paint_robot_new v1.0【MK32串口接收调通】

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);
+        //rd_ComRead(g_ptlpuart, pcBuffer2, 25);
-        __enable_irq();
+        //__enable_irq();
-        Rd_Delay(1);
+        //Rd_Delay(1);
     }
 }
 
@@ -250,9 +250,9 @@ void ground_manger_init(void);
 void Drv_InterfaceInit(void)
 {
 	MsgCenter_Init();
-	ground_manger_init();
+//	ground_manger_init();
-	MotorInit();
+//	MotorInit();
-	RBcore_Init();
+//	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);
+//    TUartUserData *ptUartUserData = UART_userdata_init(0, -1, 512);
-	g_ptlpuart = rd_ComCreate(check_PV, decode_PV, LPUART_PV_Send, ptUartUserData->m_buf_size, ptUartUserData);
+//	g_ptlpuart = rd_ComCreate(check_PV, decode_PV, LPUART_PV_Send, ptUartUserData->m_buf_size, ptUartUserData);
-	UART_IT_init(g_ptlpuart);
+//	UART_IT_init(g_ptlpuart);
-
+//
-	const osThreadAttr_t Send_PV_attributes = {
+//	const osThreadAttr_t Send_PV_attributes = {
-		.name = "Send_PV",
+//		.name = "Send_PV",
-		.stack_size = 512,
+//		.stack_size = 1024,
-		.priority = (osPriority_t) osPriorityHigh4,
+//		.priority = (osPriority_t) osPriorityHigh4,
-	};
+//	};
-	(void)osThreadNew(Send_PV, NULL, &Send_PV_attributes);
+//	(void)osThreadNew(Send_PV, NULL, &Send_PV_attributes);
 }

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);
             }
         }

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)
+    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;
-        return -1;
+    if (_pBuffer[24] != 0x00) return -1;
-    }
-    if (_pBuffer[24] != 0x0f)
-    {
-        return -1;
-    }
-    else
-    {
     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]
+	// 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[22] == 0)
+	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;