删除optional模块，优化变量命名，不与老代码重复

RBcore/BHBF.c

@@ -57,6 +57,11 @@ static void RBcore_ModuleHandler(const Msg_t *pstMsg)
 
     switch (pstMsg->m_uiMsgID)
     {
+		case RBCORE_CMD_STOP_ALL:
+		{
+			//log_i("RBCORE_CMD_STOP_ALL");
+			break;
+		}
         case RBCORE_CMD_MANUAL_FORWARD:
         {
         	log_i("RBCORE_CMD_MANUAL_FORWARD");

RBcore/drv_interface.c

@@ -37,16 +37,16 @@ extern TComCtrl *g_ptUartCtrl;
 /*----------------------------------------------*
  * 全局变量                                     *
  *----------------------------------------------*/
-TComCtrl *g_ptRS485_1; 
+TComCtrl *g_ptrs485_1; 
-TComCtrl *g_ptRS485_2; 
+TComCtrl *g_ptrs485_2; 
-TComCtrl *g_ptRS485_3; 
+TComCtrl *g_ptrs485_3; 
-TComCtrl *g_ptRS485_4; 
+TComCtrl *g_ptrs485_4; 
-TComCtrl *g_ptLTE_7S0; 
+TComCtrl *g_ptlte_7S0; 
-TComCtrl *g_ptE28_SBUS; 
+TComCtrl *g_ptSbus; 
 TComCtrl *g_ptInterCall;
 
-TComCtrl *g_ptFDCAN1; 
+TComCtrl *g_ptCAN1; 
-TComCtrl *g_ptFDCAN2; 
+TComCtrl *g_ptCAN2; 
 /*----------------------------------------------*
  * 模块级变量                                   *
  *----------------------------------------------*/
@@ -62,7 +62,7 @@ TComCtrl *g_ptFDCAN2;
 int RS485_1_Send(char *_pBuffer, uint32_t _iSize)
 {
     HAL_GPIO_WritePin(RS485_1_DIR_GPIO_Port, RS485_1_DIR_Pin, GPIO_PIN_SET);
-    TUartUserData *ptUartUserData = (TUartUserData *)g_ptRS485_1->m_pUserData;
+    TUartUserData *ptUartUserData = (TUartUserData *)g_ptrs485_1->m_pUserData;
     int iRet = HAL_UART_Transmit(ptUartUserData->m_uart, (uint8_t *)_pBuffer, _iSize, 100);
     HAL_GPIO_WritePin(RS485_1_DIR_GPIO_Port, RS485_1_DIR_Pin, GPIO_PIN_RESET);
     return iRet;
@@ -70,7 +70,7 @@ int RS485_1_Send(char *_pBuffer, uint32_t _iSize)
 
 int LTE_7S0_Send(char *_pBuffer, uint32_t _iSize)
 {
-    TUartUserData *ptUartUserData = (TUartUserData *)g_ptLTE_7S0->m_pUserData;
+    TUartUserData *ptUartUserData = (TUartUserData *)g_ptlte_7S0->m_pUserData;
     int iRet = HAL_UART_Transmit(ptUartUserData->m_uart, (uint8_t *)_pBuffer, _iSize, 100);
     return iRet;
 }
@@ -78,7 +78,7 @@ int LTE_7S0_Send(char *_pBuffer, uint32_t _iSize)
 int RS485_2_Send(char *_pBuffer, uint32_t _iSize)
 {
     HAL_GPIO_WritePin(RS485_2_DIR_GPIO_Port, RS485_2_DIR_Pin, GPIO_PIN_SET);
-    TUartUserData *ptUartUserData = (TUartUserData *)g_ptRS485_2->m_pUserData;
+    TUartUserData *ptUartUserData = (TUartUserData *)g_ptrs485_2->m_pUserData;
     int iRet = HAL_UART_Transmit(ptUartUserData->m_uart, (uint8_t *)_pBuffer, _iSize, 100);
     HAL_GPIO_WritePin(RS485_2_DIR_GPIO_Port, RS485_2_DIR_Pin, GPIO_PIN_RESET);
     return iRet;
@@ -93,7 +93,7 @@ int InterCall_Send(char *_pBuffer, uint32_t _iSize)
 
