diff --git a/RBcore/BHBF.c b/RBcore/BHBF.c index 10fa93e..255870a 100644 --- a/RBcore/BHBF.c +++ b/RBcore/BHBF.c @@ -27,8 +27,7 @@ /*----------------------------------------------* * 外部函数原型说明 * *----------------------------------------------*/ -double Angle_Tune_PID(double CurrentAngle, double TargetAngle, double Position_KP, - double Position_KI, double Position_KD, double MaxValue); + /*----------------------------------------------* * 内部函数原型说明 * *----------------------------------------------*/ @@ -58,11 +57,6 @@ 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 - static int g_dletAngle = 0; //PID最终计算补偿值 - static int32_t g_iPIDAngle = 0; //当前角度 - - static uint32_t uiLastSendTick = 0; //上一次时间戳，用于控制直线行驶距离 - static int bTimerStarted = 0; //直线行驶距离单次触发标志 switch (pstMsg->m_uiMsgID) { case RBCORE_CMD_STOP_ALL: @@ -71,14 +65,6 @@ static void RBcore_ModuleHandler(const Msg_t *pstMsg) MsgCenter_SendTo(MODULE_NAME_CUSTOM, COMMON_CMD_STOP_ALL, NULL, 0); break; } - case RBCORE_GET_TL720D_ROLL: - { - if (pstMsg->m_uiDataLen >= sizeof(int32_t)) - { - RD_MEMCPY(&g_iPIDAngle, pstMsg->m_aucData, sizeof(int32_t)); - } - break; - } case RBCORE_CMD_MANUAL_FORWARD: { if (iSpeed >= 0) @@ -119,107 +105,6 @@ static void RBcore_ModuleHandler(const Msg_t *pstMsg) } break; } - case RBCORE_CMD_RESET_STRAIGHT: - { - uiLastSendTick = 0; - bTimerStarted = 0; - break; - } - case RBCORE_CMD_STRAIGHT_DRIVE: - { - BHBF_straight_drive_Cmd stCmd = {0}; - if (pstMsg->m_uiDataLen >= sizeof(stCmd)) - { - RD_MEMCPY(&stCmd, pstMsg->m_aucData, sizeof(stCmd)); - - if (stCmd.m_iTime > 0 && 0 == bTimerStarted) - { - uiLastSendTick = Rd_GetTime(); - bTimerStarted = 1; // 开始计时 - } - - if (0 == stCmd.m_iMode) - { - break; - } - - if (abs(g_iPIDAngle - stCmd.m_iAngle) <= g_stCV.PID_mid.PID_Angle) - { - if (abs(g_iPIDAngle - stCmd.m_iAngle) < g_stCV.PID_low.PID_Angle) - { - g_dletAngle = Angle_Tune_PID((double)g_iPIDAngle, stCmd.m_iAngle, - g_stCV.PID_low.Kp, g_stCV.PID_low.Ki, g_stCV.PID_low.Kd, 10); - } - else - { - g_dletAngle = Angle_Tune_PID((double)g_iPIDAngle, stCmd.m_iAngle, - g_stCV.PID_mid.Kp, g_stCV.PID_mid.Ki, g_stCV.PID_mid.Kd, 10); - } - if (stCmd.m_iMode > 0) - { - aiMotorSpeed[0] = (g_stCV.Lane_Change_Speed_m_per_min * 10) - g_dletAngle ; - aiMotorSpeed[1] = (g_stCV.Lane_Change_Speed_m_per_min * 10) + g_dletAngle ; - } - else - { - aiMotorSpeed[0] = -(g_stCV.Lane_Change_Speed_m_per_min * 10) - g_dletAngle ; - aiMotorSpeed[1] = -(g_stCV.Lane_Change_Speed_m_per_min * 10) + g_dletAngle ; - } - } - else - { - g_dletAngle = Angle_Tune_PID((double)g_iPIDAngle, stCmd.m_iAngle, - g_stCV.PID_high.Kp, g_stCV.PID_high.Ki, g_stCV.PID_high.Kd,50); - aiMotorSpeed[0] = -g_dletAngle ; - aiMotorSpeed[1] = g_dletAngle ; - } - - if (stCmd.m_iTime > 0 && (int32_t)(Rd_GetTime() - uiLastSendTick) >= stCmd.m_iTime)// 到时间停止 - { - aiMotorSpeed[0] = 0; - aiMotorSpeed[1] = 0; - } - MsgCenter_SendTo(MODULE_NAME_MOTOR, MOTOR_SET_SPEED, aiMotorSpeed, sizeof(aiMotorSpeed)); - - if (aiMotorSpeed[0] == 0 && aiMotorSpeed[1] == 0) - { - MsgCenter_SendTo(MODULE_NAME_CUSTOM, CUSTOM_CMD_STRAIGHT_DRIVE, &stCmd, sizeof(stCmd)); - } - } - break; - } - case RBCORE_CMD_TURN_ANGLE: - { - int iTargetAngle = 0; - if (pstMsg->m_uiDataLen >= sizeof(int)) - { - RD_MEMCPY(&iTargetAngle, pstMsg->m_aucData, sizeof(int)); - if (abs(g_iPIDAngle - iTargetAngle) <= 50) - { - aiMotorSpeed[0] = 0; - aiMotorSpeed[1] = 0; - } - else if (abs(g_iPIDAngle - iTargetAngle) <= 1000) - { - g_dletAngle = Angle_Tune_PID((double)g_iPIDAngle, iTargetAngle, 1, 0,0.5, 10); - aiMotorSpeed[0] = -g_dletAngle ; - aiMotorSpeed[1] = g_dletAngle; - } - else - { - g_dletAngle = Angle_Tune_PID((double)g_iPIDAngle, iTargetAngle, 2, 0, 0.5, 85); - aiMotorSpeed[0] = -g_dletAngle ; - aiMotorSpeed[1] = g_dletAngle ; - } - MsgCenter_SendTo(MODULE_NAME_MOTOR, MOTOR_SET_SPEED, aiMotorSpeed, sizeof(aiMotorSpeed)); - - if (aiMotorSpeed[0] == 0 && aiMotorSpeed[1] == 0) - { - MsgCenter_SendTo(MODULE_NAME_CUSTOM, CUSTOM_CMD_TURN_ANGLE, &iTargetAngle, sizeof(iTargetAngle)); - } - } - break; - } case RBCORE_GET_VEHICLE_SPEED: { if (pstMsg->m_uiDataLen >= sizeof(int)) diff --git a/RBcore/drv_interface.c b/RBcore/drv_interface.c index 48b5f68..0c56ca8 100644 --- a/RBcore/drv_interface.c +++ b/RBcore/drv_interface.c @@ -256,6 +256,7 @@ void TL720D_Init(void); void RBcore_Init(void); void controller_init(void); void daemon_Init(void); +void Timer_Init(void); void Drv_InterfaceInit(void) { @@ -306,4 +307,6 @@ void Drv_InterfaceInit(void) TL720D_Init(); daemon_Init(); + + Timer_Init(); } diff --git a/RBcore/include/BHBF.h b/RBcore/include/BHBF.h index 6ef0cdf..c809bd8 100644 --- a/RBcore/include/BHBF.h +++ b/RBcore/include/BHBF.h @@ -72,6 +72,7 @@ extern "C"{ #define MODULE_NAME_CUSTOM "custom" #define MODULE_NAME_SENDIV "sendiv" #define MODULE_NAME_DAEMON "daemon" +#define MODULE_NAME_TIMER "timer" typedef enum { COMMON_CMD_SHOW_INFO, // 终端信息展示 @@ -87,10 +88,6 @@ typedef enum { RBCORE_CMD_MANUAL_BACKWARD, // 机器人手动后退 RBCORE_CMD_MANUAL_TURNLEFT, // 机器人手动左转 RBCORE_CMD_MANUAL_TURNRIGHT, // 机器人手动右转 - RBCORE_CMD_STRAIGHT_DRIVE, // 机器人直线行驶命令格式为BHBF_straight_drive_Cmd - RBCORE_CMD_RESET_STRAIGHT, // 上一条命令支持计时前进，这里重置计时 - RBCORE_CMD_TURN_ANGLE, // 机器人转向目标角度（带PID） - RBCORE_GET_TL720D_ROLL, // 获取陀螺仪横滚角（PID计算） RBCORE_GET_VEHICLE_SPEED, // 获取机器人速度（内部速度归一化） CUSTOM_START = 0x0300, // *机器人特性命令开始* @@ -115,6 +112,11 @@ typedef enum { DAEMON_SET_BUTTON_RESET, // 