From a0c50ff75b9b57519daab5d137655ad806e7049d Mon Sep 17 00:00:00 2001 From: Lizongdi <1210855344@qq.com> Date: Thu, 18 Jun 2026 10:54:58 +0800 Subject: [PATCH] =?UTF-8?q?=E9=80=82=E9=85=8D=E5=8F=82=E8=80=83?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- project_old/paint_robot_old/paint_robot_old.c | 189 ++++++++++++++++++ project_old/paint_robot_old/paint_robot_old.h | 38 ++++ 2 files changed, 227 insertions(+) diff --git a/project_old/paint_robot_old/paint_robot_old.c b/project_old/paint_robot_old/paint_robot_old.c index e69de29..2f06925 100644 --- a/project_old/paint_robot_old/paint_robot_old.c +++ b/project_old/paint_robot_old/paint_robot_old.c @@ -0,0 +1,189 @@ +/* Private includes ----------------------------------------------------------*/ +/* USER CODE BEGIN Includes */ +#include "BHBF_ROBOT.h" +#include "bsp_FDCAN.h" +#include +#include +#include "paint_robot_old.h" +//#include "msp_DMKE_485_Motor.h" +/* USER CODE END Includes */ + +/* Private typedef -----------------------------------------------------------*/ +/* USER CODE BEGIN PTD */ +void GF_Robot_Init(); +/* USER CODE END PTD */ + +/* Private define ------------------------------------------------------------*/ +/* USER CODE BEGIN PD */ + +#define RS485_1_WaitTime 6 + +#define RS485_2_WaitTime 6 +#define RS485_3_WaitTime 6 +#define RS485_4_WaitTime 6 +#define LTE_7S0_Serial_WaitTime 6 +#define InterCall_DEBUG_WaitTime 6 +#define E28_SBUS_WaitTime 4 +#define LPUART1_UART_WaitTime 6 +#define RS485_1_Dispacher_Time 100 +#define RS485_2_Dispacher_Time 100 +#define RS485_3_Dispacher_Time 100 +#define RS485_4_Dispacher_Time 100 +#define LTE_7S0_Serial_Dispacher_Time 100 +#define InterCall_DEBUG_Dispacher_Time 100 +#define E28_SBUS_Dispacher_Time 100 +#define LPUART1_UART_Dispacher_Time 100 +int can1_sendListPeriod = 10; +int can1_DispacherPeriod = 4; +int can2_sendListPeriod = 10; +int can2_DispacherPeriod = 20; + +int SAVE_To_CV = 0; + +/* USER CODE END PD */ + +/* Private macro -------------------------------------------------------------*/ +/* USER CODE BEGIN PM */ + +/* USER CODE END PM */ + +/* Private variables ---------------------------------------------------------*/ + +/* USER CODE BEGIN PV */ +void protobuf_mqtt_setting_test(void); +/* USER CODE END PV */ + +/* Private function prototypes -----------------------------------------------*/ +void SystemClock_Config(void); +static void MPU_Config(void); +/* USER CODE BEGIN PFP */ +char ReadIO[8]; + +/* USER CODE END PFP */ + +/* Private user code ---------------------------------------------------------*/ +/* USER CODE BEGIN 0 */ + +/* USER CODE END 0 */ + +void GF_Robot_Init() +{ + + + + //2ms调度 + GF_BSP_EEPROM_Init(); + + CV_GV_Init(); + + //初始化encoder + GF_BSP_UARTHandlers_Intialize( + RS485_1_WaitTime, + RS485_2_WaitTime, + RS485_3_WaitTime, + RS485_4_WaitTime, + LTE_7S0_Serial_WaitTime, + InterCall_DEBUG_WaitTime, + E28_SBUS_WaitTime, + LPUART1_UART_WaitTime, + RS485_1_Dispacher_Time, + RS485_2_Dispacher_Time, + RS485_3_Dispacher_Time, + RS485_4_Dispacher_Time, + LTE_7S0_Serial_Dispacher_Time, + InterCall_DEBUG_Dispacher_Time, + E28_SBUS_Dispacher_Time, + LPUART1_UART_Dispacher_Time); + + + + is_upper_computer_take_over_control = 