From a334c2c8a227f5ba5fb3a3671cdefa5801d39bfb Mon Sep 17 00:00:00 2001
From: Lizongdi <1210855344@qq.com>
Date: Thu, 20 Aug 2026 10:50:09 +0800
Subject: [PATCH] =?UTF-8?q?paint=5Frobot=5Fnew=20v1.0=E3=80=90=E8=B0=83?=
 =?UTF-8?q?=E9=80=9A=E6=89=93=E6=A0=87=E3=80=91=E8=B0=83=E6=95=B4MK32?=
 =?UTF-8?q?=E6=95=B0=E7=BB=84=E4=BD=BF=E7=94=A8probuf=E4=B8=AD=E5=AE=9A?=
 =?UTF-8?q?=E4=B9=89=E7=9A=84?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../paint_robot_new/include/paint_robot_new.h | 22 +------------------
 project/paint_robot_new/paint_robot_new.c     | 13 +++++------
 2 files changed, 7 insertions(+), 28 deletions(-)

diff --git a/project/paint_robot_new/include/paint_robot_new.h b/project/paint_robot_new/include/paint_robot_new.h
index ece89d5..49cedc0 100644
--- a/project/paint_robot_new/include/paint_robot_new.h
+++ b/project/paint_robot_new/include/paint_robot_new.h
@@ -66,27 +66,7 @@ extern "C"{
 /*==============================================*
  *      constants or macros define              *
  *----------------------------------------------*/
-typedef struct _MSP_MK32_Button
-{
-    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;
-    int32_t RxIndex;
-} MSP_MK32_Button;
+
 
 /*==============================================*
  *      project-wide global variables           *
diff --git a/project/paint_robot_new/paint_robot_new.c b/project/paint_robot_new/paint_robot_new.c
index 5f40d0f..93c5fa6 100644
--- a/project/paint_robot_new/paint_robot_new.c
+++ b/project/paint_robot_new/paint_robot_new.c
@@ -16,11 +16,12 @@
     修改内容   : 创建文件
 
 ******************************************************************************/
-#include "paint_robot_new.h"
 #include "BHBF.h"
 #include "pb.h"
 #include "pb_decode.h"
 #include "../Protobuf/PSource/bsp_PV.pb.h"
+#include "../Protobuf/PSource/msp_MK32.pb.h"
+#include <stdint.h>
 
 /*----------------------------------------------*
  * 外部变量说明                                 *
@@ -33,13 +34,13 @@
 /*----------------------------------------------*
  * 内部函数原型说明                             *
  *----------------------------------------------*/
-static MSP_MK32_Button RB_MK32;
+static SP_MSP_MK32_Button RB_MK32;
+static PV_struct_define decoded_PV_variable = { 0 };
+static PV_struct_define decoded_PV = { 0 };
 
 /*----------------------------------------------*
  * 全局变量                                     *
  *----------------------------------------------*/
-PV_struct_define decoded_PV_variable = { 0 };
-PV_struct_define decoded_PV = { 0 };
 
 /*----------------------------------------------*
  * 模块级变量                                   *
@@ -90,13 +91,11 @@ void decode_MK32(const char *buf, uint32_t _iSize)
 	// 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]
 		CH[i] = (int32_t)((CH[i] - 992) * 1.388889);
 	}
 
-	RD_MEMCPY(&RB_MK32, CH, sizeof(CH));
+	RD_MEMCPY(&(RB_MK32.CH0_RY_H), CH, sizeof(CH));
 
-	// 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;