first commit

.cproject

@@ -0,0 +1,231 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<?fileVersion 4.0.0?><cproject storage_type_id="org.eclipse.cdt.core.XmlProjectDescriptionStorage">
+	<storageModule moduleId="org.eclipse.cdt.core.settings">
+		<cconfiguration id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.456396271">
+			<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.456396271" moduleId="org.eclipse.cdt.core.settings" name="Debug">
+				<externalSettings/>
+				<extensions>
+					<extension id="org.eclipse.cdt.core.ELF" point="org.eclipse.cdt.core.BinaryParser"/>
+					<extension id="org.eclipse.cdt.core.GASErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+					<extension id="org.eclipse.cdt.core.GmakeErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+					<extension id="org.eclipse.cdt.core.GLDErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+					<extension id="org.eclipse.cdt.core.CWDLocator" point="org.eclipse.cdt.core.ErrorParser"/>
+					<extension id="org.eclipse.cdt.core.GCCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+				</extensions>
+			</storageModule>
+			<storageModule moduleId="cdtBuildSystem" version="4.0.0">
+				<configuration artifactExtension="elf" artifactName="${ProjName}" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe,org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.debug" cleanCommand="rm -rf" description="" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.456396271" name="Debug" parent="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug">
+					<folderInfo id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.456396271." name="/" resourcePath="">
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+							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board.1776441999" name="Board" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board" useByScannerDiscovery="false" value="genericBoard" valueType="string"/>
+							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.540792779" name="Defaults" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults" useByScannerDiscovery="false" value="com.st.stm32cube.ide.common.services.build.inputs.revA.1.0.5 || Debug || true || Executable || com.st.stm32cube.ide.mcu.gnu.managedbuild.option.toolchain.value.workspace || STM32H743VGTx || 0 || 0 || arm-none-eabi- || ${gnu_tools_for_stm32_compiler_path} || ../Middlewares/Third_Party/LwIP/src/include/netif/ppp | ../Middlewares/Third_Party/LwIP/src/include/lwip/priv | ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy | ../Middlewares/Third_Party/LwIP/src/include/compat/stdc | ../Middlewares/Third_Party/LwIP/src/include/lwip/prot | ../Middlewares/Third_Party/LwIP/src/include/lwip/apps | ../Middlewares/Third_Party/LwIP/src/include/compat/posix/sys | ../Middlewares/Third_Party/LwIP/system/arch | ../Middlewares/Third_Party/LwIP/src/include | ../LWIP/App | ../Middlewares/Third_Party/LwIP/src/include/compat/posix | ../Drivers/CMSIS/Include | ../Core/Inc | ../Drivers/CMSIS/Device/ST/STM32H7xx/Include | ../LWIP/Target | ../Middlewares/Third_Party/LwIP/src/include/lwip | ../Middlewares/Third_Party/LwIP/src/include/compat/posix/net | ../Middlewares/Third_Party/LwIP/src/include/compat/posix/arpa | ../Drivers/STM32H7xx_HAL_Driver/Inc | ../Middlewares/Third_Party/LwIP/system | ../Drivers/BSP/Components/lan8742 | ../Middlewares/Third_Party/LwIP/src/include/netif ||  ||  || USE_HAL_DRIVER | STM32H743xx ||  || LWIP | Drivers | Core/Startup | Middlewares | Core ||  ||  || ${workspace_loc:/${ProjName}/STM32H743VGTX_FLASH.ld} || true || NonSecure ||  || secure_nsclib.o ||  || None || " valueType="string"/>
+							<option id="com.st.stm32cube.ide.mcu.debug.option.cpuclock.1890401847" name="Cpu clock frequence" superClass="com.st.stm32cube.ide.mcu.debug.option.cpuclock" useByScannerDiscovery="false" value="200" valueType="string"/>
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+							<builder buildPath="${workspace_loc:/Roughening}/Debug" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder.523991804" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder"/>
+							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.570363994" name="MCU GCC Assembler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler">
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+									<listOptionValue builtIn="false" value="DEBUG"/>
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+							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.2089750823" name="MCU GCC Compiler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler">
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+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Core/BASE/Inc/MSP}&quot;"/>
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+						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="LWIP"/>
+						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Middlewares"/>
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+							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.1253890525" name="Defaults" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults" useByScannerDiscovery="false" value="com.st.stm32cube.ide.common.services.build.inputs.revA.1.0.5 || Release || false || Executable || com.st.stm32cube.ide.mcu.gnu.managedbuild.option.toolchain.value.workspace || STM32H743VGTx || 0 || 0 || arm-none-eabi- || ${gnu_tools_for_stm32_compiler_path} || ../Middlewares/Third_Party/LwIP/src/include/netif/ppp | ../Middlewares/Third_Party/LwIP/src/include/lwip/priv | ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy | ../Middlewares/Third_Party/LwIP/src/include/compat/stdc | ../Middlewares/Third_Party/LwIP/src/include/lwip/prot | ../Middlewares/Third_Party/LwIP/src/include/lwip/apps | ../Middlewares/Third_Party/LwIP/src/include/compat/posix/sys | ../Middlewares/Third_Party/LwIP/system/arch | ../Middlewares/Third_Party/LwIP/src/include | ../LWIP/App | ../Middlewares/Third_Party/LwIP/src/include/compat/posix | ../Drivers/CMSIS/Include | ../Core/Inc | ../Drivers/CMSIS/Device/ST/STM32H7xx/Include | ../LWIP/Target | ../Middlewares/Third_Party/LwIP/src/include/lwip | ../Middlewares/Third_Party/LwIP/src/include/compat/posix/net | ../Middlewares/Third_Party/LwIP/src/include/compat/posix/arpa | ../Drivers/STM32H7xx_HAL_Driver/Inc | ../Middlewares/Third_Party/LwIP/system | ../Drivers/BSP/Components/lan8742 | ../Middlewares/Third_Party/LwIP/src/include/netif ||  ||  || USE_HAL_DRIVER | STM32H743xx ||  || LWIP | Drivers | Core/Startup | Middlewares | Core ||  ||  || ${workspace_loc:/${ProjName}/STM32H743VGTX_FLASH.ld} || true || NonSecure ||  || secure_nsclib.o ||  || None || " valueType="string"/>
+							<option id="com.st.stm32cube.ide.mcu.debug.option.cpuclock.1214587954" name="Cpu clock frequence" superClass="com.st.stm32cube.ide.mcu.debug.option.cpuclock" useByScannerDiscovery="false" value="200" valueType="string"/>
+							<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform.219245982" isAbstract="false" osList="all" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform"/>
+							<builder buildPath="${workspace_loc:/Roughening}/Release" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder.214658313" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder"/>
+							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.16882753" name="MCU GCC Assembler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler">
+								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.debuglevel.2011129191" name="Debug level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.debuglevel" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.debuglevel.value.g0" valueType="enumerated"/>
+								<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.input.825992476" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.input"/>
+							</tool>
+							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.498810405" name="MCU GCC Compiler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler">
+								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.debuglevel.547400931" name="Debug level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.debuglevel" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.debuglevel.value.g0" valueType="enumerated"/>
+								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.863454684" name="Optimization level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.value.os" valueType="enumerated"/>
+								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.definedsymbols.1771860025" name="Define symbols (-D)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.definedsymbols" useByScannerDiscovery="false" valueType="definedSymbols">
+									<listOptionValue builtIn="false" value="USE_HAL_DRIVER"/>
+									<listOptionValue builtIn="false" value="STM32H743xx"/>
+								</option>
+								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.includepaths.296813317" name="Include paths (-I)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.includepaths" useByScannerDiscovery="false" valueType="includePath">
+									<listOptionValue builtIn="false" value="../Core/Inc"/>
+									<listOptionValue builtIn="false" value="../Drivers/STM32H7xx_HAL_Driver/Inc"/>
+									<listOptionValue builtIn="false" value="../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy"/>
+									<listOptionValue builtIn="false" value="../Drivers/CMSIS/Device/ST/STM32H7xx/Include"/>
+									<listOptionValue builtIn="false" value="../Drivers/CMSIS/Include"/>
+									<listOptionValue builtIn="false" value="../LWIP/App"/>
+									<listOptionValue builtIn="false" value="../LWIP/Target"/>
+									<listOptionValue builtIn="false" value="../Middlewares/Third_Party/LwIP/src/include"/>
+									<listOptionValue builtIn="false" value="../Middlewares/Third_Party/LwIP/system"/>
+									<listOptionValue builtIn="false" value="../Drivers/BSP/Components/lan8742"/>
+									<listOptionValue builtIn="false" value="../Middlewares/Third_Party/LwIP/src/include/netif/ppp"/>
+									<listOptionValue builtIn="false" value="../Middlewares/Third_Party/LwIP/src/include/lwip"/>
+									<listOptionValue builtIn="false" value="../Middlewares/Third_Party/LwIP/src/include/lwip/apps"/>
+									<listOptionValue builtIn="false" value="../Middlewares/Third_Party/LwIP/src/include/lwip/priv"/>
+									<listOptionValue builtIn="false" value="../Middlewares/Third_Party/LwIP/src/include/lwip/prot"/>
+									<listOptionValue builtIn="false" value="../Middlewares/Third_Party/LwIP/src/include/netif"/>
+									<listOptionValue builtIn="false" value="../Middlewares/Third_Party/LwIP/src/include/compat/posix"/>
+									<listOptionValue builtIn="false" value="../Middlewares/Third_Party/LwIP/src/include/compat/posix/arpa"/>
+									<listOptionValue builtIn="false" value="../Middlewares/Third_Party/LwIP/src/include/compat/posix/net"/>
+									<listOptionValue builtIn="false" value="../Middlewares/Third_Party/LwIP/src/include/compat/posix/sys"/>
+									<listOptionValue builtIn="false" value="../Middlewares/Third_Party/LwIP/src/include/compat/stdc"/>
+									<listOptionValue builtIn="false" value="../Middlewares/Third_Party/LwIP/system/arch"/>
+								</option>
+								<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c.166988384" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c"/>
+							</tool>
+							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.81625048" name="MCU G++ Compiler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler">
+								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.debuglevel.444421330" name="Debug level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.debuglevel" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.debuglevel.value.g0" valueType="enumerated"/>
+								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.optimization.level.406825060" name="Optimization level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.optimization.level" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.optimization.level.value.os" valueType="enumerated"/>
+							</tool>
+							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.linker.396124999" name="MCU GCC Linker" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.linker">
+								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.linker.option.script.1296682720" name="Linker Script (-T)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.linker.option.script" value="${workspace_loc:/${ProjName}/STM32H743VGTX_FLASH.ld}" valueType="string"/>
+								<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.linker.input.1544334102" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.linker.input">
+									<additionalInput kind="additionalinputdependency" paths="$(USER_OBJS)"/>
+									<additionalInput kind="additionalinput" paths="$(LIBS)"/>
+								</inputType>
+							</tool>
+							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.linker.632112878" name="MCU G++ Linker" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.linker"/>
+							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.archiver.154035402" name="MCU GCC Archiver" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.archiver"/>
+							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.size.1526108968" name="MCU Size" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.size"/>
+							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.objdump.listfile.410298381" name="MCU Output Converter list file" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.objdump.listfile"/>
+							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.objcopy.hex.57742864" name="MCU Output Converter Hex" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.objcopy.hex"/>
+							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.objcopy.binary.1333351797" name="MCU Output Converter Binary" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.objcopy.binary"/>
+							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.objcopy.verilog.1609373878" name="MCU Output Converter Verilog" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.objcopy.verilog"/>
+							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.objcopy.srec.146876246" name="MCU Output Converter Motorola S-rec" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.objcopy.srec"/>
+							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.objcopy.symbolsrec.411545612" name="MCU Output Converter Motorola S-rec with symbols" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.objcopy.symbolsrec"/>
+						</toolChain>
+					</folderInfo>
+					<sourceEntries>
+						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Core"/>
+						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="LWIP"/>
+						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Middlewares"/>
+						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Drivers"/>
+					</sourceEntries>
+				</configuration>
+			</storageModule>
+			<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
+		</cconfiguration>
+	</storageModule>
+	<storageModule moduleId="org.eclipse.cdt.core.pathentry"/>
+	<storageModule moduleId="cdtBuildSystem" version="4.0.0">
+		<project id="Roughening.null.1127706067" name="Roughening"/>
+	</storageModule>
+	<storageModule moduleId="org.eclipse.cdt.core.LanguageSettingsProviders"/>
+	<storageModule moduleId="org.eclipse.cdt.make.core.buildtargets"/>
+	<storageModule moduleId="scannerConfiguration">
+		<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
+		<scannerConfigBuildInfo instanceId="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.release.1820227184;com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.release.1820227184.;com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.498810405;com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c.166988384">
+			<autodiscovery enabled="false" problemReportingEnabled="true" selectedProfileId=""/>
+		</scannerConfigBuildInfo>
+		<scannerConfigBuildInfo instanceId="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.456396271;com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.456396271.;com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.2089750823;com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c.1369158121">
+			<autodiscovery enabled="false" problemReportingEnabled="true" selectedProfileId=""/>
+		</scannerConfigBuildInfo>
+	</storageModule>
+	<storageModule moduleId="refreshScope" versionNumber="2">
+		<configuration configurationName="Debug">
+			<resource resourceType="PROJECT" workspacePath="/Roughening"/>
+		</configuration>
+		<configuration configurationName="Release">
+			<resource resourceType="PROJECT" workspacePath="/Roughening"/>
+		</configuration>
+	</storageModule>
+</cproject>

.gitignore

@@ -0,0 +1 @@
+/Debug/

.project

@@ -0,0 +1,32 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<projectDescription>
+	<name>Swing_Rust_UDPV1</name>
+	<comment></comment>
+	<projects>
+	</projects>
+	<buildSpec>
+		<buildCommand>
+			<name>org.eclipse.cdt.managedbuilder.core.genmakebuilder</name>
+			<triggers>clean,full,incremental,</triggers>
+			<arguments>
+			</arguments>
+		</buildCommand>
+		<buildCommand>
+			<name>org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder</name>
+			<triggers>full,incremental,</triggers>
+			<arguments>
+			</arguments>
+		</buildCommand>
+	</buildSpec>
+	<natures>
+		<nature>com.st.stm32cube.ide.mcu.MCUProjectNature</nature>
+		<nature>com.st.stm32cube.ide.mcu.MCUCubeProjectNature</nature>
+		<nature>org.eclipse.cdt.core.cnature</nature>
+		<nature>com.st.stm32cube.ide.mcu.MCUCubeIdeServicesRevAev2ProjectNature</nature>
+		<nature>com.st.stm32cube.ide.mcu.MCUAdvancedStructureProjectNature</nature>
+		<nature>com.st.stm32cube.ide.mcu.MCUSingleCpuProjectNature</nature>
+		<nature>com.st.stm32cube.ide.mcu.MCURootProjectNature</nature>
+		<nature>org.eclipse.cdt.managedbuilder.core.managedBuildNature</nature>
+		<nature>org.eclipse.cdt.managedbuilder.core.ScannerConfigNature</nature>
+	</natures>
+</projectDescription>

.settings/com.st.stm32cube.ide.mcu.sfrview.prefs

@@ -0,0 +1,2 @@
+eclipse.preferences.version=1
+sfrviewstate={"fFavorites"\:{"fLists"\:{}},"fProperties"\:{"fNodeProperties"\:{}}}

.settings/language.settings.xml

@@ -0,0 +1,25 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<project>
+	<configuration id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.456396271" name="Debug">
+		<extension point="org.eclipse.cdt.core.LanguageSettingsProvider">
+			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
+			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
+			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1333973149273858338" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+				<language-scope id="org.eclipse.cdt.core.gcc"/>
+				<language-scope id="org.eclipse.cdt.core.g++"/>
+			</provider>
+		</extension>
+	</configuration>
+	<configuration id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.release.1820227184" name="Release">
+		<extension point="org.eclipse.cdt.core.LanguageSettingsProvider">
+			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
+			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
+			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1333973149273858338" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+				<language-scope id="org.eclipse.cdt.core.gcc"/>
+				<language-scope id="org.eclipse.cdt.core.g++"/>
+			</provider>
+		</extension>
+	</configuration>
+</project>

.settings/org.eclipse.cdt.core.prefs

@@ -0,0 +1,194 @@
+doxygen/doxygen_new_line_after_brief=true
+doxygen/doxygen_use_brief_tag=false
+doxygen/doxygen_use_javadoc_tags=true
+doxygen/doxygen_use_pre_tag=false
+doxygen/doxygen_use_structural_commands=false
+eclipse.preferences.version=1
+org.eclipse.cdt.core.formatter.alignment_for_arguments_in_method_invocation=16
+org.eclipse.cdt.core.formatter.alignment_for_assignment=16
+org.eclipse.cdt.core.formatter.alignment_for_base_clause_in_type_declaration=80
+org.eclipse.cdt.core.formatter.alignment_for_binary_expression=16
+org.eclipse.cdt.core.formatter.alignment_for_compact_if=16
+org.eclipse.cdt.core.formatter.alignment_for_conditional_expression=34
+org.eclipse.cdt.core.formatter.alignment_for_conditional_expression_chain=18
+org.eclipse.cdt.core.formatter.alignment_for_constructor_initializer_list=0
+org.eclipse.cdt.core.formatter.alignment_for_declarator_list=16
+org.eclipse.cdt.core.formatter.alignment_for_enumerator_list=48
+org.eclipse.cdt.core.formatter.alignment_for_expression_list=0
+org.eclipse.cdt.core.formatter.alignment_for_expressions_in_array_initializer=16
+org.eclipse.cdt.core.formatter.alignment_for_lambda_expression=20
+org.eclipse.cdt.core.formatter.alignment_for_member_access=0
+org.eclipse.cdt.core.formatter.alignment_for_overloaded_left_shift_chain=16
+org.eclipse.cdt.core.formatter.alignment_for_parameters_in_method_declaration=16
+org.eclipse.cdt.core.formatter.alignment_for_throws_clause_in_method_declaration=16
+org.eclipse.cdt.core.formatter.brace_position_for_array_initializer=next_line
+org.eclipse.cdt.core.formatter.brace_position_for_block=next_line
+org.eclipse.cdt.core.formatter.brace_position_for_block_in_case=next_line
+org.eclipse.cdt.core.formatter.brace_position_for_linkage_declaration=next_line
+org.eclipse.cdt.core.formatter.brace_position_for_method_declaration=next_line
+org.eclipse.cdt.core.formatter.brace_position_for_namespace_declaration=next_line
+org.eclipse.cdt.core.formatter.brace_position_for_switch=next_line
+org.eclipse.cdt.core.formatter.brace_position_for_type_declaration=next_line
+org.eclipse.cdt.core.formatter.comment.line_up_line_comment_in_blocks_on_first_column=false
+org.eclipse.cdt.core.formatter.comment.min_distance_between_code_and_line_comment=1
+org.eclipse.cdt.core.formatter.comment.never_indent_line_comments_on_first_column=true
+org.eclipse.cdt.core.formatter.comment.preserve_white_space_between_code_and_line_comments=true
+org.eclipse.cdt.core.formatter.comment_formatter_off_tag=@formatter\:off
+org.eclipse.cdt.core.formatter.comment_formatter_on_tag=@formatter\:on
+org.eclipse.cdt.core.formatter.compact_else_if=true
+org.eclipse.cdt.core.formatter.continuation_indentation=2
+org.eclipse.cdt.core.formatter.continuation_indentation_for_array_initializer=2
+org.eclipse.cdt.core.formatter.format_block_comment=true
+org.eclipse.cdt.core.formatter.format_guardian_clause_on_one_line=false
+org.eclipse.cdt.core.formatter.format_header_comment=true
+org.eclipse.cdt.core.formatter.format_line_comment=true
+org.eclipse.cdt.core.formatter.indent_access_specifier_compare_to_type_header=true
+org.eclipse.cdt.core.formatter.indent_access_specifier_extra_spaces=0
+org.eclipse.cdt.core.formatter.indent_body_declarations_compare_to_access_specifier=true
+org.eclipse.cdt.core.formatter.indent_body_declarations_compare_to_linkage=true
+org.eclipse.cdt.core.formatter.indent_body_declarations_compare_to_namespace_header=true
+org.eclipse.cdt.core.formatter.indent_breaks_compare_to_cases=true
+org.eclipse.cdt.core.formatter.indent_declaration_compare_to_template_header=false
+org.eclipse.cdt.core.formatter.indent_empty_lines=false
+org.eclipse.cdt.core.formatter.indent_label_compare_to_statements=true
+org.eclipse.cdt.core.formatter.indent_statements_compare_to_block=true
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.settings/stm32cubeide.project.prefs

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Core/BASE/Inc/BSP/BHBF_ROBOT.h

@@ -0,0 +1,125 @@
+/*
+ * BHBF_ROBOT.h
+ *
+ *  Created on: Oct 26, 2023
+ *      Author: shiya
+ */
+
+#ifndef INC_BHBF_ROBOT_H_
+#define INC_BHBF_ROBOT_H_
+
+#include <stdio.h>
+#include <string.h>
+#include <stdlib.h>
+#include <assert.h>
+#include <motors.h>
+#include <stdbool.h>
+
+
+
+#include "BHBF_ROBOT.h"
+#include "bsp_PV.pb.h"
+#include "bsp_IV.pb.h"
+
+#include "BSP/pb.h"
+#include "BSP/pb_decode.h"
+#include "BSP/pb_encode.h"
+#include "BSP/bsp_EEPROM.h"
+#include "BSP/bsp_pb_decode_encode.h"
+#include "bsp_MB_host.h"
+#include "BSP/bsp_include.h"
+#include "BSP/bsp_UART.h"
+#include "BSP/DLTuc.h"
+#include "BSP/bsp_DLT_Log.h"
+#include "BSP/bsp_UDP.h"
+#include "BSP/tcp_server.h"
+#include "BSP/bsp_cpu_flash.h"
+#include "BSP/bsp_qspi_w25q128.h"
+#include "BSP/bsp_UpperComputer_Handler.h"
+#include "BSP/bsp_Error_Detect.h"
+#include "BSP/bsp_MB_host.h"
+
+#include "MSP/msp_JTBATTERY.h"
+
+#include "MSP/msp_Force_Sensor.h"
+#include "MSP/msp_TL720D.h"
+#include "MSP/msp_MK32_1.h"
+#include "MSP/msp_Force_Sensor.h"
+#include "MSP/msp_WH_LTE_7S0.h"
+
+
+#include "paint_gun_action.h"
+#include "fsm_state_control.h"
+#include "change_line_control.h"
+#include "fsm_state.h"
+#include "robot_move_actions.h"
+
+//#include "robot_state.h"
+//FLASH (rx)     : ORIGIN = 0x08020000, LENGTH = 896K
+//#define VECT_TAB_OFFSET         0x00020000U
+
+
+
+
+#define DLTViewer 1
+
+
+extern bool CompareTimer_Delay(int32_t Delay);
+
+extern GV_struct_define GV;
+extern IV_struct_define IV;
+extern  CV_struct_define CV;
+extern PV_struct_define decoded_PV;
+extern PV_struct_define decoded_PV_variable;
+
+typedef struct  sys_timer_handler
+{
+	int start_timer;
+	int sys_current_timer_count;
+	int sys_timer_flag;
+
+}Sys_timer_handler;
+
+extern Sys_timer_handler timer_handler_1;
+extern Sys_timer_handler timer_handler_2;
+extern Sys_timer_handler timer_handler_3;
+extern Sys_timer_handler timer_handler_4;
+
+//first start Timer, then WaitTimer
+extern bool CompareTimer(int32_t DelayMiliSeconds,Sys_timer_handler * timer_handler);
+extern void SystemTimer_Intialize();
+extern void GF_Timer_Count();
+extern void GF_Robot_Init(void);
+extern void GF_Robot_MainLoop(void);
+extern void GF_WatchDog_Loop(void);
+extern int32_t speed_M_min_toE01_M_min(int32_t speedm_min);
+
+ extern void SET_BIT_1(int32_t* num,int32_t k);
+
+ extern void SET_BIT_0(int32_t* num,int32_t k);
+ extern int32_t Get_BIT(int32_t* num,int32_t k);
+
+//A &= ~(1 << bit)
+
+
+
+extern int32_t* SystemErrorCode;
+extern ErrorData* SystemErrorData;
+
+#define IV_Run_Mode_Maunal 0
+#define IV_Run_Mode_Automation 1
+#define IV_Run_Mode_EmergencyStop 2
+#define IV_Run_Mode_Vertical_LaneChange 3
+#define IV_Run_Mode_Horizontal_LaneChange 4
+#define IV_Run_Mode_Forward 5
+#define IV_Run_Mode_BackWard 6
+#define IV_Run_Mode_TurnLeft 7
+#define IV_Run_Mode_TurnRight 8
+#define IV_Run_Mode_HALT 9
+
+//extern LS_MotorParameters* Frames_Motor[4];
+
+
+extern int32_t SystemTimeMiliCount;  //2ms加一
+
+#endif /* INC_BHBF_ROBOT_H_ */

Core/BASE/Inc/BSP/DLTuc.h

@@ -0,0 +1,248 @@
+/**
+ * @file DLTuc.h
+ * @author teodor
+ * @date 1 Jul 2022
+ * @brief This file is a part of DLTuc library
+ *
+ * In this header, you can find types, Api functions, which are provided by DLTuc library
+ * Usefull macros, for convience usage of DLTuc library in logging purposes
+ *
+ * Requirments:
+ * Around ~2kB of RAM
+ * Check Configuration file and defines:
+ * DLT_TRANSMIT_RING_BUFFER_SIZE, DLT_TRANSMIT_MAX_SINGLE_MESSAGE_SIZE
+ *
+ */
+
+#ifndef INC_DLT_LOGS_MCU_H_
+#define INC_DLT_LOGS_MCU_H_
+
+/*
+ * *******************************************************************************************
+ * Includes
+ * *******************************************************************************************
+ * */
+
+#include "stdint.h"
+#include <stdarg.h>
+#include <string.h>
+
+#include "DLTucConfig.h"
+
+/*
+ * *******************************************************************************************
+ * Exported defines
+ * *******************************************************************************************
+ * */
+
+/*@brief 
+ *
+ *  - convert the To strings to uint32_t
+ */
+#define DLT_LOG_ECUID_VALUE	((uint32_t)((((uint32_t) ((uint8_t)DLT_LOG_ECUID[0])) << 24UL) | \
+						 (((uint32_t) ((uint8_t)DLT_LOG_ECUID[1])) << 16UL) | \
+					  (((uint32_t) ((uint8_t)DLT_LOG_ECUID[2])) << 8UL) | \
+				  ((uint32_t)((uint8_t)DLT_LOG_ECUID[3]))))
+
+
+#define DLT_LOG_APPID_VALUE	((uint32_t)((((uint32_t) ((uint8_t)DLT_LOG_APPID[0])) << 24UL) | \
+						 (((uint32_t) ((uint8_t)DLT_LOG_APPID[1])) << 16UL) | \
+					  (((uint32_t) ((uint8_t)DLT_LOG_APPID[2])) << 8UL) | \
+				  ((uint32_t)((uint8_t)DLT_LOG_APPID[3]))))
+
+
+#define DLT_LOG_CONTEX_VALUE	((uint32_t)((((uint32_t) ((uint8_t)DLT_LOG_CONTEX[0])) << 24UL) | \
+						 (((uint32_t) ((uint8_t)DLT_LOG_CONTEX[1])) << 16UL) | \
+					  (((uint32_t) ((uint8_t)DLT_LOG_CONTEX[2])) << 8UL) | \
+				  ((uint32_t)((uint8_t)DLT_LOG_CONTEX[3]))))
+
+
+
+
+/*
+ * Definitions of DLT services.
+ */
+#define DLT_SERVICE_ID_SET_LOG_LEVEL                   0x01 /**< Service ID: Set log level */
+#define DLT_SERVICE_ID_SETRACE_STATUS                  0x02 /**< Service ID: Set trace status */
+#define DLT_SERVICE_ID_GET_LOG_INFO                    0x03 /**< Service ID: Get log info */
+#define DLT_SERVICE_ID_GET_DEFAULT_LOG_LEVEL           0x04 /**< Service ID: Get dafault log level */
+#define DLT_SERVICE_ID_STORE_CONFIG                    0x05 /**< Service ID: Store configuration */
+#define DLT_SERVICE_ID_RESETO_FACTORY_DEFAULT          0x06 /**< Service ID: Reset to factory defaults */
+#define DLT_SERVICE_ID_SET_COM_INTERFACE_STATUS        0x07 /**< Service ID: Set communication interface status */
+#define DLT_SERVICE_ID_SET_COM_INTERFACE_MAX_BANDWIDTH 0x08 /**< Service ID: Set communication interface maximum bandwidth */
+#define DLT_SERVICE_ID_SET_VERBOSE_MODE                0x09 /**< Service ID: Set verbose mode */
+#define DLT_SERVICE_ID_SET_MESSAGE_FILTERING           0x0A /**< Service ID: Set message filtering */
+#define DLT_SERVICE_ID_SETIMING_PACKETS                0x0B /**< Service ID: Set timing packets */
+#define DLT_SERVICE_ID_GET_LOCALIME                    0x0C /**< Service ID: Get local time */
+#define DLT_SERVICE_ID_USE_ECU_ID                      0x0D /**< Service ID: Use ECU id */
+#define DLT_SERVICE_ID_USE_SESSION_ID                  0x0E /**< Service ID: Use session id */
+#define DLT_SERVICE_ID_USEIMESTAMP                     0x0F /**< Service ID: Use timestamp */
+#define DLT_SERVICE_ID_USE_EXTENDED_HEADER             0x10 /**< Service ID: Use extended header */
+#define DLT_SERVICE_ID_SET_DEFAULT_LOG_LEVEL           0x11 /**< Service ID: Set default log level */
+#define DLT_SERVICE_ID_SET_DEFAULTRACE_STATUS          0x12 /**< Service ID: Set default trace status */
+#define DLT_SERVICE_ID_GET_SOFTWARE_VERSION            0x13 /**< Service ID: Get software version */
+#define DLT_SERVICE_ID_MESSAGE_BUFFER_OVERFLOW         0x14 /**< Service ID: Message buffer overflow */
+#define DLT_SERVICE_ID_CALLSW_CINJECTION               0xFFF /**< Service ID: Message Injection (minimal ID) */
+
+/*
+ * *******************************************************************************************
+ * Exported types
+ * *******************************************************************************************
+ * */
+
+/**!
+ * \brief DltLogLevel_t 
+ * \details Typdef used to identify the DLT log level
+ * */
+typedef enum
+{
+	DL_FATAL   =1,
+	DL_ERROR   =2,
+	DL_WARN    =3,
+	DL_INFO    =4,
+	DL_DEBUG   =5,
+	DL_VERBOSE =6,
+}DltLogLevel_t;
+
+
+
+
+
+/*
+ * *******************************************************************************************
+ * Exported function - API
+ * *******************************************************************************************
+ * */
+
+/*!
+ ************************************************************************************************
+ * \brief DLTuc_RawDataReceiveDone
+ * \details OPTIONAL - Use only if you need handle data receive, like Injection messages
+ * Call the function to inform DLTuc that Raw data packet has been received
+ ************************************************************************************************/
+void DLTuc_RawDataReceiveDone(uint16_t Size);
+
+/*!
+ ************************************************************************************************
+ * \brief DLTuc_RegisterReceiveSerialDataFunction
+ * \details OPTIONAL - Use only if you need handle data receive, like Injection messages.
+ * - Register callback function which will be used by DLTuc to start data receive process.
+ * The Callback function is basicly called only after registration and if data packet has been received,
+ * to start again receive data packet
+ * \param in LLSerialRecDataFunctionC ...
+ ************************************************************************************************/
+void DLTuc_RegisterReceiveSerialDataFunction(void LLSerialRecDataFunctionC(uint8_t *DltLogData, uint16_t Size));
+
+/*!
+ ************************************************************************************************
+ * \brief DLTuc_RegisterInjectionDataReceivedCb
+ * \details OPTIONAL - Use only if you need handle data receive, like Injection messages
+ * Register injection data received call back
+ * Use the function if you want register call back function to handle the Injection messages in your application
+ * \param in InjectionDataRcvd ...
+ ************************************************************************************************/
+void DLTuc_RegisterInjectionDataReceivedCb
+		(void InjectionDataRcvd(uint32_t AppId, uint32_t ConId,uint32_t ServId,uint8_t *Data, uint16_t Size));
+
+/*!
+ ************************************************************************************************
+ * \brief DLTuc_RegisterTransmitSerialDataFunction
+ * \details This simple stack/library must be initialized by "DLTuc_RegisterTransmitSerialDataFunction"
+ *          As a parameter must be passed function which will transmit serial data
+ * \param in LLSerialTrDataFunctionC transmit function pointer
+ ************************************************************************************************/
+void DLTuc_RegisterTransmitSerialDataFunction(void LLSerialTrDataFunctionC(uint8_t *DltLogData, uint8_t Size));
+
+/*!
+ ************************************************************************************************
+ * \brief DLTuc_RegisterGetTimeStampMsCallback
+ * \details function to update time stamp in library
+* \param in GetSysTime - pointer to function which allow to read system time in msec
+ *************************************************************************************************/
+void DLTuc_RegisterGetTimeStampMsCallback(uint32_t GetSysTime(void));
+
+
+/*!
+ ************************************************************************************************
+ * \brief DLTuc_MessageTransmitDone
+ * \details IMPORTANT!!!!!
+ *  Call this function when the transsmision is end
+ *  For example in "DMA transmission end callback" to inform the lib that the message is transmitted
+ ************************************************************************************************
+ * */
+void DLTuc_MessageTransmitDone(void);
+
+/*!
+ ************************************************************************************************
+ * \brief DLTuc_LogOutVarArgs
+ * \details default function to create DLT Log
+ * \param DltLogLevel_t Level - of Dlt log
+ * \param in AppId - size of the "DltLogData" (return value)
+ * \param in ContextId - pointer to the message stored in RingBuffer (return value)
+ * \param in Payload String to send as dlt log
+ * \param in ... parameters same as in printf function
+ *************************************************************************************************/
+void DLTuc_LogOutVarArgs(DltLogLevel_t Level, uint32_t AppId, uint32_t ContextId, uint8_t *Payload, ...);
+
+
+/*
+ * *******************************************************************************************
+ * Additional macros to facilitate the use of the library
+ * *******************************************************************************************
+ * */
+
+#ifdef LOGS_ENABLE
+
+/**!
+ * \brief LOGL(level, str, ...)
+ * \details Transmit DltLog using function DLTuc_LogOutVarArgs but user don't have to add
+ * log_level, DLT_LOG_APPID_VALUE and DLT_LOG_CONTEX_VALUE
+ *
+ * */
+#define LOG(str, ...)\
+	if(DL_INFO <= DLT_LOG_ENABLE_LEVEL){\
+		DLTuc_LogOutVarArgs(DL_INFO, DLT_LOG_APPID_VALUE, DLT_LOG_CONTEX_VALUE,(uint8_t *) str, ##__VA_ARGS__);\
+	}
+
+/**!
+ * \brief LOGL(level, str, ...)
+ * \details Transmit DltLog using function DLTuc_LogOutVarArgs but user don't have to add DLT_LOG_APPID_VALUE and DLT_LOG_CONTEX_VALUE
+ *
+ * */
+#define LOGL(log_level, str, ...)\
+	if(log_level <= DLT_LOG_ENABLE_LEVEL){\
+		DLTuc_LogOutVarArgs(log_level, DLT_LOG_APPID_VALUE, DLT_LOG_CONTEX_VALUE,(uint8_t *) str, ##__VA_ARGS__);\
+	}
+
+/**!
+ * @brief LOGF(log_level, str, ...)
+ * \details Transmit DltLog using function DLTuc_LogOutVarArgs but user don't have to add DLT_LOG_APPID_VALUE and DLT_LOG_CONTEX_VALUE
+ * Additionally add the name of the calling function
+ *
+ *
+ * */
+#define LOGF(log_level, str, ...)\
+	if(log_level <= DLT_LOG_ENABLE_LEVEL){\
+		DLTuc_LogOutVarArgs(log_level, DLT_LOG_APPID_VALUE, DLT_LOG_CONTEX_VALUE,(uint8_t *) "FUN:%s LOG: "str, __FUNCTION__,##__VA_ARGS__);\
+	}
+
+/**!
+ * \brief LOGFF(log_level, str, ...)
+ * \details Transmit DltLog using function DLTuc_LogOutVarArgs but user don't have to add DLT_LOG_APPID_VALUE and DLT_LOG_CONTEX_VALUE
+ * Additionally add the name of the calling function and file name
+ *
+ *
+ * */
+#define LOGFF(log_level, str, ...)\
+	if(log_level <= DLT_LOG_ENABLE_LEVEL){\
+		DLTuc_LogOutVarArgs(log_level, DLT_LOG_APPID_VALUE, DLT_LOG_CONTEX_VALUE,(uint8_t *)"FILE:%s LINE: %d FUN:%s LOG: "str,__FILE__,__LINE__,__FUNCTION__,##__VA_ARGS__);\
+	}
+
+#else
+LOG(str, ...)
+LOGL(log_level, str, ...)
+LOGF(log_level, str, ...)
+LOGFF(log_level, str, ...)
+#endif
+
+#endif /* INC_DLT_LOGS_MCU_H_ */

Core/BASE/Inc/BSP/DLTucConfig.h

@@ -0,0 +1,74 @@
+/**
+ * @file DLTuc.c
+ * @author teodor
+ * @date 1 Jul 2022
+ * @brief This file is a part of DLTuc library
+ *
+ * In this header file is placed DLTuc configuration template
+ *
+ */
+
+#if 1 /*Set it to "1" to enable content*/
+
+#ifndef __DLT_CONFIG__
+
+/*Comment this line to turn off all logs..*/
+#define LOGS_ENABLE 
+
+/*Pass here the entry critical entry function for your RTOS or
+  Interrupt block functions if you want use the library from diffrent context*/
+#define DLTuc_OS_CRITICAL_START()
+#define DLTuc_OS_CRITICAL_END()
+
+
+/*Default minimum log level to transmit the log*/
+//#ifndef DLT_LOG_ENABLE_LEVEL
+////#define DLT_LOG_ENABLE_LEVEL     DL_VERBOSE
+// #define DLT_LOG_ENABLE_LEVEL     0
+//#endif
+
+extern char DLT_LOG_ENABLE_LEVEL;
+
+
+/**!
+* \brief DLT_LOG_CONTEX
+* \details to define the minimum level log which will printed using the debug macros
+*
+*/
+#ifndef DLT_LOG_CONTEX
+#define DLT_LOG_CONTEX      "DFLT"
+#endif
+
+/**!
+* \brief DLT_LOG_APPID
+* \details to define the minimum level log which will printed using the debug macros
+*
+*/
+#ifndef DLT_LOG_APPID
+#define DLT_LOG_APPID      "0000"
+#endif
+
+/**!
+* \brief DLT_LOG_ECUID
+* \details you can define here you ECUID ..
+*
+*/
+#define DLT_LOG_ECUID           "uCID" /*Electronic Controller Unit ID*/
+
+#define DLT_ECU_SW_VER          0001
+
+/*
+*@brief DLT_TRANSMIT_MAX_SINGLE_MESSAGE_SIZE & DLT_TRANSMIT_RING_BUFFER_SIZE
+* these values define the size of the circular buffer and the maximum size of a single DLT message
+* Size of out Circular DLT messages buffer is equal: DLT_TRANSMIT_MAX_SINGLE_MESSAGE_SIZE*DLT_TRANSMIT_RING_BUFFER_SIZE
+*/
+#define DLT_TRANSMIT_MAX_SINGLE_MESSAGE_SIZE 255
+#define DLT_TRANSMIT_RING_BUFFER_SIZE 15
+
+
+#define DLT_REC_SINGLE_MESSAGE_MAX_SIZE      255
+#define DLT_RECEIVE_RING_BUFFER_SIZE     2
+
+#endif  //__DLT_CONFIG__
+
+#endif //Content enable

Core/BASE/Inc/BSP/bsp_DLT_Log.h

@@ -0,0 +1,16 @@
+/*
+ * bsp_DLT_Log.h
+ *
+ *  Created on: Aug 8, 2024
+ *      Author: akeguo
+ */
+
+#ifndef INC_BSP_BSP_DLT_LOG_H_
+#define INC_BSP_BSP_DLT_LOG_H_
+
+#include "BHBF_ROBOT.h"
+
+
+extern void dLT_Log_intialize(struct UARTHandler *Handler);
+extern void dLT_Log_intialize_udp_tcp();
+#endif /* INC_BSP_BSP_DLT_LOG_H_ */

Core/BASE/Inc/BSP/bsp_EEPROM.h

@@ -0,0 +1,73 @@
+/*
+ * bsp_EEPROM.h
+ *
+ *  Created on: Oct 26, 2023
+ *      Author: shiya
+ */
+
+#ifndef INC_BSP_EEPROM_H_
+#define INC_BSP_EEPROM_H_
+
+
+
+
+#include "bsp_include.h"
+#include "bsp_CV.pb.h"
+#include "bsp_IAP.pb.h"
+
+
+#define EEPROM_WP_Pin GPIO_PIN_11
+#define EEPROM_WP_GPIO_Port GPIOE
+#define EEPROM_SCL_Pin GPIO_PIN_12
+#define EEPROM_SCL_GPIO_Port GPIOE
+#define EEPROM_SDA_Pin GPIO_PIN_13
+#define EEPROM_SDA_GPIO_Port GPIOE
+
+#define AT24C512
+#ifdef AT24C512
+#define EE_MODEL_NAME		"AT24C512"
+#define EE_DEV_ADDR			0xA0		/* 设备地址 */
+#define EE_PAGE_SIZE		128			/* 页面大小(字节) */
+#define EE_SIZE				(512*128)	/* 总容量(字节) */ // not used in this progrm
+#define EE_ADDR_BYTES		2			/* 地址字节个数 */
+#endif
+
+#define I2C_WR	0		/* 写控制bit */
+#define I2C_RD	1		/* 读控制bit */
+
+//////////////////////////////////////////////////////////////////
+//there are 12M eeprom in total, and the code download Address is App_Download_EEPROM_Addr
+//512 Pages x 128 Bytes = 65536 Bytes = 512 kbits
+
+
+#define GF_BSP_EEPROM_CV_struct_define_Start_Address 0
+#define IAP_struct_define_Start_Address 512
+
+extern uint16_t App_Download_EEPROM_Addr;
+
+//返回值：：1-正常；0-错误
+uint8_t GF_BSP_EEPROM_Init(void);
+
+uint8_t GF_BSP_EEPROM_CheckOK(void);
+uint8_t GF_BSP_EEPROM_ReadBytes(uint8_t *_pReadBuf, uint16_t _usAddress,
+		uint16_t _usSize);
+uint8_t GF_BSP_EEPROM_WriteBytes(uint8_t *_pWriteBuf, uint16_t _usAddress,
+		uint16_t _usSize);
+
+
+
+
+CV_struct_define GF_BSP_EEPROM_Get_CV(void);
+uint8_t GF_BSP_EEPROM_Set_CV(CV_struct_define cv);
+
+IAP_struct_define GF_BSP_EEPROM_Get_IAP(void);
+uint8_t GF_BSP_EEPROM_Set_IAP(IAP_struct_define iap);
+
+
+
+PV_struct_define GF_BSP_EEPROM_Get_PV(void);
+
+uint8_t GF_BSP_EEPROM_Set_PV(PV_struct_define pv);
+
+
+#endif /* INC_BSP_EEPROM_H_ */

