修改激光传感器赋值

diaoerqiege/BHBF_Robot_Lifting_Lug/Core/BASE/Inc/MSP/msp_zhr29_laser_sensor.h

@@ -13,9 +13,9 @@
 #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 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

@@ -9,9 +9,9 @@
 #include "msp_zhr29_laser_sensor.h"
 
 
-int32_t* g_zhr29_200_laser_sensor_1;
-int32_t* g_zhr29_200_laser_sensor_2;
-int32_t* g_zhr29_200_laser_sensor_3;
+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;
@@ -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)
+			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;
+				g_zhr29_200_laser_sensor_1 = 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)
+			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;
+				g_zhr29_200_laser_sensor_2 = 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)
+			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;
+				g_zhr29_200_laser_sensor_3 = 0;
 			}
 //			if(*g_zhr29_200_laser_sensor_3 >= 280)
 //			{

diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/main.c

@@ -281,9 +281,9 @@ void CV_GV_Init()
 	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;
+	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