绝缘子检测

jueyuanzijiance/Insulator_Inspection/.cproject

@@ -0,0 +1,230 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
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+				<externalSettings/>
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+					<extension id="org.eclipse.cdt.core.GmakeErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
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+					<extension id="org.eclipse.cdt.core.CWDLocator" point="org.eclipse.cdt.core.ErrorParser"/>
+					<extension id="org.eclipse.cdt.core.GCCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
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+							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.1253890525" name="Defaults" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults" useByScannerDiscovery="false" value="com.st.stm32cube.ide.common.services.build.inputs.revA.1.0.5 || Release || false || Executable || com.st.stm32cube.ide.mcu.gnu.managedbuild.option.toolchain.value.workspace || STM32H743VGTx || 0 || 0 || arm-none-eabi- || ${gnu_tools_for_stm32_compiler_path} || ../Middlewares/Third_Party/LwIP/src/include/netif/ppp | ../Middlewares/Third_Party/LwIP/src/include/lwip/priv | ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy | ../Middlewares/Third_Party/LwIP/src/include/compat/stdc | ../Middlewares/Third_Party/LwIP/src/include/lwip/prot | ../Middlewares/Third_Party/LwIP/src/include/lwip/apps | ../Middlewares/Third_Party/LwIP/src/include/compat/posix/sys | ../Middlewares/Third_Party/LwIP/system/arch | ../Middlewares/Third_Party/LwIP/src/include | ../LWIP/App | ../Middlewares/Third_Party/LwIP/src/include/compat/posix | ../Drivers/CMSIS/Include | ../Core/Inc | ../Drivers/CMSIS/Device/ST/STM32H7xx/Include | ../LWIP/Target | ../Middlewares/Third_Party/LwIP/src/include/lwip | ../Middlewares/Third_Party/LwIP/src/include/compat/posix/net | ../Middlewares/Third_Party/LwIP/src/include/compat/posix/arpa | ../Drivers/STM32H7xx_HAL_Driver/Inc | ../Middlewares/Third_Party/LwIP/system | ../Drivers/BSP/Components/lan8742 | ../Middlewares/Third_Party/LwIP/src/include/netif ||  ||  || USE_HAL_DRIVER | STM32H743xx ||  || LWIP | Drivers | Core/Startup | Middlewares | Core ||  ||  || ${workspace_loc:/${ProjName}/STM32H743VGTX_FLASH.ld} || true || NonSecure ||  || secure_nsclib.o ||  || None || " valueType="string"/>
+							<option id="com.st.stm32cube.ide.mcu.debug.option.cpuclock.1214587954" name="Cpu clock frequence" superClass="com.st.stm32cube.ide.mcu.debug.option.cpuclock" useByScannerDiscovery="false" value="200" valueType="string"/>
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+							<builder buildPath="${workspace_loc:/Roughening}/Release" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder.214658313" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder"/>
+							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.16882753" name="MCU GCC Assembler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler">
+								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.debuglevel.2011129191" name="Debug level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.debuglevel" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.debuglevel.value.g0" valueType="enumerated"/>
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+							</tool>
+							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.498810405" name="MCU GCC Compiler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler">
+								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.debuglevel.547400931" name="Debug level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.debuglevel" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.debuglevel.value.g0" valueType="enumerated"/>
+								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.863454684" name="Optimization level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.value.os" valueType="enumerated"/>
+								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.definedsymbols.1771860025" name="Define symbols (-D)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.definedsymbols" useByScannerDiscovery="false" valueType="definedSymbols">
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+									<listOptionValue builtIn="false" value="../Drivers/CMSIS/Include"/>
+									<listOptionValue builtIn="false" value="../LWIP/App"/>
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+									<listOptionValue builtIn="false" value="../Middlewares/Third_Party/LwIP/src/include"/>
+									<listOptionValue builtIn="false" value="../Middlewares/Third_Party/LwIP/system"/>
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+									<listOptionValue builtIn="false" value="../Middlewares/Third_Party/LwIP/src/include/netif/ppp"/>
+									<listOptionValue builtIn="false" value="../Middlewares/Third_Party/LwIP/src/include/lwip"/>
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+									<listOptionValue builtIn="false" value="../Middlewares/Third_Party/LwIP/src/include/lwip/prot"/>
+									<listOptionValue builtIn="false" value="../Middlewares/Third_Party/LwIP/src/include/netif"/>
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+									<listOptionValue builtIn="false" value="../Middlewares/Third_Party/LwIP/src/include/compat/posix/net"/>
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+									<listOptionValue builtIn="false" value="../Middlewares/Third_Party/LwIP/src/include/compat/stdc"/>
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+							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.linker.396124999" name="MCU GCC Linker" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.linker">
+								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.linker.option.script.1296682720" name="Linker Script (-T)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.linker.option.script" value="${workspace_loc:/${ProjName}/STM32H743VGTX_FLASH.ld}" valueType="string"/>
+								<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.linker.input.1544334102" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.linker.input">
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+							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.archiver.154035402" name="MCU GCC Archiver" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.archiver"/>
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+							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.objcopy.hex.57742864" name="MCU Output Converter Hex" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.objcopy.hex"/>
+							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.objcopy.binary.1333351797" name="MCU Output Converter Binary" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.objcopy.binary"/>
+							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.objcopy.verilog.1609373878" name="MCU Output Converter Verilog" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.objcopy.verilog"/>
+							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.objcopy.srec.146876246" name="MCU Output Converter Motorola S-rec" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.objcopy.srec"/>
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+						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="LWIP"/>
+						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Middlewares"/>
+						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Drivers"/>
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+		</cconfiguration>
+	</storageModule>
+	<storageModule moduleId="org.eclipse.cdt.core.pathentry"/>
+	<storageModule moduleId="cdtBuildSystem" version="4.0.0">
+		<project id="Roughening.null.1127706067" name="Roughening"/>
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+	<storageModule moduleId="org.eclipse.cdt.core.LanguageSettingsProviders"/>
+	<storageModule moduleId="org.eclipse.cdt.make.core.buildtargets"/>
+	<storageModule moduleId="scannerConfiguration">
+		<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
+		<scannerConfigBuildInfo instanceId="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.release.1820227184;com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.release.1820227184.;com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.498810405;com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c.166988384">
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+		</scannerConfigBuildInfo>
+		<scannerConfigBuildInfo instanceId="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.456396271;com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.456396271.;com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.2089750823;com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c.1369158121">
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+	</storageModule>
+	<storageModule moduleId="refreshScope" versionNumber="2">
+		<configuration configurationName="Debug">
+			<resource resourceType="PROJECT" workspacePath="/Roughening"/>
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+		<configuration configurationName="Release">
+			<resource resourceType="PROJECT" workspacePath="/Roughening"/>
+		</configuration>
+	</storageModule>
+</cproject>

jueyuanzijiance/Insulator_Inspection/.gitignore

@@ -0,0 +1 @@
+/Debug/

jueyuanzijiance/Insulator_Inspection/.project

@@ -0,0 +1,32 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<projectDescription>
+	<name>Insulator_Inspection</name>
+	<comment></comment>
+	<projects>
+	</projects>
+	<buildSpec>
+		<buildCommand>
+			<name>org.eclipse.cdt.managedbuilder.core.genmakebuilder</name>
+			<triggers>clean,full,incremental,</triggers>
+			<arguments>
+			</arguments>
+		</buildCommand>
+		<buildCommand>
+			<name>org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder</name>
+			<triggers>full,incremental,</triggers>
+			<arguments>
+			</arguments>
+		</buildCommand>
+	</buildSpec>
+	<natures>
+		<nature>com.st.stm32cube.ide.mcu.MCUProjectNature</nature>
+		<nature>com.st.stm32cube.ide.mcu.MCUCubeProjectNature</nature>
+		<nature>org.eclipse.cdt.core.cnature</nature>
+		<nature>com.st.stm32cube.ide.mcu.MCUCubeIdeServicesRevAev2ProjectNature</nature>
+		<nature>com.st.stm32cube.ide.mcu.MCUAdvancedStructureProjectNature</nature>
+		<nature>com.st.stm32cube.ide.mcu.MCUSingleCpuProjectNature</nature>
+		<nature>com.st.stm32cube.ide.mcu.MCURootProjectNature</nature>
+		<nature>org.eclipse.cdt.managedbuilder.core.managedBuildNature</nature>
+		<nature>org.eclipse.cdt.managedbuilder.core.ScannerConfigNature</nature>
+	</natures>
+</projectDescription>

jueyuanzijiance/Insulator_Inspection/.settings/com.st.stm32cube.ide.mcu.sfrview.prefs

@@ -0,0 +1,2 @@
+eclipse.preferences.version=1
+sfrviewstate={"fFavorites"\:{"fLists"\:{}},"fProperties"\:{"fNodeProperties"\:{}}}

jueyuanzijiance/Insulator_Inspection/.settings/language.settings.xml

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+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<project>
+	<configuration id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.456396271" name="Debug">
+		<extension point="org.eclipse.cdt.core.LanguageSettingsProvider">
+			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
+			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
+			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-288714553323475631" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+				<language-scope id="org.eclipse.cdt.core.gcc"/>
+				<language-scope id="org.eclipse.cdt.core.g++"/>
+			</provider>
+		</extension>
+	</configuration>
+	<configuration id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.release.1820227184" name="Release">
+		<extension point="org.eclipse.cdt.core.LanguageSettingsProvider">
+			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
+			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
+			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-288714553323475631" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+				<language-scope id="org.eclipse.cdt.core.gcc"/>
+				<language-scope id="org.eclipse.cdt.core.g++"/>
+			</provider>
+		</extension>
+	</configuration>
+</project>

jueyuanzijiance/Insulator_Inspection/.settings/org.eclipse.cdt.core.prefs

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+doxygen/doxygen_new_line_after_brief=true
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jueyuanzijiance/Insulator_Inspection/.settings/org.eclipse.cdt.ui.prefs

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

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jueyuanzijiance/Insulator_Inspection/Core/BASE/Inc/BSP/BHBF_ROBOT.h

@@ -0,0 +1,125 @@
+/*
+ * BHBF_ROBOT.h
+ *
+ *  Created on: Oct 26, 2023
+ *      Author: shiya
+ */
+
+#ifndef INC_BHBF_ROBOT_H_
+#define INC_BHBF_ROBOT_H_
+
+#include <stdio.h>
+#include <string.h>
+#include <stdlib.h>
+#include <assert.h>
+#include <motors.h>
+#include <msp_INS_Motors_CAN.h>
+#include <stdbool.h>
+
+
+
+#include "BHBF_ROBOT.h"
+#include "bsp_PV.pb.h"
+#include "bsp_IV.pb.h"
+
+#include "BSP/pb.h"
+#include "BSP/pb_decode.h"
+#include "BSP/pb_encode.h"
+#include "BSP/bsp_EEPROM.h"
+#include "BSP/bsp_pb_decode_encode.h"
+#include "bsp_MB_host.h"
+#include "BSP/bsp_include.h"
+#include "BSP/bsp_UART.h"
+#include "BSP/DLTuc.h"
+#include "BSP/bsp_DLT_Log.h"
+#include "BSP/bsp_UDP.h"
+#include "BSP/tcp_server.h"
+#include "BSP/bsp_cpu_flash.h"
+#include "BSP/bsp_qspi_w25q128.h"
+#include "BSP/bsp_UpperComputer_Handler.h"
+#include "BSP/bsp_Error_Detect.h"
+#include "BSP/bsp_MB_host.h"
+
+#include "MSP/msp_JTBATTERY.h"
+#include "MSP/msp_Force_Sensor.h"
+#include "MSP/msp_TL720D.h"
+#include "MSP/msp_U7.h"
+#include "MSP/msp_Force_Sensor.h"
+#include "MSP/msp_WH_LTE_7S0.h"
+
+
+
+#include "fsm_state_control.h"
+
+#include "fsm_state.h"
+#include "robot_move_actions.h"
+
+//#include "robot_state.h"
+//FLASH (rx)     : ORIGIN = 0x08020000, LENGTH = 896K
+//#define VECT_TAB_OFFSET         0x00020000U
+
+
+
+
+#define DLTViewer 1
+
+
+extern bool CompareTimer_Delay(int32_t Delay);
+
+extern GV_struct_define GV;
+extern IV_struct_define IV;
+extern  CV_struct_define CV;
+extern PV_struct_define decoded_PV;
+extern PV_struct_define decoded_PV_variable;
+
+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
+extern bool CompareTimer(int32_t DelayMiliSeconds,Sys_timer_handler * timer_handler);
+extern void SystemTimer_Intialize();
+extern void GF_Timer_Count();
+extern void GF_Robot_Init(void);
+extern void GF_Robot_MainLoop(void);
+extern void GF_WatchDog_Loop(void);
+extern int32_t speed_M_min_toE01_M_min(int32_t speedm_min);
+
+ 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 int32_t* SystemErrorCode;
+extern ErrorData* SystemErrorData;
+
+#define IV_Run_Mode_Maunal 0
+#define IV_Run_Mode_Automation 1
+#define IV_Run_Mode_EmergencyStop 2
+#define IV_Run_Mode_Vertical_LaneChange 3
+#define IV_Run_Mode_Horizontal_LaneChange 4
+#define IV_Run_Mode_Forward 5
+#define IV_Run_Mode_BackWard 6
+#define IV_Run_Mode_TurnLeft 7
+#define IV_Run_Mode_TurnRight 8
+#define IV_Run_Mode_HALT 9
+
+extern INS_MotorParameters* Frames_Motor[4];
+
+
+extern int32_t SystemTimeMiliCount;  //2ms加一
+
+#endif /* INC_BHBF_ROBOT_H_ */