0; + DLT_LOG_ENABLE_LEVEL = 7; //7 send all information //0 send nothing + //dLT_Log_intialize(&InterCall_DEBUG_UART_Handler); //huart4 + //dLT_Log_intialize(&RS_485_4_UART_Handler); + udp_client_init(); + tcp_server_init(3490); + dLT_Log_intialize_udp_tcp(); + upper_Computer_UART_Handler_intialize(&RS_485_4_UART_Handler);//send to computer to 485 + TL720D_intialize(&RS_485_1_UART_Handler); + MK32_Sbus_UART_Handler_intialize(&E28_SBUS_UART_Handler); //huart5 + client_setting_intialize(&LPUART1_UART_Handler); + + //WH_LTE_7S0_intialize(<E_7S0_Serial_UART_Handler);//huart2 + + GF_BSP_FDCAN_Init();//初始化FDCAN + + GF_BSP_CANHandler_Init(can1_sendListPeriod, can1_DispacherPeriod, + can2_sendListPeriod, can2_DispacherPeriod); + + + LS_Motor_Controller_intialize(&FD_CAN_1_Handler); + + Fsm_Init(); + + GF_BSP_TIMER_Init(); //定时器最后启 + + +} +/* + * */ +void CV_GV_Init() +{ + //Read CV + CV = GF_BSP_EEPROM_Get_CV(); + CV.has_PID_high=true; + CV.has_PID_mid=true; + CV.has_PID_low=true; + + SystemErrorCode = &GV.SystemErrorData.Com_Error_Code; + + //电机绑定 + LS_Motor[1]=&GV.LeftMotor; + LS_Motor[2]=&GV.RightMotor; + + LS_Motor[1]->MotorID=1; + LS_Motor[2]->MotorID=2; + + P_MK32 = &GV.P_MK32; + + SP_MSP_RF_TL720D_Parameters_In = &GV.TL720DParameters; + + + + RobotAngle = &GV.Robot_Angle; + + tempature = &GV.TempatureE_2C; + + GV.has_P_MK32 = true; + GV.has_LeftMotor = true; + GV.has_RightMotor = true; + GV.has_TL720DParameters = true; + GV.has_IO = true; + GV.has_SystemErrorData = true; + +} + +int BHBF_robot_init(void) +{ + SystemTimer_Intialize(); + + Error_Detect_Intialzie(1000); //every 1 seconds + GF_Robot_Init(); + GV.Robot_Move_Speed = 1; + return 0; +} + +void BHBF_robot_task(void) +{ + /* 刷新看门狗计数器（喂狗） */ + //HAL_IWDG_Refresh(&hiwdg1); + + if (SAVE_To_CV == 1) + { + SAVE_To_CV = 0; + //CV写入falsh�??????? + GF_BSP_EEPROM_Set_CV(CV); + CV = GF_BSP_EEPROM_Get_CV(); + //FS_SetZero(); + } +} \ No newline at end of file diff --git a/project_old/paint_robot_old/paint_robot_old.h b/project_old/paint_robot_old/paint_robot_old.h index e5a0ccb..1b1d779 100644 --- a/project_old/paint_robot_old/paint_robot_old.h +++ b/project_old/paint_robot_old/paint_robot_old.h @@ -8,7 +8,45 @@ extern "C"{ #endif #endif /* __cplusplus */ +#define hlpuart1Exit 6 +//#define NewCANSendVersion 1 +/*******IO***************/ +#define Motor_Power_IO_CTL 0 //K1 +#define PaintGun_IO_CTL 1 /*喷枪K2*/ + +/********PINSTATE*********/ +#define K_ON_PaintGun 0 /*喷枪�???�???*/ +#define K_OFF_PaintGun 1 + +#define K_ON_Motor 0 /*驱动电机*/ +#define K_OFF_Motor 1 + +/*********************************************/ + +/*手动*/ +#define Move_Manual 1 //�?? +#define Move_Vertical_Move_To_Left 2 //竖直向左 +#define Move_Vertical_Move_To_Right 3 //竖直向右 + +typedef enum _Upper_TakeControl_State +{ + Not_Taken_Over = 0, Taken_Over = 1, +} Upper_TakeControl_State; +typedef enum _Button_Reset_State +{ + Has_Reset = 0, Has_Not_Reset = 1, +} Button_Reset_State; +typedef enum _HardWare_Disconnected_State +{ + CONNECTED = 0, DISCONNECTED = 1, +} HardWare_Disconnected_State; +typedef enum _HardWare_ErrorExisted_State +{ + NOT_ErrorExisted = 0, ErrorExisted = 1, +} HardWare_ErrorExisted_State; + +void CV_GV_Init(); #ifdef __cplusplus #if __cplusplus