paint_robot_new v1.0【MK32串口接收调通】稍微优化一下MK32解码逻辑

project/paint_robot_new/include/paint_robot_new.h

@@ -68,7 +68,6 @@ extern "C"{
  *----------------------------------------------*/
 typedef struct _MSP_MK32_Button
 {
-    int32_t RxIndex;
     int32_t CH0_RY_H;
     int32_t CH1_RY_V;
     int32_t CH2_LY_V;
@@ -86,6 +85,7 @@ typedef struct _MSP_MK32_Button
     int32_t CH14_LT;
     int32_t CH15_RT;
     int32_t IsOnline;
+    int32_t RxIndex;
 } MSP_MK32_Button;
 
 /*==============================================*

project/paint_robot_new/paint_robot_new.c

@@ -58,7 +58,7 @@ int check_MK32(char *_pBuffer, uint32_t _iSize)
 
 void decode_MK32(const char *buf, uint32_t _iSize)
 {
-    int16_t CH[16];
+	int32_t CH[16];
 	int Start_byte = 0;
 
 	CH[0] = ((buf[Start_byte + 1] | buf[Start_byte + 2] << 8) & 0x07FF);
@@ -82,21 +82,15 @@ void decode_MK32(const char *buf, uint32_t _iSize)
 	CH[14] = ((buf[Start_byte + 20] >> 2 | buf[Start_byte + 21] << 6) & 0x07FF);
 	CH[15] = ((buf[Start_byte + 21] >> 5 | buf[Start_byte + 22] << 3) & 0x07FF);
 
-	int32_t* channel_ptrs[16] =
-	{
-		&RB_MK32.CH0_RY_H, &RB_MK32.CH1_RY_V, &RB_MK32.CH2_LY_V, &RB_MK32.CH3_LY_H,
-		&RB_MK32.CH4_SA,   &RB_MK32.CH5_SB,   &RB_MK32.CH6_SC,   &RB_MK32.CH7_SD,
-		&RB_MK32.CH8_SE,   &RB_MK32.CH9_SF,   &RB_MK32.CH10_LD1, &RB_MK32.CH11_RD1,
-		&RB_MK32.CH12_S1,  &RB_MK32.CH13_S2,  &RB_MK32.CH14_LT,  &RB_MK32.CH15_RT
-	};
-
 	// 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]
-		*channel_ptrs[i] = (int32_t)((CH[i] - 992) * 1.388889);
+		CH[i] = (int32_t)((CH[i] - 992) * 1.388889);
 	}
 
+	RD_MEMCPY(&RB_MK32, 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)
 	{