jueyuanzijiance/Insulator_Inspection/Core/BASE/Inc/BSP/DLTuc.h

@@ -0,0 +1,248 @@
+/**
+ * @file DLTuc.h
+ * @author teodor
+ * @date 1 Jul 2022
+ * @brief This file is a part of DLTuc library
+ *
+ * In this header, you can find types, Api functions, which are provided by DLTuc library
+ * Usefull macros, for convience usage of DLTuc library in logging purposes
+ *
+ * Requirments:
+ * Around ~2kB of RAM
+ * Check Configuration file and defines:
+ * DLT_TRANSMIT_RING_BUFFER_SIZE, DLT_TRANSMIT_MAX_SINGLE_MESSAGE_SIZE
+ *
+ */
+
+#ifndef INC_DLT_LOGS_MCU_H_
+#define INC_DLT_LOGS_MCU_H_
+
+/*
+ * *******************************************************************************************
+ * Includes
+ * *******************************************************************************************
+ * */
+
+#include "stdint.h"
+#include <stdarg.h>
+#include <string.h>
+
+#include "DLTucConfig.h"
+
+/*
+ * *******************************************************************************************
+ * Exported defines
+ * *******************************************************************************************
+ * */
+
+/*@brief 
+ *
+ *  - convert the To strings to uint32_t
+ */
+#define DLT_LOG_ECUID_VALUE	((uint32_t)((((uint32_t) ((uint8_t)DLT_LOG_ECUID[0])) << 24UL) | \
+						 (((uint32_t) ((uint8_t)DLT_LOG_ECUID[1])) << 16UL) | \
+					  (((uint32_t) ((uint8_t)DLT_LOG_ECUID[2])) << 8UL) | \
+				  ((uint32_t)((uint8_t)DLT_LOG_ECUID[3]))))
+
+
+#define DLT_LOG_APPID_VALUE	((uint32_t)((((uint32_t) ((uint8_t)DLT_LOG_APPID[0])) << 24UL) | \
+						 (((uint32_t) ((uint8_t)DLT_LOG_APPID[1])) << 16UL) | \
+					  (((uint32_t) ((uint8_t)DLT_LOG_APPID[2])) << 8UL) | \
+				  ((uint32_t)((uint8_t)DLT_LOG_APPID[3]))))
+
+
+#define DLT_LOG_CONTEX_VALUE	((uint32_t)((((uint32_t) ((uint8_t)DLT_LOG_CONTEX[0])) << 24UL) | \
+						 (((uint32_t) ((uint8_t)DLT_LOG_CONTEX[1])) << 16UL) | \
+					  (((uint32_t) ((uint8_t)DLT_LOG_CONTEX[2])) << 8UL) | \
+				  ((uint32_t)((uint8_t)DLT_LOG_CONTEX[3]))))
+
+
+
+
+/*
+ * Definitions of DLT services.
+ */
+#define DLT_SERVICE_ID_SET_LOG_LEVEL                   0x01 /**< Service ID: Set log level */
+#define DLT_SERVICE_ID_SETRACE_STATUS                  0x02 /**< Service ID: Set trace status */
+#define DLT_SERVICE_ID_GET_LOG_INFO                    0x03 /**< Service ID: Get log info */
+#define DLT_SERVICE_ID_GET_DEFAULT_LOG_LEVEL           0x04 /**< Service ID: Get dafault log level */
+#define DLT_SERVICE_ID_STORE_CONFIG                    0x05 /**< Service ID: Store configuration */
+#define DLT_SERVICE_ID_RESETO_FACTORY_DEFAULT          0x06 /**< Service ID: Reset to factory defaults */
+#define DLT_SERVICE_ID_SET_COM_INTERFACE_STATUS        0x07 /**< Service ID: Set communication interface status */
+#define DLT_SERVICE_ID_SET_COM_INTERFACE_MAX_BANDWIDTH 0x08 /**< Service ID: Set communication interface maximum bandwidth */
+#define DLT_SERVICE_ID_SET_VERBOSE_MODE                0x09 /**< Service ID: Set verbose mode */
+#define DLT_SERVICE_ID_SET_MESSAGE_FILTERING           0x0A /**< Service ID: Set message filtering */
+#define DLT_SERVICE_ID_SETIMING_PACKETS                0x0B /**< Service ID: Set timing packets */
+#define DLT_SERVICE_ID_GET_LOCALIME                    0x0C /**< Service ID: Get local time */
+#define DLT_SERVICE_ID_USE_ECU_ID                      0x0D /**< Service ID: Use ECU id */
+#define DLT_SERVICE_ID_USE_SESSION_ID                  0x0E /**< Service ID: Use session id */
+#define DLT_SERVICE_ID_USEIMESTAMP                     0x0F /**< Service ID: Use timestamp */
+#define DLT_SERVICE_ID_USE_EXTENDED_HEADER             0x10 /**< Service ID: Use extended header */
+#define DLT_SERVICE_ID_SET_DEFAULT_LOG_LEVEL           0x11 /**< Service ID: Set default log level */
+#define DLT_SERVICE_ID_SET_DEFAULTRACE_STATUS          0x12 /**< Service ID: Set default trace status */
+#define DLT_SERVICE_ID_GET_SOFTWARE_VERSION            0x13 /**< Service ID: Get software version */
+#define DLT_SERVICE_ID_MESSAGE_BUFFER_OVERFLOW         0x14 /**< Service ID: Message buffer overflow */
+#define DLT_SERVICE_ID_CALLSW_CINJECTION               0xFFF /**< Service ID: Message Injection (minimal ID) */
+
+/*
+ * *******************************************************************************************
+ * Exported types
+ * *******************************************************************************************
+ * */
+
+/**!
+ * \brief DltLogLevel_t 
+ * \details Typdef used to identify the DLT log level
+ * */
+typedef enum
+{
+	DL_FATAL   =1,
+	DL_ERROR   =2,
+	DL_WARN    =3,
+	DL_INFO    =4,
+	DL_DEBUG   =5,
+	DL_VERBOSE =6,
+}DltLogLevel_t;
+
+
+
+
+
+/*
+ * *******************************************************************************************
+ * Exported function - API
+ * *******************************************************************************************
+ * */
+
+/*!
+ ************************************************************************************************
+ * \brief DLTuc_RawDataReceiveDone
+ * \details OPTIONAL - Use only if you need handle data receive, like Injection messages
+ * Call the function to inform DLTuc that Raw data packet has been received
+ ************************************************************************************************/
+void DLTuc_RawDataReceiveDone(uint16_t Size);
+
+/*!
+ ************************************************************************************************
+ * \brief DLTuc_RegisterReceiveSerialDataFunction
+ * \details OPTIONAL - Use only if you need handle data receive, like Injection messages.
+ * - Register callback function which will be used by DLTuc to start data receive process.
+ * The Callback function is basicly called only after registration and if data packet has been received,
+ * to start again receive data packet
+ * \param in LLSerialRecDataFunctionC ...
+ ************************************************************************************************/
+void DLTuc_RegisterReceiveSerialDataFunction(void LLSerialRecDataFunctionC(uint8_t *DltLogData, uint16_t Size));
+
+/*!
+ ************************************************************************************************
+ * \brief DLTuc_RegisterInjectionDataReceivedCb
+ * \details OPTIONAL - Use only if you need handle data receive, like Injection messages
+ * Register injection data received call back
+ * Use the function if you want register call back function to handle the Injection messages in your application
+ * \param in InjectionDataRcvd ...
+ ************************************************************************************************/
+void DLTuc_RegisterInjectionDataReceivedCb
+		(void InjectionDataRcvd(uint32_t AppId, uint32_t ConId,uint32_t ServId,uint8_t *Data, uint16_t Size));
+
+/*!
+ ************************************************************************************************
+ * \brief DLTuc_RegisterTransmitSerialDataFunction
+ * \details This simple stack/library must be initialized by "DLTuc_RegisterTransmitSerialDataFunction"
+ *          As a parameter must be passed function which will transmit serial data
+ * \param in LLSerialTrDataFunctionC transmit function pointer
+ ************************************************************************************************/
+void DLTuc_RegisterTransmitSerialDataFunction(void LLSerialTrDataFunctionC(uint8_t *DltLogData, uint8_t Size));
+
+/*!
+ ************************************************************************************************
+ * \brief DLTuc_RegisterGetTimeStampMsCallback
+ * \details function to update time stamp in library
+* \param in GetSysTime - pointer to function which allow to read system time in msec
+ *************************************************************************************************/
+void DLTuc_RegisterGetTimeStampMsCallback(uint32_t GetSysTime(void));
+
+
+/*!
+ ************************************************************************************************
+ * \brief DLTuc_MessageTransmitDone
+ * \details IMPORTANT!!!!!
+ *  Call this function when the transsmision is end
+ *  For example in "DMA transmission end callback" to inform the lib that the message is transmitted
+ ************************************************************************************************
+ * */
+void DLTuc_MessageTransmitDone(void);
+
+/*!
+ ************************************************************************************************
+ * \brief DLTuc_LogOutVarArgs
+ * \details default function to create DLT Log
+ * \param DltLogLevel_t Level - of Dlt log
+ * \param in AppId - size of the "DltLogData" (return value)
+ * \param in ContextId - pointer to the message stored in RingBuffer (return value)
+ * \param in Payload String to send as dlt log
+ * \param in ... parameters same as in printf function
+ *************************************************************************************************/
+void DLTuc_LogOutVarArgs(DltLogLevel_t Level, uint32_t AppId, uint32_t ContextId, uint8_t *Payload, ...);
+
+
+/*
+ * *******************************************************************************************
+ * Additional macros to facilitate the use of the library
+ * *******************************************************************************************
+ * */
+
+#ifdef LOGS_ENABLE
+
+/**!
+ * \brief LOGL(level, str, ...)
+ * \details Transmit DltLog using function DLTuc_LogOutVarArgs but user don't have to add
+ * log_level, DLT_LOG_APPID_VALUE and DLT_LOG_CONTEX_VALUE
+ *
+ * */
+#define LOG(str, ...)\
+	if(DL_INFO <= DLT_LOG_ENABLE_LEVEL){\
+		DLTuc_LogOutVarArgs(DL_INFO, DLT_LOG_APPID_VALUE, DLT_LOG_CONTEX_VALUE,(uint8_t *) str, ##__VA_ARGS__);\
+	}
+
+/**!
+ * \brief LOGL(level, str, ...)
+ * \details Transmit DltLog using function DLTuc_LogOutVarArgs but user don't have to add DLT_LOG_APPID_VALUE and DLT_LOG_CONTEX_VALUE
+ *
+ * */
+#define LOGL(log_level, str, ...)\
+	if(log_level <= DLT_LOG_ENABLE_LEVEL){\
+		DLTuc_LogOutVarArgs(log_level, DLT_LOG_APPID_VALUE, DLT_LOG_CONTEX_VALUE,(uint8_t *) str, ##__VA_ARGS__);\
+	}
+
+/**!
+ * @brief LOGF(log_level, str, ...)
+ * \details Transmit DltLog using function DLTuc_LogOutVarArgs but user don't have to add DLT_LOG_APPID_VALUE and DLT_LOG_CONTEX_VALUE
+ * Additionally add the name of the calling function
+ *
+ *
+ * */
+#define LOGF(log_level, str, ...)\
+	if(log_level <= DLT_LOG_ENABLE_LEVEL){\
+		DLTuc_LogOutVarArgs(log_level, DLT_LOG_APPID_VALUE, DLT_LOG_CONTEX_VALUE,(uint8_t *) "FUN:%s LOG: "str, __FUNCTION__,##__VA_ARGS__);\
+	}
+
+/**!
+ * \brief LOGFF(log_level, str, ...)
+ * \details Transmit DltLog using function DLTuc_LogOutVarArgs but user don't have to add DLT_LOG_APPID_VALUE and DLT_LOG_CONTEX_VALUE
+ * Additionally add the name of the calling function and file name
+ *
+ *
+ * */
+#define LOGFF(log_level, str, ...)\
+	if(log_level <= DLT_LOG_ENABLE_LEVEL){\
+		DLTuc_LogOutVarArgs(log_level, DLT_LOG_APPID_VALUE, DLT_LOG_CONTEX_VALUE,(uint8_t *)"FILE:%s LINE: %d FUN:%s LOG: "str,__FILE__,__LINE__,__FUNCTION__,##__VA_ARGS__);\
+	}
+
+#else
+LOG(str, ...)
+LOGL(log_level, str, ...)
+LOGF(log_level, str, ...)
+LOGFF(log_level, str, ...)
+#endif
+
+#endif /* INC_DLT_LOGS_MCU_H_ */

jueyuanzijiance/Insulator_Inspection/Core/BASE/Inc/BSP/DLTucConfig.h

@@ -0,0 +1,74 @@
+/**
+ * @file DLTuc.c
+ * @author teodor
+ * @date 1 Jul 2022
+ * @brief This file is a part of DLTuc library
+ *
+ * In this header file is placed DLTuc configuration template
+ *
+ */
+
+#if 1 /*Set it to "1" to enable content*/
+
+#ifndef __DLT_CONFIG__
+
+/*Comment this line to turn off all logs..*/
+#define LOGS_ENABLE 
+
+/*Pass here the entry critical entry function for your RTOS or
+  Interrupt block functions if you want use the library from diffrent context*/
+#define DLTuc_OS_CRITICAL_START()
+#define DLTuc_OS_CRITICAL_END()
+
+
+/*Default minimum log level to transmit the log*/
+//#ifndef DLT_LOG_ENABLE_LEVEL
+////#define DLT_LOG_ENABLE_LEVEL     DL_VERBOSE
+// #define DLT_LOG_ENABLE_LEVEL     0
+//#endif
+
+extern char DLT_LOG_ENABLE_LEVEL;
+
+
+/**!
+* \brief DLT_LOG_CONTEX
+* \details to define the minimum level log which will printed using the debug macros
+*
+*/
+#ifndef DLT_LOG_CONTEX
+#define DLT_LOG_CONTEX      "DFLT"
+#endif
+
+/**!
+* \brief DLT_LOG_APPID
+* \details to define the minimum level log which will printed using the debug macros
+*
+*/
+#ifndef DLT_LOG_APPID
+#define DLT_LOG_APPID      "0000"
+#endif
+
+/**!
+* \brief DLT_LOG_ECUID
+* \details you can define here you ECUID ..
+*
+*/
+#define DLT_LOG_ECUID           "uCID" /*Electronic Controller Unit ID*/
+
+#define DLT_ECU_SW_VER          0001
+
+/*
+*@brief DLT_TRANSMIT_MAX_SINGLE_MESSAGE_SIZE & DLT_TRANSMIT_RING_BUFFER_SIZE
+* these values define the size of the circular buffer and the maximum size of a single DLT message
+* Size of out Circular DLT messages buffer is equal: DLT_TRANSMIT_MAX_SINGLE_MESSAGE_SIZE*DLT_TRANSMIT_RING_BUFFER_SIZE
+*/
+#define DLT_TRANSMIT_MAX_SINGLE_MESSAGE_SIZE 255
+#define DLT_TRANSMIT_RING_BUFFER_SIZE 15
+
+
+#define DLT_REC_SINGLE_MESSAGE_MAX_SIZE      255
+#define DLT_RECEIVE_RING_BUFFER_SIZE     2
+
+#endif  //__DLT_CONFIG__
+
+#endif //Content enable

jueyuanzijiance/Insulator_Inspection/Core/BASE/Inc/BSP/bsp_DLT_Log.h

@@ -0,0 +1,16 @@
+/*
+ * bsp_DLT_Log.h
+ *
+ *  Created on: Aug 8, 2024
+ *      Author: akeguo
+ */
+
+#ifndef INC_BSP_BSP_DLT_LOG_H_
+#define INC_BSP_BSP_DLT_LOG_H_
+
+#include "BHBF_ROBOT.h"
+
+
+extern void dLT_Log_intialize(struct UARTHandler *Handler);
+extern void dLT_Log_intialize_udp_tcp();
+#endif /* INC_BSP_BSP_DLT_LOG_H_ */

jueyuanzijiance/Insulator_Inspection/Core/BASE/Inc/BSP/bsp_EEPROM.h

@@ -0,0 +1,73 @@
+/*
+ * bsp_EEPROM.h
+ *
+ *  Created on: Oct 26, 2023
+ *      Author: shiya
+ */
+
+#ifndef INC_BSP_EEPROM_H_
+#define INC_BSP_EEPROM_H_
+
+
+
+
+#include "bsp_include.h"
+#include "bsp_CV.pb.h"
+#include "bsp_IAP.pb.h"
+
+
+#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 AT24C512
+#ifdef AT24C512
+#define EE_MODEL_NAME		"AT24C512"
+#define EE_DEV_ADDR			0xA0		/* 设备地址 */
+#define EE_PAGE_SIZE		128			/* 页面大小(字节) */
+#define EE_SIZE				(512*128)	/* 总容量(字节) */ // not used in this progrm
+#define EE_ADDR_BYTES		2			/* 地址字节个数 */
+#endif
+
+#define I2C_WR	0		/* 写控制bit */
+#define I2C_RD	1		/* 读控制bit */
+
+//////////////////////////////////////////////////////////////////
+//there are 12M eeprom in total, and the code download Address is App_Download_EEPROM_Addr
+//512 Pages x 128 Bytes = 65536 Bytes = 512 kbits
+
+
+#define GF_BSP_EEPROM_CV_struct_define_Start_Address 0
+#define IAP_struct_define_Start_Address 512
+
+extern uint16_t App_Download_EEPROM_Addr;
+
+//返回值：：1-正常；0-错误
+uint8_t GF_BSP_EEPROM_Init(void);
+
+uint8_t GF_BSP_EEPROM_CheckOK(void);
+uint8_t GF_BSP_EEPROM_ReadBytes(uint8_t *_pReadBuf, uint16_t _usAddress,
+		uint16_t _usSize);
+uint8_t GF_BSP_EEPROM_WriteBytes(uint8_t *_pWriteBuf, uint16_t _usAddress,
+		uint16_t _usSize);
+
+
+
+
+CV_struct_define GF_BSP_EEPROM_Get_CV(void);
+uint8_t GF_BSP_EEPROM_Set_CV(CV_struct_define cv);
+
+IAP_struct_define GF_BSP_EEPROM_Get_IAP(void);
+uint8_t GF_BSP_EEPROM_Set_IAP(IAP_struct_define iap);
+
+
+
+PV_struct_define GF_BSP_EEPROM_Get_PV(void);
+
+uint8_t GF_BSP_EEPROM_Set_PV(PV_struct_define pv);
+
+
+#endif /* INC_BSP_EEPROM_H_ */

