diff --git a/Core/BASE/Protobuf/PSource/bsp_CV.pb.c b/Core/BASE/Protobuf/PSource/bsp_CV.pb.c index 525d599..9b34cf7 100644 --- a/Core/BASE/Protobuf/PSource/bsp_CV.pb.c +++ b/Core/BASE/Protobuf/PSource/bsp_CV.pb.c @@ -10,11 +10,3 @@ 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 - diff --git a/Core/BASE/Protobuf/PSource/bsp_CV.pb.h b/Core/BASE/Protobuf/PSource/bsp_CV.pb.h index 1a91f90..a7a2cec 100644 --- a/Core/BASE/Protobuf/PSource/bsp_CV.pb.h +++ b/Core/BASE/Protobuf/PSource/bsp_CV.pb.h @@ -14,20 +14,10 @@ /* Struct definitions */ typedef struct _CV_struct_define { /* 摆臂项目 */ - float TT_Motor_1m_per_min; /* 天钛电机1m/min对应要发的参考数值 */ - float TT_Motor_one_degree; /* 天钛电机1°对应要发的参考数值 */ float strain_gauge_k; /* 压力传感器的k值 */ float strain_gauge_b; /* 压力传感器的b值 */ float pressure_Max; /* 最大压力值 */ - 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; + float angle_offset; /* 陀螺仪角度偏置 */ } CV_struct_define; @@ -36,40 +26,23 @@ extern "C" { #endif /* Initializer values for message structs */ -#define CV_struct_define_init_default {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, false, PID_Parameters_init_zero, false, PID_Parameters_init_zero, false, PID_Parameters_init_zero} +#define CV_struct_define_init_default {0, 0, 0, 0} +#define CV_struct_define_init_zero {0, 0, 0, 0} /* Field tags (for use in manual encoding/decoding) */ -#define CV_struct_define_TT_Motor_1m_per_min_tag 1 -#define CV_struct_define_TT_Motor_one_degree_tag 2 -#define CV_struct_define_strain_gauge_k_tag 3 -#define CV_struct_define_strain_gauge_b_tag 4 -#define CV_struct_define_pressure_Max_tag 5 -#define CV_struct_define_pulse_Per_Circle_tag 6 -#define CV_struct_define_wheel_Reduction_Ratio_tag 7 -#define CV_struct_define_wheel_Diameter_m_tag 8 -#define CV_struct_define_PID_high_tag 9 -#define CV_struct_define_PID_mid_tag 10 -#define CV_struct_define_PID_low_tag 11 +#define CV_struct_define_strain_gauge_k_tag 1 +#define CV_struct_define_strain_gauge_b_tag 2 +#define CV_struct_define_pressure_Max_tag 3 +#define CV_struct_define_angle_offset_tag 4 /* Struct field encoding specification for nanopb */ #define CV_struct_define_FIELDLIST(X, a) \ -X(a, STATIC, SINGULAR, FLOAT, TT_Motor_1m_per_min, 1) \ -X(a, STATIC, SINGULAR, FLOAT, TT_Motor_one_degree, 2) \ -X(a, STATIC, SINGULAR, FLOAT, strain_gauge_k, 3) \ -X(a, STATIC, SINGULAR, FLOAT, strain_gauge_b, 4) \ -X(a, STATIC, SINGULAR, FLOAT, pressure_Max, 5) \ -X(a, STATIC, SINGULAR, INT32, pulse_Per_Circle, 6) \ -X(a, STATIC, SINGULAR, INT32, wheel_Reduction_Ratio, 7) \ -X(a, STATIC, SINGULAR, DOUBLE, wheel_Diameter_m, 8) \ -X(a, STATIC, OPTIONAL, MESSAGE, PID_high, 9) \ -X(a, STATIC, OPTIONAL, MESSAGE, PID_mid, 10) \ -X(a, STATIC, OPTIONAL, MESSAGE, PID_low, 11) +X(a, STATIC, SINGULAR, FLOAT, strain_gauge_k, 1) \ +X(a, STATIC, SINGULAR, FLOAT, strain_gauge_b, 2) \ +X(a, STATIC, SINGULAR, FLOAT, pressure_Max, 3) \ +X(a, STATIC, SINGULAR, FLOAT, angle_offset, 4) #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; @@ -78,7 +51,7 @@ extern const pb_msgdesc_t 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 176 +#define CV_struct_define_size 20 #ifdef __cplusplus } /* extern "C" */ diff --git a/Core/BASE/Protobuf/PSource/bsp_GV.pb.h b/Core/BASE/Protobuf/PSource/bsp_GV.pb.h index 6d267cc..59370b5 100644 --- a/Core/BASE/Protobuf/PSource/bsp_GV.pb.h +++ b/Core/BASE/Protobuf/PSource/bsp_GV.pb.h @@ -167,7 +167,7 @@ extern const pb_msgdesc_t 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 2073 +#define GV_struct_define_size 2051 #ifdef __cplusplus } /* extern "C" */ diff --git a/Core/BASE/Protobuf/PSource/bsp_IV.pb.h b/Core/BASE/Protobuf/PSource/bsp_IV.pb.h index ae8084a..7b73861 100644 --- a/Core/BASE/Protobuf/PSource/bsp_IV.pb.h +++ b/Core/BASE/Protobuf/PSource/bsp_IV.pb.h @@ -77,6 +77,8 @@ typedef struct _IV_struct_define { int32_t robot_set_speed; /* 记录是否正在进行自动行进 */ int32_t auto_mode_status; + /* 确诊机器人出错的原因 */ + int32_t reason_of_robot_error; } IV_struct_define; @@ -85,8 +87,8 @@ 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, 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, 0, 0, 0, 0, 0, 0, 0, 0, 0} +#define IV_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, 0, 0} +#define IV_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, 0, 0} /* Field tags (for use in manual encoding/decoding) */ #define IV_struct_define_LeftCompensation_tag 1 @@ -111,6 +113,7 @@ extern "C" { #define IV_struct_define_robot_start_tag 