 int E28_SBUS_Send(char *_pBuffer, uint32_t _iSize)
 {
-    TUartUserData *ptUartUserData = (TUartUserData *)g_ptE28_SBUS->m_pUserData;
+    TUartUserData *ptUartUserData = (TUartUserData *)g_ptSbus->m_pUserData;
     int iRet = HAL_UART_Transmit(ptUartUserData->m_uart, (uint8_t *)_pBuffer, _iSize, 100);
     return iRet;
 }
@@ -101,7 +101,7 @@ int E28_SBUS_Send(char *_pBuffer, uint32_t _iSize)
 int RS485_3_Send(char *_pBuffer, uint32_t _iSize)
 {
     HAL_GPIO_WritePin(RS485_3_DIR_GPIO_Port, RS485_3_DIR_Pin, GPIO_PIN_SET);
-    TUartUserData *ptUartUserData = (TUartUserData *)g_ptRS485_3->m_pUserData;
+    TUartUserData *ptUartUserData = (TUartUserData *)g_ptrs485_3->m_pUserData;
     int iRet = HAL_UART_Transmit(ptUartUserData->m_uart, (uint8_t *)_pBuffer, _iSize, 100);
     HAL_GPIO_WritePin(RS485_3_DIR_GPIO_Port, RS485_3_DIR_Pin, GPIO_PIN_RESET);
     return iRet;
@@ -110,7 +110,7 @@ int RS485_3_Send(char *_pBuffer, uint32_t _iSize)
 int RS485_4_Send(char *_pBuffer, uint32_t _iSize)
 {
     HAL_GPIO_WritePin(RS485_4_DIR_GPIO_Port, RS485_4_DIR_Pin, GPIO_PIN_SET);
-    TUartUserData *ptUartUserData = (TUartUserData *)g_ptRS485_4->m_pUserData;
+    TUartUserData *ptUartUserData = (TUartUserData *)g_ptrs485_4->m_pUserData;
     int iRet = HAL_UART_Transmit(ptUartUserData->m_uart, (uint8_t *)_pBuffer, _iSize, 100);
     HAL_GPIO_WritePin(RS485_4_DIR_GPIO_Port, RS485_4_DIR_Pin, GPIO_PIN_RESET);
     return iRet;
@@ -118,12 +118,12 @@ int RS485_4_Send(char *_pBuffer, uint32_t _iSize)
 
 int FDCAN1_Send(char *_pBuffer, uint32_t _iSize)
 {
-    return CAN_TX_FIFOQ(g_ptFDCAN1, _pBuffer, _iSize);
+    return CAN_TX_FIFOQ(g_ptCAN1, _pBuffer, _iSize);
 }
 
 int FDCAN2_Send(char *_pBuffer, uint32_t _iSize)
 {
-    return CAN_TX_FIFOQ(g_ptFDCAN2, _pBuffer, _iSize);
+    return CAN_TX_FIFOQ(g_ptCAN2, _pBuffer, _iSize);
 }
 
 #ifndef CONFIG_UART_IT_IDLEDMA
@@ -131,18 +131,18 @@ void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
 {
     if (huart->Instance == USART1)
 	{
-    	UART_RX_IRQHandler(g_ptRS485_1);
+    	UART_RX_IRQHandler(g_ptrs485_1);
 	}
     else if (huart->Instance == USART2)
 	{
-        UART_RX_IRQHandler(g_ptLTE_7S0);
+        UART_RX_IRQHandler(g_ptlte_7S0);
 	}
     else if (huart->Instance == USART3)
     {
 #ifdef USE_PRINT
     	UART_RX_IRQHandler(g_ptUartCtrl);
 #else
-        UART_RX_IRQHandler(g_ptRS485_2);
+        UART_RX_IRQHandler(g_ptrs485_2);
 #endif
     }
     else if (huart->Instance == UART4)
@@ -151,15 +151,15 @@ void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
 	}
     else if (huart->Instance == UART5)
 	{
-        UART_RX_IRQHandler(g_ptE28_SBUS);
+        UART_RX_IRQHandler(g_ptSbus);
 	}
     else if (huart->Instance == USART6)
 	{
-        UART_RX_IRQHandler(g_ptRS485_3);
+        UART_RX_IRQHandler(g_ptrs485_3);
 	}
     else if (huart->Instance == UART7)
 	{
-        UART_RX_IRQHandler(g_ptRS485_4);
+        UART_RX_IRQHandler(g_ptrs485_4);
 	}
 }
 #endif
@@ -204,22 +204,22 @@ void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs)
 {
 	if (hfdcan->Instance == FDCAN1)
 	{
-		CAN_RX_IRQHandler(g_ptFDCAN1);
+		CAN_RX_IRQHandler(g_ptCAN1);
 	}
     else if (hfdcan->Instance == FDCAN2)
 	{
-		CAN_RX_IRQHandler(g_ptFDCAN2);
+		CAN_RX_IRQHandler(g_ptCAN2);
 	}
 }
 
