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初始化仓库

master
L1ng 1 week ago
parent
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commit
1b077302ff
28 changed files with 248 additions and 177 deletions
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  1. 2
      .project
  2. 4
      .settings/language.settings.xml
  3. 7
      Core/BASE/Inc/BSP/B03_Para_01_100.h
  4. 2
      Core/BASE/Inc/BSP/BHBF_ROBOT.h
  5. 15
      Core/BASE/Inc/BSP/bsp_devic_moniter.h
  6. 11
      Core/BASE/Protobuf/PSource/bsp_Error.pb.h
  7. 11
      Core/BASE/Protobuf/PSource/bsp_GV.pb.h
  8. 69
      Core/BASE/Protobuf/PSource/bsp_IV.pb.h
  9. 11
      Core/BASE/Protobuf/Proto/bsp_Error.proto
  10. 1
      Core/BASE/Protobuf/Proto/bsp_GV.proto
  11. 37
      Core/BASE/Protobuf/Proto/bsp_IV.proto
  12. 5
      Core/BASE/Src/BSP/B03_Para_01_100.c
  13. 2
      Core/BASE/Src/BSP/bsp_client_setting.c
  14. 14
      Core/BASE/Src/BSP/bsp_devic_moniter.c
  15. 3
      Core/BASE/Src/MSP/msp_485_android.c
  16. 1
      Core/BASE/Src/MSP/msp_MK32_1.c
  17. 15
      Core/BASE/Src/MSP/msp_TL720D.c
  18. 38
      Core/BASE/Src/MSP/msp_WH_LTE_7S0.c
  19. 49
      Core/BASE/Src/MSP/msp_ground_management.c
  20. 3
      Core/BASE/Src/MSP/msp_strain_gauge_new.c
  21. 16
      Core/FSM/Src/Handset_Status_Setting.c
  22. 34
      Core/FSM/Src/fsm_state_control.c
  23. 4
      Core/FSM/Src/motor.c
  24. 1
      Core/FSM/Src/paint_gun_action.c
  25. 26
      Core/FSM/Src/robot_move_actions.c
  26. 2
      Core/FSM/Src/swing_action.c
  27. 16
      Core/Src/main.c
  28. 26
      Core/Src/stm32h7xx_it.c

2
.project
View File

@ -1,6 +1,6 @@
<?xml version="1.0" encoding="UTF-8"?> <?xml version="1.0" encoding="UTF-8"?>
<projectDescription> <projectDescription>
<name>Swing_Rust_UDP_cabled</name> <name>Welding_Rust_UDP_cabled</name>
<comment></comment> <comment></comment>
<projects> <projects>
</projects> </projects>

4
.settings/language.settings.xml
View File

@ -5,7 +5,7 @@
<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/> <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.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" 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="454426226195276816" 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"> <provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-1205061113987717119" 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.gcc"/>
<language-scope id="org.eclipse.cdt.core.g++"/> <language-scope id="org.eclipse.cdt.core.g++"/>
</provider> </provider>
@ -16,7 +16,7 @@
<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/> <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.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" 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="454426226195276816" 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"> <provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-1205061113987717119" 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.gcc"/>
<language-scope id="org.eclipse.cdt.core.g++"/> <language-scope id="org.eclipse.cdt.core.g++"/>
</provider> </provider>

7
Core/BASE/Inc/BSP/B03_Para_01_100.h
View File

@ -13,7 +13,7 @@
#include "bsp_PID.pb.h" #include "bsp_PID.pb.h"
//int32_t 定义头文件 //int32_t 定义头文件
#include <stdint.h> #include <stdint.h>
#define ROBOT_NUMBER 3 #define ROBOT_NUMBER 4
// //
//typedef struct { //typedef struct {
// int32_t Speed_m_per_min_1 ; // MPMin = 1m/min 1米每分钟 m/min // int32_t Speed_m_per_min_1 ; // MPMin = 1m/min 1米每分钟 m/min
@ -58,11 +58,6 @@ typedef struct {
// 声明100组DH参数数组（extern关键） // 声明100组DH参数数组（extern关键）
extern B03_Para_t g_B03_param_table[100]; extern B03_Para_t g_B03_param_table[100];
#endif /* BASE_INC_B03_PARA_01_100_H_ */ #endif /* BASE_INC_B03_PARA_01_100_H_ */

2
Core/BASE/Inc/BSP/BHBF_ROBOT.h
View File

@ -54,6 +54,7 @@
#include "change_line_control.h" #include "change_line_control.h"
#include "fsm_state.h" #include "fsm_state.h"
#include "robot_move_actions.h" #include "robot_move_actions.h"
#include "msp_TTMotor_ZQ.h"
//#include "robot_state.h" //#include "robot_state.h"
//FLASH (rx) : ORIGIN = 0x08020000, LENGTH = 896K //FLASH (rx) : ORIGIN = 0x08020000, LENGTH = 896K
@ -73,6 +74,7 @@ extern CV_struct_define CV;
extern PV_struct_define decoded_PV; extern PV_struct_define decoded_PV;
extern PV_struct_define decoded_PV_variable; extern PV_struct_define decoded_PV_variable;
extern PV_struct_define _decoded_PV_temp; extern PV_struct_define _decoded_PV_temp;
extern int robot_version;
typedef struct sys_timer_handler typedef struct sys_timer_handler
{ {

15
Core/BASE/Inc/BSP/bsp_devic_moniter.h
View File

@ -19,10 +19,17 @@ extern "C" {
* 设备ID * 设备ID
*==========================*/ *==========================*/
typedef enum { typedef enum {
//DEV_GYRO = 0, DEV_SBUS =0,
//DEV_SBUS, DEV_Serial,
DEV_LEFT_MOTOR=0, DEV_GYRO,
//DEV_RIGHT_MOTOR, DEV_LEFT_MOTOR,
DEV_RIGHT_MOTOR,
DEV_SWING_MOTOR,
DEV_SENSOR,
DEV_ULTRA,
DEV_YOUXIAN,
DEV_TUIGAN,
DEV_DROUND,
DEV_COUNT // 总设备数 DEV_COUNT // 总设备数
} DeviceId; } DeviceId;

11
Core/BASE/Protobuf/PSource/bsp_Error.pb.h
View File

@ -17,12 +17,11 @@ typedef enum _ComError {
ComError_TL720D = 3, ComError_TL720D = 3,
ComError_ZQ_CAN_ID1_LeftMotor = 4, ComError_ZQ_CAN_ID1_LeftMotor = 4,
ComError_ZQ_CAN_ID2_RightMotor = 5, ComError_ZQ_CAN_ID2_RightMotor = 5,
ComError_ZQ_CAN_ID3_SwingMotor = 6, ComError_Force_Sensor = 6,
ComError_Force_Sensor = 7, ComError_Ultrasonic_Sensor = 7,
ComError_Ultrasonic_Sensor = 8, ComError_Android_485 = 8, /* UWB_20_Error=10; */
ComError_Android_485 = 9, /* UWB_20_Error=10; */ ComError_Strain_Gauge = 9,
ComError_Strain_Gauge = 10, ComError_Ground_Management = 10
ComError_Ground_Management = 11
} ComError; } ComError;
/* Struct definitions */ /* Struct definitions */

11
Core/BASE/Protobuf/PSource/bsp_GV.pb.h
View File

@ -65,6 +65,7 @@ typedef struct _GV_struct_define {
int32_t client_close; int32_t client_close;
int32_t robot_real_speed; int32_t robot_real_speed;
int32_t wire_status; int32_t wire_status;
float robot_back_speed; /* 边打边退模式下机器人的后退速度 */
} GV_struct_define; } GV_struct_define;
@ -73,8 +74,8 @@ extern "C" {
#endif #endif
/* Initializer values for message structs */ /* Initializer values for message structs */
#define GV_struct_define_init_default {0, 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, TT_MotorParameters_init_default, false, MSP_TL720DParameters_init_default, false, IO_Data_init_default, false, ErrorData_init_default, false, PV_struct_define_init_default, 0, 0, 0, 0, 0, false, Strain_Gauge_Struct_init_default, 0, 0, 0, 0, false, ground_management_struct_init_default, 0, 0, 0, 0, 0} #define GV_struct_define_init_default {0, 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, TT_MotorParameters_init_default, false, MSP_TL720DParameters_init_default, false, IO_Data_init_default, false, ErrorData_init_default, false, PV_struct_define_init_default, 0, 0, 0, 0, 0, false, Strain_Gauge_Struct_init_default, 0, 0, 0, 0, false, ground_management_struct_init_default, 0, 0, 0, 0, 0, 0}
#define GV_struct_define_init_zero {0, 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, TT_MotorParameters_init_zero, false, MSP_TL720DParameters_init_zero, false, IO_Data_init_zero, false, ErrorData_init_zero, false, PV_struct_define_init_zero, 0, 0, 0, 0, 0, false, Strain_Gauge_Struct_init_zero, 0, 0, 0, 0, false, ground_management_struct_init_zero, 0, 0, 0, 0, 0} #define GV_struct_define_init_zero {0, 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, TT_MotorParameters_init_zero, false, MSP_TL720DParameters_init_zero, false, IO_Data_init_zero, false, ErrorData_init_zero, false, PV_struct_define_init_zero, 0, 0, 0, 0, 0, false, Strain_Gauge_Struct_init_zero, 0, 0, 0, 0, false, ground_management_struct_init_zero, 0, 0, 0, 0, 0, 0}
/* Field tags (for use in manual encoding/decoding) */ /* Field tags (for use in manual encoding/decoding) */
#define GV_struct_define_TempatureE_2C_tag 1 #define GV_struct_define_TempatureE_2C_tag 1
@ -112,6 +113,7 @@ extern "C" {
#define GV_struct_define_client_close_tag 33 #define GV_struct_define_client_close_tag 33
#define GV_struct_define_robot_real_speed_tag 34 #define GV_struct_define_robot_real_speed_tag 34
#define GV_struct_define_wire_status_tag 35 #define GV_struct_define_wire_status_tag 35
#define GV_struct_define_robot_back_speed_tag 36
/* Struct field encoding specification for nanopb */ /* Struct field encoding specification for nanopb */
#define GV_struct_define_FIELDLIST(X, a) \ #define GV_struct_define_FIELDLIST(X, a) \
@ -149,7 +151,8 @@ X(a, STATIC, SINGULAR, INT32, robot_back_distance, 31) \
X(a, STATIC, SINGULAR, INT32, auto_working, 32) \ X(a, STATIC, SINGULAR, INT32, auto_working, 32) \
X(a, STATIC, SINGULAR, INT32, client_close, 33) \ X(a, STATIC, SINGULAR, INT32, client_close, 33) \
X(a, STATIC, SINGULAR, INT32, robot_real_speed, 34) \ X(a, STATIC, SINGULAR, INT32, robot_real_speed, 34) \
X(a, STATIC, SINGULAR, INT32, wire_status, 35) X(a, STATIC, SINGULAR, INT32, wire_status, 35) \
X(a, STATIC, SINGULAR, FLOAT, robot_back_speed, 36)
#define GV_struct_define_CALLBACK NULL #define GV_struct_define_CALLBACK NULL
#define GV_struct_define_DEFAULT NULL #define GV_struct_define_DEFAULT NULL
#define GV_struct_define_P_MK32_MSGTYPE SP_MSP_MK32_Button #define GV_struct_define_P_MK32_MSGTYPE SP_MSP_MK32_Button
@ -170,7 +173,7 @@ extern const pb_msgdesc_t GV_struct_define_msg;
/* Maximum encoded size of messages (where known) */ /* Maximum encoded size of messages (where known) */
#define BSP_GV_PB_H_MAX_SIZE GV_struct_define_size #define BSP_GV_PB_H_MAX_SIZE GV_struct_define_size
#define GV_struct_define_size 2086 #define GV_struct_define_size 2092
#ifdef __cplusplus #ifdef __cplusplus
} /* extern "C" */ } /* extern "C" */

69
Core/BASE/Protobuf/PSource/bsp_IV.pb.h
View File

@ -44,10 +44,6 @@ typedef struct _IV_struct_define {
取值规则：0 = 正常（无报警）；1 = 报警（过流/过载/堵转等） 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 */ 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; 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 /* 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） 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 */ 作用：APP/上位机判断机器人通讯状态，离线时触发声光报警 */
@ -81,6 +77,7 @@ typedef struct _IV_struct_define {
int32_t reason_of_robot_error; int32_t reason_of_robot_error;
/* 获取有线连接还是无线连接 */ /* 获取有线连接还是无线连接 */
int32_t wire_or_wireless; int32_t wire_or_wireless;
int32_t Robot_version;
} IV_struct_define; } IV_struct_define;
@ -101,22 +98,22 @@ extern "C" {
#define IV_struct_define_SystemError_tag 6 #define IV_struct_define_SystemError_tag 6
#define IV_struct_define_Left_Motor_Err_tag 7 #define IV_struct_define_Left_Motor_Err_tag 7
#define IV_struct_define_Right_Motor_Err_tag 8 #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 9
#define IV_struct_define_Is_Online_tag 10 #define IV_struct_define_Spara_Data_1_tag 10
#define IV_struct_define_Spara_Data_1_tag 11 #define IV_struct_define_Spara_Data_2_tag 11
#define IV_struct_define_Spara_Data_2_tag 12 #define IV_struct_define_Spara_Data_3_tag 12
#define IV_struct_define_Spara_Data_3_tag 13 #define IV_struct_define_Weld_data_tag 13
#define IV_struct_define_Weld_data_tag 14 #define IV_struct_define_Weld_exist_tag 14
#define IV_struct_define_Weld_exist_tag 15 #define IV_struct_define_Turn_difference_tag 15
#define IV_struct_define_Turn_difference_tag 16 #define IV_struct_define_Present_press_tag 16
#define IV_struct_define_Present_press_tag 17 #define IV_struct_define_left_angle_tag 17
#define IV_struct_define_left_angle_tag 18 #define IV_struct_define_right_angle_tag 18
#define IV_struct_define_right_angle_tag 19 #define IV_struct_define_robot_start_tag 19
#define IV_struct_define_robot_start_tag 20 #define IV_struct_define_robot_set_speed_tag 20
#define IV_struct_define_robot_set_speed_tag 21 #define IV_struct_define_auto_mode_status_tag 21
#define IV_struct_define_auto_mode_status_tag 22 #define IV_struct_define_reason_of_robot_error_tag 22
#define IV_struct_define_reason_of_robot_error_tag 23 #define IV_struct_define_wire_or_wireless_tag 23
#define IV_struct_define_wire_or_wireless_tag 24 #define IV_struct_define_Robot_version_tag 24
/* Struct field encoding specification for nanopb */ /* Struct field encoding specification for nanopb */
#define IV_struct_define_FIELDLIST(X, a) \ #define IV_struct_define_FIELDLIST(X, a) \
@ -128,22 +125,22 @@ X(a, STATIC, SINGULAR, INT32, Distance_Sensor, 5) \
X(a, STATIC, SINGULAR, INT32, SystemError, 6) \ X(a, STATIC, SINGULAR, INT32, SystemError, 6) \
X(a, STATIC, SINGULAR, INT32, Left_Motor_Err, 7) \ X(a, STATIC, SINGULAR, INT32, Left_Motor_Err, 7) \
X(a, STATIC, SINGULAR, INT32, Right_Motor_Err, 8) \ 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, 9) \
X(a, STATIC, SINGULAR, INT32, Is_Online, 10) \ X(a, STATIC, SINGULAR, INT32, Spara_Data_1, 10) \
X(a, STATIC, SINGULAR, INT32, Spara_Data_1, 11) \ X(a, STATIC, SINGULAR, INT32, Spara_Data_2, 11) \
X(a, STATIC, SINGULAR, INT32, Spara_Data_2, 12) \ X(a, STATIC, SINGULAR, INT32, Spara_Data_3, 12) \
X(a, STATIC, SINGULAR, INT32, Spara_Data_3, 13) \ X(a, STATIC, SINGULAR, INT32, Weld_data, 13) \
X(a, STATIC, SINGULAR, INT32, Weld_data, 14) \ X(a, STATIC, SINGULAR, INT32, Weld_exist, 14) \
X(a, STATIC, SINGULAR, INT32, Weld_exist, 15) \ X(a, STATIC, SINGULAR, INT32, Turn_difference, 15) \
X(a, STATIC, SINGULAR, INT32, Turn_difference, 16) \ X(a, STATIC, SINGULAR, INT32, Present_press, 16) \
X(a, STATIC, SINGULAR, INT32, Present_press, 17) \ X(a, STATIC, SINGULAR, INT32, left_angle, 17) \
X(a, STATIC, SINGULAR, INT32, left_angle, 18) \ X(a, STATIC, SINGULAR, INT32, right_angle, 18) \
X(a, STATIC, SINGULAR, INT32, right_angle, 19) \ X(a, STATIC, SINGULAR, INT32, robot_start, 19) \
X(a, STATIC, SINGULAR, INT32, robot_start, 20) \ X(a, STATIC, SINGULAR, INT32, robot_set_speed, 20) \
X(a, STATIC, SINGULAR, INT32, robot_set_speed, 21) \ X(a, STATIC, SINGULAR, INT32, auto_mode_status, 21) \
X(a, STATIC, SINGULAR, INT32, auto_mode_status, 22) \ X(a, STATIC, SINGULAR, INT32, reason_of_robot_error, 22) \
X(a, STATIC, SINGULAR, INT32, reason_of_robot_error, 23) \ X(a, STATIC, SINGULAR, INT32, wire_or_wireless, 23) \
X(a, STATIC, SINGULAR, INT32, wire_or_wireless, 24) X(a, STATIC, SINGULAR, INT32, Robot_version, 24)
#define IV_struct_define_CALLBACK NULL #define IV_struct_define_CALLBACK NULL
#define IV_struct_define_DEFAULT NULL #define IV_struct_define_DEFAULT NULL

11
Core/BASE/Protobuf/Proto/bsp_Error.proto
View File

@ -20,13 +20,12 @@ enum ComError //枚举消息类型 Error Bit Define
ZQ_CAN_ID1_LeftMotor =4; ZQ_CAN_ID1_LeftMotor =4;
ZQ_CAN_ID2_RightMotor =5; ZQ_CAN_ID2_RightMotor =5;
ZQ_CAN_ID3_SwingMotor =6; Force_Sensor =6;
Force_Sensor =7;
Ultrasonic_Sensor =8; Ultrasonic_Sensor =7;
Android_485 =9; //UWB_20_Error=10; Android_485 =8; //UWB_20_Error=10;
Strain_Gauge =10; Strain_Gauge =9;
Ground_Management =11; Ground_Management =10;
} }
//protoc --nanopb_out=. *.proto //protoc --nanopb_out=. *.proto