jueyuanzijiance/Insulator_Inspection/Core/BASE/Inc/BSP/bsp_Error_Detect.h

@@ -0,0 +1,25 @@
+/*
+ * bsp_Error_Detect.h
+ *
+ *  Created on: Oct 23, 2024
+ *      Author: akeguo
+ */
+
+#ifndef INC_BSP_BSP_ERROR_DETECT_H_
+#define INC_BSP_BSP_ERROR_DETECT_H_
+
+
+/* Includes ------------------------------------------------------------------*/
+#include "BHBF_ROBOT.h"
+#include "bsp_com_helper.h"
+#include "BSP/bsp_include.h"
+/* Exported types ------------------------------------------------------------*/
+/* Exported constants --------------------------------------------------------*/
+/* Exported macro ------------------------------------------------------------*/
+extern HardWareController *HardWareErrorController;
+/* Exported functions ------------------------------------------------------- */
+extern char Error_Detect_Enable;
+extern void Error_Detect_Intialzie(uint16_t DispacherPeriod);
+
+
+#endif /* INC_BSP_BSP_ERROR_DETECT_H_ */

jueyuanzijiance/Insulator_Inspection/Core/BASE/Inc/BSP/bsp_FDCAN.h

@@ -0,0 +1,84 @@
+/*
+ * bsp_FDCAN.h
+ *
+ *  Created on: Oct 26, 2023
+ *      Author: shiya
+ */
+
+#ifndef INC_BSP_FDCAN_H_
+#define INC_BSP_FDCAN_H_
+#include "bsp_Error.pb.h"
+#include "bsp_com_helper.h"
+uint8_t GF_BSP_FDCAN_Init(void);
+
+void GF_BSP_FDCAN_Senddata(uint8_t FDCAN_CH, uint32_t FrameID,
+		uint8_t DataLength, uint8_t *Txdata);
+
+extern uint8_t CAN_Buf[8];
+
+extern uint8_t CAN_Buf[8];
+extern uint8_t CAN_Buf_2[8];
+typedef struct _CANSendHandler
+{
+	uint32_t CAN_ID;
+	uint32_t SendListTimePeriod;
+	uint8_t SendLength;
+	uint8_t Tx_Buf[8];
+	void (*CAN_Decode)(uint32_t, uint8_t*, uint32_t);
+	struct _CANSendHandler *pNext;
+} CANSendHandler;
+
+typedef struct _FDCANHandler
+{
+
+	FDCAN_HandleTypeDef *canfd; //CAN to use
+	struct _DispacherController *dispacherController;
+
+
+	uint8_t timeSpan;
+
+	uint8_t SendListExists;
+	uint32_t SendList_Period; //时间ms
+	uint32_t SendList_time_Count;
+
+	CANSendHandler *pCurrentCANSendHadler; //
+	void (*AddCANSendList)(struct _FDCANHandler*, uint32_t, uint8_t, uint8_t*,uint32_t,//这里是修改等待时间
+			void (*CAN_Decode)(uint32_t, uint8_t*, uint32_t));
+//void CANHandlerAddTxList(FDCANHandler *handler, uint32_t CAN_ID,uint8_t SendLength, uint8_t *Tx_Buf,uint32_t sendListTimePeriod,void (*CAN_Decode)(uint32_t, uint8_t*, uint32_t)) //参数其实就是一组can数据 在FDHandler添加东西
+	void (*CAN_Decode)(uint32_t, uint8_t*, uint32_t); // decode can frame, received from other devices
+
+	void (*CAN_Send)(struct _FDCANHandler*, uint32_t, uint8_t, uint8_t*);
+	void (*CAN_Send_Data)(struct _FDCANHandler*);
+	//(uint8_t FDCAN_CH, uint32_t FrameID,uint8_t DataLength, uint8_t *Txdata)
+	uint8_t Rx_Buf[128]; //接收缓冲
+	uint8_t Tx_Buf[128]; //发送缓冲
+	uint32_t ReceivedLength;//接收长度
+	uint32_t SendLength;   //发送长度
+	uint32_t ReceivedFrameID; //接收帧ID
+	uint32_t SendFrameID;  //发送帧ID
+
+} FDCANHandler;
+
+extern FDCANHandler FD_CAN_1_Handler;
+extern FDCANHandler FD_CAN_2_Handler;
+void GF_BSP_CAN_Timer();
+void CAN_Send_t(struct _FDCANHandler *fd, uint32_t FrameID, uint8_t DataLength,
+		uint8_t *Txdata);
+void CAN_Send_Data_t(struct _FDCANHandler *fd);
+
+void GF_CAN_Send_List_Send(FDCANHandler *handler);
+void CANHandlerAddTxList(FDCANHandler *handler, uint32_t CAN_ID,
+		uint8_t SendLength, uint8_t *Tx_Buf,uint32_t sendListTimePeriod,
+		void (*CAN_Decode)(uint32_t, uint8_t*, uint32_t));
+void GF_BSP_CANHandler_Init(int can1_sendListPeriod, int can1_DispacherPeriod,
+		int can2_sendListPeriod, int can2_DispacherPeriod);
+void GF_BSP_CANHandler_Init_CAN(FDCANHandler *handler,
+		FDCAN_HandleTypeDef *canfd, int sendListPeriod, int DispacherPeriod);
+
+void DecodeMotorCAN(uint32_t canID, uint8_t *buffer, uint32_t length);
+
+extern FDCANHandler FD_CAN_1_Handler;
+extern FDCANHandler FD_CAN_2_Handler;
+extern int32_t CAN_ID;
+extern int32_t CAN_ID_2;
+#endif /* INC_BSP_FDCAN_H_ */

jueyuanzijiance/Insulator_Inspection/Core/BASE/Inc/BSP/bsp_GPIO.h

@@ -0,0 +1,18 @@
+/*
+ * bsp_GPIO.h
+ *
+ *  Created on: Oct 26, 2023
+ *      Author: shiya
+ */
+
+#ifndef INC_BSP_GPIO_H_
+#define INC_BSP_GPIO_H_
+
+#include "bsp_include.h"
+
+uint8_t GF_BSP_GPIO_Init(void);
+void GF_BSP_GPIO_SetIO(uint8_t IO_Index,uint8_t Level);
+uint8_t GF_BSP_GPIO_ReadIO(uint8_t IO_Index);
+uint8_t GF_BSP_GPIO_ToggleIO(uint8_t IO_Index);
+
+#endif /* INC_BSP_GPIO_H_ */

jueyuanzijiance/Insulator_Inspection/Core/BASE/Inc/BSP/bsp_MB_host.h

@@ -0,0 +1,51 @@
+#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
+#define OneLineWaitTime 50
+#include "bsp_include.h"
+#include "BSP/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****/

jueyuanzijiance/Insulator_Inspection/Core/BASE/Inc/BSP/bsp_TIMER.h

@@ -0,0 +1,17 @@
+/*
+ * bsp_TIMER.h
+ *
+ *  Created on: Oct 26, 2023
+ *      Author: shiya
+ */
+
+#ifndef INC_BSP_TIMER_H_
+#define INC_BSP_TIMER_H_
+
+#include "bsp_include.h"
+
+uint8_t GF_BSP_TIMER_Init(void);
+void GF_BSP_TIMER_DelayUS(uint32_t n);
+
+
+#endif /* INC_BSP_TIMER_H_ */

jueyuanzijiance/Insulator_Inspection/Core/BASE/Inc/BSP/bsp_UART.h

@@ -0,0 +1,108 @@
+
+
+#ifndef INC_BSP_UART_H_
+#define INC_BSP_UART_H_
+
+#include "BSP/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;
+
+
+
+#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);
+
+
+
+// 链表节点结构体
+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 decode 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 Send_time;
+	//uint32_t count;
+	uint32_t Wait_Time_Count;
+	uint32_t SendList_time_Count;
+
+	uint32_t SendList_Period;
+	uint8_t SendListExists;
+
+	UART_HandleTypeDef* uart; //UART to use
+	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;
+
+	//(UART_HandleTypeDef *huart, const uint8_t *pData, uint16_t Size)
+	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
+	UARTSendHandler *pCurrentUARTSendHadler; //
+	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_ */

jueyuanzijiance/Insulator_Inspection/Core/BASE/Inc/BSP/bsp_UDP.h

@@ -0,0 +1,23 @@
+/*
+ * bsp_UDP.h
+ *
+ *  Created on: Aug 13, 2024
+ *      Author: akeguo
+ */
+
+#ifndef INC_BSP_BSP_UDP_H_
+#define INC_BSP_BSP_UDP_H_
+
+void udp_client_init(void);
+
+
+void udp_dlt_send_back(char *pData,uint16_t Size);
+void udp_cmd_send_back(char *pData, uint16_t Size);
+
+typedef void (*DLT_DecodeFuncPtr)(uint8_t*, uint16_t);
+void udp_send_by_pcb(struct udp_pcb * upcb,char *pData, uint16_t Size);
+// 再用该类型声明变量
+extern DLT_DecodeFuncPtr UDP_DLT_ReceivedCallback;
+extern int8_t is_udp_GV_update_loop_enalbed;
+
+#endif /* INC_BSP_BSP_UDP_H_ */

jueyuanzijiance/Insulator_Inspection/Core/BASE/Inc/BSP/bsp_UpperComputer_Handler.h

@@ -0,0 +1,27 @@
+/*
+ * bsp_desulfurizer_handler.h
+ *
+ *  Created on: Jul 29, 2024
+ *      Author: akeguo
+ */
+
+#ifndef INC_BSP_BSP_UPPERCOMPUTER_HANDLER_H_
+#define INC_BSP_BSP_UPPERCOMPUTER_HANDLER_H_
+#include <stdio.h>
+#include <string.h>
+#include "bsp_MB_host.h"
+#include "stdio.h"
+#include "BSP/bsp_UART.h"
+#include "usart.h"
+#include "gpio.h"
+
+
+extern struct UARTHandler *desulfurizer_message_UART_Handler;
+void upper_Computer_UART_Handler_intialize(struct UARTHandler *Handler);
+
+void decode_command_from_computer(uint8_t *buffer, uint16_t length);
+
+
+void send_data_to_upper_computer(double Angle, double WireLength,
+		double Thickness, char IsFittingPoint,char isMqtt,struct UARTHandler *send_UART_Handler);
+#endif /* INC_BSP_BSP_UPPERCOMPUTER_HANDLER_H_ */

jueyuanzijiance/Insulator_Inspection/Core/BASE/Inc/BSP/bsp_client_setting.h

@@ -0,0 +1,13 @@
+/*
+ * 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_ */

jueyuanzijiance/Insulator_Inspection/Core/BASE/Inc/BSP/bsp_com_helper.h

@@ -0,0 +1,78 @@
+/*
+ * 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"
+
+// 链表节点结构体
+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; // = 0;
+	uint16_t DispacherCallTime; //
+	uint16_t Dispacher_Counter; // = 0;
+	uint16_t Dispacher_Enable; // = 0 disable 1 enable
+	void (*Add_Dispatcher_List)(struct _DispacherController* ,
+			void (*dispacher)(void));
+	void (*Dispatcher_Run)(struct _DispacherController* );
+
+}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_ */

jueyuanzijiance/Insulator_Inspection/Core/BASE/Inc/BSP/bsp_cpu_flash.h

@@ -0,0 +1,66 @@
+/*
+ * bsp_cpu_flash.h
+ *
+ *  Created on: Aug 28, 2024
+ *      Author: akeguo
+ */
+
+#ifndef SRC_BSP_BSP_CPU_FLASH_H_
+#define SRC_BSP_BSP_CPU_FLASH_H_
+
+#include "main.h"
+
+#include <bsp_qspi_w25q128.h>
+#include "quadspi.h"
+
+#define ENABLE_INT()	__set_PRIMASK(0)	/* 使能全局中断 */
+#define DISABLE_INT()	__set_PRIMASK(1)	/* 禁止全局中断 */
+
+
+#define CPU_FLASH_BASE_ADDR      (uint32_t)(FLASH_BASE)		/* 0x08000000 */
+#define CPU_FLASH_END_ADDR       (uint32_t)(0x081FFFFF)
+
+#define CPU_FLASH_SIZE       	(2 * 1024 * 1024)	/* FLASH总容量 */
+#define CPU_FLASH_SECTOR_SIZE	(128 * 1024)		/* 扇区大小，字节 */
+
+/* Base address of the Flash sectors Bank 1 */
+#define ADDR_FLASH_SECTOR_0_BANK1     ((uint32_t)0x08000000) /* Base @ of Sector 0, 128 Kbytes */
+#define ADDR_FLASH_SECTOR_1_BANK1     ((uint32_t)0x08020000) /* Base @ of Sector 1, 128 Kbytes */
+#define ADDR_FLASH_SECTOR_2_BANK1     ((uint32_t)0x08040000) /* Base @ of Sector 2, 128 Kbytes */
+#define ADDR_FLASH_SECTOR_3_BANK1     ((uint32_t)0x08060000) /* Base @ of Sector 3, 128 Kbytes */
+#define ADDR_FLASH_SECTOR_4_BANK1     ((uint32_t)0x08080000) /* Base @ of Sector 4, 128 Kbytes */
+#define ADDR_FLASH_SECTOR_5_BANK1     ((uint32_t)0x080A0000) /* Base @ of Sector 5, 128 Kbytes */
+#define ADDR_FLASH_SECTOR_6_BANK1     ((uint32_t)0x080C0000) /* Base @ of Sector 6, 128 Kbytes */
+#define ADDR_FLASH_SECTOR_7_BANK1     ((uint32_t)0x080E0000) /* Base @ of Sector 7, 128 Kbytes */
+
+/* Base address of the Flash sectors Bank 2 */
+#define ADDR_FLASH_SECTOR_0_BANK2     ((uint32_t)0x08100000) /* Base @ of Sector 0, 128 Kbytes */
+#define ADDR_FLASH_SECTOR_1_BANK2     ((uint32_t)0x08120000) /* Base @ of Sector 1, 128 Kbytes */
+#define ADDR_FLASH_SECTOR_2_BANK2     ((uint32_t)0x08140000) /* Base @ of Sector 2, 128 Kbytes */
+#define ADDR_FLASH_SECTOR_3_BANK2     ((uint32_t)0x08160000) /* Base @ of Sector 3, 128 Kbytes */
+#define ADDR_FLASH_SECTOR_4_BANK2     ((uint32_t)0x08180000) /* Base @ of Sector 4, 128 Kbytes */
+#define ADDR_FLASH_SECTOR_5_BANK2     ((uint32_t)0x081A0000) /* Base @ of Sector 5, 128 Kbytes */
+#define ADDR_FLASH_SECTOR_6_BANK2     ((uint32_t)0x081C0000) /* Base @ of Sector 6, 128 Kbytes */
+#define ADDR_FLASH_SECTOR_7_BANK2     ((uint32_t)0x081E0000) /* Base @ of Sector 7, 128 Kbytes */
+
+#define FLASH_IS_EQU		0   /* Flash内容和待写入的数据相等，不需要擦除和写操作 */
+#define FLASH_REQ_WRITE		1	/* Flash不需要擦除，直接写 */
+#define FLASH_REQ_ERASE		2	/* Flash需要先擦除,再写 */
+#define FLASH_PARAM_ERR		3	/* 函数参数错误 */
+
+
+#define App_Start_Addr     0x08000000
+#define App_Run_Addr       0x08020000
+#define App_Download_Addr  0x08080000  // ADDR_FLASH_SECTOR_4_BANK1
+
+
+
+uint8_t bsp_ReadCpuFlash(uint32_t _ulFlashAddr, uint8_t *_ucpDst, uint32_t _ulSize);
+uint8_t bsp_WriteCpuFlash(uint32_t _ulFlashAddr, uint8_t *_ucpSrc, uint32_t _ulSize);
+uint8_t bsp_CmpCpuFlash(uint32_t _ulFlashAddr, uint8_t *_ucpBuf, uint32_t _ulSize);
+void JumpToApp(void);
+void Copy_Peripheral_Download_Flash_to_App_Start(uint32_t totalBytes);
+uint8_t bsp_EraseCpuFlash(uint32_t _ulFlashAddr);
+void Erase_App_Download_Flash_Addr();
+void Copy_Download_Flash_to_Start();
+#endif /* SRC_BSP_BSP_CPU_FLASH_H_ */

