From b80d44894ff5bf2135372500b4c0f16b6cfea5dd Mon Sep 17 00:00:00 2001 From: Lizongdi <1210855344@qq.com> Date: Wed, 2 Sep 2026 16:12:31 +0800 Subject: [PATCH] =?UTF-8?q?=E6=9B=B4=E6=96=B0pb=E7=BB=93=E6=9E=84=E4=BD=93?= =?UTF-8?q?=E5=88=B0=E6=9C=80=E6=96=B0=E7=89=88=E6=9C=AC=EF=BC=8C=E6=8A=8A?= =?UTF-8?q?custom=E8=B0=83=E5=A4=A7=EF=BC=8C=E8=A7=A3=E5=86=B3=E6=A0=88?= =?UTF-8?q?=E6=BA=A2=E5=87=BA=E9=97=AE=E9=A2=98?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .gitignore | 2 -- RBcore/drv_interface.c | 2 +- .../Protobuf/PSource/bsp_GV.pb.h | 2 +- .../Protobuf/PSource/bsp_IV.pb.h | 11 +++++++---- .../Protobuf/PSource/bsp_PV.pb.h | 11 +++++++---- .../Proto/BingooRobotSetting.Library.dll | Bin 0 -> 205824 bytes .../Protobuf/Proto/Version2.exe | Bin 0 -> 8192 bytes .../Protobuf/Proto/bsp_IV.proto | 1 + .../Protobuf/Proto/bsp_PV.proto | 2 +- 9 files changed, 18 insertions(+), 13 deletions(-) create mode 100644 project/paint_robot_new/Protobuf/Proto/BingooRobotSetting.Library.dll create mode 100644 project/paint_robot_new/Protobuf/Proto/Version2.exe diff --git a/.gitignore b/.gitignore index cd531cf..e26371f 100644 --- a/.gitignore +++ b/.gitignore @@ -24,13 +24,11 @@ *.lo # Shared objects (inc. Windows DLLs) -*.dll *.so *.so.* *.dylib # Executables -*.exe *.out *.app *.i*86 diff --git a/RBcore/drv_interface.c b/RBcore/drv_interface.c index 6b6d94b..92c98b2 100644 --- a/RBcore/drv_interface.c +++ b/RBcore/drv_interface.c @@ -262,7 +262,7 @@ void Drv_InterfaceInit(void) const osThreadAttr_t Custom_attributes = { .name = MODULE_NAME_CUSTOM, - .stack_size = 1024, + .stack_size = 2 * 1024, .priority = (osPriority_t) osPriorityRealtime, }; (void)osThreadNew(Custom_Task, NULL, &Custom_attributes); diff --git a/project/paint_robot_new/Protobuf/PSource/bsp_GV.pb.h b/project/paint_robot_new/Protobuf/PSource/bsp_GV.pb.h index da0dd0e..3355058 100644 --- a/project/paint_robot_new/Protobuf/PSource/bsp_GV.pb.h +++ b/project/paint_robot_new/Protobuf/PSource/bsp_GV.pb.h @@ -99,7 +99,7 @@ extern const pb_msgdesc_t GV_struct_define_msg; /* Maximum encoded size of messages (where known) */ #define BSP_GV_PB_H_MAX_SIZE GV_struct_define_size -#define GV_struct_define_size 906 +#define GV_struct_define_size 917 #ifdef __cplusplus } /* extern "C" */ diff --git a/project/paint_robot_new/Protobuf/PSource/bsp_IV.pb.h b/project/paint_robot_new/Protobuf/PSource/bsp_IV.pb.h index 423ef50..e25af4a 100644 --- a/project/paint_robot_new/Protobuf/PSource/bsp_IV.pb.h +++ b/project/paint_robot_new/Protobuf/PSource/bsp_IV.pb.h @@ -21,6 +21,7 @@ typedef struct _IV_struct_define { int32_t CurrentSpeed; /* 当前速度 */ int64_t TimeStamp; /* 当前时间戳 */ int32_t IsRestart; /* 是否重启 */ + int32_t STM_Version; /* 32程序版本 */ } IV_struct_define; @@ -29,8 +30,8 @@ extern "C" { #endif /* Initializer values for message structs */ -#define IV_struct_define_init_default {0, 0, 0, 0, 0, 0, 0, 0, 0, 0} -#define IV_struct_define_init_zero {0, 0, 0, 0, 0, 0, 0, 0, 0, 0} +#define IV_struct_define_init_default {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0} +#define IV_struct_define_init_zero {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0} /* Field tags (for