20 #define IV_struct_define_robot_set_speed_tag 21 #define IV_struct_define_auto_mode_status_tag 22 +#define IV_struct_define_reason_of_robot_error_tag 23 /* Struct field encoding specification for nanopb */ #define IV_struct_define_FIELDLIST(X, a) \ @@ -135,7 +138,8 @@ X(a, STATIC, SINGULAR, INT32, left_angle, 18) \ X(a, STATIC, SINGULAR, INT32, right_angle, 19) \ X(a, STATIC, SINGULAR, INT32, robot_start, 20) \ X(a, STATIC, SINGULAR, INT32, robot_set_speed, 21) \ -X(a, STATIC, SINGULAR, INT32, auto_mode_status, 22) +X(a, STATIC, SINGULAR, INT32, auto_mode_status, 22) \ +X(a, STATIC, SINGULAR, INT32, reason_of_robot_error, 23) #define IV_struct_define_CALLBACK NULL #define IV_struct_define_DEFAULT NULL @@ -146,7 +150,7 @@ extern const pb_msgdesc_t 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 249 +#define IV_struct_define_size 261 #ifdef __cplusplus } /* extern "C" */ diff --git a/Core/BASE/Protobuf/PSource/bsp_strain_gauge.pb.h b/Core/BASE/Protobuf/PSource/bsp_strain_gauge.pb.h index e9ca6a6..d871409 100644 --- a/Core/BASE/Protobuf/PSource/bsp_strain_gauge.pb.h +++ b/Core/BASE/Protobuf/PSource/bsp_strain_gauge.pb.h @@ -18,8 +18,6 @@ typedef struct _Strain_Gauge_Struct { int32_t HX711_D; /* 寄存器3 HX711_D */ int32_t Save; /* 寄存器9： 设置为55时，把当前寄存器输入存入flash，写入成功自动变成1 */ int32_t RawPressure; /* 寄存器1： 输出的传感器原始数据 */ - int32_t Read_K; - int32_t Read_D; } Strain_Gauge_Struct; @@ -28,8 +26,8 @@ extern "C" { #endif /* Initializer values for message structs */ -#define Strain_Gauge_Struct_init_default {0, 0, 0, 0, 0, 0, 0, 0} -#define Strain_Gauge_Struct_init_zero {0, 0, 0, 0, 0, 0, 0, 0} +#define Strain_Gauge_Struct_init_default {0, 0, 0, 0, 0, 0} +#define Strain_Gauge_Struct_init_zero {0, 0, 0, 0, 0, 0} /* Field tags (for use in manual encoding/decoding) */ #define Strain_Gauge_Struct_MotorControl_tag 1 @@ -38,8 +36,6 @@ extern "C" { #define Strain_Gauge_Struct_HX711_D_tag 4 #define Strain_Gauge_Struct_Save_tag 5 #define Strain_Gauge_Struct_RawPressure_tag 6 -#define Strain_Gauge_Struct_Read_K_tag 7 -#define Strain_Gauge_Struct_Read_D_tag 8 /* Struct field encoding specification for nanopb */ #define Strain_Gauge_Struct_FIELDLIST(X, a) \ @@ -48,9 +44,7 @@ X(a, STATIC, SINGULAR, INT32, Pressure, 2) \ X(a, STATIC, SINGULAR, INT32, HX711_K, 3) \ X(a, STATIC, SINGULAR, INT32, HX711_D, 4) \ X(a, STATIC, SINGULAR, INT32, Save, 5) \ -X(a, STATIC, SINGULAR, INT32, RawPressure, 6) \ -X(a, STATIC, SINGULAR, INT32, Read_K, 7) \ -X(a, STATIC, SINGULAR, INT32, Read_D, 8) +X(a, STATIC, SINGULAR, INT32, RawPressure, 6) #define Strain_Gauge_Struct_CALLBACK NULL #define Strain_Gauge_Struct_DEFAULT NULL @@ -61,7 +55,7 @@ extern const pb_msgdesc_t Strain_Gauge_Struct_msg; /* Maximum encoded size of messages (where known) */ #define BSP_STRAIN_GAUGE_PB_H_MAX_SIZE Strain_Gauge_Struct_size -#define Strain_Gauge_Struct_size 88 +#define Strain_Gauge_Struct_size 66 #ifdef __cplusplus } /* extern "C" */ diff --git a/Core/BASE/Protobuf/Proto/bsp_CV.proto b/Core/BASE/Protobuf/Proto/bsp_CV.proto index f27308b..027da2a 100644 --- a/Core/BASE/Protobuf/Proto/bsp_CV.proto +++ b/Core/BASE/Protobuf/Proto/bsp_CV.proto @@ -6,17 +6,10 @@ import "bsp_PID.proto"; message CV_struct_define{ //摆臂项目 - float TT_Motor_1m_per_min=1; //天钛电机1m/min对应要发的参考数值 - float TT_Motor_one_degree=2; //天钛电机1°对应要发的参考数值 - float strain_gauge_k=3; //压力传感器的k值 - float strain_gauge_b=4; //压力传感器的b值 - float pressure_Max=5; //最大压力值 - int32 pulse_Per_Circle=6; //每转多少脉冲 - int32 wheel_Reduction_Ratio=7; //减速比 - double wheel_Diameter_m=8; //车轮直径 m - PID_Parameters PID_high=9; - PID_Parameters PID_mid=10; - PID_Parameters PID_low=11; + float strain_gauge_k=1; //压力传感器的k值 + float strain_gauge_b=2; //压力传感器的b值 + float pressure_Max=3; //最大压力值 + float angle_offset=4; //陀螺仪角度偏置 } diff --git a/Core/BASE/Protobuf/Proto/bsp_IV.proto b/Core/BASE/Protobuf/Proto/bsp_IV.proto index 46f92f7..22f60da 100644 --- a/Core/BASE/Protobuf/Proto/bsp_IV.proto +++ b/Core/BASE/Protobuf/Proto/bsp_IV.proto @@ -93,4 +93,7 @@ message IV_struct_define //记录是否正在进行自动行进 int32 auto_mode_status=22; + + //确诊机器人出错的原因 + int32 reason_of_robot_error=23; }; \ No newline at end of file diff --git a/Core/BASE/Protobuf/Proto/bsp_strain_gauge.proto b/Core/BASE/Protobuf/Proto/bsp_strain_gauge.proto index 3c39c3a..abbfdca 100644 --- a/Core/BASE/Protobuf/Proto/bsp_strain_gauge.proto +++ b/Core/BASE/Protobuf/Proto/bsp_strain_gauge.proto @@ -8,8 +8,6 @@ message