jueyuanzijiance/Insulator_Inspection/Core/BASE/Inc/BSP/bsp_decode_command.h

@@ -0,0 +1,39 @@
+/*
+ * bsp_decode_command.h
+ *
+ *  Created on: Sep 24, 2024
+ *      Author: akeguo
+ */
+
+#ifndef INC_BSP_BSP_DECODE_COMMAND_H_
+#define INC_BSP_BSP_DECODE_COMMAND_H_
+#include "main.h"
+#include "msp_WH_LTE_7S0.h"
+
+#include "pb_decode.h"
+#include "pb_encode.h"
+#include "bsp_include.h"
+#include "pb.h"
+
+#include "bsp_Cmd.pb.h"
+#include <stdio.h>
+#include <stdbool.h>
+#include <stdlib.h>
+
+#include "BHBF_ROBOT.h"
+#include "bsp_cpu_flash.h"
+#include <bsp_qspi_w25q128.h>
+#include <bsp_UpperComputer_Handler.h>
+#include "bsp_ReCmd.pb.h"
+#include "bsp_IV.pb.h"
+
+void send_received_data_to_upper_computer(uint8_t *buffer, uint16_t length);
+void decode_command_and_feedback(uint8_t *buffer, uint16_t length, char sendWay,
+		struct UARTHandler *send_Handler);
+
+extern void WrapInCmdAndSend(ReCmd send_Cmd, uint8_t *buf, int8_t sendWay,struct UARTHandler *send_Handler);
+
+
+extern void WrapInCmdAndSendMessage(ReCmd send_Cmd,int8_t functionNum,int8_t isSuccess, uint8_t *buf, int8_t sendWay,
+		struct UARTHandler *send_Handler);
+#endif /* INC_BSP_BSP_DECODE_COMMAND_H_ */

jueyuanzijiance/Insulator_Inspection/Core/BASE/Inc/BSP/bsp_include.h

@@ -0,0 +1,57 @@
+/*
+ * 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 "i2c.h"
+#include "tim.h"
+#include "usart.h"
+#include "gpio.h"
+
+#include "bsp_EEPROM.h"
+#include "bsp_GPIO.h"
+#include "bsp_FDCAN.h"
+
+#include "bsp_TIMER.h"
+#include "bsp_PV.pb.h"
+
+#include "bsp_GV.pb.h"
+#include "bsp_CV.pb.h"
+#include "pb.h"
+#include "pb_decode.h"
+#include "pb_common.h"
+#include "DLTuc.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_ */

jueyuanzijiance/Insulator_Inspection/Core/BASE/Inc/BSP/bsp_mqtt.h

@@ -0,0 +1,36 @@
+
+#ifndef __BSP_MQTT_H
+#define __BSP_MQTT_H
+
+/*-----------------------------------------------------------
+ * Includes files
+ *----------------------------------------------------------*/
+
+/*-----------------------------------------------------------
+ * Exported constants
+ *----------------------------------------------------------*/
+
+
+/*-----------------------------------------------------------
+ * Exported macro
+ *----------------------------------------------------------*/
+
+/*-----------------------------------------------------------
+ * Exported function
+ *----------------------------------------------------------*/
+/*!
+* @brief 封装 MQTT 初始化接口
+*        执行条件：无
+*
+* @retval: 无
+*/
+void bsp_mqtt_init(void);
+void bsp_mqtt_test(void);
+
+
+extern void bsp_mqtt_pub_send(char topic[],char buf[],size_t len);
+
+
+#include "bsp_pb_decode_encode.h"
+
+#endif /* __BSP_WOLFSSL_H */

jueyuanzijiance/Insulator_Inspection/Core/BASE/Inc/BSP/bsp_mqtt_pub.h

@@ -0,0 +1,26 @@
+/*
+ * bsp_mqtt_pub.h
+ *
+ *  Created on: Jul 9, 2024
+ *      Author: akeguo
+ */
+
+#ifndef INC_BSP_BSP_MQTT_PUB_H_
+#define INC_BSP_BSP_MQTT_PUB_H_
+
+#include "bsp_pb_decode_encode.h"
+#include "pb_decode.h"
+#include "pb_encode.h"
+#include "bsp_CV.pb.h"
+#include "bsp_pb_decode_encode.h"
+#include "BSP/bsp_EEPROM.h"
+
+
+
+
+
+extern void log_info(char logger[], char message[]);
+extern void log_debug(char logger[], char message[]);
+extern void log_err(char logger[], char message[]);
+
+#endif /* INC_BSP_BSP_MQTT_PUB_H_ */

jueyuanzijiance/Insulator_Inspection/Core/BASE/Inc/BSP/bsp_pb_decode_encode.h

@@ -0,0 +1,51 @@
+/*
+ * 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_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_ */

jueyuanzijiance/Insulator_Inspection/Core/BASE/Inc/BSP/bsp_qspi_w25q128.h

@@ -0,0 +1,107 @@
+/*
+ * bsp_quadspi_W25Q128.h
+ *
+ *  Created on: Apr 21, 2021
+ *      Author: Administrator
+ *
+  *  该bsp用于华邦的w25q128JV，跟华邦的w25q128JV不一样
+  *  坑爹的
+ */
+
+#ifndef BSP_QSPI_W25Q128_H_
+#define BSP_QSPI_W25Q128_H_
+
+
+#include "quadspi.h"
+#include "stdio.h"
+
+/* 宏定义 --------------------------------------------------------------------*/
+#define FLASH_BEGIN_ADDRESS 0x00000
+
+#define CODE_DOWNLOAD_FLASH_BEGIN_ADDRESS 0x00000
+#define CODE_FLASH_STORAGE_SIZE  1024*1024  // 留下1M的空间存储数据
+
+#define W25Q128FV_FLASH_SIZE                  0x1000000 /* 128 MBits => 16MBytes */
+#define W25Q128FV_BLOCK_SIZE                  0x10000   /* 256 Blocks of 64KBytes */
+#define W25Q128FV_HALF_BLOCK_SIZE             0x8000    /* 128 Blocks  of 32KBytes */
+#define W25Q128FV_SECTOR_SIZE                 0x1000    /* 4096 sectors of 4kBytes */
+#define W25Q128FV_PAGE_SIZE                   0x100     /* 65536 pages of 256 bytes */
+
+#define W25Q128FV_DUMMY_CYCLES_READ           4
+#define W25Q128FV_DUMMY_CYCLES_READ_QUAD      10
+
+#define W25Q128FV_BULK_ERASE_MAX_TIME         250000//ms
+#define W25Q128FV_SECTOR_ERASE_MAX_TIME       3000
+#define W25Q128FV_SUBSECTOR_ERASE_MAX_TIME    800
+
+#define W25Q128FV_FLASH_ID                    0XEF4018
+/*  W25Q128FV 指令  */
+/* 复位操作 */
+#define RESET_ENABLE_CMD                      0x66
+#define RESET_MEMORY_CMD                      0x99
+
+#define ENTER_QPI_MODE_CMD                    0x38
+#define EXIT_QPI_MODE_CMD                     0xFF
+
+/* 读取ID指令 */
+#define READ_ID_CMD                           0x90
+#define DUAL_READ_ID_CMD                      0x92
+#define QUAD_READ_ID_CMD                      0x94
+#define READ_JEDEC_ID_CMD                     0x9F
+
+/* 读操作指令 */
+#define READ_CMD                              0x03
+#define FAST_READ_CMD                         0x0B
+#define DUAL_OUT_FAST_READ_CMD                0x3B
+#define DUAL_INOUT_FAST_READ_CMD              0xBB
+#define QUAD_OUT_FAST_READ_CMD                0x6B
+#define QUAD_INOUT_FAST_READ_CMD              0xEB
+
+/* 写使能操作指令 */
+#define WRITE_ENABLE_CMD                      0x06
+#define WRITE_DISABLE_CMD                     0x04
+
+/* 读写状态寄存器操作指令 */
+#define READ_STATUS_REG1_CMD                  0x05
+#define READ_STATUS_REG2_CMD                  0x35
+#define READ_STATUS_REG3_CMD                  0x15
+
+#define WRITE_STATUS_REG1_CMD                 0x01
+#define WRITE_STATUS_REG2_CMD                 0x31
+#define WRITE_STATUS_REG3_CMD                 0x11
+
+/* 编程指令 */
+#define PAGE_PROG_CMD                         0x02
+#define QUAD_INPUT_PAGE_PROG_CMD              0x32
+
+/* 擦除Flash指令 */
+#define SECTOR_ERASE_CMD                      0x20
+#define BLOCK_32KB_ERASE_CMD                  0x52
+#define BLOCK_64KB_ERASE_CMD                  0xD8
+#define CHIP_ERASE_CMD                        0xC7
+
+#define PROG_ERASE_RESUME_CMD                 0x7A
+#define PROG_ERASE_SUSPEND_CMD                0x75
+
+/* 状态寄存器标志位 */
+#define W25Q128FV_FSR_BUSY                    ((uint8_t)0x01) /* busy */
+#define W25Q128FV_FSR_WREN                    ((uint8_t)0x02) /* write enable */
+#define W25Q128FV_FSR_QE                      ((uint8_t)0x02) /* quad enable */
+
+/* Flash 状态码*/
+#define FLASH_OK                          ((uint8_t)0x00)
+#define FLASH_ERROR                       ((uint8_t)0x01)
+#define FLASH_BUSY                        ((uint8_t)0x02)
+#define FLASH_NOT_SUPPORTED               ((uint8_t)0x04)
+#define FLASH_SUSPENDED                   ((uint8_t)0x08)
+
+
+
+uint32_t QSPI_W25Qx_ReadID(void);
+void QSPI_W25Qx_Reset_Memory();
+void QSPI_W25Qx_EraseSector(uint32_t _SectorAddr);
+uint8_t QSPI_W25Qx_Write_Buffer(uint8_t *_pBuf,uint32_t _write_Addr,uint16_t _write_Size);
+void QSPI_W25Qx_Read_Buffer(uint8_t *_pBuf,uint32_t _read_Addr,uint32_t _read_Size);
+void QSPI_W25Qx_EraseDownLoadFlash();
+void user_Assert(char *file,uint32_t line);
+#endif /* BSP_QSPI_W25Q128_H_ */

jueyuanzijiance/Insulator_Inspection/Core/BASE/Inc/BSP/bsp_tempature.h

@@ -0,0 +1,19 @@
+/*
+ * bsp_adc.h
+ *
+ *  Created on: Feb 21, 2025
+ *      Author: akeguo
+ */
+
+#ifndef INC_BSP_BSP_TEMPATURE_H_
+#define INC_BSP_BSP_TEMPATURE_H_
+
+
+#include "main.h"
+#include "DLTuc.h"
+
+int32_t read_temperature();
+void ADC_Intialize();
+
+extern int32_t * tempature;
+#endif /* INC_BSP_BSP_TEMPATURE_H_ */

jueyuanzijiance/Insulator_Inspection/Core/BASE/Inc/BSP/pb.h

@@ -0,0 +1,917 @@
+/* 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

jueyuanzijiance/Insulator_Inspection/Core/BASE/Inc/BSP/pb_common.h

@@ -0,0 +1,49 @@
+/* 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
+

jueyuanzijiance/Insulator_Inspection/Core/BASE/Inc/BSP/pb_decode.h

@@ -0,0 +1,193 @@
+/* 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

jueyuanzijiance/Insulator_Inspection/Core/BASE/Inc/BSP/pb_encode.h

@@ -0,0 +1,185 @@
+/* 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

jueyuanzijiance/Insulator_Inspection/Core/BASE/Inc/BSP/readme.h

@@ -0,0 +1,38 @@
+
+
+/*
+ * readme.h
+ *
+ *  Created on: 2023年10月31日
+ *      Author: shiya
+ *
+ *  CAN_H7_Bootloader程序存放位置
+ *      FLASH (rx)     : ORIGIN = 0x08000000, LENGTH = 128K
+ *  要求APP的存放位置为：
+ *      FLASH (rx)     : ORIGIN = 0x08020000, LENGTH = 896K
+ *  APP的中断向量表设置为：
+ *		define VECT_TAB_OFFSET         0x00020000U
+ *
+ *  Boot顺序（关联CAN总线2）：
+ *  Boot程序总线返回报文ID：0x1FF	类型：标准帧
+ *		1. Boot启动，返回报文长度1的报文；
+ *		2. 延时100ms，期间等待报文0x110标准帧，首字节0x55，如果接收到 进入BootLoader程序 A；
+ *		3. 如果没有收到进入bootloader请求，返回报文长度3的报文，跳转到APP；
+ *
+ *		A. 如果进入bootloader程序，返回报文长度2的报文，等待刷写；
+ *			刷写ID为0x222，逻辑参见“canbootloader.lua”
+ *		B. 如果刷写过程存在失败，返回报文长度4的报文，可以重新尝试运行“canbootloader.lua”进行刷写；
+ *
+ *		C. 刷写成功，返回报文长度3的报文，进入APP；
+ *		PV 用户可修改数据
+ *		CV 管理员配置权限，CV中有PV
+ *		GV 机器人数据
+ *		IV 机器人返回上位机的表征数据
+ *
+ */
+#ifndef INC_BSP_README_H_
+#define INC_BSP_README_H_
+
+
+
+#endif /* INC_BSP_README_H_ */

jueyuanzijiance/Insulator_Inspection/Core/BASE/Inc/BSP/tcp_server.h

@@ -0,0 +1,49 @@
+/*
+ * bsp_TCPServer.h
+ *
+ *  Created on: 2025年8月4日
+ *      Author: akeguo
+ */
+
+#ifndef BASE_INC_BSP_TCP_SERVER_H_
+#define BASE_INC_BSP_TCP_SERVER_H_
+
+//#ifndef TCP_SERVER_H
+//#define TCP_SERVER_H
+
+#include "lwip/tcp.h"
+#include <stdint.h>
+
+// 最大客户端连接数
+#define MAX_CLIENTS 8
+
+// 客户端连接结构
+typedef struct {
+    struct tcp_pcb *pcb;   // LwIP PCB指针
+    uint8_t active;        // 连接是否活跃
+} client_conn_t;
+
+// 服务器初始化
+void tcp_server_init(uint16_t port);
+
+// 发送数据给所有客户端
+void tcp_send_to_all_clients(const char *data, uint16_t len);
+
+// 定时器回调声明
+void tcp_server_timer_callback(void);
+
+typedef struct SendDataNode
+{
+   uint8_t Tx_Buf[255];         /*发送数据*/
+   uint8_t Tx_Count;           /*学号*/
+   struct SendDataNode * next;  /*指向下一个节点的指针*/
+}SendDataNode;
+extern void tcp_add_sendList(uint8_t *tx_Buf, uint8_t tx_count);
+
+
+
+
+//#endif /* TCP_SERVER_H */
+
+
+#endif /* BASE_INC_BSP_TCP_SERVER_H_ */

jueyuanzijiance/Insulator_Inspection/Core/BASE/Inc/MSP/msp_DAM_Relay.h

@@ -0,0 +1,39 @@
+/*
+ * msp_DAM_Relay.h
+ *
+ *  Created on: Nov 5, 2024
+ *      Author: akeguo
+ */
+
+#ifndef INC_MSP_MSP_DAM_RELAY_H_
+#define INC_MSP_MSP_DAM_RELAY_H_
+
+#include "BHBF_ROBOT.h"
+#include "msp_DAM.pb.h"
+extern int32_t DMA_DO_Value_[4];
+
+/* Enum definitions */
+typedef enum _ChannelStatus {
+	Triggered = 0,
+	Not_triggered = 1,
+} ChannelStatus;
+
+
+//typedef struct _DAMChannelStatus
+//{
+//	uint8_t ch1;
+//	uint8_t ch2;
+//	uint8_t ch3;
+//	uint8_t ch4;
+//	uint8_t ch5;
+//	uint8_t ch6;
+//	uint8_t ch7;
+//	uint8_t ch8;
+//}__attribute__((packed)) DAMChannelStatus_t;// 强制紧凑打包，避免内存空洞
+
+extern DAMChannelStatus_t DAMChannelStatus;
+//extern DAMChannelStatus_t* DAMChannelStatus_p;
+
+extern void DAM_Relay_intialize(struct UARTHandler *Handler);
+
+#endif /* INC_MSP_MSP_DAM_RELAY_H_ */

