diff --git a/controller/include/msp_MK32.h b/controller/include/msp_MK32.h new file mode 100644 index 0000000..e43a254 --- /dev/null +++ b/controller/include/msp_MK32.h @@ -0,0 +1,129 @@ +/****************************************************************************** + + 版权所有 (C), 2018-2099, Radkil + + ****************************************************************************** + 文 件 名 : msp_MK32.h + 版 本 号 : 初稿 + 作 者 : radkil + 生成日期 : 2026年9月22日 + 最近修改 : + 功能描述 : msp_MK32.c 的头文件 + + 修改历史 : + 1.日 期 : 2026年9月22日 + 作 者 : radkil + 修改内容 : 创建文件 + +******************************************************************************/ + +/*----------------------------------------------* + * 外部变量说明 * + *----------------------------------------------*/ + +/*----------------------------------------------* + * 外部函数原型说明 * + *----------------------------------------------*/ + +/*----------------------------------------------* + * 内部函数原型说明 * + *----------------------------------------------*/ + +/*----------------------------------------------* + * 全局变量 * + *----------------------------------------------*/ + +/*----------------------------------------------* + * 模块级变量 * + *----------------------------------------------*/ + +/*----------------------------------------------* + * 常量定义 * + *----------------------------------------------*/ + +/*----------------------------------------------* + * 宏定义 * + *----------------------------------------------*/ + +#ifndef __MSP_MK32_H__ +#define __MSP_MK32_H__ + + +#ifdef __cplusplus +#if __cplusplus +extern "C"{ +#endif +#endif /* __cplusplus */ + + +/*==============================================* + * include header files * + *----------------------------------------------*/ + + + + +/*==============================================* + * constants or macros define * + *----------------------------------------------*/ +typedef enum { + KEY_SA_UP = 0, + KEY_SA_DOWN, + KEY_SA_DEFAULT, + KEY_SB_UP, + KEY_SB_DOWN, + KEY_SB_DEFAULT, + KEY_SC_UP, + KEY_SC_DOWN, + KEY_SC_DEFAULT, + KEY_SD_UP, + KEY_SD_DOWN, + KEY_SD_DEFAULT, + BTN_S1_CLICK, + BTN_S2_CLICK, + JOY_LEFT_UP, + JOY_LEFT_DWON, + JOY_LEFT_LEFT, + JOY_LEFT_RIGHT, + JOY_RIGHT_UP, + JOY_RIGHT_DWON, + JOY_RIGHT_LEFT, + JOY_RIGHT_RIGHT, + JOY_DEFAULT, + E_STOP, // 急停，MK32指SE和SF值-1000 + KEY_MAX +} E_BHBF_RBMode; + +typedef enum { + MODE_NULL = 0, + MODE_DEFAULT, + MODE_VERTICAL_LEFT, + MODE_VERTICAL_RIGHT, + MODE_MAX +} E_BHBF_KEY; + +typedef enum { + SUB_MODE_NULL = 0, + SUB_MODE_MAX +} E_BHBF_MODE3; + +typedef void (*ActionFunc)(void); + +/*==============================================* + * project-wide global variables * + *----------------------------------------------*/ + + + +/*==============================================* + * routines' or functions' implementations * + *----------------------------------------------*/ + +#ifdef __cplusplus +#if __cplusplus +} +#endif +#endif /* __cplusplus */ + + +#endif /* __MSP_MK32_H__ */ diff --git a/controller/msp_MK32.c b/controller/msp_MK32.c index 997a563..dffc159 100644 --- a/controller/msp_MK32.c +++ b/controller/msp_MK32.c @@ -20,6 +20,7 @@ #include "msg_center.h" #include "msp_MK32.pb.h" #include "rd_time.h" +#include "msp_MK32.h" /*----------------------------------------------* * 外部变量说明 * @@ -143,3 +144,101 @@ void controller_init(void) }; (void)osThreadNew(Read_MK32, NULL, &MK32_Task_attributes); } + +extern const ActionFunc g_ActionTable[KEY_MAX][MODE_MAX][SUB_MODE_MAX]; + +#define SAFE_DISPATCH(key, mode, submode) \ + do { \ + if ((key) < KEY_MAX && \ + (mode) < MODE_MAX && \ + (submode) < SUB_MODE_MAX) { \ + ActionFunc _fn = g_ActionTable[(key)][(mode)][(submode)]; \ + if (_fn) _fn(); \ + } \ + } while (0) + +WEAK void MK32_Key_Func(SP_MSP_MK32_Button *_pstMK32, int _iMode, int _iSubMode) +{ + if (_iMode <= MODE_NULL || _iMode >= MODE_MAX) return; + // 急停 + if (_pstMK32->CH8_SE == -1000 && _pstMK32->CH9_SF == -1000) + { + SAFE_DISPATCH(E_STOP, _iMode, _iSubMode); + return; + } + + // 根据模式判断换道（仅在竖直向左或向右生效） + if (_pstMK32->CH4_SA == 1000) + { + SAFE_DISPATCH(KEY_SA_UP, _iMode, _iSubMode); + return; + } + else if (_pstMK32->CH4_SA == -1000) + { + SAFE_DISPATCH(KEY_SA_DOWN, _iMode, _iSubMode); + return; + } + else // 重置前进计时器以便下一次换道重新计数 + { + SAFE_DISPATCH(KEY_SA_DEFAULT, _iMode, _iSubMode); + } + + // 自动巡航 + if (_pstMK32->CH5_SB == -1000) + { + SAFE_DISPATCH(KEY_SB_UP, _iMode, _iSubMode); + return; + } + else if(_pstMK32->CH5_SB == 1000) + { + SAFE_DISPATCH(KEY_SB_DOWN, _iMode, _iSubMode); + return; + } + + + // 开关喷枪 + if (_pstMK32->CH6_SC == -1000) + { + SAFE_DISPATCH(KEY_SC_UP, _iMode, _iSubMode); + } + else if (_pstMK32->CH6_SC == 1000) + { + SAFE_DISPATCH(KEY_SC_DOWN, _iMode, _iSubMode); + } + else + { + SAFE_DISPATCH(KEY_SC_DEFAULT, _iMode, _iSubMode); + } + + // 【注意!!!】摇杆行程死区判断开始，除摇杆以外按键在上边都处理完，不然走不下去 + if (abs(_pstMK32->CH2_LY_V) <= g_stCV.Joy_Sticker_Value_Allowance && abs(_pstMK32->CH3_LY_H) <= g_stCV.Joy_Sticker_Value_Allowance) + { + SAFE_DISPATCH(JOY_DEFAULT, _iMode, _iSubMode); + return; + } + // 【注意!!!】摇杆行程死区判断结束，摇杆处理都放在这以后，否则行程死区可能不生效 + + // 摇杆角度死区判断 + int angle = atan2(_pstMK32->CH2_LY_V, _pstMK32->CH3_LY_H) * 180 / M_PI; + + if (abs(angle - 90) <= g_stCV.Joy_Sticker_Angle_Allowance) + { + SAFE_DISPATCH(JOY_LEFT_UP, _iMode, _iSubMode); + } + else if (abs(angle - (-90)) <= g_stCV.Joy_Sticker_Angle_Allowance) + { + SAFE_DISPATCH(JOY_LEFT_DWON, _iMode, _iSubMode); + } + else if (abs(angle - 0) <= g_stCV.Joy_Sticker_Angle_Allowance) + { + SAFE_DISPATCH(JOY_LEFT_RIGHT, _iMode, _iSubMode); + } + else if (abs(angle - 180) <= g_stCV.Joy_Sticker_Angle_Allowance || abs(angle - (-180)) <= g_stCV.Joy_Sticker_Angle_Allowance) + { + SAFE_DISPATCH(JOY_LEFT_LEFT, _iMode, _iSubMode); + } + else + { + MsgCenter_SendTo(MODULE_NAME_MOTOR, CMD_STOP_ALL, NULL, 0); + } +} diff --git a/project/paint_robot_new/CMakeLists.txt b/project/paint_robot_new/CMakeLists.txt index b8d1666..c6490be 100644 --- a/project/paint_robot_new/CMakeLists.txt +++ b/project/paint_robot_new/CMakeLists.txt @@ -19,4 +19,10 @@ if(TARGET motor) target_link_libraries(${TARGET_NAME} PUBLIC motor) else() message(FATAL_ERROR "[${TARGET_NAME}] Dependency 'motor' not found.") +endif() + +if(TARGET controller) + target_link_libraries(${TARGET_NAME} PUBLIC controller) +else() + message(FATAL_ERROR "[${TARGET_NAME}] Dependency 'controller' not found.") endif() \ No newline at end of file diff --git a/project/paint_robot_new/paint_robot_new.c b/project/paint_robot_new/paint_robot_new.c index c5eef36..945adf7 100644 --- a/project/paint_robot_new/paint_robot_new.c +++ b/project/paint_robot_new/paint_robot_new.c @@ -23,6 +23,7 @@ #include "Protobuf/PSource/msp_MK32.pb.h" #include "Protobuf/PSource/bsp_CV.pb.h" #include "Protobuf/PSource/bsp_IV.pb.h" +#include "msp_MK32.h" /*----------------------------------------------* * 外部变量说明 * @@ -64,15 +65,31 @@ static int g_iS2LastValue = 0; * 宏定义 * *----------------------------------------------*/ -#define IV_SEND_TIME 50 // IV上报周期（单位毫秒） +static struct { + int m_iPaintState; // 喷枪状态：0=打开，1=关闭 + int m_iAnglelock; // 1=角度异常，触发 Move_Halt_AngleError 并屏蔽互斥代码 + int m_ipaintOffCount; // Move_Halt_AngleError 中的计时，当前为 1 秒 +} g_stAngleError_Ctl = { + .m_iPaintState = -1 +}; static int32_t RunTime_DistanceCm_SpeedE_2MPMin(void) { return (600 * (g_stPV.LaneChangeDistance + g_stCV.Vertical_ChangeLane_Compensation) / g_stCV.Lane_Change_Speed_m_per_min); } +/*----------------------------------------------* + * 二维数组映射表！！！ * + *----------------------------------------------*/ +static void E_Robot_Stop(void) +{ + MsgCenter_SendTo(MODULE_NAME_MOTOR, MOTOR_POWER_DISABLE, NULL, 0); + MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_STOP_ALL, NULL, 0); + g_Is_All_Button_Reset = 0; +} + // 竖直从左往右作业 上端 向右换道 最终头朝上 -static void Vertical_Lane_Change_From_Left_To_Right_UP_Control() +static void Vertical_Lane_Change_From_Left_To_Right_UP_Control(void) { int iTargetAngle = 0; if (0 == g_ichangLineState) @@ -98,7 +115,7 @@ static void Vertical_Lane_Change_From_Left_To_Right_UP_Control() } // 竖直从左往右作业 下端 向右换道 最终头朝上 -static void Vertical_Lane_Change_From_Left_To_Right_Down_Control() +static void Vertical_Lane_Change_From_Left_To_Right_Down_Control(void) { int iTargetAngle = 0; if (0 == g_ichangLineState) @@ -124,7 +141,7 @@ static void Vertical_Lane_Change_From_Left_To_Right_Down_Control() } // 竖直从右往左作业 上端 向左换道 最终头朝上 -static void Vertical_Lane_Change_From_Right_To_Left_UP_Control() +static void Vertical_Lane_Change_From_Right_To_Left_UP_Control(void) { int