Strain_Gauge_Struct int32 HX711_D=4; //寄存器3 HX711_D int32 Save=5;//寄存器9： 设置为55时，把当前寄存器输入存入flash，写入成功自动变成1 int32 RawPressure=6;// 寄存器1： 输出的传感器原始数据 - int32 Read_K=7; - int32 Read_D=8; }; diff --git a/Core/BASE/Protobuf/Proto/bsp_strain_gauge.txt b/Core/BASE/Protobuf/Proto/bsp_strain_gauge.txt new file mode 100644 index 0000000..3c39c3a --- /dev/null +++ b/Core/BASE/Protobuf/Proto/bsp_strain_gauge.txt @@ -0,0 +1,16 @@ +syntax = "proto3"; +//从机地址0x32； +message Strain_Gauge_Struct +{ + int32 MotorControl=1;//寄存器0： 电机控制，=0 停止，=1 前进，=2 后退 + int32 Pressure=2;// 寄存器1： 输出的传感器最终数据 + int32 HX711_K=3; //寄存器2 HX711_K + int32 HX711_D=4; //寄存器3 HX711_D + int32 Save=5;//寄存器9： 设置为55时，把当前寄存器输入存入flash，写入成功自动变成1 + int32 RawPressure=6;// 寄存器1： 输出的传感器原始数据 + int32 Read_K=7; + int32 Read_D=8; + +}; + +//protoc --nanopb_out=. *.proto diff --git a/Core/BASE/Src/BSP/bsp_MB_host.c b/Core/BASE/Src/BSP/bsp_MB_host.c index af33fc9..1924714 100644 --- a/Core/BASE/Src/BSP/bsp_MB_host.c +++ b/Core/BASE/Src/BSP/bsp_MB_host.c @@ -301,17 +301,17 @@ void MB_WriteNumHoldingReg(uint8_t *Tx_Buf, uint8_t *TxCount_t, uint8_t _addr, uint16_t i; uint16_t TxCount = 0; uint16_t crc = 0; - Tx_Buf[TxCount++] = _addr; /* 从站地址 */ + Tx_Buf[TxCount++] = _addr; /* 从站地址 0x34*/ Tx_Buf[TxCount++] = 0x10; /* 功能码 */ - Tx_Buf[TxCount++] = _reg >> 8; /* 寄存器地址 高字节 */ - Tx_Buf[TxCount++] = _reg; /* 寄存器地址 低字节 */ - Tx_Buf[TxCount++] = _num >> 8; /* 寄存器(16bits)个数 高字节 */ - Tx_Buf[TxCount++] = _num; /* 低字节 */ - Tx_Buf[TxCount++] = _num << 1; /* 数据个数 */ + Tx_Buf[TxCount++] = _reg >> 8; /* 寄存器地址 高字节 0*/ + Tx_Buf[TxCount++] = _reg; /* 寄存器地址 低字节 0*/ + Tx_Buf[TxCount++] = _num >> 8; /* 寄存器(16bits)个数 高字节 0*/ + Tx_Buf[TxCount++] = _num; /* 低字节 8*/ + Tx_Buf[TxCount++] = _num << 1; /* 数据个数 0x10*/ for (i = 0; i < 2 * _num; i++) { - Tx_Buf[TxCount++] = _databuf[i]; /* 后面的数据长度 */ + Tx_Buf[TxCount++] = _databuf[i]; /* 后面的数据长度 */ //01 00 00 00 00 00 00 00 } crc = MB_CRC16(Tx_Buf, TxCount); Tx_Buf[TxCount++] = crc; /* crc 低字节 */ diff --git a/Core/BASE/Src/MSP/msp_PID.c b/Core/BASE/Src/MSP/msp_PID.c index 7a6513b..4949fd3 100644 --- a/Core/BASE/Src/MSP/msp_PID.c +++ b/Core/BASE/Src/MSP/msp_PID.c @@ -167,33 +167,7 @@ void GF_MSP_PID_Now_Der_adj_Com_Weld(double Current_Angle, double Desire_Angle_I RightSpeed_Con_1 = (Auto_Speed - Kp1 * Incre_Speed[0]); LeftSpeed_Con_2 = Auto_Speed + Kp1 * Incre_Speed[0]; RightSpeed_Con_2 = Auto_Speed - Kp1 * Incre_Speed[0]; -// if (Detal_Angle >= deltaAngle1) -// { -// -////小角度时，两前轮调整 -// } -// else if (Detal_Angle > deltaAngle1 && Detal_Angle <= deltaAngle2) -// { -// LeftSpeed_Con_1 = (Auto_Speed + Kp2 * Incre_Speed[0]); -// RightSpeed_Con_1 = (Auto_Speed - Kp2 * Incre_Speed[0]); -// LeftSpeed_Con_2 = Auto_Speed + Kp2 * Incre_Speed[0]; -// RightSpeed_Con_2 = Auto_Speed - Kp2 * Incre_Speed[0]; -////中小角度时，两前轮差速，两后轮跟踪调整 -// } -// else if (Detal_Angle > deltaAngle2 && Detal_Angle <= deltaAngle3) -// { -// LeftSpeed_Con_1 = (Auto_Speed + Kp3 * Incre_Speed[0]); -// RightSpeed_Con_1 = (Auto_Speed - Kp3 * Incre_Speed[0]); -// LeftSpeed_Con_2 = Auto_Speed + Kp3 * Incre_Speed[0]; -// RightSpeed_Con_2 = Auto_Speed - Kp3 * Incre_Speed[0]; -// } -// else -// { -// LeftSpeed_Con_1 = (Auto_Speed + Kp4 * Incre_Speed[0]); -// RightSpeed_Con_1 = (Auto_Speed - Kp4 * Incre_Speed[0]); -// LeftSpeed_Con_2 = Auto_Speed + Kp4 * Incre_Speed[0]; -// RightSpeed_Con_2 = Auto_Speed - Kp4 * Incre_Speed[0]; -// } + double Jud_value = fabs(LeftSpeed_Con_1) - fabs(RightSpeed_Con_1); double factor = 0; diff --git a/Core/BASE/Src/MSP/msp_ground_management.c b/Core/BASE/Src/MSP/msp_ground_management.c index 993cc8a..5b7d0fa 100644 --- a/Core/BASE/Src/MSP/msp_ground_management.c +++ b/Core/BASE/Src/MSP/msp_ground_management.c @@ -112,8 +112,8 @@ void ground_management_inquiry() } void decode_ground_management(uint8_t *buffer, uint16_t length) { - // uint8_t data1[length]; - // memcpy(data1, buffer, length); + uint8_t data1[length]; + memcpy(data1, buffer, length); int decoded_result = MB_Decode_HoldingRegs(buffer, length, g_m_read_count, &decoded_ground_management_holdingReg_value[0]); if (decoded_result == 1) diff --git a/Core/BASE/Src/MSP/msp_strain_gauge.c b/Core/BASE/Src/MSP/msp_strain_gauge.txt similarity index 100% rename from Core/BASE/Src/MSP/msp_strain_gauge.c rename to Core/BASE/Src/MSP/msp_strain_gauge.txt diff --git a/Core/BASE/Src/MSP/msp_strain_gauge_new.c b/Core/BASE/Src/MSP/msp_strain_gauge_new.c new file mode 100644 index 