Core/BASE/Inc/BSP/bsp_Error_Detect.h

@@ -0,0 +1,25 @@
+/*
+ * bsp_Error_Detect.h
+ *
+ *  Created on: Oct 23, 2024
+ *      Author: akeguo
+ */
+
+#ifndef INC_BSP_BSP_ERROR_DETECT_H_
+#define INC_BSP_BSP_ERROR_DETECT_H_
+
+
+/* Includes ------------------------------------------------------------------*/
+#include "BHBF_ROBOT.h"
+#include "bsp_com_helper.h"
+#include "BSP/bsp_include.h"
+/* Exported types ------------------------------------------------------------*/
+/* Exported constants --------------------------------------------------------*/
+/* Exported macro ------------------------------------------------------------*/
+extern HardWareController *HardWareErrorController;
+/* Exported functions ------------------------------------------------------- */
+extern char Error_Detect_Enable;
+extern void Error_Detect_Intialzie(uint16_t DispacherPeriod);
+
+
+#endif /* INC_BSP_BSP_ERROR_DETECT_H_ */

Core/BASE/Inc/BSP/bsp_FDCAN.h

@@ -0,0 +1,84 @@
+/*
+ * bsp_FDCAN.h
+ *
+ *  Created on: Oct 26, 2023
+ *      Author: shiya
+ */
+
+#ifndef INC_BSP_FDCAN_H_
+#define INC_BSP_FDCAN_H_
+#include "bsp_Error.pb.h"
+#include "bsp_com_helper.h"
+uint8_t GF_BSP_FDCAN_Init(void);
+
+void GF_BSP_FDCAN_Senddata(uint8_t FDCAN_CH, uint32_t FrameID,
+		uint8_t DataLength, uint8_t *Txdata);
+
+extern uint8_t CAN_Buf[8];
+
+extern uint8_t CAN_Buf[8];
+extern uint8_t CAN_Buf_2[8];
+typedef struct _CANSendHandler
+{
+	uint32_t CAN_ID;
+	uint32_t SendListTimePeriod;
+	uint8_t SendLength;
+	uint8_t Tx_Buf[8];
+	void (*CAN_Decode)(uint32_t, uint8_t*, uint32_t);
+	struct _CANSendHandler *pNext;
+} CANSendHandler;
+
+typedef struct _FDCANHandler
+{
+
+	FDCAN_HandleTypeDef *canfd; //CAN to use
+	struct _DispacherController *dispacherController;
+
+
+	uint8_t timeSpan;
+
+	uint8_t SendListExists;
+	uint32_t SendList_Period; //时间ms
+	uint32_t SendList_time_Count;
+
+	CANSendHandler *pCurrentCANSendHadler; //
+	void (*AddCANSendList)(struct _FDCANHandler*, uint32_t, uint8_t, uint8_t*,uint32_t,//这里是修改等待时间
+			void (*CAN_Decode)(uint32_t, uint8_t*, uint32_t));
+//void CANHandlerAddTxList(FDCANHandler *handler, uint32_t CAN_ID,uint8_t SendLength, uint8_t *Tx_Buf,uint32_t sendListTimePeriod,void (*CAN_Decode)(uint32_t, uint8_t*, uint32_t)) //参数其实就是一组can数据 在FDHandler添加东西
+	void (*CAN_Decode)(uint32_t, uint8_t*, uint32_t); // decode can frame, received from other devices
+
+	void (*CAN_Send)(struct _FDCANHandler*, uint32_t, uint8_t, uint8_t*);
+	void (*CAN_Send_Data)(struct _FDCANHandler*);
+	//(uint8_t FDCAN_CH, uint32_t FrameID,uint8_t DataLength, uint8_t *Txdata)
+	uint8_t Rx_Buf[128]; //接收缓冲
+	uint8_t Tx_Buf[128]; //发送缓冲
+	uint32_t ReceivedLength;//接收长度
+	uint32_t SendLength;   //发送长度
+	uint32_t ReceivedFrameID; //接收帧ID
+	uint32_t SendFrameID;  //发送帧ID
+
+} FDCANHandler;
+
+extern FDCANHandler FD_CAN_1_Handler;
+extern FDCANHandler FD_CAN_2_Handler;
+void GF_BSP_CAN_Timer();
+void CAN_Send_t(struct _FDCANHandler *fd, uint32_t FrameID, uint8_t DataLength,
+		uint8_t *Txdata);
+void CAN_Send_Data_t(struct _FDCANHandler *fd);
+
+void GF_CAN_Send_List_Send(FDCANHandler *handler);
+void CANHandlerAddTxList(FDCANHandler *handler, uint32_t CAN_ID,
+		uint8_t SendLength, uint8_t *Tx_Buf,uint32_t sendListTimePeriod,
+		void (*CAN_Decode)(uint32_t, uint8_t*, uint32_t));
+void GF_BSP_CANHandler_Init(int can1_sendListPeriod, int can1_DispacherPeriod,
+		int can2_sendListPeriod, int can2_DispacherPeriod);
+void GF_BSP_CANHandler_Init_CAN(FDCANHandler *handler,
+		FDCAN_HandleTypeDef *canfd, int sendListPeriod, int DispacherPeriod);
+
+void DecodeMotorCAN(uint32_t canID, uint8_t *buffer, uint32_t length);
+
+extern FDCANHandler FD_CAN_1_Handler;
+extern FDCANHandler FD_CAN_2_Handler;
+extern int32_t CAN_ID;
+extern int32_t CAN_ID_2;
+#endif /* INC_BSP_FDCAN_H_ */

Core/BASE/Inc/BSP/bsp_GPIO.h

@@ -0,0 +1,18 @@
+/*
+ * bsp_GPIO.h
+ *
+ *  Created on: Oct 26, 2023
+ *      Author: shiya
+ */
+
+#ifndef INC_BSP_GPIO_H_
+#define INC_BSP_GPIO_H_
+
+#include "bsp_include.h"
+
+uint8_t GF_BSP_GPIO_Init(void);
+void GF_BSP_GPIO_SetIO(uint8_t IO_Index,uint8_t Level);
+uint8_t GF_BSP_GPIO_ReadIO(uint8_t IO_Index);
+uint8_t GF_BSP_GPIO_ToggleIO(uint8_t IO_Index);
+
+#endif /* INC_BSP_GPIO_H_ */

Core/BASE/Inc/BSP/bsp_MB_host.h

@@ -0,0 +1,50 @@
+#ifndef __BSP_MB_HOST_H__
+#define __BSP_MB_HOST_H__
+
+/* 包含头文件 ----------------------------------------------------------------*/
+
+/* 类型定义 ------------------------------------------------------------------*/
+
+/* 宏定义 --------------------------------------------------------------------*/
+#define MB_SLAVEADDR        0x0001 //从机地址
+#define MB_REG_ADDR         0 //寄存器地址（离散、线圈）
+#define HoldingReg          0 //保持寄存器
+#define InputRegReg         0x0020 //输入寄存器
+#include "bsp_include.h"
+#include "BSP/bsp_UART.h"
+
+/* 扩展变量 ------------------------------------------------------------------*/
+ typedef struct
+{
+
+	uint16_t DATA_01H;
+	uint16_t DATA_02H;
+	uint16_t DATA_03H;
+
+	uint16_t DATA_04H;
+	uint16_t DATA_05H;
+	uint16_t DATA_06H;
+	uint8_t DATA_10H[64];
+
+}MB_REG_DATA;
+
+//;
+extern uint8_t MB_rx_flag;
+extern uint16_t Read_Reg_Num;
+
+/* 函数声明 ------------------------------------------------------------------*/
+uint16_t MB_CRC16(uint8_t *pushMsg, uint16_t usDataLen);
+void MB_ReadCoil(uint8_t* Tx_Buf,uint8_t* TxCount_t,uint8_t _addr, uint16_t _reg, uint16_t _num);
+void MB_WriteCoil(uint8_t* Tx_Buf,uint8_t* TxCount_t,uint8_t _addr, uint16_t _reg, uint16_t _sta);
+void MB_ReadInput(uint8_t* Tx_Buf,uint8_t* TxCount_t,uint8_t _addr, uint16_t _reg, uint16_t _num);
+void MB_ReadHoldingReg(uint8_t* Tx_Buf,uint8_t* TxCount_t,uint8_t _addr, uint16_t _reg, uint16_t _num);
+void MB_ReadInputReg(uint8_t* Tx_Buf,uint8_t* TxCount_t,uint8_t _addr, uint16_t _reg, uint16_t _num);
+void MB_WriteHoldingReg(uint8_t* Tx_Buf,uint8_t* TxCount_t,uint8_t _addr, uint16_t _reg, uint16_t _data);
+//void MB_WriteNumHoldingReg(uint8_t* Tx_Buf,uint8_t* TxCount_t,uint8_t _addr, uint16_t _reg, uint16_t _num,uint8_t *_databuf)
+void MB_WriteNumHoldingReg(uint8_t* Tx_Buf,uint8_t* TxCount_t,uint8_t _addr, uint16_t _reg, uint16_t _num,uint8_t *_databuf);
+void MB_WriteNumCoil(uint8_t *Tx_Buf, uint8_t *TxCount_t, uint8_t _addr,
+		uint16_t _reg, uint16_t _num, uint8_t *_databuf);
+
+#endif /* __BSP_MB_HOST_H__ */
+
+/******************* (C) COPYRIGHT 2015-2020 硬石嵌入式开发团队 *****END OF FILE****/

Core/BASE/Inc/BSP/bsp_TIMER.h

@@ -0,0 +1,17 @@
+/*
+ * bsp_TIMER.h
+ *
+ *  Created on: Oct 26, 2023
+ *      Author: shiya
+ */
+
+#ifndef INC_BSP_TIMER_H_
+#define INC_BSP_TIMER_H_
+
+#include "bsp_include.h"
+
+uint8_t GF_BSP_TIMER_Init(void);
+void GF_BSP_TIMER_DelayUS(uint32_t n);
+
+
+#endif /* INC_BSP_TIMER_H_ */

Core/BASE/Inc/BSP/bsp_UART.h

@@ -0,0 +1,128 @@
+
+
+#ifndef INC_BSP_UART_H_
+#define INC_BSP_UART_H_
+
+#include "BSP/bsp_include.h"
+#include "main.h"
+#include "bsp_Error.pb.h"
+#define UART_Transmit_MAX_NUM 1024
+#define UART_Receive_MAX_NUM 100
+
+extern struct UARTHandler RS_485_1_UART_Handler;
+extern struct UARTHandler RS_485_2_UART_Handler;
+extern struct UARTHandler RS_485_3_UART_Handler;
+extern struct UARTHandler RS_485_4_UART_Handler;
+extern struct UARTHandler InterCall_DEBUG_UART_Handler;
+extern struct UARTHandler E28_SBUS_UART_Handler;
+extern struct UARTHandler LTE_7S0_Serial_UART_Handler;
+
+
+
+#if defined (hlpuart1Exit)
+	extern struct UARTHandler LPUART1_UART_Handler;
+
+#endif
+
+uint8_t GF_BSP_UART_Init(void);
+
+void GF_BSP_UARTHandlers_Intialize(
+		int32_t RS485_1_WaitTime,
+		int32_t RS485_2_WaitTime,
+		int32_t RS485_3_WaitTime,
+		int32_t RS485_4_WaitTime,
+		int32_t LTE_7S0_Serial_WaitTime,
+		int32_t InterCall_DEBUG_WaitTime,
+		int32_t E28_SBUS_WaitTime,
+		int32_t LPUART1_UART_WaitTime,
+		int32_t RS485_1_Dispacher_Time,
+		int32_t RS485_2_Dispacher_Time,
+		int32_t RS485_3_Dispacher_Time,
+		int32_t RS485_4_Dispacher_Time,
+		int32_t LTE_7S0_Serial_Dispacher_Time,
+		int32_t InterCall_DEBUG_Dispacher_Time,
+		int32_t E28_SBUS_Dispacher_Time,
+		int32_t LPUART1_UART_Dispacher_Time
+);
+
+//串行发送完成后才能发送第二帧数据，没有做缓冲，如未发送完成，第二次发送无效，丢弃发送数据
+void GF_BSP_UART_Transmit(const uint8_t RS485_Index,const uint8_t *pData, uint16_t Size);
+
+
+
+
+typedef struct  UARTSendHandler
+{
+	uint16_t SendLength;
+	uint16_t SendListTimePeriod;
+	uint8_t Tx_Buf[502];
+	void (*UART_Decode)(uint8_t*, uint16_t);  // 发送缓存
+	struct UARTSendHandler* pNext;
+}UARTSendHandler;
+
+
+struct UARTHandler
+{
+	char startCountFlag; //indicate that to start counting
+	char send_finished;//indicate decode finished or not
+	char decode_finished;//indicate decode finished or not
+	uint8_t tmp_Rx_Buf[2]; // temporary data to store received data
+
+	uint32_t Wait_time; // the time to wait
+	//uint32_t Send_time;
+	//uint32_t count;
+	uint32_t Wait_Time_Count;
+	uint32_t SendList_time_Count;
+
+	uint32_t SendList_Period;
+	uint8_t SendListExists;
+
+	UART_HandleTypeDef* uart; //UART to use
+	unsigned char timeSpan; // timer elapsed time
+	uint8_t Rx_Buf[2048];            // 接收缓存,最大256字节
+	uint8_t Tx_Buf[2048];            //发送缓存 157,864
+	uint16_t TxCount;
+
+	uint16_t RxCount;
+
+
+	//(UART_HandleTypeDef *huart, const uint8_t *pData, uint16_t Size)
+	void (*UART_Tx)(struct UARTHandler*); //void UART_Tx(uint8_t *Tx_Buf,uint16_t TxCount);
+	void (*UART_Rx)(struct UARTHandler*);
+	void (*UART_Decode)(uint8_t*, uint16_t);            //Decode Rx_Buf
+	UARTSendHandler *pCurrentUARTSendHadler; //
+	void (*AddSendList)(struct UARTHandler*, uint8_t*, uint16_t,uint32_t,//这里是修改等待时间
+			void (*UART_Decode)(uint8_t*, uint16_t));
+
+
+
+	struct _DispacherController *dispacherController;
+
+//	//got a dispacher alone
+//	Dispatcher *pHead;// = NULL; //环形链表中的数据头指针
+//	Dispatcher *pTail;// = NULL; //环形链表中的数据尾指针
+//	uint16_t DispacherNumber;// = 0;
+//
+//	uint16_t DispacherCallPeriod; //= 100; //2ms 一次，
+//
+//	uint16_t Dispacher_Counter;// = 0;
+//	uint16_t Dispacher_Enable;// = 0;
+//    void(*Add_Dispatcher_List)(struct UARTHandler *uartHandler,void (*dispache)(void));//UART的调度程序
+//    void(*Dispatcher_Run)(struct UARTHandler *uartHandler);//UART的调度程序
+
+
+
+
+};
+
+void UARTHandlerTx(struct UARTHandler *uartHandler);
+void UARTHandlerRX(struct UARTHandler *uartHandler);
+//void IntializeUARTHandler(struct UARTHandler *uartHandler, UART_HandleTypeDef uart,int32_t WaitTime,unsigned char timeSpan);
+void Counting(struct UARTHandler *uartHandler);
+
+
+void IntializeUARTHandler(struct UARTHandler *uartHandler,
+		UART_HandleTypeDef *uart, int32_t WaitTime, unsigned char timeSpan,int32_t Dispacher_Time);
+void GF_BSP_UART_Timer();
+
+#endif /* INC_BSP_UART_H_ */

Core/BASE/Inc/BSP/bsp_UDP.h

@@ -0,0 +1,23 @@
+/*
+ * bsp_UDP.h
+ *
+ *  Created on: Aug 13, 2024
+ *      Author: akeguo
+ */
+
+#ifndef INC_BSP_BSP_UDP_H_
+#define INC_BSP_BSP_UDP_H_
+
+void udp_client_init(void);
+
+
+void udp_dlt_send_back(char *pData,uint16_t Size);
+void udp_cmd_send_back(char *pData, uint16_t Size);
+
+typedef void (*DLT_DecodeFuncPtr)(uint8_t*, uint16_t);
+void udp_send_by_pcb(struct udp_pcb * upcb,char *pData, uint16_t Size);
+// 再用该类型声明变量
+extern DLT_DecodeFuncPtr UDP_DLT_ReceivedCallback;
+extern int8_t is_udp_GV_update_loop_enalbed;
+
+#endif /* INC_BSP_BSP_UDP_H_ */

Core/BASE/Inc/BSP/bsp_UpperComputer_Handler.h

@@ -0,0 +1,27 @@
+/*
+ * bsp_desulfurizer_handler.h
+ *
+ *  Created on: Jul 29, 2024
+ *      Author: akeguo
+ */
+
+#ifndef INC_BSP_BSP_UPPERCOMPUTER_HANDLER_H_
+#define INC_BSP_BSP_UPPERCOMPUTER_HANDLER_H_
+#include <stdio.h>
+#include <string.h>
+#include "bsp_MB_host.h"
+#include "stdio.h"
+#include "BSP/bsp_UART.h"
+#include "usart.h"
+#include "gpio.h"
+
+
+extern struct UARTHandler *desulfurizer_message_UART_Handler;
+void upper_Computer_UART_Handler_intialize(struct UARTHandler *Handler);
+
+void decode_command_from_computer(uint8_t *buffer, uint16_t length);
+
+
+void send_data_to_upper_computer(double Angle, double WireLength,
+		double Thickness, char IsFittingPoint,char isMqtt,struct UARTHandler *send_UART_Handler);
+#endif /* INC_BSP_BSP_UPPERCOMPUTER_HANDLER_H_ */

Core/BASE/Inc/BSP/bsp_client_setting.h

@@ -0,0 +1,13 @@
+/*
+ * bsp_pv_setting.h
+ *
+ *  Created on: Jan 8, 2025
+ *      Author: akeguo
+ */
+
+#ifndef INC_BSP_BSP_CLIENT_SETTING_H_
+#define INC_BSP_BSP_CLIENT_SETTING_H_
+#include "BHBF_ROBOT.h"
+
+void client_setting_intialize(struct UARTHandler *Handler);
+#endif /* INC_BSP_BSP_CLIENT_SETTING_H_ */

Core/BASE/Inc/BSP/bsp_com_helper.h

@@ -0,0 +1,82 @@
+/*
+ * bsp_com_helper.h
+ *
+ *  Created on: Oct 9, 2024
+ *      Author: akeguo
+ */
+
+#ifndef INC_BSP_BSP_COM_HELPER_H_
+#define INC_BSP_BSP_COM_HELPER_H_
+#include "bsp_include.h"
+
+
+typedef struct _Dispatcher
+{
+	//uint8_t IsDeleted;
+	void (*dispache)(void);
+
+	//struct _Dispatcher* pBefore;
+	struct _Dispatcher* pNext;
+}Dispatcher;
+
+
+//通讯链表节点结构体
+typedef struct _ComHardWare
+{
+	//void (*dispache)(void);
+	char Name[50];
+	char IsOnline;
+	uint32_t BitFlag;
+	struct _ComHardWare* pNext;
+}ComHardWare;
+
+
+
+
+
+typedef struct _DispacherController
+{
+	Dispatcher *pHead; // = NULL; //环形链表中的数据头指针
+	Dispatcher *pTail; // = NULL; //环形链表中的数据尾指针
+	uint16_t DispacherNumber; // = 0;
+	uint16_t DispacherCallTime; //
+	uint16_t Dispacher_Counter; // = 0;
+	uint16_t Dispacher_Enable; // = 0 disable 1 enable
+	void (*Add_Dispatcher_List)(struct _DispacherController* ,
+			void (*dispacher)(void)); //UART的调度程序
+	void (*Dispatcher_Run)(struct _DispacherController* ); //UART的调度程序
+
+}DispacherController;
+
+typedef struct _HardWareController
+{
+	  struct _ComHardWare *pComHWHead;
+	  struct _ComHardWare *pComHWTail;
+	uint16_t HardWare_Check_Counter;
+	uint16_t DispacherCallTime; //= 100; //2ms 一次，
+	void (*Add_PCOMHardWare)(struct _HardWareController *, char* , char ,uint32_t);
+	void (*PCOMHardWare_Check)(struct _HardWareController *);
+	int (*Set_PCOMHardWare)(struct _HardWareController *, char* , char );
+
+
+} HardWareController;
+
+
+
+
+ void Dispatch_t(DispacherController *uartHandler);
+
+void Dispatcher_List_Add_t(DispacherController *uartHandler,void (*dispache)(void));
+// void Dispatcher_List_Add_t(DispacherController *uartHandler,
+// 		void (*dispache)(void),void (*Decode)(uint8_t*, uint16_t));
+// void ComHardWare_List_Add_t(HardWareController *uartHandler, char *name,char value);
+
+ void PCOMHardWare_Check_t(HardWareController *uartHandler);
+
+int Set_PCOMHardWare_t(HardWareController *uartHandler, char *name, char value);
+
+void ComHardWare_List_Add_t(HardWareController *uartHandler, char *name,
+		char value,uint32_t bitFlag);
+
+
+#endif /* INC_BSP_BSP_COM_HELPER_H_ */

Core/BASE/Inc/BSP/bsp_cpu_flash.h

@@ -0,0 +1,66 @@
+/*
+ * bsp_cpu_flash.h
+ *
+ *  Created on: Aug 28, 2024
+ *      Author: akeguo
+ */
+
+#ifndef SRC_BSP_BSP_CPU_FLASH_H_
+#define SRC_BSP_BSP_CPU_FLASH_H_
+
+#include "main.h"
+
+#include <bsp_qspi_w25q128.h>
+#include "quadspi.h"
+
+#define ENABLE_INT()	__set_PRIMASK(0)	/* 使能全局中断 */
+#define DISABLE_INT()	__set_PRIMASK(1)	/* 禁止全局中断 */
+
+
+#define CPU_FLASH_BASE_ADDR      (uint32_t)(FLASH_BASE)		/* 0x08000000 */
+#define CPU_FLASH_END_ADDR       (uint32_t)(0x081FFFFF)
+
+#define CPU_FLASH_SIZE       	(2 * 1024 * 1024)	/* FLASH总容量 */
+#define CPU_FLASH_SECTOR_SIZE	(128 * 1024)		/* 扇区大小，字节 */
+
+/* Base address of the Flash sectors Bank 1 */
+#define ADDR_FLASH_SECTOR_0_BANK1     ((uint32_t)0x08000000) /* Base @ of Sector 0, 128 Kbytes */
+#define ADDR_FLASH_SECTOR_1_BANK1     ((uint32_t)0x08020000) /* Base @ of Sector 1, 128 Kbytes */
+#define ADDR_FLASH_SECTOR_2_BANK1     ((uint32_t)0x08040000) /* Base @ of Sector 2, 128 Kbytes */
+#define ADDR_FLASH_SECTOR_3_BANK1     ((uint32_t)0x08060000) /* Base @ of Sector 3, 128 Kbytes */
+#define ADDR_FLASH_SECTOR_4_BANK1     ((uint32_t)0x08080000) /* Base @ of Sector 4, 128 Kbytes */
+#define ADDR_FLASH_SECTOR_5_BANK1     ((uint32_t)0x080A0000) /* Base @ of Sector 5, 128 Kbytes */
+#define ADDR_FLASH_SECTOR_6_BANK1     ((uint32_t)0x080C0000) /* Base @ of Sector 6, 128 Kbytes */
+#define ADDR_FLASH_SECTOR_7_BANK1     ((uint32_t)0x080E0000) /* Base @ of Sector 7, 128 Kbytes */
+
+/* Base address of the Flash sectors Bank 2 */
+#define ADDR_FLASH_SECTOR_0_BANK2     ((uint32_t)0x08100000) /* Base @ of Sector 0, 128 Kbytes */
+#define ADDR_FLASH_SECTOR_1_BANK2     ((uint32_t)0x08120000) /* Base @ of Sector 1, 128 Kbytes */
+#define ADDR_FLASH_SECTOR_2_BANK2     ((uint32_t)0x08140000) /* Base @ of Sector 2, 128 Kbytes */
+#define ADDR_FLASH_SECTOR_3_BANK2     ((uint32_t)0x08160000) /* Base @ of Sector 3, 128 Kbytes */
+#define ADDR_FLASH_SECTOR_4_BANK2     ((uint32_t)0x08180000) /* Base @ of Sector 4, 128 Kbytes */
+#define ADDR_FLASH_SECTOR_5_BANK2     ((uint32_t)0x081A0000) /* Base @ of Sector 5, 128 Kbytes */
+#define ADDR_FLASH_SECTOR_6_BANK2     ((uint32_t)0x081C0000) /* Base @ of Sector 6, 128 Kbytes */
+#define ADDR_FLASH_SECTOR_7_BANK2     ((uint32_t)0x081E0000) /* Base @ of Sector 7, 128 Kbytes */
+
+#define FLASH_IS_EQU		0   /* Flash内容和待写入的数据相等，不需要擦除和写操作 */
+#define FLASH_REQ_WRITE		1	/* Flash不需要擦除，直接写 */
+#define FLASH_REQ_ERASE		2	/* Flash需要先擦除,再写 */
+#define FLASH_PARAM_ERR		3	/* 函数参数错误 */
+
+
+#define App_Start_Addr     0x08000000
+#define App_Run_Addr       0x08020000
+#define App_Download_Addr  0x08080000  // ADDR_FLASH_SECTOR_4_BANK1
+
+
+
+uint8_t bsp_ReadCpuFlash(uint32_t _ulFlashAddr, uint8_t *_ucpDst, uint32_t _ulSize);
+uint8_t bsp_WriteCpuFlash(uint32_t _ulFlashAddr, uint8_t *_ucpSrc, uint32_t _ulSize);
+uint8_t bsp_CmpCpuFlash(uint32_t _ulFlashAddr, uint8_t *_ucpBuf, uint32_t _ulSize);
+void JumpToApp(void);
+void Copy_Peripheral_Download_Flash_to_App_Start(uint32_t totalBytes);
+uint8_t bsp_EraseCpuFlash(uint32_t _ulFlashAddr);
+void Erase_App_Download_Flash_Addr();
+void Copy_Download_Flash_to_Start();
+#endif /* SRC_BSP_BSP_CPU_FLASH_H_ */

Core/BASE/Inc/BSP/bsp_decode_command.h

@@ -0,0 +1,39 @@
+/*
+ * bsp_decode_command.h
+ *
+ *  Created on: Sep 24, 2024
+ *      Author: akeguo
+ */
+
+#ifndef INC_BSP_BSP_DECODE_COMMAND_H_
+#define INC_BSP_BSP_DECODE_COMMAND_H_
+#include "main.h"
+#include "msp_WH_LTE_7S0.h"
+
+#include "pb_decode.h"
+#include "pb_encode.h"
+#include "bsp_include.h"
+#include "pb.h"
+
+#include "bsp_Cmd.pb.h"
+#include <stdio.h>
+#include <stdbool.h>
+#include <stdlib.h>
+
+#include "BHBF_ROBOT.h"
+#include "bsp_cpu_flash.h"
+#include <bsp_qspi_w25q128.h>
+#include <bsp_UpperComputer_Handler.h>
+#include "bsp_ReCmd.pb.h"
+#include "bsp_IV.pb.h"
+
+void send_received_data_to_upper_computer(uint8_t *buffer, uint16_t length);
+void decode_command_and_feedback(uint8_t *buffer, uint16_t length, char sendWay,
+		struct UARTHandler *send_Handler);
+
+extern void WrapInCmdAndSend(ReCmd send_Cmd, uint8_t *buf, int8_t sendWay,struct UARTHandler *send_Handler);
+
+
+extern void WrapInCmdAndSendMessage(ReCmd send_Cmd,int8_t functionNum,int8_t isSuccess, uint8_t *buf, int8_t sendWay,
+		struct UARTHandler *send_Handler);
+#endif /* INC_BSP_BSP_DECODE_COMMAND_H_ */

Core/BASE/Inc/BSP/bsp_include.h

@@ -0,0 +1,57 @@
+/*
+ * bsp_include.h
+ *
+ *  Created on: Oct 26, 2023
+ *      Author: shiya
+ */
+
+#ifndef INC_BSP_INCLUDE_H_
+#define INC_BSP_INCLUDE_H_
+
+#include "main.h"
+#include "dma.h"
+#include "fdcan.h"
+#include "i2c.h"
+#include "tim.h"
+#include "usart.h"
+#include "gpio.h"
+
+#include "bsp_EEPROM.h"
+#include "bsp_GPIO.h"
+#include "bsp_FDCAN.h"
+
+#include "bsp_TIMER.h"
+#include "bsp_PV.pb.h"
+
+#include "bsp_GV.pb.h"
+#include "bsp_CV.pb.h"
+#include "pb.h"
+#include "pb_decode.h"
+#include "pb_common.h"
+#include "DLTuc.h"
+//一个中断回调函数支持多少个回调函数链接
+#define DF_BSP_InterCall_Num 20
+
+//一共支持多少种中断函数
+#define DF_BSP_InterCall_Type_Num 11
+
+enum DF_BSP_InterCall_Type
+{
+	DF_BSP_InterCall_FDCAN1_RxFifo0Callback = 0,
+	DF_BSP_InterCall_FDCAN2_RxFifo0Callback,
+	DF_BSP_InterCall_RS485_1_RxCpltCallback,
+	DF_BSP_InterCall_RS485_2_RxCpltCallback,
+	DF_BSP_InterCall_RS485_3_RxCpltCallback,
+	DF_BSP_InterCall_RS485_4_RxCpltCallback,
+	DF_BSP_InterCall_DEBUG_RxCpltCallback,
+	DF_BSP_InterCall_E22_Serial_RxCpltCallback,
+	DF_BSP_InterCall_E28_SBUS_RxFifo0Callback,
+	DF_BSP_InterCall_TIM1_100ms_PeriodElapsedCallback,
+	DF_BSP_InterCall_TIM8_2ms_PeriodElapsedCallback
+};
+
+uint8_t GF_BSP_Interrupt_Add_CallBack(enum DF_BSP_InterCall_Type _type,
+		void (*_fn)(void));
+void GF_BSP_Interrupt_Run_CallBack(enum DF_BSP_InterCall_Type _type);
+
+#endif /* INC_BSP_INCLUDE_H_ */

Core/BASE/Inc/BSP/bsp_mqtt.h

@@ -0,0 +1,36 @@
+
+#ifndef __BSP_MQTT_H
+#define __BSP_MQTT_H
+
+/*-----------------------------------------------------------
+ * Includes files
+ *----------------------------------------------------------*/
+
+/*-----------------------------------------------------------
+ * Exported constants
+ *----------------------------------------------------------*/
+
+
+/*-----------------------------------------------------------
+ * Exported macro
+ *----------------------------------------------------------*/
+
+/*-----------------------------------------------------------
+ * Exported function
+ *----------------------------------------------------------*/
+/*!
+* @brief 封装 MQTT 初始化接口
+*        执行条件：无
+*
+* @retval: 无
+*/
+void bsp_mqtt_init(void);
+void bsp_mqtt_test(void);
+
+
+extern void bsp_mqtt_pub_send(char topic[],char buf[],size_t len);
+
+
+#include "bsp_pb_decode_encode.h"
+
+#endif /* __BSP_WOLFSSL_H */

Core/BASE/Inc/BSP/bsp_mqtt_pub.h

@@ -0,0 +1,26 @@
+/*
+ * bsp_mqtt_pub.h
+ *
+ *  Created on: Jul 9, 2024
+ *      Author: akeguo
+ */
+
+#ifndef INC_BSP_BSP_MQTT_PUB_H_
+#define INC_BSP_BSP_MQTT_PUB_H_
+
+#include "bsp_pb_decode_encode.h"
+#include "pb_decode.h"
+#include "pb_encode.h"
+#include "bsp_CV.pb.h"
+#include "bsp_pb_decode_encode.h"
+#include "BSP/bsp_EEPROM.h"
+
+
+
+
+
+extern void log_info(char logger[], char message[]);
+extern void log_debug(char logger[], char message[]);
+extern void log_err(char logger[], char message[]);
+
+#endif /* INC_BSP_BSP_MQTT_PUB_H_ */

Core/BASE/Inc/BSP/bsp_pb_decode_encode.h

@@ -0,0 +1,51 @@
+/*
+ * bsp_pb_decode_encode.h
+ *
+ *  Created on: Jul 5, 2024
+ *      Author: akeguo
+ */
+
+#ifndef INC_BSP_BSP_PB_DECODE_ENCODE_H_
+#define INC_BSP_BSP_PB_DECODE_ENCODE_H_
+
+#include <stdio.h>
+#include <string.h>
+#include <stdlib.h>
+#include <stdbool.h>
+
+#include "pb_decode.h"
+#include "pb_encode.h"
+#include "pb.h"
+#include "bsp_CV.pb.h"
+#include "bsp_GV.pb.h"
+#include "msp_MK32.pb.h"
+#include "msp_Motor.pb.h"
+#include "bsp_PV.pb.h"
+#include "bsp_CV.pb.h"
+#include "bsp_CV.pb.h"
+#include "pb_common.h"
+
+#include "bsp_IAP.pb.h"
+IAP_struct_define pb_decode_IAP(uint8_t *buf, size_t length);
+
+typedef struct pb_buffer_arg
+{
+  /* Buffer to be written, or reference to read buffer */
+  void const *buf;
+  /* Length of buf */
+  size_t buf_len;
+} pb_buffer_arg;
+
+
+ bool pb_encode_string_cb(pb_ostream_t *stream, const pb_field_t *field,    void *const *arg);
+ bool pb_decode_string_cb(pb_istream_t *stream, const pb_field_t *field,    void **arg);
+
+
+extern CV_struct_define pb_decode_CV(char *buf, size_t length);
+extern void Test_CV();
+
+//extern void pb_encode_TraceMessage(char buf[], size_t buf_len,size_t* len,TraceLevel traceLevel, char logger[], char message[] );
+void pb_encode_TraceMessage(char buf[],size_t buf_len, size_t* len,
+		char traceLevel[], char logger[], char message[] );
+
+#endif /* INC_BSP_BSP_PB_DECODE_ENCODE_H_ */

Core/BASE/Inc/BSP/bsp_qspi_w25q128.h

@@ -0,0 +1,107 @@
+/*
+ * bsp_quadspi_W25Q128.h
+ *
+ *  Created on: Apr 21, 2021
+ *      Author: Administrator
+ *
+  *  该bsp用于华邦的w25q128JV，跟华邦的w25q128JV不一样
+  *  坑爹的
+ */
+
+#ifndef BSP_QSPI_W25Q128_H_
+#define BSP_QSPI_W25Q128_H_
+
+
+#include "quadspi.h"
+#include "stdio.h"
+
+/* 宏定义 --------------------------------------------------------------------*/
+#define FLASH_BEGIN_ADDRESS 0x00000
+
+#define CODE_DOWNLOAD_FLASH_BEGIN_ADDRESS 0x00000
+#define CODE_FLASH_STORAGE_SIZE  1024*1024  // 留下1M的空间存储数据
+
+#define W25Q128FV_FLASH_SIZE                  0x1000000 /* 128 MBits => 16MBytes */
+#define W25Q128FV_BLOCK_SIZE                  0x10000   /* 256 Blocks of 64KBytes */
+#define W25Q128FV_HALF_BLOCK_SIZE             0x8000    /* 128 Blocks  of 32KBytes */
+#define W25Q128FV_SECTOR_SIZE                 0x1000    /* 4096 sectors of 4kBytes */
+#define W25Q128FV_PAGE_SIZE                   0x100     /* 65536 pages of 256 bytes */
+
+#define W25Q128FV_DUMMY_CYCLES_READ           4
+#define W25Q128FV_DUMMY_CYCLES_READ_QUAD      10
+
+#define W25Q128FV_BULK_ERASE_MAX_TIME         250000//ms
+#define W25Q128FV_SECTOR_ERASE_MAX_TIME       3000
+#define W25Q128FV_SUBSECTOR_ERASE_MAX_TIME    800
+
+#define W25Q128FV_FLASH_ID                    0XEF4018
+/*  W25Q128FV 指令  */
+/* 复位操作 */
+#define RESET_ENABLE_CMD                      0x66
+#define RESET_MEMORY_CMD                      0x99
+
+#define ENTER_QPI_MODE_CMD                    0x38
+#define EXIT_QPI_MODE_CMD                     0xFF
+
+/* 读取ID指令 */
+#define READ_ID_CMD                           0x90
+#define DUAL_READ_ID_CMD                      0x92
+#define QUAD_READ_ID_CMD                      0x94
+#define READ_JEDEC_ID_CMD                     0x9F
+
+/* 读操作指令 */
+#define READ_CMD                              0x03
+#define FAST_READ_CMD                         0x0B
+#define DUAL_OUT_FAST_READ_CMD                0x3B
+#define DUAL_INOUT_FAST_READ_CMD              0xBB
+#define QUAD_OUT_FAST_READ_CMD                0x6B
+#define QUAD_INOUT_FAST_READ_CMD              0xEB
+
+/* 写使能操作指令 */
+#define WRITE_ENABLE_CMD                      0x06
+#define WRITE_DISABLE_CMD                     0x04
+
+/* 读写状态寄存器操作指令 */
+#define READ_STATUS_REG1_CMD                  0x05
+#define READ_STATUS_REG2_CMD                  0x35
+#define READ_STATUS_REG3_CMD                  0x15
+
+#define WRITE_STATUS_REG1_CMD                 0x01
+#define WRITE_STATUS_REG2_CMD                 0x31
+#define WRITE_STATUS_REG3_CMD                 0x11
+
+/* 编程指令 */
+#define PAGE_PROG_CMD                         0x02
+#define QUAD_INPUT_PAGE_PROG_CMD              0x32
+
+/* 擦除Flash指令 */
+#define SECTOR_ERASE_CMD                      0x20
+#define BLOCK_32KB_ERASE_CMD                  0x52
+#define BLOCK_64KB_ERASE_CMD                  0xD8
+#define CHIP_ERASE_CMD                        0xC7
+
+#define PROG_ERASE_RESUME_CMD                 0x7A
+#define PROG_ERASE_SUSPEND_CMD                0x75
+
+/* 状态寄存器标志位 */
+#define W25Q128FV_FSR_BUSY                    ((uint8_t)0x01) /* busy */
+#define W25Q128FV_FSR_WREN                    ((uint8_t)0x02) /* write enable */
+#define W25Q128FV_FSR_QE                      ((uint8_t)0x02) /* quad enable */
+
+/* Flash 状态码*/
+#define FLASH_OK                          ((uint8_t)0x00)
+#define FLASH_ERROR                       ((uint8_t)0x01)
+#define FLASH_BUSY                        ((uint8_t)0x02)
+#define FLASH_NOT_SUPPORTED               ((uint8_t)0x04)
+#define FLASH_SUSPENDED                   ((uint8_t)0x08)
+
+
+
+uint32_t QSPI_W25Qx_ReadID(void);
+void QSPI_W25Qx_Reset_Memory();
+void QSPI_W25Qx_EraseSector(uint32_t _SectorAddr);
+uint8_t QSPI_W25Qx_Write_Buffer(uint8_t *_pBuf,uint32_t _write_Addr,uint16_t _write_Size);
+void QSPI_W25Qx_Read_Buffer(uint8_t *_pBuf,uint32_t _read_Addr,uint32_t _read_Size);
+void QSPI_W25Qx_EraseDownLoadFlash();
+void user_Assert(char *file,uint32_t line);
+#endif /* BSP_QSPI_W25Q128_H_ */

Core/BASE/Inc/BSP/bsp_tempature.h

@@ -0,0 +1,19 @@
+/*
+ * bsp_adc.h
+ *
+ *  Created on: Feb 21, 2025
+ *      Author: akeguo
+ */
+
+#ifndef INC_BSP_BSP_TEMPATURE_H_
+#define INC_BSP_BSP_TEMPATURE_H_
+
+
+#include "main.h"
+#include "DLTuc.h"
+
+int32_t read_temperature();
+void ADC_Intialize();
+
+extern int32_t * tempature;
+#endif /* INC_BSP_BSP_TEMPATURE_H_ */