置位ComError_Remote_Button_Reset_State DAEMON_SET_MK32_SERIAL, // 置位ComError_MK32_Serial DAEMON_SET_MK32_UDP, // 置位ComError_MK32_UDP + TIMER_START = 0x0600, // *2ms定时器命令 + + TIMER_CMD_STRAIGHT_DRIVE, // 机器人直线行驶命令格式为BHBF_straight_drive_Cmd + TIMER_CMD_RESET_STRAIGHT, // 上一条命令支持计时前进，这里重置计时 + TIMER_CMD_TURN_ANGLE, // 机器人转向目标角度（带PID） } BHBF_Cmd_e; #define THREAD_DEFAULT_STACK 4096 diff --git a/RBcore/msp_Timer.c b/RBcore/msp_Timer.c new file mode 100644 index 0000000..25dd1c7 --- /dev/null +++ b/RBcore/msp_Timer.c @@ -0,0 +1,182 @@ +/****************************************************************************** + + 版权所有 (C), 2018-2099, Radkil + + ****************************************************************************** + 文 件 名 : msp_Timer.c + 版 本 号 : 初稿 + 作 者 : radkil + 生成日期 : 2026年9月17日 + 最近修改 : + 功能描述 : 硬件定时器任务 + + 修改历史 : + 1.日 期 : 2026年9月17日 + 作 者 : radkil + 修改内容 : 创建文件 + +******************************************************************************/ +#include "BHBF.h" +#include "msg_center.h" +#include "rd_time.h" +#include "tim.h" + +/*----------------------------------------------* + * 外部变量说明 * + *----------------------------------------------*/ +extern volatile int32_t g_RF_Angle_Roll; +/*----------------------------------------------* + * 外部函数原型说明 * + *----------------------------------------------*/ +double Angle_Tune_PID(double CurrentAngle, double TargetAngle, double Position_KP, + double Position_KI, double Position_KD, double MaxValue); +/*----------------------------------------------* + * 内部函数原型说明 * + *----------------------------------------------*/ + +/*----------------------------------------------* + * 全局变量 * + *----------------------------------------------*/ + +/*----------------------------------------------* + * 模块级变量 * + *----------------------------------------------*/ +static uint32_t g_uiTimModuleID = 0; +/*----------------------------------------------* + * 常量定义 * + *----------------------------------------------*/ + +/*----------------------------------------------* + * 宏定义 * + *----------------------------------------------*/ + +static void Timer_ModuleHandler(const Msg_t *pstMsg) +{ + if (NULL == pstMsg) + { + return; + } + + static 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 + static int bTimerStarted = 0; //直线行驶距离单次触发标志 + switch (pstMsg->m_uiMsgID) + { + case TIMER_CMD_RESET_STRAIGHT: + { + uiLastSendTick = 0; + bTimerStarted = 0; + break; + } + case TIMER_CMD_STRAIGHT_DRIVE: + { + BHBF_straight_drive_Cmd stCmd = {0}; + if (pstMsg->m_uiDataLen >= sizeof(stCmd)) + { + RD_MEMCPY(&stCmd, pstMsg->m_aucData, sizeof(stCmd)); + + if (stCmd.m_iTime > 0 && 0 == bTimerStarted) + { + uiLastSendTick = Rd_GetTime(); + bTimerStarted = 1; // 开始计时 + } + + if (0 == stCmd.m_iMode) + { + break; + } + + if (abs(g_RF_Angle_Roll - stCmd.m_iAngle) <= g_stCV.PID_mid.PID_Angle) + { + if (abs(g_RF_Angle_Roll - stCmd.m_iAngle) < g_stCV.PID_low.PID_Angle) + { + g_dletAngle = Angle_Tune_PID((double)g_RF_Angle_Roll, stCmd.m_iAngle, + g_stCV.PID_low.Kp, g_stCV.PID_low.Ki, g_stCV.PID_low.Kd, 10); + } + else + { + g_dletAngle = Angle_Tune_PID((double)g_RF_Angle_Roll, stCmd.m_iAngle, + g_stCV.PID_mid.Kp, g_stCV.PID_mid.Ki, g_stCV.PID_mid.Kd, 10); + } + if (stCmd.m_iMode > 0) + { + aiMotorSpeed[0] = (g_stCV.Lane_Change_Speed_m_per_min * 10) - g_dletAngle ; + aiMotorSpeed[1] = (g_stCV.Lane_Change_Speed_m_per_min * 10) + g_dletAngle ; + } + else + { + aiMotorSpeed[0] = -(g_stCV.Lane_Change_Speed_m_per_min * 10) - g_dletAngle ; + aiMotorSpeed[1] = -(g_stCV.Lane_Change_Speed_m_per_min * 10) + g_dletAngle ; + } + } + else + { + g_dletAngle = Angle_Tune_PID((double)g_RF_Angle_Roll, stCmd.m_iAngle, + g_stCV.PID_high.Kp, g_stCV.PID_high.Ki, g_stCV.PID_high.Kd,50); + aiMotorSpeed[0] = -g_dletAngle ; + aiMotorSpeed[1] = g_dletAngle ; + } + + if (stCmd.m_iTime > 0 && (int32_t)(Rd_GetTime() - uiLastSendTick) >= stCmd.m_iTime)// 到时间停止 + { + aiMotorSpeed[0] = 0; + aiMotorSpeed[1] = 0; + } + MsgCenter_SendTo(MODULE_NAME_MOTOR, MOTOR_SET_SPEED, aiMotorSpeed, sizeof(aiMotorSpeed)); + + if (aiMotorSpeed[0] == 0 && aiMotorSpeed[1] == 0) + { + MsgCenter_SendTo(MODULE_NAME_CUSTOM, CUSTOM_CMD_STRAIGHT_DRIVE, &stCmd, sizeof(stCmd)); + } + } + break; + } + case TIMER_CMD_TURN_ANGLE: + { + int iTargetAngle = 0; + if (pstMsg->m_uiDataLen >= sizeof(int)) + { + RD_MEMCPY(&iTargetAngle, pstMsg->m_aucData, sizeof(int)); + if (abs(g_RF_Angle_Roll - iTargetAngle) <= 50) + { + aiMotorSpeed[0] = 0; + aiMotorSpeed[1] = 0; + } + else if (abs(g_RF_Angle_Roll - iTargetAngle) <= 1000) + { + g_dletAngle = Angle_Tune_PID((double)g_RF_Angle_Roll, iTargetAngle, 1, 0,0.5, 10); + aiMotorSpeed[0] = -g_dletAngle ; + aiMotorSpeed[1] = g_dletAngle; + } + else + { + g_dletAngle = Angle_Tune_PID((double)g_RF_Angle_Roll, iTargetAngle, 2, 0, 0.5, 85); + aiMotorSpeed[0] = -g_dletAngle ; + aiMotorSpeed[1] = g_dletAngle ; + } + MsgCenter_SendTo(MODULE_NAME_MOTOR, MOTOR_SET_SPEED, aiMotorSpeed, sizeof(aiMotorSpeed)); + + if (aiMotorSpeed[0] == 0 && aiMotorSpeed[1] == 0) + { + MsgCenter_SendTo(MODULE_NAME_CUSTOM, CUSTOM_CMD_TURN_ANGLE, &iTargetAngle, sizeof(iTargetAngle)); + } + } + break; + } + default: + break; + } +} + +void Timer_Task(void) +{ + MsgCenter_Process(g_uiTimModuleID); +} + +void Timer_Init(void) +{ + HAL_TIM_Base_Start_IT(&htim8); + g_uiTimModuleID = MsgCenter_Register(MODULE_NAME_TIMER, Timer_ModuleHandler); +} diff --git a/project/paint_robot_new/paint_robot_new.c