong/Core/Inc/usart.h
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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file usart.h
* @brief This file contains all the function prototypes for
* the usart.c file
******************************************************************************
* @attention
*
* Copyright (c) 2025 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __USART_H__
#define __USART_H__
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "main.h"
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
extern UART_HandleTypeDef hlpuart1;
extern UART_HandleTypeDef huart1;
extern UART_HandleTypeDef huart2;
extern UART_HandleTypeDef huart3;
/* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */
void MX_LPUART1_UART_Init(void);
void MX_USART1_UART_Init(void);
void MX_USART2_UART_Init(void);
void MX_USART3_UART_Init(void);
/* USER CODE BEGIN Prototypes */
/* USER CODE END Prototypes */
#ifdef __cplusplus
}
#endif
#endif /* __USART_H__ */

12
wuhanligong/G431wuhanligong/Core/Protobuf/PSource/bsp_CV.pb.c
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/* Automatically generated nanopb constant definitions */
/* Generated by nanopb-0.4.8 */
#include "bsp_CV.pb.h"
#if PB_PROTO_HEADER_VERSION != 40
#error Regenerate this file with the current version of nanopb generator.
#endif
PB_BIND(CV_struct_define, CV_struct_define, AUTO)

71
wuhanligong/G431wuhanligong/Core/Protobuf/PSource/bsp_CV.pb.h
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/* Automatically generated nanopb header */
/* Generated by nanopb-0.4.8 */
#ifndef PB_BSP_CV_PB_H_INCLUDED
#define PB_BSP_CV_PB_H_INCLUDED
#include "pb.h"
#include "msp_SavedMotorParameters.pb.h"
#include "bsp_PV.pb.h"
#if PB_PROTO_HEADER_VERSION != 40
#error Regenerate this file with the current version of nanopb generator.
#endif
/* Struct definitions */
typedef struct _CV_struct_define { /* 摆臂项目 */
/* 洗舱项目 */
bool has_PV;
PV_struct_define PV; /* 用户配置数据 */
int32_t RobotMoveSpeedBase;
int32_t SwingMoveSpeedBase;
int32_t TiltMoveSpeedBase;
int32_t TiltMoveTargetSpeed;
int32_t SwingMoveTargetSpeed;
int32_t TurnLeftRightSpeed;
} CV_struct_define;
#ifdef __cplusplus
extern "C" {
#endif
/* Initializer values for message structs */
#define CV_struct_define_init_default {false, PV_struct_define_init_default, 0, 0, 0, 0, 0, 0}
#define CV_struct_define_init_zero {false, PV_struct_define_init_zero, 0, 0, 0, 0, 0, 0}
/* Field tags (for use in manual encoding/decoding) */
#define CV_struct_define_PV_tag 1
#define CV_struct_define_RobotMoveSpeedBase_tag 2
#define CV_struct_define_SwingMoveSpeedBase_tag 3
#define CV_struct_define_TiltMoveSpeedBase_tag 4
#define CV_struct_define_TiltMoveTargetSpeed_tag 5
#define CV_struct_define_SwingMoveTargetSpeed_tag 6
#define CV_struct_define_TurnLeftRightSpeed_tag 7
/* Struct field encoding specification for nanopb */
#define CV_struct_define_FIELDLIST(X, a) \
X(a, STATIC, OPTIONAL, MESSAGE, PV, 1) \
X(a, STATIC, SINGULAR, INT32, RobotMoveSpeedBase, 2) \
X(a, STATIC, SINGULAR, INT32, SwingMoveSpeedBase, 3) \
X(a, STATIC, SINGULAR, INT32, TiltMoveSpeedBase, 4) \
X(a, STATIC, SINGULAR, INT32, TiltMoveTargetSpeed, 5) \
X(a, STATIC, SINGULAR, INT32, SwingMoveTargetSpeed, 6) \
X(a, STATIC, SINGULAR, INT32, TurnLeftRightSpeed, 7)
#define CV_struct_define_CALLBACK NULL
#define CV_struct_define_DEFAULT NULL
#define CV_struct_define_PV_MSGTYPE PV_struct_define
extern const pb_msgdesc_t CV_struct_define_msg;
/* Defines for backwards compatibility with code written before nanopb-0.4.0 */
#define CV_struct_define_fields &CV_struct_define_msg
/* Maximum encoded size of messages (where known) */
#define BSP_CV_PB_H_MAX_SIZE CV_struct_define_size
#define CV_struct_define_size 79
#ifdef __cplusplus
} /* extern "C" */
#endif
#endif

12
wuhanligong/G431wuhanligong/Core/Protobuf/PSource/bsp_Cmd.pb.c
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@ -0,0 +1,12 @@
/* Automatically generated nanopb constant definitions */
/* Generated by nanopb-0.4.8 */
#include "bsp_Cmd.pb.h"
#if PB_PROTO_HEADER_VERSION != 40
#error Regenerate this file with the current version of nanopb generator.
#endif
PB_BIND(Cmd, Cmd, 2)

80
wuhanligong/G431wuhanligong/Core/Protobuf/PSource/bsp_Cmd.pb.h
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@ -0,0 +1,80 @@
/* Automatically generated nanopb header */
/* Generated by nanopb-0.4.8 */
#ifndef PB_BSP_CMD_PB_H_INCLUDED
#define PB_BSP_CMD_PB_H_INCLUDED
#include "pb.h"
#if PB_PROTO_HEADER_VERSION != 40
#error Regenerate this file with the current version of nanopb generator.
#endif
/* Struct definitions */
/* this message is used for the computer to send command */
typedef struct _Cmd {
int32_t CommadNum;
/* 定义 1 上位机获取默认CV值
定义 2 下位机返回CV值
定义 3 上位机设定CV值
定义 4 上位机设定Trace等级值，无返回
定义 5 下位机上传位置点数据
定义 6 上位机设定编码器角度值为0
定义 7 上位机获取拟合点
定义 8 上位机获取位置点
定义 9 上位机向下位机下发程序 此时，Parameter0 下发的程序起始位，Parameter0 是校验位
Buff_Data_Length 是下发的字节数， */
int32_t Parameter0;
int32_t Parameter1;
int32_t Parameter2;
int32_t Parameter3;
int32_t Parameter4;
int32_t Buff_Data_Length;
pb_byte_t Buff_Data[512];
} Cmd;
#ifdef __cplusplus
extern "C" {
#endif
/* Initializer values for message structs */
#define Cmd_init_default {0, 0, 0, 0, 0, 0, 0, {0}}
#define Cmd_init_zero {0, 0, 0, 0, 0, 0, 0, {0}}
/* Field tags (for use in manual encoding/decoding) */
#define Cmd_CommadNum_tag 1
#define Cmd_Parameter0_tag 2
#define Cmd_Parameter1_tag 3
#define Cmd_Parameter2_tag 4
#define Cmd_Parameter3_tag 5
#define Cmd_Parameter4_tag 6
#define Cmd_Buff_Data_Length_tag 7
#define Cmd_Buff_Data_tag 8
/* Struct field encoding specification for nanopb */
#define Cmd_FIELDLIST(X, a) \
X(a, STATIC, SINGULAR, INT32, CommadNum, 1) \
X(a, STATIC, SINGULAR, INT32, Parameter0, 2) \
X(a, STATIC, SINGULAR, INT32, Parameter1, 3) \
X(a, STATIC, SINGULAR, INT32, Parameter2, 4) \
X(a, STATIC, SINGULAR, INT32, Parameter3, 5) \
X(a, STATIC, SINGULAR, INT32, Parameter4, 6) \
X(a, STATIC, SINGULAR, INT32, Buff_Data_Length, 7) \
X(a, STATIC, SINGULAR, FIXED_LENGTH_BYTES, Buff_Data, 8)
#define Cmd_CALLBACK NULL
#define Cmd_DEFAULT NULL
extern const pb_msgdesc_t Cmd_msg;
/* Defines for backwards compatibility with code written before nanopb-0.4.0 */
#define Cmd_fields &Cmd_msg
/* Maximum encoded size of messages (where known) */
#define BSP_CMD_PB_H_MAX_SIZE Cmd_size
#define Cmd_size 592
#ifdef __cplusplus
} /* extern "C" */
#endif
#endif

12
wuhanligong/G431wuhanligong/Core/Protobuf/PSource/bsp_DAM.pb.c
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/* Automatically generated nanopb constant definitions */
/* Generated by nanopb-0.4.8 */
#include "bsp_DAM.pb.h"
#if PB_PROTO_HEADER_VERSION != 40
#error Regenerate this file with the current version of nanopb generator.
#endif
PB_BIND(DAM_Data, DAM_Data, AUTO)

57
wuhanligong/G431wuhanligong/Core/Protobuf/PSource/bsp_DAM.pb.h
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@ -0,0 +1,57 @@
/* Automatically generated nanopb header */
/* Generated by nanopb-0.4.8 */
#ifndef PB_BSP_DAM_PB_H_INCLUDED
#define PB_BSP_DAM_PB_H_INCLUDED
#include "pb.h"
#if PB_PROTO_HEADER_VERSION != 40
#error Regenerate this file with the current version of nanopb generator.
#endif
/* Struct definitions */
typedef struct _DAM_Data {
int32_t DO0;
int32_t DO1;
int32_t DO2;
int32_t DO3;
} DAM_Data;
#ifdef __cplusplus
extern "C" {
#endif
/* Initializer values for message structs */
#define DAM_Data_init_default {0, 0, 0, 0}
#define DAM_Data_init_zero {0, 0, 0, 0}
/* Field tags (for use in manual encoding/decoding) */
#define DAM_Data_DO0_tag 1
#define DAM_Data_DO1_tag 2
#define DAM_Data_DO2_tag 3
#define DAM_Data_DO3_tag 4
/* Struct field encoding specification for nanopb */
#define DAM_Data_FIELDLIST(X, a) \
X(a, STATIC, SINGULAR, INT32, DO0, 1) \
X(a, STATIC, SINGULAR, INT32, DO1, 2) \
X(a, STATIC, SINGULAR, INT32, DO2, 3) \
X(a, STATIC, SINGULAR, INT32, DO3, 4)
#define DAM_Data_CALLBACK NULL
#define DAM_Data_DEFAULT NULL
extern const pb_msgdesc_t DAM_Data_msg;
/* Defines for backwards compatibility with code written before nanopb-0.4.0 */
#define DAM_Data_fields &DAM_Data_msg
/* Maximum encoded size of messages (where known) */
#define BSP_DAM_PB_H_MAX_SIZE DAM_Data_size
#define DAM_Data_size 44
#ifdef __cplusplus
} /* extern "C" */
#endif
#endif

12
wuhanligong/G431wuhanligong/Core/Protobuf/PSource/bsp_DMKE.pb.c
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/* Automatically generated nanopb constant definitions */
/* Generated by nanopb-0.4.8 */
#include "bsp_DMKE.pb.h"
#if PB_PROTO_HEADER_VERSION != 40
#error Regenerate this file with the current version of nanopb generator.
#endif
PB_BIND(DMKE_struct_define, DMKE_struct_define, AUTO)

57
wuhanligong/G431wuhanligong/Core/Protobuf/PSource/bsp_DMKE.pb.h
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@ -0,0 +1,57 @@
/* Automatically generated nanopb header */
/* Generated by nanopb-0.4.8 */
#ifndef PB_BSP_DMKE_PB_H_INCLUDED
#define PB_BSP_DMKE_PB_H_INCLUDED
#include "pb.h"
#if PB_PROTO_HEADER_VERSION != 40
#error Regenerate this file with the current version of nanopb generator.
#endif
/* Struct definitions */
typedef struct _DMKE_struct_define {
int32_t Slave_ID;
int32_t TargetSpeedRpm;
int32_t Command; /* 正转，反转，停止 0 停止 -1 反转 1 正转 */
int32_t CurrentState; /* 当前状态，从正转到反转的过程中需要发送停止指令; */
} DMKE_struct_define;
#ifdef __cplusplus
extern "C" {
#endif
/* Initializer values for message structs */
#define DMKE_struct_define_init_default {0, 0, 0, 0}
#define DMKE_struct_define_init_zero {0, 0, 0, 0}
/* Field tags (for use in manual encoding/decoding) */
#define DMKE_struct_define_Slave_ID_tag 1
#define DMKE_struct_define_TargetSpeedRpm_tag 2
#define DMKE_struct_define_Command_tag 3
#define DMKE_struct_define_CurrentState_tag 4
/* Struct field encoding specification for nanopb */
#define DMKE_struct_define_FIELDLIST(X, a) \
X(a, STATIC, SINGULAR, INT32, Slave_ID, 1) \
X(a, STATIC, SINGULAR, INT32, TargetSpeedRpm, 2) \
X(a, STATIC, SINGULAR, INT32, Command, 3) \
X(a, STATIC, SINGULAR, INT32, CurrentState, 4)
#define DMKE_struct_define_CALLBACK NULL
#define DMKE_struct_define_DEFAULT NULL
extern const pb_msgdesc_t DMKE_struct_define_msg;
/* Defines for backwards compatibility with code written before nanopb-0.4.0 */
#define DMKE_struct_define_fields &DMKE_struct_define_msg
/* Maximum encoded size of messages (where known) */
#define BSP_DMKE_PB_H_MAX_SIZE DMKE_struct_define_size
#define DMKE_struct_define_size 44
#ifdef __cplusplus
} /* extern "C" */
#endif
#endif

20
wuhanligong/G431wuhanligong/Core/Protobuf/PSource/bsp_Desulfurizer.pb.c
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@ -0,0 +1,20 @@
/* Automatically generated nanopb constant definitions */
/* Generated by nanopb-0.4.8 */
#include "bsp_Desulfurizer.pb.h"
#if PB_PROTO_HEADER_VERSION != 40
#error Regenerate this file with the current version of nanopb generator.
#endif
PB_BIND(DesulfurizerMessage, DesulfurizerMessage, AUTO)
#ifndef PB_CONVERT_DOUBLE_FLOAT
/* On some platforms (such as AVR), double is really float.
* To be able to encode/decode double on these platforms, you need.
* to define PB_CONVERT_DOUBLE_FLOAT in pb.h or compiler command line.
*/
PB_STATIC_ASSERT(sizeof(double) == 8, DOUBLE_MUST_BE_8_BYTES)
#endif