Core/BASE/Inc/BSP/pb.h

@@ -0,0 +1,917 @@
+/* Common parts of the nanopb library. Most of these are quite low-level
+ * stuff. For the high-level interface, see pb_encode.h and pb_decode.h.
+ */
+
+#ifndef PB_H_INCLUDED
+#define PB_H_INCLUDED
+
+/*****************************************************************
+ * Nanopb compilation time options. You can change these here by *
+ * uncommenting the lines, or on the compiler command line.      *
+ *****************************************************************/
+
+/* Enable support for dynamically allocated fields */
+/* #define PB_ENABLE_MALLOC 1 */
+
+/* Define this if your CPU / compiler combination does not support
+ * unaligned memory access to packed structures. Note that packed
+ * structures are only used when requested in .proto options. */
+/* #define PB_NO_PACKED_STRUCTS 1 */
+
+/* Increase the number of required fields that are tracked.
+ * A compiler warning will tell if you need this. */
+/* #define PB_MAX_REQUIRED_FIELDS 256 */
+
+/* Add support for tag numbers > 65536 and fields larger than 65536 bytes. */
+/* #define PB_FIELD_32BIT 1 */
+
+/* Disable support for error messages in order to save some code space. */
+/* #define PB_NO_ERRMSG 1 */
+
+/* Disable support for custom streams (support only memory buffers). */
+/* #define PB_BUFFER_ONLY 1 */
+
+/* Disable support for 64-bit datatypes, for compilers without int64_t
+   or to save some code space. */
+/* #define PB_WITHOUT_64BIT 1 */
+
+/* Don't encode scalar arrays as packed. This is only to be used when
+ * the decoder on the receiving side cannot process packed scalar arrays.
+ * Such example is older protobuf.js. */
+/* #define PB_ENCODE_ARRAYS_UNPACKED 1 */
+
+/* Enable conversion of doubles to floats for platforms that do not
+ * support 64-bit doubles. Most commonly AVR. */
+/* #define PB_CONVERT_DOUBLE_FLOAT 1 */
+
+/* Check whether incoming strings are valid UTF-8 sequences. Slows down
+ * the string processing slightly and slightly increases code size. */
+/* #define PB_VALIDATE_UTF8 1 */
+
+/* This can be defined if the platform is little-endian and has 8-bit bytes.
+ * Normally it is automatically detected based on __BYTE_ORDER__ macro. */
+/* #define PB_LITTLE_ENDIAN_8BIT 1 */
+
+/* Configure static assert mechanism. Instead of changing these, set your
+ * compiler to C11 standard mode if possible. */
+/* #define PB_C99_STATIC_ASSERT 1 */
+/* #define PB_NO_STATIC_ASSERT 1 */
+
+/******************************************************************
+ * You usually don't need to change anything below this line.     *
+ * Feel free to look around and use the defined macros, though.   *
+ ******************************************************************/
+
+
+/* Version of the nanopb library. Just in case you want to check it in
+ * your own program. */
+#define NANOPB_VERSION "nanopb-0.4.8-dev"
+
+/* Include all the system headers needed by nanopb. You will need the
+ * definitions of the following:
+ * - strlen, memcpy, memset functions
+ * - [u]int_least8_t, uint_fast8_t, [u]int_least16_t, [u]int32_t, [u]int64_t
+ * - size_t
+ * - bool
+ *
+ * If you don't have the standard header files, you can instead provide
+ * a custom header that defines or includes all this. In that case,
+ * define PB_SYSTEM_HEADER to the path of this file.
+ */
+#ifdef PB_SYSTEM_HEADER
+#include PB_SYSTEM_HEADER
+#else
+#include <stdint.h>
+#include <stddef.h>
+#include <stdbool.h>
+#include <string.h>
+#include <limits.h>
+
+#ifdef PB_ENABLE_MALLOC
+#include <stdlib.h>
+#endif
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Macro for defining packed structures (compiler dependent).
+ * This just reduces memory requirements, but is not required.
+ */
+#if defined(PB_NO_PACKED_STRUCTS)
+    /* Disable struct packing */
+#   define PB_PACKED_STRUCT_START
+#   define PB_PACKED_STRUCT_END
+#   define pb_packed
+#elif defined(__GNUC__) || defined(__clang__)
+    /* For GCC and clang */
+#   define PB_PACKED_STRUCT_START
+#   define PB_PACKED_STRUCT_END
+#   define pb_packed __attribute__((packed))
+#elif defined(__ICCARM__) || defined(__CC_ARM)
+    /* For IAR ARM and Keil MDK-ARM compilers */
+#   define PB_PACKED_STRUCT_START _Pragma("pack(push, 1)")
+#   define PB_PACKED_STRUCT_END _Pragma("pack(pop)")
+#   define pb_packed
+#elif defined(_MSC_VER) && (_MSC_VER >= 1500)
+    /* For Microsoft Visual C++ */
+#   define PB_PACKED_STRUCT_START __pragma(pack(push, 1))
+#   define PB_PACKED_STRUCT_END __pragma(pack(pop))
+#   define pb_packed
+#else
+    /* Unknown compiler */
+#   define PB_PACKED_STRUCT_START
+#   define PB_PACKED_STRUCT_END
+#   define pb_packed
+#endif
+
+/* Detect endianness */
+#ifndef PB_LITTLE_ENDIAN_8BIT
+#if ((defined(__BYTE_ORDER) && __BYTE_ORDER == __LITTLE_ENDIAN) || \
+     (defined(__BYTE_ORDER__) && __BYTE_ORDER__ == __ORDER_LITTLE_ENDIAN__) || \
+      defined(__LITTLE_ENDIAN__) || defined(__ARMEL__) || \
+      defined(__THUMBEL__) || defined(__AARCH64EL__) || defined(_MIPSEL) || \
+      defined(_M_IX86) || defined(_M_X64) || defined(_M_ARM)) \
+     && CHAR_BIT == 8
+#define PB_LITTLE_ENDIAN_8BIT 1
+#endif
+#endif
+
+/* Handly macro for suppressing unreferenced-parameter compiler warnings. */
+#ifndef PB_UNUSED
+#define PB_UNUSED(x) (void)(x)
+#endif
+
+/* Harvard-architecture processors may need special attributes for storing
+ * field information in program memory. */
+#ifndef PB_PROGMEM
+#ifdef __AVR__
+#include <avr/pgmspace.h>
+#define PB_PROGMEM             PROGMEM
+#define PB_PROGMEM_READU32(x)  pgm_read_dword(&x)
+#else
+#define PB_PROGMEM
+#define PB_PROGMEM_READU32(x)  (x)
+#endif
+#endif
+
+/* Compile-time assertion, used for checking compatible compilation options.
+ * If this does not work properly on your compiler, use
+ * #define PB_NO_STATIC_ASSERT to disable it.
+ *
+ * But before doing that, check carefully the error message / place where it
+ * comes from to see if the error has a real cause. Unfortunately the error
+ * message is not always very clear to read, but you can see the reason better
+ * in the place where the PB_STATIC_ASSERT macro was called.
+ */
+#ifndef PB_NO_STATIC_ASSERT
+#  ifndef PB_STATIC_ASSERT
+#    if defined(__ICCARM__)
+       /* IAR has static_assert keyword but no _Static_assert */
+#      define PB_STATIC_ASSERT(COND,MSG) static_assert(COND,#MSG);
+#    elif defined(_MSC_VER) && (!defined(__STDC_VERSION__) || __STDC_VERSION__ < 201112)
+       /* MSVC in C89 mode supports static_assert() keyword anyway */
+#      define PB_STATIC_ASSERT(COND,MSG) static_assert(COND,#MSG);
+#    elif defined(PB_C99_STATIC_ASSERT)
+       /* Classic negative-size-array static assert mechanism */
+#      define PB_STATIC_ASSERT(COND,MSG) typedef char PB_STATIC_ASSERT_MSG(MSG, __LINE__, __COUNTER__)[(COND)?1:-1];
+#      define PB_STATIC_ASSERT_MSG(MSG, LINE, COUNTER) PB_STATIC_ASSERT_MSG_(MSG, LINE, COUNTER)
+#      define PB_STATIC_ASSERT_MSG_(MSG, LINE, COUNTER) pb_static_assertion_##MSG##_##LINE##_##COUNTER
+#    elif defined(__cplusplus)
+       /* C++11 standard static_assert mechanism */
+#      define PB_STATIC_ASSERT(COND,MSG) static_assert(COND,#MSG);
+#    else
+       /* C11 standard _Static_assert mechanism */
+#      define PB_STATIC_ASSERT(COND,MSG) _Static_assert(COND,#MSG);
+#    endif
+#  endif
+#else
+   /* Static asserts disabled by PB_NO_STATIC_ASSERT */
+#  define PB_STATIC_ASSERT(COND,MSG)
+#endif
+
+/* Test that PB_STATIC_ASSERT works
+ * If you get errors here, you may need to do one of these:
+ * - Enable C11 standard support in your compiler
+ * - Define PB_C99_STATIC_ASSERT to enable C99 standard support
+ * - Define PB_NO_STATIC_ASSERT to disable static asserts altogether
+ */
+PB_STATIC_ASSERT(1, STATIC_ASSERT_IS_NOT_WORKING)
+
+/* Number of required fields to keep track of. */
+#ifndef PB_MAX_REQUIRED_FIELDS
+#define PB_MAX_REQUIRED_FIELDS 64
+#endif
+
+#if PB_MAX_REQUIRED_FIELDS < 64
+#error You should not lower PB_MAX_REQUIRED_FIELDS from the default value (64).
+#endif
+
+#ifdef PB_WITHOUT_64BIT
+#ifdef PB_CONVERT_DOUBLE_FLOAT
+/* Cannot use doubles without 64-bit types */
+#undef PB_CONVERT_DOUBLE_FLOAT
+#endif
+#endif
+
+/* List of possible field types. These are used in the autogenerated code.
+ * Least-significant 4 bits tell the scalar type
+ * Most-significant 4 bits specify repeated/required/packed etc.
+ */
+
+typedef uint_least8_t pb_type_t;
+
+/**** Field data types ****/
+
+/* Numeric types */
+#define PB_LTYPE_BOOL    0x00U /* bool */
+#define PB_LTYPE_VARINT  0x01U /* int32, int64, enum, bool */
+#define PB_LTYPE_UVARINT 0x02U /* uint32, uint64 */
+#define PB_LTYPE_SVARINT 0x03U /* sint32, sint64 */
+#define PB_LTYPE_FIXED32 0x04U /* fixed32, sfixed32, float */
+#define PB_LTYPE_FIXED64 0x05U /* fixed64, sfixed64, double */
+
+/* Marker for last packable field type. */
+#define PB_LTYPE_LAST_PACKABLE 0x05U
+
+/* Byte array with pre-allocated buffer.
+ * data_size is the length of the allocated PB_BYTES_ARRAY structure. */
+#define PB_LTYPE_BYTES 0x06U
+
+/* String with pre-allocated buffer.
+ * data_size is the maximum length. */
+#define PB_LTYPE_STRING 0x07U
+
+/* Submessage
+ * submsg_fields is pointer to field descriptions */
+#define PB_LTYPE_SUBMESSAGE 0x08U
+
+/* Submessage with pre-decoding callback
+ * The pre-decoding callback is stored as pb_callback_t right before pSize.
+ * submsg_fields is pointer to field descriptions */
+#define PB_LTYPE_SUBMSG_W_CB 0x09U
+
+/* Extension pseudo-field
+ * The field contains a pointer to pb_extension_t */
+#define PB_LTYPE_EXTENSION 0x0AU
+
+/* Byte array with inline, pre-allocated byffer.
+ * data_size is the length of the inline, allocated buffer.
+ * This differs from PB_LTYPE_BYTES by defining the element as
+ * pb_byte_t[data_size] rather than pb_bytes_array_t. */
+#define PB_LTYPE_FIXED_LENGTH_BYTES 0x0BU
+
+/* Number of declared LTYPES */
+#define PB_LTYPES_COUNT 0x0CU
+#define PB_LTYPE_MASK 0x0FU
+
+/**** Field repetition rules ****/
+
+#define PB_HTYPE_REQUIRED 0x00U
+#define PB_HTYPE_OPTIONAL 0x10U
+#define PB_HTYPE_SINGULAR 0x10U
+#define PB_HTYPE_REPEATED 0x20U
+#define PB_HTYPE_FIXARRAY 0x20U
+#define PB_HTYPE_ONEOF    0x30U
+#define PB_HTYPE_MASK     0x30U
+
+/**** Field allocation types ****/
+
+#define PB_ATYPE_STATIC   0x00U
+#define PB_ATYPE_POINTER  0x80U
+#define PB_ATYPE_CALLBACK 0x40U
+#define PB_ATYPE_MASK     0xC0U
+
+#define PB_ATYPE(x) ((x) & PB_ATYPE_MASK)
+#define PB_HTYPE(x) ((x) & PB_HTYPE_MASK)
+#define PB_LTYPE(x) ((x) & PB_LTYPE_MASK)
+#define PB_LTYPE_IS_SUBMSG(x) (PB_LTYPE(x) == PB_LTYPE_SUBMESSAGE || \
+                               PB_LTYPE(x) == PB_LTYPE_SUBMSG_W_CB)
+
+/* Data type used for storing sizes of struct fields
+ * and array counts.
+ */
+#if defined(PB_FIELD_32BIT)
+    typedef uint32_t pb_size_t;
+    typedef int32_t pb_ssize_t;
+#else
+    typedef uint_least16_t pb_size_t;
+    typedef int_least16_t pb_ssize_t;
+#endif
+#define PB_SIZE_MAX ((pb_size_t)-1)
+
+/* Data type for storing encoded data and other byte streams.
+ * This typedef exists to support platforms where uint8_t does not exist.
+ * You can regard it as equivalent on uint8_t on other platforms.
+ */
+typedef uint_least8_t pb_byte_t;
+
+/* Forward declaration of struct types */
+typedef struct pb_istream_s pb_istream_t;
+typedef struct pb_ostream_s pb_ostream_t;
+typedef struct pb_field_iter_s pb_field_iter_t;
+
+/* This structure is used in auto-generated constants
+ * to specify struct fields.
+ */
+typedef struct pb_msgdesc_s pb_msgdesc_t;
+struct pb_msgdesc_s {
+    const uint32_t *field_info;
+    const pb_msgdesc_t * const * submsg_info;
+    const pb_byte_t *default_value;
+
+    bool (*field_callback)(pb_istream_t *istream, pb_ostream_t *ostream, const pb_field_iter_t *field);
+
+    pb_size_t field_count;
+    pb_size_t required_field_count;
+    pb_size_t largest_tag;
+};
+
+/* Iterator for message descriptor */
+struct pb_field_iter_s {
+    const pb_msgdesc_t *descriptor;  /* Pointer to message descriptor constant */
+    void *message;                   /* Pointer to start of the structure */
+
+    pb_size_t index;                 /* Index of the field */
+    pb_size_t field_info_index;      /* Index to descriptor->field_info array */
+    pb_size_t required_field_index;  /* Index that counts only the required fields */
+    pb_size_t submessage_index;      /* Index that counts only submessages */
+
+    pb_size_t tag;                   /* Tag of current field */
+    pb_size_t data_size;             /* sizeof() of a single item */
+    pb_size_t array_size;            /* Number of array entries */
+    pb_type_t type;                  /* Type of current field */
+
+    void *pField;                    /* Pointer to current field in struct */
+    void *pData;                     /* Pointer to current data contents. Different than pField for arrays and pointers. */
+    void *pSize;                     /* Pointer to count/has field */
+
+    const pb_msgdesc_t *submsg_desc; /* For submessage fields, pointer to field descriptor for the submessage. */
+};
+
+/* For compatibility with legacy code */
+typedef pb_field_iter_t pb_field_t;
+
+/* Make sure that the standard integer types are of the expected sizes.
+ * Otherwise fixed32/fixed64 fields can break.
+ *
+ * If you get errors here, it probably means that your stdint.h is not
+ * correct for your platform.
+ */
+#ifndef PB_WITHOUT_64BIT
+PB_STATIC_ASSERT(sizeof(int64_t) == 2 * sizeof(int32_t), INT64_T_WRONG_SIZE)
+PB_STATIC_ASSERT(sizeof(uint64_t) == 2 * sizeof(uint32_t), UINT64_T_WRONG_SIZE)
+#endif
+
+/* This structure is used for 'bytes' arrays.
+ * It has the number of bytes in the beginning, and after that an array.
+ * Note that actual structs used will have a different length of bytes array.
+ */
+#define PB_BYTES_ARRAY_T(n) struct { pb_size_t size; pb_byte_t bytes[n]; }
+#define PB_BYTES_ARRAY_T_ALLOCSIZE(n) ((size_t)n + offsetof(pb_bytes_array_t, bytes))
+
+struct pb_bytes_array_s {
+    pb_size_t size;
+    pb_byte_t bytes[1];
+};
+typedef struct pb_bytes_array_s pb_bytes_array_t;
+
+/* This structure is used for giving the callback function.
+ * It is stored in the message structure and filled in by the method that
+ * calls pb_decode.
+ *
+ * The decoding callback will be given a limited-length stream
+ * If the wire type was string, the length is the length of the string.
+ * If the wire type was a varint/fixed32/fixed64, the length is the length
+ * of the actual value.
+ * The function may be called multiple times (especially for repeated types,
+ * but also otherwise if the message happens to contain the field multiple
+ * times.)
+ *
+ * The encoding callback will receive the actual output stream.
+ * It should write all the data in one call, including the field tag and
+ * wire type. It can write multiple fields.
+ *
+ * The callback can be null if you want to skip a field.
+ */
+typedef struct pb_callback_s pb_callback_t;
+struct pb_callback_s {
+    /* Callback functions receive a pointer to the arg field.
+     * You can access the value of the field as *arg, and modify it if needed.
+     */
+    union {
+        bool (*decode)(pb_istream_t *stream, const pb_field_t *field, void **arg);
+        bool (*encode)(pb_ostream_t *stream, const pb_field_t *field, void * const *arg);
+    } funcs;
+
+    /* Free arg for use by callback */
+    void *arg;
+};
+
+extern bool pb_default_field_callback(pb_istream_t *istream, pb_ostream_t *ostream, const pb_field_t *field);
+
+/* Wire types. Library user needs these only in encoder callbacks. */
+typedef enum {
+    PB_WT_VARINT = 0,
+    PB_WT_64BIT  = 1,
+    PB_WT_STRING = 2,
+    PB_WT_32BIT  = 5,
+    PB_WT_PACKED = 255 /* PB_WT_PACKED is internal marker for packed arrays. */
+} pb_wire_type_t;
+
+/* Structure for defining the handling of unknown/extension fields.
+ * Usually the pb_extension_type_t structure is automatically generated,
+ * while the pb_extension_t structure is created by the user. However,
+ * if you want to catch all unknown fields, you can also create a custom
+ * pb_extension_type_t with your own callback.
+ */
+typedef struct pb_extension_type_s pb_extension_type_t;
+typedef struct pb_extension_s pb_extension_t;
+struct pb_extension_type_s {
+    /* Called for each unknown field in the message.
+     * If you handle the field, read off all of its data and return true.
+     * If you do not handle the field, do not read anything and return true.
+     * If you run into an error, return false.
+     * Set to NULL for default handler.
+     */
+    bool (*decode)(pb_istream_t *stream, pb_extension_t *extension,
+                   uint32_t tag, pb_wire_type_t wire_type);
+
+    /* Called once after all regular fields have been encoded.
+     * If you have something to write, do so and return true.
+     * If you do not have anything to write, just return true.
+     * If you run into an error, return false.
+     * Set to NULL for default handler.
+     */
+    bool (*encode)(pb_ostream_t *stream, const pb_extension_t *extension);
+
+    /* Free field for use by the callback. */
+    const void *arg;
+};
+
+struct pb_extension_s {
+    /* Type describing the extension field. Usually you'll initialize
+     * this to a pointer to the automatically generated structure. */
+    const pb_extension_type_t *type;
+
+    /* Destination for the decoded data. This must match the datatype
+     * of the extension field. */
+    void *dest;
+
+    /* Pointer to the next extension handler, or NULL.
+     * If this extension does not match a field, the next handler is
+     * automatically called. */
+    pb_extension_t *next;
+
+    /* The decoder sets this to true if the extension was found.
+     * Ignored for encoding. */
+    bool found;
+};
+
+#define pb_extension_init_zero {NULL,NULL,NULL,false}
+
+/* Memory allocation functions to use. You can define pb_realloc and
+ * pb_free to custom functions if you want. */
+#ifdef PB_ENABLE_MALLOC
+#   ifndef pb_realloc
+#       define pb_realloc(ptr, size) realloc(ptr, size)
+#   endif
+#   ifndef pb_free
+#       define pb_free(ptr) free(ptr)
+#   endif
+#endif
+
+/* This is used to inform about need to regenerate .pb.h/.pb.c files. */
+#define PB_PROTO_HEADER_VERSION 40
+
+/* These macros are used to declare pb_field_t's in the constant array. */
+/* Size of a structure member, in bytes. */
+#define pb_membersize(st, m) (sizeof ((st*)0)->m)
+/* Number of entries in an array. */
+#define pb_arraysize(st, m) (pb_membersize(st, m) / pb_membersize(st, m[0]))
+/* Delta from start of one member to the start of another member. */
+#define pb_delta(st, m1, m2) ((int)offsetof(st, m1) - (int)offsetof(st, m2))
+
+/* Force expansion of macro value */
+#define PB_EXPAND(x) x
+
+/* Binding of a message field set into a specific structure */
+#define PB_BIND(msgname, structname, width) \
+    const uint32_t structname ## _field_info[] PB_PROGMEM = \
+    { \
+        msgname ## _FIELDLIST(PB_GEN_FIELD_INFO_ ## width, structname) \
+        0 \
+    }; \
+    const pb_msgdesc_t* const structname ## _submsg_info[] = \
+    { \
+        msgname ## _FIELDLIST(PB_GEN_SUBMSG_INFO, structname) \
+        NULL \
+    }; \
+    const pb_msgdesc_t structname ## _msg = \
+    { \
+       structname ## _field_info, \
+       structname ## _submsg_info, \
+       msgname ## _DEFAULT, \
+       msgname ## _CALLBACK, \
+       0 msgname ## _FIELDLIST(PB_GEN_FIELD_COUNT, structname), \
+       0 msgname ## _FIELDLIST(PB_GEN_REQ_FIELD_COUNT, structname), \
+       0 msgname ## _FIELDLIST(PB_GEN_LARGEST_TAG, structname), \
+    }; \
+    msgname ## _FIELDLIST(PB_GEN_FIELD_INFO_ASSERT_ ## width, structname)
+
+#define PB_GEN_FIELD_COUNT(structname, atype, htype, ltype, fieldname, tag) +1
+#define PB_GEN_REQ_FIELD_COUNT(structname, atype, htype, ltype, fieldname, tag) \
+    + (PB_HTYPE_ ## htype == PB_HTYPE_REQUIRED)
+#define PB_GEN_LARGEST_TAG(structname, atype, htype, ltype, fieldname, tag) \
+    * 0 + tag
+
+/* X-macro for generating the entries in struct_field_info[] array. */
+#define PB_GEN_FIELD_INFO_1(structname, atype, htype, ltype, fieldname, tag) \
+    PB_FIELDINFO_1(tag, PB_ATYPE_ ## atype | PB_HTYPE_ ## htype | PB_LTYPE_MAP_ ## ltype, \
+                   PB_DATA_OFFSET_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \
+                   PB_DATA_SIZE_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \
+                   PB_SIZE_OFFSET_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \
+                   PB_ARRAY_SIZE_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname))
+
+#define PB_GEN_FIELD_INFO_2(structname, atype, htype, ltype, fieldname, tag) \
+    PB_FIELDINFO_2(tag, PB_ATYPE_ ## atype | PB_HTYPE_ ## htype | PB_LTYPE_MAP_ ## ltype, \
+                   PB_DATA_OFFSET_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \
+                   PB_DATA_SIZE_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \
+                   PB_SIZE_OFFSET_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \
+                   PB_ARRAY_SIZE_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname))
+
+#define PB_GEN_FIELD_INFO_4(structname, atype, htype, ltype, fieldname, tag) \
+    PB_FIELDINFO_4(tag, PB_ATYPE_ ## atype | PB_HTYPE_ ## htype | PB_LTYPE_MAP_ ## ltype, \
+                   PB_DATA_OFFSET_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \
+                   PB_DATA_SIZE_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \
+                   PB_SIZE_OFFSET_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \
+                   PB_ARRAY_SIZE_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname))
+
+#define PB_GEN_FIELD_INFO_8(structname, atype, htype, ltype, fieldname, tag) \
+    PB_FIELDINFO_8(tag, PB_ATYPE_ ## atype | PB_HTYPE_ ## htype | PB_LTYPE_MAP_ ## ltype, \
+                   PB_DATA_OFFSET_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \
+                   PB_DATA_SIZE_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \
+                   PB_SIZE_OFFSET_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \
+                   PB_ARRAY_SIZE_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname))
+
+#define PB_GEN_FIELD_INFO_AUTO(structname, atype, htype, ltype, fieldname, tag) \
+    PB_FIELDINFO_AUTO2(PB_FIELDINFO_WIDTH_AUTO(_PB_ATYPE_ ## atype, _PB_HTYPE_ ## htype, _PB_LTYPE_ ## ltype), \
+                   tag, PB_ATYPE_ ## atype | PB_HTYPE_ ## htype | PB_LTYPE_MAP_ ## ltype, \
+                   PB_DATA_OFFSET_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \
+                   PB_DATA_SIZE_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \
+                   PB_SIZE_OFFSET_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \
+                   PB_ARRAY_SIZE_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname))
+
+#define PB_FIELDINFO_AUTO2(width, tag, type, data_offset, data_size, size_offset, array_size) \
+    PB_FIELDINFO_AUTO3(width, tag, type, data_offset, data_size, size_offset, array_size)
+
+#define PB_FIELDINFO_AUTO3(width, tag, type, data_offset, data_size, size_offset, array_size) \
+    PB_FIELDINFO_ ## width(tag, type, data_offset, data_size, size_offset, array_size)
+
+/* X-macro for generating asserts that entries fit in struct_field_info[] array.
+ * The structure of macros here must match the structure above in PB_GEN_FIELD_INFO_x(),
+ * but it is not easily reused because of how macro substitutions work. */
+#define PB_GEN_FIELD_INFO_ASSERT_1(structname, atype, htype, ltype, fieldname, tag) \
+    PB_FIELDINFO_ASSERT_1(tag, PB_ATYPE_ ## atype | PB_HTYPE_ ## htype | PB_LTYPE_MAP_ ## ltype, \
+                   PB_DATA_OFFSET_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \
+                   PB_DATA_SIZE_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \
+                   PB_SIZE_OFFSET_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \
+                   PB_ARRAY_SIZE_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname))
+
+#define PB_GEN_FIELD_INFO_ASSERT_2(structname, atype, htype, ltype, fieldname, tag) \
+    PB_FIELDINFO_ASSERT_2(tag, PB_ATYPE_ ## atype | PB_HTYPE_ ## htype | PB_LTYPE_MAP_ ## ltype, \
+                   PB_DATA_OFFSET_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \
+                   PB_DATA_SIZE_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \
+                   PB_SIZE_OFFSET_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \
+                   PB_ARRAY_SIZE_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname))
+
+#define PB_GEN_FIELD_INFO_ASSERT_4(structname, atype, htype, ltype, fieldname, tag) \
+    PB_FIELDINFO_ASSERT_4(tag, PB_ATYPE_ ## atype | PB_HTYPE_ ## htype | PB_LTYPE_MAP_ ## ltype, \
+                   PB_DATA_OFFSET_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \
+                   PB_DATA_SIZE_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \
+                   PB_SIZE_OFFSET_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \
+                   PB_ARRAY_SIZE_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname))
+
+#define PB_GEN_FIELD_INFO_ASSERT_8(structname, atype, htype, ltype, fieldname, tag) \
+    PB_FIELDINFO_ASSERT_8(tag, PB_ATYPE_ ## atype | PB_HTYPE_ ## htype | PB_LTYPE_MAP_ ## ltype, \
+                   PB_DATA_OFFSET_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \
+                   PB_DATA_SIZE_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \
+                   PB_SIZE_OFFSET_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \
+                   PB_ARRAY_SIZE_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname))
+
+#define PB_GEN_FIELD_INFO_ASSERT_AUTO(structname, atype, htype, ltype, fieldname, tag) \
+    PB_FIELDINFO_ASSERT_AUTO2(PB_FIELDINFO_WIDTH_AUTO(_PB_ATYPE_ ## atype, _PB_HTYPE_ ## htype, _PB_LTYPE_ ## ltype), \
+                   tag, PB_ATYPE_ ## atype | PB_HTYPE_ ## htype | PB_LTYPE_MAP_ ## ltype, \
+                   PB_DATA_OFFSET_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \
+                   PB_DATA_SIZE_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \
+                   PB_SIZE_OFFSET_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \
+                   PB_ARRAY_SIZE_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname))
+
+#define PB_FIELDINFO_ASSERT_AUTO2(width, tag, type, data_offset, data_size, size_offset, array_size) \
+    PB_FIELDINFO_ASSERT_AUTO3(width, tag, type, data_offset, data_size, size_offset, array_size)
+
+#define PB_FIELDINFO_ASSERT_AUTO3(width, tag, type, data_offset, data_size, size_offset, array_size) \
+    PB_FIELDINFO_ASSERT_ ## width(tag, type, data_offset, data_size, size_offset, array_size)
+
+#define PB_DATA_OFFSET_STATIC(htype, structname, fieldname) PB_DO ## htype(structname, fieldname)
+#define PB_DATA_OFFSET_POINTER(htype, structname, fieldname) PB_DO ## htype(structname, fieldname)
+#define PB_DATA_OFFSET_CALLBACK(htype, structname, fieldname) PB_DO ## htype(structname, fieldname)
+#define PB_DO_PB_HTYPE_REQUIRED(structname, fieldname) offsetof(structname, fieldname)
+#define PB_DO_PB_HTYPE_SINGULAR(structname, fieldname) offsetof(structname, fieldname)
+#define PB_DO_PB_HTYPE_ONEOF(structname, fieldname) offsetof(structname, PB_ONEOF_NAME(FULL, fieldname))
+#define PB_DO_PB_HTYPE_OPTIONAL(structname, fieldname) offsetof(structname, fieldname)
+#define PB_DO_PB_HTYPE_REPEATED(structname, fieldname) offsetof(structname, fieldname)
+#define PB_DO_PB_HTYPE_FIXARRAY(structname, fieldname) offsetof(structname, fieldname)
+
+#define PB_SIZE_OFFSET_STATIC(htype, structname, fieldname) PB_SO ## htype(structname, fieldname)
+#define PB_SIZE_OFFSET_POINTER(htype, structname, fieldname) PB_SO_PTR ## htype(structname, fieldname)
+#define PB_SIZE_OFFSET_CALLBACK(htype, structname, fieldname) PB_SO_CB ## htype(structname, fieldname)
+#define PB_SO_PB_HTYPE_REQUIRED(structname, fieldname) 0
+#define PB_SO_PB_HTYPE_SINGULAR(structname, fieldname) 0
+#define PB_SO_PB_HTYPE_ONEOF(structname, fieldname) PB_SO_PB_HTYPE_ONEOF2(structname, PB_ONEOF_NAME(FULL, fieldname), PB_ONEOF_NAME(UNION, fieldname))
+#define PB_SO_PB_HTYPE_ONEOF2(structname, fullname, unionname) PB_SO_PB_HTYPE_ONEOF3(structname, fullname, unionname)
+#define PB_SO_PB_HTYPE_ONEOF3(structname, fullname, unionname) pb_delta(structname, fullname, which_ ## unionname)
+#define PB_SO_PB_HTYPE_OPTIONAL(structname, fieldname) pb_delta(structname, fieldname, has_ ## fieldname)
+#define PB_SO_PB_HTYPE_REPEATED(structname, fieldname) pb_delta(structname, fieldname, fieldname ## _count)
+#define PB_SO_PB_HTYPE_FIXARRAY(structname, fieldname) 0
+#define PB_SO_PTR_PB_HTYPE_REQUIRED(structname, fieldname) 0
+#define PB_SO_PTR_PB_HTYPE_SINGULAR(structname, fieldname) 0
+#define PB_SO_PTR_PB_HTYPE_ONEOF(structname, fieldname) PB_SO_PB_HTYPE_ONEOF(structname, fieldname)
+#define PB_SO_PTR_PB_HTYPE_OPTIONAL(structname, fieldname) 0
+#define PB_SO_PTR_PB_HTYPE_REPEATED(structname, fieldname) PB_SO_PB_HTYPE_REPEATED(structname, fieldname)
+#define PB_SO_PTR_PB_HTYPE_FIXARRAY(structname, fieldname) 0
+#define PB_SO_CB_PB_HTYPE_REQUIRED(structname, fieldname) 0
+#define PB_SO_CB_PB_HTYPE_SINGULAR(structname, fieldname) 0
+#define PB_SO_CB_PB_HTYPE_ONEOF(structname, fieldname) PB_SO_PB_HTYPE_ONEOF(structname, fieldname)
+#define PB_SO_CB_PB_HTYPE_OPTIONAL(structname, fieldname) 0
+#define PB_SO_CB_PB_HTYPE_REPEATED(structname, fieldname) 0
+#define PB_SO_CB_PB_HTYPE_FIXARRAY(structname, fieldname) 0
+
+#define PB_ARRAY_SIZE_STATIC(htype, structname, fieldname) PB_AS ## htype(structname, fieldname)
+#define PB_ARRAY_SIZE_POINTER(htype, structname, fieldname) PB_AS_PTR ## htype(structname, fieldname)
+#define PB_ARRAY_SIZE_CALLBACK(htype, structname, fieldname) 1
+#define PB_AS_PB_HTYPE_REQUIRED(structname, fieldname) 1
+#define PB_AS_PB_HTYPE_SINGULAR(structname, fieldname) 1
+#define PB_AS_PB_HTYPE_OPTIONAL(structname, fieldname) 1
+#define PB_AS_PB_HTYPE_ONEOF(structname, fieldname) 1
+#define PB_AS_PB_HTYPE_REPEATED(structname, fieldname) pb_arraysize(structname, fieldname)
+#define PB_AS_PB_HTYPE_FIXARRAY(structname, fieldname) pb_arraysize(structname, fieldname)
+#define PB_AS_PTR_PB_HTYPE_REQUIRED(structname, fieldname) 1
+#define PB_AS_PTR_PB_HTYPE_SINGULAR(structname, fieldname) 1
+#define PB_AS_PTR_PB_HTYPE_OPTIONAL(structname, fieldname) 1
+#define PB_AS_PTR_PB_HTYPE_ONEOF(structname, fieldname) 1
+#define PB_AS_PTR_PB_HTYPE_REPEATED(structname, fieldname) 1
+#define PB_AS_PTR_PB_HTYPE_FIXARRAY(structname, fieldname) pb_arraysize(structname, fieldname[0])
+
+#define PB_DATA_SIZE_STATIC(htype, structname, fieldname) PB_DS ## htype(structname, fieldname)
+#define PB_DATA_SIZE_POINTER(htype, structname, fieldname) PB_DS_PTR ## htype(structname, fieldname)
+#define PB_DATA_SIZE_CALLBACK(htype, structname, fieldname) PB_DS_CB ## htype(structname, fieldname)
+#define PB_DS_PB_HTYPE_REQUIRED(structname, fieldname) pb_membersize(structname, fieldname)
+#define PB_DS_PB_HTYPE_SINGULAR(structname, fieldname) pb_membersize(structname, fieldname)
+#define PB_DS_PB_HTYPE_OPTIONAL(structname, fieldname) pb_membersize(structname, fieldname)
+#define PB_DS_PB_HTYPE_ONEOF(structname, fieldname) pb_membersize(structname, PB_ONEOF_NAME(FULL, fieldname))
+#define PB_DS_PB_HTYPE_REPEATED(structname, fieldname) pb_membersize(structname, fieldname[0])
+#define PB_DS_PB_HTYPE_FIXARRAY(structname, fieldname) pb_membersize(structname, fieldname[0])
+#define PB_DS_PTR_PB_HTYPE_REQUIRED(structname, fieldname) pb_membersize(structname, fieldname[0])
+#define PB_DS_PTR_PB_HTYPE_SINGULAR(structname, fieldname) pb_membersize(structname, fieldname[0])
+#define PB_DS_PTR_PB_HTYPE_OPTIONAL(structname, fieldname) pb_membersize(structname, fieldname[0])
+#define PB_DS_PTR_PB_HTYPE_ONEOF(structname, fieldname) pb_membersize(structname, PB_ONEOF_NAME(FULL, fieldname)[0])
+#define PB_DS_PTR_PB_HTYPE_REPEATED(structname, fieldname) pb_membersize(structname, fieldname[0])
+#define PB_DS_PTR_PB_HTYPE_FIXARRAY(structname, fieldname) pb_membersize(structname, fieldname[0][0])
+#define PB_DS_CB_PB_HTYPE_REQUIRED(structname, fieldname) pb_membersize(structname, fieldname)
+#define PB_DS_CB_PB_HTYPE_SINGULAR(structname, fieldname) pb_membersize(structname, fieldname)
+#define PB_DS_CB_PB_HTYPE_OPTIONAL(structname, fieldname) pb_membersize(structname, fieldname)
+#define PB_DS_CB_PB_HTYPE_ONEOF(structname, fieldname) pb_membersize(structname, PB_ONEOF_NAME(FULL, fieldname))
+#define PB_DS_CB_PB_HTYPE_REPEATED(structname, fieldname) pb_membersize(structname, fieldname)
+#define PB_DS_CB_PB_HTYPE_FIXARRAY(structname, fieldname) pb_membersize(structname, fieldname)
+
+#define PB_ONEOF_NAME(type, tuple) PB_EXPAND(PB_ONEOF_NAME_ ## type tuple)
+#define PB_ONEOF_NAME_UNION(unionname,membername,fullname) unionname
+#define PB_ONEOF_NAME_MEMBER(unionname,membername,fullname) membername
+#define PB_ONEOF_NAME_FULL(unionname,membername,fullname) fullname
+
+#define PB_GEN_SUBMSG_INFO(structname, atype, htype, ltype, fieldname, tag) \
+    PB_SUBMSG_INFO_ ## htype(_PB_LTYPE_ ## ltype, structname, fieldname)
+
+#define PB_SUBMSG_INFO_REQUIRED(ltype, structname, fieldname) PB_SI ## ltype(structname ## _ ## fieldname ## _MSGTYPE)
+#define PB_SUBMSG_INFO_SINGULAR(ltype, structname, fieldname) PB_SI ## ltype(structname ## _ ## fieldname ## _MSGTYPE)
+#define PB_SUBMSG_INFO_OPTIONAL(ltype, structname, fieldname) PB_SI ## ltype(structname ## _ ## fieldname ## _MSGTYPE)
+#define PB_SUBMSG_INFO_ONEOF(ltype, structname, fieldname) PB_SUBMSG_INFO_ONEOF2(ltype, structname, PB_ONEOF_NAME(UNION, fieldname), PB_ONEOF_NAME(MEMBER, fieldname))
+#define PB_SUBMSG_INFO_ONEOF2(ltype, structname, unionname, membername) PB_SUBMSG_INFO_ONEOF3(ltype, structname, unionname, membername)
+#define PB_SUBMSG_INFO_ONEOF3(ltype, structname, unionname, membername) PB_SI ## ltype(structname ## _ ## unionname ## _ ## membername ## _MSGTYPE)
+#define PB_SUBMSG_INFO_REPEATED(ltype, structname, fieldname) PB_SI ## ltype(structname ## _ ## fieldname ## _MSGTYPE)
+#define PB_SUBMSG_INFO_FIXARRAY(ltype, structname, fieldname) PB_SI ## ltype(structname ## _ ## fieldname ## _MSGTYPE)
+#define PB_SI_PB_LTYPE_BOOL(t)
+#define PB_SI_PB_LTYPE_BYTES(t)
+#define PB_SI_PB_LTYPE_DOUBLE(t)
+#define PB_SI_PB_LTYPE_ENUM(t)
+#define PB_SI_PB_LTYPE_UENUM(t)
+#define PB_SI_PB_LTYPE_FIXED32(t)
+#define PB_SI_PB_LTYPE_FIXED64(t)
+#define PB_SI_PB_LTYPE_FLOAT(t)
+#define PB_SI_PB_LTYPE_INT32(t)
+#define PB_SI_PB_LTYPE_INT64(t)
+#define PB_SI_PB_LTYPE_MESSAGE(t)  PB_SUBMSG_DESCRIPTOR(t)
+#define PB_SI_PB_LTYPE_MSG_W_CB(t) PB_SUBMSG_DESCRIPTOR(t)
+#define PB_SI_PB_LTYPE_SFIXED32(t)
+#define PB_SI_PB_LTYPE_SFIXED64(t)
+#define PB_SI_PB_LTYPE_SINT32(t)
+#define PB_SI_PB_LTYPE_SINT64(t)
+#define PB_SI_PB_LTYPE_STRING(t)
+#define PB_SI_PB_LTYPE_UINT32(t)
+#define PB_SI_PB_LTYPE_UINT64(t)
+#define PB_SI_PB_LTYPE_EXTENSION(t)
+#define PB_SI_PB_LTYPE_FIXED_LENGTH_BYTES(t)
+#define PB_SUBMSG_DESCRIPTOR(t)    &(t ## _msg),
+
+/* The field descriptors use a variable width format, with width of either
+ * 1, 2, 4 or 8 of 32-bit words. The two lowest bytes of the first byte always
+ * encode the descriptor size, 6 lowest bits of field tag number, and 8 bits
+ * of the field type.
+ *
+ * Descriptor size is encoded as 0 = 1 word, 1 = 2 words, 2 = 4 words, 3 = 8 words.
+ *
+ * Formats, listed starting with the least significant bit of the first word.
+ * 1 word:  [2-bit len] [6-bit tag] [8-bit type] [8-bit data_offset] [4-bit size_offset] [4-bit data_size]
+ *
+ * 2 words: [2-bit len] [6-bit tag] [8-bit type] [12-bit array_size] [4-bit size_offset]
+ *          [16-bit data_offset] [12-bit data_size] [4-bit tag>>6]
+ *
+ * 4 words: [2-bit len] [6-bit tag] [8-bit type] [16-bit array_size]
+ *          [8-bit size_offset] [24-bit tag>>6]
+ *          [32-bit data_offset]
+ *          [32-bit data_size]
+ *
+ * 8 words: [2-bit len] [6-bit tag] [8-bit type] [16-bit reserved]
+ *          [8-bit size_offset] [24-bit tag>>6]
+ *          [32-bit data_offset]
+ *          [32-bit data_size]
+ *          [32-bit array_size]
+ *          [32-bit reserved]
+ *          [32-bit reserved]
+ *          [32-bit reserved]
+ */
+
+#define PB_FIELDINFO_1(tag, type, data_offset, data_size, size_offset, array_size) \
+    (0 | (((tag) << 2) & 0xFF) | ((type) << 8) | (((uint32_t)(data_offset) & 0xFF) << 16) | \
+     (((uint32_t)(size_offset) & 0x0F) << 24) | (((uint32_t)(data_size) & 0x0F) << 28)),
+
+#define PB_FIELDINFO_2(tag, type, data_offset, data_size, size_offset, array_size) \
+    (1 | (((tag) << 2) & 0xFF) | ((type) << 8) | (((uint32_t)(array_size) & 0xFFF) << 16) | (((uint32_t)(size_offset) & 0x0F) << 28)), \
+    (((uint32_t)(data_offset) & 0xFFFF) | (((uint32_t)(data_size) & 0xFFF) << 16) | (((uint32_t)(tag) & 0x3c0) << 22)),
+
+#define PB_FIELDINFO_4(tag, type, data_offset, data_size, size_offset, array_size) \
+    (2 | (((tag) << 2) & 0xFF) | ((type) << 8) | (((uint32_t)(array_size) & 0xFFFF) << 16)), \
+    ((uint32_t)(int_least8_t)(size_offset) | (((uint32_t)(tag) << 2) & 0xFFFFFF00)), \
+    (data_offset), (data_size),
+
+#define PB_FIELDINFO_8(tag, type, data_offset, data_size, size_offset, array_size) \
+    (3 | (((tag) << 2) & 0xFF) | ((type) << 8)), \
+    ((uint32_t)(int_least8_t)(size_offset) | (((uint32_t)(tag) << 2) & 0xFFFFFF00)), \
+    (data_offset), (data_size), (array_size), 0, 0, 0,
+
+/* These assertions verify that the field information fits in the allocated space.
+ * The generator tries to automatically determine the correct width that can fit all
+ * data associated with a message. These asserts will fail only if there has been a
+ * problem in the automatic logic - this may be worth reporting as a bug. As a workaround,
+ * you can increase the descriptor width by defining PB_FIELDINFO_WIDTH or by setting
+ * descriptorsize option in .options file.
+ */
+#define PB_FITS(value,bits) ((uint32_t)(value) < ((uint32_t)1<<bits))
+#define PB_FIELDINFO_ASSERT_1(tag, type, data_offset, data_size, size_offset, array_size) \
+    PB_STATIC_ASSERT(PB_FITS(tag,6) && PB_FITS(data_offset,8) && PB_FITS(size_offset,4) && PB_FITS(data_size,4) && PB_FITS(array_size,1), FIELDINFO_DOES_NOT_FIT_width1_field ## tag)
+
+#define PB_FIELDINFO_ASSERT_2(tag, type, data_offset, data_size, size_offset, array_size) \
+    PB_STATIC_ASSERT(PB_FITS(tag,10) && PB_FITS(data_offset,16) && PB_FITS(size_offset,4) && PB_FITS(data_size,12) && PB_FITS(array_size,12), FIELDINFO_DOES_NOT_FIT_width2_field ## tag)
+
+#ifndef PB_FIELD_32BIT
+/* Maximum field sizes are still 16-bit if pb_size_t is 16-bit */
+#define PB_FIELDINFO_ASSERT_4(tag, type, data_offset, data_size, size_offset, array_size) \
+    PB_STATIC_ASSERT(PB_FITS(tag,16) && PB_FITS(data_offset,16) && PB_FITS((int_least8_t)size_offset,8) && PB_FITS(data_size,16) && PB_FITS(array_size,16), FIELDINFO_DOES_NOT_FIT_width4_field ## tag)
+
+#define PB_FIELDINFO_ASSERT_8(tag, type, data_offset, data_size, size_offset, array_size) \
+    PB_STATIC_ASSERT(PB_FITS(tag,16) && PB_FITS(data_offset,16) && PB_FITS((int_least8_t)size_offset,8) && PB_FITS(data_size,16) && PB_FITS(array_size,16), FIELDINFO_DOES_NOT_FIT_width8_field ## tag)
+#else
+/* Up to 32-bit fields supported.
+ * Note that the checks are against 31 bits to avoid compiler warnings about shift wider than type in the test.
+ * I expect that there is no reasonable use for >2GB messages with nanopb anyway.
+ */
+#define PB_FIELDINFO_ASSERT_4(tag, type, data_offset, data_size, size_offset, array_size) \
+    PB_STATIC_ASSERT(PB_FITS(tag,30) && PB_FITS(data_offset,31) && PB_FITS(size_offset,8) && PB_FITS(data_size,31) && PB_FITS(array_size,16), FIELDINFO_DOES_NOT_FIT_width4_field ## tag)
+
+#define PB_FIELDINFO_ASSERT_8(tag, type, data_offset, data_size, size_offset, array_size) \
+    PB_STATIC_ASSERT(PB_FITS(tag,30) && PB_FITS(data_offset,31) && PB_FITS(size_offset,8) && PB_FITS(data_size,31) && PB_FITS(array_size,31), FIELDINFO_DOES_NOT_FIT_width8_field ## tag)
+#endif
+
+
+/* Automatic picking of FIELDINFO width:
+ * Uses width 1 when possible, otherwise resorts to width 2.
+ * This is used when PB_BIND() is called with "AUTO" as the argument.
+ * The generator will give explicit size argument when it knows that a message
+ * structure grows beyond 1-word format limits.
+ */
+#define PB_FIELDINFO_WIDTH_AUTO(atype, htype, ltype) PB_FI_WIDTH ## atype(htype, ltype)
+#define PB_FI_WIDTH_PB_ATYPE_STATIC(htype, ltype) PB_FI_WIDTH ## htype(ltype)
+#define PB_FI_WIDTH_PB_ATYPE_POINTER(htype, ltype) PB_FI_WIDTH ## htype(ltype)
+#define PB_FI_WIDTH_PB_ATYPE_CALLBACK(htype, ltype) 2
+#define PB_FI_WIDTH_PB_HTYPE_REQUIRED(ltype) PB_FI_WIDTH ## ltype
+#define PB_FI_WIDTH_PB_HTYPE_SINGULAR(ltype) PB_FI_WIDTH ## ltype
+#define PB_FI_WIDTH_PB_HTYPE_OPTIONAL(ltype) PB_FI_WIDTH ## ltype
+#define PB_FI_WIDTH_PB_HTYPE_ONEOF(ltype) PB_FI_WIDTH ## ltype
+#define PB_FI_WIDTH_PB_HTYPE_REPEATED(ltype) 2
+#define PB_FI_WIDTH_PB_HTYPE_FIXARRAY(ltype) 2
+#define PB_FI_WIDTH_PB_LTYPE_BOOL      1
+#define PB_FI_WIDTH_PB_LTYPE_BYTES     2
+#define PB_FI_WIDTH_PB_LTYPE_DOUBLE    1
+#define PB_FI_WIDTH_PB_LTYPE_ENUM      1
+#define PB_FI_WIDTH_PB_LTYPE_UENUM     1
+#define PB_FI_WIDTH_PB_LTYPE_FIXED32   1
+#define PB_FI_WIDTH_PB_LTYPE_FIXED64   1
+#define PB_FI_WIDTH_PB_LTYPE_FLOAT     1
+#define PB_FI_WIDTH_PB_LTYPE_INT32     1
+#define PB_FI_WIDTH_PB_LTYPE_INT64     1
+#define PB_FI_WIDTH_PB_LTYPE_MESSAGE   2
+#define PB_FI_WIDTH_PB_LTYPE_MSG_W_CB  2
+#define PB_FI_WIDTH_PB_LTYPE_SFIXED32  1
+#define PB_FI_WIDTH_PB_LTYPE_SFIXED64  1
+#define PB_FI_WIDTH_PB_LTYPE_SINT32    1
+#define PB_FI_WIDTH_PB_LTYPE_SINT64    1
+#define PB_FI_WIDTH_PB_LTYPE_STRING    2
+#define PB_FI_WIDTH_PB_LTYPE_UINT32    1
+#define PB_FI_WIDTH_PB_LTYPE_UINT64    1
+#define PB_FI_WIDTH_PB_LTYPE_EXTENSION 1
+#define PB_FI_WIDTH_PB_LTYPE_FIXED_LENGTH_BYTES 2
+
+/* The mapping from protobuf types to LTYPEs is done using these macros. */
+#define PB_LTYPE_MAP_BOOL               PB_LTYPE_BOOL
+#define PB_LTYPE_MAP_BYTES              PB_LTYPE_BYTES
+#define PB_LTYPE_MAP_DOUBLE             PB_LTYPE_FIXED64
+#define PB_LTYPE_MAP_ENUM               PB_LTYPE_VARINT
+#define PB_LTYPE_MAP_UENUM              PB_LTYPE_UVARINT
+#define PB_LTYPE_MAP_FIXED32            PB_LTYPE_FIXED32
+#define PB_LTYPE_MAP_FIXED64            PB_LTYPE_FIXED64
+#define PB_LTYPE_MAP_FLOAT              PB_LTYPE_FIXED32
+#define PB_LTYPE_MAP_INT32              PB_LTYPE_VARINT
+#define PB_LTYPE_MAP_INT64              PB_LTYPE_VARINT
+#define PB_LTYPE_MAP_MESSAGE            PB_LTYPE_SUBMESSAGE
+#define PB_LTYPE_MAP_MSG_W_CB           PB_LTYPE_SUBMSG_W_CB
+#define PB_LTYPE_MAP_SFIXED32           PB_LTYPE_FIXED32
+#define PB_LTYPE_MAP_SFIXED64           PB_LTYPE_FIXED64
+#define PB_LTYPE_MAP_SINT32             PB_LTYPE_SVARINT
+#define PB_LTYPE_MAP_SINT64             PB_LTYPE_SVARINT
+#define PB_LTYPE_MAP_STRING             PB_LTYPE_STRING
+#define PB_LTYPE_MAP_UINT32             PB_LTYPE_UVARINT
+#define PB_LTYPE_MAP_UINT64             PB_LTYPE_UVARINT
+#define PB_LTYPE_MAP_EXTENSION          PB_LTYPE_EXTENSION
+#define PB_LTYPE_MAP_FIXED_LENGTH_BYTES PB_LTYPE_FIXED_LENGTH_BYTES
+
+/* These macros are used for giving out error messages.
+ * They are mostly a debugging aid; the main error information
+ * is the true/false return value from functions.
+ * Some code space can be saved by disabling the error
+ * messages if not used.
+ *
+ * PB_SET_ERROR() sets the error message if none has been set yet.
+ *                msg must be a constant string literal.
+ * PB_GET_ERROR() always returns a pointer to a string.
+ * PB_RETURN_ERROR() sets the error and returns false from current
+ *                   function.
+ */
+#ifdef PB_NO_ERRMSG
+#define PB_SET_ERROR(stream, msg) PB_UNUSED(stream)
+#define PB_GET_ERROR(stream) "(errmsg disabled)"
+#else
+#define PB_SET_ERROR(stream, msg) (stream->errmsg = (stream)->errmsg ? (stream)->errmsg : (msg))
+#define PB_GET_ERROR(stream) ((stream)->errmsg ? (stream)->errmsg : "(none)")
+#endif
+
+#define PB_RETURN_ERROR(stream, msg) return PB_SET_ERROR(stream, msg), false
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#ifdef __cplusplus
+#if __cplusplus >= 201103L
+#define PB_CONSTEXPR constexpr
+#else  // __cplusplus >= 201103L
+#define PB_CONSTEXPR
+#endif  // __cplusplus >= 201103L
+
+#if __cplusplus >= 201703L
+#define PB_INLINE_CONSTEXPR inline constexpr
+#else  // __cplusplus >= 201703L
+#define PB_INLINE_CONSTEXPR PB_CONSTEXPR
+#endif  // __cplusplus >= 201703L
+
+extern "C++"
+{
+namespace nanopb {
+// Each type will be partially specialized by the generator.
+template <typename GenMessageT> struct MessageDescriptor;
+}  // namespace nanopb
+}
+#endif  /* __cplusplus */
+
+#endif

