From f09052e9665da859c7e59509fbdedf4e26db54af Mon Sep 17 00:00:00 2001
From: Lizongdi <1210855344@qq.com>
Date: Wed, 9 Sep 2026 09:32:24 +0800
Subject: [PATCH] =?UTF-8?q?=E3=80=90=E6=94=AF=E7=BA=BF=E5=BE=85=E5=90=88?=
 =?UTF-8?q?=E3=80=91=E8=BF=99=E9=87=8C=E6=8A=8A=E6=B6=88=E6=81=AF=E7=B1=BB?=
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---
 RBcore/client_setting.c                          | 1 +
 RBcore/include/BHBF.h                            | 3 +--
 RBcore/include/msg_center.h                      | 3 ++-
 motor/msp_motor_leisai.c                         | 1 +
 project/paint_robot_new/paint_robot_new_MK32.c   | 1 +
 project/paint_robot_new/paint_robot_new_motors.c | 1 +
 6 files changed, 7 insertions(+), 3 deletions(-)

diff --git a/RBcore/client_setting.c b/RBcore/client_setting.c
index 60110ad..d66f2d4 100644
--- a/RBcore/client_setting.c
+++ b/RBcore/client_setting.c
@@ -22,6 +22,7 @@
 #include "pb_encode.h"
 #include "bsp_PV.pb.h"
 #include "bsp_IV.pb.h"
+#include "msg_center.h"
 
 /*----------------------------------------------*
  * 外部变量说明                                 *
diff --git a/RBcore/include/BHBF.h b/RBcore/include/BHBF.h
index 83448b2..6256c58 100644
--- a/RBcore/include/BHBF.h
+++ b/RBcore/include/BHBF.h
@@ -61,7 +61,6 @@ extern "C"{
  *----------------------------------------------*/
 #include "drv_interface.h"
 #include "rd_time.h"
-#include "msg_center.h"
 #include "cmsis_os.h"
 #include "FreeRTOS.h"
 #include <stdint.h>
@@ -99,7 +98,7 @@ typedef enum {
 	CUSTOM_GET_TL720D_ROLL,		 // 获取陀螺仪横滚角
 	CUSTOM_CMD_PAINTGUN,         // 控制喷枪
 	CUSTOM_CMD_END = 0x0300,
-} Motor_Cmd_e;
+} BHBF_Cmd_e;
     
 // 电机命令数据结构
 typedef struct {
diff --git a/RBcore/include/msg_center.h b/RBcore/include/msg_center.h
index c3518f9..d67e9cf 100644
--- a/RBcore/include/msg_center.h
+++ b/RBcore/include/msg_center.h
@@ -30,6 +30,7 @@ extern "C"{
  *      include header files                    *
  *----------------------------------------------*/
 #include "common.h"
+#include "BHBF.h"
 
 /*==============================================*
  *      constants or macros define              *
@@ -48,7 +49,7 @@ extern "C"{
 typedef struct {
     uint32_t    m_uiSrcModule;                          // 源模块ID
     uint32_t    m_uiDstModule;                          // 目标模块ID
-    uint32_t    m_uiMsgID;                              // 消息ID（命令字）
+    BHBF_Cmd_e  m_uiMsgID;                              // 消息ID（命令字）
     uint32_t    m_uiDataLen;                            // 数据长度
     uint8_t     m_aucData[MSG_CENTER_MAX_DATA_SIZE];    // 消息数据
 } Msg_t;
diff --git a/motor/msp_motor_leisai.c b/motor/msp_motor_leisai.c
index 6e3bc29..fa1a495 100644
--- a/motor/msp_motor_leisai.c
+++ b/motor/msp_motor_leisai.c
@@ -20,6 +20,7 @@
 #include "msp_motor_leisai.h"
 #include "rd_time.h"
 #include "BHBF.h"
+#include "msg_center.h"
 
 /*----------------------------------------------*
  * 外部变量说明                                 *
diff --git a/project/paint_robot_new/paint_robot_new_MK32.c b/project/paint_robot_new/paint_robot_new_MK32.c
index 263bcc9..d68f69a 100644
--- a/project/paint_robot_new/paint_robot_new_MK32.c
+++ b/project/paint_robot_new/paint_robot_new_MK32.c
@@ -18,6 +18,7 @@
 ******************************************************************************/
 #include "BHBF.h"
 #include "Protobuf/PSource/msp_MK32.pb.h"
+#include "msg_center.h"
 
 /*----------------------------------------------*
  * 外部变量说明                                 *
diff --git a/project/paint_robot_new/paint_robot_new_motors.c b/project/paint_robot_new/paint_robot_new_motors.c
index 3612f16..8cf75f8 100644
--- a/project/paint_robot_new/paint_robot_new_motors.c
+++ b/project/paint_robot_new/paint_robot_new_motors.c
@@ -19,6 +19,7 @@
 #include "BHBF.h"
 #include "motor_manager.h"
 #include "msp_motor_leisai.h"
+#include "msg_center.h"
 
 /*----------------------------------------------*
  * 外部变量说明                                 *