修改电磁阀默认上电高点平；屏幕显示夹刀信号；修改自动作业流程

diaoerqiege/BHBF_Robot_Lifting_Lug/BHBF_Robot_Lifting_Lug.ioc

@@ -420,15 +420,17 @@ PA3.GPIO_Label=OUT_3
 PA3.Locked=true
 PA3.PinAttribute=Free
 PA3.Signal=GPIO_Output
-PA4.GPIOParameters=GPIO_Label,PinAttribute
+PA4.GPIOParameters=PinState,GPIO_Label,PinAttribute
 PA4.GPIO_Label=OUT_4
 PA4.Locked=true
 PA4.PinAttribute=Free
+PA4.PinState=GPIO_PIN_SET
 PA4.Signal=GPIO_Output
-PA5.GPIOParameters=GPIO_Label,PinAttribute
+PA5.GPIOParameters=PinState,GPIO_Label,PinAttribute
 PA5.GPIO_Label=OUT_5
 PA5.Locked=true
 PA5.PinAttribute=Free
+PA5.PinState=GPIO_PIN_SET
 PA5.Signal=GPIO_Output
 PA6.GPIOParameters=GPIO_Label,PinAttribute
 PA6.GPIO_Label=ETH_RST
@@ -876,7 +878,7 @@ USART3.FIFOMode=FIFOMODE_ENABLE
 USART3.IPParameters=VirtualMode-Asynchronous,DMADisableonRxErrorParam,OverrunDisableParam,FIFOMode,BaudRate
 USART3.OverrunDisableParam=ADVFEATURE_OVERRUN_DISABLE
 USART3.VirtualMode-Asynchronous=VM_ASYNC
-USART6.BaudRate=9600
+USART6.BaudRate=115200
 USART6.DMADisableonRxErrorParam=ADVFEATURE_DMA_ENABLEONRXERROR
 USART6.FIFOMode=FIFOMODE_ENABLE
 USART6.IPParameters=VirtualMode,OverrunDisableParam,FIFOMode,DMADisableonRxErrorParam,BaudRate,SwapParam

diaoerqiege/BHBF_Robot_Lifting_Lug/Core/BASE/Src/MSP/msp_zhr29_laser_sensor.c

@@ -88,7 +88,11 @@ 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]) / 1000;
+			*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)
+			{
+				*g_zhr29_200_laser_sensor_1 = 0;
+			}
 //			if(*g_zhr29_200_laser_sensor_1 >= 280)
 //			{
 //				*g_zhr29_200_laser_sensor_1 = 280;
@@ -100,8 +104,11 @@ 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]) / 1000;
-
+			*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)
+			{
+				*g_zhr29_200_laser_sensor_2 = 0;
+			}
 //			if(*g_zhr29_200_laser_sensor_2 >= 280)
 //			{
 //				*g_zhr29_200_laser_sensor_2 = 280;
@@ -114,8 +121,11 @@ 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]) / 1000;
-
+			*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)
+			{
+				*g_zhr29_200_laser_sensor_3 = 0;
+			}
 //			if(*g_zhr29_200_laser_sensor_3 >= 280)
 //			{
 //				*g_zhr29_200_laser_sensor_3 = 280;

diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Protobuf/PSource/bsp_IV.pb.h

@@ -17,6 +17,7 @@ typedef struct _IV_struct_define {
     int32_t laser_sensor_1_measure_distance;
     int32_t laser_sensor_2_measure_distance;
     int32_t laser_sensor_3_measure_distance;
+    int32_t kinfe_complete_signal;
 } IV_struct_define;
 
 
@@ -25,8 +26,8 @@ extern "C" {
 #endif
 
 /* Initializer values for message structs */
-#define IV_struct_define_init_default            {0, 0, 0, 0, 0, 0}
-#define IV_struct_define_init_zero               {0, 0, 0, 0, 0, 0}
+#define IV_struct_define_init_default            {0, 0, 0, 0, 0, 0, 0}
+#define IV_struct_define_init_zero               {0, 0, 0, 0, 0, 0, 0}
 
 /* Field tags (for use in manual encoding/decoding) */
 #define IV_struct_define_Robot_Move_Speed_tag    1
@@ -35,6 +36,7 @@ extern "C" {
 #define IV_struct_define_laser_sensor_1_measure_distance_tag 4
 #define IV_struct_define_laser_sensor_2_measure_distance_tag 5
 #define IV_struct_define_laser_sensor_3_measure_distance_tag 6
+#define IV_struct_define_kinfe_complete_signal_tag 7
 
 /* Struct field encoding specification for nanopb */
 #define IV_struct_define_FIELDLIST(X, a) \
@@ -43,7 +45,8 @@ X(a, STATIC,   SINGULAR, INT32,    RF_Angle_Roll,     2) \
 X(a, STATIC,   SINGULAR, INT32,    Remote_Status,     3) \
 X(a, STATIC,   SINGULAR, INT32,    laser_sensor_1_measure_distance,   4) \
 X(a, STATIC,   SINGULAR, INT32,    laser_sensor_2_measure_distance,   5) \
-X(a, STATIC,   SINGULAR, INT32,    laser_sensor_3_measure_distance,   6)
+X(a, STATIC,   SINGULAR, INT32,    laser_sensor_3_measure_distance,   6) \
+X(a, STATIC,   SINGULAR, INT32,    kinfe_complete_signal,   7)
 #define IV_struct_define_CALLBACK NULL
 #define IV_struct_define_DEFAULT NULL
 