1
Core/BASE/Protobuf/Proto/bsp_GV.proto
View File

@ -48,6 +48,7 @@ message GV_struct_define
int32 client_close=33; int32 client_close=33;
int32 robot_real_speed=34; int32 robot_real_speed=34;
int32 wire_status=35; int32 wire_status=35;
float robot_back_speed=36; //边打边退模式下机器人的后退速度
}; };

37
Core/BASE/Protobuf/Proto/bsp_IV.proto
View File

@ -47,56 +47,55 @@ message IV_struct_define
// 作用：上报右轮驱动电机的故障状态，用于电机故障排查 // 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; 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 // 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） // 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 // 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; int32 Is_Online = 9;
// 备用数据1 // 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） // 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; int32 Spara_Data_1 = 10;
// 备用数据2 // 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） // 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; int32 Spara_Data_2 = 11;
// 备用数据3 // 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） // 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; int32 Spara_Data_3 = 12;
//焊缝数据 //焊缝数据
int32 Weld_data = 14; int32 Weld_data = 13;
//焊缝是否存在 //焊缝是否存在
int32 Weld_exist = 15; int32 Weld_exist = 14;
//回转中心偏距 //回转中心偏距
int32 Turn_difference = 16; int32 Turn_difference = 15;
//当前压力 //当前压力
int32 Present_press = 17; int32 Present_press = 16;
int32 left_angle = 18; int32 left_angle = 17;
int32 right_angle = 19; int32 right_angle = 18;
//检测机器人是否到达设定的启动时间 //检测机器人是否到达设定的启动时间
int32 robot_start = 20; int32 robot_start = 19;
//机器人设定的速度（非实际速度） //机器人设定的速度（非实际速度）
int32 robot_set_speed=21; int32 robot_set_speed=20;
//记录是否正在进行自动行进 //记录是否正在进行自动行进
int32 auto_mode_status=22; int32 auto_mode_status=21;
//确诊机器人出错的原因 //确诊机器人出错的原因
int32 reason_of_robot_error=23; int32 reason_of_robot_error=22;
//获取有线连接还是无线连接 //获取有线连接还是无线连接
int32 wire_or_wireless=24; int32 wire_or_wireless=23;
int32 Robot_version=24;
}; };

5
Core/BASE/Src/BSP/B03_Para_01_100.c
View File

@ -29,6 +29,11 @@ B03_Para_t g_B03_param_table[100] = {
.angle_offset=0.0f, .angle_offset=0.0f,
.operating_times=0.0f, .operating_times=0.0f,
}, },
// 第5台 B03-12
{
.angle_offset=0.0f,
.operating_times=0.0f,
},
// 剩下97台... // 剩下97台...
}; };

2
Core/BASE/Src/BSP/bsp_client_setting.c
View File

@ -87,6 +87,8 @@ void decode_received_data_from_client(uint8_t *buffer, uint16_t length)
pb_decode(&i_pv_stream, PV_struct_define_fields, &decoded_PV_variable); pb_decode(&i_pv_stream, PV_struct_define_fields, &decoded_PV_variable);
HardWareErrorController->Set_PCOMHardWare(HardWareErrorController,"ZQ_Serial",1); HardWareErrorController->Set_PCOMHardWare(HardWareErrorController,"ZQ_Serial",1);
HardWareErrorController->Set_PCOMHardWare(HardWareErrorController, "Android_485", 1); HardWareErrorController->Set_PCOMHardWare(HardWareErrorController, "Android_485", 1);
DevMon_Feed(DEV_Serial);
DevMon_Feed(DEV_YOUXIAN);
//pb_decode(&i_pv_stream, PV_struct_define_fields, &decoded_PV); //pb_decode(&i_pv_stream, PV_struct_define_fields, &decoded_PV);
GV.PV = decoded_PV_variable; GV.PV = decoded_PV_variable;

14
Core/BASE/Src/BSP/bsp_devic_moniter.c
View File

@ -53,10 +53,18 @@ void DevMon_Init()
} }
//DevMon_Register(DEV_GYRO, 1000, 1000);
//DevMon_Register(DEV_SBUS, 1000, 3000); DevMon_Register(DEV_SBUS, 1000, 5000);
DevMon_Register(DEV_Serial, 1000, 5000);
DevMon_Register(DEV_GYRO, 1000, 5000);
DevMon_Register(DEV_LEFT_MOTOR, 1000, 30000); DevMon_Register(DEV_LEFT_MOTOR, 1000, 30000);
//DevMon_Register(DEV_RIGHT_MOTOR, 200, 4000); DevMon_Register(DEV_RIGHT_MOTOR, 1000, 30000);
DevMon_Register(DEV_SWING_MOTOR, 1000, 30000);
//DevMon_Register(DEV_SENSOR, 1000, 5000);
//DevMon_Register(DEV_ULTRA, 1000, 5000);
DevMon_Register(DEV_YOUXIAN, 1000, 5000);
DevMon_Register(DEV_TUIGAN, 1000, 5000);
DevMon_Register(DEV_DROUND, 1000, 5000);
GF_BSP_Interrupt_Add_CallBack(DF_BSP_InterCall_TIM8_2ms_PeriodElapsedCallback, DevMon_Task); GF_BSP_Interrupt_Add_CallBack(DF_BSP_InterCall_TIM8_2ms_PeriodElapsedCallback, DevMon_Task);
} }

3
Core/BASE/Src/MSP/msp_485_android.c
View File

@ -99,6 +99,9 @@ void decode_android_Sbus(uint8_t *buffer, uint16_t length)
} }
HardWareErrorController->Set_PCOMHardWare(HardWareErrorController, "Android_485", 1); HardWareErrorController->Set_PCOMHardWare(HardWareErrorController, "Android_485", 1);
HardWareErrorController->Set_PCOMHardWare(HardWareErrorController, "mk32_sbus", 1); HardWareErrorController->Set_PCOMHardWare(HardWareErrorController, "mk32_sbus", 1);
DevMon_Feed(DEV_YOUXIAN);
DevMon_Feed(DEV_Serial);
received_android_counter++; received_android_counter++;

1
Core/BASE/Src/MSP/msp_MK32_1.c
View File

@ -60,6 +60,7 @@ void decode_MK32Data(uint8_t *buffer, uint16_t length)
HardWareErrorController->Set_PCOMHardWare(HardWareErrorController, HardWareErrorController->Set_PCOMHardWare(HardWareErrorController,
"mk32_sbus", 1); "mk32_sbus", 1);
DevMon_Feed(DEV_SBUS);

15
Core/BASE/Src/MSP/msp_TL720D.c
View File

@ -42,6 +42,20 @@ void decode_TL720D(uint8_t *buffer, uint16_t length)
if (buffer[0] == 0x68 && buffer[1] == 0x1F && buffer[2] == 0x00 if (buffer[0] == 0x68 && buffer[1] == 0x1F && buffer[2] == 0x00
&& buffer[3] == 0x84) && buffer[3] == 0x84)
{ {
uint8_t check_sum = 0;
// 遍历除SOF(0号字节)和校验和(31号字节)之外的所有待校验字节
for(uint8_t i = 1; i < 31; i++)
{
check_sum += buffer[i];
}
// 校验和不匹配则直接丢弃该帧，避免错误数据被解析
if(check_sum != buffer[31])
{
return;
}
//SP_MSP_RF_TL720D_Parameters_In. //SP_MSP_RF_TL720D_Parameters_In.
SP_MSP_RF_TL720D_Parameters_In->RF_Angle_Roll = getDeci(&buffer[4]); SP_MSP_RF_TL720D_Parameters_In->RF_Angle_Roll = getDeci(&buffer[4]);
SP_MSP_RF_TL720D_Parameters_In->RF_Angle_Roll = SP_MSP_RF_TL720D_Parameters_In->RF_Angle_Roll-CV.angle_offset; SP_MSP_RF_TL720D_Parameters_In->RF_Angle_Roll = SP_MSP_RF_TL720D_Parameters_In->RF_Angle_Roll-CV.angle_offset;
@ -58,6 +72,7 @@ void decode_TL720D(uint8_t *buffer, uint16_t length)
*RobotAngle=SP_MSP_RF_TL720D_Parameters_In->RF_Angle_Roll; *RobotAngle=SP_MSP_RF_TL720D_Parameters_In->RF_Angle_Roll;
//Is_TL720_Updating_Flag=true; //Is_TL720_Updating_Flag=true;
HardWareErrorController->Set_PCOMHardWare(HardWareErrorController,"TL720D",1); HardWareErrorController->Set_PCOMHardWare(HardWareErrorController,"TL720D",1);
DevMon_Feed(DEV_GYRO);
} else } else
{ {
//log_error("TL720D decoding failed"); //log_error("TL720D decoding failed");

