From 9628a97bdc1bbb50ca8a81c1c643621fadb228ec Mon Sep 17 00:00:00 2001 From: "HJB\\13752" <13752551070@163.com> Date: Tue, 24 Mar 2026 16:48:35 +0800 Subject: [PATCH] =?UTF-8?q?=E5=B0=86=E6=BF=80=E5=85=89=E4=BC=A0=E6=84=9F?= =?UTF-8?q?=E5=99=A8=E7=9A=84=E6=95=B0=E9=87=8F=E7=94=B1=E5=8E=9F=E6=9D=A5?= =?UTF-8?q?=E7=9A=84=E4=B8=A4=E4=B8=AA=E5=A2=9E=E5=8A=A0=E5=88=B0=E4=B8=89?= =?UTF-8?q?=E4=B8=AA?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../.settings/language.settings.xml | 4 ++-- .../.settings/stm32cubeide.project.prefs | 6 +++--- .../Core/BASE/Inc/MSP/msp_zhr29_laser_sensor.h | 1 + .../Core/BASE/Src/MSP/msp_zhr29_laser_sensor.c | 5 +++++ .../Core/Protobuf/PSource/bsp_GV.pb.h | 2 +- .../Protobuf/PSource/msp_zhr29_200_laser_sensor.pb.h | 11 +++++++---- .../Protobuf/Proto/msp_zhr29_200_laser_sensor.proto | 1 + diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/FSM.c | 1 - diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/main.c | 4 +++- 9 files changed, 23 insertions(+), 12 deletions(-) diff --git a/diaoerqiege/BHBF_Robot_Lifting_Lug/.settings/language.settings.xml b/diaoerqiege/BHBF_Robot_Lifting_Lug/.settings/language.settings.xml index e214779..3f35568 100644 --- a/diaoerqiege/BHBF_Robot_Lifting_Lug/.settings/language.settings.xml +++ b/diaoerqiege/BHBF_Robot_Lifting_Lug/.settings/language.settings.xml @@ -5,7 +5,7 @@ - + @@ -16,7 +16,7 @@ - + diff --git a/diaoerqiege/BHBF_Robot_Lifting_Lug/.settings/stm32cubeide.project.prefs b/diaoerqiege/BHBF_Robot_Lifting_Lug/.settings/stm32cubeide.project.prefs index 7550b9d..28437e9 100644 --- a/diaoerqiege/BHBF_Robot_Lifting_Lug/.settings/stm32cubeide.project.prefs +++ b/diaoerqiege/BHBF_Robot_Lifting_Lug/.settings/stm32cubeide.project.prefs @@ -1,6 +1,6 @@ -2F62501ED4689FB349E356AB974DBE57=21135FF466FE4A58D648DD3E92D999B0 +2F62501ED4689FB349E356AB974DBE57=A51B388F95FF70235E6E67C14544C50F 635E684B79701B039C64EA45C3F84D30=4EFF5836660CD2DC8E70993B25E2A49D 66BE74F758C12D739921AEA421D593D3=1 -8DF89ED150041C4CBC7CB9A9CAA90856=21135FF466FE4A58D648DD3E92D999B0 -DC22A860405A8BF2F2C095E5B6529F12=F08B3E54D888488C3B7E755B1A9A5DE6 +8DF89ED150041C4CBC7CB9A9CAA90856=A51B388F95FF70235E6E67C14544C50F +DC22A860405A8BF2F2C095E5B6529F12=87EF6E86AD82C44D77A3A904E01D2A08 eclipse.preferences.version=1 diff --git a/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/BASE/Inc/MSP/msp_zhr29_laser_sensor.h b/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/BASE/Inc/MSP/msp_zhr29_laser_sensor.h index b84e215..dac21c5 100644 --- a/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/BASE/Inc/MSP/msp_zhr29_laser_sensor.h +++ b/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/BASE/Inc/MSP/msp_zhr29_laser_sensor.h @@ -15,6 +15,7 @@ extern int32_t* g_zhr29_200_laser_sensor_1; extern int32_t* g_zhr29_200_laser_sensor_2; +extern int32_t* g_zhr29_200_laser_sensor_3; extern void zhr29_200_laser_sensor_intialize(struct UARTHandler *Handler); diff --git a/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/BASE/Src/MSP/msp_zhr29_laser_sensor.c b/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/BASE/Src/MSP/msp_zhr29_laser_sensor.c index ee246e9..65a9984 100644 --- a/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/BASE/Src/MSP/msp_zhr29_laser_sensor.c +++ b/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/BASE/Src/MSP/msp_zhr29_laser_sensor.c @@ -11,6 +11,7 @@ int32_t* g_zhr29_200_laser_sensor_1; int32_t* g_zhr29_200_laser_sensor_2; +int32_t* g_zhr29_200_laser_sensor_3; static struct UARTHandler *zhr29_200_laser_sensor; static DispacherController *laser_sensor_dispacherController; @@ -97,6 +98,10 @@ void decode_laser_sensor(uint8_t *buffer, uint16_t length) { *g_zhr29_200_laser_sensor_2 = (buffer[3] << 8) | (buffer[4] << 8) | (buffer[5] << 8) | buffer[6]; } + else if((buffer[0] == 0x03) && (buffer[1] == 0x04) && (buffer[2] == 0x04)) + { + *g_zhr29_200_laser_sensor_3 = (buffer[3] << 8) | (buffer[4] << 8) | (buffer[5] << 8) | buffer[6]; + } else{ } diff --git a/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Protobuf/PSource/bsp_GV.pb.h b/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Protobuf/PSource/bsp_GV.pb.h index c8301bb..84df05a 100644 --- a/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Protobuf/PSource/bsp_GV.pb.h +++ b/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Protobuf/PSource/bsp_GV.pb.h @@ -106,7 +106,7 @@ extern const pb_msgdesc_t 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 1623 +#define GV_struct_define_size 1634 #ifdef __cplusplus } /* extern "C" */ diff --git a/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Protobuf/PSource/msp_zhr29_200_laser_sensor.pb.h b/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Protobuf/PSource/msp_zhr29_200_laser_sensor.pb.h index 321b0f2..e8f0cff 100644 --- a/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Protobuf/PSource/msp_zhr29_200_laser_sensor.pb.h +++ b/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Protobuf/PSource/msp_zhr29_200_laser_sensor.pb.h @@ -13,6 +13,7 @@ typedef struct _zhr29_200_struct_define { int32_t laser_sensor_1_measure_distance; int32_t laser_sensor_2_measure_distance; + int32_t laser_sensor_3_measure_distance; } zhr29_200_struct_define; @@ -21,17 +22,19 @@ extern "C" { #endif /* Initializer values for message structs */ -#define zhr29_200_struct_define_init_default {0, 0} -#define zhr29_200_struct_define_init_zero {0, 0} +#define zhr29_200_struct_define_init_default {0, 0, 0} +#define zhr29_200_struct_define_init_zero {0, 0, 0} /* Field tags (for use in manual encoding/decoding) */ #define zhr29_200_struct_define_laser_sensor_1_measure_distance_tag 1 #define zhr29_200_struct_define_laser_sensor_2_measure_distance_tag 2 +#define zhr29_200_struct_define_laser_sensor_3_measure_distance_tag 3 /* Struct field encoding specification for nanopb */ #define zhr29_200_struct_define_FIELDLIST(X, a) \ X(a, STATIC, SINGULAR, INT32, laser_sensor_1_measure_distance, 1) \ -X(a, STATIC, SINGULAR, INT32, laser_sensor_2_measure_distance, 2) +X(a, STATIC, SINGULAR, INT32, laser_sensor_2_measure_distance, 2) \ +X(a, STATIC, SINGULAR, INT32, laser_sensor_3_measure_distance, 3) #define zhr29_200_struct_define_CALLBACK NULL #define zhr29_200_struct_define_DEFAULT NULL @@ -42,7 +45,7 @@ extern const pb_msgdesc_t zhr29_200_struct_define_msg; /* Maximum encoded size of messages (where known) */ #define MSP_ZHR29_200_LASER_SENSOR_PB_H_MAX_SIZE zhr29_200_struct_define_size -#define zhr29_200_struct_define_size 22 +#define zhr29_200_struct_define_size 33 #ifdef __cplusplus } /* extern "C" */ diff --git a/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Protobuf/Proto/msp_zhr29_200_laser_sensor.proto b/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Protobuf/Proto/msp_zhr29_200_laser_sensor.proto index 5b9ff68..f9ffd80 100644 --- a/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Protobuf/Proto/msp_zhr29_200_laser_sensor.proto +++ b/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Protobuf/Proto/msp_zhr29_200_laser_sensor.proto @@ -3,5 +3,6 @@ syntax = "proto3"; message zhr29_200_struct_define{ int32 laser_sensor_1_measure_distance = 1; int32 laser_sensor_2_measure_distance = 2; + int32 laser_sensor_3_measure_distance = 3; } diff --git a/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/FSM.c b/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/FSM.c index 3f57ec4..687a545 100644 --- a/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/FSM.c +++ b/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/FSM.c @@ -104,7 +104,6 @@ void Frontend_Control() } - double real_speed; void IV_Control() { diff --git a/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/main.c b/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/main.c index 5a8f22e..dce004a 100644 --- a/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/main.c +++ b/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/main.c @@ -267,8 +267,10 @@ void CV_GV_Init() P_MK32 = &GV.MK32_Key; + // 激光测距传感器指针同步 g_zhr29_200_laser_sensor_1 = &GV.ZHR29_200_measure_results.laser_sensor_1_measure_distance; g_zhr29_200_laser_sensor_2 = &GV.ZHR29_200_measure_results.laser_sensor_2_measure_distance; + g_zhr29_200_laser_sensor_3 = &GV.ZHR29_200_measure_results.laser_sensor_3_measure_distance; //Error Config SystemErrorData= &GV.SystemErrorData;//send to upper computer @@ -328,7 +330,7 @@ void GF_Robot_Init() SlideMotor_Controller_intialize_CAN2(&FD_CAN_2_Handler);//雷赛电机 - // 激光测距传感器，待测试，2026.03.09 + // 激光测距传感器，115200，待测试，2026.03.09 // zhr29_200_laser_sensor_intialize(&RS_485_4_UART_Handler); Fsm_Init();