@@ -54,7 +57,7 @@ extern const pb_msgdesc_t 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                    64
+#define IV_struct_define_size                    75
 
 #ifdef __cplusplus
 } /* extern "C" */

diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Protobuf/Proto/bsp_IV.proto

@@ -11,5 +11,6 @@ message IV_struct_define{
 	  int32 laser_sensor_1_measure_distance = 4;
 	  int32 laser_sensor_2_measure_distance = 5;
 	  int32 laser_sensor_3_measure_distance = 6;
+	  int32 kinfe_complete_signal = 7;
 	  
 };

diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/FSM.c

@@ -67,13 +67,14 @@ void Fsm_Init()
 void GF_Dispatch()
 {
 	IV_Control();
-
-
+	IO_Control();
 
 	Mode_Control();
 
 	// 限位安全检测
 	Limit_Detection();
+	// 急停
+	EmergencyStopControl();
 
 	action_perfrom(MoveTransitions,sizeof(MoveTransitions) / sizeof(transition_t), CurrentMoveState);
 	action_perfrom(FrontendMoveTransitions,
@@ -82,6 +83,19 @@ void GF_Dispatch()
 						sizeof(StrongGrindingMachineTransitions) / sizeof(transition_t), StrongGrindingMachineCurrentState);
 }
 
+void EmergencyStopControl()
+{
+	if((GV.MK32_Key.CH8_SE == -1000) && GV.MK32_Key.CH9_SF == -1000)
+	{
+		CurrentMoveState = Move_HALT;
+		CurrentFrontEndState = HALT_STATE;
+		StrongGrindingMachineCurrentState = STRONG_GRINDING_MACHINE_HALT_STATE;
+	}
+	else{
+
+	}
+}
+
 uint8_t upper_limit_position = 0;
 uint8_t lower_limit_position = 0;
 
@@ -128,6 +142,19 @@ void Mode_Control()
 void IO_Control()
 {
 	GF_BSP_GPIO_SetIO(4, 1);
+
+	if(StrongGrindingMachineCurrentState == STRONG_GRINDING_MACHINE_MOTION_STATE)
+	{
+		GF_BSP_GPIO_SetIO(5, 0);
+	}
+	else if(StrongGrindingMachineCurrentState == STRONG_GRINDING_MACHINE_HALT_STATE)
+	{
+		GF_BSP_GPIO_SetIO(5, 1);
+	}
+	else{
+
+	}
+
 }
 
 uint8_t IsAllowRotation_AutoMode = 0;
@@ -150,33 +177,35 @@ void Automatic_Operation()
 			case 5:
 				knife_current_altitude = GV.ZHR29_200_measure_results.laser_sensor_1_measure_distance;
 				auto_work_mode_states = 10;
+				auto_work_halt_states = 10;
 				break;
 			case 10:
 				CurrentFrontEndState = Manual_DOWN_STATE;
+				IsAllowRotation_AutoMode = Knife_Detection();
+				if(IsAllowRotation_AutoMode == 1)
+				{
+					StrongGrindingMachineCurrentState = STRONG_GRINDING_MACHINE_MOTION_STATE;
+				}
+				else{
+					StrongGrindingMachineCurrentState = STRONG_GRINDING_MACHINE_HALT_STATE;
+				}
 
 				if(knife_current_altitude - GV.ZHR29_200_measure_results.laser_sensor_1_measure_distance
 						>= knife_descent_height)
 				{
 					CurrentFrontEndState = HALT_STATE;
-					auto_work_halt_states = 10;
 					auto_work_mode_states = 20;
+
 				}
 				break;
 			case 20:
-				IsAllowRotation_AutoMode = Knife_Detection();
-				if(IsAllowRotation_AutoMode == 1)
-				{
-					StrongGrindingMachineCurrentState = STRONG_GRINDING_MACHINE_MOTION_STATE;
+
 				delay_counts = delay_counts + 1;
 				if(delay_counts >= 500)
 				{
 					delay_counts = 0;
 					CurrentMoveState = AUTO_FORWARD;
 				}
-				}
-				else{
-					StrongGrindingMachineCurrentState = STRONG_GRINDING_MACHINE_HALT_STATE;
-				}
 
 				break;
 			case 30:
@@ -192,15 +221,13 @@ void Automatic_Operation()
 	else{
 		delay_counts = 0;
 		CurrentMoveState = Move_HALT;
-		StrongGrindingMachineCurrentState = STRONG_GRINDING_MACHINE_HALT_STATE;
 