0000000..3dbf12d --- /dev/null +++ b/Core/BASE/Src/MSP/msp_strain_gauge_new.c @@ -0,0 +1,176 @@ +/* + * msp_strain_gauge.c + * + * Created on: 2025年11月25日 + * Author: akeguo + */ +#include "msp_strain_gauge.h" +//应变片采集模块 + +Strain_Gauge_Struct *strainGaugeValue; +uint8_t strain_gauge_slave_id = 0x32; //默认为1 +struct UARTHandler *strain_gauge_handler; + +uint16_t to_send_bytes[50]; + +DispacherController *strain_gauge_dispacherController; +void strain_gauge_loop(); +void decode_strain_gauge_01(uint8_t *buffer, uint16_t length); +void decode_strain_gauge_09(uint8_t *buffer, uint16_t length); +void decode_strain_gauge_56(uint8_t *buffer, uint16_t length); +void strain_gauge_intialize(struct UARTHandler *Handler) +{ + //strain_gauge_slave_id=slave_id; + strain_gauge_handler = Handler; + strain_gauge_handler->Wait_time = 10; //等待10ms 最低不要低于4； + strain_gauge_dispacherController = Handler->dispacherController; + strain_gauge_dispacherController->Dispacher_Enable = 1; + //不周期性发送 + strain_gauge_dispacherController->Add_Dispatcher_List( + strain_gauge_dispacherController, strain_gauge_loop); //Dispatcher_List_Add_t bsp com helper.c + + HardWareErrorController->Add_PCOMHardWare(HardWareErrorController, + "strain_gauge", 0, ComError_Strain_Gauge); + + LOG("strain_gauge_intialize"); +} +void strain_gauge_intialize_with_slaveid(struct UARTHandler *Handler, + int slave_id) +{ + strain_gauge_intialize(Handler); + strain_gauge_slave_id = slave_id; +} + +int SAVE_Register9=0; +int SAVE_Register23=0; +void strain_gauge_loop() +{ + // 必须要初始化 strainGaugeValue + + //读取力 + MB_ReadHoldingReg(&strain_gauge_handler->Tx_Buf, + &strain_gauge_handler->TxCount, strain_gauge_slave_id, 1, 1); //03 command ; read 3 registers 从1 开始 读取1个 + strain_gauge_handler->AddSendList(strain_gauge_handler, + strain_gauge_handler->Tx_Buf, strain_gauge_handler->TxCount, + OneLineWaitTime, decode_strain_gauge_01); + + //推杆控制 + MB_WriteHoldingReg(&strain_gauge_handler->Tx_Buf, + &strain_gauge_handler->TxCount, strain_gauge_slave_id, 0, + strainGaugeValue->MotorControl); //strainGaugeValue->MotorControl 电机控制，=0 停止，=1 前进，=2 后退 + strain_gauge_handler->AddSendList(strain_gauge_handler, + strain_gauge_handler->Tx_Buf, strain_gauge_handler->TxCount, + OneLineWaitTime, + NULL); + + /*写寄存器2 3 KD**/ + if (SAVE_Register23 == 1) + { + /*写寄存器2 K**/ + MB_WriteHoldingReg(&strain_gauge_handler->Tx_Buf, + &strain_gauge_handler->TxCount, strain_gauge_slave_id, 2, + (uint16_t) strainGaugeValue->HX711_K); + strain_gauge_handler->AddSendList(strain_gauge_handler, + strain_gauge_handler->Tx_Buf, strain_gauge_handler->TxCount, + OneLineWaitTime, + NULL); + /*写寄存器3 and 4 D**/ + memcpy(&to_send_bytes[3],&strainGaugeValue->HX711_D,4); + + to_send_bytes[3]=SWAP_ENDIAN_16(to_send_bytes[3]); + to_send_bytes[4]=SWAP_ENDIAN_16(to_send_bytes[4]); + MB_WriteNumHoldingReg(&strain_gauge_handler->Tx_Buf, + &strain_gauge_handler->TxCount, strain_gauge_slave_id, 3, 2, + &to_send_bytes[3]); + + strain_gauge_handler->AddSendList(strain_gauge_handler, + strain_gauge_handler->Tx_Buf, strain_gauge_handler->TxCount, + OneLineWaitTime, + NULL); +// read 5 -6 holidng registers + MB_ReadHoldingReg(&strain_gauge_handler->Tx_Buf, + &strain_gauge_handler->TxCount, strain_gauge_slave_id, 5, 2); //03 command ; read 2 registers 从1 开始 读取1个 + strain_gauge_handler->AddSendList(strain_gauge_handler, + strain_gauge_handler->Tx_Buf, strain_gauge_handler->TxCount, + OneLineWaitTime, decode_strain_gauge_56); + SAVE_Register23 = 0; + } + + /*写寄存器9 设置为55保存KD**/ + if (SAVE_Register9 == 1) + { + strainGaugeValue->Save=55; + MB_WriteHoldingReg(&strain_gauge_handler->Tx_Buf, + &strain_gauge_handler->TxCount, strain_gauge_slave_id, 9, + strainGaugeValue->Save); + strain_gauge_handler->AddSendList(strain_gauge_handler, + strain_gauge_handler->Tx_Buf, strain_gauge_handler->TxCount, + OneLineWaitTime, + NULL); + SAVE_Register9 = 0; + } + +} +int16_t decoded_strain_gauge_holdingReg_value[20]; +//读取 00-02的寄存器 +void decode_strain_gauge_01(uint8_t *buffer, uint16_t length) +{ + +// uint8_t data1[length]; +// memcpy(data1, buffer, length); + + int decoded_result = MB_Decode_HoldingRegs(buffer, length, 1, + &decoded_strain_gauge_holdingReg_value[1]); + if (decoded_result == 1) + { + strainGaugeValue->Pressure = (int16_t)decoded_strain_gauge_holdingReg_value[1]; + HardWareErrorController->Set_PCOMHardWare(HardWareErrorController, + "strain_gauge", 1); + // LOG("Battery_sensor