b/project/paint_robot_new/paint_robot_new.c index 7f2062f..1c85f2d 100644 --- a/project/paint_robot_new/paint_robot_new.c +++ b/project/paint_robot_new/paint_robot_new.c @@ -177,7 +177,7 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg) { RD_MEMCPY(&stCmd, pstMsg->m_aucData, sizeof(stCmd)); int iTargetAngle = g_stCV.RobotUpAngleValue; - MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_TURN_ANGLE, &iTargetAngle, sizeof(iTargetAngle)); + MsgCenter_SendTo(MODULE_NAME_TIMER, TIMER_CMD_TURN_ANGLE, &iTargetAngle, sizeof(iTargetAngle)); } break; } @@ -200,7 +200,7 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg) .m_iAngle = g_stCV.RobotLeftAngleValue + iLeft_Compensation, .m_iTime = RunTime_DistanceCm_SpeedE_2MPMin() }; - MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_STRAIGHT_DRIVE, &stCmd, sizeof(stCmd)); + MsgCenter_SendTo(MODULE_NAME_TIMER, TIMER_CMD_STRAIGHT_DRIVE, &stCmd, sizeof(stCmd)); } else if (g_stPV.RunMode == 3)//竖直从左往右作业 上端 向右换道 最终头朝上 { @@ -209,7 +209,7 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg) .m_iAngle = g_stCV.RobotLeftAngleValue - iRight_Compensation, .m_iTime = RunTime_DistanceCm_SpeedE_2MPMin() }; - MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_STRAIGHT_DRIVE, &stCmd, sizeof(stCmd)); + MsgCenter_SendTo(MODULE_NAME_TIMER, TIMER_CMD_STRAIGHT_DRIVE, &stCmd, sizeof(stCmd)); } } else if (iTargetAngle == g_stCV.RobotRightAngleValue) @@ -221,7 +221,7 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg) .m_iAngle = g_stCV.RobotRightAngleValue + iLeft_Compensation, .m_iTime = RunTime_DistanceCm_SpeedE_2MPMin() }; - MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_STRAIGHT_DRIVE, &stCmd, sizeof(stCmd)); + MsgCenter_SendTo(MODULE_NAME_TIMER, TIMER_CMD_STRAIGHT_DRIVE, &stCmd, sizeof(stCmd)); } else if (g_stPV.RunMode == 3)//竖直从左往右作业 下端 向右换道 最终头朝上 { @@ -230,7 +230,7 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg) .m_iAngle = g_stCV.RobotRightAngleValue - iRight_Compensation, .m_iTime = RunTime_DistanceCm_SpeedE_2MPMin() }; - MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_STRAIGHT_DRIVE, &stCmd, sizeof(stCmd)); + MsgCenter_SendTo(MODULE_NAME_TIMER, TIMER_CMD_STRAIGHT_DRIVE, &stCmd, sizeof(stCmd)); } } else if (iTargetAngle == g_stCV.RobotDownAngleValue) @@ -324,12 +324,12 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg) if (g_stPV.RunMode == 2)//竖直从右往左作业 下端 向左换道 最终头朝上 { iTargetAngle = g_stCV.RobotLeftAngleValue; - MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_TURN_ANGLE, &iTargetAngle, sizeof(iTargetAngle)); + MsgCenter_SendTo(MODULE_NAME_TIMER, TIMER_CMD_TURN_ANGLE, &iTargetAngle, sizeof(iTargetAngle)); } else if (g_stPV.RunMode == 3)//竖直从左往右作业 下端 向右换道 最终头朝上 { iTargetAngle = g_stCV.RobotRightAngleValue; - MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_TURN_ANGLE, &iTargetAngle, sizeof(iTargetAngle)); + MsgCenter_SendTo(MODULE_NAME_TIMER, TIMER_CMD_TURN_ANGLE, &iTargetAngle, sizeof(iTargetAngle)); } g_RB_State = 0; break; @@ -339,12 +339,12 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg) if (g_stPV.RunMode == 2)//竖直从右往左作业 上端 向左换道 最终头朝上 { iTargetAngle = g_stCV.RobotRightAngleValue; - MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_TURN_ANGLE, &iTargetAngle, sizeof(iTargetAngle)); + MsgCenter_SendTo(MODULE_NAME_TIMER, TIMER_CMD_TURN_ANGLE, &iTargetAngle, sizeof(iTargetAngle)); } else if (g_stPV.RunMode == 3)//竖直从左往右作业 上端 向右换道 最终头朝上 { iTargetAngle = g_stCV.RobotLeftAngleValue; - MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_TURN_ANGLE, &iTargetAngle, sizeof(iTargetAngle)); + MsgCenter_SendTo(MODULE_NAME_TIMER, TIMER_CMD_TURN_ANGLE, &iTargetAngle, sizeof(iTargetAngle)); } g_RB_State = 0; break; @@ -353,7 +353,7 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg) { if (g_stPV.RunMode == 2 || g_stPV.RunMode == 3) { - MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_RESET_STRAIGHT, NULL, 0); + MsgCenter_SendTo(MODULE_NAME_TIMER, TIMER_CMD_RESET_STRAIGHT, NULL, 0); g_RB_State = 0; } } @@ -407,7 +407,7 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg) .m_iAngle = g_stCV.RobotUpAngleValue + g_stPV.Vertical_Calibration, .m_iTime = -1 }; - MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_STRAIGHT_DRIVE, &stCmd, sizeof(stCmd)); + MsgCenter_SendTo(MODULE_NAME_TIMER, TIMER_CMD_STRAIGHT_DRIVE, &stCmd, sizeof(stCmd)); } g_RB_State = 1; } @@ -428,7 +428,7 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg) .m_iAngle = g_stCV.RobotUpAngleValue + g_stPV.Vertical_Calibration, .m_iTime = -1 }; - MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_STRAIGHT_DRIVE, &stCmd, sizeof(stCmd)); + MsgCenter_SendTo(MODULE_NAME_TIMER, TIMER_CMD_STRAIGHT_DRIVE, &stCmd, sizeof(stCmd)); } g_RB_State = 1; } @@ -462,7 +462,7 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg) .m_iAngle = g_stCV.RobotUpAngleValue + g_stPV.Vertical_Calibration, .m_iTime = -1 }; - MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_STRAIGHT_DRIVE, &stCmd, sizeof(stCmd)); + MsgCenter_SendTo(MODULE_NAME_TIMER, TIMER_CMD_STRAIGHT_DRIVE, &stCmd, sizeof(stCmd)); } g_RB_State = 1; } @@ -482,7 +482,7 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg) .m_iAngle = g_stCV.RobotUpAngleValue + g_stPV.Vertical_Calibration, .m_iTime = -1 }; - MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_STRAIGHT_DRIVE, &stCmd, sizeof(stCmd)); + MsgCenter_SendTo(MODULE_NAME_TIMER, TIMER_CMD_STRAIGHT_DRIVE, &stCmd, sizeof(stCmd)); } g_RB_State = 1; }