新增机器人相关线程大小归一化

RBcore/BHBF.c

@@ -249,7 +249,7 @@ void RBcore_Init(void)
 
     const osThreadAttr_t GF_Dispatch_attributes = {
         .name = MODULE_NAME_RBCORE,
-        .stack_size = 2048,
+        .stack_size = THREAD_DEFAULT_STACK,
         .priority = (osPriority_t) osPriorityRealtime1,
     };
     (void)osThreadNew(RBcore_Task, NULL, &GF_Dispatch_attributes);

RBcore/TL720D.c

@@ -149,7 +149,7 @@ void TL720D_Init(void)
 
 	const osThreadAttr_t Read_TL720D_attributes = {
 			.name = "Read_TL720D",
-			.stack_size = 2048,
+			.stack_size = THREAD_DEFAULT_STACK,
 			.priority = (osPriority_t) osPriorityRealtime1,
 		};
 	(void)osThreadNew(Read_TL720D, NULL, &Read_TL720D_attributes);

RBcore/client_setting.c

@@ -151,7 +151,7 @@ void SendIV_Init(void)
 
     const osThreadAttr_t Send_PV_attributes = {
 		.name = MODULE_NAME_SENDIV,
-		.stack_size = 1024,
+		.stack_size = THREAD_DEFAULT_STACK,
 		.priority = (osPriority_t) osPriorityRealtime1,
 	};
 	(void)osThreadNew(Send_IV, NULL, &Send_PV_attributes);

RBcore/daemon_task.c

@@ -171,7 +171,7 @@ void daemon_Init(void)
 
     const osThreadAttr_t daemon_attributes = {
 		.name = MODULE_NAME_DAEMON,
-		.stack_size = 1024,
+		.stack_size = THREAD_DEFAULT_STACK,
 		.priority = (osPriority_t) osPriorityRealtime1,
 	};
 	(void)osThreadNew(daemon_task, NULL, &daemon_attributes);

RBcore/drv_interface.c

@@ -268,7 +268,7 @@ void Drv_InterfaceInit(void)
 
 	const osThreadAttr_t Custom_attributes = {
 		.name = MODULE_NAME_CUSTOM,
-		.stack_size = 2048,
+		.stack_size = THREAD_DEFAULT_STACK,
 		.priority = (osPriority_t) osPriorityRealtime1,
 	};
 	(void)osThreadNew(Custom_Task, NULL, &Custom_attributes);
@@ -276,14 +276,14 @@ void Drv_InterfaceInit(void)
 	// 创建电机任务
 	const osThreadAttr_t motor_task_attributes = {
 		.name = MODULE_NAME_MOTOR,
-		.stack_size = 2048,
+		.stack_size = THREAD_DEFAULT_STACK,
 		.priority = (osPriority_t) osPriorityRealtime1,
 	};
 	(void)osThreadNew(MotorTask, NULL, &motor_task_attributes);
 
 	const osThreadAttr_t Read_motor_attributes = {
 			.name = "Read_motor",
-			.stack_size = 2048,
+			.stack_size = THREAD_DEFAULT_STACK,
 			.priority = (osPriority_t) osPriorityRealtime1,
 		};
 	(void)osThreadNew(Read_motor, NULL, &Read_motor_attributes);
@@ -299,7 +299,7 @@ void Drv_InterfaceInit(void)
 
 	const osThreadAttr_t Read_PV_attributes = {
 		.name = "Read_PV",
-		.stack_size = 2048,
+		.stack_size = THREAD_DEFAULT_STACK,
 		.priority = (osPriority_t) osPriorityRealtime1,
 	};
 	(void)osThreadNew(Read_PV, NULL, &Read_PV_attributes);

RBcore/include/BHBF.h

@@ -116,6 +116,8 @@ typedef enum {
 	DAEMON_SET_MK32_UDP,         // 置位ComError_MK32_UDP
 } BHBF_Cmd_e;
 
+#define THREAD_DEFAULT_STACK 4096
+
 typedef struct {
 	int m_iMode;  //正数表示前进，负数表示倒退
 	int m_iAngle; //目标角度

controller/msp_MK32.c

@@ -138,7 +138,7 @@ void controller_init(void)
 
   const osThreadAttr_t MK32_Task_attributes = {
       .name = "Read_MK32",
-      .stack_size = 2048,
+      .stack_size = THREAD_DEFAULT_STACK,
       .priority = (osPriority_t) osPriorityRealtime1,
   };
   (void)osThreadNew(Read_MK32, NULL, &MK32_Task_attributes);

project/paint_robot_new/paint_robot_new.c

@@ -521,8 +521,10 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
 			lua_print("CH14_LT \t%d\n", g_stMK32.CH14_LT);
 			lua_print("CH15_RT \t%d\n", g_stMK32.CH15_RT);
 			lua_print("PV Info\n");
-			lua_print("{%d, %d, %d, %d, %d, %d}\n",
+			lua_print("{%d, %d, %d, %d, %d, %ld}\n",
-					g_stPV.RunMode, g_stPV.RobotSpeed, g_stPV.LaneChangeDistance, (int)g_stPV.Vertical_Calibration, g_stPV.IV_IsRestart_Notified, (int)g_stPV.TimeStamp);
+					g_stPV.RunMode, g_stPV.RobotSpeed, g_stPV.LaneChangeDistance, (int)g_stPV.Vertical_Calibration, g_stPV.IV_IsRestart_Notified, (long long)g_stPV.TimeStamp);
+			lua_print("g_RB_State = %d\ng_Paint_State = %d\nangle_protect_lock = %d\ng_ipaintOffCount = %d\nIs_All_Button_Reset = %d\n", 
+					g_RB_State, g_Paint_State, angle_protect_lock, g_ipaintOffCount, Is_All_Button_Reset);
 			break;
 		}
         default: