From 8a7c89d5bad01ca1349d22ade1731dca8ed65a97 Mon Sep 17 00:00:00 2001 From: Lizongdi <1210855344@qq.com> Date: Wed, 19 Aug 2026 09:23:06 +0800 Subject: [PATCH] =?UTF-8?q?paint=5Frobot=5Fnew=20v1.0=E3=80=90MK32?= =?UTF-8?q?=E4=B8=B2=E5=8F=A3=E6=8E=A5=E6=94=B6=E8=B0=83=E9=80=9A=E3=80=91?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- RBcore/drv_interface.c | 38 +++++++++++------------ bspMCU/bsp_uart.c | 6 ++-- project/paint_robot_new/paint_robot_new.c | 25 +++++---------- 3 files changed, 30 insertions(+), 39 deletions(-) diff --git a/RBcore/drv_interface.c b/RBcore/drv_interface.c index d19caf8..8c29a06 100644 --- a/RBcore/drv_interface.c +++ b/RBcore/drv_interface.c @@ -227,15 +227,15 @@ void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs) void Read_MK32(void *argument) { char pcBuffer[52] = {0}; - char pcBuffer2[52] = {0}; + //char pcBuffer2[52] = {0}; while(1) { - __disable_irq(); + //__disable_irq(); rd_ComRead(g_ptSbus, pcBuffer, 25); - rd_ComRead(g_ptlpuart, pcBuffer2, 25); - __enable_irq(); - Rd_Delay(1); + //rd_ComRead(g_ptlpuart, pcBuffer2, 25); + //__enable_irq(); + //Rd_Delay(1); } } @@ -250,9 +250,9 @@ void ground_manger_init(void); void Drv_InterfaceInit(void) { MsgCenter_Init(); - ground_manger_init(); - MotorInit(); - RBcore_Init(); +// ground_manger_init(); +// MotorInit(); +// RBcore_Init(); TUartUserData *ptSbus = UART_userdata_init(5, -1, 512); g_ptSbus = rd_ComCreate(check_MK32, decode_MK32, E28_SBUS_Send, ptSbus->m_buf_size, ptSbus); @@ -260,19 +260,19 @@ void Drv_InterfaceInit(void) const osThreadAttr_t MK32_Task_attributes = { .name = "Read_MK32", - .stack_size = 512, + .stack_size = 2048, .priority = (osPriority_t) osPriorityHigh6, }; (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); +// 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 = 1024, +// .priority = (osPriority_t) osPriorityHigh4, +// }; +// (void)osThreadNew(Send_PV, NULL, &Send_PV_attributes); } diff --git a/bspMCU/bsp_uart.c b/bspMCU/bsp_uart.c index f155d7f..5ef8a64 100644 --- a/bspMCU/bsp_uart.c +++ b/bspMCU/bsp_uart.c @@ -121,7 +121,7 @@ void UART_DMA_RX_IRQHandler(TComCtrl *_ptComCtrl) data_len = current_pos - ptUartUserData->m_last_dma_pos; if (data_len > 0) { - SCB_InvalidateDCache_by_Addr((uint32_t*)&ptUartUserData->m_dma_rx_buf[ptUartUserData->m_last_dma_pos], data_len); + //SCB_InvalidateDCache_by_Addr((uint32_t*)&ptUartUserData->m_dma_rx_buf[ptUartUserData->m_last_dma_pos], data_len); rd_ComRecvProc(_ptComCtrl, (const char*)&ptUartUserData->m_dma_rx_buf[ptUartUserData->m_last_dma_pos], data_len); } } @@ -134,12 +134,12 @@ void UART_DMA_RX_IRQHandler(TComCtrl *_ptComCtrl) if (part1 > 0) { - SCB_InvalidateDCache_by_Addr((uint32_t*)&ptUartUserData->m_dma_rx_buf[ptUartUserData->m_last_dma_pos], part1); + //SCB_InvalidateDCache_by_Addr((uint32_t*)&ptUartUserData->m_dma_rx_buf[ptUartUserData->m_last_dma_pos], part1); rd_ComRecvProc(_ptComCtrl, (const char*)&ptUartUserData->m_dma_rx_buf[ptUartUserData->m_last_dma_pos], part1); } if (part2 > 0) { - SCB_InvalidateDCache_by_Addr((uint32_t*)&ptUartUserData->m_dma_rx_buf[0], part2); + //SCB_InvalidateDCache_by_Addr((uint32_t*)&ptUartUserData->m_dma_rx_buf[0], part2); rd_ComRecvProc(_ptComCtrl, (const char*)&ptUartUserData->m_dma_rx_buf[0], part2); } } diff --git a/project/paint_robot_new/paint_robot_new.c b/project/paint_robot_new/paint_robot_new.c index c108cea..e3c0f13 100644 --- a/project/paint_robot_new/paint_robot_new.c +++ b/project/paint_robot_new/paint_robot_new.c @@ -50,24 +50,16 @@ static int RB_Mode = 0; //0表示手动，1表示自动 int check_MK32(char *_pBuffer, uint32_t _iSize) { - if (_pBuffer[0] != 0x0f) - { - return -1; - } - if (_pBuffer[24] != 0x0f) - { - return -1; - } - else - { - return 25; - } + if (_iSize < 25) return 0; // 数据不足25字节，不读[24]不误判，等下一包 + if (_pBuffer[0] != 0x0f) return -1; + if (_pBuffer[24] != 0x00) return -1; + return 25; } void decode_MK32(const char *buf, uint32_t _iSize) { int16_t CH[16]; - int Start_byte = -1; + int Start_byte = 0; 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); @@ -105,8 +97,8 @@ void decode_MK32(const char *buf, uint32_t _iSize) *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) + // buf[23] 才是在线标志字节，对应老工程 Sbus_Data_Count(&buffer[1]) 中的 buf[22]==buffer[23] + if (buf[23] == 0) { RB_MK32.IsOnline = 1; } @@ -153,7 +145,6 @@ void decode_MK32(const char *buf, uint32_t _iSize) MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_STOP_ALL, NULL, 0); } } - Rd_Delay(1); } int check_PV(char *_pBuffer, uint32_t _iSize) @@ -163,7 +154,7 @@ int check_PV(char *_pBuffer, uint32_t _iSize) 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); + uint16_t crc_check1 = Rd_modbusCRC16((uint8_t *)_pBuffer, _iSize - 2); if (crc_check == crc_check1) { return _iSize - 2;