增加遥控器(主逻辑)线程

RBcore/drv_interface.c

@@ -226,12 +226,14 @@ void Read_RS485_1(void *argument)
 }
 
 extern void MotorInit(void);
+extern void Mlogic_Init(void);
 
 void Drv_InterfaceInit(void)
 {
 	MsgCenter_Init();
 	MotorInit();
 	RBcore_Init();
+	Mlogic_Init();
 
     const osThreadAttr_t Read_RS485_1_attributes = {
         .name = "RS485_1",

RBcore/include/BHBF.h

@@ -81,6 +81,7 @@ typedef enum {
     MOTOR_CMD_POSITION_MODE,     // 位置模式
     MOTOR_CMD_END = 0x0100,
 
+	RBCORE_CMD_STOP_ALL,         // 机器人停止
     RBCORE_CMD_MANUAL_FORWARD,   // 机器人手动前进
     RBCORE_CMD_MANUAL_BACKWARD,  // 机器人手动后退
 	RBCORE_CMD_MANUAL_TURNLEFT,  // 机器人手动左转

project/paint_robot_new/CMakeLists.txt

@@ -9,8 +9,8 @@ else()
     message(FATAL_ERROR "Cannot find common build logic at ${COMMON_CMAKE_PATH}")
 endif()
 
-if(TARGET bspMCU)
+if(TARGET RBcore)
-    target_link_libraries(${TARGET_NAME} PUBLIC bspMCU)
+    target_link_libraries(${TARGET_NAME} PUBLIC RBcore)
 else()
-    message(FATAL_ERROR "[${TARGET_NAME}] Dependency 'bspMCU' not found.")
+    message(FATAL_ERROR "[${TARGET_NAME}] Dependency 'RBcore' not found.")
 endif()

project/paint_robot_new/include/paint_robot_new.h

@@ -59,14 +59,34 @@ extern "C"{
 /*==============================================*
  *      include header files                    *
  *----------------------------------------------*/
-
+#include <stdint.h>
 
 
 
 /*==============================================*
  *      constants or macros define              *
  *----------------------------------------------*/
-
+typedef struct _MSP_MK32_Button
+{
+    int32_t RxIndex;
+    int32_t CH0_RY_H;
+    int32_t CH1_RY_V;
+    int32_t CH2_LY_V;
+    int32_t CH3_LY_H;
+    int32_t CH4_SA;
+    int32_t CH5_SB;
+    int32_t CH6_SC;
+    int32_t CH7_SD;
+    int32_t CH8_SE;
+    int32_t CH9_SF;
+    int32_t CH10_LD1;
+    int32_t CH11_RD1;
+    int32_t CH12_S1;
+    int32_t CH13_S2;
+    int32_t CH14_LT;
+    int32_t CH15_RT;
+    int32_t IsOnline;
+} MSP_MK32_Button;
 
 /*==============================================*
  *      project-wide global variables           *

project/paint_robot_new/paint_robot_new.c

@@ -17,6 +17,7 @@
 
 ******************************************************************************/
 #include "paint_robot_new.h"
+#include "BHBF.h"
 
 /*----------------------------------------------*
  * 外部变量说明                                 *
@@ -29,7 +30,7 @@
 /*----------------------------------------------*
  * 内部函数原型说明                             *
  *----------------------------------------------*/
-
+static MSP_MK32_Button RB_MK32;
 /*----------------------------------------------*
  * 全局变量                                     *
  *----------------------------------------------*/
@@ -46,5 +47,133 @@
  * 宏定义                                       *
  *----------------------------------------------*/
     