-void Read_RS485_1(void *argument)
+void Read_Sbus(void *argument)
 {
     char pcBuffer[52] = {0};
 
     while(1)
     {
         __disable_irq();
-        rd_ComRead(g_ptRS485_1, pcBuffer, 25);
+        rd_ComRead(g_ptSbus, pcBuffer, 25);
         __enable_irq();
         Rd_Delay(1);
     }
@@ -235,10 +235,10 @@ void Drv_InterfaceInit(void)
 	RBcore_Init();
 	Mlogic_Init();
 
-    const osThreadAttr_t Read_RS485_1_attributes = {
+    const osThreadAttr_t Read_Sbus_attributes = {
-        .name = "RS485_1",
+        .name = "Sbus",
         .stack_size = 512,
         .priority = (osPriority_t) osPriorityHigh6,
     };
-    (void)osThreadNew(Read_RS485_1, NULL, &Read_RS485_1_attributes);
+    (void)osThreadNew(Read_Sbus, NULL, &Read_Sbus_attributes);
 }

RBcore/include/drv_interface.h

@@ -75,16 +75,16 @@ extern "C"{
 /*==============================================*
  *      project-wide global variables           *
  *----------------------------------------------*/
-extern TComCtrl *g_ptRS485_1; 
+extern TComCtrl *g_ptrs485_1; 
-extern TComCtrl *g_ptRS485_2; 
+extern TComCtrl *g_ptrs485_2; 
-extern TComCtrl *g_ptRS485_3; 
+extern TComCtrl *g_ptrs485_3; 
-extern TComCtrl *g_ptRS485_4; 
+extern TComCtrl *g_ptrs485_4; 
-extern TComCtrl *g_ptLTE_7S0; 
+extern TComCtrl *g_ptlte_7S0; 
-extern TComCtrl *g_ptE28_SBUS; 
+extern TComCtrl *g_ptSbus; 
 extern TComCtrl *g_ptInterCall;
 
-extern TComCtrl *g_ptFDCAN1; 
+extern TComCtrl *g_ptCAN1; 
-extern TComCtrl *g_ptFDCAN2; 
+extern TComCtrl *g_ptCAN2; 
 
 /*==============================================*
  *      routines' or functions' implementations *

motor/motor_example.c

@@ -71,7 +71,7 @@ void MotorExample_LeiSai(void)
     };
 
     // 3. 创建电机实例（使用雷赛协议）
-    Motor_Instance_t *pstLeftMotor = MotorMgr_Create(&stLeftConfig, g_ptFDCAN1, LeiSai_GetProtocol(), NULL);
+    Motor_Instance_t *pstLeftMotor = MotorMgr_Create(&stLeftConfig, g_ptCAN1, LeiSai_GetProtocol(), NULL);
 
     // 4. 配置右轮电机
     Motor_Config_t stRightConfig = {
@@ -80,7 +80,7 @@ void MotorExample_LeiSai(void)
         .m_uiReductionRatio = 70,
         .m_fWheelDiameter = 0.26f
     };
-    Motor_Instance_t *pstRightMotor = MotorMgr_Create(&stRightConfig, g_ptFDCAN1, LeiSai_GetProtocol(), NULL);
+    Motor_Instance_t *pstRightMotor = MotorMgr_Create(&stRightConfig, g_ptCAN1, LeiSai_GetProtocol(), NULL);
 
     // 5. 复位并激活所有电机
     if (pstLeftMotor != NULL)
@@ -163,7 +163,7 @@ void MotorExample_MultiProtocol(void)
 