Core/BASE/Inc/BSP/pb_common.h

@@ -0,0 +1,49 @@
+/* pb_common.h: Common support functions for pb_encode.c and pb_decode.c.
+ * These functions are rarely needed by applications directly.
+ */
+
+#ifndef PB_COMMON_H_INCLUDED
+#define PB_COMMON_H_INCLUDED
+
+#include "pb.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Initialize the field iterator structure to beginning.
+ * Returns false if the message type is empty. */
+bool pb_field_iter_begin(pb_field_iter_t *iter, const pb_msgdesc_t *desc, void *message);
+
+/* Get a field iterator for extension field. */
+bool pb_field_iter_begin_extension(pb_field_iter_t *iter, pb_extension_t *extension);
+
+/* Same as pb_field_iter_begin(), but for const message pointer.
+ * Note that the pointers in pb_field_iter_t will be non-const but shouldn't
+ * be written to when using these functions. */
+bool pb_field_iter_begin_const(pb_field_iter_t *iter, const pb_msgdesc_t *desc, const void *message);
+bool pb_field_iter_begin_extension_const(pb_field_iter_t *iter, const pb_extension_t *extension);
+
+/* Advance the iterator to the next field.
+ * Returns false when the iterator wraps back to the first field. */
+bool pb_field_iter_next(pb_field_iter_t *iter);
+
+/* Advance the iterator until it points at a field with the given tag.
+ * Returns false if no such field exists. */
+bool pb_field_iter_find(pb_field_iter_t *iter, uint32_t tag);
+
+/* Find a field with type PB_LTYPE_EXTENSION, or return false if not found.
+ * There can be only one extension range field per message. */
+bool pb_field_iter_find_extension(pb_field_iter_t *iter);
+
+#ifdef PB_VALIDATE_UTF8
+/* Validate UTF-8 text string */
+bool pb_validate_utf8(const char *s);
+#endif
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif
+

Core/BASE/Inc/BSP/pb_decode.h

@@ -0,0 +1,193 @@
+/* pb_decode.h: Functions to decode protocol buffers. Depends on pb_decode.c.
+ * The main function is pb_decode. You also need an input stream, and the
+ * field descriptions created by nanopb_generator.py.
+ */
+
+#ifndef PB_DECODE_H_INCLUDED
+#define PB_DECODE_H_INCLUDED
+
+#include "pb.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Structure for defining custom input streams. You will need to provide
+ * a callback function to read the bytes from your storage, which can be
+ * for example a file or a network socket.
+ * 
+ * The callback must conform to these rules:
+ *
+ * 1) Return false on IO errors. This will cause decoding to abort.
+ * 2) You can use state to store your own data (e.g. buffer pointer),
+ *    and rely on pb_read to verify that no-body reads past bytes_left.
+ * 3) Your callback may be used with substreams, in which case bytes_left
+ *    is different than from the main stream. Don't use bytes_left to compute
+ *    any pointers.
+ */
+struct pb_istream_s
+{
+#ifdef PB_BUFFER_ONLY
+    /* Callback pointer is not used in buffer-only configuration.
+     * Having an int pointer here allows binary compatibility but
+     * gives an error if someone tries to assign callback function.
+     */
+    int *callback;
+#else
+    bool (*callback)(pb_istream_t *stream, pb_byte_t *buf, size_t count);
+#endif
+
+    void *state; /* Free field for use by callback implementation */
+    size_t bytes_left;
+    
+#ifndef PB_NO_ERRMSG
+    const char *errmsg;
+#endif
+};
+
+#ifndef PB_NO_ERRMSG
+#define PB_ISTREAM_EMPTY {0,0,0,0}
+#else
+#define PB_ISTREAM_EMPTY {0,0,0}
+#endif
+
+/***************************
+ * Main decoding functions *
+ ***************************/
+ 
+/* Decode a single protocol buffers message from input stream into a C structure.
+ * Returns true on success, false on any failure.
+ * The actual struct pointed to by dest must match the description in fields.
+ * Callback fields of the destination structure must be initialized by caller.
+ * All other fields will be initialized by this function.
+ *
+ * Example usage:
+ *    MyMessage msg = {};
+ *    uint8_t buffer[64];
+ *    pb_istream_t stream;
+ *    
+ *    // ... read some data into buffer ...
+ *
+ *    stream = pb_istream_from_buffer(buffer, count);
+ *    pb_decode(&stream, MyMessage_fields, &msg);
+ */
+bool pb_decode(pb_istream_t *stream, const pb_msgdesc_t *fields, void *dest_struct);
+
+/* Extended version of pb_decode, with several options to control
+ * the decoding process:
+ *
+ * PB_DECODE_NOINIT:         Do not initialize the fields to default values.
+ *                           This is slightly faster if you do not need the default
+ *                           values and instead initialize the structure to 0 using
+ *                           e.g. memset(). This can also be used for merging two
+ *                           messages, i.e. combine already existing data with new
+ *                           values.
+ *
+ * PB_DECODE_DELIMITED:      Input message starts with the message size as varint.
+ *                           Corresponds to parseDelimitedFrom() in Google's
+ *                           protobuf API.
+ *
+ * PB_DECODE_NULLTERMINATED: Stop reading when field tag is read as 0. This allows
+ *                           reading null terminated messages.
+ *                           NOTE: Until nanopb-0.4.0, pb_decode() also allows
+ *                           null-termination. This behaviour is not supported in
+ *                           most other protobuf implementations, so PB_DECODE_DELIMITED
+ *                           is a better option for compatibility.
+ *
+ * Multiple flags can be combined with bitwise or (| operator)
+ */
+#define PB_DECODE_NOINIT          0x01U
+#define PB_DECODE_DELIMITED       0x02U
+#define PB_DECODE_NULLTERMINATED  0x04U
+bool pb_decode_ex(pb_istream_t *stream, const pb_msgdesc_t *fields, void *dest_struct, unsigned int flags);
+
+/* Defines for backwards compatibility with code written before nanopb-0.4.0 */
+#define pb_decode_noinit(s,f,d) pb_decode_ex(s,f,d, PB_DECODE_NOINIT)
+#define pb_decode_delimited(s,f,d) pb_decode_ex(s,f,d, PB_DECODE_DELIMITED)
+#define pb_decode_delimited_noinit(s,f,d) pb_decode_ex(s,f,d, PB_DECODE_DELIMITED | PB_DECODE_NOINIT)
+#define pb_decode_nullterminated(s,f,d) pb_decode_ex(s,f,d, PB_DECODE_NULLTERMINATED)
+
+/* Release any allocated pointer fields. If you use dynamic allocation, you should
+ * call this for any successfully decoded message when you are done with it. If
+ * pb_decode() returns with an error, the message is already released.
+ */
+void pb_release(const pb_msgdesc_t *fields, void *dest_struct);
+
+/**************************************
+ * Functions for manipulating streams *
+ **************************************/
+
+/* Create an input stream for reading from a memory buffer.
+ *
+ * msglen should be the actual length of the message, not the full size of
+ * allocated buffer.
+ *
+ * Alternatively, you can use a custom stream that reads directly from e.g.
+ * a file or a network socket.
+ */
+pb_istream_t pb_istream_from_buffer(const pb_byte_t *buf, size_t msglen);
+
+/* Function to read from a pb_istream_t. You can use this if you need to
+ * read some custom header data, or to read data in field callbacks.
+ */
+bool pb_read(pb_istream_t *stream, pb_byte_t *buf, size_t count);
+
+
+/************************************************
+ * Helper functions for writing field callbacks *
+ ************************************************/
+
+/* Decode the tag for the next field in the stream. Gives the wire type and
+ * field tag. At end of the message, returns false and sets eof to true. */
+bool pb_decode_tag(pb_istream_t *stream, pb_wire_type_t *wire_type, uint32_t *tag, bool *eof);
+
+/* Skip the field payload data, given the wire type. */
+bool pb_skip_field(pb_istream_t *stream, pb_wire_type_t wire_type);
+
+/* Decode an integer in the varint format. This works for enum, int32,
+ * int64, uint32 and uint64 field types. */
+#ifndef PB_WITHOUT_64BIT
+bool pb_decode_varint(pb_istream_t *stream, uint64_t *dest);
+#else
+#define pb_decode_varint pb_decode_varint32
+#endif
+
+/* Decode an integer in the varint format. This works for enum, int32,
+ * and uint32 field types. */
+bool pb_decode_varint32(pb_istream_t *stream, uint32_t *dest);
+
+/* Decode a bool value in varint format. */
+bool pb_decode_bool(pb_istream_t *stream, bool *dest);
+
+/* Decode an integer in the zig-zagged svarint format. This works for sint32
+ * and sint64. */
+#ifndef PB_WITHOUT_64BIT
+bool pb_decode_svarint(pb_istream_t *stream, int64_t *dest);
+#else
+bool pb_decode_svarint(pb_istream_t *stream, int32_t *dest);
+#endif
+
+/* Decode a fixed32, sfixed32 or float value. You need to pass a pointer to
+ * a 4-byte wide C variable. */
+bool pb_decode_fixed32(pb_istream_t *stream, void *dest);
+
+#ifndef PB_WITHOUT_64BIT
+/* Decode a fixed64, sfixed64 or double value. You need to pass a pointer to
+ * a 8-byte wide C variable. */
+bool pb_decode_fixed64(pb_istream_t *stream, void *dest);
+#endif
+
+#ifdef PB_CONVERT_DOUBLE_FLOAT
+/* Decode a double value into float variable. */
+bool pb_decode_double_as_float(pb_istream_t *stream, float *dest);
+#endif
+
+/* Make a limited-length substream for reading a PB_WT_STRING field. */
+bool pb_make_string_substream(pb_istream_t *stream, pb_istream_t *substream);
+bool pb_close_string_substream(pb_istream_t *stream, pb_istream_t *substream);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif

Core/BASE/Inc/BSP/pb_encode.h

@@ -0,0 +1,185 @@
+/* pb_encode.h: Functions to encode protocol buffers. Depends on pb_encode.c.
+ * The main function is pb_encode. You also need an output stream, and the
+ * field descriptions created by nanopb_generator.py.
+ */
+
+#ifndef PB_ENCODE_H_INCLUDED
+#define PB_ENCODE_H_INCLUDED
+
+#include "pb.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Structure for defining custom output streams. You will need to provide
+ * a callback function to write the bytes to your storage, which can be
+ * for example a file or a network socket.
+ *
+ * The callback must conform to these rules:
+ *
+ * 1) Return false on IO errors. This will cause encoding to abort.
+ * 2) You can use state to store your own data (e.g. buffer pointer).
+ * 3) pb_write will update bytes_written after your callback runs.
+ * 4) Substreams will modify max_size and bytes_written. Don't use them
+ *    to calculate any pointers.
+ */
+struct pb_ostream_s
+{
+#ifdef PB_BUFFER_ONLY
+    /* Callback pointer is not used in buffer-only configuration.
+     * Having an int pointer here allows binary compatibility but
+     * gives an error if someone tries to assign callback function.
+     * Also, NULL pointer marks a 'sizing stream' that does not
+     * write anything.
+     */
+    const int *callback;
+#else
+    bool (*callback)(pb_ostream_t *stream, const pb_byte_t *buf, size_t count);
+#endif
+    void *state;          /* Free field for use by callback implementation. */
+    size_t max_size;      /* Limit number of output bytes written (or use SIZE_MAX). */
+    size_t bytes_written; /* Number of bytes written so far. */
+    
+#ifndef PB_NO_ERRMSG
+    const char *errmsg;
+#endif
+};
+
+/***************************
+ * Main encoding functions *
+ ***************************/
+
+/* Encode a single protocol buffers message from C structure into a stream.
+ * Returns true on success, false on any failure.
+ * The actual struct pointed to by src_struct must match the description in fields.
+ * All required fields in the struct are assumed to have been filled in.
+ *
+ * Example usage:
+ *    MyMessage msg = {};
+ *    uint8_t buffer[64];
+ *    pb_ostream_t stream;
+ *
+ *    msg.field1 = 42;
+ *    stream = pb_ostream_from_buffer(buffer, sizeof(buffer));
+ *    pb_encode(&stream, MyMessage_fields, &msg);
+ */
+bool pb_encode(pb_ostream_t *stream, const pb_msgdesc_t *fields, const void *src_struct);
+
+/* Extended version of pb_encode, with several options to control the
+ * encoding process:
+ *
+ * PB_ENCODE_DELIMITED:      Prepend the length of message as a varint.
+ *                           Corresponds to writeDelimitedTo() in Google's
+ *                           protobuf API.
+ *
+ * PB_ENCODE_NULLTERMINATED: Append a null byte to the message for termination.
+ *                           NOTE: This behaviour is not supported in most other
+ *                           protobuf implementations, so PB_ENCODE_DELIMITED
+ *                           is a better option for compatibility.
+ */
+#define PB_ENCODE_DELIMITED       0x02U
+#define PB_ENCODE_NULLTERMINATED  0x04U
+bool pb_encode_ex(pb_ostream_t *stream, const pb_msgdesc_t *fields, const void *src_struct, unsigned int flags);
+
+/* Defines for backwards compatibility with code written before nanopb-0.4.0 */
+#define pb_encode_delimited(s,f,d) pb_encode_ex(s,f,d, PB_ENCODE_DELIMITED)
+#define pb_encode_nullterminated(s,f,d) pb_encode_ex(s,f,d, PB_ENCODE_NULLTERMINATED)
+
+/* Encode the message to get the size of the encoded data, but do not store
+ * the data. */
+bool pb_get_encoded_size(size_t *size, const pb_msgdesc_t *fields, const void *src_struct);
+
+/**************************************
+ * Functions for manipulating streams *
+ **************************************/
+
+/* Create an output stream for writing into a memory buffer.
+ * The number of bytes written can be found in stream.bytes_written after
+ * encoding the message.
+ *
+ * Alternatively, you can use a custom stream that writes directly to e.g.
+ * a file or a network socket.
+ */
+pb_ostream_t pb_ostream_from_buffer(pb_byte_t *buf, size_t bufsize);
+
+/* Pseudo-stream for measuring the size of a message without actually storing
+ * the encoded data.
+ * 
+ * Example usage:
+ *    MyMessage msg = {};
+ *    pb_ostream_t stream = PB_OSTREAM_SIZING;
+ *    pb_encode(&stream, MyMessage_fields, &msg);
+ *    printf("Message size is %d\n", stream.bytes_written);
+ */
+#ifndef PB_NO_ERRMSG
+#define PB_OSTREAM_SIZING {0,0,0,0,0}
+#else
+#define PB_OSTREAM_SIZING {0,0,0,0}
+#endif
+
+/* Function to write into a pb_ostream_t stream. You can use this if you need
+ * to append or prepend some custom headers to the message.
+ */
+bool pb_write(pb_ostream_t *stream, const pb_byte_t *buf, size_t count);
+
+
+/************************************************
+ * Helper functions for writing field callbacks *
+ ************************************************/
+
+/* Encode field header based on type and field number defined in the field
+ * structure. Call this from the callback before writing out field contents. */
+bool pb_encode_tag_for_field(pb_ostream_t *stream, const pb_field_iter_t *field);
+
+/* Encode field header by manually specifying wire type. You need to use this
+ * if you want to write out packed arrays from a callback field. */
+bool pb_encode_tag(pb_ostream_t *stream, pb_wire_type_t wiretype, uint32_t field_number);
+
+/* Encode an integer in the varint format.
+ * This works for bool, enum, int32, int64, uint32 and uint64 field types. */
+#ifndef PB_WITHOUT_64BIT
+bool pb_encode_varint(pb_ostream_t *stream, uint64_t value);
+#else
+bool pb_encode_varint(pb_ostream_t *stream, uint32_t value);
+#endif
+
+/* Encode an integer in the zig-zagged svarint format.
+ * This works for sint32 and sint64. */
+#ifndef PB_WITHOUT_64BIT
+bool pb_encode_svarint(pb_ostream_t *stream, int64_t value);
+#else
+bool pb_encode_svarint(pb_ostream_t *stream, int32_t value);
+#endif
+
+/* Encode a string or bytes type field. For strings, pass strlen(s) as size. */
+bool pb_encode_string(pb_ostream_t *stream, const pb_byte_t *buffer, size_t size);
+
+/* Encode a fixed32, sfixed32 or float value.
+ * You need to pass a pointer to a 4-byte wide C variable. */
+bool pb_encode_fixed32(pb_ostream_t *stream, const void *value);
+
+#ifndef PB_WITHOUT_64BIT
+/* Encode a fixed64, sfixed64 or double value.
+ * You need to pass a pointer to a 8-byte wide C variable. */
+bool pb_encode_fixed64(pb_ostream_t *stream, const void *value);
+#endif
+
+#ifdef PB_CONVERT_DOUBLE_FLOAT
+/* Encode a float value so that it appears like a double in the encoded
+ * message. */
+bool pb_encode_float_as_double(pb_ostream_t *stream, float value);
+#endif
+
+/* Encode a submessage field.
+ * You need to pass the pb_field_t array and pointer to struct, just like
+ * with pb_encode(). This internally encodes the submessage twice, first to
+ * calculate message size and then to actually write it out.
+ */
+bool pb_encode_submessage(pb_ostream_t *stream, const pb_msgdesc_t *fields, const void *src_struct);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif

Core/BASE/Inc/BSP/readme.h

@@ -0,0 +1,38 @@
+
+
+/*
+ * readme.h
+ *
+ *  Created on: 2023年10月31日
+ *      Author: shiya
+ *
+ *  CAN_H7_Bootloader程序存放位置
+ *      FLASH (rx)     : ORIGIN = 0x08000000, LENGTH = 128K
+ *  要求APP的存放位置为：
+ *      FLASH (rx)     : ORIGIN = 0x08020000, LENGTH = 896K
+ *  APP的中断向量表设置为：
+ *		define VECT_TAB_OFFSET         0x00020000U
+ *
+ *  Boot顺序（关联CAN总线2）：
+ *  Boot程序总线返回报文ID：0x1FF	类型：标准帧
+ *		1. Boot启动，返回报文长度1的报文；
+ *		2. 延时100ms，期间等待报文0x110标准帧，首字节0x55，如果接收到 进入BootLoader程序 A；
+ *		3. 如果没有收到进入bootloader请求，返回报文长度3的报文，跳转到APP；
+ *
+ *		A. 如果进入bootloader程序，返回报文长度2的报文，等待刷写；
+ *			刷写ID为0x222，逻辑参见“canbootloader.lua”
+ *		B. 如果刷写过程存在失败，返回报文长度4的报文，可以重新尝试运行“canbootloader.lua”进行刷写；
+ *
+ *		C. 刷写成功，返回报文长度3的报文，进入APP；
+ *		PV 用户可修改数据
+ *		CV 管理员配置权限，CV中有PV
+ *		GV 机器人数据
+ *		IV 机器人返回上位机的表征数据
+ *
+ */
+#ifndef INC_BSP_README_H_
+#define INC_BSP_README_H_
+
+
+
+#endif /* INC_BSP_README_H_ */

Core/BASE/Inc/BSP/tcp_server.h

@@ -0,0 +1,49 @@
+/*
+ * bsp_TCPServer.h
+ *
+ *  Created on: 2025年8月4日
+ *      Author: akeguo
+ */
+
+#ifndef BASE_INC_BSP_TCP_SERVER_H_
+#define BASE_INC_BSP_TCP_SERVER_H_
+
+//#ifndef TCP_SERVER_H
+//#define TCP_SERVER_H
+
+#include "lwip/tcp.h"
+#include <stdint.h>
+
+// 最大客户端连接数
+#define MAX_CLIENTS 8
+
+// 客户端连接结构
+typedef struct {
+    struct tcp_pcb *pcb;   // LwIP PCB指针
+    uint8_t active;        // 连接是否活跃
+} client_conn_t;
+
+// 服务器初始化
+void tcp_server_init(uint16_t port);
+
+// 发送数据给所有客户端
+void tcp_send_to_all_clients(const char *data, uint16_t len);
+
+// 定时器回调声明
+void tcp_server_timer_callback(void);
+
+typedef struct SendDataNode
+{
+   uint8_t Tx_Buf[255];         /*发送数据*/
+   uint8_t Tx_Count;           /*学号*/
+   struct SendDataNode * next;  /*指向下一个节点的指针*/
+}SendDataNode;
+extern void tcp_add_sendList(uint8_t *tx_Buf, uint8_t tx_count);
+
+
+
+
+//#endif /* TCP_SERVER_H */
+
+
+#endif /* BASE_INC_BSP_TCP_SERVER_H_ */

Core/BASE/Inc/MSP/msp_Force_Sensor.h

@@ -0,0 +1,13 @@
+/*
+ * msp_Force_Sensor.h
+ *
+ *  Created on: Oct 8, 2024
+ *      Author: akeguo
+ */
+
+#ifndef INC_MSP_MSP_FORCE_SENSOR_H_
+#define INC_MSP_MSP_FORCE_SENSOR_H_
+#include "bsp_MB_host.h"
+extern void force_sensor_intialize(struct UARTHandler *Handler);
+extern int32_t* ForceValue;
+#endif /* INC_MSP_MSP_FORCE_SENSOR_H_ */

Core/BASE/Inc/MSP/msp_JTBATTERY.h

@@ -0,0 +1,15 @@
+/*
+ * msp_JTBATTERY.h
+ *
+ *  Created on: Oct 26, 2023
+ *      Author: shiya
+ */
+
+#ifndef INC_MSP_MSP_JTBATTERY_H_
+#define INC_MSP_MSP_JTBATTERY_H_
+
+#include "BSP/bsp_include.h"
+
+
+
+#endif /* INC_MSP_MSP_JTBATTERY_H_ */

Core/BASE/Inc/MSP/msp_MK32_1.h

@@ -0,0 +1,18 @@
+/*
+ * msp_MK32_1.h
+ *
+ *  Created on: Oct 8, 2024
+ *      Author: akeguo
+ */
+
+#ifndef INC_MSP_MSP_MK32_1_H_
+#define INC_MSP_MSP_MK32_1_H_
+#include "BSP/bsp_UART.h"
+#include "msp_MK32.pb.h"
+void Sbus_Data_Count(uint8_t *buf, int32_t *But_Value);
+extern SP_MSP_MK32_Button *P_MK32;
+
+extern char ReceivedFromMK32;
+void MK32_Sbus_UART_Handler_intialize(struct UARTHandler* Handler);
+extern char Is_All_Button_Reset;
+#endif /* INC_MSP_MSP_MK32_1_H_ */

Core/BASE/Inc/MSP/msp_PID.h

@@ -0,0 +1,18 @@
+
+/*
+ * msp_PID.h - 两轮差速机器人角度追踪PID（内置参数，数组输出）
+ */
+
+#ifndef INC_MSP_MSP_PID_H_
+#define INC_MSP_MSP_PID_H_
+/**
+ * @brief 两轮差速角度控制（内置 dt=0.1s，最大速度 = 1.6 * |base_speed|）
+ * @param current_angle  当前角度（度）
+ * @param desired_angle  期望角度（度）
+ * @param base_speed     基础前进速度（可正可负）
+ * @param speeds         输出速度数组，speeds[0]=左轮，speeds[1]=右轮
+ */
+void TwoWheel_AngleControl(float current_angle, float desired_angle,
+                           float base_speed, float speeds[2]);
+
+#endif

Core/BASE/Inc/MSP/msp_TL720D.h

@@ -0,0 +1,24 @@
+/*
+ * msp_TL720D.h
+ *
+ *  Created on: Jul 19, 2024
+ *      Author: bihon
+ */
+
+#ifndef INC_MSP_MSP_TL720D_H_
+#define INC_MSP_MSP_TL720D_H_
+
+#include <stdio.h>
+#include <string.h>
+#include "bsp_MB_host.h"
+#include "stdio.h"
+#include "BSP/bsp_UART.h"
+#include "usart.h"
+#include "gpio.h"
+
+void TL720D_intialize(struct UARTHandler *Handler);
+
+extern MSP_TL720DParameters* SP_MSP_RF_TL720D_Parameters_In;
+extern int32_t *RobotAngle;//机器人角度
+
+#endif /* INC_MSP_MSP_TL720D_H_ */

Core/BASE/Inc/MSP/msp_TTMotor_ZQ.h

@@ -0,0 +1,104 @@
+/*
+ * msp_TTMotor_ZQ.h
+ *
+ *  Created on: Oct 10, 2024
+ *      Author: akeguo
+ */
+
+#ifndef INC_MSP_MSP_TTMOTOR_ZQ_H_
+#define INC_MSP_MSP_TTMOTOR_ZQ_H_
+#include "bsp_include.h"
+#include "bsp_FDCAN.h"
+#include "msp_ZQ_MotorParameters.pb.h"
+
+
+#include "fsm.h"
+
+#define DF_MSP_TT_Motor_PositionMode 	01
+#define DF_MSP_TT_Motor_SpeedMode 		02
+#define DF_MSP_TT_Motor_CurrentMode 	03
+#define DF_MSP_TT_Motor_Posi_Now 	04
+
+#define TT_One_Deg_Count 	11014///32768*121/360(减速比121)=11014
+
+#define TT_Left_limt    84080      //-775000+75*11014
+#define TT_Right_limt  -1568020  //-775000-75*11014
+//#define Sw_Rust_Mid_Posi  -775000  //-775000-75*11014
+
+//double Sw_Rust_Mid_Posi=-775000;//需检测修改
+#define DF_MSP_TT_Motor_StartID 2
+
+void SwingMotorSetCheckTargetPositon();
+
+void TT_Analytic_Fun(int32_t ID_A_T_A, char *buffer);
+
+extern int SwingMotorID;
+extern int LeftMotorID;
+extern int RightMotorID;
+
+extern void ActivateMotor(int32_t MotorID, FDCANHandler *ZQ_Motor_Controller,
+        int32_t WaitTime) ;
+
+extern void CANSendMessageSDO_ADD_To_SendList(int32_t MotorID, uint8_t Function,
+        uint16_t ControlWord, uint8_t subWord, int32_t ControlWordValue,
+        FDCANHandler *ZQ_Motor_Controller, int32_t WaitTime);
+
+//位置速度模式
+extern void Postion_Velcocity_Run_SetParameter(int32_t MotorID, int32_t TargetPosition,
+		int32_t TargetSpeed, int32_t AccTime, int32_t DecTime,
+        FDCANHandler *ZQ_Motor_Controller, int32_t WaitTime);
+extern void Postion_Velcocity_Set_Position(int32_t MotorID, int32_t TargetPosition,
+        FDCANHandler *ZQ_Motor_Controller, int32_t WaitTime) ;
+
+extern void Driver_ReadError(int32_t MotorID, FDCANHandler *ZQ_Motor_Controller,
+        int32_t WaitTime);
+extern void SetMotorTargetPosition(int32_t MotorID, int32_t TargetPosition,
+        FDCANHandler *ZQ_Motor_Controller, int32_t WaitTime) ;
+
+extern void Postion_Velcocity_Stop(int32_t MotorID, FDCANHandler *ZQ_Motor_Controller,
+        int32_t WaitTime) ;
+
+//extern void SetCurrentPositionZero(int MotorID, FDCANHandler *ZQ_Motor_Controller,
+//        int32_t WaitTime) ;
+
+extern void Motor_Controller_intialize(FDCANHandler *Handler);
+
+extern void Swing_Motor_Set_Target_Position() ;
+
+extern void Swing_Motor_Read_ReachedEnd() ;
+extern void Set_Current_Positon_Zero(uint8_t MotorID,
+        FDCANHandler *ZQ_Motor_Controller, int32_t WaitTime) ;
+
+extern void TT_Request_Position(uint32_t Motor_ID_1,
+        FDCANHandler *ZQ_Motor_Controller, int32_t WaitTime) ;
+extern void TT_Request_Velocity(uint32_t Motor_ID_1,
+        FDCANHandler *ZQ_Motor_Controller, int32_t WaitTime) ;
+
+
+extern void Position_Immediately_Setting(uint8_t MotorID, FDCANHandler *ZQ_Motor_Controller,
+		int32_t Deri_Position,int32_t Deri_Speed, int32_t WaitTime);  // Home  设置当前位置为零点
+
+extern void Position_Lag_Setting(uint8_t MotorID, FDCANHandler *ZQ_Motor_Controller,
+		int32_t Deri_Position,int32_t Deri_Speed, int32_t WaitTime) ; // Home  设置当前位置为零点
+
+extern void TT_Request_Fault(uint32_t Motor_ID_1,
+        FDCANHandler *ZQ_Motor_Controller, int32_t WaitTime) ;
+
+extern void TT_Request_Current(uint32_t Motor_ID_1,
+        FDCANHandler *ZQ_Motor_Controller, int32_t WaitTime);
+
+extern void TT_Analytic_Fun(int32_t ID_A_T_A, char *buffer);
+
+
+extern void TT_Analytic_Fun(int32_t ID_A_T_A, char *buffer);
+
+extern void SpeedModeSetup(int32_t MotorID,FDCANHandler *ZQ_Motor_Controller,int32_t WaitTime,int32_t Acc, int32_t Dec, int32_t TargetVelocity); //设定速度模式，并更改相关速度
+
+extern void TT_Analytic_Fun(int32_t ID_A_T_A, char *buffer);
+extern void TT_SpeedMode_Set_TargetSpeed(uint32_t MotorID,FDCANHandler *ZQ_Motor_Controller,int32_t WaitTime,int32_t TargetSpeed);
+
+
+extern void Enable_NMT(int32_t MotorID, FDCANHandler *ZQ_Motor_Controller, int32_t Node_Number,  int32_t WaitTime);
+extern void Configure_Asynchronous_Mode(int32_t MotorID, FDCANHandler *ZQ_Motor_Controller, int32_t Node_Number,  int32_t WaitTime);
+extern void Consumer_Or_microcontroller_Heartbeat(int32_t MotorID, FDCANHandler *ZQ_Motor_Controller,   int32_t WaitTime);
+#endif /* INC_MSP_MSP_TTMOTOR_ZQ_H_ */

Core/BASE/Inc/MSP/msp_WH_LTE_7S0.h

@@ -0,0 +1,21 @@
+/*
+ * bsp_WH_LTE_7S0.h
+ *
+ *  Created on: Sep 14, 2024
+ *      Author: akeguo
+ */
+
+#ifndef INC_BSP_BSP_WH_LTE_7S0_H_
+#define INC_BSP_BSP_WH_LTE_7S0_H_
+#include "stdint.h"
+extern struct UARTHandler *wh_LTE_7S0_Handler;
+//void WH_LTE_7S0_intialize(struct UARTHandler *Handler);
+void Send_WH_LTE_7S0_Data(uint8_t* data,int length);
+
+void WH_LTE_7S0_intialize(struct UARTHandler *Handler);
+void decode_received_data_from_computer(uint8_t *buffer, uint16_t length);
+void decode_command_from_wh_LTE_7S0(uint8_t *buffer, uint16_t length);
+void UpdateGV();
+
+extern char NeedToFeedBackToComputer;
+#endif /* INC_BSP_BSP_WH_LTE_7S0_H_ */

Core/BASE/Protobuf/PSource/bsp_CV.pb.c

@@ -0,0 +1,20 @@
+/* Automatically generated nanopb constant definitions */
+/* Generated by nanopb-0.4.8 */
+
+#include "bsp_CV.pb.h"
+#if PB_PROTO_HEADER_VERSION != 40
+#error Regenerate this file with the current version of nanopb generator.
+#endif
+
+PB_BIND(CV_struct_define, CV_struct_define, AUTO)
+
+
+
+#ifndef PB_CONVERT_DOUBLE_FLOAT
+/* On some platforms (such as AVR), double is really float.
+ * To be able to encode/decode double on these platforms, you need.
+ * to define PB_CONVERT_DOUBLE_FLOAT in pb.h or compiler command line.
+ */
+PB_STATIC_ASSERT(sizeof(double) == 8, DOUBLE_MUST_BE_8_BYTES)
+#endif
+

