【遗留问题】修改激光赋值错误，目前仍然遗留激光传感器异常问题

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="-63235014752314356" 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="1285086684231165940" 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="-63235014752314356" 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="1285086684231165940" 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/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_ */

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;
+			GV.ZHR29_200_measure_results.laser_sensor_1_measure_distance = ((buffer[3] << 24) | (buffer[4] << 16) | (buffer[5] << 8) | buffer[6]) / 10 - 15840;
-			if(g_zhr29_200_laser_sensor_1 <= 0)
+			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;
+			GV.ZHR29_200_measure_results.laser_sensor_2_measure_distance = ((buffer[3] << 24) | (buffer[4] << 16) | (buffer[5] << 8) | buffer[6]) / 10 - 15850;
-			if(g_zhr29_200_laser_sensor_2 <= 0)
+			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;
+			GV.ZHR29_200_measure_results.laser_sensor_3_measure_distance = ((buffer[3] << 24) | (buffer[4] << 16) | (buffer[5] << 8) | buffer[6]) / 10 - 15880;
-			if(g_zhr29_200_laser_sensor_3 <= 0)
+			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)
 //			{

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
     {

diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/main.c

@@ -280,11 +280,6 @@ void CV_GV_Init()
 	// 冷�通气�默认关闭，动作与主轴�步
 	GF_BSP_GPIO_SetIO(5, 1);
 
-	// �?光测�传感器指针�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;