57
wuhanligong/G431wuhanligong/Core/Protobuf/PSource/bsp_Desulfurizer.pb.h
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/* Automatically generated nanopb header */
/* Generated by nanopb-0.4.8 */
#ifndef PB_BSP_DESULFURIZER_PB_H_INCLUDED
#define PB_BSP_DESULFURIZER_PB_H_INCLUDED
#include "pb.h"
#if PB_PROTO_HEADER_VERSION != 40
#error Regenerate this file with the current version of nanopb generator.
#endif
/* Struct definitions */
typedef struct _DesulfurizerMessage {
double Angle;
double WireLength;
double Thickness;
int32_t IsFittingPoint;
} DesulfurizerMessage;
#ifdef __cplusplus
extern "C" {
#endif
/* Initializer values for message structs */
#define DesulfurizerMessage_init_default {0, 0, 0, 0}
#define DesulfurizerMessage_init_zero {0, 0, 0, 0}
/* Field tags (for use in manual encoding/decoding) */
#define DesulfurizerMessage_Angle_tag 1
#define DesulfurizerMessage_WireLength_tag 2
#define DesulfurizerMessage_Thickness_tag 3
#define DesulfurizerMessage_IsFittingPoint_tag 4
/* Struct field encoding specification for nanopb */
#define DesulfurizerMessage_FIELDLIST(X, a) \
X(a, STATIC, SINGULAR, DOUBLE, Angle, 1) \
X(a, STATIC, SINGULAR, DOUBLE, WireLength, 2) \
X(a, STATIC, SINGULAR, DOUBLE, Thickness, 3) \
X(a, STATIC, SINGULAR, INT32, IsFittingPoint, 4)
#define DesulfurizerMessage_CALLBACK NULL
#define DesulfurizerMessage_DEFAULT NULL
extern const pb_msgdesc_t DesulfurizerMessage_msg;
/* Defines for backwards compatibility with code written before nanopb-0.4.0 */
#define DesulfurizerMessage_fields &DesulfurizerMessage_msg
/* Maximum encoded size of messages (where known) */
#define BSP_DESULFURIZER_PB_H_MAX_SIZE DesulfurizerMessage_size
#define DesulfurizerMessage_size 38
#ifdef __cplusplus
} /* extern "C" */
#endif
#endif

15
wuhanligong/G431wuhanligong/Core/Protobuf/PSource/bsp_Error.pb.c
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@ -0,0 +1,15 @@
/* Automatically generated nanopb constant definitions */
/* Generated by nanopb-0.4.8 */
#include "bsp_Error.pb.h"
#if PB_PROTO_HEADER_VERSION != 40
#error Regenerate this file with the current version of nanopb generator.
#endif
PB_BIND(ErrorDataInfo, ErrorDataInfo, AUTO)
PB_BIND(ErrorData, ErrorData, AUTO)

107
wuhanligong/G431wuhanligong/Core/Protobuf/PSource/bsp_Error.pb.h
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@ -0,0 +1,107 @@
/* Automatically generated nanopb header */
/* Generated by nanopb-0.4.8 */
#ifndef PB_BSP_ERROR_PB_H_INCLUDED
#define PB_BSP_ERROR_PB_H_INCLUDED
#include "pb.h"
#if PB_PROTO_HEADER_VERSION != 40
#error Regenerate this file with the current version of nanopb generator.
#endif
/* Struct definitions */
typedef struct _ErrorDataInfo {
int32_t Error_Value;
pb_byte_t Error_Name[50];
} ErrorDataInfo;
typedef struct _ErrorData {
/* ErrorDataInfo Error1=1;
ErrorDataInfo Error2=2;
ErrorDataInfo Error3=3;
ErrorDataInfo Error4=4;
ErrorDataInfo Error5=5;
ErrorDataInfo Error6=6;
ErrorDataInfo Error7=7;
ErrorDataInfo Error8=8;
ErrorDataInfo Error9=9;
ErrorDataInfo Error10=10;
ErrorDataInfo Error11=11;
ErrorDataInfo Error12=12;
ErrorDataInfo Error13=13;
ErrorDataInfo Error14=14;
ErrorDataInfo Error15=15;
ErrorDataInfo Error16=16;
ErrorDataInfo Error17=17;
ErrorDataInfo Error18=18;
ErrorDataInfo Error19=19;
ErrorDataInfo Error20=20; */
int32_t ErrorCode;
int32_t Motor_1_Error;
int32_t Motor_2_Error;
int32_t Motor_3_Error;
int32_t Motor_4_Error;
int32_t Motor_5_Error;
int32_t Motor_6_Error;
int32_t Motor_7_Error;
} ErrorData;
#ifdef __cplusplus
extern "C" {
#endif
/* Initializer values for message structs */
#define ErrorDataInfo_init_default {0, {0}}
#define ErrorData_init_default {0, 0, 0, 0, 0, 0, 0, 0}
#define ErrorDataInfo_init_zero {0, {0}}
#define ErrorData_init_zero {0, 0, 0, 0, 0, 0, 0, 0}
/* Field tags (for use in manual encoding/decoding) */
#define ErrorDataInfo_Error_Value_tag 1
#define ErrorDataInfo_Error_Name_tag 4
#define ErrorData_ErrorCode_tag 1
#define ErrorData_Motor_1_Error_tag 21
#define ErrorData_Motor_2_Error_tag 22
#define ErrorData_Motor_3_Error_tag 23
#define ErrorData_Motor_4_Error_tag 24
#define ErrorData_Motor_5_Error_tag 25
#define ErrorData_Motor_6_Error_tag 26
#define ErrorData_Motor_7_Error_tag 27
/* Struct field encoding specification for nanopb */
#define ErrorDataInfo_FIELDLIST(X, a) \
X(a, STATIC, SINGULAR, INT32, Error_Value, 1) \
X(a, STATIC, SINGULAR, FIXED_LENGTH_BYTES, Error_Name, 4)
#define ErrorDataInfo_CALLBACK NULL
#define ErrorDataInfo_DEFAULT NULL
#define ErrorData_FIELDLIST(X, a) \
X(a, STATIC, SINGULAR, INT32, ErrorCode, 1) \
X(a, STATIC, SINGULAR, INT32, Motor_1_Error, 21) \
X(a, STATIC, SINGULAR, INT32, Motor_2_Error, 22) \
X(a, STATIC, SINGULAR, INT32, Motor_3_Error, 23) \
X(a, STATIC, SINGULAR, INT32, Motor_4_Error, 24) \
X(a, STATIC, SINGULAR, INT32, Motor_5_Error, 25) \
X(a, STATIC, SINGULAR, INT32, Motor_6_Error, 26) \
X(a, STATIC, SINGULAR, INT32, Motor_7_Error, 27)
#define ErrorData_CALLBACK NULL
#define ErrorData_DEFAULT NULL
extern const pb_msgdesc_t ErrorDataInfo_msg;
extern const pb_msgdesc_t ErrorData_msg;
/* Defines for backwards compatibility with code written before nanopb-0.4.0 */
#define ErrorDataInfo_fields &ErrorDataInfo_msg
#define ErrorData_fields &ErrorData_msg
/* Maximum encoded size of messages (where known) */
#define BSP_ERROR_PB_H_MAX_SIZE ErrorData_size
#define ErrorDataInfo_size 63
#define ErrorData_size 95
#ifdef __cplusplus
} /* extern "C" */
#endif
#endif

12
wuhanligong/G431wuhanligong/Core/Protobuf/PSource/bsp_GV.pb.c
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/* Automatically generated nanopb constant definitions */
/* Generated by nanopb-0.4.8 */
#include "bsp_GV.pb.h"
#if PB_PROTO_HEADER_VERSION != 40
#error Regenerate this file with the current version of nanopb generator.
#endif
PB_BIND(GV_struct_define, GV_struct_define, 2)

157
wuhanligong/G431wuhanligong/Core/Protobuf/PSource/bsp_GV.pb.h
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@ -0,0 +1,157 @@
/* Automatically generated nanopb header */
/* Generated by nanopb-0.4.8 */
#ifndef PB_BSP_GV_PB_H_INCLUDED
#define PB_BSP_GV_PB_H_INCLUDED
#include "pb.h"
#include "msp_MK32.pb.h"
#include "msp_Motor.pb.h"
#include "msp_DH_CAN_Remote.pb.h"
#include "msp_MPU6050.pb.h"
#include "msp_ZQ_MotorParameters.pb.h"
#include "msp_TL720D.pb.h"
#include "bsp_Error.pb.h"
#include "bsp_LazorData.pb.h"
#include "bsp_DAM.pb.h"
#include "bsp_IO.pb.h"
#include "msp_LD150_I.pb.h"
#include "msp_MFOG40_Gyroscope.pb.h"
#include "bsp_PV.pb.h"
#if PB_PROTO_HEADER_VERSION != 40
#error Regenerate this file with the current version of nanopb generator.
#endif
/* Struct definitions */
typedef struct _GV_struct_define { /* 洗舱项目 */
bool has_LeftFrontMotor;
MotorParameters LeftFrontMotor;
bool has_LeftBackMotor;
MotorParameters LeftBackMotor;
bool has_RightBackMotor;
MotorParameters RightBackMotor;
bool has_RightFrontMotor;
MotorParameters RightFrontMotor;
bool has_SwingMotor;
MotorParameters SwingMotor;
bool has_TiltMotor;
MotorParameters TiltMotor;
bool has_MK32_Key;
SP_MSP_MK32_Button MK32_Key;
int32_t Move_Speed;
bool has_SystemErrorData;
ErrorData SystemErrorData;
bool has_TL720DParameters;
MSP_TL720DParameters TL720DParameters;
bool has_LD150Parameters;
LD150_struct_define LD150Parameters;
bool has_Mfog40_gyro;
MFOG40_Gyro_struct_define Mfog40_gyro;
int32_t Servo_Speed_1;
int32_t Servo_Speed_2;
int32_t Servo_Speed_3;
int32_t Servo_Speed_4;
int32_t Servo_Power_1;
int32_t Servo_Power_2;
int32_t Servo_Power_3;
int32_t Servo_Power_4;
int32_t Steering_Angle_3;
int32_t Steering_Angle_4;
int32_t Steering_Real_Angle_3;
int32_t Steering_Real_Angle_4;
bool has_PV;
PV_struct_define PV; /* 用户配置数据 */
} GV_struct_define;
#ifdef __cplusplus
extern "C" {
#endif
/* Initializer values for message structs */
#define GV_struct_define_init_default {false, MotorParameters_init_default, false, MotorParameters_init_default, false, MotorParameters_init_default, false, MotorParameters_init_default, false, MotorParameters_init_default, false, MotorParameters_init_default, false, SP_MSP_MK32_Button_init_default, 0, false, ErrorData_init_default, false, MSP_TL720DParameters_init_default, false, LD150_struct_define_init_default, false, MFOG40_Gyro_struct_define_init_default, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, false, PV_struct_define_init_default}
#define GV_struct_define_init_zero {false, MotorParameters_init_zero, false, MotorParameters_init_zero, false, MotorParameters_init_zero, false, MotorParameters_init_zero, false, MotorParameters_init_zero, false, MotorParameters_init_zero, false, SP_MSP_MK32_Button_init_zero, 0, false, ErrorData_init_zero, false, MSP_TL720DParameters_init_zero, false, LD150_struct_define_init_zero, false, MFOG40_Gyro_struct_define_init_zero, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, false, PV_struct_define_init_zero}
/* Field tags (for use in manual encoding/decoding) */
#define GV_struct_define_LeftFrontMotor_tag 1
#define GV_struct_define_LeftBackMotor_tag 2
#define GV_struct_define_RightBackMotor_tag 3
#define GV_struct_define_RightFrontMotor_tag 4
#define GV_struct_define_SwingMotor_tag 5
#define GV_struct_define_TiltMotor_tag 6
#define GV_struct_define_MK32_Key_tag 7
#define GV_struct_define_Move_Speed_tag 8
#define GV_struct_define_SystemErrorData_tag 10
#define GV_struct_define_TL720DParameters_tag 11
#define GV_struct_define_LD150Parameters_tag 12
#define GV_struct_define_Mfog40_gyro_tag 13
#define GV_struct_define_Servo_Speed_1_tag 14
#define GV_struct_define_Servo_Speed_2_tag 15
#define GV_struct_define_Servo_Speed_3_tag 16
#define GV_struct_define_Servo_Speed_4_tag 17
#define GV_struct_define_Servo_Power_1_tag 18
#define GV_struct_define_Servo_Power_2_tag 19
#define GV_struct_define_Servo_Power_3_tag 20
#define GV_struct_define_Servo_Power_4_tag 21
#define GV_struct_define_Steering_Angle_3_tag 22
#define GV_struct_define_Steering_Angle_4_tag 23
#define GV_struct_define_Steering_Real_Angle_3_tag 24
#define GV_struct_define_Steering_Real_Angle_4_tag 25
#define GV_struct_define_PV_tag 26
/* Struct field encoding specification for nanopb */
#define GV_struct_define_FIELDLIST(X, a) \
X(a, STATIC, OPTIONAL, MESSAGE, LeftFrontMotor, 1) \
X(a, STATIC, OPTIONAL, MESSAGE, LeftBackMotor, 2) \
X(a, STATIC, OPTIONAL, MESSAGE, RightBackMotor, 3) \
X(a, STATIC, OPTIONAL, MESSAGE, RightFrontMotor, 4) \
X(a, STATIC, OPTIONAL, MESSAGE, SwingMotor, 5) \
X(a, STATIC, OPTIONAL, MESSAGE, TiltMotor, 6) \
X(a, STATIC, OPTIONAL, MESSAGE, MK32_Key, 7) \
X(a, STATIC, SINGULAR, INT32, Move_Speed, 8) \
X(a, STATIC, OPTIONAL, MESSAGE, SystemErrorData, 10) \
X(a, STATIC, OPTIONAL, MESSAGE, TL720DParameters, 11) \
X(a, STATIC, OPTIONAL, MESSAGE, LD150Parameters, 12) \
X(a, STATIC, OPTIONAL, MESSAGE, Mfog40_gyro, 13) \
X(a, STATIC, SINGULAR, INT32, Servo_Speed_1, 14) \
X(a, STATIC, SINGULAR, INT32, Servo_Speed_2, 15) \
X(a, STATIC, SINGULAR, INT32, Servo_Speed_3, 16) \
X(a, STATIC, SINGULAR, INT32, Servo_Speed_4, 17) \
X(a, STATIC, SINGULAR, INT32, Servo_Power_1, 18) \
X(a, STATIC, SINGULAR, INT32, Servo_Power_2, 19) \
X(a, STATIC, SINGULAR, INT32, Servo_Power_3, 20) \
X(a, STATIC, SINGULAR, INT32, Servo_Power_4, 21) \
X(a, STATIC, SINGULAR, INT32, Steering_Angle_3, 22) \
X(a, STATIC, SINGULAR, INT32, Steering_Angle_4, 23) \
X(a, STATIC, SINGULAR, INT32, Steering_Real_Angle_3, 24) \
X(a, STATIC, SINGULAR, INT32, Steering_Real_Angle_4, 25) \
X(a, STATIC, OPTIONAL, MESSAGE, PV, 26)
#define GV_struct_define_CALLBACK NULL
#define GV_struct_define_DEFAULT NULL
#define GV_struct_define_LeftFrontMotor_MSGTYPE MotorParameters
#define GV_struct_define_LeftBackMotor_MSGTYPE MotorParameters
#define GV_struct_define_RightBackMotor_MSGTYPE MotorParameters
#define GV_struct_define_RightFrontMotor_MSGTYPE MotorParameters
#define GV_struct_define_SwingMotor_MSGTYPE MotorParameters
#define GV_struct_define_TiltMotor_MSGTYPE MotorParameters
#define GV_struct_define_MK32_Key_MSGTYPE SP_MSP_MK32_Button
#define GV_struct_define_SystemErrorData_MSGTYPE ErrorData
#define GV_struct_define_TL720DParameters_MSGTYPE MSP_TL720DParameters
#define GV_struct_define_LD150Parameters_MSGTYPE LD150_struct_define
#define GV_struct_define_Mfog40_gyro_MSGTYPE MFOG40_Gyro_struct_define
#define GV_struct_define_PV_MSGTYPE PV_struct_define
extern const pb_msgdesc_t GV_struct_define_msg;
/* Defines for backwards compatibility with code written before nanopb-0.4.0 */
#define GV_struct_define_fields &GV_struct_define_msg
/* Maximum encoded size of messages (where known) */
#define BSP_GV_PB_H_MAX_SIZE GV_struct_define_size
#define GV_struct_define_size 1685
#ifdef __cplusplus
} /* extern "C" */
#endif
#endif