jueyuanzijiance/Insulator_Inspection/Core/BASE/Inc/MSP/msp_DAM_Relay_1.h

@@ -0,0 +1,20 @@
+/*
+ * msp_DAM_Relay_1.h
+ *
+ *  Created on: 2026年1月5日
+ *      Author: 13752
+ */
+
+#ifndef BASE_INC_MSP_MSP_DAM_RELAY_1_H_
+#define BASE_INC_MSP_MSP_DAM_RELAY_1_H_
+
+#include "BHBF_ROBOT.h"
+//#include "../../BASE/Inc/MSP/msp_DAM_Relay.h"
+#include "msp_DAM.pb.h"
+
+extern void DAM_Relay_1_intialize(struct UARTHandler *Handler);
+
+extern DAMChannelStatus_t DAMChannelStatus_1;
+extern int32_t DMA_DO_Value_1[8];
+
+#endif /* BASE_INC_MSP_MSP_DAM_RELAY_1_H_ */

jueyuanzijiance/Insulator_Inspection/Core/BASE/Inc/MSP/msp_Force_Sensor.h

@@ -0,0 +1,13 @@
+/*
+ * msp_Force_Sensor.h
+ *
+ *  Created on: Oct 8, 2024
+ *      Author: akeguo
+ */
+
+#ifndef INC_MSP_MSP_FORCE_SENSOR_H_
+#define INC_MSP_MSP_FORCE_SENSOR_H_
+#include "bsp_MB_host.h"
+extern void force_sensor_intialize(struct UARTHandler *Handler);
+extern int32_t* ForceValue;
+#endif /* INC_MSP_MSP_FORCE_SENSOR_H_ */

jueyuanzijiance/Insulator_Inspection/Core/BASE/Inc/MSP/msp_INS_Motors_CAN.h

@@ -0,0 +1,25 @@
+/*
+ * msp_LeiSai_ISV2_CAN.h
+ *
+ *  Created on: Oct 22, 2024
+ *      Author: akeguo
+ */
+
+#ifndef INC_MSP_MSP_LEISAI_ISV2_CAN_H_
+#define INC_MSP_MSP_LEISAI_ISV2_CAN_H_
+
+#include "BHBF_ROBOT.h"
+#include "bsp_FDCAN.h"
+#include "msp_INS_MotorParameters.pb.h"
+
+extern INS_MotorParameters* INS_Motor[7];
+extern double wheel_diameter_m; //1m 260mm
+extern double motor_pulses_rer_rotation; //1 pulse
+extern double wheel_reduction_ratio;
+extern double wheel_001m_per_min_to_plus_per_s_ratio;
+extern double wheel_plus_per_s_to_m_per_min_ratio;
+
+void INS_Set_TargetSpeed_Direction(int32_t MotorID,int32_t LeftMotor_Direction,int32_t RightMotor_Direction,
+        FDCANHandler *Motor_Controller, int32_t WaitTime, int32_t TargetSpeed,uint8_t _lightctrl);
+
+#endif /* INC_MSP_MSP_LEISAI_ISV2_CAN_H_ */

jueyuanzijiance/Insulator_Inspection/Core/BASE/Inc/MSP/msp_JTBATTERY.h

@@ -0,0 +1,15 @@
+/*
+ * msp_JTBATTERY.h
+ *
+ *  Created on: Oct 26, 2023
+ *      Author: shiya
+ */
+
+#ifndef INC_MSP_MSP_JTBATTERY_H_
+#define INC_MSP_MSP_JTBATTERY_H_
+
+#include "BSP/bsp_include.h"
+
+
+
+#endif /* INC_MSP_MSP_JTBATTERY_H_ */

jueyuanzijiance/Insulator_Inspection/Core/BASE/Inc/MSP/msp_LGUB500.h

@@ -0,0 +1,20 @@
+/*
+ * msp_LGUB500.h
+ *
+ *  Created on: Jul 15, 2025
+ *      Author: 13752
+ */
+
+#ifndef INC_MSP_MSP_LGUB500_H_
+#define INC_MSP_MSP_LGUB500_H_
+
+#include "BSP/bsp_UART.h"
+#include "msp_LGUB500.pb.h"
+#include "bsp_Error.pb.h"
+#include "BHBF_ROBOT.h"
+#include "../../BASE/Inc/BSP/bsp_MB_host.h"
+
+void LGUB500_sensor_intialize(struct UARTHandler *Handler);
+extern LGUB500_struct_define *lgub500;
+
+#endif /* INC_MSP_MSP_LGUB500_H_ */

jueyuanzijiance/Insulator_Inspection/Core/BASE/Inc/MSP/msp_LeiSai_485.h

@@ -0,0 +1,29 @@
+/*
+ * msp_LeiSai_485.h
+ *
+ *  Created on: 2025年12月19日
+ *      Author: xsq
+ */
+
+#ifndef BASE_INC_MSP_MSP_LEISAI_485_H_
+#define BASE_INC_MSP_MSP_LEISAI_485_H_
+#include "BHBF_ROBOT.h"
+
+
+// 滑轨状态枚举
+typedef enum {
+    POS_ZERO,          // 零位
+    POS_LEFT,          // 零位左侧（需逆时针回归）
+    POS_RIGHT,         // 零位右侧（需顺时针回归）
+    POS_UNKNOWN        // 未知位置（需先寻边）
+} SlidePosition;
+
+extern uint8_t slide_flag;
+extern uint32_t moving_time;
+extern uint8_t SlidePositionStatus;
+extern SlidePosition pos;
+
+extern int16_t LS_485Motors_Speed;
+extern bool slide_go_to_zero(uint8_t timeout);
+
+#endif /* BASE_INC_MSP_MSP_LEISAI_485_H_ */

jueyuanzijiance/Insulator_Inspection/Core/BASE/Inc/MSP/msp_LeiSai_Position_485.h

@@ -0,0 +1,27 @@
+/*
+ * msp_LeiSai_Position_485.h
+ *
+ *  Created on: 2025年12月23日
+ *      Author: 13752
+ */
+
+#ifndef BASE_INC_MSP_MSP_LEISAI_POSITION_485_H_
+#define BASE_INC_MSP_MSP_LEISAI_POSITION_485_H_
+#include "BHBF_ROBOT.h"
+
+
+extern transition_t   ls_485_position_current_rotate_state;
+extern int16_t LS_485_Motors_Speed;
+extern int32_t LS_485Motors_Position;
+extern transition_state_t   ls_485_position_halt_rotate_state;
+extern transition_state_t   ls_485_position_positive_rotate_state;
+extern transition_state_t   ls_485_position_state;
+extern transition_state_t   ls_485_position_negative_rotate_state;
+
+extern bool LS_Motor_Homing();
+extern void ls_485_Rotate_Do(transition_t *p_this);
+void ls_485_Rotate_Do_1(transition_t *p_this);
+extern void ls_485_position_Halt_Rotate(transition_t *p_this);
+extern void ls_485_position_Set(transition_t *p_this);
+extern void SetZeroPoint();
+#endif /* BASE_INC_MSP_MSP_LEISAI_POSITION_485_H_ */

jueyuanzijiance/Insulator_Inspection/Core/BASE/Inc/MSP/msp_PID.h

@@ -0,0 +1,21 @@
+/*
+ * msp_PID.h
+ *
+ *  Created on: 2024年1月22日
+ *      Author: Administrator
+ */
+
+#ifndef INC_MSP_MSP_PID_H_
+#define INC_MSP_MSP_PID_H_
+
+#include "BSP/bsp_include.h"
+
+
+
+
+extern double Angle_Tune_PID(double CurrentAngle, double TargetAngle, double Position_KP,
+		double Position_KI, double Position_KD, double MaxValue);
+
+double PositionalPID_1(double pidTargetValue, double pidCurrentValue);
+
+#endif /* INC_MSP_MSP_PID_H_ */

jueyuanzijiance/Insulator_Inspection/Core/BASE/Inc/MSP/msp_TL720D.h

@@ -0,0 +1,24 @@
+/*
+ * msp_TL720D.h
+ *
+ *  Created on: Jul 19, 2024
+ *      Author: bihon
+ */
+
+#ifndef INC_MSP_MSP_TL720D_H_
+#define INC_MSP_MSP_TL720D_H_
+
+#include <stdio.h>
+#include <string.h>
+#include "bsp_MB_host.h"
+#include "stdio.h"
+#include "BSP/bsp_UART.h"
+#include "usart.h"
+#include "gpio.h"
+
+void TL720D_intialize(struct UARTHandler *Handler);
+
+extern MSP_TL720DParameters* SP_MSP_RF_TL720D_Parameters_In;
+extern int32_t *RobotAngle;//机器人角度
+
+#endif /* INC_MSP_MSP_TL720D_H_ */

jueyuanzijiance/Insulator_Inspection/Core/BASE/Inc/MSP/msp_U7.h

@@ -0,0 +1,19 @@
+/*
+ * msp_U7.h
+ *
+ *  Created on: Oct 8, 2024
+ *      Author: akeguo
+ */
+
+#ifndef INC_MSP_MSP_U7_H_
+#define INC_MSP_MSP_U7_H_
+#include "../../BASE/Inc/BSP/bsp_UART.h"
+#include "msp_U7.pb.h"
+void Sbus_Data_Count_U7(uint8_t *buf, int32_t *But_Value);
+extern SP_MSP_U7_Button *P_U7;
+void Robot_ResetCheck_Loop(void);
+extern char Is_All_Button_Reset;
+//
+extern void U7_Sbus_UART_Handler_intialize(struct UARTHandler* Handler);
+
+#endif /* INC_MSP_MSP_U7_H_ */

jueyuanzijiance/Insulator_Inspection/Core/BASE/Inc/MSP/msp_WH_LTE_7S0.h

@@ -0,0 +1,21 @@
+/*
+ * bsp_WH_LTE_7S0.h
+ *
+ *  Created on: Sep 14, 2024
+ *      Author: akeguo
+ */
+
+#ifndef INC_BSP_BSP_WH_LTE_7S0_H_
+#define INC_BSP_BSP_WH_LTE_7S0_H_
+#include "stdint.h"
+extern struct UARTHandler *wh_LTE_7S0_Handler;
+//void WH_LTE_7S0_intialize(struct UARTHandler *Handler);
+void Send_WH_LTE_7S0_Data(uint8_t* data,int length);
+
+void WH_LTE_7S0_intialize(struct UARTHandler *Handler);
+void decode_received_data_from_computer(uint8_t *buffer, uint16_t length);
+void decode_command_from_wh_LTE_7S0(uint8_t *buffer, uint16_t length);
+void UpdateGV();
+
+extern char NeedToFeedBackToComputer;
+#endif /* INC_BSP_BSP_WH_LTE_7S0_H_ */

jueyuanzijiance/Insulator_Inspection/Core/BASE/Protobuf/PSource/bsp_CV.pb.c

@@ -0,0 +1,20 @@
+/* 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)
+
+
+
+#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
+

jueyuanzijiance/Insulator_Inspection/Core/BASE/Protobuf/PSource/bsp_CV.pb.h

@@ -0,0 +1,125 @@
+/* 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 "bsp_PV.pb.h"
+#include "bsp_PID.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 {
+    int32_t Speed_m_per_min; /* MPMin =  1m/min  1米每分钟 m/min */
+    int32_t LeftTurnSpeed;
+    int32_t RightTurnSpeed;
+    int32_t RobotLeftAngleValue; /* 水平左方向  单位0.01° */
+    int32_t RobotRightAngleValue; /* 水平右方向角度值 单位0.01° */
+    int32_t RobotUpAngleValue; /* 竖直方向角度值 单位0.01° */
+    int32_t RobotDownAngleValue; /* 竖直向下角度值 单位0.01° */
+    int32_t Robot_Permitted_Angler_Error_Value_E_2D; /* 作业时需用的最大角度偏差值 0.01°，超出将停止作业 */
+    int32_t Robot_Angle_Start_BaseE_2D; /* 角度值 0.01° */
+    int32_t Lane_Change_Speed_m_per_min;
+    int32_t Is_Automation_Authorized;
+    int32_t Is_Function_Authorized;
+    int32_t Joy_Sticker_Angle_Allowance; /* 例如在90度的±30° */
+    int32_t Joy_Sticker_Value_Allowance; /* 例如 joysticker的值超过600 */
+    int32_t Allowable_Error_For_Angle_Tracking; /* 纠偏角度跟踪的允许误差1 度 */
+    int32_t Paint_Gun_Shutdown_Distance; /* 喷枪关闭距离，喷枪关闭后多上厘米停止运行 */
+    int32_t Horizontal_ChangeLane_Compensation; /* 水平换道补偿距离 */
+    int32_t Vertical_ChangeLane_Compensation; /* 竖直换道补偿距离 */
+    int32_t pulse_Per_Circle; /* 每转多少脉冲 */
+    int32_t wheel_Reduction_Ratio; /* 减速比 */
+    double wheel_Diameter_m; /* 车轮直径 m */
+    bool has_PID_high;
+    PID_Parameters PID_high;
+    bool has_PID_mid;
+    PID_Parameters PID_mid;
+    bool has_PID_low;
+    PID_Parameters PID_low;
+} CV_struct_define;
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Initializer values for message structs */
+#define CV_struct_define_init_default            {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, false, PID_Parameters_init_default, false, PID_Parameters_init_default, false, PID_Parameters_init_default}
+#define CV_struct_define_init_zero               {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, false, PID_Parameters_init_zero, false, PID_Parameters_init_zero, false, PID_Parameters_init_zero}
+
+/* Field tags (for use in manual encoding/decoding) */
+#define CV_struct_define_Speed_m_per_min_tag     1
+#define CV_struct_define_LeftTurnSpeed_tag       2
+#define CV_struct_define_RightTurnSpeed_tag      3
+#define CV_struct_define_RobotLeftAngleValue_tag 4
+#define CV_struct_define_RobotRightAngleValue_tag 5
+#define CV_struct_define_RobotUpAngleValue_tag   6
+#define CV_struct_define_RobotDownAngleValue_tag 7
+#define CV_struct_define_Robot_Permitted_Angler_Error_Value_E_2D_tag 8
+#define CV_struct_define_Robot_Angle_Start_BaseE_2D_tag 9
+#define CV_struct_define_Lane_Change_Speed_m_per_min_tag 10
+#define CV_struct_define_Is_Automation_Authorized_tag 11
+#define CV_struct_define_Is_Function_Authorized_tag 12
+#define CV_struct_define_Joy_Sticker_Angle_Allowance_tag 13
+#define CV_struct_define_Joy_Sticker_Value_Allowance_tag 14
+#define CV_struct_define_Allowable_Error_For_Angle_Tracking_tag 15
+#define CV_struct_define_Paint_Gun_Shutdown_Distance_tag 16
+#define CV_struct_define_Horizontal_ChangeLane_Compensation_tag 17
+#define CV_struct_define_Vertical_ChangeLane_Compensation_tag 18
+#define CV_struct_define_pulse_Per_Circle_tag    19
+#define CV_struct_define_wheel_Reduction_Ratio_tag 20
+#define CV_struct_define_wheel_Diameter_m_tag    21
+#define CV_struct_define_PID_high_tag            22
+#define CV_struct_define_PID_mid_tag             23
+#define CV_struct_define_PID_low_tag             24
+
+/* Struct field encoding specification for nanopb */
+#define CV_struct_define_FIELDLIST(X, a) \
+X(a, STATIC,   SINGULAR, INT32,    Speed_m_per_min,   1) \
+X(a, STATIC,   SINGULAR, INT32,    LeftTurnSpeed,     2) \
+X(a, STATIC,   SINGULAR, INT32,    RightTurnSpeed,    3) \
+X(a, STATIC,   SINGULAR, INT32,    RobotLeftAngleValue,   4) \
+X(a, STATIC,   SINGULAR, INT32,    RobotRightAngleValue,   5) \
+X(a, STATIC,   SINGULAR, INT32,    RobotUpAngleValue,   6) \
+X(a, STATIC,   SINGULAR, INT32,    RobotDownAngleValue,   7) \
+X(a, STATIC,   SINGULAR, INT32,    Robot_Permitted_Angler_Error_Value_E_2D,   8) \
+X(a, STATIC,   SINGULAR, INT32,    Robot_Angle_Start_BaseE_2D,   9) \
+X(a, STATIC,   SINGULAR, INT32,    Lane_Change_Speed_m_per_min,  10) \
+X(a, STATIC,   SINGULAR, INT32,    Is_Automation_Authorized,  11) \
+X(a, STATIC,   SINGULAR, INT32,    Is_Function_Authorized,  12) \
+X(a, STATIC,   SINGULAR, INT32,    Joy_Sticker_Angle_Allowance,  13) \
+X(a, STATIC,   SINGULAR, INT32,    Joy_Sticker_Value_Allowance,  14) \
+X(a, STATIC,   SINGULAR, INT32,    Allowable_Error_For_Angle_Tracking,  15) \
+X(a, STATIC,   SINGULAR, INT32,    Paint_Gun_Shutdown_Distance,  16) \
+X(a, STATIC,   SINGULAR, INT32,    Horizontal_ChangeLane_Compensation,  17) \
+X(a, STATIC,   SINGULAR, INT32,    Vertical_ChangeLane_Compensation,  18) \
+X(a, STATIC,   SINGULAR, INT32,    pulse_Per_Circle,  19) \
+X(a, STATIC,   SINGULAR, INT32,    wheel_Reduction_Ratio,  20) \
+X(a, STATIC,   SINGULAR, DOUBLE,   wheel_Diameter_m,  21) \
+X(a, STATIC,   OPTIONAL, MESSAGE,  PID_high,         22) \
+X(a, STATIC,   OPTIONAL, MESSAGE,  PID_mid,          23) \
+X(a, STATIC,   OPTIONAL, MESSAGE,  PID_low,          24)
+#define CV_struct_define_CALLBACK NULL
+#define CV_struct_define_DEFAULT NULL
+#define CV_struct_define_PID_high_MSGTYPE PID_Parameters
+#define CV_struct_define_PID_mid_MSGTYPE PID_Parameters
+#define CV_struct_define_PID_low_MSGTYPE PID_Parameters
+
+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                    358
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif

jueyuanzijiance/Insulator_Inspection/Core/BASE/Protobuf/PSource/bsp_Cmd.pb.c

@@ -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)
+
+
+

jueyuanzijiance/Insulator_Inspection/Core/BASE/Protobuf/PSource/bsp_Cmd.pb.h

@@ -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

jueyuanzijiance/Insulator_Inspection/Core/BASE/Protobuf/PSource/bsp_Error.pb.c

@@ -0,0 +1,13 @@
+/* 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(ErrorData, ErrorData, AUTO)
+
+
+
+

jueyuanzijiance/Insulator_Inspection/Core/BASE/Protobuf/PSource/bsp_Error.pb.h

@@ -0,0 +1,72 @@
+/* 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
+
+/* Enum definitions */
+typedef enum _ComError {
+    ComError_U7_SBus = 0,
+    ComError_TL720D = 1,
+    ComError_Remote_Button_Reset_State = 2,
+    ComError_LS_485Motors3 = 3,
+    ComError_DAM_Relay_ErrorBitFlag = 4,
+    ComError_DAM_Relay_1_ErrorBitFlag = 5,
+    ComError_LGUB500_sensor = 6
+} ComError;
+
+/* Struct definitions */
+typedef struct _ErrorData {
+    int32_t Com_Error_Code;
+    int32_t Left_Motor_Error_Code;
+    int32_t Right_Motor_Error_Code;
+} ErrorData;
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Helper constants for enums */
+#define _ComError_MIN ComError_U7_SBus
+#define _ComError_MAX ComError_LGUB500_sensor
+#define _ComError_ARRAYSIZE ((ComError)(ComError_LGUB500_sensor+1))
+
+
+
+/* Initializer values for message structs */
+#define ErrorData_init_default                   {0, 0, 0}
+#define ErrorData_init_zero                      {0, 0, 0}
+
+/* Field tags (for use in manual encoding/decoding) */
+#define ErrorData_Com_Error_Code_tag             1
+#define ErrorData_Left_Motor_Error_Code_tag      2
+#define ErrorData_Right_Motor_Error_Code_tag     3
+
+/* Struct field encoding specification for nanopb */
+#define ErrorData_FIELDLIST(X, a) \
+X(a, STATIC,   SINGULAR, INT32,    Com_Error_Code,    1) \
+X(a, STATIC,   SINGULAR, INT32,    Left_Motor_Error_Code,   2) \
+X(a, STATIC,   SINGULAR, INT32,    Right_Motor_Error_Code,   3)
+#define ErrorData_CALLBACK NULL
+#define ErrorData_DEFAULT NULL
+
+extern const pb_msgdesc_t ErrorData_msg;
+
+/* Defines for backwards compatibility with code written before nanopb-0.4.0 */
+#define ErrorData_fields &ErrorData_msg
+
+/* Maximum encoded size of messages (where known) */
+#define BSP_ERROR_PB_H_MAX_SIZE                  ErrorData_size
+#define ErrorData_size                           33
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif

jueyuanzijiance/Insulator_Inspection/Core/BASE/Protobuf/PSource/bsp_GV.pb.c

@@ -0,0 +1,20 @@
+/* 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)
+
+
+
+#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
+

jueyuanzijiance/Insulator_Inspection/Core/BASE/Protobuf/PSource/bsp_GV.pb.h

@@ -0,0 +1,130 @@
+/* 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_U7.pb.h"
+#include "msp_Motor.pb.h"
+#include "msp_INS_MotorParameters.pb.h"
+#include "msp_TL720D.pb.h"
+#include "bsp_Error.pb.h"
+#include "bsp_PV.pb.h"
+#include "bsp_IO.pb.h"
+#include "msp_DAM.pb.h"
+#include "msp_LGUB500.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 {
+    int32_t TempatureE_2C; /* E_2C=0.01 Celsius 0.01摄氏度 */
+    int32_t Left_Compensation; /* E_2D =0.01 Degree    0.01度 */
+    int32_t Right_Compensation; /* 0.01度 */
+    int32_t Robot_Angle; /* 机器人角度 //0.01度 */
+    double Robot_Move_Speed; /* 0.1rpm */
+    int32_t ForceValue;
+    int32_t LaneChangeDistance;
+    bool has_U7_Key;
+    SP_MSP_U7_Button U7_Key;
+    bool has_ALLMotor;
+    INS_MotorParameters ALLMotor; /* 左电机 ID2 */
+    bool has_TL720DParameters;
+    MSP_TL720DParameters TL720DParameters;
+    bool has_IO;
+    IO_Data IO;
+    bool has_SystemErrorData;
+    ErrorData SystemErrorData;
+    bool has_PV;
+    PV_struct_define PV; /* 用户配置数据 */
+    int32_t Lighting_Control; /* 灯光控制 */
+    bool has_DAM_CH;
+    DAMChannelStatus_t DAM_CH; /* DAM通道 */
+    int32_t slideTableSpeed; /* 滑台速度 */
+    int32_t pushRobSpeed; /* 推杆速度 */
+    bool has_safety_distance;
+    LGUB500_struct_define safety_distance; /* 超声波探测距离 */
+    int32_t isProbeAllowMoveCheck;
+    int32_t isRobotAllowMoveCheck;
+} GV_struct_define;
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Initializer values for message structs */
+#define GV_struct_define_init_default            {0, 0, 0, 0, 0, 0, 0, false, SP_MSP_U7_Button_init_default, false, INS_MotorParameters_init_default, false, MSP_TL720DParameters_init_default, false, IO_Data_init_default, false, ErrorData_init_default, false, PV_struct_define_init_default, 0, false, DAMChannelStatus_t_init_default, 0, 0, false, LGUB500_struct_define_init_default, 0, 0}
+#define GV_struct_define_init_zero               {0, 0, 0, 0, 0, 0, 0, false, SP_MSP_U7_Button_init_zero, false, INS_MotorParameters_init_zero, false, MSP_TL720DParameters_init_zero, false, IO_Data_init_zero, false, ErrorData_init_zero, false, PV_struct_define_init_zero, 0, false, DAMChannelStatus_t_init_zero, 0, 0, false, LGUB500_struct_define_init_zero, 0, 0}
+
+/* Field tags (for use in manual encoding/decoding) */
+#define GV_struct_define_TempatureE_2C_tag       1
+#define GV_struct_define_Left_Compensation_tag   2
+#define GV_struct_define_Right_Compensation_tag  3
+#define GV_struct_define_Robot_Angle_tag         4
+#define GV_struct_define_Robot_Move_Speed_tag    5
+#define GV_struct_define_ForceValue_tag          6
+#define GV_struct_define_LaneChangeDistance_tag  7
+#define GV_struct_define_U7_Key_tag              9
+#define GV_struct_define_ALLMotor_tag            10
+#define GV_struct_define_TL720DParameters_tag    12
+#define GV_struct_define_IO_tag                  13
+#define GV_struct_define_SystemErrorData_tag     14
+#define GV_struct_define_PV_tag                  15
+#define GV_struct_define_Lighting_Control_tag    16
+#define GV_struct_define_DAM_CH_tag              17
+#define GV_struct_define_slideTableSpeed_tag     18
+#define GV_struct_define_pushRobSpeed_tag        19
+#define GV_struct_define_safety_distance_tag     20
+#define GV_struct_define_isProbeAllowMoveCheck_tag 21
+#define GV_struct_define_isRobotAllowMoveCheck_tag 22
+
+/* Struct field encoding specification for nanopb */
+#define GV_struct_define_FIELDLIST(X, a) \
+X(a, STATIC,   SINGULAR, INT32,    TempatureE_2C,     1) \
+X(a, STATIC,   SINGULAR, INT32,    Left_Compensation,   2) \
+X(a, STATIC,   SINGULAR, INT32,    Right_Compensation,   3) \
+X(a, STATIC,   SINGULAR, INT32,    Robot_Angle,       4) \
+X(a, STATIC,   SINGULAR, DOUBLE,   Robot_Move_Speed,   5) \
+X(a, STATIC,   SINGULAR, INT32,    ForceValue,        6) \
+X(a, STATIC,   SINGULAR, INT32,    LaneChangeDistance,   7) \
+X(a, STATIC,   OPTIONAL, MESSAGE,  U7_Key,            9) \
+X(a, STATIC,   OPTIONAL, MESSAGE,  ALLMotor,         10) \
+X(a, STATIC,   OPTIONAL, MESSAGE,  TL720DParameters,  12) \
+X(a, STATIC,   OPTIONAL, MESSAGE,  IO,               13) \
+X(a, STATIC,   OPTIONAL, MESSAGE,  SystemErrorData,  14) \
+X(a, STATIC,   OPTIONAL, MESSAGE,  PV,               15) \
+X(a, STATIC,   SINGULAR, INT32,    Lighting_Control,  16) \
+X(a, STATIC,   OPTIONAL, MESSAGE,  DAM_CH,           17) \
+X(a, STATIC,   SINGULAR, INT32,    slideTableSpeed,  18) \
+X(a, STATIC,   SINGULAR, INT32,    pushRobSpeed,     19) \
+X(a, STATIC,   OPTIONAL, MESSAGE,  safety_distance,  20) \
+X(a, STATIC,   SINGULAR, INT32,    isProbeAllowMoveCheck,  21) \
+X(a, STATIC,   SINGULAR, INT32,    isRobotAllowMoveCheck,  22)
+#define GV_struct_define_CALLBACK NULL
+#define GV_struct_define_DEFAULT NULL
+#define GV_struct_define_U7_Key_MSGTYPE SP_MSP_U7_Button
+#define GV_struct_define_ALLMotor_MSGTYPE INS_MotorParameters
+#define GV_struct_define_TL720DParameters_MSGTYPE MSP_TL720DParameters
+#define GV_struct_define_IO_MSGTYPE IO_Data
+#define GV_struct_define_SystemErrorData_MSGTYPE ErrorData
+#define GV_struct_define_PV_MSGTYPE PV_struct_define
+#define GV_struct_define_DAM_CH_MSGTYPE DAMChannelStatus_t
+#define GV_struct_define_safety_distance_MSGTYPE LGUB500_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                    969
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif

jueyuanzijiance/Insulator_Inspection/Core/BASE/Protobuf/PSource/bsp_IAP.pb.c

@@ -0,0 +1,12 @@
+/* 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)
+
+
+

jueyuanzijiance/Insulator_Inspection/Core/BASE/Protobuf/PSource/bsp_IAP.pb.h

@@ -0,0 +1,58 @@
+/* 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

jueyuanzijiance/Insulator_Inspection/Core/BASE/Protobuf/PSource/bsp_IO.pb.c

@@ -0,0 +1,12 @@
+/* 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)
+
+
+

jueyuanzijiance/Insulator_Inspection/Core/BASE/Protobuf/PSource/bsp_IO.pb.h

@@ -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

jueyuanzijiance/Insulator_Inspection/Core/BASE/Protobuf/PSource/bsp_IV.pb.c

@@ -0,0 +1,12 @@
+/* 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)
+
+
+

jueyuanzijiance/Insulator_Inspection/Core/BASE/Protobuf/PSource/bsp_IV.pb.h

@@ -0,0 +1,87 @@
+/* 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 {
+    int32_t CurrentAngle; /* 单位0.01° */
+    int32_t RobotMoveSpeed; /* 单位m/min 机器人移动速度 */
+    int32_t SBUS_State; /* 0断开 1连接 */
+    int32_t SystemError; /* 硬件通讯错误及按键未初始化错误 */
+    int32_t DAM_CH1; /* DAM通道状态 */
+    int32_t DAM_CH2;
+    int32_t DAM_CH3;
+    int32_t DAM_CH4;
+    int32_t DAM_CH5;
+    int32_t DAM_CH6;
+    int32_t DAM_CH7;
+    int32_t DAM_CH8;
+    int32_t probeAllowMoveCheck; /* 升降杆允许运动查询 */
+    int32_t robotAllowMoveCheck; /* 机器人允许运动查询 */
+} IV_struct_define;
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Initializer values for message structs */
+#define IV_struct_define_init_default            {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
+#define IV_struct_define_init_zero               {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
+
+/* Field tags (for use in manual encoding/decoding) */
+#define IV_struct_define_CurrentAngle_tag        1
+#define IV_struct_define_RobotMoveSpeed_tag      2
+#define IV_struct_define_SBUS_State_tag          3
+#define IV_struct_define_SystemError_tag         4
+#define IV_struct_define_DAM_CH1_tag             5
+#define IV_struct_define_DAM_CH2_tag             6
+#define IV_struct_define_DAM_CH3_tag             7
+#define IV_struct_define_DAM_CH4_tag             8
+#define IV_struct_define_DAM_CH5_tag             9
+#define IV_struct_define_DAM_CH6_tag             10
+#define IV_struct_define_DAM_CH7_tag             11
+#define IV_struct_define_DAM_CH8_tag             12
+#define IV_struct_define_probeAllowMoveCheck_tag 13
+#define IV_struct_define_robotAllowMoveCheck_tag 14
+
+/* Struct field encoding specification for nanopb */
+#define IV_struct_define_FIELDLIST(X, a) \
+X(a, STATIC,   SINGULAR, INT32,    CurrentAngle,      1) \
+X(a, STATIC,   SINGULAR, INT32,    RobotMoveSpeed,    2) \
+X(a, STATIC,   SINGULAR, INT32,    SBUS_State,        3) \
+X(a, STATIC,   SINGULAR, INT32,    SystemError,       4) \
+X(a, STATIC,   SINGULAR, INT32,    DAM_CH1,           5) \
+X(a, STATIC,   SINGULAR, INT32,    DAM_CH2,           6) \
+X(a, STATIC,   SINGULAR, INT32,    DAM_CH3,           7) \
+X(a, STATIC,   SINGULAR, INT32,    DAM_CH4,           8) \
+X(a, STATIC,   SINGULAR, INT32,    DAM_CH5,           9) \
+X(a, STATIC,   SINGULAR, INT32,    DAM_CH6,          10) \
+X(a, STATIC,   SINGULAR, INT32,    DAM_CH7,          11) \
+X(a, STATIC,   SINGULAR, INT32,    DAM_CH8,          12) \
+X(a, STATIC,   SINGULAR, INT32,    probeAllowMoveCheck,  13) \
+X(a, STATIC,   SINGULAR, INT32,    robotAllowMoveCheck,  14)
+#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                    154
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif

jueyuanzijiance/Insulator_Inspection/Core/BASE/Protobuf/PSource/bsp_PID.pb.c

@@ -0,0 +1,20 @@
+/* Automatically generated nanopb constant definitions */
+/* Generated by nanopb-0.4.8 */
+
+#include "bsp_PID.pb.h"
+#if PB_PROTO_HEADER_VERSION != 40
+#error Regenerate this file with the current version of nanopb generator.
+#endif
+
+PB_BIND(PID_Parameters, PID_Parameters, 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
+

jueyuanzijiance/Insulator_Inspection/Core/BASE/Protobuf/PSource/bsp_PID.pb.h

@@ -0,0 +1,57 @@
+/* Automatically generated nanopb header */
+/* Generated by nanopb-0.4.8 */
+
+#ifndef PB_BSP_PID_PB_H_INCLUDED
+#define PB_BSP_PID_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 _PID_Parameters {
+    int32_t PID_Angle; /* 调整 单位0.01° 配置时需要*100 */
+    double Kp; /* PID参数 */
+    double Ki;
+    double Kd;
+} PID_Parameters;
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Initializer values for message structs */
+#define PID_Parameters_init_default              {0, 0, 0, 0}
+#define PID_Parameters_init_zero                 {0, 0, 0, 0}
+
+/* Field tags (for use in manual encoding/decoding) */
+#define PID_Parameters_PID_Angle_tag             1
+#define PID_Parameters_Kp_tag                    2
+#define PID_Parameters_Ki_tag                    3
+#define PID_Parameters_Kd_tag                    4
+
+/* Struct field encoding specification for nanopb */
+#define PID_Parameters_FIELDLIST(X, a) \
+X(a, STATIC,   SINGULAR, INT32,    PID_Angle,         1) \
+X(a, STATIC,   SINGULAR, DOUBLE,   Kp,                2) \
+X(a, STATIC,   SINGULAR, DOUBLE,   Ki,                3) \
+X(a, STATIC,   SINGULAR, DOUBLE,   Kd,                4)
+#define PID_Parameters_CALLBACK NULL
+#define PID_Parameters_DEFAULT NULL
+
+extern const pb_msgdesc_t PID_Parameters_msg;
+
+/* Defines for backwards compatibility with code written before nanopb-0.4.0 */
+#define PID_Parameters_fields &PID_Parameters_msg
+
+/* Maximum encoded size of messages (where known) */
+#define BSP_PID_PB_H_MAX_SIZE                    PID_Parameters_size
+#define PID_Parameters_size                      38
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif

jueyuanzijiance/Insulator_Inspection/Core/BASE/Protobuf/PSource/bsp_PV.pb.c

@@ -0,0 +1,20 @@
+/* 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)
+
+
+
+#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
+

jueyuanzijiance/Insulator_Inspection/Core/BASE/Protobuf/PSource/bsp_PV.pb.h

@@ -0,0 +1,73 @@
+/* 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 {
+    /* 绝缘子检测项目 */
+    int32_t RunMode; /* 1 手动无校准作业 2 手动校准 */
+    double RobotSpeed; /* 车体速度 */
+    int32_t pushRodSpeed; /* 推杆速度 */
+    int32_t FrontEndRotationSpeed; /* 前端旋转速度 */
+    int32_t robotMoveDir; /* 机器人直线运动方向 */
+    int32_t obstacle_avoidance; /* 避障开关 */
+    int32_t warningLight; /* 警示灯开关 */
+    int32_t probeAllowMoveCommend; /* 推杆允许运动命令 */
+    int32_t robotAllowMoveCommend; /* 机器人允许运动命令 */
+} PV_struct_define;
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Initializer values for message structs */
+#define PV_struct_define_init_default            {0, 0, 0, 0, 0, 0, 0, 0, 0}
+#define PV_struct_define_init_zero               {0, 0, 0, 0, 0, 0, 0, 0, 0}
+
+/* Field tags (for use in manual encoding/decoding) */
+#define PV_struct_define_RunMode_tag             1
+#define PV_struct_define_RobotSpeed_tag          2
+#define PV_struct_define_pushRodSpeed_tag        3
+#define PV_struct_define_FrontEndRotationSpeed_tag 4
+#define PV_struct_define_robotMoveDir_tag        5
+#define PV_struct_define_obstacle_avoidance_tag  6
+#define PV_struct_define_warningLight_tag        7
+#define PV_struct_define_probeAllowMoveCommend_tag 8
+#define PV_struct_define_robotAllowMoveCommend_tag 9
+
+/* Struct field encoding specification for nanopb */
+#define PV_struct_define_FIELDLIST(X, a) \
+X(a, STATIC,   SINGULAR, INT32,    RunMode,           1) \
+X(a, STATIC,   SINGULAR, DOUBLE,   RobotSpeed,        2) \
+X(a, STATIC,   SINGULAR, INT32,    pushRodSpeed,      3) \
+X(a, STATIC,   SINGULAR, INT32,    FrontEndRotationSpeed,   4) \
+X(a, STATIC,   SINGULAR, INT32,    robotMoveDir,      5) \
+X(a, STATIC,   SINGULAR, INT32,    obstacle_avoidance,   6) \
+X(a, STATIC,   SINGULAR, INT32,    warningLight,      7) \
+X(a, STATIC,   SINGULAR, INT32,    probeAllowMoveCommend,   8) \
+X(a, STATIC,   SINGULAR, INT32,    robotAllowMoveCommend,   9)
+#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                    97
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif

jueyuanzijiance/Insulator_Inspection/Core/BASE/Protobuf/PSource/bsp_ReCmd.pb.c

@@ -0,0 +1,12 @@
+/* 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)
+
+
+

jueyuanzijiance/Insulator_Inspection/Core/BASE/Protobuf/PSource/bsp_ReCmd.pb.h

@@ -0,0 +1,80 @@
+/* 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[512];
+} 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                               592
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif

jueyuanzijiance/Insulator_Inspection/Core/BASE/Protobuf/PSource/msp_DAM.pb.c

@@ -0,0 +1,12 @@
+/* Automatically generated nanopb constant definitions */
+/* Generated by nanopb-0.4.8 */
+
+#include "msp_DAM.pb.h"
+#if PB_PROTO_HEADER_VERSION != 40
+#error Regenerate this file with the current version of nanopb generator.
+#endif
+
+PB_BIND(DAMChannelStatus_t, DAMChannelStatus_t, AUTO)
+
+
+

jueyuanzijiance/Insulator_Inspection/Core/BASE/Protobuf/PSource/msp_DAM.pb.h

@@ -0,0 +1,69 @@
+/* Automatically generated nanopb header */
+/* Generated by nanopb-0.4.8 */
+
+#ifndef PB_MSP_DAM_PB_H_INCLUDED
+#define PB_MSP_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 _DAMChannelStatus_t {
+    int32_t ch1;
+    int32_t ch2;
+    int32_t ch3;
+    int32_t ch4;
+    int32_t ch5;
+    int32_t ch6;
+    int32_t ch7;
+    int32_t ch8;
+} __attribute__((packed)) DAMChannelStatus_t;
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Initializer values for message structs */
+#define DAMChannelStatus_t_init_default          {0, 0, 0, 0, 0, 0, 0, 0}
+#define DAMChannelStatus_t_init_zero             {0, 0, 0, 0, 0, 0, 0, 0}
+
+/* Field tags (for use in manual encoding/decoding) */
+#define DAMChannelStatus_t_ch1_tag               1
+#define DAMChannelStatus_t_ch2_tag               2
+#define DAMChannelStatus_t_ch3_tag               3
+#define DAMChannelStatus_t_ch4_tag               4
+#define DAMChannelStatus_t_ch5_tag               5
+#define DAMChannelStatus_t_ch6_tag               6
+#define DAMChannelStatus_t_ch7_tag               7
+#define DAMChannelStatus_t_ch8_tag               8
+
+/* Struct field encoding specification for nanopb */
+#define DAMChannelStatus_t_FIELDLIST(X, a) \
+X(a, STATIC,   SINGULAR, INT32,    ch1,               1) \
+X(a, STATIC,   SINGULAR, INT32,    ch2,               2) \
+X(a, STATIC,   SINGULAR, INT32,    ch3,               3) \
+X(a, STATIC,   SINGULAR, INT32,    ch4,               4) \
+X(a, STATIC,   SINGULAR, INT32,    ch5,               5) \
+X(a, STATIC,   SINGULAR, INT32,    ch6,               6) \
+X(a, STATIC,   SINGULAR, INT32,    ch7,               7) \
+X(a, STATIC,   SINGULAR, INT32,    ch8,               8)
+#define DAMChannelStatus_t_CALLBACK NULL
+#define DAMChannelStatus_t_DEFAULT NULL
+
+extern const pb_msgdesc_t DAMChannelStatus_t_msg;
+
+/* Defines for backwards compatibility with code written before nanopb-0.4.0 */
+#define DAMChannelStatus_t_fields &DAMChannelStatus_t_msg
+
+/* Maximum encoded size of messages (where known) */
+#define DAMChannelStatus_t_size                  88
+#define MSP_DAM_PB_H_MAX_SIZE                    DAMChannelStatus_t_size
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif

jueyuanzijiance/Insulator_Inspection/Core/BASE/Protobuf/PSource/msp_INS_MotorParameters.pb.c

@@ -0,0 +1,20 @@
+/* Automatically generated nanopb constant definitions */
+/* Generated by nanopb-0.4.8 */
+
+#include "msp_INS_MotorParameters.pb.h"
+#if PB_PROTO_HEADER_VERSION != 40
+#error Regenerate this file with the current version of nanopb generator.
+#endif
+
+PB_BIND(INS_MotorParameters, INS_MotorParameters, 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
+

jueyuanzijiance/Insulator_Inspection/Core/BASE/Protobuf/PSource/msp_INS_MotorParameters.pb.h

@@ -0,0 +1,84 @@
+/* Automatically generated nanopb header */
+/* Generated by nanopb-0.4.8 */
+
+#ifndef PB_MSP_INS_MOTORPARAMETERS_PB_H_INCLUDED
+#define PB_MSP_INS_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 _INS_MotorParameters {
+    int32_t MotorID;
+    int32_t Real_Current;
+    int32_t Target_Current; /* 0.1rpm */
+    int32_t Real_Velcity; /* 0.1rpm */
+    int32_t Target_Velcity; /* 0.1rpm */
+    int32_t Target_Position; /* 0.1rpm */
+    int32_t Real_Position;
+    int32_t Motor_Fault;
+    int32_t Number_Of_Rounds;
+    int32_t Start_Measuring_Position;
+    int32_t Last_Real_Position;
+    double Real_Disatnce;
+    int32_t Start_Measuring; /* 开始测距 */
+} INS_MotorParameters;
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Initializer values for message structs */
+#define INS_MotorParameters_init_default         {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
+#define INS_MotorParameters_init_zero            {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
+
+/* Field tags (for use in manual encoding/decoding) */
+#define INS_MotorParameters_MotorID_tag          1
+#define INS_MotorParameters_Real_Current_tag     2
+#define INS_MotorParameters_Target_Current_tag   3
+#define INS_MotorParameters_Real_Velcity_tag     4
+#define INS_MotorParameters_Target_Velcity_tag   5
+#define INS_MotorParameters_Target_Position_tag  6
+#define INS_MotorParameters_Real_Position_tag    7
+#define INS_MotorParameters_Motor_Fault_tag      8
+#define INS_MotorParameters_Number_Of_Rounds_tag 9
+#define INS_MotorParameters_Start_Measuring_Position_tag 10
+#define INS_MotorParameters_Last_Real_Position_tag 11
+#define INS_MotorParameters_Real_Disatnce_tag    12
+#define INS_MotorParameters_Start_Measuring_tag  13
+
+/* Struct field encoding specification for nanopb */
+#define INS_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,    Motor_Fault,       8) \
+X(a, STATIC,   SINGULAR, INT32,    Number_Of_Rounds,   9) \
+X(a, STATIC,   SINGULAR, INT32,    Start_Measuring_Position,  10) \
+X(a, STATIC,   SINGULAR, INT32,    Last_Real_Position,  11) \
+X(a, STATIC,   SINGULAR, DOUBLE,   Real_Disatnce,    12) \
+X(a, STATIC,   SINGULAR, INT32,    Start_Measuring,  13)
+#define INS_MotorParameters_CALLBACK NULL
+#define INS_MotorParameters_DEFAULT NULL
+
+extern const pb_msgdesc_t INS_MotorParameters_msg;
+
+/* Defines for backwards compatibility with code written before nanopb-0.4.0 */
+#define INS_MotorParameters_fields &INS_MotorParameters_msg
+
+/* Maximum encoded size of messages (where known) */
+#define INS_MotorParameters_size                 141
+#define MSP_INS_MOTORPARAMETERS_PB_H_MAX_SIZE    INS_MotorParameters_size
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif

jueyuanzijiance/Insulator_Inspection/Core/BASE/Protobuf/PSource/msp_LGUB500.pb.c

@@ -0,0 +1,12 @@
+/* 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)
+
+
+

jueyuanzijiance/Insulator_Inspection/Core/BASE/Protobuf/PSource/msp_LGUB500.pb.h

@@ -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

jueyuanzijiance/Insulator_Inspection/Core/BASE/Protobuf/PSource/msp_Motor.pb.c

@@ -0,0 +1,12 @@
+/* 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)
+
+
+

jueyuanzijiance/Insulator_Inspection/Core/BASE/Protobuf/PSource/msp_Motor.pb.h

@@ -0,0 +1,91 @@
+/* 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

jueyuanzijiance/Insulator_Inspection/Core/BASE/Protobuf/PSource/msp_TL720D.pb.c

@@ -0,0 +1,12 @@
+/* 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)
+
+
+

jueyuanzijiance/Insulator_Inspection/Core/BASE/Protobuf/PSource/msp_TL720D.pb.h

@@ -0,0 +1,72 @@
+/* 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

jueyuanzijiance/Insulator_Inspection/Core/BASE/Protobuf/PSource/msp_U7.pb.c

@@ -0,0 +1,12 @@
+/* Automatically generated nanopb constant definitions */
+/* Generated by nanopb-0.4.8 */
+
+#include "msp_U7.pb.h"
+#if PB_PROTO_HEADER_VERSION != 40
+#error Regenerate this file with the current version of nanopb generator.
+#endif
+
+PB_BIND(SP_MSP_U7_Button, SP_MSP_U7_Button, AUTO)
+
+
+