38
Core/BASE/Src/MSP/msp_WH_LTE_7S0.c
View File

@ -46,7 +46,7 @@ void WH_LTE_7S0_intialize(struct UARTHandler *Handler)
void Send_WH_LTE_7S0_Data(uint8_t *data, int length) void Send_WH_LTE_7S0_Data(uint8_t *data, int length)
{ {
// char datass[256]; // char datass[100];
// memcpy(datass, data, length); // memcpy(datass, data, length);
wh_LTE_7S0_Handler->UART_Decode = decode_received_data_from_computer; wh_LTE_7S0_Handler->UART_Decode = decode_received_data_from_computer;
memcpy(wh_LTE_7S0_Handler->Tx_Buf, data, length); memcpy(wh_LTE_7S0_Handler->Tx_Buf, data, length);
@ -278,12 +278,12 @@ void LTE7S0_Init_HuaWei_MQTT(void)
Send_WH_LTE_7S0_Data(cmd10, sizeof(cmd10)-1); Send_WH_LTE_7S0_Data(cmd10, sizeof(cmd10)-1);
HAL_Delay(300); HAL_Delay(300);
// 6. ClientId 直接复制你给出的值 // 6. ClientId 直接复制
uint8_t cmd11[] = "AT+MQTTCID=6a447a97cbb0cf6bb96ac1a7_BHBF_ROBOT_01_0_0_2026071701\r\n"; uint8_t cmd11[] = "AT+MQTTCID=6a447a97cbb0cf6bb96ac1a7_BHBF_ROBOT_01_0_0_2026071701\r\n";
Send_WH_LTE_7S0_Data(cmd11, sizeof(cmd11)-1); Send_WH_LTE_7S0_Data(cmd11, sizeof(cmd11)-1);
HAL_Delay(100); HAL_Delay(100);
// 7. Username 复制你给出的值 // 7. Username 直接复制
uint8_t cmd12[] = "AT+MQTTUSER=6a447a97cbb0cf6bb96ac1a7_BHBF_ROBOT_01\r\n"; uint8_t cmd12[] = "AT+MQTTUSER=6a447a97cbb0cf6bb96ac1a7_BHBF_ROBOT_01\r\n";
Send_WH_LTE_7S0_Data(cmd12, sizeof(cmd12)-1); Send_WH_LTE_7S0_Data(cmd12, sizeof(cmd12)-1);
HAL_Delay(100); HAL_Delay(100);
@ -372,52 +372,52 @@ void LTE7S0_Init_HuaWei_MQTT2(void)
Send_WH_LTE_7S0_Data(cmd15, sizeof(cmd15)-1); Send_WH_LTE_7S0_Data(cmd15, sizeof(cmd15)-1);
HAL_Delay(100); HAL_Delay(100);
// 11. 开启MQTT纯透传模式 // 11. 关闭模块心跳
uint8_t cmd16[] = "AT+HEARTEN=OFF\r\n"; uint8_t cmd16[] = "AT+HEARTEN=OFF\r\n";
Send_WH_LTE_7S0_Data(cmd16, sizeof(cmd16)-1); Send_WH_LTE_7S0_Data(cmd16, sizeof(cmd16)-1);
HAL_Delay(300); HAL_Delay(300);
// 11. 开启MQTT纯透传模式 // 12. 关闭遗嘱消息
uint8_t cmd17[] = "AT+MQTTWILL=0\r\n"; uint8_t cmd17[] = "AT+MQTTWILL=0\r\n";
Send_WH_LTE_7S0_Data(cmd17, sizeof(cmd17)-1); Send_WH_LTE_7S0_Data(cmd17, sizeof(cmd17)-1);
HAL_Delay(300); HAL_Delay(300);
// 11. 开启MQTT纯透传模式 // 13. 向固定的话题传消息
uint8_t cmd18[] = "AT+MQTTPUBTP=4,1,$oc/devices/6a447a97cbb0cf6bb96ac1a7_BHBF_ROBOT_01/sys/messages/up,0,1\r\n"; uint8_t cmd18[] = "AT+MQTTPUBTP=4,1,$oc/devices/6a447a97cbb0cf6bb96ac1a7_BHBF_ROBOT_01/sys/messages/up,0,1\r\n";
Send_WH_LTE_7S0_Data(cmd18, sizeof(cmd18)-1); Send_WH_LTE_7S0_Data(cmd18, sizeof(cmd18)-1);
HAL_Delay(300); HAL_Delay(300);
// 11. 开启MQTT纯透传模式 // 14. 关闭GNSS功能
uint8_t cmd19[] = "AT+GNSSFUNEN=0\r\n"; uint8_t cmd19[] = "AT+GNSSFUNEN=0\r\n";
Send_WH_LTE_7S0_Data(cmd19, sizeof(cmd19)-1); Send_WH_LTE_7S0_Data(cmd19, sizeof(cmd19)-1);
HAL_Delay(300); HAL_Delay(300);
// 11. 开启MQTT纯透传模式 // 15. 关闭SSL/TLS加密
uint8_t cmd20[] = "AT+SSLEN=OFF\r\n"; uint8_t cmd20[] = "AT+SSLEN=OFF\r\n";
Send_WH_LTE_7S0_Data(cmd20, sizeof(cmd20)-1); Send_WH_LTE_7S0_Data(cmd20, sizeof(cmd20)-1);
HAL_Delay(300); HAL_Delay(300);
// 11. 开启MQTT纯透传模式 // 16. 设置波特率
uint8_t cmd21[] = "AT+UART=115200,8,1,NONE,0\r\n"; uint8_t cmd21[] = "AT+UART=115200,8,1,NONE,0\r\n";
Send_WH_LTE_7S0_Data(cmd21, sizeof(cmd21)-1); Send_WH_LTE_7S0_Data(cmd21, sizeof(cmd21)-1);
HAL_Delay(300); HAL_Delay(300);
// 11. 开启MQTT纯透传模式 // 17. 两条消息之间最少50ms
uint8_t cmd22[] = "AT+UARTFT=50\r\n"; uint8_t cmd22[] = "AT+UARTFT=50\r\n";
Send_WH_LTE_7S0_Data(cmd22, sizeof(cmd22)-1); Send_WH_LTE_7S0_Data(cmd22, sizeof(cmd22)-1);
HAL_Delay(300); HAL_Delay(300);
// 11. 开启MQTT纯透传模式 AT+MQTTPAYLOAD="" // 18. 每条消息最多1024个字节
uint8_t cmd23[] = "AT+UARTFL=1024\r\n"; uint8_t cmd23[] = "AT+UARTFL=1024\r\n";
Send_WH_LTE_7S0_Data(cmd23, sizeof(cmd23)-1); Send_WH_LTE_7S0_Data(cmd23, sizeof(cmd23)-1);
HAL_Delay(300); HAL_Delay(300);
// 11. 开启MQTT纯透传模式 AT+MQTTPAYLOAD="" // 19. 开启MQTT纯透传模式 AT+MQTTPAYLOAD=""
uint8_t cmd24[] = "AT+MQTTPAYLOAD=""\r\n"; uint8_t cmd24[] = "AT+MQTTPAYLOAD=""\r\n";
Send_WH_LTE_7S0_Data(cmd24, sizeof(cmd24)-1); Send_WH_LTE_7S0_Data(cmd24, sizeof(cmd24)-1);
HAL_Delay(300); HAL_Delay(300);
// 13. 保存全部配置到模组Flash // 20. 保存全部配置到模组Flash
uint8_t cmd25[] = "AT+S\r\n"; uint8_t cmd25[] = "AT+S\r\n";
Send_WH_LTE_7S0_Data(cmd25, sizeof(cmd25)-1); Send_WH_LTE_7S0_Data(cmd25, sizeof(cmd25)-1);
HAL_Delay(300); HAL_Delay(300);
@ -465,9 +465,10 @@ int time_cut=0;
char jsonBuf[256]; char jsonBuf[256];
int send_times=0; int send_times=0;
uint8_t *send_data = NULL; uint8_t *send_data = NULL;
char online[8] = {0}; char online[16] = {0};
void Upload_Data_To_HuaWeiCloud(void) void Upload_Data_To_HuaWeiCloud(void)
{ {
//static char online[16];
// 1. 定义online字符串缓冲区，存储"断开"/"已连接" // 1. 定义online字符串缓冲区，存储"断开"/"已连接"
if(IV.Is_Online == 0) if(IV.Is_Online == 0)
{ {
@ -487,12 +488,8 @@ void Upload_Data_To_HuaWeiCloud(void)
GV.TL720DParameters.RF_Angle_Roll, GV.TL720DParameters.RF_Angle_Roll,
GV.Left_Compensation, GV.Left_Compensation,
GV.Right_Compensation, GV.Right_Compensation,
GV.Now_press / 10 GV.Now_press/10
); );
// snprintf(jsonBuf,256,
// "{\"workStatus\":\"%s\",\"MoveSpeed\":1,\"SetSpeed\":0.1,\"Angle\":90,\"LeftCompensation\":1.1,\"RightCompensation\":-2.1,\"Press\":100}",
// online
// );
jsonBuf[255] = '\0'; // 强制末尾结束符 jsonBuf[255] = '\0'; // 强制末尾结束符
// 3. 发送指针直接强转，无需额外data数组 // 3. 发送指针直接强转，无需额外data数组
@ -504,7 +501,7 @@ void Upload_Data_To_HuaWeiCloud(void)
{ {
time_cut = 0; time_cut = 0;
// strlen获取真实报文长度，-1去掉结束符\0 // strlen获取真实报文长度，-1去掉结束符\0
//Send_WH_LTE_7S0_Data(send_data, strlen(jsonBuf)); //Send_WH_LTE_7S0_Data(send_data, strlen(jsonBuf)-1);
uint16_t send_len = strlen(jsonBuf); uint16_t send_len = strlen(jsonBuf);
if(send_data != NULL && send_len > 0) if(send_data != NULL && send_len > 0)
{ {
@ -512,7 +509,6 @@ void Upload_Data_To_HuaWeiCloud(void)
send_times++; send_times++;
} }
} }
//HAL_Delay(1000);
} }