12
wuhanligong/G431wuhanligong/Core/Protobuf/PSource/bsp_IAP.pb.c
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/* Automatically generated nanopb constant definitions */
/* Generated by nanopb-0.4.8 */
#include "bsp_IAP.pb.h"
#if PB_PROTO_HEADER_VERSION != 40
#error Regenerate this file with the current version of nanopb generator.
#endif
PB_BIND(IAP_struct_define, IAP_struct_define, AUTO)

58
wuhanligong/G431wuhanligong/Core/Protobuf/PSource/bsp_IAP.pb.h
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/* Automatically generated nanopb header */
/* Generated by nanopb-0.4.8 */
#ifndef PB_BSP_IAP_PB_H_INCLUDED
#define PB_BSP_IAP_PB_H_INCLUDED
#include "pb.h"
#if PB_PROTO_HEADER_VERSION != 40
#error Regenerate this file with the current version of nanopb generator.
#endif
/* Struct definitions */
/* IAP，即In Application Programming，IAP是用户自己的程序在运行过程中对User Flash的部分区域进行烧写。 */
typedef struct _IAP_struct_define {
int32_t Total_Bytes; /* all the received data; */
int32_t NextCodeVrsion; /* the New upgrade Version of the Project */
int32_t UtcTime; /* Udgrade Time */
int32_t UpgradeSucceeded; /* */
} IAP_struct_define;
#ifdef __cplusplus
extern "C" {
#endif
/* Initializer values for message structs */
#define IAP_struct_define_init_default {0, 0, 0, 0}
#define IAP_struct_define_init_zero {0, 0, 0, 0}
/* Field tags (for use in manual encoding/decoding) */
#define IAP_struct_define_Total_Bytes_tag 1
#define IAP_struct_define_NextCodeVrsion_tag 2
#define IAP_struct_define_UtcTime_tag 3
#define IAP_struct_define_UpgradeSucceeded_tag 4
/* Struct field encoding specification for nanopb */
#define IAP_struct_define_FIELDLIST(X, a) \
X(a, STATIC, SINGULAR, INT32, Total_Bytes, 1) \
X(a, STATIC, SINGULAR, INT32, NextCodeVrsion, 2) \
X(a, STATIC, SINGULAR, INT32, UtcTime, 3) \
X(a, STATIC, SINGULAR, INT32, UpgradeSucceeded, 4)
#define IAP_struct_define_CALLBACK NULL
#define IAP_struct_define_DEFAULT NULL
extern const pb_msgdesc_t IAP_struct_define_msg;
/* Defines for backwards compatibility with code written before nanopb-0.4.0 */
#define IAP_struct_define_fields &IAP_struct_define_msg
/* Maximum encoded size of messages (where known) */
#define BSP_IAP_PB_H_MAX_SIZE IAP_struct_define_size
#define IAP_struct_define_size 44
#ifdef __cplusplus
} /* extern "C" */
#endif
#endif

12
wuhanligong/G431wuhanligong/Core/Protobuf/PSource/bsp_IO.pb.c
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/* Automatically generated nanopb constant definitions */
/* Generated by nanopb-0.4.8 */
#include "bsp_IO.pb.h"
#if PB_PROTO_HEADER_VERSION != 40
#error Regenerate this file with the current version of nanopb generator.
#endif
PB_BIND(IO_Data, IO_Data, AUTO)

81
wuhanligong/G431wuhanligong/Core/Protobuf/PSource/bsp_IO.pb.h
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@ -0,0 +1,81 @@
/* Automatically generated nanopb header */
/* Generated by nanopb-0.4.8 */
#ifndef PB_BSP_IO_PB_H_INCLUDED
#define PB_BSP_IO_PB_H_INCLUDED
#include "pb.h"
#if PB_PROTO_HEADER_VERSION != 40
#error Regenerate this file with the current version of nanopb generator.
#endif
/* Struct definitions */
typedef struct _IO_Data {
int32_t DO0;
int32_t DO1;
int32_t DO2;
int32_t DO3;
int32_t DO4;
int32_t DO5;
int32_t DI0;
int32_t DI1;
int32_t DI2;
int32_t DI3;
int32_t DI4;
int32_t DI5;
} IO_Data;
#ifdef __cplusplus
extern "C" {
#endif
/* Initializer values for message structs */
#define IO_Data_init_default {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
#define IO_Data_init_zero {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
/* Field tags (for use in manual encoding/decoding) */
#define IO_Data_DO0_tag 1
#define IO_Data_DO1_tag 2
#define IO_Data_DO2_tag 3
#define IO_Data_DO3_tag 4
#define IO_Data_DO4_tag 5
#define IO_Data_DO5_tag 6
#define IO_Data_DI0_tag 7
#define IO_Data_DI1_tag 8
#define IO_Data_DI2_tag 9
#define IO_Data_DI3_tag 10
#define IO_Data_DI4_tag 11
#define IO_Data_DI5_tag 12
/* Struct field encoding specification for nanopb */
#define IO_Data_FIELDLIST(X, a) \
X(a, STATIC, SINGULAR, INT32, DO0, 1) \
X(a, STATIC, SINGULAR, INT32, DO1, 2) \
X(a, STATIC, SINGULAR, INT32, DO2, 3) \
X(a, STATIC, SINGULAR, INT32, DO3, 4) \
X(a, STATIC, SINGULAR, INT32, DO4, 5) \
X(a, STATIC, SINGULAR, INT32, DO5, 6) \
X(a, STATIC, SINGULAR, INT32, DI0, 7) \
X(a, STATIC, SINGULAR, INT32, DI1, 8) \
X(a, STATIC, SINGULAR, INT32, DI2, 9) \
X(a, STATIC, SINGULAR, INT32, DI3, 10) \
X(a, STATIC, SINGULAR, INT32, DI4, 11) \
X(a, STATIC, SINGULAR, INT32, DI5, 12)
#define IO_Data_CALLBACK NULL
#define IO_Data_DEFAULT NULL
extern const pb_msgdesc_t IO_Data_msg;
/* Defines for backwards compatibility with code written before nanopb-0.4.0 */
#define IO_Data_fields &IO_Data_msg
/* Maximum encoded size of messages (where known) */
#define BSP_IO_PB_H_MAX_SIZE IO_Data_size
#define IO_Data_size 132
#ifdef __cplusplus
} /* extern "C" */
#endif
#endif

20
wuhanligong/G431wuhanligong/Core/Protobuf/PSource/bsp_IV.pb.c
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/* Automatically generated nanopb constant definitions */
/* Generated by nanopb-0.4.8 */
#include "bsp_IV.pb.h"
#if PB_PROTO_HEADER_VERSION != 40
#error Regenerate this file with the current version of nanopb generator.
#endif
PB_BIND(IV_struct_define, IV_struct_define, AUTO)
#ifndef PB_CONVERT_DOUBLE_FLOAT
/* On some platforms (such as AVR), double is really float.
* To be able to encode/decode double on these platforms, you need.
* to define PB_CONVERT_DOUBLE_FLOAT in pb.h or compiler command line.
*/
PB_STATIC_ASSERT(sizeof(double) == 8, DOUBLE_MUST_BE_8_BYTES)
#endif

54
wuhanligong/G431wuhanligong/Core/Protobuf/PSource/bsp_IV.pb.h
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/* Automatically generated nanopb header */
/* Generated by nanopb-0.4.8 */
#ifndef PB_BSP_IV_PB_H_INCLUDED
#define PB_BSP_IV_PB_H_INCLUDED
#include "pb.h"
#if PB_PROTO_HEADER_VERSION != 40
#error Regenerate this file with the current version of nanopb generator.
#endif
/* Struct definitions */
typedef struct _IV_struct_define {
double Robot_Move_Speed;
int32_t Steer_Angle;
int32_t Steer_Angle_back;
} IV_struct_define;
#ifdef __cplusplus
extern "C" {
#endif
/* Initializer values for message structs */
#define IV_struct_define_init_default {0, 0, 0}
#define IV_struct_define_init_zero {0, 0, 0}
/* Field tags (for use in manual encoding/decoding) */
#define IV_struct_define_Robot_Move_Speed_tag 1
#define IV_struct_define_Steer_Angle_tag 2
#define IV_struct_define_Steer_Angle_back_tag 3
/* Struct field encoding specification for nanopb */
#define IV_struct_define_FIELDLIST(X, a) \
X(a, STATIC, SINGULAR, DOUBLE, Robot_Move_Speed, 1) \
X(a, STATIC, SINGULAR, INT32, Steer_Angle, 2) \
X(a, STATIC, SINGULAR, INT32, Steer_Angle_back, 3)
#define IV_struct_define_CALLBACK NULL
#define IV_struct_define_DEFAULT NULL
extern const pb_msgdesc_t IV_struct_define_msg;
/* Defines for backwards compatibility with code written before nanopb-0.4.0 */
#define IV_struct_define_fields &IV_struct_define_msg
/* Maximum encoded size of messages (where known) */
#define BSP_IV_PB_H_MAX_SIZE IV_struct_define_size
#define IV_struct_define_size 31
#ifdef __cplusplus
} /* extern "C" */
#endif
#endif

12
wuhanligong/G431wuhanligong/Core/Protobuf/PSource/bsp_LazorData.pb.c
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/* Automatically generated nanopb constant definitions */
/* Generated by nanopb-0.4.8 */
#include "bsp_LazorData.pb.h"
#if PB_PROTO_HEADER_VERSION != 40
#error Regenerate this file with the current version of nanopb generator.
#endif
PB_BIND(LazorData, LazorData, AUTO)

64
wuhanligong/G431wuhanligong/Core/Protobuf/PSource/bsp_LazorData.pb.h
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/* Automatically generated nanopb header */
/* Generated by nanopb-0.4.8 */
#ifndef PB_BSP_LAZORDATA_PB_H_INCLUDED
#define PB_BSP_LAZORDATA_PB_H_INCLUDED
#include "pb.h"
#if PB_PROTO_HEADER_VERSION != 40
#error Regenerate this file with the current version of nanopb generator.
#endif
/* Struct definitions */
/* this message is used for the reply the command */
typedef struct _LazorData {
float Feature_X; /* 特征点X */
float Feature_Y; /* 特征点Y */
float Feature_Z; /* 特征点Z */
float Gap; /* 间隙 */
float WrongEdgeQuantity; /* 错边量 */
float Area; /* 面积 */
} LazorData;
#ifdef __cplusplus
extern "C" {
#endif
/* Initializer values for message structs */
#define LazorData_init_default {0, 0, 0, 0, 0, 0}
#define LazorData_init_zero {0, 0, 0, 0, 0, 0}
/* Field tags (for use in manual encoding/decoding) */
#define LazorData_Feature_X_tag 1
#define LazorData_Feature_Y_tag 2
#define LazorData_Feature_Z_tag 3
#define LazorData_Gap_tag 4
#define LazorData_WrongEdgeQuantity_tag 5
#define LazorData_Area_tag 6
/* Struct field encoding specification for nanopb */
#define LazorData_FIELDLIST(X, a) \
X(a, STATIC, SINGULAR, FLOAT, Feature_X, 1) \
X(a, STATIC, SINGULAR, FLOAT, Feature_Y, 2) \
X(a, STATIC, SINGULAR, FLOAT, Feature_Z, 3) \
X(a, STATIC, SINGULAR, FLOAT, Gap, 4) \
X(a, STATIC, SINGULAR, FLOAT, WrongEdgeQuantity, 5) \
X(a, STATIC, SINGULAR, FLOAT, Area, 6)
#define LazorData_CALLBACK NULL
#define LazorData_DEFAULT NULL
extern const pb_msgdesc_t LazorData_msg;
/* Defines for backwards compatibility with code written before nanopb-0.4.0 */
#define LazorData_fields &LazorData_msg
/* Maximum encoded size of messages (where known) */
#define BSP_LAZORDATA_PB_H_MAX_SIZE LazorData_size
#define LazorData_size 30
#ifdef __cplusplus
} /* extern "C" */
#endif
#endif

12
wuhanligong/G431wuhanligong/Core/Protobuf/PSource/bsp_PV.pb.c
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/* Automatically generated nanopb constant definitions */
/* Generated by nanopb-0.4.8 */
#include "bsp_PV.pb.h"
#if PB_PROTO_HEADER_VERSION != 40
#error Regenerate this file with the current version of nanopb generator.
#endif
PB_BIND(PV_struct_define, PV_struct_define, AUTO)

48
wuhanligong/G431wuhanligong/Core/Protobuf/PSource/bsp_PV.pb.h
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@ -0,0 +1,48 @@
/* Automatically generated nanopb header */
/* Generated by nanopb-0.4.8 */
#ifndef PB_BSP_PV_PB_H_INCLUDED
#define PB_BSP_PV_PB_H_INCLUDED
#include "pb.h"
#if PB_PROTO_HEADER_VERSION != 40
#error Regenerate this file with the current version of nanopb generator.
#endif
/* Struct definitions */
typedef struct _PV_struct_define {
int32_t Robot_Tilt_TargetCurrent;
} PV_struct_define;
#ifdef __cplusplus
extern "C" {
#endif
/* Initializer values for message structs */
#define PV_struct_define_init_default {0}
#define PV_struct_define_init_zero {0}
/* Field tags (for use in manual encoding/decoding) */
#define PV_struct_define_Robot_Tilt_TargetCurrent_tag 1
/* Struct field encoding specification for nanopb */
#define PV_struct_define_FIELDLIST(X, a) \
X(a, STATIC, SINGULAR, INT32, Robot_Tilt_TargetCurrent, 1)
#define PV_struct_define_CALLBACK NULL
#define PV_struct_define_DEFAULT NULL
extern const pb_msgdesc_t PV_struct_define_msg;
/* Defines for backwards compatibility with code written before nanopb-0.4.0 */
#define PV_struct_define_fields &PV_struct_define_msg
/* Maximum encoded size of messages (where known) */
#define BSP_PV_PB_H_MAX_SIZE PV_struct_define_size
#define PV_struct_define_size 11
#ifdef __cplusplus
} /* extern "C" */
#endif
#endif

12
wuhanligong/G431wuhanligong/Core/Protobuf/PSource/bsp_ReCmd.pb.c
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/* Automatically generated nanopb constant definitions */
/* Generated by nanopb-0.4.8 */
#include "bsp_ReCmd.pb.h"
#if PB_PROTO_HEADER_VERSION != 40
#error Regenerate this file with the current version of nanopb generator.
#endif
PB_BIND(ReCmd, ReCmd, 2)

