将激光传感器的数量由原来的两个增加到三个

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

@@ -5,7 +5,7 @@
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-908643646371710148" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1478844030219557014" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>
@@ -16,7 +16,7 @@
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-908643646371710148" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1478844030219557014" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>

diaoerqiege/BHBF_Robot_Lifting_Lug/.settings/stm32cubeide.project.prefs

@@ -1,6 +1,6 @@
-2F62501ED4689FB349E356AB974DBE57=21135FF466FE4A58D648DD3E92D999B0
+2F62501ED4689FB349E356AB974DBE57=A51B388F95FF70235E6E67C14544C50F
 635E684B79701B039C64EA45C3F84D30=4EFF5836660CD2DC8E70993B25E2A49D
 66BE74F758C12D739921AEA421D593D3=1
-8DF89ED150041C4CBC7CB9A9CAA90856=21135FF466FE4A58D648DD3E92D999B0
+8DF89ED150041C4CBC7CB9A9CAA90856=A51B388F95FF70235E6E67C14544C50F
-DC22A860405A8BF2F2C095E5B6529F12=F08B3E54D888488C3B7E755B1A9A5DE6
+DC22A860405A8BF2F2C095E5B6529F12=87EF6E86AD82C44D77A3A904E01D2A08
 eclipse.preferences.version=1

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);
 

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{
 
 		}

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" */

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_default     {0, 0, 0}
-#define zhr29_200_struct_define_init_zero        {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" */

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;
  }
 

diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/FSM.c

@@ -104,7 +104,6 @@ void Frontend_Control()
 }
 
 
-
 double real_speed;
 void IV_Control()
 {

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();