use in manual encoding/decoding) */ #define IV_struct_define_CurrentAngle_tag 1 @@ -43,6 +44,7 @@ extern "C" { #define IV_struct_define_CurrentSpeed_tag 8 #define IV_struct_define_TimeStamp_tag 9 #define IV_struct_define_IsRestart_tag 10 +#define IV_struct_define_STM_Version_tag 11 /* Struct field encoding specification for nanopb */ #define IV_struct_define_FIELDLIST(X, a) \ @@ -55,7 +57,8 @@ X(a, STATIC, SINGULAR, INT32, Right_Motor_Err, 6) \ X(a, STATIC, SINGULAR, INT32, IsWorking, 7) \ X(a, STATIC, SINGULAR, INT32, CurrentSpeed, 8) \ X(a, STATIC, SINGULAR, INT64, TimeStamp, 9) \ -X(a, STATIC, SINGULAR, INT32, IsRestart, 10) +X(a, STATIC, SINGULAR, INT32, IsRestart, 10) \ +X(a, STATIC, SINGULAR, INT32, STM_Version, 11) #define IV_struct_define_CALLBACK NULL #define IV_struct_define_DEFAULT NULL @@ -66,7 +69,7 @@ extern const pb_msgdesc_t IV_struct_define_msg; /* Maximum encoded size of messages (where known) */ #define BSP_IV_PB_H_MAX_SIZE IV_struct_define_size -#define IV_struct_define_size 110 +#define IV_struct_define_size 121 #ifdef __cplusplus } /* extern "C" */ diff --git a/project/paint_robot_new/Protobuf/PSource/bsp_PV.pb.h b/project/paint_robot_new/Protobuf/PSource/bsp_PV.pb.h index ab46cca..a45fde5 100644 --- a/project/paint_robot_new/Protobuf/PSource/bsp_PV.pb.h +++ b/project/paint_robot_new/Protobuf/PSource/bsp_PV.pb.h @@ -18,6 +18,7 @@ typedef struct _PV_struct_define { double Vertical_Calibration; /* 1° */ int32_t IV_IsRestart_Notified; /* 是否接收到IV restart flag */ int64_t TimeStamp; /* */ + int32_t APP_Version; /* app程序版本 */ } PV_struct_define; @@ -26,8 +27,8 @@ extern "C" { #endif /* Initializer values for message structs */ -#define PV_struct_define_init_default {0, 0, 0, 0, 0, 0} -#define PV_struct_define_init_zero {0, 0, 0, 0, 0, 0} +#define PV_struct_define_init_default {0, 0, 0, 0, 0, 0, 0} +#define PV_struct_define_init_zero {0, 0, 0, 0, 0, 0, 0} /* Field tags (for use in manual encoding/decoding) */ #define PV_struct_define_RunMode_tag 1 @@ -36,6 +37,7 @@ extern "C" { #define PV_struct_define_Vertical_Calibration_tag 4 #define PV_struct_define_IV_IsRestart_Notified_tag 5 #define PV_struct_define_TimeStamp_tag 6 +#define PV_struct_define_APP_Version_tag 7 /* Struct field encoding specification for nanopb */ #define PV_struct_define_FIELDLIST(X, a) \ @@ -44,7 +46,8 @@ X(a, STATIC, SINGULAR, INT32, RobotSpeed, 2) \ X(a, STATIC, SINGULAR, INT32, LaneChangeDistance, 3) \ X(a, STATIC, SINGULAR, DOUBLE, Vertical_Calibration, 4) \ X(a, STATIC, SINGULAR, INT32, IV_IsRestart_Notified, 5) \ -X(a, STATIC, SINGULAR, INT64, TimeStamp, 6) +X(a, STATIC, SINGULAR, INT64, TimeStamp, 6) \ +X(a, STATIC, SINGULAR, INT32, APP_Version, 7) #define PV_struct_define_CALLBACK NULL #define PV_struct_define_DEFAULT NULL @@ -55,7 +58,7 @@ extern const pb_msgdesc_t PV_struct_define_msg; /* Maximum encoded size of messages (where known) */ #define BSP_PV_PB_H_MAX_SIZE PV_struct_define_size -#define PV_struct_define_size 64 +#define PV_struct_define_size 75 #ifdef __cplusplus } /* extern "C" */ diff --git 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flag int64 TimeStamp=6;// - + int32 APP_Version=7; //app程序版本 };