Core/BASE/Protobuf/PSource/bsp_CV.pb.h

@@ -0,0 +1,125 @@
+/* Automatically generated nanopb header */
+/* Generated by nanopb-0.4.8 */
+
+#ifndef PB_BSP_CV_PB_H_INCLUDED
+#define PB_BSP_CV_PB_H_INCLUDED
+#include "pb.h"
+#include "bsp_PV.pb.h"
+#include "bsp_PID.pb.h"
+
+#if PB_PROTO_HEADER_VERSION != 40
+#error Regenerate this file with the current version of nanopb generator.
+#endif
+
+/* Struct definitions */
+typedef struct _CV_struct_define {
+    int32_t Speed_m_per_min; /* MPMin =  1m/min  1米每分钟 m/min */
+    int32_t LeftTurnSpeed;
+    int32_t RightTurnSpeed;
+    int32_t RobotLeftAngleValue; /* 水平左方向  单位0.01° */
+    int32_t RobotRightAngleValue; /* 水平右方向角度值 单位0.01° */
+    int32_t RobotUpAngleValue; /* 竖直方向角度值 单位0.01° */
+    int32_t RobotDownAngleValue; /* 竖直向下角度值 单位0.01° */
+    int32_t Robot_Permitted_Angler_Error_Value_E_2D; /* 作业时需用的最大角度偏差值 0.01°，超出将停止作业 */
+    int32_t Robot_Angle_Start_BaseE_2D; /* 角度值 0.01° */
+    int32_t Lane_Change_Speed_m_per_min;
+    int32_t Is_Automation_Authorized;
+    int32_t Is_Function_Authorized;
+    int32_t Joy_Sticker_Angle_Allowance; /* 例如在90度的±30° */
+    int32_t Joy_Sticker_Value_Allowance; /* 例如 joysticker的值超过600 */
+    int32_t Allowable_Error_For_Angle_Tracking; /* 纠偏角度跟踪的允许误差1 度 */
+    int32_t Paint_Gun_Shutdown_Distance; /* 喷枪关闭距离，喷枪关闭后多上厘米停止运行 */
+    int32_t Horizontal_ChangeLane_Compensation; /* 水平换道补偿距离 */
+    int32_t Vertical_ChangeLane_Compensation; /* 竖直换道补偿距离 */
+    int32_t pulse_Per_Circle; /* 每转多少脉冲 */
+    int32_t wheel_Reduction_Ratio; /* 减速比 */
+    double wheel_Diameter_m; /* 车轮直径 m */
+    bool has_PID_high;
+    PID_Parameters PID_high;
+    bool has_PID_mid;
+    PID_Parameters PID_mid;
+    bool has_PID_low;
+    PID_Parameters PID_low;
+} CV_struct_define;
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Initializer values for message structs */
+#define CV_struct_define_init_default            {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, false, PID_Parameters_init_default, false, PID_Parameters_init_default, false, PID_Parameters_init_default}
+#define CV_struct_define_init_zero               {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, false, PID_Parameters_init_zero, false, PID_Parameters_init_zero, false, PID_Parameters_init_zero}
+
+/* Field tags (for use in manual encoding/decoding) */
+#define CV_struct_define_Speed_m_per_min_tag     1
+#define CV_struct_define_LeftTurnSpeed_tag       2
+#define CV_struct_define_RightTurnSpeed_tag      3
+#define CV_struct_define_RobotLeftAngleValue_tag 4
+#define CV_struct_define_RobotRightAngleValue_tag 5
+#define CV_struct_define_RobotUpAngleValue_tag   6
+#define CV_struct_define_RobotDownAngleValue_tag 7
+#define CV_struct_define_Robot_Permitted_Angler_Error_Value_E_2D_tag 8
+#define CV_struct_define_Robot_Angle_Start_BaseE_2D_tag 9
+#define CV_struct_define_Lane_Change_Speed_m_per_min_tag 10
+#define CV_struct_define_Is_Automation_Authorized_tag 11
+#define CV_struct_define_Is_Function_Authorized_tag 12
+#define CV_struct_define_Joy_Sticker_Angle_Allowance_tag 13
+#define CV_struct_define_Joy_Sticker_Value_Allowance_tag 14
+#define CV_struct_define_Allowable_Error_For_Angle_Tracking_tag 15
+#define CV_struct_define_Paint_Gun_Shutdown_Distance_tag 16
+#define CV_struct_define_Horizontal_ChangeLane_Compensation_tag 17
+#define CV_struct_define_Vertical_ChangeLane_Compensation_tag 18
+#define CV_struct_define_pulse_Per_Circle_tag    19
+#define CV_struct_define_wheel_Reduction_Ratio_tag 20
+#define CV_struct_define_wheel_Diameter_m_tag    21
+#define CV_struct_define_PID_high_tag            22
+#define CV_struct_define_PID_mid_tag             23
+#define CV_struct_define_PID_low_tag             24
+
+/* Struct field encoding specification for nanopb */
+#define CV_struct_define_FIELDLIST(X, a) \
+X(a, STATIC,   SINGULAR, INT32,    Speed_m_per_min,   1) \
+X(a, STATIC,   SINGULAR, INT32,    LeftTurnSpeed,     2) \
+X(a, STATIC,   SINGULAR, INT32,    RightTurnSpeed,    3) \
+X(a, STATIC,   SINGULAR, INT32,    RobotLeftAngleValue,   4) \
+X(a, STATIC,   SINGULAR, INT32,    RobotRightAngleValue,   5) \
+X(a, STATIC,   SINGULAR, INT32,    RobotUpAngleValue,   6) \
+X(a, STATIC,   SINGULAR, INT32,    RobotDownAngleValue,   7) \
+X(a, STATIC,   SINGULAR, INT32,    Robot_Permitted_Angler_Error_Value_E_2D,   8) \
+X(a, STATIC,   SINGULAR, INT32,    Robot_Angle_Start_BaseE_2D,   9) \
+X(a, STATIC,   SINGULAR, INT32,    Lane_Change_Speed_m_per_min,  10) \
+X(a, STATIC,   SINGULAR, INT32,    Is_Automation_Authorized,  11) \
+X(a, STATIC,   SINGULAR, INT32,    Is_Function_Authorized,  12) \
+X(a, STATIC,   SINGULAR, INT32,    Joy_Sticker_Angle_Allowance,  13) \
+X(a, STATIC,   SINGULAR, INT32,    Joy_Sticker_Value_Allowance,  14) \
+X(a, STATIC,   SINGULAR, INT32,    Allowable_Error_For_Angle_Tracking,  15) \
+X(a, STATIC,   SINGULAR, INT32,    Paint_Gun_Shutdown_Distance,  16) \
+X(a, STATIC,   SINGULAR, INT32,    Horizontal_ChangeLane_Compensation,  17) \
+X(a, STATIC,   SINGULAR, INT32,    Vertical_ChangeLane_Compensation,  18) \
+X(a, STATIC,   SINGULAR, INT32,    pulse_Per_Circle,  19) \
+X(a, STATIC,   SINGULAR, INT32,    wheel_Reduction_Ratio,  20) \
+X(a, STATIC,   SINGULAR, DOUBLE,   wheel_Diameter_m,  21) \
+X(a, STATIC,   OPTIONAL, MESSAGE,  PID_high,         22) \
+X(a, STATIC,   OPTIONAL, MESSAGE,  PID_mid,          23) \
+X(a, STATIC,   OPTIONAL, MESSAGE,  PID_low,          24)
+#define CV_struct_define_CALLBACK NULL
+#define CV_struct_define_DEFAULT NULL
+#define CV_struct_define_PID_high_MSGTYPE PID_Parameters
+#define CV_struct_define_PID_mid_MSGTYPE PID_Parameters
+#define CV_struct_define_PID_low_MSGTYPE PID_Parameters
+
+extern const pb_msgdesc_t CV_struct_define_msg;
+
+/* Defines for backwards compatibility with code written before nanopb-0.4.0 */
+#define CV_struct_define_fields &CV_struct_define_msg
+
+/* Maximum encoded size of messages (where known) */
+#define BSP_CV_PB_H_MAX_SIZE                     CV_struct_define_size
+#define CV_struct_define_size                    358
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif

Core/BASE/Protobuf/PSource/bsp_Cmd.pb.c

@@ -0,0 +1,12 @@
+/* Automatically generated nanopb constant definitions */
+/* Generated by nanopb-0.4.8 */
+
+#include "bsp_Cmd.pb.h"
+#if PB_PROTO_HEADER_VERSION != 40
+#error Regenerate this file with the current version of nanopb generator.
+#endif
+
+PB_BIND(Cmd, Cmd, 2)
+
+
+

Core/BASE/Protobuf/PSource/bsp_Cmd.pb.h

@@ -0,0 +1,80 @@
+/* Automatically generated nanopb header */
+/* Generated by nanopb-0.4.8 */
+
+#ifndef PB_BSP_CMD_PB_H_INCLUDED
+#define PB_BSP_CMD_PB_H_INCLUDED
+#include "pb.h"
+
+#if PB_PROTO_HEADER_VERSION != 40
+#error Regenerate this file with the current version of nanopb generator.
+#endif
+
+/* Struct definitions */
+/* this message is used for the computer to send command */
+typedef struct _Cmd {
+    int32_t CommadNum;
+    /* 定义 1 上位机获取默认CV值
+定义 2 下位机返回CV值
+定义 3 上位机设定CV值
+定义 4 上位机设定Trace等级值，无返回
+定义 5 下位机上传位置点数据
+定义 6 上位机设定编码器角度值为0
+定义 7 上位机获取拟合点
+定义 8 上位机获取位置点
+定义 9 上位机向下位机下发程序 此时，Parameter0 下发的程序起始位，Parameter0 是校验位
+Buff_Data_Length 是下发的字节数， */
+    int32_t Parameter0;
+    int32_t Parameter1;
+    int32_t Parameter2;
+    int32_t Parameter3;
+    int32_t Parameter4;
+    int32_t Buff_Data_Length;
+    pb_byte_t Buff_Data[512];
+} Cmd;
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Initializer values for message structs */
+#define Cmd_init_default                         {0, 0, 0, 0, 0, 0, 0, {0}}
+#define Cmd_init_zero                            {0, 0, 0, 0, 0, 0, 0, {0}}
+
+/* Field tags (for use in manual encoding/decoding) */
+#define Cmd_CommadNum_tag                        1
+#define Cmd_Parameter0_tag                       2
+#define Cmd_Parameter1_tag                       3
+#define Cmd_Parameter2_tag                       4
+#define Cmd_Parameter3_tag                       5
+#define Cmd_Parameter4_tag                       6
+#define Cmd_Buff_Data_Length_tag                 7
+#define Cmd_Buff_Data_tag                        8
+
+/* Struct field encoding specification for nanopb */
+#define Cmd_FIELDLIST(X, a) \
+X(a, STATIC,   SINGULAR, INT32,    CommadNum,         1) \
+X(a, STATIC,   SINGULAR, INT32,    Parameter0,        2) \
+X(a, STATIC,   SINGULAR, INT32,    Parameter1,        3) \
+X(a, STATIC,   SINGULAR, INT32,    Parameter2,        4) \
+X(a, STATIC,   SINGULAR, INT32,    Parameter3,        5) \
+X(a, STATIC,   SINGULAR, INT32,    Parameter4,        6) \
+X(a, STATIC,   SINGULAR, INT32,    Buff_Data_Length,   7) \
+X(a, STATIC,   SINGULAR, FIXED_LENGTH_BYTES, Buff_Data,         8)
+#define Cmd_CALLBACK NULL
+#define Cmd_DEFAULT NULL
+
+extern const pb_msgdesc_t Cmd_msg;
+
+/* Defines for backwards compatibility with code written before nanopb-0.4.0 */
+#define Cmd_fields &Cmd_msg
+
+/* Maximum encoded size of messages (where known) */
+#define BSP_CMD_PB_H_MAX_SIZE                    Cmd_size
+#define Cmd_size                                 592
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif

Core/BASE/Protobuf/PSource/bsp_Error.pb.c

@@ -0,0 +1,13 @@
+/* Automatically generated nanopb constant definitions */
+/* Generated by nanopb-0.4.8 */
+
+#include "bsp_Error.pb.h"
+#if PB_PROTO_HEADER_VERSION != 40
+#error Regenerate this file with the current version of nanopb generator.
+#endif
+
+PB_BIND(ErrorData, ErrorData, AUTO)
+
+
+
+

Core/BASE/Protobuf/PSource/bsp_Error.pb.h

@@ -0,0 +1,76 @@
+/* Automatically generated nanopb header */
+/* Generated by nanopb-0.4.8 */
+
+#ifndef PB_BSP_ERROR_PB_H_INCLUDED
+#define PB_BSP_ERROR_PB_H_INCLUDED
+#include "pb.h"
+
+#if PB_PROTO_HEADER_VERSION != 40
+#error Regenerate this file with the current version of nanopb generator.
+#endif
+
+/* Enum definitions */
+typedef enum _ComError {
+    ComError_Mk32_SBus = 0, /* proto3版本中，首成员必须为0，成员不应有相同的值 */
+    ComError_MK32_Serial = 1,
+    ComError_MK32_InitialState = 2,
+    ComError_TL720D = 3,
+    ComError_ZQ_CAN_ID1_LeftMotor = 4,
+    ComError_ZQ_CAN_ID2_RightMotor = 5,
+    ComError_ZQ_CAN_ID3_SwingMotor = 6,
+    ComError_Force_Sensor = 7,
+    ComError_Mfog40 = 8,
+    ComError_Ultrasonic_Sensor = 9,
+    ComError_UWB_20_Error = 10
+} ComError;
+
+/* Struct definitions */
+typedef struct _ErrorData {
+    int32_t Com_Error_Code;
+    int32_t Left_Motor_Error_Code;
+    int32_t Right_Motor_Error_Code;
+} ErrorData;
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Helper constants for enums */
+#define _ComError_MIN ComError_Mk32_SBus
+#define _ComError_MAX ComError_UWB_20_Error
+#define _ComError_ARRAYSIZE ((ComError)(ComError_UWB_20_Error+1))
+
+
+
+/* Initializer values for message structs */
+#define ErrorData_init_default                   {0, 0, 0}
+#define ErrorData_init_zero                      {0, 0, 0}
+
+/* Field tags (for use in manual encoding/decoding) */
+#define ErrorData_Com_Error_Code_tag             1
+#define ErrorData_Left_Motor_Error_Code_tag      2
+#define ErrorData_Right_Motor_Error_Code_tag     3
+
+/* Struct field encoding specification for nanopb */
+#define ErrorData_FIELDLIST(X, a) \
+X(a, STATIC,   SINGULAR, INT32,    Com_Error_Code,    1) \
+X(a, STATIC,   SINGULAR, INT32,    Left_Motor_Error_Code,   2) \
+X(a, STATIC,   SINGULAR, INT32,    Right_Motor_Error_Code,   3)
+#define ErrorData_CALLBACK NULL
+#define ErrorData_DEFAULT NULL
+
+extern const pb_msgdesc_t ErrorData_msg;
+
+/* Defines for backwards compatibility with code written before nanopb-0.4.0 */
+#define ErrorData_fields &ErrorData_msg
+
+/* Maximum encoded size of messages (where known) */
+#define BSP_ERROR_PB_H_MAX_SIZE                  ErrorData_size
+#define ErrorData_size                           33
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif

Core/BASE/Protobuf/PSource/bsp_GV.pb.c

@@ -0,0 +1,12 @@
+/* Automatically generated nanopb constant definitions */
+/* Generated by nanopb-0.4.8 */
+
+#include "bsp_GV.pb.h"
+#if PB_PROTO_HEADER_VERSION != 40
+#error Regenerate this file with the current version of nanopb generator.
+#endif
+
+PB_BIND(GV_struct_define, GV_struct_define, 2)
+
+
+

Core/BASE/Protobuf/PSource/bsp_GV.pb.h

@@ -0,0 +1,117 @@
+/* Automatically generated nanopb header */
+/* Generated by nanopb-0.4.8 */
+
+#ifndef PB_BSP_GV_PB_H_INCLUDED
+#define PB_BSP_GV_PB_H_INCLUDED
+#include "pb.h"
+#include "msp_MK32.pb.h"
+#include "msp_Motor.pb.h"
+#include "msp_ZQ_MotorParameters.pb.h"
+#include "msp_TL720D.pb.h"
+#include "bsp_Error.pb.h"
+#include "bsp_PV.pb.h"
+#include "bsp_IO.pb.h"
+
+#if PB_PROTO_HEADER_VERSION != 40
+#error Regenerate this file with the current version of nanopb generator.
+#endif
+
+/* Struct definitions */
+typedef struct _GV_struct_define {
+    int32_t TempatureE_2C; /* E_2C=0.01 Celsius 0.01摄氏度 */
+    int32_t Left_Compensation; /* E_2D =0.01 Degree    0.01度 */
+    int32_t Right_Compensation; /* 0.01度 */
+    float Robot_Angle_Desire; /* 机器人期望角度 //改为 float，单位：度（不再需要0.01缩放） */
+    float Robot_Move_Speed; /* 0.1rpm */
+    float Left_Speed_M_min; /* m/Min */
+    float Right_Speed_M_min; /* m/Min */
+    float Vertical_Adjust; /* 0.1° */
+    int32_t ForceValue;
+    int32_t LaneChangeDistance;
+    bool has_P_MK32;
+    SP_MSP_MK32_Button P_MK32;
+    bool has_LeftMotor;
+    TT_MotorParameters LeftMotor; /* 左电机 ID2 */
+    bool has_RightMotor;
+    TT_MotorParameters RightMotor; /* 右电机 ID3 */
+    bool has_TL720DParameters;
+    MSP_TL720DParameters TL720DParameters;
+    bool has_IO;
+    IO_Data IO;
+    bool has_SystemErrorData;
+    ErrorData SystemErrorData;
+    bool has_PV;
+    PV_struct_define PV; /* 用户配置数据 */
+} GV_struct_define;
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Initializer values for message structs */
+#define GV_struct_define_init_default            {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, false, SP_MSP_MK32_Button_init_default, false, TT_MotorParameters_init_default, false, TT_MotorParameters_init_default, false, MSP_TL720DParameters_init_default, false, IO_Data_init_default, false, ErrorData_init_default, false, PV_struct_define_init_default}
+#define GV_struct_define_init_zero               {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, false, SP_MSP_MK32_Button_init_zero, false, TT_MotorParameters_init_zero, false, TT_MotorParameters_init_zero, false, MSP_TL720DParameters_init_zero, false, IO_Data_init_zero, false, ErrorData_init_zero, false, PV_struct_define_init_zero}
+
+/* Field tags (for use in manual encoding/decoding) */
+#define GV_struct_define_TempatureE_2C_tag       1
+#define GV_struct_define_Left_Compensation_tag   2
+#define GV_struct_define_Right_Compensation_tag  3
+#define GV_struct_define_Robot_Angle_Desire_tag  4
+#define GV_struct_define_Robot_Move_Speed_tag    5
+#define GV_struct_define_Left_Speed_M_min_tag    6
+#define GV_struct_define_Right_Speed_M_min_tag   7
+#define GV_struct_define_Vertical_Adjust_tag     8
+#define GV_struct_define_ForceValue_tag          9
+#define GV_struct_define_LaneChangeDistance_tag  10
+#define GV_struct_define_P_MK32_tag              11
+#define GV_struct_define_LeftMotor_tag           12
+#define GV_struct_define_RightMotor_tag          13
+#define GV_struct_define_TL720DParameters_tag    14
+#define GV_struct_define_IO_tag                  15
+#define GV_struct_define_SystemErrorData_tag     16
+#define GV_struct_define_PV_tag                  17
+
+/* Struct field encoding specification for nanopb */
+#define GV_struct_define_FIELDLIST(X, a) \
+X(a, STATIC,   SINGULAR, INT32,    TempatureE_2C,     1) \
+X(a, STATIC,   SINGULAR, INT32,    Left_Compensation,   2) \
+X(a, STATIC,   SINGULAR, INT32,    Right_Compensation,   3) \
+X(a, STATIC,   SINGULAR, FLOAT,    Robot_Angle_Desire,   4) \
+X(a, STATIC,   SINGULAR, FLOAT,    Robot_Move_Speed,   5) \
+X(a, STATIC,   SINGULAR, FLOAT,    Left_Speed_M_min,   6) \
+X(a, STATIC,   SINGULAR, FLOAT,    Right_Speed_M_min,   7) \
+X(a, STATIC,   SINGULAR, FLOAT,    Vertical_Adjust,   8) \
+X(a, STATIC,   SINGULAR, INT32,    ForceValue,        9) \
+X(a, STATIC,   SINGULAR, INT32,    LaneChangeDistance,  10) \
+X(a, STATIC,   OPTIONAL, MESSAGE,  P_MK32,           11) \
+X(a, STATIC,   OPTIONAL, MESSAGE,  LeftMotor,        12) \
+X(a, STATIC,   OPTIONAL, MESSAGE,  RightMotor,       13) \
+X(a, STATIC,   OPTIONAL, MESSAGE,  TL720DParameters,  14) \
+X(a, STATIC,   OPTIONAL, MESSAGE,  IO,               15) \
+X(a, STATIC,   OPTIONAL, MESSAGE,  SystemErrorData,  16) \
+X(a, STATIC,   OPTIONAL, MESSAGE,  PV,               17)
+#define GV_struct_define_CALLBACK NULL
+#define GV_struct_define_DEFAULT NULL
+#define GV_struct_define_P_MK32_MSGTYPE SP_MSP_MK32_Button
+#define GV_struct_define_LeftMotor_MSGTYPE TT_MotorParameters
+#define GV_struct_define_RightMotor_MSGTYPE TT_MotorParameters
+#define GV_struct_define_TL720DParameters_MSGTYPE MSP_TL720DParameters
+#define GV_struct_define_IO_MSGTYPE IO_Data
+#define GV_struct_define_SystemErrorData_MSGTYPE ErrorData
+#define GV_struct_define_PV_MSGTYPE PV_struct_define
+
+extern const pb_msgdesc_t GV_struct_define_msg;
+
+/* Defines for backwards compatibility with code written before nanopb-0.4.0 */
+#define GV_struct_define_fields &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                    1399
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif

Core/BASE/Protobuf/PSource/bsp_IAP.pb.c

@@ -0,0 +1,12 @@
+/* Automatically generated nanopb constant definitions */
+/* Generated by nanopb-0.4.8 */
+
+#include "bsp_IAP.pb.h"
+#if PB_PROTO_HEADER_VERSION != 40
+#error Regenerate this file with the current version of nanopb generator.
+#endif
+
+PB_BIND(IAP_struct_define, IAP_struct_define, AUTO)
+
+
+

Core/BASE/Protobuf/PSource/bsp_IAP.pb.h

@@ -0,0 +1,58 @@
+/* Automatically generated nanopb header */
+/* Generated by nanopb-0.4.8 */
+
+#ifndef PB_BSP_IAP_PB_H_INCLUDED
+#define PB_BSP_IAP_PB_H_INCLUDED
+#include "pb.h"
+
+#if PB_PROTO_HEADER_VERSION != 40
+#error Regenerate this file with the current version of nanopb generator.
+#endif
+
+/* Struct definitions */
+/* IAP，即In Application Programming，IAP是用户自己的程序在运行过程中对User Flash的部分区域进行烧写。 */
+typedef struct _IAP_struct_define {
+    int32_t Total_Bytes; /* all the received data; */
+    int32_t NextCodeVrsion; /* the New upgrade Version of the Project */
+    int32_t UtcTime; /* Udgrade Time */
+    int32_t UpgradeSucceeded; /*  */
+} IAP_struct_define;
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Initializer values for message structs */
+#define IAP_struct_define_init_default           {0, 0, 0, 0}
+#define IAP_struct_define_init_zero              {0, 0, 0, 0}
+
+/* Field tags (for use in manual encoding/decoding) */
+#define IAP_struct_define_Total_Bytes_tag        1
+#define IAP_struct_define_NextCodeVrsion_tag     2
+#define IAP_struct_define_UtcTime_tag            3
+#define IAP_struct_define_UpgradeSucceeded_tag   4
+
+/* Struct field encoding specification for nanopb */
+#define IAP_struct_define_FIELDLIST(X, a) \
+X(a, STATIC,   SINGULAR, INT32,    Total_Bytes,       1) \
+X(a, STATIC,   SINGULAR, INT32,    NextCodeVrsion,    2) \
+X(a, STATIC,   SINGULAR, INT32,    UtcTime,           3) \
+X(a, STATIC,   SINGULAR, INT32,    UpgradeSucceeded,   4)
+#define IAP_struct_define_CALLBACK NULL
+#define IAP_struct_define_DEFAULT NULL
+
+extern const pb_msgdesc_t IAP_struct_define_msg;
+
+/* Defines for backwards compatibility with code written before nanopb-0.4.0 */
+#define IAP_struct_define_fields &IAP_struct_define_msg
+
+/* Maximum encoded size of messages (where known) */
+#define BSP_IAP_PB_H_MAX_SIZE                    IAP_struct_define_size
+#define IAP_struct_define_size                   44
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif

Core/BASE/Protobuf/PSource/bsp_IO.pb.c

@@ -0,0 +1,12 @@
+/* Automatically generated nanopb constant definitions */
+/* Generated by nanopb-0.4.8 */
+
+#include "bsp_IO.pb.h"
+#if PB_PROTO_HEADER_VERSION != 40
+#error Regenerate this file with the current version of nanopb generator.
+#endif
+
+PB_BIND(IO_Data, IO_Data, AUTO)
+
+
+

Core/BASE/Protobuf/PSource/bsp_IO.pb.h

@@ -0,0 +1,81 @@
+/* Automatically generated nanopb header */
+/* Generated by nanopb-0.4.8 */
+
+#ifndef PB_BSP_IO_PB_H_INCLUDED
+#define PB_BSP_IO_PB_H_INCLUDED
+#include "pb.h"
+
+#if PB_PROTO_HEADER_VERSION != 40
+#error Regenerate this file with the current version of nanopb generator.
+#endif
+
+/* Struct definitions */
+typedef struct _IO_Data {
+    int32_t DO0;
+    int32_t DO1;
+    int32_t DO2;
+    int32_t DO3;
+    int32_t DO4;
+    int32_t DO5;
+    int32_t DI0;
+    int32_t DI1;
+    int32_t DI2;
+    int32_t DI3;
+    int32_t DI4;
+    int32_t DI5;
+} IO_Data;
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Initializer values for message structs */
+#define IO_Data_init_default                     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
+#define IO_Data_init_zero                        {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
+
+/* Field tags (for use in manual encoding/decoding) */
+#define IO_Data_DO0_tag                          1
+#define IO_Data_DO1_tag                          2
+#define IO_Data_DO2_tag                          3
+#define IO_Data_DO3_tag                          4
+#define IO_Data_DO4_tag                          5
+#define IO_Data_DO5_tag                          6
+#define IO_Data_DI0_tag                          7
+#define IO_Data_DI1_tag                          8
+#define IO_Data_DI2_tag                          9
+#define IO_Data_DI3_tag                          10
+#define IO_Data_DI4_tag                          11
+#define IO_Data_DI5_tag                          12
+
+/* Struct field encoding specification for nanopb */
+#define IO_Data_FIELDLIST(X, a) \
+X(a, STATIC,   SINGULAR, INT32,    DO0,               1) \
+X(a, STATIC,   SINGULAR, INT32,    DO1,               2) \
+X(a, STATIC,   SINGULAR, INT32,    DO2,               3) \
+X(a, STATIC,   SINGULAR, INT32,    DO3,               4) \
+X(a, STATIC,   SINGULAR, INT32,    DO4,               5) \
+X(a, STATIC,   SINGULAR, INT32,    DO5,               6) \
+X(a, STATIC,   SINGULAR, INT32,    DI0,               7) \
+X(a, STATIC,   SINGULAR, INT32,    DI1,               8) \
+X(a, STATIC,   SINGULAR, INT32,    DI2,               9) \
+X(a, STATIC,   SINGULAR, INT32,    DI3,              10) \
+X(a, STATIC,   SINGULAR, INT32,    DI4,              11) \
+X(a, STATIC,   SINGULAR, INT32,    DI5,              12)
+#define IO_Data_CALLBACK NULL
+#define IO_Data_DEFAULT NULL
+
+extern const pb_msgdesc_t IO_Data_msg;
+
+/* Defines for backwards compatibility with code written before nanopb-0.4.0 */
+#define IO_Data_fields &IO_Data_msg
+
+/* Maximum encoded size of messages (where known) */
+#define BSP_IO_PB_H_MAX_SIZE                     IO_Data_size
+#define IO_Data_size                             132
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif

Core/BASE/Protobuf/PSource/bsp_IV.pb.c

@@ -0,0 +1,12 @@
+/* Automatically generated nanopb constant definitions */
+/* Generated by nanopb-0.4.8 */
+
+#include "bsp_IV.pb.h"
+#if PB_PROTO_HEADER_VERSION != 40
+#error Regenerate this file with the current version of nanopb generator.
+#endif
+
+PB_BIND(IV_struct_define, IV_struct_define, AUTO)
+
+
+

Core/BASE/Protobuf/PSource/bsp_IV.pb.h

@@ -0,0 +1,121 @@
+/* Automatically generated nanopb header */
+/* Generated by nanopb-0.4.8 */
+
+#ifndef PB_BSP_IV_PB_H_INCLUDED
+#define PB_BSP_IV_PB_H_INCLUDED
+#include "pb.h"
+#include "bsp_PV.pb.h"
+
+#if PB_PROTO_HEADER_VERSION != 40
+#error Regenerate this file with the current version of nanopb generator.
+#endif
+
+/* Struct definitions */
+/* 抛丸机器人状态采集参数结构体（IV：Input/Status Value）
+ 作用：用于机器人控制系统向APP/上位机上报实时状态、传感器数据、故障报警信息 */
+typedef struct _IV_struct_define {
+    /* 左侧补偿值（摆臂/位置角度补偿）
+ 单位换算：发送值 ÷ 100 = 实际显示角度（°），例：发送100 → 显示1°，发送250 → 显示2.5° */
+    int32_t LeftCompensation;
+    /* 右侧补偿值（摆臂/位置角度补偿）
+ 单位换算：发送值 ÷ 100 = 实际显示角度（°），例：发送100 → 显示1°，发送300 → 显示3° */
+    int32_t RightCompensation;
+    /* 机器人实际移动速度（派生采集值）
+ 单位换算：发送值 ÷ 10 = 实际显示速度（m/min），例：发送100 → 显示10m/min，发送180 → 显示18m/min（最大速度）
+ 作用：上报机器人当前行走速度，匹配协议书中0~18m/min的速度范围 */
+    int32_t Robot_Move_Deri_Speed;
+    /* 机器人陀螺仪角度（姿态检测）
+ 单位换算：发送值 ÷ 100 = 实际显示角度（°），例：发送100 → 显示1°，发送9000 → 显示90°
+ 作用：上报机器人当前姿态角度（水平/竖直/倾斜），用于作业面姿态校准 */
+    int32_t Robot_Gyro;
+    /* 距离传感器采集值（测距/避障）
+ 单位换算：发送值 ÷ 10 = 实际显示距离（cm），例：发送100 → 显示10cm，发送500 → 显示50cm
+ 作用：检测机器人与作业面/障碍物的距离，防止碰撞或吸附失效 */
+    int32_t Distance_Sensor;
+    /* 系统级错误码
+ 取值规则：0 = 无错误；非0 = 错误类型（需配套错误码表）
+ 错误类型：包含硬件通讯故障、按键未初始化故障等核心系统异常 */
+    int32_t SystemError;
+    /* 左轮电机报警状态
+ 取值规则：0 = 正常（无报警）；1 = 报警（过流/过载/堵转等）
+ 作用：上报左轮驱动电机的故障状态，用于电机故障排查 */
+    int32_t Left_Motor_Err;
+    /* 右轮电机报警状态
+ 取值规则：0 = 正常（无报警）；1 = 报警（过流/过载/堵转等）
+ 作用：上报右轮驱动电机的故障状态，用于电机故障排查 */
+    int32_t Right_Motor_Err;
+    /* 摆臂电机报警状态
+ 取值规则：0 = 正常（无报警）；1 = 报警（过流/过载/堵转等）
+ 作用：上报抛丸/喷砂摆臂电机的故障状态，适配摆臂速度≥25°/S的作业要求 */
+    int32_t Swing_Motor_Err;
+    /* 机器人在线状态
+ 取值规则：0 = 离线（通讯中断）；1 = 在线（通讯正常）
+ 作用：APP/上位机判断机器人通讯状态，离线时触发声光报警 */
+    int32_t Is_Online;
+    /* 备用数据1
+ 用途：预留扩展字段，可用于后续新增传感器/状态采集（如吸附压力、吸尘装置状态等） */
+    int32_t Spara_Data_1;
+    /* 备用数据2
+ 用途：预留扩展字段，可用于后续新增传感器/状态采集（如作业面温度等） */
+    int32_t Spara_Data_2;
+    /* 备用数据3
+ 用途：预留扩展字段，可用于后续新增传感器/状态采集（如急停按钮状态、电池电量等） */
+    int32_t Spara_Data_3;
+} IV_struct_define;
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Initializer values for message structs */
+#define IV_struct_define_init_default            {0, 0, 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, 0, 0}
+
+/* Field tags (for use in manual encoding/decoding) */
+#define IV_struct_define_LeftCompensation_tag    1
+#define IV_struct_define_RightCompensation_tag   2
+#define IV_struct_define_Robot_Move_Deri_Speed_tag 3
+#define IV_struct_define_Robot_Gyro_tag          4
+#define IV_struct_define_Distance_Sensor_tag     5
+#define IV_struct_define_SystemError_tag         6
+#define IV_struct_define_Left_Motor_Err_tag      7
+#define IV_struct_define_Right_Motor_Err_tag     8
+#define IV_struct_define_Swing_Motor_Err_tag     9
+#define IV_struct_define_Is_Online_tag           10
+#define IV_struct_define_Spara_Data_1_tag        11
+#define IV_struct_define_Spara_Data_2_tag        12
+#define IV_struct_define_Spara_Data_3_tag        13
+
+/* Struct field encoding specification for nanopb */
+#define IV_struct_define_FIELDLIST(X, a) \
+X(a, STATIC,   SINGULAR, INT32,    LeftCompensation,   1) \
+X(a, STATIC,   SINGULAR, INT32,    RightCompensation,   2) \
+X(a, STATIC,   SINGULAR, INT32,    Robot_Move_Deri_Speed,   3) \
+X(a, STATIC,   SINGULAR, INT32,    Robot_Gyro,        4) \
+X(a, STATIC,   SINGULAR, INT32,    Distance_Sensor,   5) \
+X(a, STATIC,   SINGULAR, INT32,    SystemError,       6) \
+X(a, STATIC,   SINGULAR, INT32,    Left_Motor_Err,    7) \
+X(a, STATIC,   SINGULAR, INT32,    Right_Motor_Err,   8) \
+X(a, STATIC,   SINGULAR, INT32,    Swing_Motor_Err,   9) \
+X(a, STATIC,   SINGULAR, INT32,    Is_Online,        10) \
+X(a, STATIC,   SINGULAR, INT32,    Spara_Data_1,     11) \
+X(a, STATIC,   SINGULAR, INT32,    Spara_Data_2,     12) \
+X(a, STATIC,   SINGULAR, INT32,    Spara_Data_3,     13)
+#define IV_struct_define_CALLBACK NULL
+#define IV_struct_define_DEFAULT NULL
+
+extern const pb_msgdesc_t IV_struct_define_msg;
+
+/* Defines for backwards compatibility with code written before nanopb-0.4.0 */
+#define IV_struct_define_fields &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                    143
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif

Core/BASE/Protobuf/PSource/bsp_PID.pb.c

@@ -0,0 +1,20 @@
+/* Automatically generated nanopb constant definitions */
+/* Generated by nanopb-0.4.8 */
+
+#include "bsp_PID.pb.h"
+#if PB_PROTO_HEADER_VERSION != 40
+#error Regenerate this file with the current version of nanopb generator.
+#endif
+
+PB_BIND(PID_Parameters, PID_Parameters, AUTO)
+
+
+
+#ifndef PB_CONVERT_DOUBLE_FLOAT
+/* On some platforms (such as AVR), double is really float.
+ * To be able to encode/decode double on these platforms, you need.
+ * to define PB_CONVERT_DOUBLE_FLOAT in pb.h or compiler command line.
+ */
+PB_STATIC_ASSERT(sizeof(double) == 8, DOUBLE_MUST_BE_8_BYTES)
+#endif
+

Core/BASE/Protobuf/PSource/bsp_PID.pb.h

@@ -0,0 +1,57 @@
+/* Automatically generated nanopb header */
+/* Generated by nanopb-0.4.8 */
+
+#ifndef PB_BSP_PID_PB_H_INCLUDED
+#define PB_BSP_PID_PB_H_INCLUDED
+#include "pb.h"
+
+#if PB_PROTO_HEADER_VERSION != 40
+#error Regenerate this file with the current version of nanopb generator.
+#endif
+
+/* Struct definitions */
+typedef struct _PID_Parameters {
+    int32_t PID_Angle; /* 调整 单位0.01° 配置时需要*100 */
+    double Kp; /* PID参数 */
+    double Ki;
+    double Kd;
+} PID_Parameters;
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Initializer values for message structs */
+#define PID_Parameters_init_default              {0, 0, 0, 0}
+#define PID_Parameters_init_zero                 {0, 0, 0, 0}
+
+/* Field tags (for use in manual encoding/decoding) */
+#define PID_Parameters_PID_Angle_tag             1
+#define PID_Parameters_Kp_tag                    2
+#define PID_Parameters_Ki_tag                    3
+#define PID_Parameters_Kd_tag                    4
+
+/* Struct field encoding specification for nanopb */
+#define PID_Parameters_FIELDLIST(X, a) \
+X(a, STATIC,   SINGULAR, INT32,    PID_Angle,         1) \
+X(a, STATIC,   SINGULAR, DOUBLE,   Kp,                2) \
+X(a, STATIC,   SINGULAR, DOUBLE,   Ki,                3) \
+X(a, STATIC,   SINGULAR, DOUBLE,   Kd,                4)
+#define PID_Parameters_CALLBACK NULL
+#define PID_Parameters_DEFAULT NULL
+
+extern const pb_msgdesc_t PID_Parameters_msg;
+
+/* Defines for backwards compatibility with code written before nanopb-0.4.0 */
+#define PID_Parameters_fields &PID_Parameters_msg
+
+/* Maximum encoded size of messages (where known) */
+#define BSP_PID_PB_H_MAX_SIZE                    PID_Parameters_size
+#define PID_Parameters_size                      38
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif

Core/BASE/Protobuf/PSource/bsp_PV.pb.c

@@ -0,0 +1,12 @@
+/* Automatically generated nanopb constant definitions */
+/* Generated by nanopb-0.4.8 */
+
+#include "bsp_PV.pb.h"
+#if PB_PROTO_HEADER_VERSION != 40
+#error Regenerate this file with the current version of nanopb generator.
+#endif
+
+PB_BIND(PV_struct_define, PV_struct_define, AUTO)
+
+
+

Core/BASE/Protobuf/PSource/bsp_PV.pb.h

@@ -0,0 +1,142 @@
+/* Automatically generated nanopb header */
+/* Generated by nanopb-0.4.8 */
+
+#ifndef PB_BSP_PV_PB_H_INCLUDED
+#define PB_BSP_PV_PB_H_INCLUDED
+#include "pb.h"
+
+#if PB_PROTO_HEADER_VERSION != 40
+#error Regenerate this file with the current version of nanopb generator.
+#endif
+
+/* Struct definitions */
+/* 抛丸机器人作业参数结构体定义
+ 作用：用于APP/遥控器与机器人控制系统之间的参数传输，涵盖操作模式、运动参数、摆臂参数、作业参数等核心配置 */
+typedef struct _PV_struct_define {
+    /* 操作模式（枚举值）
+ 1 - 手动模式：人工摇杆/按键控制机器人所有动作
+ 2 - 水平模式：适配水平作业面的半自动/手动操作
+ 3 - 平面模式：适配平面作业面的操作（修正原文笔误：原"平民"为"平面"）
+ 4 - 竖直左模式：左侧垂直作业面（如船舶外壁左侧）操作
+ 5 - 竖直右模式：右侧垂直作业面（如船舶外壁右侧）操作
+ 6 - 水平区域自动：水平作业面的区域自动作业模式
+ 7 - 平面区域自动：平面作业面的区域自动作业模式 */
+    int32_t Robot_Operation_Mode;
+    /* 机器人移动速度（基础行走速度）
+ 单位：0.1m/min（字段值×0.1=实际速度，如值为10则实际速度1m/min）
+ 取值范围：0~180（对应实际0~18m/min，符合协议书中最大18m/min的要求） */
+    int32_t Robot_Move_Speed;
+    /* 换道距离（自动换道功能的核心参数）
+ 单位：mm（建议，可根据实际硬件标定调整）
+ 作用：一键换道时机器人横向移动的距离，用于控制换道压边量 */
+    int32_t Robot_Change_Lane_Distance;
+    /* 摆臂速度（抛丸/喷砂摆臂装置的摆动速度）
+ 单位：°/s（度/秒）
+ 取值要求：≥25（对应协议书中摆臂速度≥25°/S的要求） */
+    int32_t Robot_Swing_Speed;
+    /* 摆臂角度设置模式（对称/非对称）
+ 1 - 对称模式：摆臂以中心轴左右对称摆动
+ 2 - 非对称模式：摆臂仅单侧（左/右）摆动 */
+    int32_t Robot_symmetricalOrNot;
+    /* 对称模式下摆臂总摆动角度
+ 单位：°（度）
+ 示例：值为90则摆臂从-45°~+45°对称摆动 */
+    int32_t Robot_Swing_Range_Angle;
+    /* 非对称模式下的摆动侧选择
+ 1 - 左侧：仅摆臂左侧区域摆动
+ 2 - 右侧：仅摆臂右侧区域摆动 */
+    int32_t Robot_asymmetricalAngleSetValue;
+    /* 后退作业模式（抛丸/喷砂作业时的后退逻辑）
+ 1 - 打退交替：作业一段距离后停止作业，后退指定距离再继续作业
+ 2 - 边打边退：作业过程中同步后退，持续作业无中断 */
+    int32_t Robot_backMode;
+    /* 打退交替模式下的后退距离
+ 单位：mm（建议）
+ 作用：打退交替时单次后退的距离，适配不同作业面的补抛需求 */
+    int32_t Robot_Back_Distance;
+    /* 边打边退模式下的后退速度
+ 单位：0.1m/min（同Robot_Move_Speed）
+ 取值范围：0~180（对应实际0~18m/min） */
+    int32_t Robot_Back_Speed;
+    /* 压力设置（抛丸/喷砂作业的介质压力）
+ 单位：0.01MPa（建议，如值为50则实际0.5MPa）
+ 作用：控制抛丸/喷砂的强度，适配不同表面处理等级（≥Sa2.5） */
+    int32_t Robot_Press_Set;
+    /* 竖直微调（竖直作业模式下的位置微调量）
+ 单位：mm（建议）
+ 作用：竖直作业时微调机器人位置，补偿曲面/安装误差 */
+    int32_t Robot_Vertical_Adjust;
+    /* 自动模式下的作业长度
+ 单位：mm（建议）
+ 作用：区域自动作业时，单次作业的纵向长度（完成后自动换道） */
+    int32_t Robot_Length_Homework;
+    /* 自动模式下的作业宽度
+ 单位：mm（建议）
+ 作用：区域自动作业时，单次作业的横向宽度（默认适配110mm标准作业宽度） */
+    int32_t Robot_Width_Homework;
+    int32_t Robot_SandBalst_Encode_One; /* 喷砂机编码1 输入为空发1 */
+    int32_t Robot_SandBalst_Encode_Two; /* 喷砂机编码2 输入为空发2 */
+} PV_struct_define;
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Initializer values for message structs */
+#define PV_struct_define_init_default            {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
+#define PV_struct_define_init_zero               {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
+
+/* Field tags (for use in manual encoding/decoding) */
+#define PV_struct_define_Robot_Operation_Mode_tag 1
+#define PV_struct_define_Robot_Move_Speed_tag    2
+#define PV_struct_define_Robot_Change_Lane_Distance_tag 3
+#define PV_struct_define_Robot_Swing_Speed_tag   4
+#define PV_struct_define_Robot_symmetricalOrNot_tag 5
+#define PV_struct_define_Robot_Swing_Range_Angle_tag 6
+#define PV_struct_define_Robot_asymmetricalAngleSetValue_tag 7
+#define PV_struct_define_Robot_backMode_tag      8
+#define PV_struct_define_Robot_Back_Distance_tag 9
+#define PV_struct_define_Robot_Back_Speed_tag    10
+#define PV_struct_define_Robot_Press_Set_tag     11
+#define PV_struct_define_Robot_Vertical_Adjust_tag 12
+#define PV_struct_define_Robot_Length_Homework_tag 13
+#define PV_struct_define_Robot_Width_Homework_tag 14
+#define PV_struct_define_Robot_SandBalst_Encode_One_tag 15
+#define PV_struct_define_Robot_SandBalst_Encode_Two_tag 16
+
+/* Struct field encoding specification for nanopb */
+#define PV_struct_define_FIELDLIST(X, a) \
+X(a, STATIC,   SINGULAR, INT32,    Robot_Operation_Mode,   1) \
+X(a, STATIC,   SINGULAR, INT32,    Robot_Move_Speed,   2) \
+X(a, STATIC,   SINGULAR, INT32,    Robot_Change_Lane_Distance,   3) \
+X(a, STATIC,   SINGULAR, INT32,    Robot_Swing_Speed,   4) \
+X(a, STATIC,   SINGULAR, INT32,    Robot_symmetricalOrNot,   5) \
+X(a, STATIC,   SINGULAR, INT32,    Robot_Swing_Range_Angle,   6) \
+X(a, STATIC,   SINGULAR, INT32,    Robot_asymmetricalAngleSetValue,   7) \
+X(a, STATIC,   SINGULAR, INT32,    Robot_backMode,    8) \
+X(a, STATIC,   SINGULAR, INT32,    Robot_Back_Distance,   9) \
+X(a, STATIC,   SINGULAR, INT32,    Robot_Back_Speed,  10) \
+X(a, STATIC,   SINGULAR, INT32,    Robot_Press_Set,  11) \
+X(a, STATIC,   SINGULAR, INT32,    Robot_Vertical_Adjust,  12) \
+X(a, STATIC,   SINGULAR, INT32,    Robot_Length_Homework,  13) \
+X(a, STATIC,   SINGULAR, INT32,    Robot_Width_Homework,  14) \
+X(a, STATIC,   SINGULAR, INT32,    Robot_SandBalst_Encode_One,  15) \
+X(a, STATIC,   SINGULAR, INT32,    Robot_SandBalst_Encode_Two,  16)
+#define PV_struct_define_CALLBACK NULL
+#define PV_struct_define_DEFAULT NULL
+
+extern const pb_msgdesc_t PV_struct_define_msg;
+
+/* Defines for backwards compatibility with code written before nanopb-0.4.0 */
+#define PV_struct_define_fields &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                    177
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif

Core/BASE/Protobuf/PSource/bsp_ReCmd.pb.c

@@ -0,0 +1,12 @@
+/* Automatically generated nanopb constant definitions */
+/* Generated by nanopb-0.4.8 */
+
+#include "bsp_ReCmd.pb.h"
+#if PB_PROTO_HEADER_VERSION != 40
+#error Regenerate this file with the current version of nanopb generator.
+#endif
+
+PB_BIND(ReCmd, ReCmd, 2)
+
+
+

Core/BASE/Protobuf/PSource/bsp_ReCmd.pb.h

@@ -0,0 +1,80 @@
+/* Automatically generated nanopb header */
+/* Generated by nanopb-0.4.8 */
+
+#ifndef PB_BSP_RECMD_PB_H_INCLUDED
+#define PB_BSP_RECMD_PB_H_INCLUDED
+#include "pb.h"
+
+#if PB_PROTO_HEADER_VERSION != 40
+#error Regenerate this file with the current version of nanopb generator.
+#endif
+
+/* Struct definitions */
+/* this message is used for the  reply the command */
+typedef struct _ReCmd {
+    int32_t CommadNum;
+    /* 定义 1 上位机获取默认CV值
+定义 2 下位机返回CV值
+定义 3 上位机设定CV值
+定义 4 上位机设定Trace等级值，无返回
+定义 5 下位机上传位置点数据
+定义 6 上位机设定编码器角度值为0
+定义 7 上位机获取拟合点
+定义 8 上位机获取位置点
+定义 9 上位机向下位机下发程序 此时，Parameter0 下发的程序起始位，Parameter0 是校验位
+Buff_Data_Length 是下发的字节数， */
+    int32_t Parameter0;
+    int32_t Parameter1;
+    int32_t Parameter2;
+    int32_t Parameter3;
+    int32_t Parameter4;
+    int32_t Buff_Data_Length;
+    pb_byte_t Buff_Data[512];
+} ReCmd;
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Initializer values for message structs */
+#define ReCmd_init_default                       {0, 0, 0, 0, 0, 0, 0, {0}}
+#define ReCmd_init_zero                          {0, 0, 0, 0, 0, 0, 0, {0}}
+
+/* Field tags (for use in manual encoding/decoding) */
+#define ReCmd_CommadNum_tag                      1
+#define ReCmd_Parameter0_tag                     2
+#define ReCmd_Parameter1_tag                     3
+#define ReCmd_Parameter2_tag                     4
+#define ReCmd_Parameter3_tag                     5
+#define ReCmd_Parameter4_tag                     6
+#define ReCmd_Buff_Data_Length_tag               7
+#define ReCmd_Buff_Data_tag                      8
+
+/* Struct field encoding specification for nanopb */
+#define ReCmd_FIELDLIST(X, a) \
+X(a, STATIC,   SINGULAR, INT32,    CommadNum,         1) \
+X(a, STATIC,   SINGULAR, INT32,    Parameter0,        2) \
+X(a, STATIC,   SINGULAR, INT32,    Parameter1,        3) \
+X(a, STATIC,   SINGULAR, INT32,    Parameter2,        4) \
+X(a, STATIC,   SINGULAR, INT32,    Parameter3,        5) \
+X(a, STATIC,   SINGULAR, INT32,    Parameter4,        6) \
+X(a, STATIC,   SINGULAR, INT32,    Buff_Data_Length,   7) \
+X(a, STATIC,   SINGULAR, FIXED_LENGTH_BYTES, Buff_Data,         8)
+#define ReCmd_CALLBACK NULL
+#define ReCmd_DEFAULT NULL
+
+extern const pb_msgdesc_t ReCmd_msg;
+
+/* Defines for backwards compatibility with code written before nanopb-0.4.0 */
+#define ReCmd_fields &ReCmd_msg
+
+/* Maximum encoded size of messages (where known) */
+#define BSP_RECMD_PB_H_MAX_SIZE                  ReCmd_size
+#define ReCmd_size                               592
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif

Core/BASE/Protobuf/PSource/msp_MK32.pb.c

@@ -0,0 +1,12 @@
+/* Automatically generated nanopb constant definitions */
+/* Generated by nanopb-0.4.8 */
+
+#include "msp_MK32.pb.h"
+#if PB_PROTO_HEADER_VERSION != 40
+#error Regenerate this file with the current version of nanopb generator.
+#endif
+
+PB_BIND(SP_MSP_MK32_Button, SP_MSP_MK32_Button, AUTO)
+
+
+

Core/BASE/Protobuf/PSource/msp_MK32.pb.h

@@ -0,0 +1,99 @@
+/* Automatically generated nanopb header */
+/* Generated by nanopb-0.4.8 */
+
+#ifndef PB_MSP_MK32_PB_H_INCLUDED
+#define PB_MSP_MK32_PB_H_INCLUDED
+#include "pb.h"
+
+#if PB_PROTO_HEADER_VERSION != 40
+#error Regenerate this file with the current version of nanopb generator.
+#endif
+
+/* Struct definitions */
+typedef struct _SP_MSP_MK32_Button {
+    int32_t RxIndex;
+    int32_t CH0_RY_H; /* 上1000，下-1000 */
+    int32_t CH1_RY_V; /* 上1000，下-1000 */
+    int32_t CH2_LY_V; /* 上1000，下-1000 */
+    int32_t CH3_LY_H; /* 上1000，下-1000 */
+    int32_t CH4_SA; /* 上-1000，下1000 */
+    int32_t CH5_SB; /* 上-1000，下1000 */
+    int32_t CH6_SC; /* 上-1000，下1000 */
+    int32_t CH7_SD; /* 上-1000，下1000 */
+    int32_t CH8_SE; /* 上-1000，下1000 */
+    int32_t CH9_SF; /* 上-1000，下1000 */
+    int32_t CH10_LD1;
+    int32_t CH11_RD1;
+    int32_t CH12_S1;
+    int32_t CH13_S2;
+    int32_t CH14_LT;
+    int32_t CH15_RT;
+    int32_t IsOnline;
+} SP_MSP_MK32_Button;
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Initializer values for message structs */
+#define SP_MSP_MK32_Button_init_default          {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
+#define SP_MSP_MK32_Button_init_zero             {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
+
+/* Field tags (for use in manual encoding/decoding) */
+#define SP_MSP_MK32_Button_RxIndex_tag           1
+#define SP_MSP_MK32_Button_CH0_RY_H_tag          2
+#define SP_MSP_MK32_Button_CH1_RY_V_tag          3
+#define SP_MSP_MK32_Button_CH2_LY_V_tag          4
+#define SP_MSP_MK32_Button_CH3_LY_H_tag          5
+#define SP_MSP_MK32_Button_CH4_SA_tag            6
+#define SP_MSP_MK32_Button_CH5_SB_tag            7
+#define SP_MSP_MK32_Button_CH6_SC_tag            8
+#define SP_MSP_MK32_Button_CH7_SD_tag            9
+#define SP_MSP_MK32_Button_CH8_SE_tag            10
+#define SP_MSP_MK32_Button_CH9_SF_tag            11
+#define SP_MSP_MK32_Button_CH10_LD1_tag          12
+#define SP_MSP_MK32_Button_CH11_RD1_tag          13
+#define SP_MSP_MK32_Button_CH12_S1_tag           14
+#define SP_MSP_MK32_Button_CH13_S2_tag           15
+#define SP_MSP_MK32_Button_CH14_LT_tag           16
+#define SP_MSP_MK32_Button_CH15_RT_tag           17
+#define SP_MSP_MK32_Button_IsOnline_tag          18
+
+/* Struct field encoding specification for nanopb */
+#define SP_MSP_MK32_Button_FIELDLIST(X, a) \
+X(a, STATIC,   SINGULAR, INT32,    RxIndex,           1) \
+X(a, STATIC,   SINGULAR, INT32,    CH0_RY_H,          2) \
+X(a, STATIC,   SINGULAR, INT32,    CH1_RY_V,          3) \
+X(a, STATIC,   SINGULAR, INT32,    CH2_LY_V,          4) \
+X(a, STATIC,   SINGULAR, INT32,    CH3_LY_H,          5) \
+X(a, STATIC,   SINGULAR, INT32,    CH4_SA,            6) \
+X(a, STATIC,   SINGULAR, INT32,    CH5_SB,            7) \
+X(a, STATIC,   SINGULAR, INT32,    CH6_SC,            8) \
+X(a, STATIC,   SINGULAR, INT32,    CH7_SD,            9) \
+X(a, STATIC,   SINGULAR, INT32,    CH8_SE,           10) \
+X(a, STATIC,   SINGULAR, INT32,    CH9_SF,           11) \
+X(a, STATIC,   SINGULAR, INT32,    CH10_LD1,         12) \
+X(a, STATIC,   SINGULAR, INT32,    CH11_RD1,         13) \
+X(a, STATIC,   SINGULAR, INT32,    CH12_S1,          14) \
+X(a, STATIC,   SINGULAR, INT32,    CH13_S2,          15) \
+X(a, STATIC,   SINGULAR, INT32,    CH14_LT,          16) \
+X(a, STATIC,   SINGULAR, INT32,    CH15_RT,          17) \
+X(a, STATIC,   SINGULAR, INT32,    IsOnline,         18)
+#define SP_MSP_MK32_Button_CALLBACK NULL
+#define SP_MSP_MK32_Button_DEFAULT NULL
+
+extern const pb_msgdesc_t SP_MSP_MK32_Button_msg;
+
+/* Defines for backwards compatibility with code written before nanopb-0.4.0 */
+#define SP_MSP_MK32_Button_fields &SP_MSP_MK32_Button_msg
+
+/* Maximum encoded size of messages (where known) */
+#define MSP_MK32_PB_H_MAX_SIZE                   SP_MSP_MK32_Button_size
+#define SP_MSP_MK32_Button_size                  201
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif

Core/BASE/Protobuf/PSource/msp_Motor.pb.c

@@ -0,0 +1,12 @@
+/* Automatically generated nanopb constant definitions */
+/* Generated by nanopb-0.4.8 */
+
+#include "msp_Motor.pb.h"
+#if PB_PROTO_HEADER_VERSION != 40
+#error Regenerate this file with the current version of nanopb generator.
+#endif
+
+PB_BIND(MotorParameters, MotorParameters, AUTO)
+
+
+

Core/BASE/Protobuf/PSource/msp_Motor.pb.h

@@ -0,0 +1,91 @@
+/* Automatically generated nanopb header */
+/* Generated by nanopb-0.4.8 */
+
+#ifndef PB_MSP_MOTOR_PB_H_INCLUDED
+#define PB_MSP_MOTOR_PB_H_INCLUDED
+#include "pb.h"
+
+#if PB_PROTO_HEADER_VERSION != 40
+#error Regenerate this file with the current version of nanopb generator.
+#endif
+
+/* Struct definitions */
+typedef struct _MotorParameters {
+    int32_t MotorID;
+    int32_t RxIndex;
+    int32_t Run_Mode;
+    int32_t Current;
+    int32_t Target_Current;
+    int32_t Velcity;
+    int32_t Target_Velcity;
+    int32_t Position;
+    int32_t Target_Position;
+    int32_t ERROR_Flag;
+    int32_t Temperature_Motor;
+    int32_t Temperature_PCB;
+    int32_t AccTime;
+    int32_t DecTime;
+    int32_t EncoderOffset; /* 53	83	设置位置偏移	int32_t	"设置偏移值和目标位置
+（目标位置=编码器位置 - 偏移值）" */
+} MotorParameters;
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Initializer values for message structs */
+#define MotorParameters_init_default             {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
+#define MotorParameters_init_zero                {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
+
+/* Field tags (for use in manual encoding/decoding) */
+#define MotorParameters_MotorID_tag              1
+#define MotorParameters_RxIndex_tag              2
+#define MotorParameters_Run_Mode_tag             3
+#define MotorParameters_Current_tag              4
+#define MotorParameters_Target_Current_tag       5
+#define MotorParameters_Velcity_tag              6
+#define MotorParameters_Target_Velcity_tag       7
+#define MotorParameters_Position_tag             8
+#define MotorParameters_Target_Position_tag      9
+#define MotorParameters_ERROR_Flag_tag           10
+#define MotorParameters_Temperature_Motor_tag    11
+#define MotorParameters_Temperature_PCB_tag      12
+#define MotorParameters_AccTime_tag              13
+#define MotorParameters_DecTime_tag              14
+#define MotorParameters_EncoderOffset_tag        15
+
+/* Struct field encoding specification for nanopb */
+#define MotorParameters_FIELDLIST(X, a) \
+X(a, STATIC,   SINGULAR, INT32,    MotorID,           1) \
+X(a, STATIC,   SINGULAR, INT32,    RxIndex,           2) \
+X(a, STATIC,   SINGULAR, INT32,    Run_Mode,          3) \
+X(a, STATIC,   SINGULAR, INT32,    Current,           4) \
+X(a, STATIC,   SINGULAR, INT32,    Target_Current,    5) \
+X(a, STATIC,   SINGULAR, INT32,    Velcity,           6) \
+X(a, STATIC,   SINGULAR, INT32,    Target_Velcity,    7) \
+X(a, STATIC,   SINGULAR, INT32,    Position,          8) \
+X(a, STATIC,   SINGULAR, INT32,    Target_Position,   9) \
+X(a, STATIC,   SINGULAR, INT32,    ERROR_Flag,       10) \
+X(a, STATIC,   SINGULAR, INT32,    Temperature_Motor,  11) \
+X(a, STATIC,   SINGULAR, INT32,    Temperature_PCB,  12) \
+X(a, STATIC,   SINGULAR, INT32,    AccTime,          13) \
+X(a, STATIC,   SINGULAR, INT32,    DecTime,          14) \
+X(a, STATIC,   SINGULAR, INT32,    EncoderOffset,    15)
+#define MotorParameters_CALLBACK NULL
+#define MotorParameters_DEFAULT NULL
+
+extern const pb_msgdesc_t MotorParameters_msg;
+
+/* Defines for backwards compatibility with code written before nanopb-0.4.0 */
+#define MotorParameters_fields &MotorParameters_msg
+
+/* Maximum encoded size of messages (where known) */
+#define MSP_MOTOR_PB_H_MAX_SIZE                  MotorParameters_size
+#define MotorParameters_size                     165
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif

Core/BASE/Protobuf/PSource/msp_TL720D.pb.c

@@ -0,0 +1,12 @@
+/* Automatically generated nanopb constant definitions */
+/* Generated by nanopb-0.4.8 */
+
+#include "msp_TL720D.pb.h"
+#if PB_PROTO_HEADER_VERSION != 40
+#error Regenerate this file with the current version of nanopb generator.
+#endif
+
+PB_BIND(MSP_TL720DParameters, MSP_TL720DParameters, AUTO)
+
+
+

Core/BASE/Protobuf/PSource/msp_TL720D.pb.h

@@ -0,0 +1,72 @@
+/* Automatically generated nanopb header */
+/* Generated by nanopb-0.4.8 */
+
+#ifndef PB_MSP_TL720D_PB_H_INCLUDED
+#define PB_MSP_TL720D_PB_H_INCLUDED
+#include "pb.h"
+
+#if PB_PROTO_HEADER_VERSION != 40
+#error Regenerate this file with the current version of nanopb generator.
+#endif
+
+/* Struct definitions */
+typedef struct _MSP_TL720DParameters {
+    int32_t RF_Angle_Roll; /* 横滚角 */
+    int32_t RF_Angle_Pitch; /* 俯仰角 */
+    int32_t RF_Angle_Yaw; /* 航向角 */
+    int32_t RF_Acc_X; /* X轴加速度 */
+    int32_t RF_Acc_Y; /* Y轴加速度 */
+    int32_t RF_Acc_Z; /* Z轴加速度 */
+    int32_t RF_Gro_X; /* X轴陀螺 */
+    int32_t RF_Gro_Y; /* Y轴陀螺 */
+    int32_t RF_Gro_Z; /* Z轴陀螺 */
+} MSP_TL720DParameters;
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Initializer values for message structs */
+#define MSP_TL720DParameters_init_default        {0, 0, 0, 0, 0, 0, 0, 0, 0}
+#define MSP_TL720DParameters_init_zero           {0, 0, 0, 0, 0, 0, 0, 0, 0}
+
+/* Field tags (for use in manual encoding/decoding) */
+#define MSP_TL720DParameters_RF_Angle_Roll_tag   1
+#define MSP_TL720DParameters_RF_Angle_Pitch_tag  2
+#define MSP_TL720DParameters_RF_Angle_Yaw_tag    3
+#define MSP_TL720DParameters_RF_Acc_X_tag        4
+#define MSP_TL720DParameters_RF_Acc_Y_tag        5
+#define MSP_TL720DParameters_RF_Acc_Z_tag        6
+#define MSP_TL720DParameters_RF_Gro_X_tag        7
+#define MSP_TL720DParameters_RF_Gro_Y_tag        8
+#define MSP_TL720DParameters_RF_Gro_Z_tag        9
+
+/* Struct field encoding specification for nanopb */
+#define MSP_TL720DParameters_FIELDLIST(X, a) \
+X(a, STATIC,   SINGULAR, INT32,    RF_Angle_Roll,     1) \
+X(a, STATIC,   SINGULAR, INT32,    RF_Angle_Pitch,    2) \
+X(a, STATIC,   SINGULAR, INT32,    RF_Angle_Yaw,      3) \
+X(a, STATIC,   SINGULAR, INT32,    RF_Acc_X,          4) \
+X(a, STATIC,   SINGULAR, INT32,    RF_Acc_Y,          5) \
+X(a, STATIC,   SINGULAR, INT32,    RF_Acc_Z,          6) \
+X(a, STATIC,   SINGULAR, INT32,    RF_Gro_X,          7) \
+X(a, STATIC,   SINGULAR, INT32,    RF_Gro_Y,          8) \
+X(a, STATIC,   SINGULAR, INT32,    RF_Gro_Z,          9)
+#define MSP_TL720DParameters_CALLBACK NULL
+#define MSP_TL720DParameters_DEFAULT NULL
+
+extern const pb_msgdesc_t MSP_TL720DParameters_msg;
+
+/* Defines for backwards compatibility with code written before nanopb-0.4.0 */
+#define MSP_TL720DParameters_fields &MSP_TL720DParameters_msg
+
+/* Maximum encoded size of messages (where known) */
+#define MSP_TL720DParameters_size                99
+#define MSP_TL720D_PB_H_MAX_SIZE                 MSP_TL720DParameters_size
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif

Core/BASE/Protobuf/PSource/msp_ZQ_MotorParameters.pb.c

@@ -0,0 +1,20 @@
+/* Automatically generated nanopb constant definitions */
+/* Generated by nanopb-0.4.8 */
+
+#include "msp_ZQ_MotorParameters.pb.h"
+#if PB_PROTO_HEADER_VERSION != 40
+#error Regenerate this file with the current version of nanopb generator.
+#endif
+
+PB_BIND(TT_MotorParameters, TT_MotorParameters, AUTO)
+
+
+
+#ifndef PB_CONVERT_DOUBLE_FLOAT
+/* On some platforms (such as AVR), double is really float.
+ * To be able to encode/decode double on these platforms, you need.
+ * to define PB_CONVERT_DOUBLE_FLOAT in pb.h or compiler command line.
+ */
+PB_STATIC_ASSERT(sizeof(double) == 8, DOUBLE_MUST_BE_8_BYTES)
+#endif
+

Core/BASE/Protobuf/PSource/msp_ZQ_MotorParameters.pb.h

@@ -0,0 +1,129 @@
+/* Automatically generated nanopb header */
+/* Generated by nanopb-0.4.8 */
+
+#ifndef PB_MSP_ZQ_MOTORPARAMETERS_PB_H_INCLUDED
+#define PB_MSP_ZQ_MOTORPARAMETERS_PB_H_INCLUDED
+#include "pb.h"
+
+#if PB_PROTO_HEADER_VERSION != 40
+#error Regenerate this file with the current version of nanopb generator.
+#endif
+
+/* Struct definitions */
+typedef struct _TT_MotorParameters {
+    int32_t MotorID;
+    int32_t Real_Current;
+    int32_t Target_Current;
+    int32_t Real_Velcity;
+    int32_t Target_Velcity;
+    int32_t Target_Position;
+    int32_t Act_Suc;
+    int32_t Cont_Posi_Suc;
+    int32_t Acc_Suc;
+    int32_t Dec_Suc;
+    int32_t Target_Posi_Suc;
+    int32_t Run_Speed_Suc;
+    int32_t Clear_Suc;
+    int32_t Real_Position;
+    int32_t Acc_Suc_Speed;
+    int32_t Dec_Suc_Speed;
+    int32_t Suc_Speed_S;
+    int32_t TT_Motor_Fault;
+    int32_t AccTime;
+    int32_t DecTime;
+    int32_t Number_Of_Rounds;
+    int32_t Start_Measuring_Position;
+    int32_t Last_Real_Position;
+    double Real_Disatnce;
+    int32_t Start_Measuring; /* 开始测距 */
+    int32_t Position_immediately1_Lag2; /* 位置环模式，立即生效1，延后生效2 */
+    int32_t Tar_Position_count; /* 位置环模式，期望位置 */
+    int32_t Tar_Position_Velcity_RPM; /* 位置环模式，速度 */
+} TT_MotorParameters;
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Initializer values for message structs */
+#define TT_MotorParameters_init_default          {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
+#define TT_MotorParameters_init_zero             {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
+
+/* Field tags (for use in manual encoding/decoding) */
+#define TT_MotorParameters_MotorID_tag           1
+#define TT_MotorParameters_Real_Current_tag      4
+#define TT_MotorParameters_Target_Current_tag    5
+#define TT_MotorParameters_Real_Velcity_tag      6
+#define TT_MotorParameters_Target_Velcity_tag    7
+#define TT_MotorParameters_Target_Position_tag   8
+#define TT_MotorParameters_Act_Suc_tag           25
+#define TT_MotorParameters_Cont_Posi_Suc_tag     26
+#define TT_MotorParameters_Acc_Suc_tag           27
+#define TT_MotorParameters_Dec_Suc_tag           28
+#define TT_MotorParameters_Target_Posi_Suc_tag   29
+#define TT_MotorParameters_Run_Speed_Suc_tag     30
+#define TT_MotorParameters_Clear_Suc_tag         31
+#define TT_MotorParameters_Real_Position_tag     32
+#define TT_MotorParameters_Acc_Suc_Speed_tag     33
+#define TT_MotorParameters_Dec_Suc_Speed_tag     34
+#define TT_MotorParameters_Suc_Speed_S_tag       35
+#define TT_MotorParameters_TT_Motor_Fault_tag    36
+#define TT_MotorParameters_AccTime_tag           37
+#define TT_MotorParameters_DecTime_tag           38
+#define TT_MotorParameters_Number_Of_Rounds_tag  39
+#define TT_MotorParameters_Start_Measuring_Position_tag 40
+#define TT_MotorParameters_Last_Real_Position_tag 43
+#define TT_MotorParameters_Real_Disatnce_tag     44
+#define TT_MotorParameters_Start_Measuring_tag   45
+#define TT_MotorParameters_Position_immediately1_Lag2_tag 46
+#define TT_MotorParameters_Tar_Position_count_tag 47
+#define TT_MotorParameters_Tar_Position_Velcity_RPM_tag 49
+
+/* Struct field encoding specification for nanopb */
+#define TT_MotorParameters_FIELDLIST(X, a) \
+X(a, STATIC,   SINGULAR, INT32,    MotorID,           1) \
+X(a, STATIC,   SINGULAR, INT32,    Real_Current,      4) \
+X(a, STATIC,   SINGULAR, INT32,    Target_Current,    5) \
+X(a, STATIC,   SINGULAR, INT32,    Real_Velcity,      6) \
+X(a, STATIC,   SINGULAR, INT32,    Target_Velcity,    7) \
+X(a, STATIC,   SINGULAR, INT32,    Target_Position,   8) \
+X(a, STATIC,   SINGULAR, INT32,    Act_Suc,          25) \
+X(a, STATIC,   SINGULAR, INT32,    Cont_Posi_Suc,    26) \
+X(a, STATIC,   SINGULAR, INT32,    Acc_Suc,          27) \
+X(a, STATIC,   SINGULAR, INT32,    Dec_Suc,          28) \
+X(a, STATIC,   SINGULAR, INT32,    Target_Posi_Suc,  29) \
+X(a, STATIC,   SINGULAR, INT32,    Run_Speed_Suc,    30) \
+X(a, STATIC,   SINGULAR, INT32,    Clear_Suc,        31) \
+X(a, STATIC,   SINGULAR, INT32,    Real_Position,    32) \
+X(a, STATIC,   SINGULAR, INT32,    Acc_Suc_Speed,    33) \
+X(a, STATIC,   SINGULAR, INT32,    Dec_Suc_Speed,    34) \
+X(a, STATIC,   SINGULAR, INT32,    Suc_Speed_S,      35) \
+X(a, STATIC,   SINGULAR, INT32,    TT_Motor_Fault,   36) \
+X(a, STATIC,   SINGULAR, INT32,    AccTime,          37) \
+X(a, STATIC,   SINGULAR, INT32,    DecTime,          38) \
+X(a, STATIC,   SINGULAR, INT32,    Number_Of_Rounds,  39) \
+X(a, STATIC,   SINGULAR, INT32,    Start_Measuring_Position,  40) \
+X(a, STATIC,   SINGULAR, INT32,    Last_Real_Position,  43) \
+X(a, STATIC,   SINGULAR, DOUBLE,   Real_Disatnce,    44) \
+X(a, STATIC,   SINGULAR, INT32,    Start_Measuring,  45) \
+X(a, STATIC,   SINGULAR, INT32,    Position_immediately1_Lag2,  46) \
+X(a, STATIC,   SINGULAR, INT32,    Tar_Position_count,  47) \
+X(a, STATIC,   SINGULAR, INT32,    Tar_Position_Velcity_RPM,  49)
+#define TT_MotorParameters_CALLBACK NULL
+#define TT_MotorParameters_DEFAULT NULL
+
+extern const pb_msgdesc_t TT_MotorParameters_msg;
+
+/* Defines for backwards compatibility with code written before nanopb-0.4.0 */
+#define TT_MotorParameters_fields &TT_MotorParameters_msg
+
+/* Maximum encoded size of messages (where known) */
+#define MSP_ZQ_MOTORPARAMETERS_PB_H_MAX_SIZE     TT_MotorParameters_size
+#define TT_MotorParameters_size                  328
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif

Core/BASE/Protobuf/Proto/bsp_CV.proto

@@ -0,0 +1,42 @@
+syntax = "proto3";
+//import "nanopb.proto";
+
+import "bsp_PV.proto";
+import "bsp_PID.proto";
+message CV_struct_define{
+ 	  
+	 //喷漆项目
+ 	  
+	  int32 Speed_m_per_min = 1; // MPMin =  1m/min  1米每分钟 m/min
+	  
+      int32 LeftTurnSpeed = 2;
+ 	  int32 RightTurnSpeed = 3;
+
+ 
+ 
+	  int32 RobotLeftAngleValue=4;// 水平左方向  单位0.01°
+	  int32 RobotRightAngleValue=5;// 水平右方向角度值 单位0.01°
+	  int32 RobotUpAngleValue=6;// 竖直方向角度值 单位0.01°
+	  int32 RobotDownAngleValue=7;// 竖直向下角度值 单位0.01°
+
+	  int32 Robot_Permitted_Angler_Error_Value_E_2D = 8;// 作业时需用的最大角度偏差值 0.01°，超出将停止作业
+	  int32 Robot_Angle_Start_BaseE_2D = 9;//角度值 0.01°
+	  int32 Lane_Change_Speed_m_per_min = 10;
+	  int32 Is_Automation_Authorized = 11;
+	  int32 Is_Function_Authorized = 12;
+	  int32 Joy_Sticker_Angle_Allowance = 13;// 例如在90度的±30°
+	  int32 Joy_Sticker_Value_Allowance = 14;//例如 joysticker的值超过600
+	  int32 Allowable_Error_For_Angle_Tracking  = 15;//纠偏角度跟踪的允许误差1 度
+	  int32 Paint_Gun_Shutdown_Distance  = 16;//喷枪关闭距离，喷枪关闭后多上厘米停止运行
+	  int32 Horizontal_ChangeLane_Compensation=17; //水平换道补偿距离
+	  int32 Vertical_ChangeLane_Compensation=18; //竖直换道补偿距离
+ 	  int32 pulse_Per_Circle=19;  //每转多少脉冲
+      int32 wheel_Reduction_Ratio=20;  //减速比
+	  double wheel_Diameter_m=21;  //车轮直径 m
+	  PID_Parameters PID_high=22;
+	  PID_Parameters PID_mid=23;
+	  PID_Parameters PID_low=24;
+	  
+	
+	  }
+

Core/BASE/Protobuf/Proto/bsp_Cmd.options

@@ -0,0 +1,2 @@
+# lock.options
+Cmd.Buff_Data   max_size:512 fixed_length:true

Core/BASE/Protobuf/Proto/bsp_Cmd.proto

@@ -0,0 +1,24 @@
+syntax = "proto3";
+//this message is used for the computer to send command
+message Cmd{
+	  int32 CommadNum = 1;
+	  //定义 1 上位机获取默认CV值
+	  //定义 2 下位机返回CV值
+	  //定义 3 上位机设定CV值
+	  //定义 4 上位机设定Trace等级值，无返回
+	  //定义 5 下位机上传位置点数据
+	  //定义 6 上位机设定编码器角度值为0
+	  //定义 7 上位机获取拟合点
+	  //定义 8 上位机获取位置点
+	  //定义 9 上位机向下位机下发程序 此时，Parameter0 下发的程序起始位，Parameter0 是校验位
+	  //Buff_Data_Length 是下发的字节数，
+	  int32 Parameter0 = 2;
+	  int32 Parameter1 = 3;
+	  int32 Parameter2 = 4;
+	  int32 Parameter3 = 5;
+	  int32 Parameter4 = 6;
+	  int32 Buff_Data_Length = 7;
+	  bytes Buff_Data=8;
+	   
+};
+

Core/BASE/Protobuf/Proto/bsp_Error.proto

@@ -0,0 +1,31 @@
+syntax = "proto3";
+
+option java_multiple_files = false;
+option java_package = "com.example.paintapp.models";
+
+message ErrorData
+{ 
+	int32 Com_Error_Code=1;
+	int32 Left_Motor_Error_Code=2;
+	int32 Right_Motor_Error_Code=3;
+ 
+}
+
+enum ComError //枚举消息类型 Error Bit Define
+ {
+        Mk32_SBus             =0; //proto3版本中，首成员必须为0，成员不应有相同的值
+        MK32_Serial           =1;
+        MK32_InitialState     =2;
+        TL720D                =3;
+                
+        ZQ_CAN_ID1_LeftMotor  =4;
+        ZQ_CAN_ID2_RightMotor =5;
+        ZQ_CAN_ID3_SwingMotor =6;
+        Force_Sensor          =7;  
+
+        Mfog40                =8;
+        Ultrasonic_Sensor     =9;
+        UWB_20_Error=10;
+ }
+
+//protoc --nanopb_out=. *.proto

Core/BASE/Protobuf/Proto/bsp_GV.options

@@ -0,0 +1,2 @@
+# lock.options
+GV_struct_define.Motor_P   max_size:50 fixed_length:true

Core/BASE/Protobuf/Proto/bsp_GV.proto

@@ -0,0 +1,34 @@
+syntax = "proto3";
+import "msp_MK32.proto";
+import "msp_Motor.proto";
+import "msp_ZQ_MotorParameters.proto";
+
+
+import "msp_TL720D.proto";
+import "bsp_Error.proto";
+import "bsp_PV.proto";
+import "bsp_IO.proto";
+
+message GV_struct_define
+{
+  	int32 TempatureE_2C=1; // E_2C=0.01 Celsius 0.01摄氏度
+	int32 Left_Compensation=2;  // E_2D =0.01 Degree    0.01度	
+	int32 Right_Compensation=3; //0.01度	
+	float Robot_Angle_Desire=4; //机器人期望角度 //改为 float，单位：度（不再需要0.01缩放）
+    	float  Robot_Move_Speed=5;  //  0.1rpm
+	float  Left_Speed_M_min= 6;  //  m/Min
+	float  Right_Speed_M_min=7;  //  m/Min
+	float  Vertical_Adjust=8;        //0.1°
+  	int32 ForceValue= 9;	 
+	int32 LaneChangeDistance=10;
+	SP_MSP_MK32_Button P_MK32=11;							
+	TT_MotorParameters LeftMotor=12;//左电机 ID2
+	TT_MotorParameters RightMotor=13;// 右电机 ID3
+	MSP_TL720DParameters TL720DParameters=14;
+	IO_Data IO=15;
+	ErrorData SystemErrorData=16;
+	PV_struct_define PV=17;//用户配置数据
+
+};
+
+//protoc --nanopb_out=. *.proto

Core/BASE/Protobuf/Proto/bsp_IAP.options

@@ -0,0 +1,2 @@
+# lock.options
+# IAP_struct_define.Buff_Data   max_size:64 fixed_length:true

Core/BASE/Protobuf/Proto/bsp_IAP.proto

@@ -0,0 +1,11 @@
+syntax = "proto3";
+//IAP，即In Application Programming，IAP是用户自己的程序在运行过程中对User Flash的部分区域进行烧写。
+message IAP_struct_define
+{
+	int32 Total_Bytes = 1;// all the received data;
+	int32 NextCodeVrsion = 2;//the New upgrade Version of the Project
+	int32 UtcTime=3;//Udgrade Time
+	int32 UpgradeSucceeded=4;//
+	 
+};
+

Core/BASE/Protobuf/Proto/bsp_IO.proto

@@ -0,0 +1,19 @@
+syntax = "proto3";
+
+message IO_Data
+{
+	int32 DO0=1;
+	int32 DO1=2;
+	int32 DO2=3;
+	int32 DO3=4;
+	int32 DO4=5;
+	int32 DO5=6;
+	int32 DI0=7;
+	int32 DI1=8;
+	int32 DI2=9;
+	int32 DI3=10;
+	int32 DI4=11;
+	int32 DI5=12;
+};
+
+//protoc --nanopb_out=. *.proto

Core/BASE/Protobuf/Proto/bsp_IV.proto

@@ -0,0 +1,71 @@
+syntax = "proto3";
+// 引入外部参数定义文件（包含机器人作业参数结构体）
+import "bsp_PV.proto";
+
+option java_multiple_files = false;
+option java_package = "com.example.rougheningapp.models";
+
+// 抛丸机器人状态采集参数结构体（IV：Input/Status Value）
+// 作用：用于机器人控制系统向APP/上位机上报实时状态、传感器数据、故障报警信息
+message IV_struct_define
+{
+    // 左侧补偿值（摆臂/位置角度补偿）
+    // 单位换算：发送值 ÷ 100 = 实际显示角度（°），例：发送100 → 显示1°，发送250 → 显示2.5°
+    int32 LeftCompensation = 1;
+
+    // 右侧补偿值（摆臂/位置角度补偿）
+    // 单位换算：发送值 ÷ 100 = 实际显示角度（°），例：发送100 → 显示1°，发送300 → 显示3°
+    int32 RightCompensation = 2;
+
+    // 机器人实际移动速度（派生采集值）
+    // 单位换算：发送值 ÷ 10 = 实际显示速度（m/min），例：发送100 → 显示10m/min，发送180 → 显示18m/min（最大速度）
+    // 作用：上报机器人当前行走速度，匹配协议书中0~18m/min的速度范围
+    int32 Robot_Move_Deri_Speed = 3;
+
+    // 机器人陀螺仪角度（姿态检测）
+    // 单位换算：发送值 ÷ 100 = 实际显示角度（°），例：发送100 → 显示1°，发送9000 → 显示90°
+    // 作用：上报机器人当前姿态角度（水平/竖直/倾斜），用于作业面姿态校准
+    int32 Robot_Gyro = 4;
+
+    // 距离传感器采集值（测距/避障）
+    // 单位换算：发送值 ÷ 10 = 实际显示距离（cm），例：发送100 → 显示10cm，发送500 → 显示50cm
+    // 作用：检测机器人与作业面/障碍物的距离，防止碰撞或吸附失效
+    int32 Distance_Sensor = 5;
+
+    // 系统级错误码
+    // 取值规则：0 = 无错误；非0 = 错误类型（需配套错误码表）
+    // 错误类型：包含硬件通讯故障、按键未初始化故障等核心系统异常
+    int32 SystemError = 6;
+
+    // 左轮电机报警状态
+    // 取值规则：0 = 正常（无报警）；1 = 报警（过流/过载/堵转等）
+    // 作用：上报左轮驱动电机的故障状态，用于电机故障排查
+    int32 Left_Motor_Err = 7;
+
+    // 右轮电机报警状态
+    // 取值规则：0 = 正常（无报警）；1 = 报警（过流/过载/堵转等）
+    // 作用：上报右轮驱动电机的故障状态，用于电机故障排查
+    int32 Right_Motor_Err = 8;
+
+    // 摆臂电机报警状态
+    // 取值规则：0 = 正常（无报警）；1 = 报警（过流/过载/堵转等）
+    // 作用：上报抛丸/喷砂摆臂电机的故障状态，适配摆臂速度≥25°/S的作业要求
+    int32 Swing_Motor_Err = 9;
+
+    // 机器人在线状态
+    // 取值规则：0 = 离线（通讯中断）；1 = 在线（通讯正常）
+    // 作用：APP/上位机判断机器人通讯状态，离线时触发声光报警
+    int32 Is_Online = 10;
+
+    // 备用数据1
+    // 用途：预留扩展字段，可用于后续新增传感器/状态采集（如吸附压力、吸尘装置状态等）
+    int32 Spara_Data_1 = 11;
+
+    // 备用数据2
+    // 用途：预留扩展字段，可用于后续新增传感器/状态采集（如作业面温度等）
+    int32 Spara_Data_2 = 12;
+
+    // 备用数据3
+    // 用途：预留扩展字段，可用于后续新增传感器/状态采集（如急停按钮状态、电池电量等）
+    int32 Spara_Data_3 = 13;
+};

Core/BASE/Protobuf/Proto/bsp_PID.proto

@@ -0,0 +1,9 @@
+syntax = "proto3";
+
+message PID_Parameters {
+	  int32 PID_Angle=1; //调整 单位0.01° 配置时需要*100
+ 	  double Kp=2; //PID参数
+	  double Ki=3;
+	  double Kd=4;
+  
+ }