succeeded and the force is %d", *CMCU06_ForceValue); + } + else + { + LOGFF(DL_ERROR, "strain_gauge_decoding failed"); + } +} +/*origin value*/ +void decode_strain_gauge_56(uint8_t *buffer, uint16_t length) +{ + int decoded_result = MB_Decode_HoldingRegs(buffer, length, 2, + &decoded_strain_gauge_holdingReg_value[5]); + if (decoded_result == 1) + { + +// decoded_strain_gauge_holdingReg_value[5]=SWAP_ENDIAN_16(decoded_strain_gauge_holdingReg_value[5]); +// decoded_strain_gauge_holdingReg_value[6]=SWAP_ENDIAN_16(decoded_strain_gauge_holdingReg_value[6]); + memcpy(&strainGaugeValue->RawPressure,&decoded_strain_gauge_holdingReg_value[5],4); + HardWareErrorController->Set_PCOMHardWare(HardWareErrorController, + "strain_gauge", 1); + // LOG("Battery_sensor succeeded and the force is %d", *CMCU06_ForceValue); + } + else + { + LOGFF(DL_ERROR, "strain_gauge_decoding failed"); + } +} + +//读取 09的寄存器 +void decode_strain_gauge_09(uint8_t *buffer, uint16_t length) +{ + +// uint8_t data1[100]; +// memcpy(data1, buffer, length); + int decoded_result = MB_Decode_HoldingRegs(buffer, length, 1, + &decoded_strain_gauge_holdingReg_value[9]); + if (decoded_result == 1) + { + strainGaugeValue->Save = decoded_strain_gauge_holdingReg_value[9]; + HardWareErrorController->Set_PCOMHardWare(HardWareErrorController, + "strain_gauge", 1); + // LOG("Battery_sensor succeeded and the force is %d", *CMCU06_ForceValue); + } + else + { + LOGFF(DL_ERROR, "strain_gauge_decoding failed"); + } +} diff --git a/Core/FSM/Src/Handset_Status_Setting.c b/Core/FSM/Src/Handset_Status_Setting.c index 0dbb53f..e645e1c 100644 --- a/Core/FSM/Src/Handset_Status_Setting.c +++ b/Core/FSM/Src/Handset_Status_Setting.c @@ -394,6 +394,12 @@ void PV_control(void) { GV.Robot_Move_Speed=1; } + + //摆臂速度不允许为1，若设置了1，则强制置为2 + if(GV.Robot_Swing_Speed==1) + { + GV.Robot_Swing_Speed=2; + } } /** @@ -420,11 +426,20 @@ void IV_control(void) IV.left_angle = left_compare_value; IV.right_angle = right_compare_value; IV.robot_set_speed =((float)(P_MK32->CH11_RD1+1000)*14)/2000; + + + //机器人运行速度不允许为0，最小为1 if(IV.robot_set_speed<=1) { IV.robot_set_speed=1; } + //摆臂速度不允许为1，若设置了1，则强制置为2 + if(GV.Robot_Swing_Speed==1) + { + GV.Robot_Swing_Speed=2; + } + if((P_MK32->CH5_SB!=0)||(P_MK32->CH7_SD!=0)) { IV.auto_mode_status=1; diff --git a/Core/FSM/Src/fsm_state_control.c b/Core/FSM/Src/fsm_state_control.c index 4f2a872..1126bb5 100644 --- a/Core/FSM/Src/fsm_state_control.c +++ b/Core/FSM/Src/fsm_state_control.c @@ -294,7 +294,8 @@ void GF_Dispatch(void) if(Get_BIT(SystemErrorCode, ComError_Mk32_SBus) == CONNECTED &&(Get_BIT(SystemErrorCode, ComError_ZQ_CAN_ID1_LeftMotor) == CONNECTED) &&(Get_BIT(SystemErrorCode, ComError_ZQ_CAN_ID2_RightMotor) == CONNECTED) - &&(Get_BIT(SystemErrorCode, ComError_ZQ_CAN_ID3_SwingMotor) == CONNECTED)) + &&(Get_BIT(SystemErrorCode, ComError_ZQ_CAN_ID3_SwingMotor) == CONNECTED) + &&((Get_BIT(SystemErrorCode, ComError_MK32_Serial) == CONNECTED))) { start_flag=1; //SystemErrorCode = 0; @@ -307,6 +308,10 @@ void GF_Dispatch(void) { error_detcet=AbnormalDetect(); IV.robot_start=2; //表示机器人成功启动 + if(IV.reason_of_robot_error==0) //只获取最初的错误原因 + { + IV.reason_of_robot_error =error_detcet; + } } @@ -320,8 +325,8 @@ void GF_Dispatch(void) // 获取当前模式和按键 InputEvent curr_key = RemoteControl_GetKeyIndex(prev_mode); - // 仅按键变化时更新动作 - if (curr_key != prev_key) + // 仅按键变化和机器人成功启动后时更新动作 + if (curr_key != prev_key&&(start_flag==1)) { robot_start_flag=1; PV_control(); @@ -370,62 +375,86 @@ int cnt=0; int AbnormalDetect(void) { - /* SBUS 出错 */ - if (Get_BIT(SystemErrorCode, ComError_Mk32_SBus) == DISCONNECTED - ||(Get_BIT(SystemErrorCode, ComError_ZQ_CAN_ID1_LeftMotor) == DISCONNECTED) - ||(Get_BIT(SystemErrorCode, ComError_ZQ_CAN_ID2_RightMotor) == DISCONNECTED) - ||(Get_BIT(SystemErrorCode, ComError_ZQ_CAN_ID3_SwingMotor) == DISCONNECTED) - ||(Get_BIT(SystemErrorCode, ComError_Ground_Management) == DISCONNECTED)) - { - cnt++; - if(cnt>250) - { - //触发软急停 - GV.GroundManagementValue.MaualControlPower=1; - GV.GroundManagementValue.MaualPowerState=0; - cnt=0; - return 1; - } - - } - - - - /* 串口出错 */ - if (Get_BIT(SystemErrorCode, ComError_MK32_Serial) == DISCONNECTED) - { - GV.GroundManagementValue.MaualControlPower=1; - GV.GroundManagementValue.MaualPowerState=0; - return 2; - } - - +// ====================== 第一步：先假设正常 ====================== + int is_error = 0; - /* 陀螺仪无信号 */ - if (Get_BIT(SystemErrorCode, ComError_TL720D) == DISCONNECTED) - { - return 