jueyuanzijiance/Insulator_Inspection/Core/BASE/Protobuf/PSource/msp_U7.pb.h

@@ -0,0 +1,99 @@
+/* Automatically generated nanopb header */
+/* Generated by nanopb-0.4.8 */
+
+#ifndef PB_MSP_U7_PB_H_INCLUDED
+#define PB_MSP_U7_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_U7_Button {
+    int32_t RxIndex;
+    int32_t CH1_LY_V;
+    int32_t CH2_LY_H;
+    int32_t CH3_RY_V; /* int32 CH3_LYS_V= 4; */
+    int32_t CH4_RY_H; /* int32 CH4_LYS_H= 5; */
+    int32_t CH5_SA;
+    int32_t CH6_SB;
+    int32_t CH7_M5;
+    int32_t CH8_R1;
+    int32_t CH9_M6;
+    int32_t CH10_R2;
+    int32_t CH11_L1;
+    int32_t CH12_L2;
+    int32_t CH13_M4;
+    int32_t CH14_M3;
+    int32_t CH15_M1;
+    int32_t CH16_M2;
+    int32_t IsOnline;
+} SP_MSP_U7_Button;
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Initializer values for message structs */
+#define SP_MSP_U7_Button_init_default            {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
+#define SP_MSP_U7_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_U7_Button_RxIndex_tag             1
+#define SP_MSP_U7_Button_CH1_LY_V_tag            2
+#define SP_MSP_U7_Button_CH2_LY_H_tag            3
+#define SP_MSP_U7_Button_CH3_RY_V_tag            4
+#define SP_MSP_U7_Button_CH4_RY_H_tag            5
+#define SP_MSP_U7_Button_CH5_SA_tag              6
+#define SP_MSP_U7_Button_CH6_SB_tag              7
+#define SP_MSP_U7_Button_CH7_M5_tag              8
+#define SP_MSP_U7_Button_CH8_R1_tag              9
+#define SP_MSP_U7_Button_CH9_M6_tag              10
+#define SP_MSP_U7_Button_CH10_R2_tag             11
+#define SP_MSP_U7_Button_CH11_L1_tag             12
+#define SP_MSP_U7_Button_CH12_L2_tag             13
+#define SP_MSP_U7_Button_CH13_M4_tag             14
+#define SP_MSP_U7_Button_CH14_M3_tag             15
+#define SP_MSP_U7_Button_CH15_M1_tag             16
+#define SP_MSP_U7_Button_CH16_M2_tag             17
+#define SP_MSP_U7_Button_IsOnline_tag            18
+
+/* Struct field encoding specification for nanopb */
+#define SP_MSP_U7_Button_FIELDLIST(X, a) \
+X(a, STATIC,   SINGULAR, INT32,    RxIndex,           1) \
+X(a, STATIC,   SINGULAR, INT32,    CH1_LY_V,          2) \
+X(a, STATIC,   SINGULAR, INT32,    CH2_LY_H,          3) \
+X(a, STATIC,   SINGULAR, INT32,    CH3_RY_V,          4) \
+X(a, STATIC,   SINGULAR, INT32,    CH4_RY_H,          5) \
+X(a, STATIC,   SINGULAR, INT32,    CH5_SA,            6) \
+X(a, STATIC,   SINGULAR, INT32,    CH6_SB,            7) \
+X(a, STATIC,   SINGULAR, INT32,    CH7_M5,            8) \
+X(a, STATIC,   SINGULAR, INT32,    CH8_R1,            9) \
+X(a, STATIC,   SINGULAR, INT32,    CH9_M6,           10) \
+X(a, STATIC,   SINGULAR, INT32,    CH10_R2,          11) \
+X(a, STATIC,   SINGULAR, INT32,    CH11_L1,          12) \
+X(a, STATIC,   SINGULAR, INT32,    CH12_L2,          13) \
+X(a, STATIC,   SINGULAR, INT32,    CH13_M4,          14) \
+X(a, STATIC,   SINGULAR, INT32,    CH14_M3,          15) \
+X(a, STATIC,   SINGULAR, INT32,    CH15_M1,          16) \
+X(a, STATIC,   SINGULAR, INT32,    CH16_M2,          17) \
+X(a, STATIC,   SINGULAR, INT32,    IsOnline,         18)
+#define SP_MSP_U7_Button_CALLBACK NULL
+#define SP_MSP_U7_Button_DEFAULT NULL
+
+extern const pb_msgdesc_t SP_MSP_U7_Button_msg;
+
+/* Defines for backwards compatibility with code written before nanopb-0.4.0 */
+#define SP_MSP_U7_Button_fields &SP_MSP_U7_Button_msg
+
+/* Maximum encoded size of messages (where known) */
+#define MSP_U7_PB_H_MAX_SIZE                     SP_MSP_U7_Button_size
+#define SP_MSP_U7_Button_size                    201
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif

jueyuanzijiance/Insulator_Inspection/Core/BASE/Protobuf/Proto/bsp_CV.proto

@@ -0,0 +1,42 @@
+syntax = "proto3";
+//import "nanopb.proto";
+
+import "bsp_PV.proto";
+import "bsp_PID.proto";
+message CV_struct_define{
+ 	  
+	 //喷漆项目
+ 	  
+	  int32 Speed_m_per_min = 1; // MPMin =  1m/min  1米每分钟 m/min
+	  
+      int32 LeftTurnSpeed = 2;
+ 	  int32 RightTurnSpeed = 3;
+
+ 
+ 
+	  int32 RobotLeftAngleValue=4;// 水平左方向  单位0.01°
+	  int32 RobotRightAngleValue=5;// 水平右方向角度值 单位0.01°
+	  int32 RobotUpAngleValue=6;// 竖直方向角度值 单位0.01°
+	  int32 RobotDownAngleValue=7;// 竖直向下角度值 单位0.01°
+
+	  int32 Robot_Permitted_Angler_Error_Value_E_2D = 8;// 作业时需用的最大角度偏差值 0.01°，超出将停止作业
+	  int32 Robot_Angle_Start_BaseE_2D = 9;//角度值 0.01°
+	  int32 Lane_Change_Speed_m_per_min = 10;
+	  int32 Is_Automation_Authorized = 11;
+	  int32 Is_Function_Authorized = 12;
+	  int32 Joy_Sticker_Angle_Allowance = 13;// 例如在90度的±30°
+	  int32 Joy_Sticker_Value_Allowance = 14;//例如 joysticker的值超过600
+	  int32 Allowable_Error_For_Angle_Tracking  = 15;//纠偏角度跟踪的允许误差1 度
+	  int32 Paint_Gun_Shutdown_Distance  = 16;//喷枪关闭距离，喷枪关闭后多上厘米停止运行
+	  int32 Horizontal_ChangeLane_Compensation=17; //水平换道补偿距离
+	  int32 Vertical_ChangeLane_Compensation=18; //竖直换道补偿距离
+ 	  int32 pulse_Per_Circle=19;  //每转多少脉冲
+      int32 wheel_Reduction_Ratio=20;  //减速比
+	  double wheel_Diameter_m=21;  //车轮直径 m
+	  PID_Parameters PID_high=22;
+	  PID_Parameters PID_mid=23;
+	  PID_Parameters PID_low=24;
+	  
+	
+	  }
+

jueyuanzijiance/Insulator_Inspection/Core/BASE/Protobuf/Proto/bsp_Cmd.options

@@ -0,0 +1,2 @@
+# lock.options
+Cmd.Buff_Data   max_size:512 fixed_length:true

jueyuanzijiance/Insulator_Inspection/Core/BASE/Protobuf/Proto/bsp_Cmd.proto

@@ -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;
+	   
+};
+

jueyuanzijiance/Insulator_Inspection/Core/BASE/Protobuf/Proto/bsp_Error.proto

@@ -0,0 +1,26 @@
+syntax = "proto3";
+
+option java_multiple_files = false;
+option java_package = "com.example.paintapp.models";
+
+message ErrorData
+{ 
+	int32 Com_Error_Code=1;
+	int32 Left_Motor_Error_Code=2;
+	int32 Right_Motor_Error_Code=3;
+ 
+}
+
+enum ComError //枚举消息类型 Error Bit Define
+ {
+		U7_SBus 	=	0;
+    	TL720D 		=	1;
+    	Remote_Button_Reset_State	=	2;
+		LS_485Motors3	=	3;
+		DAM_Relay_ErrorBitFlag = 4;
+		DAM_Relay_1_ErrorBitFlag = 5;
+		LGUB500_sensor = 6;
+		
+ }
+
+//protoc --nanopb_out=. *.proto

jueyuanzijiance/Insulator_Inspection/Core/BASE/Protobuf/Proto/bsp_GV.options

@@ -0,0 +1,2 @@
+# lock.options
+GV_struct_define.Motor_P   max_size:50 fixed_length:true

jueyuanzijiance/Insulator_Inspection/Core/BASE/Protobuf/Proto/bsp_GV.proto

@@ -0,0 +1,38 @@
+syntax = "proto3";
+import "msp_U7.proto";
+import "msp_Motor.proto";
+import "msp_INS_MotorParameters.proto";
+import "msp_TL720D.proto";
+import "bsp_Error.proto";
+import "bsp_PV.proto";
+import "bsp_IO.proto";
+import "msp_DAM.proto";
+import "msp_LGUB500.proto";
+
+message GV_struct_define
+{
+  	int32 TempatureE_2C= 1; // E_2C=0.01 Celsius 0.01摄氏度
+	int32 Left_Compensation= 2;  // E_2D =0.01 Degree    0.01度	
+	int32 Right_Compensation= 3; //0.01度	
+	int32 Robot_Angle=4; //机器人角度 //0.01度	
+    double Robot_Move_Speed= 5;  //  0.1rpm
+    int32 ForceValue= 6;	 
+	int32 LaneChangeDistance= 7;
+	SP_MSP_U7_Button U7_Key=9;						
+	INS_MotorParameters ALLMotor=10;//左电机 ID2
+	MSP_TL720DParameters TL720DParameters= 12;
+	IO_Data IO=13;
+	ErrorData SystemErrorData=14;
+	PV_struct_define PV =15;//用户配置数据
+	int32 Lighting_Control = 16;//灯光控制
+	
+	DAMChannelStatus_t DAM_CH = 17; //DAM通道
+	int32 slideTableSpeed = 18;  //滑台速度
+	int32 pushRobSpeed = 19;     //推杆速度
+	LGUB500_struct_define safety_distance = 20;  //超声波探测距离
+	int32 isProbeAllowMoveCheck = 21;
+	int32 isRobotAllowMoveCheck = 22;
+
+};
+
+//protoc --nanopb_out=. *.proto

jueyuanzijiance/Insulator_Inspection/Core/BASE/Protobuf/Proto/bsp_IAP.options

@@ -0,0 +1,2 @@
+# lock.options
+# IAP_struct_define.Buff_Data   max_size:64 fixed_length:true

jueyuanzijiance/Insulator_Inspection/Core/BASE/Protobuf/Proto/bsp_IAP.proto

@@ -0,0 +1,11 @@
+syntax = "proto3";
+//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。
+message IAP_struct_define
+{
+	int32 Total_Bytes = 1;// all the received data;
+	int32 NextCodeVrsion = 2;//the New upgrade Version of the Project
+	int32 UtcTime=3;//Udgrade Time
+	int32 UpgradeSucceeded=4;//
+	 
+};
+

jueyuanzijiance/Insulator_Inspection/Core/BASE/Protobuf/Proto/bsp_IO.proto

@@ -0,0 +1,19 @@
+syntax = "proto3";
+
+message IO_Data
+{
+	int32 DO0=1;
+	int32 DO1=2;
+	int32 DO2=3;
+	int32 DO3=4;
+	int32 DO4=5;
+	int32 DO5=6;
+	int32 DI0=7;
+	int32 DI1=8;
+	int32 DI2=9;
+	int32 DI3=10;
+	int32 DI4=11;
+	int32 DI5=12;
+};
+
+//protoc --nanopb_out=. *.proto

jueyuanzijiance/Insulator_Inspection/Core/BASE/Protobuf/Proto/bsp_IV.proto

@@ -0,0 +1,23 @@
+syntax = "proto3";
+
+option java_multiple_files = false;
+option java_package = "com.example.paintapp.models";
+
+
+message IV_struct_define
+{ 
+	 int32 CurrentAngle= 1;                      //单位0.01°
+	 int32 RobotMoveSpeed= 2;                    //单位m/min 机器人移动速度
+	 int32 SBUS_State=3;                         //0断开 1连接
+	 int32 SystemError=4;                        //硬件通讯错误及按键未初始化错误
+	 int32 DAM_CH1 = 5;                          // DAM通道状态
+	 int32 DAM_CH2 = 6;
+	 int32 DAM_CH3 = 7;
+	 int32 DAM_CH4 = 8;
+	 int32 DAM_CH5 = 9;
+	 int32 DAM_CH6 = 10;
+	 int32 DAM_CH7 = 11;
+	 int32 DAM_CH8 = 12;
+	 int32 probeAllowMoveCheck = 13;             //升降杆允许运动查询
+	 int32 robotAllowMoveCheck = 14;             //机器人允许运动查询
+};

jueyuanzijiance/Insulator_Inspection/Core/BASE/Protobuf/Proto/bsp_PID.proto

@@ -0,0 +1,9 @@
+syntax = "proto3";
+
+message PID_Parameters {
+	  int32 PID_Angle=1; //调整 单位0.01° 配置时需要*100
+ 	  double Kp=2; //PID参数
+	  double Ki=3;
+	  double Kd=4;
+  
+ }

jueyuanzijiance/Insulator_Inspection/Core/BASE/Protobuf/Proto/bsp_PV.proto

@@ -0,0 +1,17 @@
+syntax = "proto3";
+option java_multiple_files = false;
+option java_package = "com.example.paintapp.models";
+message PV_struct_define{
+
+	 // 绝缘子检测项目
+	 int32 RunMode = 1;                       //1 手动无校准作业 2 手动校准 
+	 double RobotSpeed = 2;                   //车体速度
+	 int32 pushRodSpeed = 3;                  //推杆速度
+	 int32 FrontEndRotationSpeed = 4;         //前端旋转速度
+	 int32 robotMoveDir = 5;                  //机器人直线运动方向
+	 int32 obstacle_avoidance = 6;            //避障开关
+	 int32 warningLight = 7;                  //警示灯开关
+	 int32 probeAllowMoveCommend = 8;         //推杆允许运动命令
+	 int32 robotAllowMoveCommend = 9;         //机器人允许运动命令
+	 
+};

jueyuanzijiance/Insulator_Inspection/Core/BASE/Protobuf/Proto/bsp_ReCmd.options

@@ -0,0 +1,2 @@
+# lock.options
+ReCmd.Buff_Data   max_size:512 fixed_length:true

jueyuanzijiance/Insulator_Inspection/Core/BASE/Protobuf/Proto/bsp_ReCmd.proto

@@ -0,0 +1,24 @@
+syntax = "proto3";
+//this message is used for the  reply the command
+message ReCmd{
+	  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;
+	   
+};
+

jueyuanzijiance/Insulator_Inspection/Core/BASE/Protobuf/Proto/msp_DAM.proto

@@ -0,0 +1,16 @@
+syntax = "proto3";
+
+option java_multiple_files = false;
+option java_package = "com.example.paintapp.models";
+
+message DAMChannelStatus_t
+{ 
+	int32 ch1 = 1;
+	int32 ch2 = 2;
+	int32 ch3 = 3;
+	int32 ch4 = 4;
+	int32 ch5 = 5;
+	int32 ch6 = 6;
+	int32 ch7 = 7;
+	int32 ch8 = 8;
+};

jueyuanzijiance/Insulator_Inspection/Core/BASE/Protobuf/Proto/msp_INS_MotorParameters.proto

@@ -0,0 +1,19 @@
+syntax = "proto3";
+
+message INS_MotorParameters {
+  	int32 MotorID=1;
+ 	int32 Real_Current=2;
+  	int32 Target_Current=3;	// 0.1rpm	
+  	int32 Real_Velcity=4;	//  0.1rpm	
+  	int32 Target_Velcity=5;	//  0.1rpm	
+  	int32 Target_Position=6;	//  0.1rpm	
+ 	int32 Real_Position=7;
+   	int32 Motor_Fault=8;
+  	int32 Number_Of_Rounds=9;
+  	int32 Start_Measuring_Position=10;
+ 	int32 Last_Real_Position=11;
+  	double  Real_Disatnce=12;
+ 	int32 Start_Measuring=13;//开始测距
+  
+ }
+

jueyuanzijiance/Insulator_Inspection/Core/BASE/Protobuf/Proto/msp_LGUB500.proto

@@ -0,0 +1,10 @@
+syntax = "proto3";
+
+
+
+message LGUB500_struct_define{
+
+	int32 LGUB500_1_Distance_mm = 1;
+	int32 LGUB500_2_Distance_mm = 2;
+	      	  
+};