Core/BASE/Protobuf/Proto/bsp_PV.proto

@@ -0,0 +1,86 @@
+syntax = "proto3";
+
+option java_multiple_files = false;
+option java_package = "com.example.swingarmapp.models";
+
+// 抛丸机器人作业参数结构体定义
+// 作用：用于APP/遥控器与机器人控制系统之间的参数传输，涵盖操作模式、运动参数、摆臂参数、作业参数等核心配置
+message PV_struct_define{
+  // 操作模式（枚举值）
+  // 1 - 手动模式：人工摇杆/按键控制机器人所有动作
+  // 2 - 水平模式：适配水平作业面的半自动/手动操作
+  // 3 - 平面模式：适配平面作业面的操作（修正原文笔误：原"平民"为"平面"）
+  // 4 - 竖直左模式：左侧垂直作业面（如船舶外壁左侧）操作
+  // 5 - 竖直右模式：右侧垂直作业面（如船舶外壁右侧）操作
+  // 6 - 水平区域自动：水平作业面的区域自动作业模式
+  // 7 - 平面区域自动：平面作业面的区域自动作业模式
+  int32 Robot_Operation_Mode = 1;                
+
+  // 机器人移动速度（基础行走速度）
+  // 单位：0.1m/min（字段值×0.1=实际速度，如值为10则实际速度1m/min）
+  // 取值范围：0~180（对应实际0~18m/min，符合协议书中最大18m/min的要求）
+  int32 Robot_Move_Speed = 2;                       
+
+  // 换道距离（自动换道功能的核心参数）
+  // 单位：mm（建议，可根据实际硬件标定调整）
+  // 作用：一键换道时机器人横向移动的距离，用于控制换道压边量
+  int32 Robot_Change_Lane_Distance = 3;             
+
+  // 摆臂速度（抛丸/喷砂摆臂装置的摆动速度）
+  // 单位：°/s（度/秒）
+  // 取值要求：≥25（对应协议书中摆臂速度≥25°/S的要求）
+  int32 Robot_Swing_Speed = 4;                     
+
+  // 摆臂角度设置模式（对称/非对称）
+  // 1 - 对称模式：摆臂以中心轴左右对称摆动
+  // 2 - 非对称模式：摆臂仅单侧（左/右）摆动
+  int32 Robot_symmetricalOrNot = 5;                
+
+  // 对称模式下摆臂总摆动角度
+  // 单位：°（度）
+  // 示例：值为90则摆臂从-45°~+45°对称摆动
+  int32 Robot_Swing_Range_Angle = 6;               
+
+  // 非对称模式下的摆动侧选择
+  // 1 - 左侧：仅摆臂左侧区域摆动
+  // 2 - 右侧：仅摆臂右侧区域摆动
+  int32 Robot_asymmetricalAngleSetValue = 7;       
+
+  // 后退作业模式（抛丸/喷砂作业时的后退逻辑）
+  // 1 - 打退交替：作业一段距离后停止作业，后退指定距离再继续作业
+  // 2 - 边打边退：作业过程中同步后退，持续作业无中断
+  int32 Robot_backMode = 8;                         
+
+  // 打退交替模式下的后退距离
+  // 单位：mm（建议）
+  // 作用：打退交替时单次后退的距离，适配不同作业面的补抛需求
+  int32 Robot_Back_Distance = 9;                   
+
+  // 边打边退模式下的后退速度
+  // 单位：0.1m/min（同Robot_Move_Speed）
+  // 取值范围：0~180（对应实际0~18m/min）
+  int32 Robot_Back_Speed = 10;                      
+
+  // 压力设置（抛丸/喷砂作业的介质压力）
+  // 单位：0.01MPa（建议，如值为50则实际0.5MPa）
+  // 作用：控制抛丸/喷砂的强度，适配不同表面处理等级（≥Sa2.5）
+  int32 Robot_Press_Set = 11;                      
+
+  // 竖直微调（竖直作业模式下的位置微调量）
+  // 单位：mm（建议）
+  // 作用：竖直作业时微调机器人位置，补偿曲面/安装误差
+  int32 Robot_Vertical_Adjust = 12;                
+
+  // 自动模式下的作业长度
+  // 单位：mm（建议）
+  // 作用：区域自动作业时，单次作业的纵向长度（完成后自动换道）
+  int32 Robot_Length_Homework = 13;                
+
+  // 自动模式下的作业宽度
+  // 单位：mm（建议）
+  // 作用：区域自动作业时，单次作业的横向宽度（默认适配110mm标准作业宽度）
+  int32 Robot_Width_Homework = 14;        
+  
+  int32 Robot_SandBalst_Encode_One = 15;    //喷砂机编码1 输入为空发1
+  int32 Robot_SandBalst_Encode_Two = 16;    //喷砂机编码2 输入为空发2	          
+};

Core/BASE/Protobuf/Proto/bsp_ReCmd.options

@@ -0,0 +1,2 @@
+# lock.options
+ReCmd.Buff_Data   max_size:512 fixed_length:true

Core/BASE/Protobuf/Proto/bsp_ReCmd.proto

@@ -0,0 +1,24 @@
+syntax = "proto3";
+//this message is used for the  reply the command
+message ReCmd{
+	  int32 CommadNum = 1;
+	  //定义 1 上位机获取默认CV值
+	  //定义 2 下位机返回CV值
+	  //定义 3 上位机设定CV值
+	  //定义 4 上位机设定Trace等级值，无返回
+	  //定义 5 下位机上传位置点数据
+	  //定义 6 上位机设定编码器角度值为0
+	  //定义 7 上位机获取拟合点
+	  //定义 8 上位机获取位置点
+	  //定义 9 上位机向下位机下发程序 此时，Parameter0 下发的程序起始位，Parameter0 是校验位
+	  //Buff_Data_Length 是下发的字节数，
+	  int32 Parameter0 = 2;
+	  int32 Parameter1 = 3;
+	  int32 Parameter2 = 4;
+	  int32 Parameter3 = 5;
+	  int32 Parameter4 = 6;
+	  int32 Buff_Data_Length = 7;
+	  bytes Buff_Data=8;
+	   
+};
+

Core/BASE/Protobuf/Proto/msp_MK32.proto

@@ -0,0 +1,22 @@
+syntax = "proto3";
+
+message SP_MSP_MK32_Button {
+    int32 RxIndex= 1;
+    int32 CH0_RY_H= 2;//上1000，下-1000
+    int32 CH1_RY_V= 3; //上1000，下-1000
+    int32 CH2_LY_V= 4;//上1000，下-1000
+    int32 CH3_LY_H= 5;//上1000，下-1000
+    int32 CH4_SA= 6;//上-1000，下1000
+    int32 CH5_SB= 7;//上-1000，下1000
+    int32 CH6_SC= 8;//上-1000，下1000
+    int32 CH7_SD= 9;//上-1000，下1000
+    int32 CH8_SE= 10;//上-1000，下1000
+    int32 CH9_SF= 11;//上-1000，下1000
+    int32 CH10_LD1= 12;
+    int32 CH11_RD1= 13;
+    int32 CH12_S1= 14;
+    int32 CH13_S2= 15;
+    int32 CH14_LT= 16;
+    int32 CH15_RT= 17;
+    int32 IsOnline= 18;
+ }

Core/BASE/Protobuf/Proto/msp_Motor.proto

@@ -0,0 +1,23 @@
+syntax = "proto3";
+
+message MotorParameters{
+  int32 MotorID=1;
+  int32 RxIndex=2;
+  int32 Run_Mode=3;
+  int32 Current=4;
+  int32 Target_Current=5;
+  int32 Velcity=6;
+  int32 Target_Velcity=7;
+  int32 Position=8;
+  int32 Target_Position=9;
+  int32 ERROR_Flag=10;
+  int32 Temperature_Motor=11;
+  int32 Temperature_PCB=12;
+  int32 AccTime=13;
+  int32 DecTime=14;
+  int32 EncoderOffset=15;
+  //53	83	设置位置偏移	int32_t	"设置偏移值和目标位置
+  //（目标位置=编码器位置 - 偏移值）"
+  
+};
+

Core/BASE/Protobuf/Proto/msp_TL720D.proto

@@ -0,0 +1,20 @@
+syntax = "proto3";
+//import "nanopb.proto";
+ 
+message MSP_TL720DParameters{
+
+	int32  RF_Angle_Roll=1; /*横滚角*/
+	int32 RF_Angle_Pitch=2; /*俯仰角*/
+	int32 RF_Angle_Yaw=3; /*航向角*/
+
+	int32 RF_Acc_X=4; /*X轴加速度*/
+	int32 RF_Acc_Y=5; /*Y轴加速度*/
+	int32 RF_Acc_Z=6; /*Z轴加速度*/
+
+	int32 RF_Gro_X=7; /*X轴陀螺*/
+	int32 RF_Gro_Y=8; /*Y轴陀螺*/
+	int32 RF_Gro_Z=9; /*Z轴陀螺*/
+ 
+  
+};
+

Core/BASE/Protobuf/Proto/msp_ZQ_MotorParameters.proto

@@ -0,0 +1,36 @@
+syntax = "proto3";
+
+message TT_MotorParameters {
+  int32 MotorID=1;
+  int32 Real_Current=4;
+  int32 Target_Current=5;
+  int32 Real_Velcity=6;
+  int32 Target_Velcity=7;
+  int32 Target_Position=8;
+  int32 Real_Position=32;
+
+  int32 Act_Suc=25;
+  int32 Cont_Posi_Suc=26;
+  int32 Acc_Suc=27;
+  int32 Dec_Suc=28;
+  int32 Target_Posi_Suc=29;
+  int32 Run_Speed_Suc=30;
+  int32 Clear_Suc=31;
+
+  int32 Acc_Suc_Speed=33;
+  int32 Dec_Suc_Speed=34;
+  int32 Suc_Speed_S=35;
+  int32 TT_Motor_Fault=36;
+  int32 AccTime=37;
+  int32 DecTime=38;
+  int32 Number_Of_Rounds=39;
+  int32 Start_Measuring_Position=40;
+  int32 Last_Real_Position=43;
+  int32 Position_immediately1_Lag2=46;//位置环模式，立即生效1，延后生效2
+  int32 Tar_Position_count=47;    //位置环模式，期望位置
+  int32 Tar_Position_Velcity_RPM=49;   //位置环模式，速度
+  double  Real_Disatnce=44;
+  int32 Start_Measuring=45;//开始测距
+  
+ }
+

Core/BASE/Src/BSP/BHBF_ROBOT.c

@@ -0,0 +1,127 @@
+/*
+ * BHBF_ROBOT.c
+ *
+ *  Created on: Oct 26, 2023
+ *      Author: shiya
+ */
+#include "fsm.h"
+#include "BHBF_ROBOT.h"
+#include <string.h>
+
+
+#include "bsp_FDCAN.h"
+
+
+
+
+
+
+int32_t* SystemTimeMiliSeconds;  //似乎未用
+int32_t SystemTimeMiliCount;  //2ms加一
+
+int32_t* SystemErrorCode;
+ErrorData* SystemErrorData;
+
+
+
+
+
+//Declare a CV and initialize CV
+CV_struct_define CV =
+{ 0 };
+
+
+
+
+//Declare a GV and initialize      CV
+GV_struct_define GV =
+{ 0 };
+
+PV_struct_define decoded_PV_variable = { 0 };
+PV_struct_define decoded_PV = { 0 };
+
+
+IV_struct_define IV ={ 0 };
+
+
+
+void SET_BIT_1(int32_t* num,int32_t k)
+{
+	*num=((*num) | (1 << (k)));
+}
+void SET_BIT_0(int32_t* num,int32_t k)
+{
+	*num=((*num) & ~(1 << (k)));
+}
+int32_t Get_BIT(int32_t* num,int32_t k)
+{
+   return (*num >> (k)) & 1;
+}
+
+
+
+void SystemTimer_Intialize()
+{
+	SystemTimeMiliCount=0;
+	GF_BSP_Interrupt_Add_CallBack(
+			DF_BSP_InterCall_TIM8_2ms_PeriodElapsedCallback, GF_Timer_Count);
+}
+
+void GF_Timer_Count()
+{
+	SystemTimeMiliCount++;
+}
+
+
+Sys_timer_handler timer_handler_1;
+Sys_timer_handler timer_handler_2;
+Sys_timer_handler timer_handler_3;
+Sys_timer_handler timer_handler_4;
+
+
+
+int sys_timer_1_flag_count[4];
+
+
+
+
+bool CompareTimer(int32_t DelayMiliSeconds,Sys_timer_handler * timer_handler)
+{
+	if(timer_handler->start_timer==1)
+	{
+		timer_handler->sys_current_timer_count=DelayMiliSeconds/2+SystemTimeMiliCount;
+		timer_handler->start_timer=0;
+	}
+	if(timer_handler->sys_current_timer_count<=SystemTimeMiliCount)
+	{
+		return true;
+	}else
+	{
+		return false;
+	}
+
+}
+bool CompareTimer_Delay(int32_t Delay)
+{
+
+
+	int32_t tickstart = SystemTimeMiliCount;
+	int32_t wait = Delay;
+
+	  /* Add a freq to guarantee minimum wait */
+	  if (wait < HAL_MAX_DELAY)
+	  {
+		  int32_t wait = Delay;
+		  while ((SystemTimeMiliCount - tickstart) < wait/2)
+		 	  {
+		 	  }
+	  }
+
+}
+/*m/min--->0.1m/min 其实就是×10*/
+int32_t speed_M_min_toE01_M_min(int32_t speedm_min)
+{
+	return speedm_min*10;
+}
+
+

Core/BASE/Src/BSP/DLT/DLTuc.c

@@ -0,0 +1,636 @@
+/**
+ * @file DLTuc.c
+ * @author Teodor Rosolowski
+ * @date 1 Jul 2022
+ * @brief This file is a part of DLTuc library
+ *
+ * In this source file you will find entire implementation of the DLTuc lib.
+ *
+ * Requirments:
+ * Around ~2kB of RAM
+ * Check Configuration file and defines:
+ * DLT_TRANSMIT_RING_BUFFER_SIZE, DLT_TRANSMIT_MAX_SINGLE_MESSAGE_SIZE
+ *
+ */
+
+/*
+ * *******************************************************************************************
+ * Includes
+ * *******************************************************************************************
+ * */
+#include "DLTuc.h"
+
+#include "stdio.h"
+#include "stdint.h"
+
+#include "stdbool.h"
+#include <stdarg.h>
+#include <string.h>
+
+/*
+ * *******************************************************************************************
+ * Local defines
+ * *******************************************************************************************
+ * */
+
+/**!
+* \brief DLT_ACT_HEADER_SIZE - actual DLT header size
+* \details  Standard Header + Extended + TypeInfo
+* Don't modify it if you aren't sure what are you doing!!!
+*/
+#define DLT_ACT_HEADER_SIZE 32
+
+/**!
+* \brief DLT_MINIMUM_LOG_DROP_PERIOD
+* \details minimum period between two drop info log
+*/
+#define DLT_MINIMUM_LOG_DROP_PERIOD 200
+
+/*
+ * *******************************************************************************************
+ * Local types
+ * *******************************************************************************************
+ * */
+
+/* Prototypes to improve readability.. */
+/*typedefs for future use..*/
+// typedef
+// {
+// 	uint32_t HeaderStart;
+// 	BaseHeaderConfig_t BaseHeaderConfig;
+// 	uint8_t MessageCounter;
+// 	uint16_t MessageLength;
+// 	uint32_t EcuId;
+// 	uint32_t TimeStamp;
+// }DLT_BaseHeader_t;
+
+// typedef
+// {
+// 	DLT_DebugLevel_t DebugLevel;
+// 	uint8_t NumberOfArguments;
+// 	uint32_t AppId;
+// 	uint32_t ContexID;
+// 	TypeInfo_t TypeInfo;
+// 	uint16_t Argument1;
+// }DLT_ExtendedHeader_t;
+
+
+//char DLT_LOG_ENABLE_LEVEL=  7;
+char DLT_LOG_ENABLE_LEVEL=  0;
+/**!
+ * \brief RB_Status
+ * \details ---
+ * */
+typedef enum
+{
+	RB_OK       = 0,
+	RB_ERROR	= 1
+} RB_Status;
+
+/**!
+ * \brief DltRingBufferTransmit_t
+ * \details ---
+ * */
+typedef struct DltRingBufferTransmit_Tag
+{
+	uint16_t Head; // Pointer to write
+	uint16_t Tail; // Pointer to read
+	bool readyToTransmit[DLT_TRANSMIT_RING_BUFFER_SIZE];
+	uint8_t dataSize[DLT_TRANSMIT_RING_BUFFER_SIZE]; // Array to keep message size
+} DltRingBufferTransmit_t;
+
+/**!
+ * \brief BluRingBufferReceive_t
+ * \details ---
+ * */
+typedef struct BluRingBufferReceive_Tag
+{
+
+	uint16_t Head; // Pointer to write
+	uint16_t Tail; // Pointer to read
+	uint8_t  MessageSize[DLT_RECEIVE_RING_BUFFER_SIZE]; // Array to keep message size
+	bool ReadyToRead[DLT_RECEIVE_RING_BUFFER_SIZE];
+} BluRingBufferReceive_t;
+
+/**
+ * *******************************************************************************************
+ * Static variables
+ * *******************************************************************************************
+ * */
+
+/**!
+ * \brief ExtSerialTrDataFunctionCb
+ * \details ---
+ * */
+static void (*ExtSerialTrDataFunctionCb)(uint8_t *DltLogData, uint8_t Size);
+
+static void (*ExtSerialRecDataFunctionCb)(uint8_t *RecDataBuff, uint16_t Size);
+
+static void (*ExtInfoInjectionDataRcvdCb)(uint32_t AppId, uint32_t ConId,uint32_t ServId,uint8_t *Data, uint16_t Size);
+
+static uint32_t (*GetSystemTimeMs)(void);
+
+/**!
+ * \brief LogDroppedFlag
+ * \details ---
+ * */
+static bool LogDroppedFlag =false;
+
+static uint32_t PrevLogDropSendTime = 0u;
+
+static uint8_t DltLogDroppedInfo[] = "LOG DROPPED!!!";
+
+static uint8_t DltLogDroppedInfoBuffer[60] = {0}; /* TODO: Remove magic number..*/
+
+static uint8_t DLtLogDroppedSize = 0;
+
+static uint8_t ActDltMessageCounter =0;
+
+static DltRingBufferTransmit_t DltTrsmtRingBuffer = {.readyToTransmit[0]=true};
+
+static uint8_t DltTrsmtMessagesTab[DLT_TRANSMIT_RING_BUFFER_SIZE][DLT_TRANSMIT_MAX_SINGLE_MESSAGE_SIZE];
+
+static BluRingBufferReceive_t BleMainReceiveRingBuffer;
+
+static uint8_t BluMainReceiveMessagesTab[DLT_RECEIVE_RING_BUFFER_SIZE][DLT_REC_SINGLE_MESSAGE_MAX_SIZE];
+
+static volatile uint8_t TransmitReadyStateFlag = true; /*TmpFromDma for example*/
+
+/*
+ *********************************************************************************************
+ * Prototypes of static functions
+ ********************************************************************************************
+ */
+
+/*!
+ ************************************************************************************************
+ * \brief PrepareDltHeader
+ * \details A very lazy implementation of DLT Header - but it works fine
+ * Please refer to: https://www.autosar.org/fileadmin/user_upload/standards/foundation/1-0/AUTOSAR_PRS_DiagnosticLogAndTraceProtocol.pdf
+ ************************************************************************************************/
+static void PrepareDltHeader(uint8_t Level, uint32_t AppId, uint32_t ContextId, uint16_t size,uint8_t *headerAddrStart);
+
+/*!
+ ************************************************************************************************
+ * \brief DLT_RB_TransmitRead Function to read data from ring buffer
+ * \details --
+ * \param RingBuffer_t *Buf - pointer to Ring Buffer structure
+ * \param out MessageSize - size of the "DltLogData" (return value)
+ * \param out MessagePointer - pointer to the message stored in RingBuffer (return value)
+ * \return RB_OK if something read succesfully, otherwise RB_ERROR
+ * */
+static RB_Status DLT_RB_TransmitRead(DltRingBufferTransmit_t *Buf, uint8_t *MessageSize, uint8_t **MessagePointer);
+
+/*!
+ ************************************************************************************************
+ * \brief DLT_RB_GetNextWriteIndex
+ * \details --
+ * \param in RingBuffer_t *Buf - pointer to Ring Buffer structure
+ * \param out writeIndex - next index where DLT data should be stored, can be used only if fun return "RB_OK"
+ * \return RB_OK if index available, otherwise RB_ERROR
+ ************************************************************************************************/
+static RB_Status DLT_RB_GetNextWriteIndex(DltRingBufferTransmit_t *Buf,uint16_t *writeIndex);
+
+/*!
+ ************************************************************************************************
+ * \brief DLT_RB_Receive_GetNextMessageAddress
+ * \details Function used to work with DMA - direct write to ring buffer by DMA
+ * \param in Buf -
+ * \param in WriteAddress -
+ ************************************************************************************************/
+static RB_Status DLT_RB_Receive_GetNextMessageAddress(BluRingBufferReceive_t *Buf, uint8_t **WriteAddress);
+
+/*!
+ ************************************************************************************************
+ * \brief DLT_RB_Receive_Read Function to read data from ring buffer
+ * \details --
+ * \param RingBuffer_t *Buf - pointer to Ring Buffer structure
+ * \param out MessageSize - size of the "BleLogData" (return value)
+ * \param out MessagePointer - pointer to the message stored in RingBuffer (return value)
+ *
+ * */
+static RB_Status DLT_RB_Receive_Read(BluRingBufferReceive_t *Buf, uint8_t *MessageSize, uint8_t **MessagePointer);
+
+/*
+ *********************************************************************************************
+ * Static functions implementation
+ ********************************************************************************************
+ */
+
+static RB_Status DLT_RB_Receive_GetNextMessageAddress(BluRingBufferReceive_t *Buf, uint8_t **WriteAddress)
+{
+	/* TODO: The implementation isn't optimal...*/
+	static uint8_t DefaultBlindBuffer[DLT_REC_SINGLE_MESSAGE_MAX_SIZE];
+
+	/*Mark previous message as ready to read*/
+	Buf->ReadyToRead[Buf->Head] = true;
+
+	// Compute new Head pointer value of a ring buffer
+	uint16_t HeadTmp = (Buf->Head + 1) % DLT_RECEIVE_RING_BUFFER_SIZE;
+
+	// Check if there is one free space ahead the Head buffer
+	if(HeadTmp == Buf->Tail)
+	{
+		/*Even if buffer is full data must be received somewhere to don't crush application/ dma*/
+		*WriteAddress = DefaultBlindBuffer;
+		// There is no space in the buffer - return an error
+		return RB_ERROR;
+	}
+
+	Buf->ReadyToRead[HeadTmp] = false;
+	Buf->MessageSize[HeadTmp] = DLT_RECEIVE_RING_BUFFER_SIZE;
+	Buf->Head = HeadTmp;
+
+	*WriteAddress = &BluMainReceiveMessagesTab[HeadTmp][0];
+
+	// Everything is ok - return OK status
+	return RB_OK;
+}
+
+static RB_Status DLT_RB_Receive_Read(BluRingBufferReceive_t *Buf, uint8_t *MessageSize, uint8_t **MessagePointer)
+{
+	if(Buf->ReadyToRead[Buf->Tail] == false)
+	{
+		/*Any message in ring buffer isn't ready to read*/
+		return RB_ERROR;
+	}
+	/*Mark again as not ready to read*/
+	Buf->ReadyToRead[Buf->Tail] = false;
+
+	// Check if Tail hit Head
+	if(Buf->Head == Buf->Tail)
+	{
+		// If yes - there is nothing to read
+		return RB_ERROR;
+	}
+
+	// Write current value from buffer to pointer from argument
+	*MessageSize = Buf->MessageSize[Buf->Tail];
+	*MessagePointer = &BluMainReceiveMessagesTab[Buf->Tail][0];
+
+	// Calculate new Tail pointer
+	Buf->Tail = (Buf->Tail + 1) % DLT_RECEIVE_RING_BUFFER_SIZE;
+
+	// Everything is ok - return OK status
+	return RB_OK;
+}
+
+static RB_Status DLT_RB_TransmitRead(DltRingBufferTransmit_t *Buf, uint8_t *MessageSize, uint8_t **MessagePointer)
+{
+	// Check if Tail hit Head
+	if(Buf->Head == Buf->Tail)
+	{
+		// If yes - there is nothing to read
+		return RB_ERROR;
+	}
+	else if(true == Buf->readyToTransmit[Buf->Tail])
+	{
+		// Write current value from buffer to pointer from argument
+		*MessageSize = Buf->dataSize[Buf->Tail];
+		*MessagePointer = &DltTrsmtMessagesTab[Buf->Tail][0];
+
+		// Calculate new Tail pointer
+		Buf->Tail = (Buf->Tail + 1) % DLT_TRANSMIT_RING_BUFFER_SIZE;
+		// Everything is ok - return OK status
+		return RB_OK;
+	}
+	else
+	{
+		/* Message still not ready to transmit */
+		return RB_ERROR;
+	}
+
+}
+
+static RB_Status DLT_RB_GetNextWriteIndex(DltRingBufferTransmit_t *Buf,uint16_t *writeIndex)
+{
+DLTuc_OS_CRITICAL_START();
+	// Calculate new Head pointer value
+	uint8_t HeadTmp = (Buf->Head + 1) % DLT_TRANSMIT_RING_BUFFER_SIZE;
+
+	// Check if there is one free space ahead the Head buffer
+	if(HeadTmp == Buf->Tail)
+	{
+		DLTuc_OS_CRITICAL_END();
+		// There is no space in the buffer - return an error
+		return RB_ERROR;
+	}
+	Buf->Head = HeadTmp;
+	Buf->readyToTransmit[Buf->Head] = false;
+	*writeIndex = Buf->Head;
+	DLTuc_OS_CRITICAL_END();
+
+	return RB_OK;
+}
+
+static void PrepareDltHeader(uint8_t Level, uint32_t AppId, uint32_t ContextId, uint16_t size,uint8_t *headerAddrStart)
+{
+	uint32_t ActualTime = 0;
+
+	if(GetSystemTimeMs != NULL)
+	{
+		ActualTime = GetSystemTimeMs() * 10U; 
+				/*Multiply by 10 to get value in MS also in DLTViewer
+				*Reson: Resolution in DLT Viewer is equal: 10^-4
+				*/
+	}
+
+	if(size > ((UINT8_MAX -1) - DLT_ACT_HEADER_SIZE) )
+	{
+		/*Error to handle, or please develop this function to handle input size > UINT8_MAX */
+		// while(1)
+		// {
+		// 	/*For development phase: lock the app*/
+		// }
+		size = size - DLT_ACT_HEADER_SIZE -1;
+	}
+
+
+	/*START HEADER*/
+	headerAddrStart[0] =  0x44; /*'D'*/
+	headerAddrStart[1] =  0x4c; /*'L'*/
+	headerAddrStart[2] =  0x53; /*'S'*/
+	headerAddrStart[3] =  0x01; /*'0x01'*/
+
+
+	headerAddrStart[4] =  0x35; /*'Dlt base header config
+	* Use extended header - true
+	* MSBF - false
+	* With ECU ID - true
+	* With Seesion ID - false
+	* With time stamp - true
+	* version number -random
+	'*/
+
+	headerAddrStart[5] =  ActDltMessageCounter++; /*'Message counter value '*/
+
+	/*TODO: - it must be fixed!!!! - Length*/
+	headerAddrStart[6] =  0x00; /*Message length general*/
+//	headerAddrStart[7] =  0x37; /*'Message length general '*/
+	headerAddrStart[7]=28+size; /*General size */
+
+
+	uint32_t TempEcuId = DLT_LOG_ECUID_VALUE;
+	/*ECU ID*/
+	headerAddrStart[8]= ((uint8_t*)&TempEcuId)[3];
+	headerAddrStart[9]= ((uint8_t*)&TempEcuId)[2];
+	headerAddrStart[10]= ((uint8_t*)&TempEcuId)[1];
+	headerAddrStart[11]= ((uint8_t*)&TempEcuId)[0];
+
+	/*Time stamp*/
+	headerAddrStart[12]= ((uint8_t*)&ActualTime)[3];
+	headerAddrStart[13]= ((uint8_t*)&ActualTime)[2];
+	headerAddrStart[14]= ((uint8_t*)&ActualTime)[1];
+	headerAddrStart[15]= ((uint8_t*)&ActualTime)[0];
+
+	/*Extended header --verbose | type serial*/
+//	headerAddrStart[16]= 0x41; /**/
+	headerAddrStart[16]= (Level << 4) | 1;
+
+	/*Number of arguments*/
+	headerAddrStart[17]= 0x01; /**/
+
+	/*App id */
+	headerAddrStart[18]= ((uint8_t*)&AppId)[3];
+	headerAddrStart[19]= ((uint8_t*)&AppId)[2];
+	headerAddrStart[20]= ((uint8_t*)&AppId)[1];
+	headerAddrStart[21]= ((uint8_t*)&AppId)[0];
+
+	/*Contex ID  (4 bytes*/
+	headerAddrStart[22]= ((uint8_t*)&ContextId)[3];
+	headerAddrStart[23]= ((uint8_t*)&ContextId)[2];
+	headerAddrStart[24]= ((uint8_t*)&ContextId)[1];
+	headerAddrStart[25]= ((uint8_t*)&ContextId)[0];
+
+	/*Type info*/
+	headerAddrStart[26]= 0x01; /**/
+	headerAddrStart[27]= 0x82; /**/
+	headerAddrStart[28]= 0x00; /**/
+	headerAddrStart[29]= 0x00; /**/
+
+	/*Argument 1*/
+	headerAddrStart[30]= size; 
+	/* Size of the load in simplified form, please verify in documentation of DLT protcool documentation */
+	headerAddrStart[31]= 0x00; /**/
+}
+
+/*
+ ****************************************************************************************************
+ * Exported functions implementation.
+ * Descriptions are added in header file
+ *****************************************************************************************************
+ */
+
+void DLTuc_RawDataReceiveDone(uint16_t Size)
+{
+	static uint8_t *MessageReceiveBufferAddress = NULL;
+	uint8_t *MessageToRead_p = NULL;
+	uint8_t MessageToReadSize= 0U;
+
+	DLT_RB_Receive_GetNextMessageAddress(&BleMainReceiveRingBuffer,&MessageReceiveBufferAddress);
+	if(ExtSerialRecDataFunctionCb != NULL){
+		ExtSerialRecDataFunctionCb(MessageReceiveBufferAddress,DLT_REC_SINGLE_MESSAGE_MAX_SIZE);
+	}
+
+	/*
+	* The receive buffer isn't handled fully correctly, it require deeper investigation.
+	* However, it is possible to receive the Injection messages, and base commands if are transmitted with breakes..
+	* Received DTL messages are divided by the "IDLE" irq for now.., not by the size and etc...
+	*/
+	if(DLT_RB_Receive_Read(&BleMainReceiveRingBuffer, &MessageToReadSize,&MessageToRead_p) == RB_OK)
+	{
+		if(MessageToRead_p[4] == 53) /**/
+		{
+			/*Use Extended, with EcuId, with Timestamp, end at[15]
+			then Extended data as follow:
+			[16] ==22-? - non verbose, type: control, MSTP: fatal
+			[17] numOfArgs == 1 - TODO: Only 1 argument is for nowsupported!!!
+			[18-21] - AppId
+			[22-25] - ContexId
+			[26-29] - ServiceId
+			[30-33] - Size*/
+
+			uint32_t AppId =         MessageToRead_p[21] << 24 |MessageToRead_p[20] << 16 | MessageToRead_p[19] << 8 | MessageToRead_p[18] << 0;
+			uint32_t RecContexId =   MessageToRead_p[25] << 24 |MessageToRead_p[24] << 16 | MessageToRead_p[23] << 8 | MessageToRead_p[22] << 0;
+			uint32_t RecServiceId =  MessageToRead_p[29] << 24 |MessageToRead_p[28] << 16 | MessageToRead_p[27] << 8 | MessageToRead_p[26] << 0;
+
+			if(RecServiceId >= DLT_SERVICE_ID_CALLSW_CINJECTION)
+			{
+				if(NULL != ExtInfoInjectionDataRcvdCb)
+				{
+					/*MSB LSB, wtf..?, it is somehow mixed? */
+					uint32_t DltDatSize =  MessageToRead_p[33] << 24 | MessageToRead_p[32] << 16 | MessageToRead_p[31] << 8 | MessageToRead_p[30] << 0;
+
+					ExtInfoInjectionDataRcvdCb(AppId,RecContexId,RecServiceId,&MessageToRead_p[34],(uint16_t)DltDatSize);
+				}
+			}
+			else if(RecServiceId == DLT_SERVICE_ID_SET_LOG_LEVEL)
+			{
+				uint32_t NewLogLevel =  MessageToRead_p[30];
+				LOG("Set new log level request: %d How you triggered it?? , not supported", NewLogLevel);
+				/* It is handled correctly by DLT Viewer?? */
+			}
+			else if(RecServiceId == DLT_SERVICE_ID_SET_DEFAULT_LOG_LEVEL)
+			{
+				uint32_t NewLogLevel =  MessageToRead_p[30];
+				LOG("Set default log level request: %d", NewLogLevel);
+
+				LOG("Not supported yet, I'm too lazy :)");
+			}
+			else if(DLT_SERVICE_ID_GET_SOFTWARE_VERSION == RecServiceId)
+			{
+				LOG("ECU_SW_VERSION: %d", DLT_ECU_SW_VER);
+				/*TODO: The lib should send here answer of control message... */
+			}
+			else if(DLT_SERVICE_ID_GET_DEFAULT_LOG_LEVEL == RecServiceId)
+			{
+				LOG("Default log level: %d", DLT_LOG_ENABLE_LEVEL);
+			}
+		}
+	}
+}
+
+void DLTuc_RegisterInjectionDataReceivedCb(
+	void InjectionDataRcvd(uint32_t AppId, uint32_t ConId,uint32_t ServId,uint8_t *Data, uint16_t Size))
+{
+	ExtInfoInjectionDataRcvdCb = InjectionDataRcvd;
+}
+
+void DLTuc_RegisterReceiveSerialDataFunction(void LLSerialRecDataFunctionC(uint8_t *DltLogData, uint16_t Size))
+{
+	ExtSerialRecDataFunctionCb = LLSerialRecDataFunctionC;
+
+	if(ExtSerialRecDataFunctionCb != NULL)
+	{
+		ExtSerialRecDataFunctionCb(&BluMainReceiveMessagesTab[0][0],DLT_REC_SINGLE_MESSAGE_MAX_SIZE);
+	}
+}
+
+void DLTuc_RegisterTransmitSerialDataFunction(void LLSerialTrDataFunctionC(uint8_t *DltLogData, uint8_t Size))
+{
+	ExtSerialTrDataFunctionCb = LLSerialTrDataFunctionC;
+
+	/*Preapre LOG DROP Info Log*/
+	/* 0x444C5443 - In Ascii code it is: DLTC. It is more convience to put magic numbers here :) */
+	PrepareDltHeader(DL_ERROR,0x444C5443, 0x444C5443,sizeof(DltLogDroppedInfo),DltLogDroppedInfoBuffer);
+	for(int i=0; i<sizeof(DltLogDroppedInfo); i++)
+	{
+		DltLogDroppedInfoBuffer[i+DLT_ACT_HEADER_SIZE] = DltLogDroppedInfo[i];
+	}
+
+	DLtLogDroppedSize = DLT_ACT_HEADER_SIZE + sizeof(DltLogDroppedInfo);
+}
+
+void DLTuc_MessageTransmitDone(void)
+{
+	uint8_t TmpMessageSize=0;
+	uint8_t *TmpMessagePointer = NULL;
+	uint32_t ActualSysTime = 0u;
+
+	if(GetSystemTimeMs != NULL)
+	{
+		ActualSysTime = GetSystemTimeMs();
+	}
+
+	if(LogDroppedFlag == true && (ActualSysTime - PrevLogDropSendTime > DLT_MINIMUM_LOG_DROP_PERIOD) )
+	{
+		/* If DLTuc will always send the DROP Message info,
+		* then will not read any message from RB..*/
+		PrevLogDropSendTime = ActualSysTime;
+		LogDroppedFlag = false;
+
+		if(ExtSerialTrDataFunctionCb != NULL)
+		{
+			ExtSerialTrDataFunctionCb(DltLogDroppedInfoBuffer, DLtLogDroppedSize);
+		}
+		return;
+	}
+
+	DLTuc_OS_CRITICAL_START();
+	if(DLT_RB_TransmitRead(&DltTrsmtRingBuffer,&TmpMessageSize,&TmpMessagePointer) == RB_OK)
+	{
+		if(ExtSerialTrDataFunctionCb != NULL)
+		{
+			DLTuc_OS_CRITICAL_END();
+			ExtSerialTrDataFunctionCb(TmpMessagePointer, TmpMessageSize);
+		}
+	}
+	else
+	{
+		TransmitReadyStateFlag = true;
+	}
+	DLTuc_OS_CRITICAL_END();
+}
+
+void DLTuc_LogOutVarArgs(DltLogLevel_t Level, uint32_t AppId, uint32_t ContextId, uint8_t *Payload, ...)
+{
+	uint16_t Size;                        /*  */
+	uint8_t TmpMessageSize=0U;            /*  */
+	uint8_t *TmpMessagePointer = NULL;    /*  */
+	uint16_t writeIndex = 0U;             /*  */
+
+	if(DLT_RB_GetNextWriteIndex(&DltTrsmtRingBuffer,&writeIndex) != RB_OK)
+	{
+		DLTuc_OS_CRITICAL_START();
+		LogDroppedFlag = true;
+		DLTuc_OS_CRITICAL_END();
+	}
+	else
+	{
+		/* Put the DLT message data directly in ring buffer*/
+		va_list ap;                           /*  */
+		va_start(ap, Payload);
+		Size = vsprintf((char *)&(DltTrsmtMessagesTab[writeIndex][DLT_ACT_HEADER_SIZE]), (char *)Payload,ap);
+		va_end(ap);
+
+		Size += DLT_ACT_HEADER_SIZE;
+		/*Add additional zeros on the end of message - thanks to that it work stable */
+		Size++;
+		DltTrsmtMessagesTab[writeIndex][Size] = 0U;
+		Size++;
+		DltTrsmtMessagesTab[writeIndex][Size] = 0U;
+
+		PrepareDltHeader(Level,AppId,ContextId,Size,&(DltTrsmtMessagesTab[writeIndex][0]));
+
+		Size = Size + DLT_ACT_HEADER_SIZE;
+		DltTrsmtRingBuffer.dataSize[writeIndex] = Size;
+
+		DLTuc_OS_CRITICAL_START();
+		DltTrsmtRingBuffer.readyToTransmit[writeIndex] = true;
+		DLTuc_OS_CRITICAL_END();
+	}
+
+	DLTuc_OS_CRITICAL_START();
+	if(TransmitReadyStateFlag == true)
+	{
+		if(DLT_RB_TransmitRead(&DltTrsmtRingBuffer,&TmpMessageSize,&TmpMessagePointer) == RB_OK)
+		{
+			if(TmpMessageSize != 0U)
+			{
+				TransmitReadyStateFlag = false;
+				DLTuc_OS_CRITICAL_END();
+							/*Log transmission must be started in this contex...*/
+							/***********************************************/
+							/* It may be a bug in implementation - it must be investigated.. */
+							/* It's important to be aware of this fact!!*/
+							/***********************************************/
+				if(ExtSerialTrDataFunctionCb != NULL)
+				{
+					ExtSerialTrDataFunctionCb(TmpMessagePointer, TmpMessageSize);
+				}
+				else
+				{
+					// while(1); /*Please Register the callback...*/
+				}
+			}
+		}
+	}
+	DLTuc_OS_CRITICAL_END();
+}
+
+void DLTuc_RegisterGetTimeStampMsCallback(uint32_t GetSysTime(void))
+{
+	GetSystemTimeMs = GetSysTime;
+}
+
+

Core/BASE/Src/BSP/bsp_DLT_Log.c

@@ -0,0 +1,126 @@
+/*
+ * bsp_DLT_Log.c
+ *
+ *  Created on: Aug 8, 2024
+ *      Author: akeguo
+ */
+
+#include "bsp_DLT_Log.h"
+#include <tcp_server.h>
+uint32_t GetSysTime(void);
+void DltInjectDataRcvd(uint32_t AppId, uint32_t ConId, uint32_t ServId,
+        uint8_t *Data, uint16_t Size);
+void DLT_LowLevelReceiveDmaToIdle(uint8_t *rxBuf, uint16_t size);
+void DLT_DataReceiveEndCallback(uint8_t *rxBuf, uint16_t Size);
+void DLT_DataTransmit(uint8_t *DltLogData, uint8_t Size);
+
+struct UARTHandler *dLT_Log_UART_Handler;
+
+typedef enum _send_out_port
+{
+	udp = 0, serialport = 1, tcp = 3,
+
+} send_out_port;
+
+char send_out_is_udp_or_serial_port = 0;
+
+void dLT_Log_intialize(struct UARTHandler *Handler)
+{
+
+	dLT_Log_UART_Handler = Handler;
+	dLT_Log_UART_Handler->Wait_time = 40;
+	Handler->dispacherController->Dispacher_Enable = 1;
+	//log_info("angle_encoder_intialize");
+	dLT_Log_UART_Handler->UART_Decode = DLT_DataReceiveEndCallback;
+
+	/*Register Low Level Transmit/Receive functions for DLTuc Library*/
+	DLTuc_RegisterTransmitSerialDataFunction(DLT_DataTransmit);
+	DLTuc_RegisterReceiveSerialDataFunction(DLT_LowLevelReceiveDmaToIdle);
+
+	DLTuc_RegisterGetTimeStampMsCallback(GetSysTime); /*Register GetSysTime function*/
+	/*The function "GetSysTime" must return the time in ms*/
+
+	DLTuc_RegisterInjectionDataReceivedCb(DltInjectDataRcvd);
+	send_out_is_udp_or_serial_port = serialport;
+}
+//dlt log 日志配置 默认为udp发送
+void dLT_Log_intialize_udp_tcp()
+{
+
+	//DLT_DataReceiveEndCallback;
+	/*Register Low Level Transmit/Receive functions for DLTuc Library*/
+	DLTuc_RegisterTransmitSerialDataFunction(DLT_DataTransmit);
+	DLTuc_RegisterReceiveSerialDataFunction(DLT_LowLevelReceiveDmaToIdle);
+
+	DLTuc_RegisterGetTimeStampMsCallback(GetSysTime); /*Register GetSysTime function*/
+	/*The function "GetSysTime" must return the time in ms*/
+
+	DLTuc_RegisterInjectionDataReceivedCb(DltInjectDataRcvd);
+	//send_out_is_udp_or_serial_port = udp;
+	send_out_is_udp_or_serial_port = tcp;
+
+	UDP_DLT_ReceivedCallback = DLT_DataReceiveEndCallback; //将udp中的函数指针，指向解析
+}
+
+/*This CallBack was registered in main function using function: DLTuc_RegisterTransmitSerialDataFunction*/
+void DLT_DataTransmit(uint8_t *DltLogData, uint8_t Size)
+{
+
+	if (send_out_is_udp_or_serial_port == udp)
+	{
+		udp_dlt_send_back(DltLogData, Size);
+	}
+	else if (send_out_is_udp_or_serial_port == serialport)
+	{
+		dLT_Log_UART_Handler->AddSendList(dLT_Log_UART_Handler, DltLogData,
+		        Size, 100, NULL);
+	}
+	else if (send_out_is_udp_or_serial_port == tcp)
+	{
+		tcp_send_to_all_clients(DltLogData, Size);//
+		//tcp_add_sendList(DltLogData,Size);
+	}
+
+	DLTuc_MessageTransmitDone();
+
+}
+/*CallBacks used by ucDltLibrary section end..*/
+
+void DLT_DataReceiveEndCallback(uint8_t *rxBuf, uint16_t Size)
+{
+	if (Size == 3)
+	{
+		if (rxBuf[2])
+		{
+			DLT_LOG_ENABLE_LEVEL = 7;
+		}
+		else
+		{
+			DLT_LOG_ENABLE_LEVEL = 0;
+		}
+	}
+	DLTuc_RawDataReceiveDone(Size);
+	/*
+	 *In case of STM32 HAL lib, you have to subsitute this function using:
+	 *void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)
+	 */
+}
+//HAL_UARTEx_RxEventCallback
+void DLT_LowLevelReceiveDmaToIdle(uint8_t *rxBuf, uint16_t Size)
+{
+
+	memcpy(rxBuf, dLT_Log_UART_Handler->Rx_Buf, Size);
+
+}
+
+void DltInjectDataRcvd(uint32_t AppId, uint32_t ConId, uint32_t ServId,
+        uint8_t *Data, uint16_t Size)
+{
+	LOG("RecInjectionData: %s, ServId: %d Size: %d", Data, ServId, Size)
+
+}
+
+uint32_t GetSysTime(void)
+{
+	return HAL_GetTick();
+}

