From b1e9bd21582648fd636aa3b0fd2ab02428ad8c03 Mon Sep 17 00:00:00 2001
From: Lizongdi <1210855344@qq.com>
Date: Thu, 21 May 2026 17:00:31 +0800
Subject: [PATCH] =?UTF-8?q?=E3=80=90=E9=81=97=E7=95=99=E9=97=AE=E9=A2=98?=
=?UTF-8?q?=E3=80=91=E4=BF=AE=E6=94=B9=E6=BF=80=E5=85=89=E8=B5=8B=E5=80=BC?=
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---
.../.settings/language.settings.xml | 4 ++--
.../Core/BASE/Inc/MSP/msp_zhr29_laser_sensor.h | 4 ----
.../Core/BASE/Src/MSP/msp_zhr29_laser_sensor.c | 18 +++++++++---------
.../BHBF_Robot_Lifting_Lug/Core/Src/FSM.c | 2 +-
.../BHBF_Robot_Lifting_Lug/Core/Src/main.c | 5 -----
5 files changed, 12 insertions(+), 21 deletions(-)
diff --git a/diaoerqiege/BHBF_Robot_Lifting_Lug/.settings/language.settings.xml b/diaoerqiege/BHBF_Robot_Lifting_Lug/.settings/language.settings.xml
index 15fa460..f516fb3 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/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 a469c81..6357345 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
@@ -13,10 +13,6 @@
#include "msp_zhr29_200_laser_sensor.pb.h"
#include "bsp_MB_host.h"
-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);
#endif /* BASE_INC_MSP_MSP_ZHR29_LASER_SENSOR_H_ */
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 c89c665..88bd3d9 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
@@ -88,10 +88,10 @@ void decode_laser_sensor(uint8_t *buffer, uint16_t length)
{
if((buffer[0] == 0x01) && (buffer[1] == 0x04) && (buffer[2] == 0x04))
{
- g_zhr29_200_laser_sensor_1 = ((buffer[3] << 24) | (buffer[4] << 16) | (buffer[5] << 8) | buffer[6]) / 10 - 15840;
- if(g_zhr29_200_laser_sensor_1 <= 0)
+ GV.ZHR29_200_measure_results.laser_sensor_1_measure_distance = ((buffer[3] << 24) | (buffer[4] << 16) | (buffer[5] << 8) | buffer[6]) / 10 - 15840;
+ if(GV.ZHR29_200_measure_results.laser_sensor_1_measure_distance <= 0)
{
- g_zhr29_200_laser_sensor_1 = 0;
+ GV.ZHR29_200_measure_results.laser_sensor_1_measure_distance = 0;
}
// if(*g_zhr29_200_laser_sensor_1 >= 280)
// {
@@ -104,10 +104,10 @@ void decode_laser_sensor(uint8_t *buffer, uint16_t length)
}
else if((buffer[0] == 0x02) && (buffer[1] == 0x04) && (buffer[2] == 0x04))
{
- g_zhr29_200_laser_sensor_2 = ((buffer[3] << 24) | (buffer[4] << 16) | (buffer[5] << 8) | buffer[6]) / 10 - 15850;
- if(g_zhr29_200_laser_sensor_2 <= 0)
+ GV.ZHR29_200_measure_results.laser_sensor_2_measure_distance = ((buffer[3] << 24) | (buffer[4] << 16) | (buffer[5] << 8) | buffer[6]) / 10 - 15850;
+ if(GV.ZHR29_200_measure_results.laser_sensor_2_measure_distance <= 0)
{
- g_zhr29_200_laser_sensor_2 = 0;
+ GV.ZHR29_200_measure_results.laser_sensor_2_measure_distance = 0;
}
// if(*g_zhr29_200_laser_sensor_2 >= 280)
// {
@@ -121,10 +121,10 @@ void decode_laser_sensor(uint8_t *buffer, uint16_t length)
}
else if((buffer[0] == 0x03) && (buffer[1] == 0x04) && (buffer[2] == 0x04))
{
- g_zhr29_200_laser_sensor_3 = ((buffer[3] << 24) | (buffer[4] << 16) | (buffer[5] << 8) | buffer[6]) / 10 - 15880;
- if(g_zhr29_200_laser_sensor_3 <= 0)
+ GV.ZHR29_200_measure_results.laser_sensor_3_measure_distance = ((buffer[3] << 24) | (buffer[4] << 16) | (buffer[5] << 8) | buffer[6]) / 10 - 15880;
+ if(GV.ZHR29_200_measure_results.laser_sensor_3_measure_distance <= 0)
{
- g_zhr29_200_laser_sensor_3 = 0;
+ GV.ZHR29_200_measure_results.laser_sensor_3_measure_distance = 0;
}
// if(*g_zhr29_200_laser_sensor_3 >= 280)
// {
diff --git a/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/FSM.c b/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/FSM.c
index ba52fad..4b32245 100644
--- a/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/FSM.c
+++ b/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/FSM.c
@@ -101,7 +101,7 @@ void Mode_Control()
{
if (0 == Mode_Init)
{
- Mode_Select_State = INIT_OPERATION;
+ Mode_Select_State = MANUAL_OPERATION;
}
else
{
diff --git a/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/main.c b/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/main.c
index 97ef8be..c1c4338 100644
--- a/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/main.c
+++ b/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/main.c
@@ -280,11 +280,6 @@ void CV_GV_Init()
// 冷却通气?默认关闭，动作与主轴同步
GF_BSP_GPIO_SetIO(5, 1);
- // ??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
SystemErrorCode=&GV.SystemErrorData.ErrorCode;