49
Core/BASE/Src/MSP/msp_ground_management.c
View File

@ -61,25 +61,37 @@ void ground_management_inquiry()
&ground_management_handler->TxCount, ground_management_slave_id, 0, &ground_management_handler->TxCount, ground_management_slave_id, 0,
8, dataToSend); 8, dataToSend);
ground_management_handler->AddSendList(ground_management_handler, if(ground_management_handler->AddSendList != 0x0)
ground_management_handler->Tx_Buf, {
ground_management_handler->TxCount, OneLineWaitTime, NULL); ground_management_handler->AddSendList(ground_management_handler,
ground_management_handler->Tx_Buf,
ground_management_handler->TxCount, OneLineWaitTime, NULL);
}
/***********寄存器8写德玛克电机速度*****************************/ /***********寄存器8写德玛克电机速度*****************************/
MB_WriteHoldingReg(&ground_management_handler->Tx_Buf, MB_WriteHoldingReg(&ground_management_handler->Tx_Buf,
&ground_management_handler->TxCount, ground_management_slave_id, &ground_management_handler->TxCount, ground_management_slave_id,
8, GV.GroundManagementValue.DMK_Speed); 8, GV.GroundManagementValue.DMK_Speed);
ground_management_handler->AddSendList(ground_management_handler, if(ground_management_handler->AddSendList != 0x0)
ground_management_handler->Tx_Buf, {
ground_management_handler->TxCount, OneLineWaitTime, NULL); ground_management_handler->AddSendList(ground_management_handler,
ground_management_handler->Tx_Buf,
ground_management_handler->TxCount, OneLineWaitTime, NULL);
}
/***********寄存器9写德玛克电机状态*****************************/ /***********寄存器9写德玛克电机状态*****************************/
MB_WriteHoldingReg(&ground_management_handler->Tx_Buf, MB_WriteHoldingReg(&ground_management_handler->Tx_Buf,
&ground_management_handler->TxCount, ground_management_slave_id, &ground_management_handler->TxCount, ground_management_slave_id,
9, GV.GroundManagementValue.DMK_WorkState); 9, GV.GroundManagementValue.DMK_WorkState);
ground_management_handler->AddSendList(ground_management_handler, if(ground_management_handler->AddSendList != 0x0)
ground_management_handler->Tx_Buf, {
ground_management_handler->TxCount, OneLineWaitTime, NULL); ground_management_handler->AddSendList(ground_management_handler,
ground_management_handler->Tx_Buf,
ground_management_handler->TxCount, OneLineWaitTime, NULL);
}
/********************************************************************/ /********************************************************************/
if (ground_management_value->Save_To_Flash == 1) if (ground_management_value->Save_To_Flash == 1)
@ -96,9 +108,13 @@ void ground_management_inquiry()
MB_WriteHoldingReg(&ground_management_handler->Tx_Buf, MB_WriteHoldingReg(&ground_management_handler->Tx_Buf,
&ground_management_handler->TxCount, ground_management_slave_id, &ground_management_handler->TxCount, ground_management_slave_id,
10, 55); 10, 55);
ground_management_handler->AddSendList(ground_management_handler, if(ground_management_handler->AddSendList != 0x0)
ground_management_handler->Tx_Buf, {
ground_management_handler->TxCount, OneLineWaitTime, NULL); ground_management_handler->AddSendList(ground_management_handler,
ground_management_handler->Tx_Buf,
ground_management_handler->TxCount, OneLineWaitTime, NULL);
}
/*****************************************************/ /*****************************************************/
ground_management_value->Save_To_Flash=0; ground_management_value->Save_To_Flash=0;
} }
@ -106,8 +122,12 @@ void ground_management_inquiry()
MB_ReadHoldingReg(&ground_management_handler->Tx_Buf, &ground_management_handler->TxCount, ground_management_slave_id, 0, MB_ReadHoldingReg(&ground_management_handler->Tx_Buf, &ground_management_handler->TxCount, ground_management_slave_id, 0,
g_m_read_count); g_m_read_count);
ground_management_handler->AddSendList(ground_management_handler, ground_management_handler->Tx_Buf, if(ground_management_handler->AddSendList != 0x0)
ground_management_handler->TxCount, OneLineWaitTime, decode_ground_management); {
ground_management_handler->AddSendList(ground_management_handler, ground_management_handler->Tx_Buf,
ground_management_handler->TxCount, OneLineWaitTime, decode_ground_management);
}
} }
void decode_ground_management(uint8_t *buffer, uint16_t length) void decode_ground_management(uint8_t *buffer, uint16_t length)
@ -125,6 +145,7 @@ void decode_ground_management(uint8_t *buffer, uint16_t length)
HardWareErrorController->Set_PCOMHardWare(HardWareErrorController, HardWareErrorController->Set_PCOMHardWare(HardWareErrorController,
"ground_management", 1); "ground_management", 1);
DevMon_Feed(DEV_DROUND);
// LOG("Battery_sensor succeeded and the force is %d", *CMCU06_ForceValue); // LOG("Battery_sensor succeeded and the force is %d", *CMCU06_ForceValue);
} }
else else

3
Core/BASE/Src/MSP/msp_strain_gauge_new.c
View File

@ -126,6 +126,7 @@ void decode_strain_gauge_01(uint8_t *buffer, uint16_t length)
strainGaugeValue->Pressure = (int16_t)decoded_strain_gauge_holdingReg_value[1]; strainGaugeValue->Pressure = (int16_t)decoded_strain_gauge_holdingReg_value[1];
HardWareErrorController->Set_PCOMHardWare(HardWareErrorController, HardWareErrorController->Set_PCOMHardWare(HardWareErrorController,
"strain_gauge", 1); "strain_gauge", 1);
DevMon_Feed(DEV_TUIGAN);
// LOG("Battery_sensor succeeded and the force is %d", *CMCU06_ForceValue); // LOG("Battery_sensor succeeded and the force is %d", *CMCU06_ForceValue);
} }
else else
@ -146,6 +147,7 @@ void decode_strain_gauge_56(uint8_t *buffer, uint16_t length)
memcpy(&strainGaugeValue->RawPressure,&decoded_strain_gauge_holdingReg_value[5],4); memcpy(&strainGaugeValue->RawPressure,&decoded_strain_gauge_holdingReg_value[5],4);
HardWareErrorController->Set_PCOMHardWare(HardWareErrorController, HardWareErrorController->Set_PCOMHardWare(HardWareErrorController,
"strain_gauge", 1); "strain_gauge", 1);
DevMon_Feed(DEV_TUIGAN);
// LOG("Battery_sensor succeeded and the force is %d", *CMCU06_ForceValue); // LOG("Battery_sensor succeeded and the force is %d", *CMCU06_ForceValue);
} }
else else
@ -167,6 +169,7 @@ void decode_strain_gauge_09(uint8_t *buffer, uint16_t length)
strainGaugeValue->Save = decoded_strain_gauge_holdingReg_value[9]; strainGaugeValue->Save = decoded_strain_gauge_holdingReg_value[9];
HardWareErrorController->Set_PCOMHardWare(HardWareErrorController, HardWareErrorController->Set_PCOMHardWare(HardWareErrorController,
"strain_gauge", 1); "strain_gauge", 1);
DevMon_Feed(DEV_TUIGAN);
// LOG("Battery_sensor succeeded and the force is %d", *CMCU06_ForceValue); // LOG("Battery_sensor succeeded and the force is %d", *CMCU06_ForceValue);
} }
else else