Core/BASE/Src/BSP/bsp_EEPROM.c

@@ -0,0 +1,570 @@
+/*
+ * bsp_EEPROM.c
+ *
+ *  Created on: Oct 26, 2023
+ *      Author: shiya
+ */
+#include "BSP/bsp_EEPROM.h"
+
+void bsp_InitI2C(void);
+void i2c_Start(void);
+void i2c_Stop(void);
+void i2c_SendByte(uint8_t _ucByte);
+uint8_t i2c_ReadByte(void);
+uint8_t i2c_WaitAck(void);
+void i2c_Ack(void);
+void i2c_NAck(void);
+uint8_t i2c_CheckDevice(uint8_t _Address);
+
+uint16_t App_Download_EEPROM_Addr=  1024;
+/* 定义读写SCL和SDA的宏 */
+#define I2C_SCL_GPIO	EEPROM_SCL_GPIO_Port
+#define I2C_SDA_GPIO	EEPROM_SDA_GPIO_Port
+#define I2C_SCL_PIN		EEPROM_SCL_Pin
+#define I2C_SDA_PIN		EEPROM_SDA_Pin
+
+#define I2C_SCL_1()  I2C_SCL_GPIO->BSRR = I2C_SCL_PIN				/* SCL = 1 */
+#define I2C_SCL_0()  I2C_SCL_GPIO->BSRR = ((uint32_t)I2C_SCL_PIN << 16U)				/* SCL = 0 */
+
+#define I2C_SDA_1()  I2C_SDA_GPIO->BSRR = I2C_SDA_PIN				/* SDA = 1 */
+#define I2C_SDA_0()  I2C_SDA_GPIO->BSRR = ((uint32_t)I2C_SDA_PIN << 16U)				/* SDA = 0 */
+
+
+#define I2C_SDA_READ()  ((I2C_SDA_GPIO->IDR & I2C_SDA_PIN) != 0)	/* 读SDA口线状态 */
+#define I2C_SCL_READ()  ((I2C_SCL_GPIO->IDR & I2C_SCL_PIN) != 0)	/* 读SCL口线状态 */
+
+
+
+uint8_t GF_BSP_EEPROM_Init(void)
+{
+	bsp_InitI2C();
+	return(GF_BSP_EEPROM_CheckOK());
+}
+
+/*
+*********************************************************************************************************
+*	函 数 名: bsp_InitI2C
+*	功能说明: 配置I2C总线的GPIO，采用模拟IO的方式实现
+*	形    参:  无
+*	返 回 值: 无
+*********************************************************************************************************
+*/
+void bsp_InitI2C(void)
+{
+	GPIO_InitTypeDef gpio_init;
+
+	
+	gpio_init.Mode = GPIO_MODE_OUTPUT_OD;	/* 设置开漏输出 */
+	gpio_init.Pull = GPIO_NOPULL;			/* 上下拉电阻不使能 */
+	gpio_init.Speed = GPIO_SPEED_FREQ_LOW;	// GPIO_SPEED_FREQ_HIGH;  /* GPIO速度等级 */
+	
+	gpio_init.Pin = I2C_SCL_PIN;	
+	HAL_GPIO_Init(I2C_SCL_GPIO, &gpio_init);	
+	
+	gpio_init.Pin = I2C_SDA_PIN;	
+	HAL_GPIO_Init(I2C_SDA_GPIO, &gpio_init);	
+
+	/* 给一个停止信号, 复位I2C总线上的所有设备到待机模式 */
+	i2c_Stop();
+}
+
+/*
+*********************************************************************************************************
+*	函 数 名: i2c_Delay
+*	功能说明: I2C总线位延迟，最快400KHz
+*	形    参:  无
+*	返 回 值: 无
+*********************************************************************************************************
+*/
+static void i2c_Delay(void)
+{
+	GF_BSP_TIMER_DelayUS(2);
+}
+
+/*
+*********************************************************************************************************
+*	函 数 名: i2c_Start
+*	功能说明: CPU发起I2C总线启动信号
+*	形    参:  无
+*	返 回 值: 无
+*********************************************************************************************************
+*/
+void i2c_Start(void)
+{
+	/* 当SCL高电平时，SDA出现一个下跳沿表示I2C总线启动信号 */
+	I2C_SDA_1();
+	I2C_SCL_1();
+	i2c_Delay();
+	I2C_SDA_0();
+	i2c_Delay();
+	
+	I2C_SCL_0();
+	i2c_Delay();
+}
+
+/*
+*********************************************************************************************************
+*	函 数 名: i2c_Start
+*	功能说明: CPU发起I2C总线停止信号
+*	形    参:  无
+*	返 回 值: 无
+*********************************************************************************************************
+*/
+void i2c_Stop(void)
+{
+	/* 当SCL高电平时，SDA出现一个上跳沿表示I2C总线停止信号 */
+	I2C_SDA_0();
+	i2c_Delay();
+	I2C_SCL_1();
+	i2c_Delay();
+	I2C_SDA_1();
+	i2c_Delay();
+}
+
+/*
+*********************************************************************************************************
+*	函 数 名: i2c_SendByte
+*	功能说明: CPU向I2C总线设备发送8bit数据
+*	形    参:  _ucByte ： 等待发送的字节
+*	返 回 值: 无
+*********************************************************************************************************
+*/
+void i2c_SendByte(uint8_t _ucByte)
+{
+	uint8_t i;
+
+	/* 先发送字节的高位bit7 */
+	for (i = 0; i < 8; i++)
+	{
+		if (_ucByte & 0x80)
+		{
+			I2C_SDA_1();
+		}
+		else
+		{
+			I2C_SDA_0();
+		}
+		i2c_Delay();
+		I2C_SCL_1();
+		i2c_Delay();
+		I2C_SCL_0();
+		I2C_SCL_0();	/* 2019-03-14 针对GT811电容触摸，添加一行，相当于延迟几十ns */
+		if (i == 7)
+		{
+			 I2C_SDA_1(); // 释放总线
+		}
+		_ucByte <<= 1;	/* 左移一个bit */	
+	}
+}
+
+/*
+*********************************************************************************************************
+*	函 数 名: i2c_ReadByte
+*	功能说明: CPU从I2C总线设备读取8bit数据
+*	形    参:  无
+*	返 回 值: 读到的数据
+*********************************************************************************************************
+*/
+uint8_t i2c_ReadByte(void)
+{
+	uint8_t i;
+	uint8_t value;
+
+	/* 读到第1个bit为数据的bit7 */
+	value = 0;
+	for (i = 0; i < 8; i++)
+	{
+		value <<= 1;
+		I2C_SCL_1();
+		i2c_Delay();
+		if (I2C_SDA_READ())
+		{
+			value++;
+		}
+		I2C_SCL_0();
+		i2c_Delay();
+	}
+	return value;
+}
+
+/*
+*********************************************************************************************************
+*	函 数 名: i2c_WaitAck
+*	功能说明: CPU产生一个时钟，并读取器件的ACK应答信号
+*	形    参:  无
+*	返 回 值: 返回0表示正确应答，1表示无器件响应
+*********************************************************************************************************
+*/
+uint8_t i2c_WaitAck(void)
+{
+	uint8_t re;
+
+	I2C_SDA_1();	/* CPU释放SDA总线 */
+	i2c_Delay();
+	I2C_SCL_1();	/* CPU驱动SCL = 1, 此时器件会返回ACK应答 */
+	i2c_Delay();
+	if (I2C_SDA_READ())	/* CPU读取SDA口线状态 */
+	{
+		re = 1;
+	}
+	else
+	{
+		re = 0;
+	}
+	I2C_SCL_0();
+	i2c_Delay();
+	return re;
+}
+
+/*
+*********************************************************************************************************
+*	函 数 名: i2c_Ack
+*	功能说明: CPU产生一个ACK信号
+*	形    参:  无
+*	返 回 值: 无
+*********************************************************************************************************
+*/
+void i2c_Ack(void)
+{
+	I2C_SDA_0();	/* CPU驱动SDA = 0 */
+	i2c_Delay();
+	I2C_SCL_1();	/* CPU产生1个时钟 */
+	i2c_Delay();
+	I2C_SCL_0();
+	i2c_Delay();
+	I2C_SDA_1();	/* CPU释放SDA总线 */
+	
+	i2c_Delay();
+}
+
+/*
+*********************************************************************************************************
+*	函 数 名: i2c_NAck
+*	功能说明: CPU产生1个NACK信号
+*	形    参:  无
+*	返 回 值: 无
+*********************************************************************************************************
+*/
+void i2c_NAck(void)
+{
+	I2C_SDA_1();	/* CPU驱动SDA = 1 */
+	i2c_Delay();
+	I2C_SCL_1();	/* CPU产生1个时钟 */
+	i2c_Delay();
+	I2C_SCL_0();
+	i2c_Delay();
+}
+
+/*
+*********************************************************************************************************
+*	函 数 名: i2c_CheckDevice
+*	功能说明: 检测I2C总线设备，CPU向发送设备地址，然后读取设备应答来判断该设备是否存在
+*	形    参:  _Address：设备的I2C总线地址
+*	返 回 值: 返回值 0 表示正确， 返回1表示未探测到
+*********************************************************************************************************
+*/
+uint8_t i2c_CheckDevice(uint8_t _Address)
+{
+	uint8_t ucAck;
+
+	if (I2C_SDA_READ() && I2C_SCL_READ())
+	{
+		i2c_Start();		/* 发送启动信号 */
+
+		/* 发送设备地址+读写控制bit（0 = w， 1 = r) bit7 先传 */
+		i2c_SendByte(_Address | I2C_WR);
+		ucAck = i2c_WaitAck();	/* 检测设备的ACK应答 */
+
+		i2c_Stop();			/* 发送停止信号 */
+
+		return ucAck;
+	}
+	return 1;	/* I2C总线异常 */
+}
+
+/*
+*********************************************************************************************************
+*	函 数 名: ee_CheckOk
+*	功能说明: 判断串行EERPOM是否正常
+*	形    参:  无
+*	返 回 值: 1 表示正常， 0 表示不正常
+*********************************************************************************************************
+*/
+uint8_t GF_BSP_EEPROM_CheckOK(void)
+{
+	if (i2c_CheckDevice(EE_DEV_ADDR) == 0)
+	{
+		return 1;
+	}
+	else
+	{
+		/* 失败后，切记发送I2C总线停止信号 */
+		i2c_Stop();
+		return 0;
+	}
+}
+
+
+/*
+*********************************************************************************************************
+*	函 数 名: GF_BSP_EEPROM_ReadBytes
+*	功能说明: 从串行EEPROM指定地址处开始读取若干数据
+*	形    参:  _usAddress : 起始地址
+*			 _usSize : 数据长度，单位为字节
+*			 _pReadBuf : 存放读到的数据的缓冲区指针
+*	返 回 值: 0 表示失败，1表示成功
+*********************************************************************************************************
+*/
+uint8_t GF_BSP_EEPROM_ReadBytes(uint8_t *_pReadBuf, uint16_t _usAddress, uint16_t _usSize)
+{
+	uint16_t i;
+
+	/* 采用串行EEPROM随即读取指令序列，连续读取若干字节 */
+
+	/* 第1步：发起I2C总线启动信号 */
+	i2c_Start();
+
+	/* 第2步：发起控制字节，高7bit是地址，bit0是读写控制位，0表示写，1表示读 */
+	i2c_SendByte(EE_DEV_ADDR | I2C_WR);	/* 此处是写指令 */
+
+	/* 第3步：发送ACK */
+	if (i2c_WaitAck() != 0)
+	{
+		goto cmd_fail;	/* EEPROM器件无应答 */
+	}
+
+	/* 第4步：发送字节地址，24C02只有256字节，因此1个字节就够了，如果是24C04以上，那么此处需要连发多个地址 */
+	if (EE_ADDR_BYTES == 1)
+	{
+		i2c_SendByte((uint8_t)_usAddress);
+		if (i2c_WaitAck() != 0)
+		{
+			goto cmd_fail;	/* EEPROM器件无应答 */
+		}
+	}
+	else
+	{
+		i2c_SendByte(_usAddress >> 8);
+		if (i2c_WaitAck() != 0)
+		{
+			goto cmd_fail;	/* EEPROM器件无应答 */
+		}
+
+		i2c_SendByte(_usAddress&0xff);
+		if (i2c_WaitAck() != 0)
+		{
+			goto cmd_fail;	/* EEPROM器件无应答 */
+		}
+	}
+
+	/* 第6步：重新启动I2C总线。下面开始读取数据 */
+	i2c_Start();
+
+	/* 第7步：发起控制字节，高7bit是地址，bit0是读写控制位，0表示写，1表示读 */
+	i2c_SendByte(EE_DEV_ADDR | I2C_RD);	/* 此处是读指令 */
+
+	/* 第8步：发送ACK */
+	if (i2c_WaitAck() != 0)
+	{
+		goto cmd_fail;	/* EEPROM器件无应答 */
+	}
+
+	/* 第9步：循环读取数据 */
+	for (i = 0; i < _usSize; i++)
+	{
+		_pReadBuf[i] = i2c_ReadByte();	/* 读1个字节 */
+
+		/* 每读完1个字节后，需要发送Ack， 最后一个字节不需要Ack，发Nack */
+		if (i != _usSize - 1)
+		{
+			i2c_Ack();	/* 中间字节读完后，CPU产生ACK信号(驱动SDA = 0) */
+		}
+		else
+		{
+			i2c_NAck();	/* 最后1个字节读完后，CPU产生NACK信号(驱动SDA = 1) */
+		}
+	}
+	/* 发送I2C总线停止信号 */
+	i2c_Stop();
+	return 1;	/* 执行成功 */
+
+cmd_fail: /* 命令执行失败后，切记发送停止信号，避免影响I2C总线上其他设备 */
+	/* 发送I2C总线停止信号 */
+	i2c_Stop();
+	return 0;
+}
+
+/*
+*********************************************************************************************************
+*	函 数 名: GF_BSP_EEPROM_WriteBytes
+*	功能说明: 向串行EEPROM指定地址写入若干数据，采用页写操作提高写入效率
+*	形    参:  _usAddress : 起始地址
+*			 _usSize : 数据长度，单位为字节
+*			 _pWriteBuf : 存放读到的数据的缓冲区指针
+*	返 回 值: 0 表示失败，1表示成功
+*********************************************************************************************************
+*/
+uint8_t GF_BSP_EEPROM_WriteBytes(uint8_t *_pWriteBuf, uint16_t _usAddress, uint16_t _usSize)
+{
+	uint16_t i,m;
+	uint16_t usAddr;
+
+	/*
+		写串行EEPROM不像读操作可以连续读取很多字节，每次写操作只能在同一个page。
+		对于24xx02，page size = 8
+		简单的处理方法为：按字节写操作模式，每写1个字节，都发送地址
+		为了提高连续写的效率: 本函数采用page wirte操作。
+	*/
+
+	usAddr = _usAddress;
+	for (i = 0; i < _usSize; i++)
+	{
+		/* 当发送第1个字节或是页面首地址时，需要重新发起启动信号和地址 */
+		if ((i == 0) || (usAddr & (EE_PAGE_SIZE - 1)) == 0)
+		{
+			/*　第０步：发停止信号，启动内部写操作　*/
+			i2c_Stop();
+
+			/* 通过检查器件应答的方式，判断内部写操作是否完成, 一般小于 10ms
+				CLK频率为200KHz时，查询次数为30次左右
+			*/
+			for (m = 0; m < 1000; m++)
+			{
+				/* 第1步：发起I2C总线启动信号 */
+				i2c_Start();
+
+				/* 第2步：发起控制字节，高7bit是地址，bit0是读写控制位，0表示写，1表示读 */
+				i2c_SendByte(EE_DEV_ADDR | I2C_WR);	/* 此处是写指令 */
+
+				/* 第3步：发送一个时钟，判断器件是否正确应答 */
+				if (i2c_WaitAck() == 0)
+				{
+					break;
+				}
+			}
+			if (m  == 1000)
+			{
+				goto cmd_fail;	/* EEPROM器件写超时 */
+			}
+
+			/* 第4步：发送字节地址，24C02只有256字节，因此1个字节就够了，如果是24C04以上，那么此处需要连发多个地址 */
+			if (EE_ADDR_BYTES == 1)
+			{
+				i2c_SendByte((uint8_t)usAddr);
+				if (i2c_WaitAck() != 0)
+				{
+					goto cmd_fail;	/* EEPROM器件无应答 */
+				}
+			}
+			else
+			{
+				i2c_SendByte(usAddr >> 8);
+				if (i2c_WaitAck() != 0)
+				{
+					goto cmd_fail;	/* EEPROM器件无应答 */
+				}
+
+				i2c_SendByte(usAddr&0xff);
+				if (i2c_WaitAck() != 0)
+				{
+					goto cmd_fail;	/* EEPROM器件无应答 */
+				}
+			}
+		}
+
+		/* 第6步：开始写入数据 */
+		i2c_SendByte(_pWriteBuf[i]);
+
+		/* 第7步：发送ACK */
+		if (i2c_WaitAck() != 0)
+		{
+			goto cmd_fail;	/* EEPROM器件无应答 */
+		}
+
+		usAddr++;	/* 地址增1 */
+	}
+
+	/* 命令执行成功，发送I2C总线停止信号 */
+	i2c_Stop();
+
+	/* 通过检查器件应答的方式，判断内部写操作是否完成, 一般小于 10ms
+		CLK频率为200KHz时，查询次数为30次左右
+	*/
+	for (m = 0; m < 1000; m++)
+	{
+		/* 第1步：发起I2C总线启动信号 */
+		i2c_Start();
+
+		/* 第2步：发起控制字节，高7bit是地址，bit0是读写控制位，0表示写，1表示读 */	
+		#if EE_ADDR_A8 == 1
+			i2c_SendByte(EE_DEV_ADDR | I2C_WR | ((_usAddress >> 7) & 0x0E));	/* 此处是写指令 */
+		#else		
+			i2c_SendByte(EE_DEV_ADDR | I2C_WR);	/* 此处是写指令 */
+		#endif
+
+		/* 第3步：发送一个时钟，判断器件是否正确应答 */
+		if (i2c_WaitAck() == 0)
+		{
+			break;
+		}
+	}
+	if (m  == 1000)
+	{
+		goto cmd_fail;	/* EEPROM器件写超时 */
+	}
+	
+	/* 命令执行成功，发送I2C总线停止信号 */
+	i2c_Stop();
+	return 1;
+
+cmd_fail: /* 命令执行失败后，切记发送停止信号，避免影响I2C总线上其他设备 */
+	/* 发送I2C总线停止信号 */
+	i2c_Stop();
+	return 0;
+}
+
+CV_struct_define GF_BSP_EEPROM_Get_CV(void)
+{
+	CV_struct_define cv= {0};
+	//char buffer[sizeof(CV_struct_define)];
+    GF_BSP_EEPROM_ReadBytes(&cv, GF_BSP_EEPROM_CV_struct_define_Start_Address, sizeof(CV_struct_define));
+    return cv;
+
+}
+
+uint8_t GF_BSP_EEPROM_Set_CV(CV_struct_define cv)
+{
+	return GF_BSP_EEPROM_WriteBytes((uint8_t*)&cv,GF_BSP_EEPROM_CV_struct_define_Start_Address,sizeof(CV_struct_define));
+}
+
+
+IAP_struct_define GF_BSP_EEPROM_Get_IAP(void)
+{
+	IAP_struct_define iap= {0};
+
+    GF_BSP_EEPROM_ReadBytes(&iap, IAP_struct_define_Start_Address, sizeof(IAP_struct_define));
+    return iap;
+
+}
+
+uint8_t GF_BSP_EEPROM_Set_IAP(IAP_struct_define iap)
+{
+	return GF_BSP_EEPROM_WriteBytes((uint8_t*)&iap,IAP_struct_define_Start_Address,sizeof(IAP_struct_define));
+}
+
+
+//PV_struct_define GF_BSP_EEPROM_Get_PV(void)
+//{
+//	CV_struct_define cv=GF_BSP_EEPROM_Get_CV();
+//
+//	return cv.PV;
+//
+//}
+
+//uint8_t GF_BSP_EEPROM_Set_PV(PV_struct_define pv)
+//{
+//	CV_struct_define cv=GF_BSP_EEPROM_Get_CV();
+//	cv.PV=pv;
+//	return GF_BSP_EEPROM_Set_CV(cv);
+//}
+

Core/BASE/Src/BSP/bsp_Error_Detect.c

@@ -0,0 +1,31 @@
+/*
+ * bsp_Error_Detect.c
+ *
+ *  Created on: Oct 23, 2024
+ *      Author: akeguo
+ */
+#include "bsp_Error_Detect.h"
+void ErrorDetect();
+char Error_Detect_Enable=1;
+HardWareController *HardWareErrorController;
+void Error_Detect_Intialzie(uint16_t DispacherPeriod)
+{
+	HardWareErrorController = (HardWareController*) malloc(
+				sizeof(HardWareController));
+	HardWareErrorController->pComHWHead = NULL;
+	HardWareErrorController->pComHWTail = NULL;
+	HardWareErrorController->Add_PCOMHardWare = ComHardWare_List_Add_t;
+	HardWareErrorController->Set_PCOMHardWare = Set_PCOMHardWare_t;
+	HardWareErrorController->PCOMHardWare_Check = PCOMHardWare_Check_t;
+	HardWareErrorController->DispacherCallTime = DispacherPeriod;//check the communicaton every 50ms
+	GF_BSP_Interrupt_Add_CallBack(
+				DF_BSP_InterCall_TIM8_2ms_PeriodElapsedCallback, ErrorDetect);
+}
+
+void ErrorDetect()
+{
+	if (Error_Detect_Enable == 1)
+	{
+		HardWareErrorController->PCOMHardWare_Check(HardWareErrorController);
+	}
+}

Core/BASE/Src/BSP/bsp_FDCAN.c

@@ -0,0 +1,334 @@
+/*
+ * bsp_FDCAN.c
+ *
+ *  Created on: Oct 26, 2023
+ *      Author: shiya
+ */
+#include "bsp_FDCAN.h"
+#include "main.h"
+#include <stdlib.h>
+#include "bsp_Error.pb.h"
+//#include "MSP/msp_TI5MOTOR.h"
+
+FDCANHandler FD_CAN_1_Handler;
+FDCANHandler FD_CAN_2_Handler;
+
+FDCAN_RxHeaderTypeDef CAN_RX_HDR;
+
+uint8_t CAN_Buf[8];
+uint8_t CAN_Buf_2[8];
+
+int32_t CAN_ID;
+int32_t CAN_ID_2;
+
+uint8_t GF_BSP_FDCAN_Init(void) //can初始化
+{
+	if (HAL_FDCAN_ActivateNotification(&hfdcan1, FDCAN_IT_RX_FIFO0_NEW_MESSAGE,
+			0) != HAL_OK)
+	{
+		Error_Handler();
+	}
+
+	if (HAL_FDCAN_ActivateNotification(&hfdcan1, FDCAN_IT_BUS_OFF, 0) != HAL_OK)
+	{
+		Error_Handler();
+	}
+
+	HAL_FDCAN_Start(&hfdcan1);
+
+	if (HAL_FDCAN_ActivateNotification(&hfdcan2, FDCAN_IT_RX_FIFO0_NEW_MESSAGE,
+			0) != HAL_OK)
+	{
+		Error_Handler();
+	}
+
+	if (HAL_FDCAN_ActivateNotification(&hfdcan2, FDCAN_IT_BUS_OFF, 0) != HAL_OK)
+	{
+		Error_Handler();
+	}
+
+	HAL_FDCAN_Start(&hfdcan2);
+
+	return 1;
+}
+
+void HAL_FDCAN_ErrorStatusCallback(FDCAN_HandleTypeDef *hfdcan,
+		uint32_t ErrorStatusITs)
+{
+	if (hfdcan->Instance == FDCAN1)
+	{
+		MX_FDCAN1_Init();
+	}
+	if (hfdcan->Instance == FDCAN2)
+	{
+		MX_FDCAN2_Init();
+	}
+}
+
+void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs)//can接收
+{
+	if (hfdcan->Instance == FDCAN1)
+	{
+		if (HAL_FDCAN_GetRxMessage(hfdcan, FDCAN_RX_FIFO0, &CAN_RX_HDR, CAN_Buf)//把数据存CAN_Buf里
+				== HAL_OK)
+		{
+			CAN_ID = FD_CAN_1_Handler.ReceivedFrameID =
+					(uint32_t) CAN_RX_HDR.Identifier; //ID
+
+	#if NewCANSendVersion
+			FD_CAN_1_Handler.ReceivedLength = (uint32_t) CAN_RX_HDR.DataLength;//接收长度
+	#else
+			FD_CAN_1_Handler.ReceivedLength = (uint32_t) CAN_RX_HDR.DataLength>>16;
+	#endif
+
+			if (FD_CAN_1_Handler.CAN_Decode != NULL  )
+			{
+				FD_CAN_1_Handler.CAN_Decode(FD_CAN_1_Handler.ReceivedFrameID,
+						CAN_Buf, FD_CAN_1_Handler.ReceivedLength);
+			}
+			GF_BSP_Interrupt_Run_CallBack(DF_BSP_InterCall_FDCAN1_RxFifo0Callback);
+		}
+
+	} else if (hfdcan->Instance == FDCAN2)
+	{
+		if (HAL_FDCAN_GetRxMessage(hfdcan, FDCAN_RX_FIFO0, &CAN_RX_HDR,
+				CAN_Buf_2) == HAL_OK)  ////把数据存CAN_Buf2里
+		{
+			CAN_ID_2 = FD_CAN_2_Handler.ReceivedFrameID =
+					(uint32_t) CAN_RX_HDR.Identifier;
+
+#if NewCANSendVersion
+		FD_CAN_2_Handler.ReceivedLength = (uint32_t) CAN_RX_HDR.DataLength;
+#else
+		FD_CAN_2_Handler.ReceivedLength = (uint32_t) CAN_RX_HDR.DataLength>>16;
+#endif
+
+			if (FD_CAN_2_Handler.CAN_Decode != NULL)
+			{
+				FD_CAN_2_Handler.CAN_Decode(FD_CAN_2_Handler.ReceivedFrameID,
+						CAN_Buf_2, FD_CAN_2_Handler.ReceivedLength);
+			}
+			GF_BSP_Interrupt_Run_CallBack(DF_BSP_InterCall_FDCAN2_RxFifo0Callback);
+		}
+
+	}
+}
+
+FDCAN_TxHeaderTypeDef TXHeader1;
+FDCAN_TxHeaderTypeDef TXHeader2;
+
+void GF_BSP_CANHandler_Init(int can1_sendListPeriod, int can1_DispacherPeriod,
+		int can2_sendListPeriod, int can2_DispacherPeriod)
+{
+
+
+	GF_BSP_CANHandler_Init_CAN(&FD_CAN_1_Handler, &hfdcan1, can1_sendListPeriod,
+			can1_DispacherPeriod);
+	GF_BSP_CANHandler_Init_CAN(&FD_CAN_2_Handler, &hfdcan2, can2_sendListPeriod,
+			can2_DispacherPeriod);
+
+	GF_BSP_Interrupt_Add_CallBack(
+			DF_BSP_InterCall_TIM8_2ms_PeriodElapsedCallback, GF_BSP_CAN_Timer);//2ms一次
+}
+/******************CAN初始化************************/
+void GF_BSP_CANHandler_Init_CAN(FDCANHandler *handler,
+		FDCAN_HandleTypeDef *canfd, int sendListPeriod, int DispacherPeriod)
+{
+	handler->canfd = canfd; //FD_CAN_1_Handler的的canfd与 FDCAN_HandleTypeDef hfdcan1;绑定
+	handler->dispacherController = (DispacherController*) malloc(
+			sizeof(DispacherController));
+
+
+	handler->dispacherController->pHead = NULL;
+	handler->dispacherController->pTail = NULL;
+	handler->dispacherController->Dispacher_Enable = 1;
+	handler->dispacherController->DispacherCallTime = DispacherPeriod ; // call the function every 50 ms
+	handler->dispacherController->Dispacher_Counter = 0;
+	handler->dispacherController->DispacherNumber = 0;
+	handler->dispacherController->Add_Dispatcher_List = Dispatcher_List_Add_t;
+	handler->dispacherController->Dispatcher_Run = Dispatch_t;
+
+	handler->timeSpan = 2;
+	handler->SendList_time_Count = 0;
+	handler->AddCANSendList = CANHandlerAddTxList;
+	handler->SendList_Period = sendListPeriod;
+
+	handler->CAN_Send = CAN_Send_t;
+	handler->CAN_Send_Data = CAN_Send_Data_t;
+
+}
+
+DispacherController *can_dispacherController;
+HardWareController *can_HardWareController;
+//2ms
+void GF_BSP_CAN_Timer()
+{
+	can_dispacherController = FD_CAN_1_Handler.dispacherController;
+
+	if (FD_CAN_1_Handler.pCurrentCANSendHadler != NULL)
+	{
+		GF_CAN_Send_List_Send(&FD_CAN_1_Handler);
+
+	} else
+	{
+		can_dispacherController = FD_CAN_1_Handler.dispacherController;
+		can_dispacherController->Dispatcher_Run(can_dispacherController);
+	}
+	if (FD_CAN_2_Handler.pCurrentCANSendHadler != NULL)
+	{
+		GF_CAN_Send_List_Send(&FD_CAN_2_Handler);
+	} else
+	{
+
+		can_dispacherController = FD_CAN_2_Handler.dispacherController;
+		can_dispacherController->Dispatcher_Run(can_dispacherController);
+
+	}
+
+}
+   //发送函数 在上面定时器调用 2ms一次
+void GF_CAN_Send_List_Send(FDCANHandler *handler)
+{
+
+	handler->SendList_time_Count++;
+	//timeSpan-->2  SendList_Period-->2
+	if (handler->timeSpan * handler->SendList_time_Count
+			>= handler->SendList_Period)
+	{
+		handler->SendList_time_Count = 0;
+		handler->SendListExists = 1;
+		if (handler->pCurrentCANSendHadler != NULL)
+		{
+			//拷贝数据到相关的代码中，然后发送
+
+			handler->SendFrameID=handler->pCurrentCANSendHadler->CAN_ID;
+
+			memcpy(handler->Tx_Buf, handler->pCurrentCANSendHadler->Tx_Buf,
+					handler->pCurrentCANSendHadler->SendLength);
+			handler->SendList_Period=handler->pCurrentCANSendHadler->SendListTimePeriod;//发送周期
+			handler->SendLength = handler->pCurrentCANSendHadler->SendLength;
+			handler->CAN_Send_Data(handler); /***********发送*****************/
+
+			if (handler->pCurrentCANSendHadler->pNext != NULL)
+			{
+				CANSendHandler *temp = handler->pCurrentCANSendHadler->pNext;
+				free(handler->pCurrentCANSendHadler); //清除内存
+				handler->pCurrentCANSendHadler = temp;
+			} else
+			{
+				free(handler->pCurrentCANSendHadler); //清除内存
+				handler->pCurrentCANSendHadler = NULL;
+			}
+
+		} else
+		{
+			handler->SendListExists = 0;
+
+		}
+
+	}
+
+}
+
+//
+//handler->CAN_Send_Data = CAN_Send_Data_t;
+void CAN_Send_Data_t(struct _FDCANHandler *fd)
+{
+	CAN_Send_t(fd, fd->SendFrameID, fd->SendLength, fd->Tx_Buf);
+}
+/*
+ * |
+ * |
+ * V
+ * */
+void CAN_Send_t(struct _FDCANHandler *fd, uint32_t FrameID, uint8_t DataLength,
+		uint8_t *Txdata)
+{
+
+	//Function_code = Txdata[0];
+
+	if (DataLength > 8)
+	{
+		return;
+	}
+	if (fd->canfd == &hfdcan1)
+	{
+		TXHeader1.BitRateSwitch = FDCAN_BRS_OFF;
+
+	#if NewCANSendVersion
+		TXHeader1.DataLength = (uint32_t) DataLength ;
+	#else
+		TXHeader1.DataLength = (uint32_t) DataLength << 16; //数据长度大于8的话会有错误
+	#endif
+
+
+		TXHeader1.FDFormat = FDCAN_CLASSIC_CAN;
+		TXHeader1.IdType = FDCAN_STANDARD_ID;
+		TXHeader1.Identifier = FrameID;
+		TXHeader1.TxFrameType = FDCAN_DATA_FRAME;
+		HAL_FDCAN_AddMessageToTxFifoQ(&hfdcan1, &TXHeader1, Txdata);
+	} else if (fd->canfd == &hfdcan2)
+	{
+		TXHeader2.BitRateSwitch = FDCAN_BRS_OFF;
+
+	#if NewCANSendVersion
+			TXHeader2.DataLength = (uint32_t) DataLength ;
+		#else
+			TXHeader2.DataLength = (uint32_t) DataLength << 16; //数据长度大于8的话会有错误
+		#endif
+		//TXHeader2.DataLength = (uint32_t) DataLength << 16; //数据长度大于8的话会有错误
+		TXHeader2.FDFormat = FDCAN_CLASSIC_CAN;
+		TXHeader2.IdType = FDCAN_STANDARD_ID;
+		TXHeader2.Identifier = FrameID;
+		TXHeader2.TxFrameType = FDCAN_DATA_FRAME;
+		HAL_FDCAN_AddMessageToTxFifoQ(&hfdcan2, &TXHeader2, Txdata);
+	}
+}
+
+
+
+//handler->AddCANSendList = CANHandlerAddTxList;该函数由AddCANSendList调用
+
+//把多个 CAN 消息按顺序添加到发送队列。系统按照设定的时间周期或者优先级依次发送队列中的消息。
+/*
+ * Motor_Controller->AddCANSendList(Motor_Controller, 0x600 + MotorID, 8,
+        Motor_Controller->Tx_Buf, WaitTime, NULL);
+ * */
+void CANHandlerAddTxList(FDCANHandler *handler, uint32_t CAN_ID,
+		uint8_t SendLength, uint8_t *Tx_Buf,uint32_t sendListTimePeriod,
+		void (*CAN_Decode)(uint32_t, uint8_t*, uint32_t)) //参数其实就是一组can数据 在FDHandler添加东西
+{
+
+	CANSendHandler *pTmp = NULL; //临时指针  链表中的节点
+
+	//临时指针2用于逐个申请内存
+	pTmp = (CANSendHandler*) malloc(sizeof(CANSendHandler));//节点申请内存
+	memcpy(pTmp->Tx_Buf, Tx_Buf, SendLength);//把参数2的内容复制到节点上
+	pTmp->pNext = NULL;  //下一个节点暂时为空
+	pTmp->CAN_ID=CAN_ID;  //设置节点ID
+	pTmp->SendLength = SendLength;
+	//pTmp->CAN_Decode = CAN_Decode;
+	pTmp->SendListTimePeriod=sendListTimePeriod;//节点的发送周期
+
+
+//if NULL, call intialize one
+	if (handler->pCurrentCANSendHadler == NULL)
+	{
+		handler->pCurrentCANSendHadler = pTmp; //空链表
+	} else
+	{
+		char i = 0;
+		//插到尾部
+		CANSendHandler *phead = NULL;
+		phead = handler->pCurrentCANSendHadler;
+		while (phead->pNext != NULL)
+		{
+			i++;
+			phead = phead->pNext;
+		}
+		phead->pNext = pTmp;
+
+	}
+
+}
+

Core/BASE/Src/BSP/bsp_GPIO.c

@@ -0,0 +1,104 @@
+/*
+ * bsp_GPIO.c
+ *
+ *  Created on: Oct 26, 2023
+ *      Author: shiya
+ */
+#include "BSP/bsp_GPIO.h"
+
+uint8_t GF_BSP_GPIO_Init()
+{
+
+	return 1;
+}
+
+/* IO配置
+ * IO_Index : 0-5
+ * Level : 0:PIN_RESET; 1:PIN_SET;
+ * */
+void GF_BSP_GPIO_SetIO(uint8_t IO_Index,uint8_t Level)
+{
+	GPIO_PinState PinState;
+	if(Level == 0)
+		PinState=GPIO_PIN_RESET;
+	else
+		PinState=GPIO_PIN_SET;
+
+	switch(IO_Index)
+	{
+	case 0:
+		HAL_GPIO_WritePin(OUT_0_GPIO_Port, OUT_0_Pin, PinState);
+		break;
+	case 1:
+		HAL_GPIO_WritePin(OUT_1_GPIO_Port, OUT_1_Pin, PinState);//pc3
+		break;
+	case 2:
+		HAL_GPIO_WritePin(OUT_2_GPIO_Port, OUT_2_Pin, PinState);
+		break;
+	case 3:
+		HAL_GPIO_WritePin(OUT_3_GPIO_Port, OUT_3_Pin, PinState);
+		break;
+	case 4:
+		HAL_GPIO_WritePin(OUT_4_GPIO_Port, OUT_4_Pin, PinState);
+		break;
+	case 5:
+		HAL_GPIO_WritePin(OUT_5_GPIO_Port, OUT_5_Pin, PinState);
+		break;
+	}
+}
+
+uint8_t GF_BSP_GPIO_ToggleIO(uint8_t IO_Index)
+{
+
+		switch(IO_Index)
+		{
+		case 0:
+			HAL_GPIO_TogglePin(OUT_0_GPIO_Port, OUT_0_Pin);
+			break;
+		case 1:
+			HAL_GPIO_TogglePin(OUT_1_GPIO_Port, OUT_1_Pin);
+			break;
+		case 2:
+			HAL_GPIO_TogglePin(OUT_2_GPIO_Port, OUT_2_Pin);
+			break;
+		case 3:
+			HAL_GPIO_TogglePin(OUT_3_GPIO_Port, OUT_3_Pin);
+			break;
+		case 4:
+			HAL_GPIO_TogglePin(OUT_4_GPIO_Port, OUT_4_Pin);
+			break;
+		case 5:
+			HAL_GPIO_TogglePin(OUT_5_GPIO_Port, OUT_5_Pin);
+			break;
+		}
+
+
+}
+
+
+uint8_t GF_BSP_GPIO_ReadIO(uint8_t IO_Index)
+{
+	GPIO_PinState PinState;
+	switch(IO_Index)
+	{
+	case 0:
+		PinState = HAL_GPIO_ReadPin(IN_0_GPIO_Port, IN_0_Pin);
+		break;
+	case 1:
+		PinState = HAL_GPIO_ReadPin(IN_1_GPIO_Port, IN_1_Pin);
+		break;
+	case 2:
+		PinState = HAL_GPIO_ReadPin(IN_2_GPIO_Port, IN_2_Pin);
+		break;
+	case 3:
+		PinState = HAL_GPIO_ReadPin(IN_3_GPIO_Port, IN_3_Pin);
+		break;
+	case 4:
+		PinState = HAL_GPIO_ReadPin(IN_4_GPIO_Port, IN_4_Pin);
+		break;
+	case 5:
+		PinState = HAL_GPIO_ReadPin(IN_5_GPIO_Port, IN_5_Pin);
+		break;
+	}
+	return((uint8_t)PinState);
+}

Core/BASE/Src/BSP/bsp_INTERCALL.c

@@ -0,0 +1,41 @@
+/*
+ * bsp_INTERCALL.c
+ *
+ *  Created on: 2023年11月8日
+ *      Author: shiya
+ */
+#include "BSP/bsp_include.h"
+
+typedef struct
+ {
+  uint8_t num;            //调用函数指针数量
+  void(*fn[DF_BSP_InterCall_Num])(void);   //被调用函数指针,最多20个回调函数
+ }SD_BSP_InterCall;
+
+SD_BSP_InterCall V_BSP_InterCall_Array[DF_BSP_InterCall_Type_Num] = {0};
+
+//给中断函数链接一个回调函数，直接添加空函数指针
+//返回值1表示添加成功，返回值0表示添加失败
+uint8_t GF_BSP_Interrupt_Add_CallBack(enum DF_BSP_InterCall_Type _type,void(*_fn)(void))
+{
+    V_BSP_InterCall_Array[_type].num++;
+    if(V_BSP_InterCall_Array[_type].num>=DF_BSP_InterCall_Num)
+    {
+    	return 0;
+    }
+    V_BSP_InterCall_Array[_type].fn[V_BSP_InterCall_Array[_type].num-1]=_fn;
+    return 1;
+}
+
+//放到中断函数中，运行相应的回调函数，有几个运行几个
+void GF_BSP_Interrupt_Run_CallBack(enum DF_BSP_InterCall_Type _type)
+{
+    uint8_t i=0;
+    if(V_BSP_InterCall_Array[_type].num>0)
+    {
+        for(i=0;i<V_BSP_InterCall_Array[_type].num;i++)
+        {
+            (*(V_BSP_InterCall_Array[_type].fn[i]))();
+        }
+    }
+}