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paint_robot_new v1.1 build [Aug 21 2026 15:32:21] by BINGOOPRO

master
Lizongdi 10 hours ago
parent
94dcafd869
commit
2d8abcc45a
7 changed files with 70 additions and 28 deletions
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  1. 2
      RBcore/client_setting.c
  2. 15
      RBcore/drv_interface.c
  3. 5
      RBcore/include/BHBF.h
  4. 2
      RBcore/include/msg_center.h
  5. 53
      project/paint_robot_new/paint_robot_new.c
  6. 2
      project/paint_robot_new/paint_robot_new_MK32.c
  7. 19
      project/paint_robot_new/paint_robot_new_motors.c

2
RBcore/client_setting.c
View File

@ -96,7 +96,7 @@ void decode_PV(const char *_pBuffer, uint32_t _iSize)
}
}
void Send_PV(void *argument)
void Send_IV(void *argument)
{
while(1)
{

15
RBcore/drv_interface.c
View File

@ -250,14 +250,23 @@ 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);
extern void Send_IV(void *argument);
extern void ground_manger_init(void);
extern void Custom_Task(void *argument);
void Drv_InterfaceInit(void)
{
MsgCenter_Init();
// ground_manger_init();
const osThreadAttr_t Custom_attributes = {
.name = MODULE_NAME_CUSTOM,
.stack_size = 1024,
.priority = (osPriority_t) osPriorityRealtime,
};
(void)osThreadNew(Custom_Task, NULL, &Custom_attributes);
// 创建电机任务
const osThreadAttr_t motor_task_attributes = {
.name = MODULE_NAME_MOTOR,
@ -295,5 +304,5 @@ void Drv_InterfaceInit(void)
// .stack_size = 1024,
// .priority = (osPriority_t) osPriorityHigh4,
// };
// (void)osThreadNew(Send_PV, NULL, &Send_PV_attributes);
// (void)osThreadNew(Send_IV, NULL, &Send_PV_attributes);
}

5
RBcore/include/BHBF.h
View File

@ -74,7 +74,8 @@ extern "C"{
#define MODULE_NAME_CUSTOM "custom"
typedef enum {
MOTOR_CMD_SET_SPEED = 0x0001,// 设置速度
LUA_SHOW_INFO,
MOTOR_CMD_SET_SPEED, // 设置速度
MOTOR_CMD_SET_POSITION, // 设置位置
MOTOR_CMD_STOP, // 停止
MOTOR_CMD_GET_STATUS, // 获取状态
@ -92,6 +93,8 @@ typedef enum {
CUSTOM_GET_PV, // 获取PV
CUSTOM_SET_IV, // 设置IV
CUSTOM_GET_MK32, // 获取MK32
CUSTOM_CMD_END = 0x0300,
} Motor_Cmd_e;
// 电机命令数据结构

2
RBcore/include/msg_center.h
View File

@ -38,7 +38,7 @@ extern "C"{
#define MSG_CENTER_MAX_MODULES 16 // 最大模块数
#define MSG_CENTER_MAX_NAME_LEN 16 // 模块名称最大长度
#define MSG_CENTER_QUEUE_SIZE 64 // 消息队列大小
#define MSG_CENTER_MAX_DATA_SIZE 64 // 消息数据最大大小
#define MSG_CENTER_MAX_DATA_SIZE 256 // 消息数据最大大小
/*==============================================*
* data structures *