80
wuhanligong/G431wuhanligong/Core/Protobuf/PSource/bsp_ReCmd.pb.h
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/* Automatically generated nanopb header */
/* Generated by nanopb-0.4.8 */
#ifndef PB_BSP_RECMD_PB_H_INCLUDED
#define PB_BSP_RECMD_PB_H_INCLUDED
#include "pb.h"
#if PB_PROTO_HEADER_VERSION != 40
#error Regenerate this file with the current version of nanopb generator.
#endif
/* Struct definitions */
/* this message is used for the reply the command */
typedef struct _ReCmd {
int32_t CommadNum;
/* 定义 1 上位机获取默认CV值
定义 2 下位机返回CV值
定义 3 上位机设定CV值
定义 4 上位机设定Trace等级值，无返回
定义 5 下位机上传位置点数据
定义 6 上位机设定编码器角度值为0
定义 7 上位机获取拟合点
定义 8 上位机获取位置点
定义 9 上位机向下位机下发程序 此时，Parameter0 下发的程序起始位，Parameter0 是校验位
Buff_Data_Length 是下发的字节数， */
int32_t Parameter0;
int32_t Parameter1;
int32_t Parameter2;
int32_t Parameter3;
int32_t Parameter4;
int32_t Buff_Data_Length;
pb_byte_t Buff_Data[500];
} ReCmd;
#ifdef __cplusplus
extern "C" {
#endif
/* Initializer values for message structs */
#define ReCmd_init_default {0, 0, 0, 0, 0, 0, 0, {0}}
#define ReCmd_init_zero {0, 0, 0, 0, 0, 0, 0, {0}}
/* Field tags (for use in manual encoding/decoding) */
#define ReCmd_CommadNum_tag 1
#define ReCmd_Parameter0_tag 2
#define ReCmd_Parameter1_tag 3
#define ReCmd_Parameter2_tag 4
#define ReCmd_Parameter3_tag 5
#define ReCmd_Parameter4_tag 6
#define ReCmd_Buff_Data_Length_tag 7
#define ReCmd_Buff_Data_tag 8
/* Struct field encoding specification for nanopb */
#define ReCmd_FIELDLIST(X, a) \
X(a, STATIC, SINGULAR, INT32, CommadNum, 1) \
X(a, STATIC, SINGULAR, INT32, Parameter0, 2) \
X(a, STATIC, SINGULAR, INT32, Parameter1, 3) \
X(a, STATIC, SINGULAR, INT32, Parameter2, 4) \
X(a, STATIC, SINGULAR, INT32, Parameter3, 5) \
X(a, STATIC, SINGULAR, INT32, Parameter4, 6) \
X(a, STATIC, SINGULAR, INT32, Buff_Data_Length, 7) \
X(a, STATIC, SINGULAR, FIXED_LENGTH_BYTES, Buff_Data, 8)
#define ReCmd_CALLBACK NULL
#define ReCmd_DEFAULT NULL
extern const pb_msgdesc_t ReCmd_msg;
/* Defines for backwards compatibility with code written before nanopb-0.4.0 */
#define ReCmd_fields &ReCmd_msg
/* Maximum encoded size of messages (where known) */
#define BSP_RECMD_PB_H_MAX_SIZE ReCmd_size
#define ReCmd_size 580
#ifdef __cplusplus
} /* extern "C" */
#endif
#endif

12
wuhanligong/G431wuhanligong/Core/Protobuf/PSource/bsp_Trace.pb.c
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/* Automatically generated nanopb constant definitions */
/* Generated by nanopb-0.4.8 */
#include "bsp_Trace.pb.h"
#if PB_PROTO_HEADER_VERSION != 40
#error Regenerate this file with the current version of nanopb generator.
#endif
PB_BIND(TraceMessage, TraceMessage, AUTO)

53
wuhanligong/G431wuhanligong/Core/Protobuf/PSource/bsp_Trace.pb.h
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/* Automatically generated nanopb header */
/* Generated by nanopb-0.4.8 */
#ifndef PB_BSP_TRACE_PB_H_INCLUDED
#define PB_BSP_TRACE_PB_H_INCLUDED
#include "pb.h"
#if PB_PROTO_HEADER_VERSION != 40
#error Regenerate this file with the current version of nanopb generator.
#endif
/* Struct definitions */
typedef struct _TraceMessage {
pb_callback_t Level;
pb_callback_t Logger;
pb_callback_t Message;
} TraceMessage;
#ifdef __cplusplus
extern "C" {
#endif
/* Initializer values for message structs */
#define TraceMessage_init_default {{{NULL}, NULL}, {{NULL}, NULL}, {{NULL}, NULL}}
#define TraceMessage_init_zero {{{NULL}, NULL}, {{NULL}, NULL}, {{NULL}, NULL}}
/* Field tags (for use in manual encoding/decoding) */
#define TraceMessage_Level_tag 1
#define TraceMessage_Logger_tag 2
#define TraceMessage_Message_tag 4
/* Struct field encoding specification for nanopb */
#define TraceMessage_FIELDLIST(X, a) \
X(a, CALLBACK, SINGULAR, STRING, Level, 1) \
X(a, CALLBACK, SINGULAR, STRING, Logger, 2) \
X(a, CALLBACK, SINGULAR, STRING, Message, 4)
#define TraceMessage_CALLBACK pb_default_field_callback
#define TraceMessage_DEFAULT NULL
extern const pb_msgdesc_t TraceMessage_msg;
/* Defines for backwards compatibility with code written before nanopb-0.4.0 */
#define TraceMessage_fields &TraceMessage_msg
/* Maximum encoded size of messages (where known) */
/* TraceMessage_size depends on runtime parameters */
#ifdef __cplusplus
} /* extern "C" */
#endif
#endif

12
wuhanligong/G431wuhanligong/Core/Protobuf/PSource/msp_CMCU.pb.c
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/* Automatically generated nanopb constant definitions */
/* Generated by nanopb-0.4.8 */
#include "msp_CMCU.pb.h"
#if PB_PROTO_HEADER_VERSION != 40
#error Regenerate this file with the current version of nanopb generator.
#endif
PB_BIND(CMCU_struct_define, CMCU_struct_define, AUTO)

48
wuhanligong/G431wuhanligong/Core/Protobuf/PSource/msp_CMCU.pb.h
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@ -0,0 +1,48 @@
/* Automatically generated nanopb header */
/* Generated by nanopb-0.4.8 */
#ifndef PB_MSP_CMCU_PB_H_INCLUDED
#define PB_MSP_CMCU_PB_H_INCLUDED
#include "pb.h"
#if PB_PROTO_HEADER_VERSION != 40
#error Regenerate this file with the current version of nanopb generator.
#endif
/* Struct definitions */
typedef struct _CMCU_struct_define {
int32_t CMCU_Measuring_value;
} CMCU_struct_define;
#ifdef __cplusplus
extern "C" {
#endif
/* Initializer values for message structs */
#define CMCU_struct_define_init_default {0}
#define CMCU_struct_define_init_zero {0}
/* Field tags (for use in manual encoding/decoding) */
#define CMCU_struct_define_CMCU_Measuring_value_tag 1
/* Struct field encoding specification for nanopb */
#define CMCU_struct_define_FIELDLIST(X, a) \
X(a, STATIC, SINGULAR, INT32, CMCU_Measuring_value, 1)
#define CMCU_struct_define_CALLBACK NULL
#define CMCU_struct_define_DEFAULT NULL
extern const pb_msgdesc_t CMCU_struct_define_msg;
/* Defines for backwards compatibility with code written before nanopb-0.4.0 */
#define CMCU_struct_define_fields &CMCU_struct_define_msg
/* Maximum encoded size of messages (where known) */
#define CMCU_struct_define_size 11
#define MSP_CMCU_PB_H_MAX_SIZE CMCU_struct_define_size
#ifdef __cplusplus
} /* extern "C" */
#endif
#endif

12
wuhanligong/G431wuhanligong/Core/Protobuf/PSource/msp_DH_CAN_Remote.pb.c
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/* Automatically generated nanopb constant definitions */
/* Generated by nanopb-0.4.8 */
#include "msp_DH_CAN_Remote.pb.h"
#if PB_PROTO_HEADER_VERSION != 40
#error Regenerate this file with the current version of nanopb generator.
#endif
PB_BIND(DH_CAN_Remote, DH_CAN_Remote, AUTO)

111
wuhanligong/G431wuhanligong/Core/Protobuf/PSource/msp_DH_CAN_Remote.pb.h
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@ -0,0 +1,111 @@
/* Automatically generated nanopb header */
/* Generated by nanopb-0.4.8 */
#ifndef PB_MSP_DH_CAN_REMOTE_PB_H_INCLUDED
#define PB_MSP_DH_CAN_REMOTE_PB_H_INCLUDED
#include "pb.h"
#if PB_PROTO_HEADER_VERSION != 40
#error Regenerate this file with the current version of nanopb generator.
#endif
/* Struct definitions */
typedef struct _DH_CAN_Remote {
int32_t Front_Back_Move_Value;
int32_t Left_Right_Turn_Value;
int32_t Swing_Speed_Value; /* 摆臂速度 */
int32_t Swing_Angle_Value; /* 摆臂角度 */
int32_t Left_Compensation_Value; /* 左补偿 */
int32_t Right_Compensation_Value; /* 右补偿 */
int32_t Emergency_Stop; /* 急停 */
int32_t Move_Forward; /* 前进 */
int32_t Move_Backward; /* 后退 */
int32_t Move_Turn_Left; /* 左转 */
int32_t Move_Turn_Right; /* 右转 */
int32_t Vehicle_Speed; /* 车体速度 */
int32_t Mode_Selection; /* 模式选择 */
int32_t UpWards; /* 上升 */
int32_t DownWards; /* 下降 */
int32_t Increase; /* 增加后退距离的增加减少 */
int32_t Decrease; /* 增加后退距离的增加减少 */
int32_t Work_Start; /* 作业开启 */
int32_t Lane_Change; /* 换道 */
int32_t WireLessState; /* 无线状态 */
int32_t Swing_Left; /* 左摆 */
int32_t Swing_Right; /* 右摆 */
} DH_CAN_Remote;
#ifdef __cplusplus
extern "C" {
#endif
/* Initializer values for message structs */
#define DH_CAN_Remote_init_default {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
#define DH_CAN_Remote_init_zero {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
/* Field tags (for use in manual encoding/decoding) */
#define DH_CAN_Remote_Front_Back_Move_Value_tag 1
#define DH_CAN_Remote_Left_Right_Turn_Value_tag 2
#define DH_CAN_Remote_Swing_Speed_Value_tag 3
#define DH_CAN_Remote_Swing_Angle_Value_tag 4
#define DH_CAN_Remote_Left_Compensation_Value_tag 5
#define DH_CAN_Remote_Right_Compensation_Value_tag 6
#define DH_CAN_Remote_Emergency_Stop_tag 7
#define DH_CAN_Remote_Move_Forward_tag 8
#define DH_CAN_Remote_Move_Backward_tag 9
#define DH_CAN_Remote_Move_Turn_Left_tag 10
#define DH_CAN_Remote_Move_Turn_Right_tag 11
#define DH_CAN_Remote_Vehicle_Speed_tag 12
#define DH_CAN_Remote_Mode_Selection_tag 13
#define DH_CAN_Remote_UpWards_tag 14
#define DH_CAN_Remote_DownWards_tag 15
#define DH_CAN_Remote_Increase_tag 16
#define DH_CAN_Remote_Decrease_tag 17
#define DH_CAN_Remote_Work_Start_tag 18
#define DH_CAN_Remote_Lane_Change_tag 19
#define DH_CAN_Remote_WireLessState_tag 20
#define DH_CAN_Remote_Swing_Left_tag 21
#define DH_CAN_Remote_Swing_Right_tag 22
/* Struct field encoding specification for nanopb */
#define DH_CAN_Remote_FIELDLIST(X, a) \
X(a, STATIC, SINGULAR, INT32, Front_Back_Move_Value, 1) \
X(a, STATIC, SINGULAR, INT32, Left_Right_Turn_Value, 2) \
X(a, STATIC, SINGULAR, INT32, Swing_Speed_Value, 3) \
X(a, STATIC, SINGULAR, INT32, Swing_Angle_Value, 4) \
X(a, STATIC, SINGULAR, INT32, Left_Compensation_Value, 5) \
X(a, STATIC, SINGULAR, INT32, Right_Compensation_Value, 6) \
X(a, STATIC, SINGULAR, INT32, Emergency_Stop, 7) \
X(a, STATIC, SINGULAR, INT32, Move_Forward, 8) \
X(a, STATIC, SINGULAR, INT32, Move_Backward, 9) \
X(a, STATIC, SINGULAR, INT32, Move_Turn_Left, 10) \
X(a, STATIC, SINGULAR, INT32, Move_Turn_Right, 11) \
X(a, STATIC, SINGULAR, INT32, Vehicle_Speed, 12) \
X(a, STATIC, SINGULAR, INT32, Mode_Selection, 13) \
X(a, STATIC, SINGULAR, INT32, UpWards, 14) \
X(a, STATIC, SINGULAR, INT32, DownWards, 15) \
X(a, STATIC, SINGULAR, INT32, Increase, 16) \
X(a, STATIC, SINGULAR, INT32, Decrease, 17) \
X(a, STATIC, SINGULAR, INT32, Work_Start, 18) \
X(a, STATIC, SINGULAR, INT32, Lane_Change, 19) \
X(a, STATIC, SINGULAR, INT32, WireLessState, 20) \
X(a, STATIC, SINGULAR, INT32, Swing_Left, 21) \
X(a, STATIC, SINGULAR, INT32, Swing_Right, 22)
#define DH_CAN_Remote_CALLBACK NULL
#define DH_CAN_Remote_DEFAULT NULL
extern const pb_msgdesc_t DH_CAN_Remote_msg;
/* Defines for backwards compatibility with code written before nanopb-0.4.0 */
#define DH_CAN_Remote_fields &DH_CAN_Remote_msg
/* Maximum encoded size of messages (where known) */
#define DH_CAN_Remote_size 249
#define MSP_DH_CAN_REMOTE_PB_H_MAX_SIZE DH_CAN_Remote_size
#ifdef __cplusplus
} /* extern "C" */
#endif
#endif

12
wuhanligong/G431wuhanligong/Core/Protobuf/PSource/msp_DH_W_H.pb.c
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/* Automatically generated nanopb constant definitions */
/* Generated by nanopb-0.4.8 */
#include "msp_DH_W_H.pb.h"
#if PB_PROTO_HEADER_VERSION != 40
#error Regenerate this file with the current version of nanopb generator.
#endif
PB_BIND(SP_MSP_DH_Handset_Parameters, SP_MSP_DH_Handset_Parameters, AUTO)