4; - } - - - /* 遥控器关机或失联 */ - if (P_MK32->IsOnline == 0) - { - GV.GroundManagementValue.MaualControlPower=1; - GV.GroundManagementValue.MaualPowerState=0; - Is_All_Button_Reset = 0; - return 6; - } + /* SBUS出错 */ + if (Get_BIT(SystemErrorCode, ComError_Mk32_SBus) == DISCONNECTED) + { + is_error = 1; + } + /* 串口出错 */ + else if (Get_BIT(SystemErrorCode, ComError_MK32_Serial) == DISCONNECTED) + { + is_error = 2; + } + /* 地面端出错 */ + else if(Get_BIT(SystemErrorCode, ComError_Ground_Management) == DISCONNECTED) + { + is_error = 3; + } + /* 遥控器关机或失联 */ + else if (P_MK32->IsOnline == 0) + { + is_error = 6; + } + /* 陀螺仪无信号 */ + else if (Get_BIT(SystemErrorCode, ComError_TL720D) == DISCONNECTED) + { + is_error = 4; + } + /* 按钮未复位 */ + else if (Get_BIT(SystemErrorCode, ComError_MK32_InitialState) != Has_Reset) + { + is_error = 7; + } + /* 电机失联 */ + else if(Get_BIT(SystemErrorCode, ComError_ZQ_CAN_ID1_LeftMotor) == DISCONNECTED + || Get_BIT(SystemErrorCode, ComError_ZQ_CAN_ID2_RightMotor) == DISCONNECTED + || Get_BIT(SystemErrorCode, ComError_ZQ_CAN_ID3_SwingMotor) == DISCONNECTED) + { + is_error = 8; + } + else + { + // 完全正常 → 立刻清0计数 + cnt = 0; + return 0; + } + // ====================== 第二步：统一计数 ====================== + cnt++; - /* 按钮未复位 */ - if (Get_BIT(SystemErrorCode, ComError_MK32_InitialState) != Has_Reset) - { - return 3; - } + // ====================== 第三步：需要延迟触发的错误 ====================== + if (is_error == 1 || is_error == 2 || is_error == 3 ||is_error == 6||is_error == 8) + { + if (cnt > 1000) + { + // 触发软急停 + GV.GroundManagementValue.MaualControlPower = 1; + GV.GroundManagementValue.MaualPowerState = 0; + cnt = 0; + + } + if (is_error == 1) return 1; + if (is_error == 2) return 2; + if (is_error == 3) return 3; + if (is_error == 6) return 6; + if (is_error == 8) return 8; + } + // ====================== 第四步：不需要延迟，直接触发 ====================== + else if (is_error == 3) + { + return 3; + } + else if (is_error == 4) + { + return 4; + } - return 0; + // 正在计数，还没到触发条件 + return 0; } diff --git a/Core/FSM/Src/robot_move_actions.c b/Core/FSM/Src/robot_move_actions.c index 2999ed1..d8f9b35 100644 --- a/Core/FSM/Src/robot_move_actions.c +++ b/Core/FSM/Src/robot_move_actions.c @@ -52,7 +52,16 @@ enum single_lane_auto_state { STATE_COUNT /* 状态总数 */ }; - +/** + * 手动单道自动运行状态枚举 + */ +enum manual_single_lane_auto_state { + MANUAL_STATE_WORK_WAY_OR_DIRECT_MOVE, /* 工作模式选择 */ + MANUAL_STATE_FIGHT_ALTERNATELY, /* 交替后退 */ + MANUAL_STATE_FIGHT_RETREATING, /* 连续后退 */ + MANUAL_STATE_HALT, /* 停机状态 */ + MANUAL_STATE_COUNT /* 状态总数 */ +}; /** * 打退交替状态枚举 */ @@ -98,6 +107,7 @@ enum weld_auto_state { */ typedef enum { FSM_init_state = 0, // 默认初始化的值（占位，不使用） + FSM_MANUAL_AUTO_Flag, // “无”单道自动 FSM_HORIZONTAL_AUTO_Flag, // 水平单道自动 FSM_HORIZONTAL_FORWARD_Flag, // 水平前进（简化版） FSM_VERTICAL_FORWARD_Flag, // 垂直前进 @@ -154,6 +164,7 @@ static void handleAttitudeJudge_vertical(void); static void handleAttitudeAdjustHorizontal(void); static void handleAttitudeAdjustVertical(void); static void handleAttitudeAdjustChangeRoad(void); +static void handleWorkWay_manual(void); static void handleWorkWay(void); void horizontal_work(void); void Move_Horizontal_Auto_Sub_Func(void); @@ -169,6 +180,7 @@ static void handleLaneChangeCalcRetreatTime(void); static void handleLaneChangeContinuousRetreat(void); /* 打退连续函数 */ +void Fight_Countinus_Function_Manual(); void Fight_Countinus_Function_Horizontal(); void Fight_Countinus_Function_Vertical(); void Move_Horizontal_Vertical_Task_Backwards_Do_Backward(void); @@ -178,11 +190,13 @@ void Update_Angle_compensation_hor(void); void Update_Angle_compensation_ver(void); void Auto_Forward_Function_Horizontal_group(void); void Auto_Forward_Function_Vertical_group(void); -void Fight_Alternately_Function_Horizontal(void); /* 打退交替函数 */ +void Fight_Alternately_Function_Manual(void); +void Fight_Alternately_Function_Horizontal(void); void alternately_stop_func(void); void alternately_back_func(void); +void alternately_back_func_manual(void); void alternately_back_func_vertical(void); /* 辅助函数 */ @@ -204,6 +218,19 @@ int factor_1= 1; int factor_2= -1; /*===========================6.