     // 使用雷赛协议的电机
     Motor_Config_t stConfig1 = { .m_ucMotorID = 1 };
-    Motor_Instance_t *pstMotor1 = MotorMgr_Create(&stConfig1, g_ptFDCAN1, LeiSai_GetProtocol(), NULL);
+    Motor_Instance_t *pstMotor1 = MotorMgr_Create(&stConfig1, g_ptCAN1, LeiSai_GetProtocol(), NULL);
 
     // 假设未来有其他协议
     // Motor_Config_t stConfig2 = { .m_ucMotorID = 2 };
@@ -347,8 +347,8 @@ void MotorInit(void)
 {
 	// 初始化FDCAN1，使用雷赛电机的回调
 	TCANUserData *ptCANUserData = CAN_userdata_init(&hfdcan1, 8, 0);
-	g_ptFDCAN1 = rd_ComCreate(check_LeiSaiMotor, decode_LeiSaiMotor, FDCAN1_Send, CONFIG_UART_BUFFER_SIZE, ptCANUserData);
+	g_ptCAN1 = rd_ComCreate(check_LeiSaiMotor, decode_LeiSaiMotor, FDCAN1_Send, CONFIG_UART_BUFFER_SIZE, ptCANUserData);
-	CAN_IT_init(g_ptFDCAN1);
+	CAN_IT_init(g_ptCAN1);
 
     // 初始化电机管理模块
     MotorMgr_Init();
@@ -360,7 +360,7 @@ void MotorInit(void)
         .m_uiReductionRatio = 70,
         .m_fWheelDiameter = 0.26f
     };
-    g_apstMotors[0] = MotorMgr_Create(&stLeftMotorConfig, g_ptFDCAN1, LeiSai_GetProtocol(), NULL);
+    g_apstMotors[0] = MotorMgr_Create(&stLeftMotorConfig, g_ptCAN1, LeiSai_GetProtocol(), NULL);
 
     // 配置右轮电机
     Motor_Config_t stRightMotorConfig = {
@@ -369,7 +369,7 @@ void MotorInit(void)
         .m_uiReductionRatio = 70,
         .m_fWheelDiameter = 0.26f
     };
-    g_apstMotors[1] = MotorMgr_Create(&stRightMotorConfig, g_ptFDCAN1, LeiSai_GetProtocol(), NULL);
+    g_apstMotors[1] = MotorMgr_Create(&stRightMotorConfig, g_ptCAN1, LeiSai_GetProtocol(), NULL);
 
     g_uiMotorModuleID = MsgCenter_Register(MODULE_NAME_MOTOR, Motor_ModuleHandler);
 

optional/CMakeLists.txt

@@ -1,15 +0,0 @@
-cmake_minimum_required(VERSION 3.10)
-
-set(COMMON_CMAKE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/../library/CMakeLists.txt")
-
-if(EXISTS ${COMMON_CMAKE_PATH})
-    include(${COMMON_CMAKE_PATH})
-else()
-    message(FATAL_ERROR "Cannot find common build logic at ${COMMON_CMAKE_PATH}")
-endif()
-
-if(TARGET RBcore)
-    target_link_libraries(optional PUBLIC RBcore)
-else()
-    message(WARNING "[optional] Dependency 'RBcore' not found.")
-endif()

optional/msp_MK32.c

@@ -1,170 +0,0 @@
-/******************************************************************************
-
-                  版权所有 (C), 2018-2099, Radkil
-
- ******************************************************************************
-  文 件 名   : msp_MK32.c
-  版 本 号   : 初稿
-  作    者   : radkil
-  生成日期   : 2026年6月8日
-  最近修改   :
-  功能描述   : MK32遥控器
-  
-  修改历史   :
-  1.日    期   : 2026年6月8日
-    作    者   : radkil
-    修改内容   : 创建文件
-
-******************************************************************************/
-#include "msp_MK32.h"
-#include "BHBF.h"
-#include <math.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                                   *
- *----------------------------------------------*/
-static SP_MSP_MK32_Button RB_MK32;
-
-/*----------------------------------------------*
- * 常量定义                                     *
- *----------------------------------------------*/
-
-/*----------------------------------------------*
- * 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);
-}
-
-GF_CMD MK32_Task(int mode)
-{
-    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))
-		{
-		    if (0 == mode) return GF_CMD_MANUAL_FORWARD;
-			else return GF_CMD_AUTO_FORWARD;
-		}
-		// 后退
-		else if((angle >= -135) && (angle < -45))
-		{
-			return GF_CMD_MANUAL_BACKWARD;
-		}
-		else 
-        {
-            return GF_CMD_STOP_ALL;
-		}
-	}
-	else
-    {
-        // 前进
-		if((angle >= 45) && (angle <= 135))
-		{
-			if (0 == mode) return GF_CMD_MANUAL_FORWARD;
-			else return GF_CMD_AUTO_FORWARD;
-		}
-		// 后退
-		else if((angle >= -135) && (angle < -45))
-		{
-			return GF_CMD_MANUAL_BACKWARD;
-		}
-		else 
-        {
-			return GF_CMD_STOP_ALL;
-		}
-	}
-}