16
Core/FSM/Src/Handset_Status_Setting.c
View File

@ -65,6 +65,7 @@ static void Update_Single_Compensation(int32_t chVal, float* pComp, int* pCnt);
/*=========================== 全局变量 ===========================*/ /*=========================== 全局变量 ===========================*/
extern float left_compare_value; extern float left_compare_value;
extern float right_compare_value; extern float right_compare_value;
// 模式-事件处理函数映射表 // 模式-事件处理函数映射表
static const ModeEventHandler modeEventHandlers[MODE_COUNT] = { static const ModeEventHandler modeEventHandlers[MODE_COUNT] = {
[Halt_Mode] = GetHaltModeEvents, [Halt_Mode] = GetHaltModeEvents,
@ -390,6 +391,7 @@ void PV_control(void)
GV.Robot_backMode = GV.PV.Robot_backMode; GV.Robot_backMode = GV.PV.Robot_backMode;
GV.Robot_Swing_Speed = GV.PV.Robot_Swing_Speed; GV.Robot_Swing_Speed = GV.PV.Robot_Swing_Speed;
GV.robot_back_distance = ((float)GV.PV.Robot_Back_Distance)/10; GV.robot_back_distance = ((float)GV.PV.Robot_Back_Distance)/10;
GV.robot_back_speed = (((float)GV.PV.Robot_Back_Speed)/100)*6/100; //android发过来是mm/s，现在换算成了程序中统一的m/min
if(GV.Robot_Move_Speed<=1) if(GV.Robot_Move_Speed<=1)
{ {
GV.Robot_Move_Speed=1; GV.Robot_Move_Speed=1;
@ -414,7 +416,12 @@ void IV_control(void)
GV.symmetricalOrNot = GV.PV.Robot_symmetricalOrNot; GV.symmetricalOrNot = GV.PV.Robot_symmetricalOrNot;
GV.Robot_Swing_Speed = GV.PV.Robot_Swing_Speed; GV.Robot_Swing_Speed = GV.PV.Robot_Swing_Speed;
GV.Robot_Move_Speed = ((P_MK32->CH11_RD1+1000)*14)/2000; GV.Robot_Move_Speed = ((P_MK32->CH11_RD1+1000)*14)/2000;
IV.SystemError = GV.SystemErrorData.Com_Error_Code; if(IV.robot_start==2) //等到机器人成功启动了再上报错误
{
IV.SystemError = GV.SystemErrorData.Com_Error_Code;
}
IV.Left_Motor_Err = TT_Motor[1]->TT_Motor_Fault;
IV.Right_Motor_Err = TT_Motor[2]->TT_Motor_Fault;
IV.Robot_Gyro = GV.TL720DParameters.RF_Angle_Roll; IV.Robot_Gyro = GV.TL720DParameters.RF_Angle_Roll;
IV.Is_Online = GV.P_MK32.IsOnline; IV.Is_Online = GV.P_MK32.IsOnline;
IV.Robot_Move_Deri_Speed = GV.robot_real_speed; IV.Robot_Move_Deri_Speed = GV.robot_real_speed;
@ -428,7 +435,7 @@ void IV_control(void)
IV.right_angle = right_compare_value; IV.right_angle = right_compare_value;
IV.robot_set_speed =((float)(P_MK32->CH11_RD1+1000)*14)/2000; IV.robot_set_speed =((float)(P_MK32->CH11_RD1+1000)*14)/2000;
IV.wire_or_wireless = GV.wire_status; IV.wire_or_wireless = GV.wire_status;
IV.Robot_version = robot_version;
//机器人运行速度不允许为0，最小为1 //机器人运行速度不允许为0，最小为1
if(IV.robot_set_speed<=1) if(IV.robot_set_speed<=1)
@ -436,6 +443,11 @@ void IV_control(void)
IV.robot_set_speed=1; IV.robot_set_speed=1;
} }
if(GV.Robot_Move_Speed<=1)
{
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 //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) if(GV.Robot_Swing_Speed==1)
{ {

34
Core/FSM/Src/fsm_state_control.c
View File

@ -95,7 +95,7 @@ ActionFunc actionTable[MODE_COUNT][KEY_COUNT] = {
[INPUT_ROCKER_BACKWARD] = manual_backward_group, [INPUT_ROCKER_BACKWARD] = manual_backward_group,
[INPUT_ROCKER_TURN_LEFT] = manual_left_group, [INPUT_ROCKER_TURN_LEFT] = manual_left_group,
[INPUT_ROCKER_TURN_RIGHT] = manual_right_group, [INPUT_ROCKER_TURN_RIGHT] = manual_right_group,
[INPUT_KEY_AUTO_WORK_UP] = weld_auto_group, [INPUT_KEY_AUTO_WORK_UP] = manual_auto_group,//weld_auto_group,
[EMERGENCE_STOP] = Emergency_Stop_group, [EMERGENCE_STOP] = Emergency_Stop_group,
// 暂时用于焊缝跟踪 // 暂时用于焊缝跟踪
}, },
@ -160,7 +160,7 @@ static void manual_forward_group(void)
{ {
Manually_Forward(); Manually_Forward();
PaintGun_Contronl(); PaintGun_Contronl();
Robot_Swing_Operation_Function(); //Robot_Swing_Operation_Function();
} }
@ -168,7 +168,7 @@ static void manual_backward_group(void)
{ {
Manually_Backward(); Manually_Backward();
PaintGun_Contronl(); PaintGun_Contronl();
Robot_Swing_Operation_Function(); //Robot_Swing_Operation_Function();
} }
@ -176,7 +176,7 @@ static void manual_left_group(void)
{ {
Turn_Left(); Turn_Left();
PaintGun_Contronl(); PaintGun_Contronl();
Robot_Swing_Operation_Function(); //Robot_Swing_Operation_Function();
} }
@ -184,7 +184,7 @@ static void manual_right_group(void)
{ {
Turn_Right(); Turn_Right();
PaintGun_Contronl(); PaintGun_Contronl();
Robot_Swing_Operation_Function(); //Robot_Swing_Operation_Function();
} }
@ -193,7 +193,7 @@ static void horizontal_forward_group(void)
GV.Robot_Desired_Speed=GV.Robot_Move_Speed; GV.Robot_Desired_Speed=GV.Robot_Move_Speed;
horizontal_forward(); horizontal_forward();
PaintGun_Contronl_Press(); PaintGun_Contronl_Press();
Robot_Swing_Operation_Function(); //Robot_Swing_Operation_Function();
/* 若需喷枪控制，可在此添加 */ /* 若需喷枪控制，可在此添加 */
} }
@ -202,7 +202,7 @@ static void horizontal_backward_group(void)
GV.Robot_Desired_Speed=-GV.Robot_Move_Speed; GV.Robot_Desired_Speed=-GV.Robot_Move_Speed;
horizontal_forward(); horizontal_forward();
PaintGun_Contronl_Press(); PaintGun_Contronl_Press();
Robot_Swing_Operation_Function(); //Robot_Swing_Operation_Function();
/* 若需喷枪控制，可在此添加 */ /* 若需喷枪控制，可在此添加 */
} }
@ -241,7 +241,7 @@ static void vertical_forward_group(void)
GV.Robot_Desired_Speed=GV.Robot_Move_Speed; GV.Robot_Desired_Speed=GV.Robot_Move_Speed;
vertical_forward(); vertical_forward();
PaintGun_Contronl_Press(); PaintGun_Contronl_Press();
Robot_Swing_Operation_Function(); //();
} }
static void vertical_backward_group(void) static void vertical_backward_group(void)
@ -249,12 +249,13 @@ static void vertical_backward_group(void)
GV.Robot_Desired_Speed=-GV.Robot_Move_Speed; GV.Robot_Desired_Speed=-GV.Robot_Move_Speed;
vertical_forward(); vertical_forward();
PaintGun_Contronl_Press(); PaintGun_Contronl_Press();
Robot_Swing_Operation_Function(); //Robot_Swing_Operation_Function();
} }
static void vertical_auto_group(void) static void vertical_auto_group(void)
{ {
// horizontal_work(); // horizontal_work();
Move_Vertical_Auto_Sub_Func(); Move_Vertical_Auto_Sub_Func();
PaintGun_Contronl_Press(); PaintGun_Contronl_Press();
/* 若需喷枪控制，可在此添加 */ /* 若需喷枪控制，可在此添加 */
@ -279,7 +280,8 @@ void Fsm_Init(void)
// current_motor_power_state.p_state = &motor_power_off_state; // current_motor_power_state.p_state = &motor_power_off_state;
GV.GroundManagementValue.MaualControlPower=0; GV.GroundManagementValue.MaualControlPower=0; //最一开始先交由地面端自主判断断电时机
//GV.GroundManagementValue.MaualPowerState = 1;
GF_BSP_Interrupt_Add_CallBack(DF_BSP_InterCall_TIM8_2ms_PeriodElapsedCallback, GF_Dispatch); GF_BSP_Interrupt_Add_CallBack(DF_BSP_InterCall_TIM8_2ms_PeriodElapsedCallback, GF_Dispatch);
} }
@ -297,7 +299,6 @@ void GF_Dispatch(void)
if(Get_BIT(SystemErrorCode, ComError_Mk32_SBus) == CONNECTED if(Get_BIT(SystemErrorCode, ComError_Mk32_SBus) == CONNECTED
&&(Get_BIT(SystemErrorCode, ComError_ZQ_CAN_ID1_LeftMotor) == 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_ID2_RightMotor) == CONNECTED)
&&(Get_BIT(SystemErrorCode, ComError_ZQ_CAN_ID3_SwingMotor) == CONNECTED)
&&Is_All_Button_Reset==1) &&Is_All_Button_Reset==1)
{ {
start_flag=1; start_flag=1;
@ -355,12 +356,11 @@ void GF_Dispatch(void)
if(robot_start_flag==0) //保证上电之后摆臂和推杆就能动,不加这句的话，就要先动其它摇杆，摆臂和推杆才能动 if(robot_start_flag==0) //保证上电之后摆臂和推杆就能动,不加这句的话，就要先动其它摇杆，摆臂和推杆才能动
{ {
Robot_Swing_Operation_Function(); //Robot_Swing_Operation_Function();
get_swing_mode(); //get_swing_mode();
PaintGun_Contronl(); PaintGun_Contronl();
} }
flag_reset();
// 更新调试变量 // 更新调试变量
g_debug_prev_mode = prev_mode; g_debug_prev_mode = prev_mode;
@ -423,8 +423,7 @@ int AbnormalDetect(void)
} }
/* 电机失联 */ /* 电机失联 */
else if(Get_BIT(SystemErrorCode, ComError_ZQ_CAN_ID1_LeftMotor) == DISCONNECTED 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_ID2_RightMotor) == DISCONNECTED)
|| Get_BIT(SystemErrorCode, ComError_ZQ_CAN_ID3_SwingMotor) == DISCONNECTED)
{ {
is_error = 8; is_error = 8;
} }
@ -451,6 +450,7 @@ int AbnormalDetect(void)
{ {
if (cnt > 1000) if (cnt > 1000)
{ {
// 触发软急停 // 触发软急停
GV.GroundManagementValue.MaualControlPower = 1; GV.GroundManagementValue.MaualControlPower = 1;
GV.GroundManagementValue.MaualPowerState = 0; GV.GroundManagementValue.MaualPowerState = 0;
@ -485,7 +485,7 @@ int AbnormalDetect(void)
// 读取指定中断的抢占/子优先级，存入全局变量 // 读取指定中断的抢占/子优先级，存入全局变量
void Read_IRQ_Priority(IRQn_Type IRQn, uint32_t *preempt, uint32_t *sub) void Read_IRQ_Priority(IRQn_Type IRQn, uint32_t *preempt, uint32_t *sub)
{ {
// 调用你官方的4参数HAL函数 // 调用官方的4参数HAL函数
HAL_NVIC_GetPriority(IRQn, NVIC_Priority_Group, preempt, sub); HAL_NVIC_GetPriority(IRQn, NVIC_Priority_Group, preempt, sub);
} }

