优化部分变量

RBcore/BHBF.c

@@ -56,7 +56,7 @@ static void RBcore_ModuleHandler(const Msg_t *pstMsg)
     }
 
     static int iSpeed = -1; // 表示由RD1转换来的速度值
-    static int aiMotorSpeed[2] = {0}; //0索引表示左，1索引表示右，多轮时到对应motor的MOTOR_CMD_SET_SPEED命令自行处理
+    int aiMotorSpeed[2] = {0}; //0索引表示左，1索引表示右，多轮时到对应motor的MOTOR_CMD_SET_SPEED命令自行处理
     switch (pstMsg->m_uiMsgID)
     {
 		case RBCORE_CMD_STOP_ALL:

RBcore/client_setting.c

@@ -44,9 +44,7 @@
  * 模块级变量                                   *
  *----------------------------------------------*/
 static uint32_t g_uiIVModuleID = 0;
-static PV_struct_define decoded_PV_variable = { 0 };
 static PV_struct_define decoded_PV = { 0 };
-static IV_struct_define IV = { 0 };
 static char g_IV_buffer[1024] = {0};
 /*----------------------------------------------*
  * 常量定义                                     *
@@ -74,6 +72,7 @@ int check_PV(char *_pBuffer, uint32_t _iSize)
 
 void decode_PV(const char *_pBuffer, uint32_t _iSize)
 {
+    PV_struct_define decoded_PV_variable = { 0 };
     if (_pBuffer[2] == 0x01 && _pBuffer[3] == 0x01) //01 01 设置PV
     {
         pb_istream_t i_pv_stream;
@@ -114,6 +113,7 @@ static void SendIV_ModuleHandler(const Msg_t *pstMsg)
     {
 		case SENDIV_SET_IV:
 		{
+			IV_struct_define IV = { 0 };
 			if (pstMsg->m_uiDataLen >= sizeof(IV))
 			{
 				RD_MEMCPY(&IV, pstMsg->m_aucData, sizeof(IV));

RBcore/msp_PID.c

@@ -10,11 +10,7 @@
 
 void Speedl_PID(double CurrentValue, double TargetValue, double Sys_T,
         double *Gain_speed);
-double Desire_Angle = 0;
-double PID_KP = 50;
-double PID_KD = 12;
 //double Sys_T=0.01;//System time
-double k_1_error = 0;
 
 
 /* PID
@@ -62,6 +58,7 @@ double Angle_Tune_PID(double CurrentAngle, double TargetAngle, double Position_K
 int32_t PositionalPID(double pidTargetValue, double pidCurrentValue, double Kp,
         double Kd)
 {
+	static double k_1_error = 0;
 	double Error = 0;
 	double P_Error = 0;
 	double D_Error = 0;

RBcore/msp_Timer.c

@@ -58,7 +58,7 @@ static void Timer_ModuleHandler(const Msg_t *pstMsg)
         return;
     }
 
-    static int aiMotorSpeed[2] = {0};
+    int aiMotorSpeed[2] = {0};
 
     static int g_dletAngle = 0; //PID最终计算补偿值
     static uint32_t uiLastSendTick = 0; //上一次时间戳，用于控制直线行驶距离
@@ -75,7 +75,7 @@ static void Timer_ModuleHandler(const Msg_t *pstMsg)
         }
         case TIMER_CMD_STRAIGHT_DRIVE:
         {
-			static BHBF_straight_drive_Cmd stCmd = {0};
+        	BHBF_straight_drive_Cmd stCmd = {0};
 			if (pstMsg->m_uiDataLen >= sizeof(stCmd))
 			{
 				if (1 == bstrgightfinish) // 这里换道完成认为第一步旋转已经完成不再根据计时卡状态