optional/msp_MK32.h

@@ -1,109 +0,0 @@
-/******************************************************************************
-
-                  版权所有 (C), 2018-2099, Radkil
-
- ******************************************************************************
-  文 件 名   : msp_MK32.h
-  版 本 号   : 初稿
-  作    者   : radkil
-  生成日期   : 2026年6月8日
-  最近修改   :
-  功能描述   : msp_MK32.c 的头文件
-  
-  修改历史   :
-  1.日    期   : 2026年6月8日
-    作    者   : radkil
-    修改内容   : 创建文件
-
-******************************************************************************/
-
-/*----------------------------------------------*
- * 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                                       *
- *----------------------------------------------*/
-
-#ifndef __MSP_MK32_H__
-#define __MSP_MK32_H__
-
-
-#ifdef __cplusplus
-#if __cplusplus
-extern "C"{
-#endif
-#endif /* __cplusplus */
-
-
-/*==============================================*
- *      include header files                    *
- *----------------------------------------------*/
-#include <stdint.h>
-
-
-
-/*==============================================*
- *      constants or macros define              *
- *----------------------------------------------*/
-typedef struct _SP_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;
-} SP_MSP_MK32_Button;
-
-
-/*==============================================*
- *      project-wide global variables           *
- *----------------------------------------------*/
-
-
-
-/*==============================================*
- *      routines' or functions' implementations *
- *----------------------------------------------*/
-
-#ifdef __cplusplus
-#if __cplusplus
-}
-#endif
-#endif /* __cplusplus */
-
-
-#endif /* __MSP_MK32_H__ */