102
wuhanligong/G431wuhanligong/Core/Protobuf/PSource/msp_DH_W_H.pb.h
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/* Automatically generated nanopb header */
/* Generated by nanopb-0.4.8 */
#ifndef PB_MSP_DH_W_H_PB_H_INCLUDED
#define PB_MSP_DH_W_H_PB_H_INCLUDED
#include "pb.h"
#if PB_PROTO_HEADER_VERSION != 40
#error Regenerate this file with the current version of nanopb generator.
#endif
/* Struct definitions */
typedef struct _SP_MSP_DH_Handset_Parameters {
int32_t For_Back_Value_X;
int32_t Left_Right_Value_Y;
int32_t for_flag;
int32_t back_flag;
int32_t left_flag;
int32_t right_flag;
int32_t Rise_down_X;
int32_t Turn_Left_Right_Y;
int32_t EMERGENCY_STOP;
int32_t working_start;
int32_t working_stop;
int32_t Vertical_change_road_up;
int32_t Vertical_change_road_down;
int32_t Vertical_change_road_finish_flag;
int32_t test_start;
int32_t test_stop;
int32_t open;
int32_t close;
int32_t motor_speed_level;
} SP_MSP_DH_Handset_Parameters;
#ifdef __cplusplus
extern "C" {
#endif
/* Initializer values for message structs */
#define SP_MSP_DH_Handset_Parameters_init_default {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
#define SP_MSP_DH_Handset_Parameters_init_zero {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
/* Field tags (for use in manual encoding/decoding) */
#define SP_MSP_DH_Handset_Parameters_For_Back_Value_X_tag 1
#define SP_MSP_DH_Handset_Parameters_Left_Right_Value_Y_tag 2
#define SP_MSP_DH_Handset_Parameters_for_flag_tag 3
#define SP_MSP_DH_Handset_Parameters_back_flag_tag 4
#define SP_MSP_DH_Handset_Parameters_left_flag_tag 5
#define SP_MSP_DH_Handset_Parameters_right_flag_tag 6
#define SP_MSP_DH_Handset_Parameters_Rise_down_X_tag 7
#define SP_MSP_DH_Handset_Parameters_Turn_Left_Right_Y_tag 8
#define SP_MSP_DH_Handset_Parameters_EMERGENCY_STOP_tag 9
#define SP_MSP_DH_Handset_Parameters_working_start_tag 10
#define SP_MSP_DH_Handset_Parameters_working_stop_tag 11
#define SP_MSP_DH_Handset_Parameters_Vertical_change_road_up_tag 12
#define SP_MSP_DH_Handset_Parameters_Vertical_change_road_down_tag 13
#define SP_MSP_DH_Handset_Parameters_Vertical_change_road_finish_flag_tag 14
#define SP_MSP_DH_Handset_Parameters_test_start_tag 15
#define SP_MSP_DH_Handset_Parameters_test_stop_tag 16
#define SP_MSP_DH_Handset_Parameters_open_tag 17
#define SP_MSP_DH_Handset_Parameters_close_tag 18
#define SP_MSP_DH_Handset_Parameters_motor_speed_level_tag 19
/* Struct field encoding specification for nanopb */
#define SP_MSP_DH_Handset_Parameters_FIELDLIST(X, a) \
X(a, STATIC, SINGULAR, INT32, For_Back_Value_X, 1) \
X(a, STATIC, SINGULAR, INT32, Left_Right_Value_Y, 2) \
X(a, STATIC, SINGULAR, INT32, for_flag, 3) \
X(a, STATIC, SINGULAR, INT32, back_flag, 4) \
X(a, STATIC, SINGULAR, INT32, left_flag, 5) \
X(a, STATIC, SINGULAR, INT32, right_flag, 6) \
X(a, STATIC, SINGULAR, INT32, Rise_down_X, 7) \
X(a, STATIC, SINGULAR, INT32, Turn_Left_Right_Y, 8) \
X(a, STATIC, SINGULAR, INT32, EMERGENCY_STOP, 9) \
X(a, STATIC, SINGULAR, INT32, working_start, 10) \
X(a, STATIC, SINGULAR, INT32, working_stop, 11) \
X(a, STATIC, SINGULAR, INT32, Vertical_change_road_up, 12) \
X(a, STATIC, SINGULAR, INT32, Vertical_change_road_down, 13) \
X(a, STATIC, SINGULAR, INT32, Vertical_change_road_finish_flag, 14) \
X(a, STATIC, SINGULAR, INT32, test_start, 15) \
X(a, STATIC, SINGULAR, INT32, test_stop, 16) \
X(a, STATIC, SINGULAR, INT32, open, 17) \
X(a, STATIC, SINGULAR, INT32, close, 18) \
X(a, STATIC, SINGULAR, INT32, motor_speed_level, 19)
#define SP_MSP_DH_Handset_Parameters_CALLBACK NULL
#define SP_MSP_DH_Handset_Parameters_DEFAULT NULL
extern const pb_msgdesc_t SP_MSP_DH_Handset_Parameters_msg;
/* Defines for backwards compatibility with code written before nanopb-0.4.0 */
#define SP_MSP_DH_Handset_Parameters_fields &SP_MSP_DH_Handset_Parameters_msg
/* Maximum encoded size of messages (where known) */
#define MSP_DH_W_H_PB_H_MAX_SIZE SP_MSP_DH_Handset_Parameters_size
#define SP_MSP_DH_Handset_Parameters_size 213
#ifdef __cplusplus
} /* extern "C" */
#endif
#endif

12
wuhanligong/G431wuhanligong/Core/Protobuf/PSource/msp_KS206.pb.c
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/* Automatically generated nanopb constant definitions */
/* Generated by nanopb-0.4.8 */
#include "msp_KS206.pb.h"
#if PB_PROTO_HEADER_VERSION != 40
#error Regenerate this file with the current version of nanopb generator.
#endif
PB_BIND(KS206_struct_define, KS206_struct_define, AUTO)

51
wuhanligong/G431wuhanligong/Core/Protobuf/PSource/msp_KS206.pb.h
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/* Automatically generated nanopb header */
/* Generated by nanopb-0.4.8 */
#ifndef PB_MSP_KS206_PB_H_INCLUDED
#define PB_MSP_KS206_PB_H_INCLUDED
#include "pb.h"
#if PB_PROTO_HEADER_VERSION != 40
#error Regenerate this file with the current version of nanopb generator.
#endif
/* Struct definitions */
typedef struct _KS206_struct_define {
int32_t KS206_1_Measuring_Distance;
int32_t KS206_2_Measuring_Distance;
} KS206_struct_define;
#ifdef __cplusplus
extern "C" {
#endif
/* Initializer values for message structs */
#define KS206_struct_define_init_default {0, 0}
#define KS206_struct_define_init_zero {0, 0}
/* Field tags (for use in manual encoding/decoding) */
#define KS206_struct_define_KS206_1_Measuring_Distance_tag 1
#define KS206_struct_define_KS206_2_Measuring_Distance_tag 2
/* Struct field encoding specification for nanopb */
#define KS206_struct_define_FIELDLIST(X, a) \
X(a, STATIC, SINGULAR, INT32, KS206_1_Measuring_Distance, 1) \
X(a, STATIC, SINGULAR, INT32, KS206_2_Measuring_Distance, 2)
#define KS206_struct_define_CALLBACK NULL
#define KS206_struct_define_DEFAULT NULL
extern const pb_msgdesc_t KS206_struct_define_msg;
/* Defines for backwards compatibility with code written before nanopb-0.4.0 */
#define KS206_struct_define_fields &KS206_struct_define_msg
/* Maximum encoded size of messages (where known) */
#define KS206_struct_define_size 22
#define MSP_KS206_PB_H_MAX_SIZE KS206_struct_define_size
#ifdef __cplusplus
} /* extern "C" */
#endif
#endif

23
wuhanligong/G431wuhanligong/Core/Protobuf/PSource/msp_LD150_I.pb.c
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@ -0,0 +1,23 @@
/* Automatically generated nanopb constant definitions */
/* Generated by nanopb-0.4.8 */
#include "msp_LD150_I.pb.h"
#if PB_PROTO_HEADER_VERSION != 40
#error Regenerate this file with the current version of nanopb generator.
#endif
PB_BIND(location, location, AUTO)
PB_BIND(LD150_struct_define, LD150_struct_define, AUTO)
#ifndef PB_CONVERT_DOUBLE_FLOAT
/* On some platforms (such as AVR), double is really float.
* To be able to encode/decode double on these platforms, you need.
* to define PB_CONVERT_DOUBLE_FLOAT in pb.h or compiler command line.
*/
PB_STATIC_ASSERT(sizeof(double) == 8, DOUBLE_MUST_BE_8_BYTES)
#endif

82
wuhanligong/G431wuhanligong/Core/Protobuf/PSource/msp_LD150_I.pb.h
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/* Automatically generated nanopb header */
/* Generated by nanopb-0.4.8 */
#ifndef PB_MSP_LD150_I_PB_H_INCLUDED
#define PB_MSP_LD150_I_PB_H_INCLUDED
#include "pb.h"
#if PB_PROTO_HEADER_VERSION != 40
#error Regenerate this file with the current version of nanopb generator.
#endif
/* Struct definitions */
typedef struct _location {
double x;
double y;
} location;
typedef struct _LD150_struct_define {
int32_t TagToAnc0;
int32_t TagToAnc1;
int32_t TagToAnc2;
bool has_location_anc;
location location_anc;
bool has_location_tag;
location location_tag;
} LD150_struct_define;
#ifdef __cplusplus
extern "C" {
#endif
/* Initializer values for message structs */
#define location_init_default {0, 0}
#define LD150_struct_define_init_default {0, 0, 0, false, location_init_default, false, location_init_default}
#define location_init_zero {0, 0}
#define LD150_struct_define_init_zero {0, 0, 0, false, location_init_zero, false, location_init_zero}
/* Field tags (for use in manual encoding/decoding) */
#define location_x_tag 1
#define location_y_tag 2
#define LD150_struct_define_TagToAnc0_tag 1
#define LD150_struct_define_TagToAnc1_tag 2
#define LD150_struct_define_TagToAnc2_tag 3
#define LD150_struct_define_location_anc_tag 4
#define LD150_struct_define_location_tag_tag 5
/* Struct field encoding specification for nanopb */
#define location_FIELDLIST(X, a) \
X(a, STATIC, SINGULAR, DOUBLE, x, 1) \
X(a, STATIC, SINGULAR, DOUBLE, y, 2)
#define location_CALLBACK NULL
#define location_DEFAULT NULL
#define LD150_struct_define_FIELDLIST(X, a) \
X(a, STATIC, SINGULAR, INT32, TagToAnc0, 1) \
X(a, STATIC, SINGULAR, INT32, TagToAnc1, 2) \
X(a, STATIC, SINGULAR, INT32, TagToAnc2, 3) \
X(a, STATIC, OPTIONAL, MESSAGE, location_anc, 4) \
X(a, STATIC, OPTIONAL, MESSAGE, location_tag, 5)
#define LD150_struct_define_CALLBACK NULL
#define LD150_struct_define_DEFAULT NULL
#define LD150_struct_define_location_anc_MSGTYPE location
#define LD150_struct_define_location_tag_MSGTYPE location
extern const pb_msgdesc_t location_msg;
extern const pb_msgdesc_t LD150_struct_define_msg;
/* Defines for backwards compatibility with code written before nanopb-0.4.0 */
#define location_fields &location_msg
#define LD150_struct_define_fields &LD150_struct_define_msg
/* Maximum encoded size of messages (where known) */
#define LD150_struct_define_size 73
#define MSP_LD150_I_PB_H_MAX_SIZE LD150_struct_define_size
#define location_size 18
#ifdef __cplusplus
} /* extern "C" */
#endif
#endif

12
wuhanligong/G431wuhanligong/Core/Protobuf/PSource/msp_LGUB500.pb.c
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/* Automatically generated nanopb constant definitions */
/* Generated by nanopb-0.4.8 */
#include "msp_LGUB500.pb.h"
#if PB_PROTO_HEADER_VERSION != 40
#error Regenerate this file with the current version of nanopb generator.
#endif
PB_BIND(LGUB500_struct_define, LGUB500_struct_define, AUTO)

51
wuhanligong/G431wuhanligong/Core/Protobuf/PSource/msp_LGUB500.pb.h
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@ -0,0 +1,51 @@
/* Automatically generated nanopb header */
/* Generated by nanopb-0.4.8 */
#ifndef PB_MSP_LGUB500_PB_H_INCLUDED
#define PB_MSP_LGUB500_PB_H_INCLUDED
#include "pb.h"
#if PB_PROTO_HEADER_VERSION != 40
#error Regenerate this file with the current version of nanopb generator.
#endif
/* Struct definitions */
typedef struct _LGUB500_struct_define {
int32_t LGUB500_1_Distance_mm;
int32_t LGUB500_2_Distance_mm;
} LGUB500_struct_define;
#ifdef __cplusplus
extern "C" {
#endif
/* Initializer values for message structs */
#define LGUB500_struct_define_init_default {0, 0}
#define LGUB500_struct_define_init_zero {0, 0}
/* Field tags (for use in manual encoding/decoding) */
#define LGUB500_struct_define_LGUB500_1_Distance_mm_tag 1
#define LGUB500_struct_define_LGUB500_2_Distance_mm_tag 2
/* Struct field encoding specification for nanopb */
#define LGUB500_struct_define_FIELDLIST(X, a) \
X(a, STATIC, SINGULAR, INT32, LGUB500_1_Distance_mm, 1) \
X(a, STATIC, SINGULAR, INT32, LGUB500_2_Distance_mm, 2)
#define LGUB500_struct_define_CALLBACK NULL
#define LGUB500_struct_define_DEFAULT NULL
extern const pb_msgdesc_t LGUB500_struct_define_msg;
/* Defines for backwards compatibility with code written before nanopb-0.4.0 */
#define LGUB500_struct_define_fields &LGUB500_struct_define_msg
/* Maximum encoded size of messages (where known) */
#define LGUB500_struct_define_size 22
#define MSP_LGUB500_PB_H_MAX_SIZE LGUB500_struct_define_size
#ifdef __cplusplus
} /* extern "C" */
#endif
#endif

12
wuhanligong/G431wuhanligong/Core/Protobuf/PSource/msp_LeiSai_ISV2CAN.pb.c
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/* Automatically generated nanopb constant definitions */
/* Generated by nanopb-0.4.8 */
#include "msp_LeiSai_ISV2CAN.pb.h"
#if PB_PROTO_HEADER_VERSION != 40
#error Regenerate this file with the current version of nanopb generator.
#endif
PB_BIND(ISV_MotorParameters, ISV_MotorParameters, AUTO)

