【调通打标】适配PV的protobuf

RBcore/drv_interface.c

@@ -227,15 +227,21 @@ void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs)
 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);
+    }
+}
+
+void Read_PV(void *argument)
+{
+    char pcBuffer[64] = {0};
+
+    while(1)
+    {
+        rd_ComRead(g_ptlpuart, pcBuffer, 64);
+        Rd_Delay(10);
     }
 }
 
@@ -265,9 +271,16 @@ void Drv_InterfaceInit(void)
     };
     (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);
+    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 Read_PV_attributes = {
+		.name = "Read_PV",
+		.stack_size = 2048,
+		.priority = (osPriority_t) osPriorityHigh6,
+	};
+	(void)osThreadNew(Read_PV, NULL, &Read_PV_attributes);
 //
 //	const osThreadAttr_t Send_PV_attributes = {
 //		.name = "Send_PV",

RBcore/include/drv_interface.h

@@ -82,10 +82,10 @@ extern TComCtrl *g_ptrs485_4;
 extern TComCtrl *g_ptlte_7S0; 
 extern TComCtrl *g_ptSbus; 
 extern TComCtrl *g_ptInterCall;
+extern TComCtrl *g_ptlpuart;
 
 extern TComCtrl *g_ptCAN1; 
 extern TComCtrl *g_ptCAN2; 
-
 /*==============================================*
  *      routines' or functions' implementations *
  *----------------------------------------------*/

project/paint_robot_new/paint_robot_new.c

@@ -18,6 +18,9 @@
 ******************************************************************************/
 #include "paint_robot_new.h"
 #include "BHBF.h"
+#include "pb.h"
+#include "pb_decode.h"
+#include "../Protobuf/PSource/bsp_PV.pb.h"
 
 /*----------------------------------------------*
  * 外部变量说明                                 *
@@ -31,10 +34,12 @@
  * 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                                     *
  *----------------------------------------------*/
+PV_struct_define decoded_PV_variable = { 0 };
+PV_struct_define decoded_PV = { 0 };
 
 /*----------------------------------------------*
  * 模块级变量                                   *
@@ -159,9 +164,32 @@ int check_PV(char *_pBuffer, uint32_t _iSize)
     }
 }
 
-void decode_PV(const char *buf, uint32_t _iSize)
+void decode_PV(const char *_pBuffer, uint32_t _iSize)
 {
-	RB_Mode = 0;
+	if (_pBuffer[2] == 0x01 && _pBuffer[3] == 0x01) //01 01 设置PV
+	{
+		pb_istream_t i_pv_stream;
+
+		i_pv_stream = pb_istream_from_buffer((const pb_byte_t *)&_pBuffer[4], _iSize - 6);
+		pb_decode(&i_pv_stream, PV_struct_define_fields, &decoded_PV_variable);
+
+		if(decoded_PV_variable.TimeStamp>decoded_PV.TimeStamp)
+		{
+			decoded_PV=decoded_PV_variable;
+		}
+	}
+	else if (*(_pBuffer + 2) == 0x02 && *(_pBuffer + 3) == 0x01) //设置PV
+	{
+
+	}
+	else if (*(_pBuffer + 2) == 0x03 && *(_pBuffer + 3) == 0x01) //返回IV
+	{
+
+	}
+	else
+	{
+
+	}
 //    Motor_CmdData_t tMotor_CmdData_t = {0};
 //    tMotor_CmdData_t.m_ucMotorIndex = 1;
 //    tMotor_CmdData_t.m_iValue = 10;