optional/msp_TI5MOTOR.c

@@ -1,211 +0,0 @@
-/******************************************************************************
-
-                  版权所有 (C), 2018-2099, Radkil
-
- ******************************************************************************
-  文 件 名   : msp_TI5MOTOR.c
-  版 本 号   : 初稿
-  作    者   : radkil
-  生成日期   : 2026年6月8日
-  最近修改   :
-  功能描述   : TI5电机
-  
-  修改历史   :
-  1.日    期   : 2026年6月8日
-    作    者   : radkil
-    修改内容   : 创建文件
-
-******************************************************************************/
-#include "msp_TI5MOTOR.h"
-#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                                   *
- *----------------------------------------------*/
-static MotorParameters Motor[4];
-static int32_t Motor_ID_Errors[7] = { 0 };
-static CSP tempCSP;
-
-/*----------------------------------------------*
- * 常量定义                                     *
- *----------------------------------------------*/
-
-/*----------------------------------------------*
- * 宏定义                                       *
- *----------------------------------------------*/
-
-#define DF_MSP_Ti5Motor_StartID 0 
-
-static int CANSendCommand(uint8_t id, uint8_t command, int32_t *content)
-{
-    int len = (content != NULL) ? 5 : 1;
-    char buf[10] = {0};
-    buf[0] = id;
-    buf[1] = command;
-    if (content != NULL)
-    {
-        RD_MEMCPY(&buf[2], content, 4);        
-    }
-    return rd_ComWrite(g_ptFDCAN1, (char *)buf, len);
-}
-
-static void Motor_ClearFault(uint8_t id)
-{
-	CANSendCommand(id, 0x0B, NULL);
-}
-
-static void Motor_GetFaultState(uint8_t id)
-{
-	CANSendCommand(id, 0x0A, NULL); // set motor stop mode
-
-}
-
-static void GetCSPByCommand(uint8_t id)
-{
-	CANSendCommand(id, 0x41, NULL);
-}
-
-static void Motor_SetVelocityModeAndTargetVelocity(uint8_t id, int32_t targetSpeed)
-{
-    CANSendCommand(id, 0x1d, &targetSpeed); //Motor_SetVelocityModeAndTargetVelocity
-}
-
-static int check_TI5MOTOR(char *buffer, uint32_t length)
-{
-    TCANUserData *ptCANUserData = (TCANUserData *)g_ptFDCAN1->m_pUserData;
-    uint8_t ID_A_T = (uint8_t)ptCANUserData->m_canrx->Identifier;
-    int32_t Function_code = 0;
-
-	if (ID_A_T >= DF_MSP_Ti5Motor_StartID
-			&& ID_A_T < DF_MSP_Ti5Motor_StartID + 7)
-	{
-		(Motor[ID_A_T - DF_MSP_Ti5Motor_StartID]).RxIndex++;
-	}
-
-	switch (Function_code)
-	{
-		case 3:
-			memcpy(&(Motor[ID_A_T - DF_MSP_Ti5Motor_StartID]).Run_Mode,
-					&buffer[1], length - 1);
-			break;
-		case 4: //ma
-			memcpy(&(Motor[ID_A_T - DF_MSP_Ti5Motor_StartID]).Current,
-					&buffer[1], length - 1);
-
-			break;
-		case 5:
-			memcpy(&(Motor[ID_A_T - DF_MSP_Ti5Motor_StartID]).Target_Current,
-					&buffer[1], length - 1);
-
-			break;
-		case 6:
-			memcpy(&(Motor[ID_A_T - DF_MSP_Ti5Motor_StartID]).Velcity,
-					&buffer[1], length - 1);
-
-			break;
-		case 7:
-			memcpy(&(Motor[ID_A_T - DF_MSP_Ti5Motor_StartID]).Target_Velcity,
-					&buffer[1], length - 1);
-
-			break;
-		case 8:
-			memcpy(&(Motor[ID_A_T - DF_MSP_Ti5Motor_StartID]).Position,
-					&buffer[1], length - 1);
-
-			break;
-		case 9:
-			memcpy(&(Motor[ID_A_T - DF_MSP_Ti5Motor_StartID]).Target_Position,
-					&buffer[1], length - 1);
-			break;
-		case 10:
-
-			memcpy(&(Motor[ID_A_T - DF_MSP_Ti5Motor_StartID]).ERROR_Flag,
-					&buffer[1], length - 1);
-
-			memcpy(&(Motor_ID_Errors[ID_A_T - DF_MSP_Ti5Motor_StartID]),
-					&buffer[1], length - 1);
-			break;
-		case 49:
-			memcpy(
-					&(Motor[ID_A_T - DF_MSP_Ti5Motor_StartID]).Temperature_Motor,
-					&buffer[1], length - 1);
-			break;
-		case 50:
-			memcpy(&(Motor[ID_A_T - DF_MSP_Ti5Motor_StartID]).Temperature_PCB,
-					&buffer[1], length - 1);
-			break;
-
-		case 65:
-		case 66:
-		case 67:
-		case 68:
-			//电流 MA
-			// 	case 65-68 均返回CSP
-			//tempCSP=&buffer[0];
-			memcpy(&tempCSP, buffer, 8);
-			(Motor[ID_A_T - DF_MSP_Ti5Motor_StartID]).Current =
-					tempCSP.Current;//单位为mA
-			(Motor[ID_A_T - DF_MSP_Ti5Motor_StartID]).Velcity =
-					tempCSP.Velocity;//转化为度每秒公式：(返回值/100/减速比)*360
-			(Motor[ID_A_T - DF_MSP_Ti5Motor_StartID]).Position =
-					tempCSP.Position;//转化为减速机角度公式：(返回值/65536/减速比)*360
-			return 8;
-		default:
-			return -1;
-	}
-	return 1;
-}
-
-static void decode_TI5MOTOR(const char *_pBuffer, uint32_t _iSize)
-{
-    return;
-}
-
-void MoveWheel_Init(void)
-{
-    TCANUserData *ptCANUserData = CAN_userdata_init(&hfdcan1, 8, 0);
-    g_ptFDCAN1 = rd_ComCreate(check_TI5MOTOR, decode_TI5MOTOR, FDCAN1_Send, CONFIG_UART_BUFFER_SIZE, ptCANUserData);
-    CAN_IT_init(g_ptFDCAN1);
-
-    for (int i = 1; i < 5; i++)
-	{
-		GetCSPByCommand(i);
-        Rd_Delay(4);
-		Motor_ClearFault(i);
-        Rd_Delay(4);
-	}
-}
-
-void MoveWheel_Task(int32_t Target_Velcity[])
-{
-    for (int i = 1; i < 5; i++)
-	{
-		Motor_ClearFault(i);
-        Rd_Delay(4);
-		Motor_GetFaultState(i);
-        Rd_Delay(4);
-        GetCSPByCommand(i);
-        Rd_Delay(4);
-	}
-	for (int i = 1; i < 5; i++)
-	{
-		Motor_SetVelocityModeAndTargetVelocity(i, Target_Velcity[i]);
-        Rd_Delay(4);
-	}
-}