75
wuhanligong/G431wuhanligong/Core/Protobuf/PSource/msp_LeiSai_ISV2CAN.pb.h
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/* Automatically generated nanopb header */
/* Generated by nanopb-0.4.8 */
#ifndef PB_MSP_LEISAI_ISV2CAN_PB_H_INCLUDED
#define PB_MSP_LEISAI_ISV2CAN_PB_H_INCLUDED
#include "pb.h"
#if PB_PROTO_HEADER_VERSION != 40
#error Regenerate this file with the current version of nanopb generator.
#endif
/* Struct definitions */
typedef struct _ISV_MotorParameters {
int32_t MotorID;
int32_t Real_Current;
int32_t Target_Current;
int32_t Real_Velcity;
int32_t Target_Velcity;
int32_t Target_Position;
int32_t Real_Position;
int32_t TT_Motor_Fault;
int32_t AccTime;
int32_t DecTime;
} ISV_MotorParameters;
#ifdef __cplusplus
extern "C" {
#endif
/* Initializer values for message structs */
#define ISV_MotorParameters_init_default {0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
#define ISV_MotorParameters_init_zero {0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
/* Field tags (for use in manual encoding/decoding) */
#define ISV_MotorParameters_MotorID_tag 1
#define ISV_MotorParameters_Real_Current_tag 2
#define ISV_MotorParameters_Target_Current_tag 3
#define ISV_MotorParameters_Real_Velcity_tag 4
#define ISV_MotorParameters_Target_Velcity_tag 5
#define ISV_MotorParameters_Target_Position_tag 6
#define ISV_MotorParameters_Real_Position_tag 7
#define ISV_MotorParameters_TT_Motor_Fault_tag 8
#define ISV_MotorParameters_AccTime_tag 37
#define ISV_MotorParameters_DecTime_tag 38
/* Struct field encoding specification for nanopb */
#define ISV_MotorParameters_FIELDLIST(X, a) \
X(a, STATIC, SINGULAR, INT32, MotorID, 1) \
X(a, STATIC, SINGULAR, INT32, Real_Current, 2) \
X(a, STATIC, SINGULAR, INT32, Target_Current, 3) \
X(a, STATIC, SINGULAR, INT32, Real_Velcity, 4) \
X(a, STATIC, SINGULAR, INT32, Target_Velcity, 5) \
X(a, STATIC, SINGULAR, INT32, Target_Position, 6) \
X(a, STATIC, SINGULAR, INT32, Real_Position, 7) \
X(a, STATIC, SINGULAR, INT32, TT_Motor_Fault, 8) \
X(a, STATIC, SINGULAR, INT32, AccTime, 37) \
X(a, STATIC, SINGULAR, INT32, DecTime, 38)
#define ISV_MotorParameters_CALLBACK NULL
#define ISV_MotorParameters_DEFAULT NULL
extern const pb_msgdesc_t ISV_MotorParameters_msg;
/* Defines for backwards compatibility with code written before nanopb-0.4.0 */
#define ISV_MotorParameters_fields &ISV_MotorParameters_msg
/* Maximum encoded size of messages (where known) */
#define ISV_MotorParameters_size 112
#define MSP_LEISAI_ISV2CAN_PB_H_MAX_SIZE ISV_MotorParameters_size
#ifdef __cplusplus
} /* extern "C" */
#endif
#endif

20
wuhanligong/G431wuhanligong/Core/Protobuf/PSource/msp_MFOG40_Gyroscope.pb.c
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/* Automatically generated nanopb constant definitions */
/* Generated by nanopb-0.4.8 */
#include "msp_MFOG40_Gyroscope.pb.h"
#if PB_PROTO_HEADER_VERSION != 40
#error Regenerate this file with the current version of nanopb generator.
#endif
PB_BIND(MFOG40_Gyro_struct_define, MFOG40_Gyro_struct_define, AUTO)
#ifndef PB_CONVERT_DOUBLE_FLOAT
/* On some platforms (such as AVR), double is really float.
* To be able to encode/decode double on these platforms, you need.
* to define PB_CONVERT_DOUBLE_FLOAT in pb.h or compiler command line.
*/
PB_STATIC_ASSERT(sizeof(double) == 8, DOUBLE_MUST_BE_8_BYTES)
#endif

54
wuhanligong/G431wuhanligong/Core/Protobuf/PSource/msp_MFOG40_Gyroscope.pb.h
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/* Automatically generated nanopb header */
/* Generated by nanopb-0.4.8 */
#ifndef PB_MSP_MFOG40_GYROSCOPE_PB_H_INCLUDED
#define PB_MSP_MFOG40_GYROSCOPE_PB_H_INCLUDED
#include "pb.h"
#if PB_PROTO_HEADER_VERSION != 40
#error Regenerate this file with the current version of nanopb generator.
#endif
/* Struct definitions */
typedef struct _MFOG40_Gyro_struct_define {
int32_t gyro_angularvel;
double gyro_angular;
int32_t gyro_temper;
} MFOG40_Gyro_struct_define;
#ifdef __cplusplus
extern "C" {
#endif
/* Initializer values for message structs */
#define MFOG40_Gyro_struct_define_init_default {0, 0, 0}
#define MFOG40_Gyro_struct_define_init_zero {0, 0, 0}
/* Field tags (for use in manual encoding/decoding) */
#define MFOG40_Gyro_struct_define_gyro_angularvel_tag 1
#define MFOG40_Gyro_struct_define_gyro_angular_tag 2
#define MFOG40_Gyro_struct_define_gyro_temper_tag 3
/* Struct field encoding specification for nanopb */
#define MFOG40_Gyro_struct_define_FIELDLIST(X, a) \
X(a, STATIC, SINGULAR, INT32, gyro_angularvel, 1) \
X(a, STATIC, SINGULAR, DOUBLE, gyro_angular, 2) \
X(a, STATIC, SINGULAR, INT32, gyro_temper, 3)
#define MFOG40_Gyro_struct_define_CALLBACK NULL
#define MFOG40_Gyro_struct_define_DEFAULT NULL
extern const pb_msgdesc_t MFOG40_Gyro_struct_define_msg;
/* Defines for backwards compatibility with code written before nanopb-0.4.0 */
#define MFOG40_Gyro_struct_define_fields &MFOG40_Gyro_struct_define_msg
/* Maximum encoded size of messages (where known) */
#define MFOG40_Gyro_struct_define_size 31
#define MSP_MFOG40_GYROSCOPE_PB_H_MAX_SIZE MFOG40_Gyro_struct_define_size
#ifdef __cplusplus
} /* extern "C" */
#endif
#endif

12
wuhanligong/G431wuhanligong/Core/Protobuf/PSource/msp_MK32.pb.c
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/* Automatically generated nanopb constant definitions */
/* Generated by nanopb-0.4.8 */
#include "msp_MK32.pb.h"
#if PB_PROTO_HEADER_VERSION != 40
#error Regenerate this file with the current version of nanopb generator.
#endif
PB_BIND(SP_MSP_MK32_Button, SP_MSP_MK32_Button, AUTO)

99
wuhanligong/G431wuhanligong/Core/Protobuf/PSource/msp_MK32.pb.h
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/* Automatically generated nanopb header */
/* Generated by nanopb-0.4.8 */
#ifndef PB_MSP_MK32_PB_H_INCLUDED
#define PB_MSP_MK32_PB_H_INCLUDED
#include "pb.h"
#if PB_PROTO_HEADER_VERSION != 40
#error Regenerate this file with the current version of nanopb generator.
#endif
/* Struct definitions */
typedef struct _SP_MSP_MK32_Button {
int32_t RxIndex;
int32_t CH0_RY_H;
int32_t CH1_RY_V;
int32_t CH2_LY_V;
int32_t CH3_LY_H;
int32_t CH4_SA;
int32_t CH5_SB;
int32_t CH6_SC;
int32_t CH7_SD;
int32_t CH8_SE;
int32_t CH9_SF;
int32_t CH10_LD1;
int32_t CH11_RD1;
int32_t CH12_S1;
int32_t CH13_S2;
int32_t CH14_LT;
int32_t CH15_RT;
int32_t IsOnline;
} SP_MSP_MK32_Button;
#ifdef __cplusplus
extern "C" {
#endif
/* Initializer values for message structs */
#define SP_MSP_MK32_Button_init_default {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
#define SP_MSP_MK32_Button_init_zero {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
/* Field tags (for use in manual encoding/decoding) */
#define SP_MSP_MK32_Button_RxIndex_tag 1
#define SP_MSP_MK32_Button_CH0_RY_H_tag 2
#define SP_MSP_MK32_Button_CH1_RY_V_tag 3
#define SP_MSP_MK32_Button_CH2_LY_V_tag 4
#define SP_MSP_MK32_Button_CH3_LY_H_tag 5
#define SP_MSP_MK32_Button_CH4_SA_tag 6
#define SP_MSP_MK32_Button_CH5_SB_tag 7
#define SP_MSP_MK32_Button_CH6_SC_tag 8
#define SP_MSP_MK32_Button_CH7_SD_tag 9
#define SP_MSP_MK32_Button_CH8_SE_tag 10
#define SP_MSP_MK32_Button_CH9_SF_tag 11
#define SP_MSP_MK32_Button_CH10_LD1_tag 12
#define SP_MSP_MK32_Button_CH11_RD1_tag 13
#define SP_MSP_MK32_Button_CH12_S1_tag 14
#define SP_MSP_MK32_Button_CH13_S2_tag 15
#define SP_MSP_MK32_Button_CH14_LT_tag 16
#define SP_MSP_MK32_Button_CH15_RT_tag 17
#define SP_MSP_MK32_Button_IsOnline_tag 18
/* Struct field encoding specification for nanopb */
#define SP_MSP_MK32_Button_FIELDLIST(X, a) \
X(a, STATIC, SINGULAR, INT32, RxIndex, 1) \
X(a, STATIC, SINGULAR, INT32, CH0_RY_H, 2) \
X(a, STATIC, SINGULAR, INT32, CH1_RY_V, 3) \
X(a, STATIC, SINGULAR, INT32, CH2_LY_V, 4) \
X(a, STATIC, SINGULAR, INT32, CH3_LY_H, 5) \
X(a, STATIC, SINGULAR, INT32, CH4_SA, 6) \
X(a, STATIC, SINGULAR, INT32, CH5_SB, 7) \
X(a, STATIC, SINGULAR, INT32, CH6_SC, 8) \
X(a, STATIC, SINGULAR, INT32, CH7_SD, 9) \
X(a, STATIC, SINGULAR, INT32, CH8_SE, 10) \
X(a, STATIC, SINGULAR, INT32, CH9_SF, 11) \
X(a, STATIC, SINGULAR, INT32, CH10_LD1, 12) \
X(a, STATIC, SINGULAR, INT32, CH11_RD1, 13) \
X(a, STATIC, SINGULAR, INT32, CH12_S1, 14) \
X(a, STATIC, SINGULAR, INT32, CH13_S2, 15) \
X(a, STATIC, SINGULAR, INT32, CH14_LT, 16) \
X(a, STATIC, SINGULAR, INT32, CH15_RT, 17) \
X(a, STATIC, SINGULAR, INT32, IsOnline, 18)
#define SP_MSP_MK32_Button_CALLBACK NULL
#define SP_MSP_MK32_Button_DEFAULT NULL
extern const pb_msgdesc_t SP_MSP_MK32_Button_msg;
/* Defines for backwards compatibility with code written before nanopb-0.4.0 */
#define SP_MSP_MK32_Button_fields &SP_MSP_MK32_Button_msg
/* Maximum encoded size of messages (where known) */
#define MSP_MK32_PB_H_MAX_SIZE SP_MSP_MK32_Button_size
#define SP_MSP_MK32_Button_size 201
#ifdef __cplusplus
} /* extern "C" */
#endif
#endif

12
wuhanligong/G431wuhanligong/Core/Protobuf/PSource/msp_MPU6050.pb.c
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/* Automatically generated nanopb constant definitions */
/* Generated by nanopb-0.4.8 */
#include "msp_MPU6050.pb.h"
#if PB_PROTO_HEADER_VERSION != 40
#error Regenerate this file with the current version of nanopb generator.
#endif
PB_BIND(SP_BSP_MPU6050, SP_BSP_MPU6050, AUTO)

69
wuhanligong/G431wuhanligong/Core/Protobuf/PSource/msp_MPU6050.pb.h
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/* Automatically generated nanopb header */
/* Generated by nanopb-0.4.8 */
#ifndef PB_MSP_MPU6050_PB_H_INCLUDED
#define PB_MSP_MPU6050_PB_H_INCLUDED
#include "pb.h"
#if PB_PROTO_HEADER_VERSION != 40
#error Regenerate this file with the current version of nanopb generator.
#endif
/* Struct definitions */
typedef struct _SP_BSP_MPU6050 {
int32_t MPU_Pitch; /* 10 */
int32_t MPU_Roll;
int32_t MPU_Gro_X;
int32_t MPU_Gro_Y;
int32_t MPU_Gro_Z;
int32_t MPU_Acc_X;
int32_t MPU_Acc_Y;
int32_t MPU_Acc_Z;
} SP_BSP_MPU6050;
#ifdef __cplusplus
extern "C" {
#endif
/* Initializer values for message structs */
#define SP_BSP_MPU6050_init_default {0, 0, 0, 0, 0, 0, 0, 0}
#define SP_BSP_MPU6050_init_zero {0, 0, 0, 0, 0, 0, 0, 0}
/* Field tags (for use in manual encoding/decoding) */
#define SP_BSP_MPU6050_MPU_Pitch_tag 1
#define SP_BSP_MPU6050_MPU_Roll_tag 2
#define SP_BSP_MPU6050_MPU_Gro_X_tag 3
#define SP_BSP_MPU6050_MPU_Gro_Y_tag 4
#define SP_BSP_MPU6050_MPU_Gro_Z_tag 5
#define SP_BSP_MPU6050_MPU_Acc_X_tag 6
#define SP_BSP_MPU6050_MPU_Acc_Y_tag 7
#define SP_BSP_MPU6050_MPU_Acc_Z_tag 8
/* Struct field encoding specification for nanopb */
#define SP_BSP_MPU6050_FIELDLIST(X, a) \
X(a, STATIC, SINGULAR, INT32, MPU_Pitch, 1) \
X(a, STATIC, SINGULAR, INT32, MPU_Roll, 2) \
X(a, STATIC, SINGULAR, INT32, MPU_Gro_X, 3) \
X(a, STATIC, SINGULAR, INT32, MPU_Gro_Y, 4) \
X(a, STATIC, SINGULAR, INT32, MPU_Gro_Z, 5) \
X(a, STATIC, SINGULAR, INT32, MPU_Acc_X, 6) \
X(a, STATIC, SINGULAR, INT32, MPU_Acc_Y, 7) \
X(a, STATIC, SINGULAR, INT32, MPU_Acc_Z, 8)
#define SP_BSP_MPU6050_CALLBACK NULL
#define SP_BSP_MPU6050_DEFAULT NULL
extern const pb_msgdesc_t SP_BSP_MPU6050_msg;
/* Defines for backwards compatibility with code written before nanopb-0.4.0 */
#define SP_BSP_MPU6050_fields &SP_BSP_MPU6050_msg
/* Maximum encoded size of messages (where known) */
#define MSP_MPU6050_PB_H_MAX_SIZE SP_BSP_MPU6050_size
#define SP_BSP_MPU6050_size 88
#ifdef __cplusplus
} /* extern "C" */
#endif
#endif

12
wuhanligong/G431wuhanligong/Core/Protobuf/PSource/msp_Motor.pb.c
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/* Automatically generated nanopb constant definitions */
/* Generated by nanopb-0.4.8 */
#include "msp_Motor.pb.h"
#if PB_PROTO_HEADER_VERSION != 40
#error Regenerate this file with the current version of nanopb generator.
#endif
PB_BIND(MotorParameters, MotorParameters, AUTO)

91
wuhanligong/G431wuhanligong/Core/Protobuf/PSource/msp_Motor.pb.h
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/* Automatically generated nanopb header */
/* Generated by nanopb-0.4.8 */
#ifndef PB_MSP_MOTOR_PB_H_INCLUDED
#define PB_MSP_MOTOR_PB_H_INCLUDED
#include "pb.h"
#if PB_PROTO_HEADER_VERSION != 40
#error Regenerate this file with the current version of nanopb generator.
#endif
/* Struct definitions */
typedef struct _MotorParameters {
int32_t MotorID;
int32_t RxIndex;
int32_t Run_Mode;
int32_t Current;
int32_t Target_Current;
int32_t Velcity;
int32_t Target_Velcity;
int32_t Position;
int32_t Target_Position;
int32_t ERROR_Flag;
int32_t Temperature_Motor;
int32_t Temperature_PCB;
int32_t AccTime;
int32_t DecTime;
int32_t EncoderOffset; /* 53 83 设置位置偏移 int32_t "设置偏移值和目标位置
（目标位置=编码器位置 - 偏移值）" */
} MotorParameters;
#ifdef __cplusplus
extern "C" {
#endif
/* Initializer values for message structs */
#define MotorParameters_init_default {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
#define MotorParameters_init_zero {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
/* Field tags (for use in manual encoding/decoding) */
#define MotorParameters_MotorID_tag 1
#define MotorParameters_RxIndex_tag 2
#define MotorParameters_Run_Mode_tag 3
#define MotorParameters_Current_tag 4
#define MotorParameters_Target_Current_tag 5
#define MotorParameters_Velcity_tag 6
#define MotorParameters_Target_Velcity_tag 7
#define MotorParameters_Position_tag 8
#define MotorParameters_Target_Position_tag 9
#define MotorParameters_ERROR_Flag_tag 10
#define MotorParameters_Temperature_Motor_tag 11
#define MotorParameters_Temperature_PCB_tag 12
#define MotorParameters_AccTime_tag 13
#define MotorParameters_DecTime_tag 14
#define MotorParameters_EncoderOffset_tag 15
/* Struct field encoding specification for nanopb */
#define MotorParameters_FIELDLIST(X, a) \
X(a, STATIC, SINGULAR, INT32, MotorID, 1) \
X(a, STATIC, SINGULAR, INT32, RxIndex, 2) \
X(a, STATIC, SINGULAR, INT32, Run_Mode, 3) \
X(a, STATIC, SINGULAR, INT32, Current, 4) \
X(a, STATIC, SINGULAR, INT32, Target_Current, 5) \
X(a, STATIC, SINGULAR, INT32, Velcity, 6) \
X(a, STATIC, SINGULAR, INT32, Target_Velcity, 7) \
X(a, STATIC, SINGULAR, INT32, Position, 8) \
X(a, STATIC, SINGULAR, INT32, Target_Position, 9) \
X(a, STATIC, SINGULAR, INT32, ERROR_Flag, 10) \
X(a, STATIC, SINGULAR, INT32, Temperature_Motor, 11) \
X(a, STATIC, SINGULAR, INT32, Temperature_PCB, 12) \
X(a, STATIC, SINGULAR, INT32, AccTime, 13) \
X(a, STATIC, SINGULAR, INT32, DecTime, 14) \
X(a, STATIC, SINGULAR, INT32, EncoderOffset, 15)
#define MotorParameters_CALLBACK NULL
#define MotorParameters_DEFAULT NULL
extern const pb_msgdesc_t MotorParameters_msg;
/* Defines for backwards compatibility with code written before nanopb-0.4.0 */
#define MotorParameters_fields &MotorParameters_msg
/* Maximum encoded size of messages (where known) */
#define MSP_MOTOR_PB_H_MAX_SIZE MotorParameters_size
#define MotorParameters_size 165
#ifdef __cplusplus
} /* extern "C" */
#endif
#endif

12
wuhanligong/G431wuhanligong/Core/Protobuf/PSource/msp_SavedMotorParameters.pb.c
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/* Automatically generated nanopb constant definitions */
/* Generated by nanopb-0.4.8 */
#include "msp_SavedMotorParameters.pb.h"
#if PB_PROTO_HEADER_VERSION != 40
#error Regenerate this file with the current version of nanopb generator.
#endif
PB_BIND(SavedMotorParameters, SavedMotorParameters, AUTO)

62
wuhanligong/G431wuhanligong/Core/Protobuf/PSource/msp_SavedMotorParameters.pb.h
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/* Automatically generated nanopb header */
/* Generated by nanopb-0.4.8 */
#ifndef PB_MSP_SAVEDMOTORPARAMETERS_PB_H_INCLUDED
#define PB_MSP_SAVEDMOTORPARAMETERS_PB_H_INCLUDED
#include "pb.h"
#include "msp_MK32.pb.h"
#include "msp_Motor.pb.h"
#include "msp_DH_CAN_Remote.pb.h"
#include "msp_MPU6050.pb.h"
#include "msp_ZQ_MotorParameters.pb.h"
#if PB_PROTO_HEADER_VERSION != 40
#error Regenerate this file with the current version of nanopb generator.
#endif
/* Struct definitions */
typedef struct _SavedMotorParameters {
int32_t AccTime;
int32_t DecTime;
int32_t TargetSpeed;
int32_t MotorID;
} SavedMotorParameters;
#ifdef __cplusplus
extern "C" {
#endif
/* Initializer values for message structs */
#define SavedMotorParameters_init_default {0, 0, 0, 0}
#define SavedMotorParameters_init_zero {0, 0, 0, 0}
/* Field tags (for use in manual encoding/decoding) */
#define SavedMotorParameters_AccTime_tag 1
#define SavedMotorParameters_DecTime_tag 2
#define SavedMotorParameters_TargetSpeed_tag 3
#define SavedMotorParameters_MotorID_tag 4
/* Struct field encoding specification for nanopb */
#define SavedMotorParameters_FIELDLIST(X, a) \
X(a, STATIC, SINGULAR, INT32, AccTime, 1) \
X(a, STATIC, SINGULAR, INT32, DecTime, 2) \
X(a, STATIC, SINGULAR, INT32, TargetSpeed, 3) \
X(a, STATIC, SINGULAR, INT32, MotorID, 4)
#define SavedMotorParameters_CALLBACK NULL
#define SavedMotorParameters_DEFAULT NULL
extern const pb_msgdesc_t SavedMotorParameters_msg;
/* Defines for backwards compatibility with code written before nanopb-0.4.0 */
#define SavedMotorParameters_fields &SavedMotorParameters_msg
/* Maximum encoded size of messages (where known) */
#define MSP_SAVEDMOTORPARAMETERS_PB_H_MAX_SIZE SavedMotorParameters_size
#define SavedMotorParameters_size 44
#ifdef __cplusplus
} /* extern "C" */
#endif
#endif

12
wuhanligong/G431wuhanligong/Core/Protobuf/PSource/msp_TL720D.pb.c
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/* Automatically generated nanopb constant definitions */
/* Generated by nanopb-0.4.8 */
#include "msp_TL720D.pb.h"
#if PB_PROTO_HEADER_VERSION != 40
#error Regenerate this file with the current version of nanopb generator.
#endif
PB_BIND(MSP_TL720DParameters, MSP_TL720DParameters, AUTO)

72
wuhanligong/G431wuhanligong/Core/Protobuf/PSource/msp_TL720D.pb.h
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/* Automatically generated nanopb header */
/* Generated by nanopb-0.4.8 */
#ifndef PB_MSP_TL720D_PB_H_INCLUDED
#define PB_MSP_TL720D_PB_H_INCLUDED
#include "pb.h"
#if PB_PROTO_HEADER_VERSION != 40
#error Regenerate this file with the current version of nanopb generator.
#endif
/* Struct definitions */
typedef struct _MSP_TL720DParameters {
int32_t RF_Angle_Roll; /* 横滚角 */
int32_t RF_Angle_Pitch; /* 俯仰角 */
int32_t RF_Angle_Yaw; /* 航向角 */
int32_t RF_Acc_X; /* X轴加速度 */
int32_t RF_Acc_Y; /* Y轴加速度 */
int32_t RF_Acc_Z; /* Z轴加速度 */
int32_t RF_Gro_X; /* X轴陀螺 */
int32_t RF_Gro_Y; /* Y轴陀螺 */
int32_t RF_Gro_Z; /* Z轴陀螺 */
} MSP_TL720DParameters;
#ifdef __cplusplus
extern "C" {
#endif
/* Initializer values for message structs */
#define MSP_TL720DParameters_init_default {0, 0, 0, 0, 0, 0, 0, 0, 0}
#define MSP_TL720DParameters_init_zero {0, 0, 0, 0, 0, 0, 0, 0, 0}
/* Field tags (for use in manual encoding/decoding) */
#define MSP_TL720DParameters_RF_Angle_Roll_tag 1
#define MSP_TL720DParameters_RF_Angle_Pitch_tag 2
#define MSP_TL720DParameters_RF_Angle_Yaw_tag 3
#define MSP_TL720DParameters_RF_Acc_X_tag 4
#define MSP_TL720DParameters_RF_Acc_Y_tag 5
#define MSP_TL720DParameters_RF_Acc_Z_tag 6
#define MSP_TL720DParameters_RF_Gro_X_tag 7
#define MSP_TL720DParameters_RF_Gro_Y_tag 8
#define MSP_TL720DParameters_RF_Gro_Z_tag 9
/* Struct field encoding specification for nanopb */
#define MSP_TL720DParameters_FIELDLIST(X, a) \
X(a, STATIC, SINGULAR, INT32, RF_Angle_Roll, 1) \
X(a, STATIC, SINGULAR, INT32, RF_Angle_Pitch, 2) \
X(a, STATIC, SINGULAR, INT32, RF_Angle_Yaw, 3) \
X(a, STATIC, SINGULAR, INT32, RF_Acc_X, 4) \
X(a, STATIC, SINGULAR, INT32, RF_Acc_Y, 5) \
X(a, STATIC, SINGULAR, INT32, RF_Acc_Z, 6) \
X(a, STATIC, SINGULAR, INT32, RF_Gro_X, 7) \
X(a, STATIC, SINGULAR, INT32, RF_Gro_Y, 8) \
X(a, STATIC, SINGULAR, INT32, RF_Gro_Z, 9)
#define MSP_TL720DParameters_CALLBACK NULL
#define MSP_TL720DParameters_DEFAULT NULL
extern const pb_msgdesc_t MSP_TL720DParameters_msg;
/* Defines for backwards compatibility with code written before nanopb-0.4.0 */
#define MSP_TL720DParameters_fields &MSP_TL720DParameters_msg
/* Maximum encoded size of messages (where known) */
#define MSP_TL720DParameters_size 99
#define MSP_TL720D_PB_H_MAX_SIZE MSP_TL720DParameters_size
#ifdef __cplusplus
} /* extern "C" */
#endif
#endif

12
wuhanligong/G431wuhanligong/Core/Protobuf/PSource/msp_UWB_LinkPG.pb.c
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/* Automatically generated nanopb constant definitions */
/* Generated by nanopb-0.4.8 */
#include "msp_UWB_LinkPG.pb.h"
#if PB_PROTO_HEADER_VERSION != 40
#error Regenerate this file with the current version of nanopb generator.
#endif
PB_BIND(UWB_LinkPG_struct_define, UWB_LinkPG_struct_define, AUTO)

90
wuhanligong/G431wuhanligong/Core/Protobuf/PSource/msp_UWB_LinkPG.pb.h
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@ -0,0 +1,90 @@
/* Automatically generated nanopb header */
/* Generated by nanopb-0.4.8 */
#ifndef PB_MSP_UWB_LINKPG_PB_H_INCLUDED
#define PB_MSP_UWB_LINKPG_PB_H_INCLUDED
#include "pb.h"
#if PB_PROTO_HEADER_VERSION != 40
#error Regenerate this file with the current version of nanopb generator.
#endif
/* Struct definitions */
typedef struct _UWB_LinkPG_struct_define {
int32_t loc_cal_success;
int32_t tag0_x;
int32_t tag0_y;
int32_t anchorA_to_tag0;
int32_t anchorB_to_tag0;
int32_t anchorC_to_tag0;
int32_t anchorD_to_tag0;
int32_t anchorA_to_anchorB;
int32_t anchorA_to_anchorC;
int32_t anchorA_to_anchorD;
int32_t anchorB_to_anchorC;
int32_t anchorB_to_anchorD;
int32_t anchorC_to_anchorD;
int32_t tag1_x;
int32_t tag1_y;
} UWB_LinkPG_struct_define;
#ifdef __cplusplus
extern "C" {
#endif
/* Initializer values for message structs */
#define UWB_LinkPG_struct_define_init_default {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
#define UWB_LinkPG_struct_define_init_zero {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
/* Field tags (for use in manual encoding/decoding) */
#define UWB_LinkPG_struct_define_loc_cal_success_tag 1
#define UWB_LinkPG_struct_define_tag0_x_tag 2
#define UWB_LinkPG_struct_define_tag0_y_tag 3
#define UWB_LinkPG_struct_define_anchorA_to_tag0_tag 4
#define UWB_LinkPG_struct_define_anchorB_to_tag0_tag 5
#define UWB_LinkPG_struct_define_anchorC_to_tag0_tag 6
#define UWB_LinkPG_struct_define_anchorD_to_tag0_tag 7
#define UWB_LinkPG_struct_define_anchorA_to_anchorB_tag 8
#define UWB_LinkPG_struct_define_anchorA_to_anchorC_tag 9
#define UWB_LinkPG_struct_define_anchorA_to_anchorD_tag 10
#define UWB_LinkPG_struct_define_anchorB_to_anchorC_tag 11
#define UWB_LinkPG_struct_define_anchorB_to_anchorD_tag 12
#define UWB_LinkPG_struct_define_anchorC_to_anchorD_tag 13
#define UWB_LinkPG_struct_define_tag1_x_tag 14
#define UWB_LinkPG_struct_define_tag1_y_tag 15
/* Struct field encoding specification for nanopb */
#define UWB_LinkPG_struct_define_FIELDLIST(X, a) \
X(a, STATIC, SINGULAR, INT32, loc_cal_success, 1) \
X(a, STATIC, SINGULAR, INT32, tag0_x, 2) \
X(a, STATIC, SINGULAR, INT32, tag0_y, 3) \
X(a, STATIC, SINGULAR, INT32, anchorA_to_tag0, 4) \
X(a, STATIC, SINGULAR, INT32, anchorB_to_tag0, 5) \
X(a, STATIC, SINGULAR, INT32, anchorC_to_tag0, 6) \
X(a, STATIC, SINGULAR, INT32, anchorD_to_tag0, 7) \
X(a, STATIC, SINGULAR, INT32, anchorA_to_anchorB, 8) \
X(a, STATIC, SINGULAR, INT32, anchorA_to_anchorC, 9) \
X(a, STATIC, SINGULAR, INT32, anchorA_to_anchorD, 10) \
X(a, STATIC, SINGULAR, INT32, anchorB_to_anchorC, 11) \
X(a, STATIC, SINGULAR, INT32, anchorB_to_anchorD, 12) \
X(a, STATIC, SINGULAR, INT32, anchorC_to_anchorD, 13) \
X(a, STATIC, SINGULAR, INT32, tag1_x, 14) \
X(a, STATIC, SINGULAR, INT32, tag1_y, 15)
#define UWB_LinkPG_struct_define_CALLBACK NULL
#define UWB_LinkPG_struct_define_DEFAULT NULL
extern const pb_msgdesc_t UWB_LinkPG_struct_define_msg;
/* Defines for backwards compatibility with code written before nanopb-0.4.0 */
#define UWB_LinkPG_struct_define_fields &UWB_LinkPG_struct_define_msg
/* Maximum encoded size of messages (where known) */
#define MSP_UWB_LINKPG_PB_H_MAX_SIZE UWB_LinkPG_struct_define_size
#define UWB_LinkPG_struct_define_size 165
#ifdef __cplusplus
} /* extern "C" */
#endif
#endif