4
Core/FSM/Src/motor.c
View File

@ -61,7 +61,7 @@ void Motor_Controller_intialize_CAN2(FDCANHandler *Handler)
//初始化 //初始化
Roughening_Motor_Controller_CAN2 = Handler; Roughening_Motor_Controller_CAN2 = Handler;
Roughening_Motor_Controller_CAN2->CAN_Decode = Roughening_MotorDecodeCAN2; Roughening_Motor_Controller_CAN2->CAN_Decode = Roughening_MotorDecodeCAN2;
HardWareErrorController->Add_PCOMHardWare(HardWareErrorController,"ZQ_CAN_ID3_SwingMotor", 1, ComError_ZQ_CAN_ID3_SwingMotor); //HardWareErrorController->Add_PCOMHardWare(HardWareErrorController,"ZQ_CAN_ID3_SwingMotor", 1, ComError_ZQ_CAN_ID3_SwingMotor);
Roughening_DispacherController_CAN2 = Handler->dispacherController; Roughening_DispacherController_CAN2 = Handler->dispacherController;
Roughening_DispacherController_CAN2->DispacherCallTime = 2; Roughening_DispacherController_CAN2->DispacherCallTime = 2;
Roughening_DispacherController_CAN2->Add_Dispatcher_List(Roughening_DispacherController_CAN2, MotorCommandsLoop_2_Position); Roughening_DispacherController_CAN2->Add_Dispatcher_List(Roughening_DispacherController_CAN2, MotorCommandsLoop_2_Position);
@ -229,6 +229,7 @@ void Roughening_MotorDecodeCAN(uint32_t canID, uint8_t *buffer, uint32_t length)
case 2: case 2:
{ {
HardWareErrorController->Set_PCOMHardWare(HardWareErrorController,"ZQ_CAN_ID2_RightMotor", 1); HardWareErrorController->Set_PCOMHardWare(HardWareErrorController,"ZQ_CAN_ID2_RightMotor", 1);
DevMon_Feed(DEV_RIGHT_MOTOR);
TT_Analytic_Fun(2, buffer); TT_Analytic_Fun(2, buffer);
} }
break; break;
@ -264,6 +265,7 @@ void Roughening_MotorDecodeCAN2(uint32_t canID, uint8_t *buffer, uint32_t length
case 3: case 3:
{ {
HardWareErrorController->Set_PCOMHardWare(HardWareErrorController, "ZQ_CAN_ID3_SwingMotor", 1); HardWareErrorController->Set_PCOMHardWare(HardWareErrorController, "ZQ_CAN_ID3_SwingMotor", 1);
DevMon_Feed(DEV_SWING_MOTOR);
TT_Analytic_Fun(3, buffer); TT_Analytic_Fun(3, buffer);
} }
break; break;

1
Core/FSM/Src/paint_gun_action.c
View File

@ -130,6 +130,7 @@ int autoing_flag=0;
int auto_count=0; int auto_count=0;
int up_down=1; int up_down=1;
int auto_time=0; int auto_time=0;
//推杆自动运动函数（测试用）
void tuigan_auto() void tuigan_auto()
{ {
if(autoing_flag==0) //筛选时间 if(autoing_flag==0) //筛选时间

26
Core/FSM/Src/robot_move_actions.c
View File

@ -402,7 +402,7 @@ void Robot_Stop(void)
GV.auto_working=0; GV.auto_working=0;
get_swing_mode(); //仅在机器人停的时候允许更新摆臂模式 get_swing_mode(); //仅在机器人停的时候允许更新摆臂模式
Robot_Swing_Operation_Function(); //机器人停的时候允许摆臂 //Robot_Swing_Operation_Function(); //机器人停的时候允许摆臂
GV.Left_Speed_M_min = 0; GV.Left_Speed_M_min = 0;
GV.Right_Speed_M_min = 0; GV.Right_Speed_M_min = 0;
GV.turn_center_difference=0; GV.turn_center_difference=0;
@ -721,24 +721,24 @@ static void handleLaneChangeContinuousRetreat(void)
*-----------------------------------------------------------------*/ *-----------------------------------------------------------------*/
void Fight_Countinus_Function_Manual() void Fight_Countinus_Function_Manual()
{ {
swing_work(); //swing_work();
//手动自动作业过程中允许改变机器人姿态 //手动自动作业过程中允许改变机器人姿态
if(P_MK32->CH3_LY_H<-500) if(P_MK32->CH3_LY_H<-500)
{ {
GV.Robot_Desired_Speed=-(float)GV.PV.Robot_Back_Speed/10; GV.Robot_Desired_Speed=-GV.robot_back_speed;
GV.Left_Speed_M_min = GV.Robot_Desired_Speed; GV.Left_Speed_M_min = GV.Robot_Desired_Speed;
GV.Right_Speed_M_min = GV.Robot_Desired_Speed; GV.Right_Speed_M_min = GV.Robot_Desired_Speed;
} }
else if(P_MK32->CH3_LY_H>500) else if(P_MK32->CH3_LY_H>500)
{ {
GV.Robot_Desired_Speed=-(float)GV.PV.Robot_Back_Speed/10; GV.Robot_Desired_Speed=-GV.robot_back_speed;
GV.Left_Speed_M_min = -GV.Robot_Desired_Speed; GV.Left_Speed_M_min = -GV.Robot_Desired_Speed;
GV.Right_Speed_M_min = -GV.Robot_Desired_Speed; GV.Right_Speed_M_min = -GV.Robot_Desired_Speed;
} }
else else
{ {
GV.Robot_Desired_Speed=-(float)GV.PV.Robot_Back_Speed/10; GV.Robot_Desired_Speed=-GV.robot_back_speed;
GV.Left_Speed_M_min = GV.Robot_Desired_Speed; GV.Left_Speed_M_min = GV.Robot_Desired_Speed;
GV.Right_Speed_M_min = -GV.Robot_Desired_Speed; GV.Right_Speed_M_min = -GV.Robot_Desired_Speed;
} }
@ -747,21 +747,21 @@ void Fight_Countinus_Function_Manual()
void Fight_Countinus_Function_Horizontal() void Fight_Countinus_Function_Horizontal()
{ {
Update_Angle_compensation_hor(); Update_Angle_compensation_hor();
swing_work(); //swing_work();
Move_Horizontal_Vertical_Task_Backwards_Do_Backward(); Move_Horizontal_Vertical_Task_Backwards_Do_Backward();
} }
void Fight_Countinus_Function_Vertical() void Fight_Countinus_Function_Vertical()
{ {
Update_Angle_compensation_ver(); Update_Angle_compensation_ver();
swing_work(); //swing_work();
Move_Horizontal_Vertical_Task_Backwards_Do_Backward(); Move_Horizontal_Vertical_Task_Backwards_Do_Backward();
} }
void Move_Horizontal_Vertical_Task_Backwards_Do_Backward(void) void Move_Horizontal_Vertical_Task_Backwards_Do_Backward(void)
{ {
GV.Robot_Desired_Speed=-(float)GV.PV.Robot_Back_Speed/10; GV.Robot_Desired_Speed=-GV.robot_back_speed;
auto_drive_pid_horizontal(); auto_drive_pid_horizontal();
} }
@ -769,7 +769,7 @@ void Move_Horizontal_Vertical_Task_Backwards_Do_Backward(void)
void Fight_Countinus_Function_Weld() void Fight_Countinus_Function_Weld()
{ {
updata_swing_angle(); updata_swing_angle();
swing_work(); //swing_work();
auto_drive_pid_weld(); auto_drive_pid_weld();
} }
@ -836,7 +836,7 @@ void Auto_Forward_Function_Vertical_group(void)
*-----------------------------------------------------------------*/ *-----------------------------------------------------------------*/
void Fight_Alternately_Function_Manual(void) void Fight_Alternately_Function_Manual(void)
{ {
swing_work(); //swing_work();
if (alternately_flag >= 0 && alternately_flag < STATE_COUNT) { if (alternately_flag >= 0 && alternately_flag < STATE_COUNT) {
if (alternately_work_manual[alternately_flag] != NULL) { if (alternately_work_manual[alternately_flag] != NULL) {
@ -853,7 +853,7 @@ void Fight_Alternately_Function_Manual(void)
void Fight_Alternately_Function_Horizontal(void) void Fight_Alternately_Function_Horizontal(void)
{ {
swing_work(); //swing_work();
if (alternately_flag >= 0 && alternately_flag < STATE_COUNT) { if (alternately_flag >= 0 && alternately_flag < STATE_COUNT) {
if (alternately_work_horizontal[alternately_flag] != NULL) { if (alternately_work_horizontal[alternately_flag] != NULL) {
@ -870,7 +870,7 @@ void Fight_Alternately_Function_Horizontal(void)
void Fight_Alternately_Function_Vertical(void) void Fight_Alternately_Function_Vertical(void)
{ {
swing_work(); //swing_work();
if (alternately_flag >= 0 && alternately_flag < STATE_COUNT) { if (alternately_flag >= 0 && alternately_flag < STATE_COUNT) {
if (alternately_work_vertical[alternately_flag] != NULL) { if (alternately_work_vertical[alternately_flag] != NULL) {
@ -1060,7 +1060,7 @@ static void auto_drive_pid_weld(void)
avg=0; //这台机器人没有焊缝跟踪，暂时设成0用于测试模拟焊缝跟踪 avg=0; //这台机器人没有焊缝跟踪，暂时设成0用于测试模拟焊缝跟踪
float speeds[2]; float speeds[2];
GV.Robot_Desired_Speed=-(float)GV.PV.Robot_Back_Speed/10; GV.Robot_Desired_Speed=-GV.robot_back_speed;
TwoWheel_AngleControl_Weld(avg, 0, GV.Robot_Desired_Speed,0.5, speeds); TwoWheel_AngleControl_Weld(avg, 0, GV.Robot_Desired_Speed,0.5, speeds);