optional/msp_TI5MOTOR.h

@@ -1,122 +0,0 @@
-/******************************************************************************
-
-                  版权所有 (C), 2018-2099, Radkil
-
- ******************************************************************************
-  文 件 名   : msp_TI5MOTOR.h
-  版 本 号   : 初稿
-  作    者   : radkil
-  生成日期   : 2026年6月8日
-  最近修改   :
-  功能描述   : msp_TI5MOTOR.c 的头文件
-  
-  修改历史   :
-  1.日    期   : 2026年6月8日
-    作    者   : radkil
-    修改内容   : 创建文件
-
-******************************************************************************/
-
-/*----------------------------------------------*
- * 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                                       *
- *----------------------------------------------*/
-
-#ifndef __MSP_TI5MOTOR_H__
-#define __MSP_TI5MOTOR_H__
-
-
-#ifdef __cplusplus
-#if __cplusplus
-extern "C"{
-#endif
-#endif /* __cplusplus */
-
-
-/*==============================================*
- *      include header files                    *
- *----------------------------------------------*/
-#include <stdint.h>
-
-
-
-/*==============================================*
- *      constants or macros define              *
- *----------------------------------------------*/
-typedef struct _MotorParameters {
-    int32_t MotorID;
-    int32_t RxIndex;
-    int32_t Run_Mode;
-    int32_t Current;
-    int32_t Target_Current;
-    int32_t Velcity;
-    int32_t Target_Velcity;
-    int32_t Position;
-    int32_t Target_Position;
-    int32_t ERROR_Flag;
-    int32_t Temperature_Motor;
-    int32_t Temperature_PCB;
-    int32_t AccTime;
-    int32_t DecTime;
-    int32_t EncoderOffset; /* 53    83  设置位置偏移  int32_t "设置偏移值和目标位置
-（目标位置=编码器位置 - 偏移值）" */
-} MotorParameters;
-
-#pragma pack (2) /*指定按2字节对齐*/
-typedef struct _CSP
-{
-	int16_t Current;
-	int16_t Velocity;
-	int32_t Position;
-} CSP;
-
-typedef struct _TSP
-{
-	int32_t Torque;
-	int32_t Velocity;
-	int32_t Position;
-} TSP;
-
-#pragma pack () /*取消指定对齐，恢复缺省对齐*/
-
-/*==============================================*
- *      project-wide global variables           *
- *----------------------------------------------*/
-
-
-
-/*==============================================*
- *      routines' or functions' implementations *
- *----------------------------------------------*/
-
-#ifdef __cplusplus
-#if __cplusplus
-}
-#endif
-#endif /* __cplusplus */
-
-
-#endif /* __MSP_TI5MOTOR_H__ */

project/paint_robot_new/paint_robot_new.c

@@ -119,8 +119,8 @@ static void decode_MK32Data(const char *buf, uint32_t _iSize)
 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);
+    g_ptSbus = rd_ComCreate(check_MK32Data, decode_MK32Data, E28_SBUS_Send, ptUartUserData->m_buf_size, ptUartUserData);
-    UART_IT_init(g_ptE28_SBUS);
+    UART_IT_init(g_ptSbus);
 }
 
 void MK32_Task(void *argument)