函数指针表 ===========================*/ +/** + * 手动单道自动运行状态函数表 + */ +static const void (*const manual_single_lane_auto_operation[])(void) = { + [MANUAL_STATE_WORK_WAY_OR_DIRECT_MOVE] = handleWorkWay_manual, + [MANUAL_STATE_FIGHT_ALTERNATELY] = Fight_Alternately_Function_Manual, /* 打退交替 */ + [MANUAL_STATE_FIGHT_RETREATING] = Fight_Countinus_Function_Manual, /*打退连续 */ + [MANUAL_STATE_HALT] = handleHalt, +}; + + + + /** * 水平单道自动运行状态函数表 * 注意：STATE_FIGHT_ALTERNATELY 和 STATE_FIGHT_RETREATING 暂未实现，用 NULL 占位 @@ -224,6 +251,13 @@ static const void (*const horizontal_single_lane_auto_operation[])(void) = { * 打退交替状态函数表 * 注意：STATE_FIGHT_ALTERNATELY 和 STATE_FIGHT_RETREATING 暂未实现，用 NULL 占位 */ +static const void (*const alternately_work_manual[])(void) = { + [STATE_ROBOT_STOP] = alternately_stop_func, + [STATE_ROBOT_BACK] = alternately_back_func_manual, + [STATE_HALT] = handleHalt, +}; + + static const void (*const alternately_work_horizontal[])(void) = { [STATE_ROBOT_STOP] = alternately_stop_func, [STATE_ROBOT_BACK] = alternately_back_func, @@ -359,6 +393,7 @@ void Robot_Stop(void) check_and_reset_fsm(FSM_init_state); swing_currentState = 0; alternately_times =0; + alternately_times_total=0; alternately_flag=0; GV.auto_working=0; @@ -452,9 +487,9 @@ static void handleAttitudeJudge_vertical(void) { float robotRoll = (float)GV.TL720DParameters.RF_Angle_Roll / 100.0f; - if (robotRoll > -90.0f && robotRoll <= 90.0f) { - GV.Robot_Angle_Desire = GV.Vertical_Adjust; - } +// if (robotRoll > -90.0f && robotRoll <= 90.0f) { + GV.Robot_Angle_Desire = GV.Vertical_Adjust; +// } // else // { // GV.Robot_Angle_Desire = 180.0f + GV.Vertical_Adjust; @@ -462,7 +497,7 @@ static void handleAttitudeJudge_vertical(void) // GV.Robot_Angle_Desire -= 360.0f; // } // } - s_fsmState[s_activeFsm] = STATE_WORK_WAY_OR_DIRECT_MOVE;//STATE_ATTITUDE_ADJUST; + s_fsmState[s_activeFsm] = STATE_ATTITUDE_ADJUST; } @@ -490,17 +525,40 @@ void alternately_stop_func(void) //打退交替状态下机器人后退状态 +void alternately_back_func_manual(void) +{ + GV.Robot_Desired_Speed=-1;//-GV.Robot_Move_Speed; + alternately_times_total=-300*GV.robot_back_distance/GV.Robot_Desired_Speed; //计算出后退总时间 + if(alternately_times= 0 && alternately_flag < STATE_COUNT) { + if (alternately_work_manual[alternately_flag] != NULL) { + alternately_work_manual[alternately_flag](); + } else { + /* 遇到未实现的状态，停机处理 */ + handleHalt(); + } + } else { + handleHalt(); + } +} + + void Fight_Alternately_Function_Horizontal(void) { swing_work(); @@ -831,7 +919,8 @@ void get_swing_mode(void) { if(GV.symmetricalOrNot==1) { - if(GV.PV.Robot_Swing_Range_Angle!=offset_angle && GV.SwingMotor.Real_Position!=0) + //if(GV.PV.Robot_Swing_Range_Angle!=offset_angle && GV.SwingMotor.Real_Position!=0) + if(GV.SwingMotor.Real_Position!=0) { offset_angle=GV.PV.Robot_Swing_Range_Angle; center_angle=-((float)GV.SwingMotor.Real_Position-swing_center_pos)/TT_One_Deg_Count2; @@ -952,18 +1041,16 @@ static void auto_drive_pid_weld(void) } -float speed_w[2]; + float PID_factor=1; static void auto_drive_pid_vertical(void) { float robotRoll = (float)GV.TL720DParameters.RF_Angle_Roll / 100.0f; float speeds[2]; - float Robot_Desired_Speed_w=GV.Robot_Desired_Speed*0.1; - TwoWheel_AngleControl(robotRoll, GV.Robot_Angle_Desire, Robot_Desired_Speed_w,PID_factor, speeds); + TwoWheel_AngleControl(robotRoll, GV.Robot_Angle_Desire, GV.Robot_Desired_Speed,PID_factor, speeds); + - speed_w[0]=speeds[0]; - speed_w[1]=speeds[1]; GV.Left_Speed_M_min = factor_1*speeds[0]; GV.Right_Speed_M_min = factor_2*speeds[1]; /* 根据电机方向可能需要调整符号 */ @@ -996,7 +1083,21 @@ static void handleHalt(void) /*=========================== 8.对外接口函数（需外部调用） ===========================*/ void Move_Manual_Auto_Sub_Func(void) { - Fight_Countinus_Function_Manual(); + s_activeFsm = FSM_MANUAL_AUTO_Flag; + check_and_reset_fsm(FSM_MANUAL_AUTO_Flag); + int state = s_fsmState[FSM_MANUAL_AUTO_Flag]; + + if (state >= 0 && state < STATE_COUNT) { + if (manual_single_lane_auto_operation[state] != NULL) { + manual_single_lane_auto_operation[state](); + } else { + /* 遇到未实现的状态，停机处理 */ + handleHalt(); + } + } else { + handleHalt(); + } + //Fight_Countinus_Function_Manual(); } diff --git a/Core/FSM/Src/swing_action.c b/Core/FSM/Src/swing_action.c index a8a5431..ad76614 100644 --- a/Core/FSM/Src/swing_action.c +++ b/Core/FSM/Src/swing_action.c @@ -19,7 +19,7 @@ float Swing_Speed_Deg_Sencond=201.7;//HJ32-121 //int offset_angle; //int center_position; //中间位置-944334 -1354574 int limit_record=0; -float left_compare_value=30; +float left_compare_value=-30; float right_compare_value=30; float left_compare_updata; float right_compare_updata; diff --git a/Core/Src/main.c b/Core/Src/main.c index 4baf168..6b5f02d 100644 --- a/Core/Src/main.c +++ b/Core/Src/main.c @@ -113,8 +113,7 @@ int main(void) /* USER CODE END 1 */ /* MPU Configuration--------------------------------------------------------*/ - - MPU_Config(); + MPU_Config(); /* Enable I-Cache---------------------------------------------------------*/ SCB_EnableICache(); @@ -128,12 +127,12 @@ int main(void) HAL_Init(); /* USER CODE BEGIN Init */ - // 强制 PH0 内部下拉，消除干扰，防止推杆导致单片机死�?? + // 强制 PH0 内部下拉，消除干扰，防止推杆导致单片机死�???? // __HAL_RCC_GPIOH_CLK_ENABLE(); // GPIO_InitTypeDef gpio_conf = {0}; // gpio_conf.Pin = GPIO_PIN_0; // gpio_conf.Mode = GPIO_MODE_INPUT; -// gpio_conf.Pull = GPIO_PULLDOWN; // 关键：内部下�?? +// gpio_conf.Pull = GPIO_PULLDOWN; // 关键：内部下�???? // HAL_GPIO_Init(GPIOH, &gpio_conf); /* USER CODE END Init */ @@ -163,8 +162,6 @@ int main(void) MX_LPUART1_UART_Init(); MX_ADC2_Init(); MX_LWIP_Init(); - - /* USER CODE BEGIN 2 */ @@ -197,9 +194,9 @@ int main(void) if (SAVE_To_CV == 1) { - //将0号机器人的参数传入CV中 + //�??0号机器人的参数传入CV�?? memcpy(&CV, &g_B03_param_table[0], sizeof(CV)); - //恢复SAVE_To_CV值防止重复设置 + //恢复SAVE_To_CV值防止重复设�?? SAVE_To_CV = 0; } @@ -220,7 +217,7 @@ int main(void) // if (SAVE_To_CV == 1) // { // SAVE_To_CV = 0; -// //CV写入falsh�???????????????????? +// //CV写入falsh�?????????????????????? // GF_BSP_EEPROM_Set_CV(CV); // CV = GF_BSP_EEPROM_Get_CV(); // //FS_SetZero(); @@ -304,9 +301,7 @@ void CV_GV_Init() { //Read CV CV = GF_BSP_EEPROM_Get_CV(); - CV.has_PID_high=true; - CV.has_PID_mid=true; - CV.has_PID_low=true; + SystemErrorCode = &GV.SystemErrorData.Com_Error_Code; diff --git a/Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal.c b/Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal.c index 52cf63e..4e036a1 100644 --- a/Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal.c +++ b/Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal.c @@ -355,7 +355,7 @@ uint32_t HAL_GetTickPrio(void) */ HAL_StatusTypeDef HAL_SetTickFreq(HAL_TickFreqTypeDef Freq) { - HAL_StatusTypeDef status = HAL_OK; + HAL_StatusTypeDef status = HAL_OK; HAL_TickFreqTypeDef prevTickFreq; assert_param(IS_TICKFREQ(Freq)); diff --git a/Swing_Rust_UDPV2.ioc b/Swing_Rust_UDPV2.ioc index 789574c..a5e9a6c 100644 --- a/Swing_Rust_UDPV2.ioc +++ b/Swing_Rust_UDPV2.ioc @@ -722,14 +722,14 @@ ProjectManager.MainLocation=Core/Src ProjectManager.NoMain=false ProjectManager.PreviousToolchain=STM32CubeIDE ProjectManager.ProjectBuild=false -ProjectManager.ProjectFileName=Swing_Rust_UDPV1.ioc -ProjectManager.ProjectName=Swing_Rust_UDPV1 +ProjectManager.ProjectFileName=Swing_Rust_UDPV2.ioc +ProjectManager.ProjectName=Swing_Rust_UDPV2 ProjectManager.RegisterCallBack= ProjectManager.StackSize=0x2000 ProjectManager.TargetToolchain=STM32CubeIDE ProjectManager.ToolChainLocation= ProjectManager.UnderRoot=true -ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA_Init-DMA-false-HAL-true,4-MX_FDCAN1_Init-FDCAN1-false-HAL-true,5-MX_FDCAN2_Init-FDCAN2-false-HAL-true,6-MX_I2C4_Init-I2C4-false-HAL-true,7-MX_TIM1_Init-TIM1-false-HAL-true,8-MX_UART4_Init-UART4-false-HAL-true,9-MX_UART5_Init-UART5-false-HAL-true,10-MX_UART7_Init-UART7-false-HAL-true,11-MX_USART1_UART_Init-USART1-false-HAL-true,12-MX_USART3_UART_Init-USART3-false-HAL-true,13-MX_USART2_UART_Init-USART2-false-HAL-true,14-MX_USART6_UART_Init-USART6-false-HAL-true,15-MX_TIM8_Init-TIM8-false-HAL-true,16-MX_QUADSPI_Init-QUADSPI-false-HAL-true,17-MX_LPUART1_UART_Init-LPUART1-false-HAL-true,18-MX_ADC2_Init-ADC2-false-HAL-true,19-MX_LWIP_Init-LWIP-false-HAL-false,0-MX_CORTEX_M7_Init-CORTEX_M7-false-HAL-true +ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA_Init-DMA-false-HAL-true,4-MX_FDCAN1_Init-FDCAN1-false-HAL-true,5-MX_FDCAN2_Init-FDCAN2-false-HAL-true,6-MX_I2C4_Init-I2C4-false-HAL-true,7-MX_TIM1_Init-TIM1-false-HAL-true,8-MX_UART4_Init-UART4-false-HAL-true,9-MX_UART5_Init-UART5-false-HAL-true,10-MX_UART7_Init-UART7-false-HAL-true,11-MX_USART1_UART_Init-USART1-false-HAL-true,12-MX_USART3_UART_Init-USART3-false-HAL-true,13-MX_USART2_UART_Init-USART2-false-HAL-true,14-MX_USART6_UART_Init-USART6-false-HAL-true,15-MX_TIM8_Init-TIM8-false-HAL-true,16-MX_QUADSPI_Init-QUADSPI-false-HAL-true,17-MX_LPUART1_UART_Init-LPUART1-false-HAL-true,18-MX_ADC2_Init-ADC2-false-HAL-true,19-MX_LWIP_Init-LWIP-false-HAL-false,20-MX_IWDG1_Init-IWDG1-false-HAL-true,0-MX_CORTEX_M7_Init-CORTEX_M7-false-HAL-true QUADSPI.ChipSelectHighTime=QSPI_CS_HIGH_TIME_5_CYCLE QUADSPI.ClockMode=QSPI_CLOCK_MODE_3 QUADSPI.ClockPrescaler=2-1