53
project/paint_robot_new/paint_robot_new.c
View File

@ -18,7 +18,9 @@
******************************************************************************/
#include "BHBF.h"
#include "msg_center.h"
#include "lua_base.h"
#include "Protobuf/PSource/bsp_PV.pb.h"
#include "Protobuf/PSource/msp_MK32.pb.h"
/*----------------------------------------------*
* 外部变量说明 *
@ -40,6 +42,8 @@
* 模块级变量 *
*----------------------------------------------*/
static uint32_t g_uiCustomModuleID = 0;
SP_MSP_MK32_Button g_stMK32;
PV_struct_define g_stPV;
/*----------------------------------------------*
* 常量定义 *
@ -60,7 +64,42 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
{
case CUSTOM_GET_PV:
{
//log_i("RBCORE_CMD_STOP_ALL");
if (pstMsg->m_uiDataLen >= sizeof(g_stPV))
{
RD_MEMCPY(&g_stPV, pstMsg->m_aucData, sizeof(g_stPV));
}
break;
}
case CUSTOM_GET_MK32:
{
if (pstMsg->m_uiDataLen >= sizeof(g_stMK32))
{
RD_MEMCPY(&g_stMK32, pstMsg->m_aucData, sizeof(g_stMK32));
}
break;
}
case LUA_SHOW_INFO:
{
lua_print("MK32 Info\nRxIndex:%d\tIsOnline:%d\n", g_stMK32.RxIndex, g_stMK32.IsOnline);
lua_print("CH0_RY_H\t%d\n", g_stMK32.CH0_RY_H);
lua_print("CH1_RY_V\t%d\n", g_stMK32.CH1_RY_V);
lua_print("CH2_LY_V\t%d\n", g_stMK32.CH2_LY_V);
lua_print("CH3_LY_H\t%d\n", g_stMK32.CH3_LY_H);
lua_print("CH4_SA \t%d\n", g_stMK32.CH4_SA);
lua_print("CH5_SB \t%d\n", g_stMK32.CH5_SB);
lua_print("CH6_SC \t%d\n", g_stMK32.CH6_SC);
lua_print("CH7_SD \t%d\n", g_stMK32.CH7_SD);
lua_print("CH8_SE \t%d\n", g_stMK32.CH8_SE);
lua_print("CH9_SF \t%d\n", g_stMK32.CH9_SF);
lua_print("CH10_LD1\t%d\n", g_stMK32.CH10_LD1);
lua_print("CH11_RD1\t%d\n", g_stMK32.CH11_RD1);
lua_print("CH12_S1 \t%d\n", g_stMK32.CH12_S1);
lua_print("CH13_S2 \t%d\n", g_stMK32.CH13_S2);
lua_print("CH14_LT \t%d\n", g_stMK32.CH14_LT);
lua_print("CH15_RT \t%d\n", g_stMK32.CH15_RT);
lua_print("PV Info\n");
lua_print("RunMode = %d\nRobotSpeed = %d\nVertical_Calibration = %d\nIV_IsRestart_Notified = %d\nTimeStamp = %d\n",
g_stPV.RunMode, g_stPV.RobotSpeed, g_stPV.Vertical_Calibration, g_stPV.IV_IsRestart_Notified, g_stPV.TimeStamp);
break;
}
default:
@ -70,20 +109,10 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
void Custom_Task(void *argument)
{
g_uiCustomModuleID = MsgCenter_Register(MODULE_NAME_CUSTOM, Custom_ModuleHandler);
while(1)
{
MsgCenter_ProcessWait(g_uiCustomModuleID, 2);
}
}
void Custom_Init(void)
{
g_uiCustomModuleID = MsgCenter_Register(MODULE_NAME_CUSTOM, Custom_ModuleHandler);
const osThreadAttr_t Custom_attributes = {
.name = MODULE_NAME_CUSTOM,
.stack_size = 1024,
.priority = (osPriority_t) osPriorityRealtime,
};
(void)osThreadNew(Custom_Task, NULL, &Custom_attributes);
}

2
project/paint_robot_new/paint_robot_new_MK32.c
View File

@ -100,6 +100,8 @@ void decode_MK32(const char *buf, uint32_t _iSize)
}
RB_MK32.RxIndex++;
MsgCenter_SendTo(MODULE_NAME_CUSTOM, CUSTOM_GET_MK32, (void *)&RB_MK32, sizeof(RB_MK32));
int angle;
angle = atan2(RB_MK32.CH1_RY_V, RB_MK32.CH0_RY_H) * 180 / M_PI;

19
project/paint_robot_new/paint_robot_new_motors.c
View File

@ -62,10 +62,14 @@ static void Motor_ModuleHandler(const Msg_t *pstMsg)
{
case MOTOR_CMD_SET_SPEED:
{
int iSpeed = (int)pstMsg->m_aucData;
log_i("Set Speed %d", iSpeed);
// g_aiMotorSpeed[0] = iSpeed;
// g_aiMotorSpeed[1] = iSpeed;
int iSpeed = 0;
if (pstMsg->m_uiDataLen >= sizeof(int))
{
RD_MEMCPY(&iSpeed, pstMsg->m_aucData, sizeof(int));
}
//log_i("Set Speed %d", iSpeed);
g_aiMotorSpeed[0] = iSpeed;
g_aiMotorSpeed[1] = iSpeed;
break;
}
case MOTOR_CMD_STOP:
@ -157,7 +161,7 @@ static void decode_LeiSaiMotor(const char *_pBuffer, uint32_t _iSize)
MotorMgr_ParseResponse(ucMotorID, (const uint8_t *)&_pBuffer[4], 8);
}
static void MotorInit(void)
void MotorTask(void *argument)
{
// 初始化FDCAN1，使用雷赛电机的回调
TCANUserData *ptCANUserData = CAN_userdata_init(&hfdcan1, 32, 0);
@ -186,11 +190,6 @@ static void MotorInit(void)
g_apstMotors[1] = MotorMgr_Create(&stRightMotorConfig, g_ptCAN1, LeiSai_GetProtocol(), NULL);
g_uiMotorModuleID = MsgCenter_Register(MODULE_NAME_MOTOR, Motor_ModuleHandler);
}
void MotorTask(void *argument)
{
MotorInit();
MotorMgr_ResetAll(g_apstMotors[0]);
Rd_Delay(500);

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