From 0cf75b9082dd9627fa564217e8f6131a2900f938 Mon Sep 17 00:00:00 2001
From: Lizongdi <1210855344@qq.com>
Date: Thu, 24 Sep 2026 14:11:36 +0800
Subject: [PATCH] =?UTF-8?q?1.=E7=94=B5=E6=9C=BA=E4=BC=98=E5=85=88=E7=BA=A7?=
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---
 RBcore/drv_interface.c                          |  2 +-
 library/ringbuffer/ringbuffer.c                 | 17 ++++++++++++++---
 project/paint_robot_new/paint_robot_new.c       |  5 ++++-
 .../paint_robot_new/paint_robot_new_motors.c    |  8 ++++++++
 4 files changed, 27 insertions(+), 5 deletions(-)

diff --git a/RBcore/drv_interface.c b/RBcore/drv_interface.c
index 7cc9a17..c0111dd 100644
--- a/RBcore/drv_interface.c
+++ b/RBcore/drv_interface.c
@@ -278,7 +278,7 @@ void Drv_InterfaceInit(void)
 	const osThreadAttr_t motor_task_attributes = {
 		.name = MODULE_NAME_MOTOR,
 		.stack_size = THREAD_DEFAULT_STACK,
-		.priority = (osPriority_t) osPriorityRealtime1,
+		.priority = (osPriority_t) osPriorityRealtime2,
 	};
 	(void)osThreadNew(MotorTask, NULL, &motor_task_attributes);
 
diff --git a/library/ringbuffer/ringbuffer.c b/library/ringbuffer/ringbuffer.c
index 46958ee..40d9d14 100644
--- a/library/ringbuffer/ringbuffer.c
+++ b/library/ringbuffer/ringbuffer.c
@@ -395,6 +395,7 @@ int rd_RingbufferGetchar(rd_ringbuf_t *rb, char *ch)
 int rd_RingbufferDataLen(rd_ringbuf_t *rb)
 {
     if (!rb) return RD_INVALUE;
+    int iRet = 0;
 
     unsigned short wi = ATOMIC_LOAD(&rb->m_sWriteIndex, unsigned short, ATOMIC_ORDER_ACQUIRE);
     unsigned short ri = ATOMIC_LOAD(&rb->m_sReadIndex, unsigned short, ATOMIC_ORDER_RELAXED);
@@ -402,14 +403,24 @@ int rd_RingbufferDataLen(rd_ringbuf_t *rb)
     unsigned char rb_m = ATOMIC_LOAD(&rb->m_bReadMirror, unsigned char, ATOMIC_ORDER_RELAXED);
 
     if (wi == ri) {
-        return (wb == rb_m) ? 0 : rb->m_iBufsize;
+    	iRet = (wb == rb_m) ? 0 : rb->m_iBufsize;
     }
 
     if (wb == rb_m) {
-        return wi - ri;
+    	iRet = wi - ri;
     } else {
-        return rb->m_iBufsize - (ri - wi);
+    	iRet = rb->m_iBufsize - (ri - wi);
     }
+
+    if (iRet >= 0)
+	{
+		return iRet;
+	}
+	else
+	{
+		log_e("wb = %d, rb_m = %d, wi = %d, ri = %d", wb, rb_m, wi, ri);
+		return 0;
+	}
 }
 
 /**
diff --git a/project/paint_robot_new/paint_robot_new.c b/project/paint_robot_new/paint_robot_new.c
index 3d5b9b0..b8d5e02 100644
--- a/project/paint_robot_new/paint_robot_new.c
+++ b/project/paint_robot_new/paint_robot_new.c
@@ -931,7 +931,10 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
 				
 				MsgCenter_SendTo(MODULE_NAME_MOTOR, MOTOR_POWER_DISABLE, NULL, 0);
 				MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_STOP_ALL, NULL, 0);
-				g_Is_All_Button_Reset = 0;
+				if (g_stMK32.IsOnline == 0)
+				{
+					g_Is_All_Button_Reset = 0;
+				}
 				break;
 			}
 
diff --git a/project/paint_robot_new/paint_robot_new_motors.c b/project/paint_robot_new/paint_robot_new_motors.c
index f10176c..b0dc3a9 100644
--- a/project/paint_robot_new/paint_robot_new_motors.c
+++ b/project/paint_robot_new/paint_robot_new_motors.c
@@ -243,6 +243,7 @@ void MotorTask(void *argument)
     	{
     		static int LS_Motor_Config_Count = 0;
     		static int iStatusQueryCycle = 0;
+    		static int iLastiCount = 0;
 
 			if (LS_Motor_Config_Count <= 200)
 			{
@@ -253,10 +254,17 @@ void MotorTask(void *argument)
 				Rd_Delay(4);
 			}
 			
+			int iCurrentCount = Rd_GetTime();
+			if (iCurrentCount - iLastiCount >= 1000)
+			{
+				log_e("Send motor timeout (%d) !", iCurrentCount - iLastiCount);
+			}
+
 			MotorMgr_SetTargetSpeed(g_apstMotors[0], g_aiMotorSpeed[0]);
 			Rd_Delay(4);
 			MotorMgr_SetTargetSpeed(g_apstMotors[1], g_aiMotorSpeed[1]);
 			Rd_Delay(4);
+			iLastiCount = Rd_GetTime();
 
 			if (++iStatusQueryCycle >= 10)
 			{