2
Core/FSM/Src/swing_action.c
View File

@ -115,7 +115,7 @@ void Move_Swing_Right_Func_Do_imm(void)
} }
int32_t Position_angle; int32_t Position_angle;
//摆臂电机停止函数，延时几度再停是为了避免电机频繁反转导致死机
void Move_Swing_Halt_Func_Do(void) void Move_Swing_Halt_Func_Do(void)
{ {
GV.SwingMotor.Position_immediately1_Lag2=1; GV.SwingMotor.Position_immediately1_Lag2=1;

16
Core/Src/main.c
View File

@ -30,6 +30,7 @@
/* Private includes ----------------------------------------------------------*/ /* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */ /* USER CODE BEGIN Includes */
#include "BHBF_ROBOT.h" #include "BHBF_ROBOT.h"
#include "bsp_FDCAN.h" #include "bsp_FDCAN.h"
@ -49,7 +50,7 @@ void Debug_Periph_NoFreeze_H7(void);
/* Private define ------------------------------------------------------------*/ /* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */ /* USER CODE BEGIN PD */
int robot_version=112; //此版本应用于焊接机器人，是由1.11版本的摆臂机器人改过来的
#define RS485_1_WaitTime 6 #define RS485_1_WaitTime 6
#define RS485_2_WaitTime 6 #define RS485_2_WaitTime 6
@ -185,6 +186,8 @@ int main(void)
//HAL_Delay(3000); //HAL_Delay(3000);
//GF_BSP_GPIO_ToggleIO(Wind_IO_CTL); //GF_BSP_GPIO_ToggleIO(Wind_IO_CTL);
while (1) while (1)
{ {
HAL_Delay(1); HAL_Delay(1);
@ -389,7 +392,7 @@ void GF_Robot_Init()
can2_sendListPeriod, can2_DispacherPeriod); can2_sendListPeriod, can2_DispacherPeriod);
Motor_Controller_intialize(&FD_CAN_1_Handler); Motor_Controller_intialize(&FD_CAN_1_Handler);
Motor_Controller_intialize_CAN2(&FD_CAN_2_Handler); //Motor_Controller_intialize_CAN2(&FD_CAN_2_Handler); //该机器人没有摆臂电机
// LS_Motor_Controller_intialize(&FD_CAN_1_Handler); // LS_Motor_Controller_intialize(&FD_CAN_1_Handler);
@ -406,16 +409,15 @@ void GF_Robot_Init()
// // 4. �??出配置模式，进入正常透传收发 // // 4. �??出配置模式，进入正常透传收发
// LTE_StepOutOfConfigMode(); // LTE_StepOutOfConfigMode();
// 1. �??测模组串口�?�信 // 1. 检测模组串口通信
//LTE_CheckModuleAlive_HuaWei(); //LTE_CheckModuleAlive_HuaWei();
// 2. 进入AT配置模式 // 2. 进入AT配置模式
//LTE_StepIntoConfigMode_HuaWei(); //LTE_StepIntoConfigMode_HuaWei();
// 3. 下发华为云全套MQTT参数 // 3. 下发华为云全套MQTT参数
//LTE7S0_Init_HuaWei_MQTT(); //LTE7S0_Init_HuaWei_MQTT();
// 4. �??出配置，模组自动发起MQTT连接云端 // 4. 退出配置，模组自动发起MQTT连接云端
LTE_StepOutOfConfigMode_HuaWei(); //LTE_StepOutOfConfigMode_HuaWei();
// 5.连接到服务器
//LTE_Connect_HuaWei();
} }

26
Core/Src/stm32h7xx_it.c
View File

@ -96,45 +96,45 @@ void NMI_Handler(void)
// // 1. 读取内核故障状�?�寄存器 // // 1. 读取内核故障状�?�寄存器
// uint32_t icsr = SCB->ICSR; // 中断控制状�?�寄存器 // uint32_t icsr = SCB->ICSR; // 中断控制状�?�寄存器
// uint32_t cfsr = SCB->CFSR; // 配置故障状�?�寄存器 // uint32_t cfsr = SCB->CFSR; // 配置故障状�?�寄存器
// uint32_t hfsr = SCB->HFSR; // ï¿?? fault 状�?�寄存器 // uint32_t hfsr = SCB->HFSR; // �?? fault 状�?�寄存器
// uint32_t shcsr = SCB->SHCSR; // 系统 handler 控制状�?�寄存器 // uint32_t shcsr = SCB->SHCSR; // 系统 handler 控制状�?�寄存器
// //
// // 2. 判断 NMI 触å�‘ï¿?? // // 2. 判断 NMI 触发�??
// //if(SCB->ICSR & (1U << 31)) // ï¿??31 = NMI PENDING // //if(SCB->ICSR & (1U << 31)) // �??31 = NMI PENDING
// //{ // //{
// // -------------------------- // // --------------------------
// // 情况1：时钟故ï¿?? CSS 触å�‘ // // 情况1：时钟故�?? CSS 触发
// // -------------------------- // // --------------------------
// if(RCC->CIFR & (1U << 8)) // RCC_CIR 寄存ï¿?? CSSF ï¿?? = 时钟故障 // if(RCC->CIFR & (1U << 8)) // RCC_CIR 寄存�?? CSSF �?? = 时钟故障
// { // {
// // 原因：外部晶ï¿?? HSE 失效 / 没起ï¿?? // // 原因：外部晶�?? HSE 失效 / 没起�??
// NMI_Trigger_Source=1; // NMI_Trigger_Source=1;
// __NOP(); // __NOP();
// } // }
// //
// // -------------------------- // // --------------------------
// // 情况2：外ï¿?? NMI 引脚触å�‘ // // 情况2：外�?? NMI 引脚触发
// // -------------------------- // // --------------------------
// else if( (RCC->CIFR & (1U << 8)) == 0 ) // else if( (RCC->CIFR & (1U << 8)) == 0 )
// { // {
// // 原因：外ï¿?? NMI 引脚电平触å�‘ // // 原因：外�?? NMI 引脚电平触发
// NMI_Trigger_Source=2; // NMI_Trigger_Source=2;
// __NOP(); // __NOP();
// } // }
// //
// // -------------------------- // // --------------------------
// // 情况3：内ï¿??/软件触å�‘ // // 情况3：内�??/软件触发
// // -------------------------- // // --------------------------
// else // else
// { // {
// // 内核错误ã€�é�žæ³•åœ°ï¿??ã€��?�线错误ï¿?? // // 内核错误、非法地�??、�?�线错误�??
// NMI_Trigger_Source=3; // NMI_Trigger_Source=3;
// __NOP(); // __NOP();
// } // }
// //} // //}
// 死循环方便调ï¿?? // 死循环方便调�??
while(1); while(1);
/* USER CODE END NonMaskableInt_IRQn 1 */ /* USER CODE END NonMaskableInt_IRQn 1 */
@ -144,12 +144,10 @@ void NMI_Handler(void)
* @brief This function handles Hard fault interrupt. * @brief This function handles Hard fault interrupt.
*/ */
void HardFault_Handler(void) void HardFault_Handler(void)
{ {
/* USER CODE BEGIN HardFault_IRQn 0 */ /* USER CODE BEGIN HardFault_IRQn 0 */
/* USER CODE END HardFault_IRQn 0 */ /* USER CODE END HardFault_IRQn 0 */
while (1) while (1)
{ {

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