+static int check_MK32Data(char *_pBuffer, uint32_t _iSize)
+{
+    if (_pBuffer[0] != 0x0f)
+    {
+        return -1;
+    }
+    if (_pBuffer[24] != 0x0f)
+    {
+        return -1;
+    }
+    else
+    {
+        return 25;
+    }
+}
+
+static void decode_MK32Data(const char *buf, uint32_t _iSize)
+{
+    int16_t CH[16];
+	int Start_byte = -1;
+
+	CH[0] = ((buf[Start_byte + 1] | buf[Start_byte + 2] << 8) & 0x07FF);
+	CH[1] = ((buf[Start_byte + 2] >> 3 | buf[Start_byte + 3] << 5) & 0x07FF);
+	CH[2] = ((buf[Start_byte + 3] >> 6 | buf[Start_byte + 4] << 2
+			| buf[Start_byte + 5] << 10) & 0x07FF);
+	CH[3] = ((buf[Start_byte + 5] >> 1 | buf[Start_byte + 6] << 7) & 0x07FF);
+	CH[4] = ((buf[Start_byte + 6] >> 4 | buf[Start_byte + 7] << 4) & 0x07FF);
+	CH[5] = ((buf[Start_byte + 7] >> 7 | buf[Start_byte + 8] << 1
+			| buf[Start_byte + 9] << 9) & 0x07FF);
+	CH[6] = ((buf[Start_byte + 9] >> 2 | buf[Start_byte + 10] << 6) & 0x07FF);
+	CH[7] = ((buf[Start_byte + 10] >> 5 | buf[Start_byte + 11] << 3) & 0x07FF);
+	CH[8] = ((buf[Start_byte + 12] | buf[Start_byte + 13] << 8) & 0x07FF);
+	CH[9] = ((buf[Start_byte + 13] >> 3 | buf[Start_byte + 14] << 5) & 0x07FF);
+	CH[10] = ((buf[Start_byte + 14] >> 6 | buf[Start_byte + 15] << 2
+			| buf[Start_byte + 16] << 10) & 0x07FF);
+	CH[11] = ((buf[Start_byte + 16] >> 1 | buf[Start_byte + 17] << 7) & 0x07FF);
+	CH[12] = ((buf[Start_byte + 17] >> 4 | buf[Start_byte + 18] << 4) & 0x07FF);
+	CH[13] = ((buf[Start_byte + 18] >> 7 | buf[Start_byte + 19] << 1
+			| buf[Start_byte + 20] << 9) & 0x07FF);
+	CH[14] = ((buf[Start_byte + 20] >> 2 | buf[Start_byte + 21] << 6) & 0x07FF);
+	CH[15] = ((buf[Start_byte + 21] >> 5 | buf[Start_byte + 22] << 3) & 0x07FF);
+
+	int32_t* channel_ptrs[16] =
+	{
+		&RB_MK32.CH0_RY_H, &RB_MK32.CH1_RY_V, &RB_MK32.CH2_LY_V, &RB_MK32.CH3_LY_H,
+		&RB_MK32.CH4_SA,   &RB_MK32.CH5_SB,   &RB_MK32.CH6_SC,   &RB_MK32.CH7_SD,
+		&RB_MK32.CH8_SE,   &RB_MK32.CH9_SF,   &RB_MK32.CH10_LD1, &RB_MK32.CH11_RD1,
+		&RB_MK32.CH12_S1,  &RB_MK32.CH13_S2,  &RB_MK32.CH14_LT,  &RB_MK32.CH15_RT
+	};
+
+	// 按键数值转换：1050为中间值，272-1712
+	for (int i = 0; i < 16; i++)
+	{
+		// 通过指针解引用赋值，完美替代原来的 RB_MK32[i + 1]
+		*channel_ptrs[i] = (int32_t)((CH[i] - 992) * 1.388889);
+	}
+
+	// 【核心修改】：通过具体的成员名访问 IsOnline，替代原来的 RB_MK32[17]
+	if (buf[22] == 0)
+	{
+		RB_MK32.IsOnline = 1;
+	}
+	else
+	{
+		RB_MK32.IsOnline = 0;
+	}
+	RB_MK32.RxIndex++;
+}
+
+void MK32_Init(void)
+{
+    TUartUserData *ptUartUserData = UART_userdata_init(5, 115200, 512);
+    g_ptE28_SBUS = rd_ComCreate(check_MK32Data, decode_MK32Data, E28_SBUS_Send, ptUartUserData->m_buf_size, ptUartUserData);
+    UART_IT_init(g_ptE28_SBUS);
+}
+
+void MK32_Task(void *argument)
+{
+    while(1)
+    {
+    	int angle;
+		angle = atan2(RB_MK32.CH1_RY_V, RB_MK32.CH0_RY_H) * 180 / M_PI;
 
+		if(RB_MK32.CH5_SB == 0)
+		{
+			// 前进
+			if((angle >= 45) && (angle <= 135))
+			{
+				MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_MANUAL_FORWARD, NULL, 0);
+			}
+			// 后退
+			else if((angle >= -135) && (angle < -45))
+			{
+				MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_MANUAL_BACKWARD, NULL, 0);
+			}
+			else
+			{
+				MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_STOP_ALL, NULL, 0);
+			}
+		}
+		else
+		{
+			// 前进
+			if((angle >= 45) && (angle <= 135))
+			{
+				MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_MANUAL_FORWARD, NULL, 0);
+			}
+			// 后退
+			else if((angle >= -135) && (angle < -45))
+			{
+				MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_MANUAL_BACKWARD, NULL, 0);
+			}
+			else
+			{
+				MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_STOP_ALL, NULL, 0);
+			}
+		}
+		Rd_Delay(1);
+    }
+}
 
+void Mlogic_Init(void)
+{
+    const osThreadAttr_t logic_attributes = {
+        .name = "main_logic",
+        .stack_size = 1024,
+        .priority = (osPriority_t) osPriorityRealtime2,
+    };
+    (void)osThreadNew(MK32_Task, NULL, &logic_attributes);
+}