12
wuhanligong/G431wuhanligong/Core/Protobuf/PSource/msp_ZQ_MotorParameters.pb.c
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/* Automatically generated nanopb constant definitions */
/* Generated by nanopb-0.4.8 */
#include "msp_ZQ_MotorParameters.pb.h"
#if PB_PROTO_HEADER_VERSION != 40
#error Regenerate this file with the current version of nanopb generator.
#endif
PB_BIND(TT_MotorParameters, TT_MotorParameters, AUTO)

159
wuhanligong/G431wuhanligong/Core/Protobuf/PSource/msp_ZQ_MotorParameters.pb.h
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/* Automatically generated nanopb header */
/* Generated by nanopb-0.4.8 */
#ifndef PB_MSP_ZQ_MOTORPARAMETERS_PB_H_INCLUDED
#define PB_MSP_ZQ_MOTORPARAMETERS_PB_H_INCLUDED
#include "pb.h"
#if PB_PROTO_HEADER_VERSION != 40
#error Regenerate this file with the current version of nanopb generator.
#endif
/* Struct definitions */
typedef struct _TT_MotorParameters {
int32_t MotorID;
int32_t RxIndex;
int32_t Run_Mode;
int32_t Real_Current;
int32_t Target_Current;
int32_t Real_Velcity;
int32_t Target_Velcity;
int32_t Target_Position;
int32_t ERROR_Flag;
int32_t Temperature_Motor;
int32_t Temperature_PCB;
int32_t CRC_Error;
int32_t Dri_Inter_Error;
int32_t Short_circuit_error;
int32_t Drive_overheating;
int32_t Motor_overheating;
int32_t Overvoltage;
int32_t Undervoltage;
int32_t Feedback_error;
int32_t Phase_error;
int32_t Follow_error;
int32_t Overcurrent;
int32_t FPGA_error;
int32_t Input_command_error;
int32_t Act_Suc;
int32_t Cont_Posi_Suc;
int32_t Acc_Suc;
int32_t Dec_Suc;
int32_t Target_Posi_Suc;
int32_t Run_Speed_Suc;
int32_t Clear_Suc;
int32_t Real_Position;
int32_t Acc_Suc_Speed;
int32_t Dec_Suc_Speed;
int32_t Suc_Speed_S;
int32_t TT_Motor_Fault;
int32_t AccTime;
int32_t DecTime;
} TT_MotorParameters;
#ifdef __cplusplus
extern "C" {
#endif
/* Initializer values for message structs */
#define TT_MotorParameters_init_default {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
#define TT_MotorParameters_init_zero {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
/* Field tags (for use in manual encoding/decoding) */
#define TT_MotorParameters_MotorID_tag 1
#define TT_MotorParameters_RxIndex_tag 2
#define TT_MotorParameters_Run_Mode_tag 3
#define TT_MotorParameters_Real_Current_tag 4
#define TT_MotorParameters_Target_Current_tag 5
#define TT_MotorParameters_Real_Velcity_tag 6
#define TT_MotorParameters_Target_Velcity_tag 7
#define TT_MotorParameters_Target_Position_tag 8
#define TT_MotorParameters_ERROR_Flag_tag 9
#define TT_MotorParameters_Temperature_Motor_tag 10
#define TT_MotorParameters_Temperature_PCB_tag 11
#define TT_MotorParameters_CRC_Error_tag 12
#define TT_MotorParameters_Dri_Inter_Error_tag 13
#define TT_MotorParameters_Short_circuit_error_tag 14
#define TT_MotorParameters_Drive_overheating_tag 15
#define TT_MotorParameters_Motor_overheating_tag 16
#define TT_MotorParameters_Overvoltage_tag 17
#define TT_MotorParameters_Undervoltage_tag 18
#define TT_MotorParameters_Feedback_error_tag 19
#define TT_MotorParameters_Phase_error_tag 20
#define TT_MotorParameters_Follow_error_tag 21
#define TT_MotorParameters_Overcurrent_tag 22
#define TT_MotorParameters_FPGA_error_tag 23
#define TT_MotorParameters_Input_command_error_tag 24
#define TT_MotorParameters_Act_Suc_tag 25
#define TT_MotorParameters_Cont_Posi_Suc_tag 26
#define TT_MotorParameters_Acc_Suc_tag 27
#define TT_MotorParameters_Dec_Suc_tag 28
#define TT_MotorParameters_Target_Posi_Suc_tag 29
#define TT_MotorParameters_Run_Speed_Suc_tag 30
#define TT_MotorParameters_Clear_Suc_tag 31
#define TT_MotorParameters_Real_Position_tag 32
#define TT_MotorParameters_Acc_Suc_Speed_tag 33
#define TT_MotorParameters_Dec_Suc_Speed_tag 34
#define TT_MotorParameters_Suc_Speed_S_tag 35
#define TT_MotorParameters_TT_Motor_Fault_tag 36
#define TT_MotorParameters_AccTime_tag 37
#define TT_MotorParameters_DecTime_tag 38
/* Struct field encoding specification for nanopb */
#define TT_MotorParameters_FIELDLIST(X, a) \
X(a, STATIC, SINGULAR, INT32, MotorID, 1) \
X(a, STATIC, SINGULAR, INT32, RxIndex, 2) \
X(a, STATIC, SINGULAR, INT32, Run_Mode, 3) \
X(a, STATIC, SINGULAR, INT32, Real_Current, 4) \
X(a, STATIC, SINGULAR, INT32, Target_Current, 5) \
X(a, STATIC, SINGULAR, INT32, Real_Velcity, 6) \
X(a, STATIC, SINGULAR, INT32, Target_Velcity, 7) \
X(a, STATIC, SINGULAR, INT32, Target_Position, 8) \
X(a, STATIC, SINGULAR, INT32, ERROR_Flag, 9) \
X(a, STATIC, SINGULAR, INT32, Temperature_Motor, 10) \
X(a, STATIC, SINGULAR, INT32, Temperature_PCB, 11) \
X(a, STATIC, SINGULAR, INT32, CRC_Error, 12) \
X(a, STATIC, SINGULAR, INT32, Dri_Inter_Error, 13) \
X(a, STATIC, SINGULAR, INT32, Short_circuit_error, 14) \
X(a, STATIC, SINGULAR, INT32, Drive_overheating, 15) \
X(a, STATIC, SINGULAR, INT32, Motor_overheating, 16) \
X(a, STATIC, SINGULAR, INT32, Overvoltage, 17) \
X(a, STATIC, SINGULAR, INT32, Undervoltage, 18) \
X(a, STATIC, SINGULAR, INT32, Feedback_error, 19) \
X(a, STATIC, SINGULAR, INT32, Phase_error, 20) \
X(a, STATIC, SINGULAR, INT32, Follow_error, 21) \
X(a, STATIC, SINGULAR, INT32, Overcurrent, 22) \
X(a, STATIC, SINGULAR, INT32, FPGA_error, 23) \
X(a, STATIC, SINGULAR, INT32, Input_command_error, 24) \
X(a, STATIC, SINGULAR, INT32, Act_Suc, 25) \
X(a, STATIC, SINGULAR, INT32, Cont_Posi_Suc, 26) \
X(a, STATIC, SINGULAR, INT32, Acc_Suc, 27) \
X(a, STATIC, SINGULAR, INT32, Dec_Suc, 28) \
X(a, STATIC, SINGULAR, INT32, Target_Posi_Suc, 29) \
X(a, STATIC, SINGULAR, INT32, Run_Speed_Suc, 30) \
X(a, STATIC, SINGULAR, INT32, Clear_Suc, 31) \
X(a, STATIC, SINGULAR, INT32, Real_Position, 32) \
X(a, STATIC, SINGULAR, INT32, Acc_Suc_Speed, 33) \
X(a, STATIC, SINGULAR, INT32, Dec_Suc_Speed, 34) \
X(a, STATIC, SINGULAR, INT32, Suc_Speed_S, 35) \
X(a, STATIC, SINGULAR, INT32, TT_Motor_Fault, 36) \
X(a, STATIC, SINGULAR, INT32, AccTime, 37) \
X(a, STATIC, SINGULAR, INT32, DecTime, 38)
#define TT_MotorParameters_CALLBACK NULL
#define TT_MotorParameters_DEFAULT NULL
extern const pb_msgdesc_t TT_MotorParameters_msg;
/* Defines for backwards compatibility with code written before nanopb-0.4.0 */
#define TT_MotorParameters_fields &TT_MotorParameters_msg
/* Maximum encoded size of messages (where known) */
#define MSP_ZQ_MOTORPARAMETERS_PB_H_MAX_SIZE TT_MotorParameters_size
#define TT_MotorParameters_size 441
#ifdef __cplusplus
} /* extern "C" */
#endif
#endif

BIN
wuhanligong/G431wuhanligong/Core/Protobuf/Proto/Version2.exe
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45
wuhanligong/G431wuhanligong/Core/Protobuf/Proto/bsp_CV.proto
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syntax = "proto3";
//import "nanopb.proto";
import "msp_SavedMotorParameters.proto";
import "bsp_PV.proto";
message CV_struct_define{
//摆臂项目
/*
int32 Speed_1 = 1;
int32 Speed_2 = 2;
int32 Speed_3 = 3;
int32 Speed_4 = 4;
int32 Speed_5 = 5;
int32 Speed_6 = 6;
int32 Speed_7 = 7;
int32 Speed_8 = 8;
int32 Speed_9 = 9;
int32 Speed_10 = 10;
SavedMotorParameters LeftMotor=11;
SavedMotorParameters RightMotor=12;
SavedMotorParameters SwingMotor=13;
int32 LaneChangeDistance=14;
int32 BackWardsDistance=15;
int32 LeftCompensationRange=16;
int32 RightCompensationRange=17;
int32 SwingSpeedRange=18;
int32 SwingAngleRange=19;
int32 RobotMoveSpeedBase = 20;
int32 TurnLeftRightSpeed = 21;
*/
//洗舱项目
PV_struct_define PV =1;//用户配置数据
int32 RobotMoveSpeedBase = 2;
int32 SwingMoveSpeedBase =3;
int32 TiltMoveSpeedBase = 4;
int32 TiltMoveTargetSpeed = 5;
int32 SwingMoveTargetSpeed = 6;
int32 TurnLeftRightSpeed = 7;
};

2
wuhanligong/G431wuhanligong/Core/Protobuf/Proto/bsp_Cmd.options
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# lock.options
Cmd.Buff_Data max_size:512 fixed_length:true

24
wuhanligong/G431wuhanligong/Core/Protobuf/Proto/bsp_Cmd.proto
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@ -0,0 +1,24 @@
syntax = "proto3";
//this message is used for the computer to send command
message Cmd{
int32 CommadNum = 1;
//定义 1 上位机获取默认CV值
//定义 2 下位机返回CV值
//定义 3 上位机设定CV值
//定义 4 上位机设定Trace等级值，无返回
//定义 5 下位机上传位置点数据
//定义 6 上位机设定编码器角度值为0
//定义 7 上位机获取拟合点
//定义 8 上位机获取位置点
//定义 9 上位机向下位机下发程序 此时，Parameter0 下发的程序起始位，Parameter0 是校验位
//Buff_Data_Length 是下发的字节数，
int32 Parameter0 = 2;
int32 Parameter1 = 3;
int32 Parameter2 = 4;
int32 Parameter3 = 5;
int32 Parameter4 = 6;
int32 Buff_Data_Length = 7;
bytes Buff_Data=8;
};

11
wuhanligong/G431wuhanligong/Core/Protobuf/Proto/bsp_DAM.proto
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syntax = "proto3";
message DAM_Data
{
int32 DO0=1;
int32 DO1=2;
int32 DO2=3;
int32 DO3=4;
};
//protoc --nanopb_out=. *.proto

10
wuhanligong/G431wuhanligong/Core/Protobuf/Proto/bsp_DMKE.proto
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syntax = "proto3";
message DMKE_struct_define{
int32 Slave_ID= 1;
int32 TargetSpeedRpm= 2;
int32 Command= 3;//正转，反转，停止 0 停止 -1 反转 1 正转
int32 CurrentState= 4;//当前状态，从正转到反转的过程中需要发送停止指令;
};

8
wuhanligong/G431wuhanligong/Core/Protobuf/Proto/bsp_Desulfurizer.proto
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syntax = "proto3";
message DesulfurizerMessage{
double Angle = 1;
double WireLength = 2;
double Thickness = 3;
int32 IsFittingPoint=4;
};

3
wuhanligong/G431wuhanligong/Core/Protobuf/Proto/bsp_Error.options
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# lock.options
ErrorDataInfo.Error_Name max_size:50 fixed_length:true
ErrorData.Errors max_size:6 fixed_length:true

69
wuhanligong/G431wuhanligong/Core/Protobuf/Proto/bsp_Error.proto
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@ -0,0 +1,69 @@
syntax = "proto3";
message ErrorDataInfo
{
int32 Error_Value = 1;
bytes Error_Name=4;
}
message ErrorData
{
/*
ErrorDataInfo Error1=1;
ErrorDataInfo Error2=2;
ErrorDataInfo Error3=3;
ErrorDataInfo Error4=4;
ErrorDataInfo Error5=5;
ErrorDataInfo Error6=6;
ErrorDataInfo Error7=7;
ErrorDataInfo Error8=8;
ErrorDataInfo Error9=9;
ErrorDataInfo Error10=10;
ErrorDataInfo Error11=11;
ErrorDataInfo Error12=12;
ErrorDataInfo Error13=13;
ErrorDataInfo Error14=14;
ErrorDataInfo Error15=15;
ErrorDataInfo Error16=16;
ErrorDataInfo Error17=17;
ErrorDataInfo Error18=18;
ErrorDataInfo Error19=19;
ErrorDataInfo Error20=20;
*/
int32 ErrorCode=1;
int32 Motor_1_Error=21;
int32 Motor_2_Error=22;
int32 Motor_3_Error=23;
int32 Motor_4_Error=24;
int32 Motor_5_Error=25;
int32 Motor_6_Error=26;
int32 Motor_7_Error=27;
/*
int32 ErrorData_485_1=1;
int32 ErrorData_485_2=2;
int32 ErrorData_485_3=3;
int32 ErrorData_485_4=4;
int32 ErrorData_E22_Serial=5;
int32 ErrorData_InterCall_DEBUG=6;
int32 ErrorData_E28_SBUS=7;
int32 ErrorData_CAN_1=8;
int32 ErrorData_CAN_2=9;
int32 Motor_1_Error=10;
int32 Motor_2_Error=11;
int32 Motor_3_Error=12;
int32 Motor_4_Error=13;
int32 Motor_5_Error=14;
int32 Motor_6_Error=15;
int32 Motor_7_Error=16;
*/
}
//protoc --nanopb_out=. *.proto

2
wuhanligong/G431wuhanligong/Core/Protobuf/Proto/bsp_GV.options
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@ -0,0 +1,2 @@
# lock.options
GV_struct_define.Motor_P max_size:50 fixed_length:true

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