-		if(auto_work_mode_states == 10)
+		if(auto_work_mode_states == 5)
 		{
 			CurrentFrontEndState = HALT_STATE;
-			auto_work_mode_states = 5;
+			StrongGrindingMachineCurrentState = STRONG_GRINDING_MACHINE_HALT_STATE;
 		}
-		else if(auto_work_mode_states == 20)
-		{
+		else{
 			switch(auto_work_halt_states)
 			{
 				case 10:
@@ -209,19 +236,16 @@ void Automatic_Operation()
 					break;
 				case 20:
 					CurrentFrontEndState = Manual_UP_STATE;
-
 					if(GV.ZHR29_200_measure_results.laser_sensor_1_measure_distance - knife_current_altitude
 							>= knife_rising_height)
 					{
-						auto_work_mode_states = 5;
 						CurrentFrontEndState = HALT_STATE;
+						StrongGrindingMachineCurrentState = STRONG_GRINDING_MACHINE_HALT_STATE;
+						auto_work_mode_states = 5;
 					}
 					break;
 			}
 			}
-		else{
-			auto_work_mode_states = 5;
-		}
 		}
 }
 
@@ -238,15 +262,11 @@ void Strong_Grinding_Machine_Control()
 		}
 		else{
 			StrongGrindingMachineCurrentState = STRONG_GRINDING_MACHINE_HALT_STATE;
-			// 只有在刀到位且不转的时候和刀未到位的时候可以控制
-			IO_Control();
 		}
 
 	}
 	else{
 		StrongGrindingMachineCurrentState = STRONG_GRINDING_MACHINE_HALT_STATE;
-		// 只有在刀到位且不转的时候和刀未到位的时候可以控制
-		IO_Control();
 	}
 
 }
@@ -372,6 +392,7 @@ void IV_Control()
 	IV.laser_sensor_1_measure_distance = GV.ZHR29_200_measure_results.laser_sensor_1_measure_distance;
 	IV.laser_sensor_2_measure_distance = GV.ZHR29_200_measure_results.laser_sensor_2_measure_distance;
 	IV.laser_sensor_3_measure_distance = GV.ZHR29_200_measure_results.laser_sensor_3_measure_distance;
+	IV.kinfe_complete_signal = IsAllowRotation;
 }
 
 void Robot_Control()

diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/gpio.c

@@ -56,8 +56,10 @@ void MX_GPIO_Init(void)
                           |RS485_4_DIR_Pin|E22_RST_Pin, GPIO_PIN_RESET);
 
   /*Configure GPIO pin Output Level */
-  HAL_GPIO_WritePin(GPIOA, OUT_2_Pin|OUT_3_Pin|OUT_4_Pin|OUT_5_Pin
-                          |ETH_RST_Pin, GPIO_PIN_RESET);
+  HAL_GPIO_WritePin(GPIOA, OUT_2_Pin|OUT_3_Pin|ETH_RST_Pin, GPIO_PIN_RESET);
+
+  /*Configure GPIO pin Output Level */
+  HAL_GPIO_WritePin(GPIOA, OUT_4_Pin|OUT_5_Pin, GPIO_PIN_SET);
 
   /*Configure GPIO pin Output Level */
   HAL_GPIO_WritePin(GPIOE, EEPROM_WP_Pin|EEPROM_SCL_Pin|E22_M0_Pin, GPIO_PIN_RESET);

diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/main.c

@@ -272,12 +272,14 @@ void CV_GV_Init()
 
 	P_MK32 = &GV.MK32_Key;
 
-	// 强磨机默认发送停止命令
+	// 强磨机默认���止命�
 	strong_grinding_machine_cmd = 0;
-	// 电磁阀默认关闭
+	// 电��默认关闭
 	GF_BSP_GPIO_SetIO(4, 1);
+	// 冷�通气�默认关闭，动作与主轴�步
+	GF_BSP_GPIO_SetIO(5, 1);
 
-	// �?光测距传感器指针同步
+	// �?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;
@@ -342,17 +344,17 @@ void GF_Robot_Init()
 
 	SlideMotor_Controller_intialize_CAN2(&FD_CAN_2_Handler);//雷赛电机
 
-	// �?光测距传感器�?115200
+	// �?光测�传感器�?115200
 	zhr29_200_laser_sensor_intialize(&RS_485_3_UART_Handler);
 
-	// 强磨机
+	// 强磨�
 	strong_grinding_machine_intialize(&RS_485_2_UART_Handler);
 
 	Fsm_Init();
 
 	uint8_t _state = 1;
 
-	_state = _state & GF_BSP_TIMER_Init(); //定时器最后启�?????
+	_state = _state & GF_BSP_TIMER_Init(); //定时器最���?????
 
 
 }

diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/robot_state.c

@@ -225,8 +225,8 @@ int32_t SliderSpeed_mmps_2_pps(int32_t mmps)
 
 // 定义前端升降电机速度，单位0.1mm/s
 static const int32_t SliderSpeed = 50;
-const uint8_t up_limit = 215;
-const uint8_t down_limit = 150;
+const uint32_t up_limit = 6200;
+const uint8_t down_limit = 0;
 
 void Manual_Up_State_Do(void)
 {