iTargetAngle = 0; if (0 == g_ichangLineState) @@ -150,7 +167,7 @@ static void Vertical_Lane_Change_From_Right_To_Left_UP_Control() } // 竖直从右往左作业 下端 向左换道 最终头朝上 -static void Vertical_Lane_Change_From_Right_To_Left_Down_Control() +static void Vertical_Lane_Change_From_Right_To_Left_Down_Control(void) { int iTargetAngle = 0; if (0 == g_ichangLineState) @@ -175,14 +192,269 @@ static void Vertical_Lane_Change_From_Right_To_Left_Down_Control() } } -static struct { - int m_iPaintState; // 喷枪状态：0=打开，1=关闭 - int m_iAnglelock; // 1=角度异常，触发 Move_Halt_AngleError 并屏蔽互斥代码 - int m_ipaintOffCount; // Move_Halt_AngleError 中的计时，当前为 1 秒 -} g_stAngleError_Ctl = { - .m_iPaintState = -1 +static void Lane_Change_State_Reset(void) +{ + g_ichangLineState = 0; + MsgCenter_SendTo(MODULE_NAME_TIMER, TIMER_CMD_RESET_STRAIGHT, NULL, 0); +} + +static void Robot_Move_Forward(void) +{ + if (g_iVehicleSpeed >= 0) + { + 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 + aiMotorSpeed[0] = g_iVehicleSpeed * 10; + aiMotorSpeed[1] = g_iVehicleSpeed * 10; + MsgCenter_SendTo(MODULE_NAME_MOTOR, MOTOR_SET_SPEED, aiMotorSpeed, sizeof(aiMotorSpeed)); + } +} + +static void Robot_Paint_SP(void) +{ + if (g_stMK32.CH13_S2 != g_iS2LastValue) + { + if (0 == g_stAngleError_Ctl.m_iAnglelock) + { + if(g_stIV.CurrentSpeed != 0) + { + g_stAngleError_Ctl.m_iPaintState = 0; + MsgCenter_SendTo(MODULE_NAME_CUSTOM, CUSTOM_CMD_PAINTGUN, &g_stAngleError_Ctl.m_iPaintState, sizeof(int)); + } + } + } + g_iS2LastValue = g_stMK32.CH13_S2; +} + +static void Robot_Move_Forward_PID(void) +{ + Robot_Paint_SP(); + if (0 == g_stAngleError_Ctl.m_iAnglelock) + { + BHBF_straight_drive_Cmd stCmd = { + .m_iMode = 1, + .m_iAngle = g_stCV.RobotUpAngleValue + g_stPV.Vertical_Calibration, + .m_iTime = -1, + .m_iSpeed = g_iVehicleSpeed + }; + MsgCenter_SendTo(MODULE_NAME_TIMER, TIMER_CMD_STRAIGHT_DRIVE, &stCmd, sizeof(stCmd)); + } +} + +static void Robot_Move_Backward(void) +{ + if (g_iVehicleSpeed >= 0) + { + 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 + aiMotorSpeed[0] = -g_iVehicleSpeed * 10; + aiMotorSpeed[1] = -g_iVehicleSpeed * 10; + MsgCenter_SendTo(MODULE_NAME_MOTOR, MOTOR_SET_SPEED, aiMotorSpeed, sizeof(aiMotorSpeed)); + } +} + +static void Robot_Move_Backward_PID(void) +{ + Robot_Paint_SP(); + if (0 == g_stAngleError_Ctl.m_iAnglelock) + { + BHBF_straight_drive_Cmd stCmd = { + .m_iMode = -1, + .m_iAngle = g_stCV.RobotUpAngleValue + g_stPV.Vertical_Calibration, + .m_iTime = -1, + .m_iSpeed = g_iVehicleSpeed + }; + MsgCenter_SendTo(MODULE_NAME_TIMER, TIMER_CMD_STRAIGHT_DRIVE, &stCmd, sizeof(stCmd)); + } +} + +static void Robot_Paint_ON(void) +{ + if (0 == g_stAngleError_Ctl.m_iAnglelock) + { + if (0 == g_bIsStopOffPaint) + { + g_stAngleError_Ctl.m_iPaintState = 