temp

RBcore/drv_interface.c

@@ -44,6 +44,7 @@ TComCtrl *g_ptrs485_4;
 TComCtrl *g_ptlte_7S0; 
 TComCtrl *g_ptSbus; 
 TComCtrl *g_ptInterCall;
+TComCtrl *g_ptlpuart;
 
 TComCtrl *g_ptCAN1; 
 TComCtrl *g_ptCAN2; 
@@ -116,6 +117,13 @@ int RS485_4_Send(char *_pBuffer, uint32_t _iSize)
     return iRet;
 }
 
+int LPUART_PV_Send(char *_pBuffer, uint32_t _iSize)
+{
+    TUartUserData *ptUartUserData = (TUartUserData *)g_ptlpuart->m_pUserData;
+    int iRet = HAL_UART_Transmit(ptUartUserData->m_uart, (uint8_t *)_pBuffer, _iSize, 100);
+    return iRet;
+}
+
 int FDCAN1_Send(char *_pBuffer, uint32_t _iSize)
 {
     return CAN_TX_FIFOQ(g_ptCAN1, _pBuffer, _iSize);
@@ -161,6 +169,10 @@ void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
 	{
         UART_RX_IRQHandler(g_ptrs485_4);
 	}
+    else if (huart->Instance == LPUART1)
+	{
+		UART_RX_IRQHandler(g_ptlpuart);
+	}
 }
 #endif
 
@@ -212,33 +224,55 @@ void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs)
 	}
 }
 
-void Read_Sbus(void *argument)
+void Read_MK32(void *argument)
 {
     char pcBuffer[52] = {0};
+    char pcBuffer2[52] = {0};
 
     while(1)
     {
         __disable_irq();
         rd_ComRead(g_ptSbus, pcBuffer, 25);
+        rd_ComRead(g_ptlpuart, pcBuffer2, 25);
         __enable_irq();
         Rd_Delay(1);
     }
 }
 
 extern void MotorInit(void);
-extern void Mlogic_Init(void);
+extern int check_MK32(char *_pBuffer, uint32_t _iSize);
+extern void decode_MK32(const char *buf, uint32_t _iSize);
+extern int check_PV(char *_pBuffer, uint32_t _iSize);
+extern void decode_PV(const char *buf, uint32_t _iSize);
+void Send_PV(void *argument);
+void ground_manger_init(void);
 
 void Drv_InterfaceInit(void)
 {
 	MsgCenter_Init();
+	ground_manger_init();
 	MotorInit();
 	RBcore_Init();
-	Mlogic_Init();
 
-    const osThreadAttr_t Read_Sbus_attributes = {
+	TUartUserData *ptSbus = UART_userdata_init(5, -1, 512);
-        .name = "Sbus",
+	g_ptSbus = rd_ComCreate(check_MK32, decode_MK32, E28_SBUS_Send, ptSbus->m_buf_size, ptSbus);
+	UART_IT_init(g_ptSbus);
+
+    const osThreadAttr_t MK32_Task_attributes = {
+        .name = "Read_MK32",
         .stack_size = 512,
         .priority = (osPriority_t) osPriorityHigh6,
     };
-    (void)osThreadNew(Read_Sbus, NULL, &Read_Sbus_attributes);
+    (void)osThreadNew(Read_MK32, NULL, &MK32_Task_attributes);
+
+    TUartUserData *ptUartUserData = UART_userdata_init(0, -1, 512);
+	g_ptlpuart = rd_ComCreate(check_PV, decode_PV, LPUART_PV_Send, ptUartUserData->m_buf_size, ptUartUserData);
+	UART_IT_init(g_ptlpuart);
+
+	const osThreadAttr_t Send_PV_attributes = {
+		.name = "Send_PV",
+		.stack_size = 512,
+		.priority = (osPriority_t) osPriorityHigh4,
+	};
+	(void)osThreadNew(Send_PV, NULL, &Send_PV_attributes);
 }

RBcore/ground_manger.c

@@ -0,0 +1,70 @@
+/******************************************************************************
+
+                  版权所有 (C), 2018-2099, Radkil
+
+ ******************************************************************************
+  文 件 名   : ground_manger.c
+  版 本 号   : 初稿
+  作    者   : radkil
+  生成日期   : 2026年8月17日
+  最近修改   :
+  功能描述   : 地面端心跳包控制
+  
+  修改历史   :
+  1.日    期   : 2026年8月17日
+    作    者   : radkil
+    修改内容   : 创建文件
+
+******************************************************************************/
+#include "BHBF.h"
+
+/*----------------------------------------------*
+ * 外部变量说明                                 *
+ *----------------------------------------------*/
+
+/*----------------------------------------------*
+ * 外部函数原型说明                             *
+ *----------------------------------------------*/
+
+/*----------------------------------------------*
+ * 内部函数原型说明                             *
+ *----------------------------------------------*/
+
+/*----------------------------------------------*
+ * 全局变量                                     *
+ *----------------------------------------------*/
+
+/*----------------------------------------------*
+ * 模块级变量                                   *
+ *----------------------------------------------*/
+
+/*----------------------------------------------*
+ * 常量定义                                     *
+ *----------------------------------------------*/
+
+/*----------------------------------------------*
+ * 宏定义                                       *
+ *----------------------------------------------*/
+
+void Send_ground(void *argument)
+{
+    while(1)
+    {
+        
+        Rd_Delay(1);
+    }
+}
+
+void ground_manger_init(void)
+{
+    TUartUserData *ptUartUserData = UART_userdata_init(7, -1, 512);
+    g_ptrs485_4 = rd_ComCreate(NULL, NULL, RS485_4_Send, ptUartUserData->m_buf_size, ptUartUserData);
+	UART_IT_init(g_ptrs485_4);
+
+    const osThreadAttr_t Send_ground_attributes = {
+		.name = "Send_ground",
+		.stack_size = 512,
+		.priority = (osPriority_t) osPriorityRealtime2,
+	};
+	(void)osThreadNew(Send_ground, NULL, &Send_ground_attributes);
+}

project/paint_robot_new/paint_robot_new.c

@@ -31,6 +31,7 @@
  * 内部函数原型说明                             *
  *----------------------------------------------*/
 static MSP_MK32_Button RB_MK32;
+static int RB_Mode = 0; //0表示手动，1表示自动
 /*----------------------------------------------*
  * 全局变量                                     *
  *----------------------------------------------*/
@@ -47,7 +48,7 @@ static MSP_MK32_Button RB_MK32;
  * 宏定义                                       *
  *----------------------------------------------*/
     
-static int check_MK32Data(char *_pBuffer, uint32_t _iSize)
+int check_MK32(char *_pBuffer, uint32_t _iSize)
 {
     if (_pBuffer[0] != 0x0f)
     {
@@ -63,7 +64,7 @@ static int check_MK32Data(char *_pBuffer, uint32_t _iSize)
     }
 }
 
-static void decode_MK32Data(const char *buf, uint32_t _iSize)
+void decode_MK32(const char *buf, uint32_t _iSize)
 {
     int16_t CH[16];
 	int Start_byte = -1;
@@ -114,66 +115,79 @@ static void decode_MK32Data(const char *buf, uint32_t _iSize)
 		RB_MK32.IsOnline = 0;
 	}
 	RB_MK32.RxIndex++;
-}
 
-void MK32_Init(void)
+	int angle;
-{
+	angle = atan2(RB_MK32.CH1_RY_V, RB_MK32.CH0_RY_H) * 180 / M_PI;
-    TUartUserData *ptUartUserData = UART_userdata_init(5, 115200, 512);
-    g_ptSbus = rd_ComCreate(check_MK32Data, decode_MK32Data, E28_SBUS_Send, ptUartUserData->m_buf_size, ptUartUserData);
-    UART_IT_init(g_ptSbus);
-}
-
-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)
+	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))
 		{
-			// 前进
+			MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_MANUAL_BACKWARD, NULL, 0);
-			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
+			MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_STOP_ALL, NULL, 0);
-			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);
+	}
+	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);
+}
+
+int check_PV(char *_pBuffer, uint32_t _iSize)
+{
+    if (_iSize < 4) return -1;
+	if (_pBuffer[0] != 0x55) return -1;
+    if (_pBuffer[1] != 0x55) return -1;
+
+    uint16_t crc_check = ((_pBuffer[_iSize - 1] << 8) | _pBuffer[_iSize - 2]);
+    uint16_t crc_check1 = Rd_modbusCRC16(_pBuffer, _iSize - 2);
+    if (crc_check == crc_check1)
+    {
+        return _iSize - 2;
+    }
+    else
+    {
+        return -1;
     }
 }
 
-void Mlogic_Init(void)
+void decode_PV(const char *buf, uint32_t _iSize)
+{
+	RB_Mode = 0;
+//    Motor_CmdData_t tMotor_CmdData_t = {0};
+//    tMotor_CmdData_t.m_ucMotorIndex = 1;
+//    tMotor_CmdData_t.m_iValue = 10;
+//	MsgCenter_SendTo(MODULE_NAME_MOTOR, MOTOR_CMD_SET_SPEED, (void *)&tMotor_CmdData_t, sizeof(Motor_CmdData_t));
+}
+
+void Send_PV(void *argument)
 {
-    const osThreadAttr_t logic_attributes = {
+    while(1)
-        .name = "main_logic",
+    {
-        .stack_size = 1024,
+
-        .priority = (osPriority_t) osPriorityRealtime2,
+        Rd_Delay(1);
-    };
+    }
-    (void)osThreadNew(MK32_Task, NULL, &logic_attributes);
 }