0; + MsgCenter_SendTo(MODULE_NAME_CUSTOM, CUSTOM_CMD_PAINTGUN, &g_stAngleError_Ctl.m_iPaintState, sizeof(int)); + } + } +} + +static void Robot_Paint_OFF(void) +{ + if (0 == g_stAngleError_Ctl.m_iAnglelock) + { + g_bIsStopOffPaint = 0; + g_stAngleError_Ctl.m_iPaintState = 1; + MsgCenter_SendTo(MODULE_NAME_CUSTOM, CUSTOM_CMD_PAINTGUN, &g_stAngleError_Ctl.m_iPaintState, sizeof(int)); + } +} + +static void Robot_Stop_After(void) +{ + if (0 == g_iPaint) + { + MsgCenter_SendTo(MODULE_NAME_MOTOR, MOTOR_CMD_STOP_AFTER, NULL, 0); + } +} + +static void Robot_Stop(void) +{ + MsgCenter_SendTo(MODULE_NAME_MOTOR, CMD_STOP_ALL, NULL, 0); +} + +static void Robot_Move_Left(void) +{ + if (g_stCV.LeftTurnSpeed > 0 && g_stCV.RightTurnSpeed > 0) + { + 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 + aiMotorSpeed[0] = -g_stCV.LeftTurnSpeed; + aiMotorSpeed[1] = g_stCV.RightTurnSpeed; + MsgCenter_SendTo(MODULE_NAME_MOTOR, MOTOR_SET_SPEED, aiMotorSpeed, sizeof(aiMotorSpeed)); + } +} + +static void Robot_Move_Right(void) +{ + if (g_stCV.LeftTurnSpeed > 0 && g_stCV.RightTurnSpeed > 0) + { + 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 + aiMotorSpeed[0] = g_stCV.LeftTurnSpeed; + aiMotorSpeed[1] = -g_stCV.RightTurnSpeed; + MsgCenter_SendTo(MODULE_NAME_MOTOR, MOTOR_SET_SPEED, aiMotorSpeed, sizeof(aiMotorSpeed)); + } +} + +const ActionFunc g_ActionTable[KEY_MAX][MODE_MAX][SUB_MODE_MAX] = { + [E_STOP] = { + [MODE_DEFAULT] = { + [SUB_MODE_NULL] = E_Robot_Stop, + }, + [MODE_VERTICAL_LEFT] = { + [SUB_MODE_NULL] = E_Robot_Stop, + }, + [MODE_VERTICAL_RIGHT] = { + [SUB_MODE_NULL] = E_Robot_Stop, + }, + }, + [KEY_SA_UP] = { + [MODE_VERTICAL_LEFT] = { + [SUB_MODE_NULL] = Vertical_Lane_Change_From_Right_To_Left_UP_Control, + }, + [MODE_VERTICAL_RIGHT] = { + [SUB_MODE_NULL] = Vertical_Lane_Change_From_Left_To_Right_UP_Control, + }, + }, + [KEY_SA_DOWN] = { + [MODE_VERTICAL_LEFT] = { + [SUB_MODE_NULL] = Vertical_Lane_Change_From_Right_To_Left_Down_Control, + }, + [MODE_VERTICAL_RIGHT] = { + [SUB_MODE_NULL] = Vertical_Lane_Change_From_Left_To_Right_Down_Control, + }, + }, + [KEY_SA_DEFAULT] = { + [MODE_VERTICAL_LEFT] = { + [SUB_MODE_NULL] = Lane_Change_State_Reset, + }, + [MODE_VERTICAL_RIGHT] = { + [SUB_MODE_NULL] = Lane_Change_State_Reset, + }, + }, + [KEY_SB_UP] = { + [MODE_DEFAULT] = { + [SUB_MODE_NULL] = Robot_Move_Forward, + }, + [MODE_VERTICAL_LEFT] = { + [SUB_MODE_NULL] = Robot_Move_Forward_PID, + }, + [MODE_VERTICAL_RIGHT] = { + [SUB_MODE_NULL] = Robot_Move_Forward_PID, + } + }, + [KEY_SB_DOWN] = { + [MODE_DEFAULT] = { + [SUB_MODE_NULL] = Robot_Move_Backward, + }, + [MODE_VERTICAL_LEFT] = { + [SUB_MODE_NULL] = Robot_Move_Backward_PID, + }, + [MODE_VERTICAL_RIGHT] = { + [SUB_MODE_NULL] = Robot_Move_Backward_PID, + } + }, + [KEY_SC_DOWN] = { + [MODE_DEFAULT] = { + [SUB_MODE_NULL] = Robot_Paint_OFF, + } + }, + [KEY_SC_DEFAULT] = { + [MODE_DEFAULT] = { + [SUB_MODE_NULL] = Robot_Paint_OFF, + } + }, + [KEY_SC_UP] = { + [MODE_DEFAULT] = { + [SUB_MODE_NULL] = Robot_Paint_ON, + } + }, + [JOY_DEFAULT] = { + [MODE_DEFAULT] = { + [SUB_MODE_NULL] = Robot_Stop, + }, + [MODE_VERTICAL_LEFT] = { + [SUB_MODE_NULL] = Robot_Stop_After, + }, + [MODE_VERTICAL_RIGHT] = { + [SUB_MODE_NULL] = Robot_Stop_After, + }, + }, + [JOY_LEFT_UP] = { + [MODE_DEFAULT] = { + [SUB_MODE_NULL] = Robot_Move_Forward, + }, + [MODE_VERTICAL_LEFT] = { + [SUB_MODE_NULL] = Robot_Move_Forward_PID, + }, + [MODE_VERTICAL_RIGHT] = { + [SUB_MODE_NULL] = Robot_Move_Forward_PID, + }, + }, + [JOY_LEFT_DWON] = { + [MODE_DEFAULT] = { + [SUB_MODE_NULL] = Robot_Move_Backward, + }, + [MODE_VERTICAL_LEFT] = { + [SUB_MODE_NULL] = Robot_Move_Backward_PID, + }, + [MODE_VERTICAL_RIGHT] = { + [SUB_MODE_NULL] = Robot_Move_Backward_PID, + }, + }, + [JOY_LEFT_LEFT] = { + [MODE_DEFAULT] = { + [SUB_MODE_NULL] = Robot_Move_Left, + }, + [MODE_VERTICAL_LEFT] = { + [SUB_MODE_NULL] = Robot_Move_Left, + }, + [MODE_VERTICAL_RIGHT] = { + [SUB_MODE_NULL] = Robot_Move_Left, + }, + }, + [JOY_LEFT_RIGHT] = { + [MODE_DEFAULT] = { + [SUB_MODE_NULL] = Robot_Move_Right, + }, + [MODE_VERTICAL_LEFT] = { + [SUB_MODE_NULL] = Robot_Move_Right, + }, + [MODE_VERTICAL_RIGHT] = { + [SUB_MODE_NULL] = Robot_Move_Right, + }, + } }; +#define IV_SEND_TIME 50 // IV上报周期（单位毫秒） + static void Move_Halt_AngleError(void) { static uint32_t uiLastTime = 0; @@ -219,7 +491,7 @@ static void Move_Halt_AngleError(void) } } -void MK32_Key_Func(SP_MSP_MK32_Button *_pstMK32, int _iMode) +void MK32_Key_Func(SP_MSP_MK32_Button *_pstMK32, int _iMode, int _iSubMode) { // 急停 if (_pstMK32->CH8_SE == -1000 && _pstMK32->CH9_SF == -1000) @@ -235,11 +507,11 @@ void MK32_Key_Func(SP_MSP_MK32_Button *_pstMK32, int _iMode) { if (_iMode == 2)//竖直从右往左作业 下端 向左换道 最终头朝上 { - Vertical_Lane_Change_From_Right_To_Left_Down_Control(g_iLeft_Compensation); + Vertical_Lane_Change_From_Right_To_Left_Down_Control(); } else if (_iMode == 3)//竖直从左往右作业 下端 向右换道 最终头朝上 { - Vertical_Lane_Change_From_Left_To_Right_Down_Control(g_iRight_Compensation); + Vertical_Lane_Change_From_Left_To_Right_Down_Control(); } return; } @@ -247,11 +519,11 @@ void MK32_Key_Func(SP_MSP_MK32_Button *_pstMK32, int _iMode) { if (_iMode == 2)//竖直从右往左作业 上端 向左换道 最终头朝上 { - Vertical_Lane_Change_From_Right_To_Left_UP_Control(g_iLeft_Compensation); + Vertical_Lane_Change_From_Right_To_Left_UP_Control(); } else if (_iMode == 3)//竖直从左往右作业 上端 向右换道 最终头朝上 { - Vertical_Lane_Change_From_Left_To_Right_UP_Control(g_iRight_Compensation); + Vertical_Lane_Change_From_Left_To_Right_UP_Control(); } return; } @@ -628,7 +900,7 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg) Move_Halt_AngleError(); - MK32_Key_Func(&g_stMK32, g_stPV.RunMode); + MK32_Key_Func(&g_stMK32, g_stPV.RunMode, SUB_MODE_NULL); break; } case CMD_SHOW_INFO: