diff --git a/.cproject b/.cproject index da214d9..082958f 100644 --- a/.cproject +++ b/.cproject @@ -83,6 +83,10 @@ diff --git a/.project b/.project index 31c8cda..c062ef3 100644 --- a/.project +++ b/.project @@ -1,6 +1,6 @@ - Swing_Rust_UDPV2 + Swing_Rust_UDP_cabled diff --git a/.settings/language.settings.xml b/.settings/language.settings.xml index 46ea822..d93be1c 100644 --- a/.settings/language.settings.xml +++ b/.settings/language.settings.xml @@ -5,7 +5,7 @@ - + @@ -16,7 +16,7 @@ - + diff --git a/Core/BASE/Inc/BSP/B03_Para_01_100.h b/Core/BASE/Inc/BSP/B03_Para_01_100.h index 9d601d5..2e51163 100644 --- a/Core/BASE/Inc/BSP/B03_Para_01_100.h +++ b/Core/BASE/Inc/BSP/B03_Para_01_100.h @@ -13,6 +13,7 @@ #include "bsp_PID.pb.h" //int32_t 定义头文件 #include +#define ROBOT_NUMBER 3 // //typedef struct { // int32_t Speed_m_per_min_1 ; // MPMin = 1m/min 1米每分钟 m/min @@ -44,22 +45,11 @@ typedef struct { // 基础参数（和CV_struct_define一一对应） - 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 - - // 补齐CV中缺失的PID可选字段（和CV_struct_define完全匹配） - 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 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 + float angle_offset; //陀螺仪角度偏置 + float operating_times; //机器人总运行时间 } B03_Para_t; @@ -74,5 +64,5 @@ typedef struct { // 声明100组DH参数数组（extern关键） -extern const 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_ */ diff --git a/Core/BASE/Inc/BSP/BHBF_ROBOT.h b/Core/BASE/Inc/BSP/BHBF_ROBOT.h index 6cc8796..322f2be 100644 --- a/Core/BASE/Inc/BSP/BHBF_ROBOT.h +++ b/Core/BASE/Inc/BSP/BHBF_ROBOT.h @@ -46,6 +46,7 @@ #include "MSP/msp_MK32_1.h" #include "MSP/msp_Force_Sensor.h" #include "MSP/msp_WH_LTE_7S0.h" +#include "MSP/msp_485_android.h" #include "paint_gun_action.h" @@ -71,6 +72,7 @@ extern IV_struct_define IV; extern CV_struct_define CV; extern PV_struct_define decoded_PV; extern PV_struct_define decoded_PV_variable; +extern PV_struct_define _decoded_PV_temp; typedef struct sys_timer_handler { diff --git a/Core/BASE/Inc/MSP/msp_485_android.h b/Core/BASE/Inc/MSP/msp_485_android.h new file mode 100644 index 0000000..f861179 --- /dev/null +++ b/Core/BASE/Inc/MSP/msp_485_android.h @@ -0,0 +1,22 @@ +/* + * msp_485_android.h + * + * Created on: 2025年12月1日 + * Author: akeguo + */ + +#ifndef BASE_INC_MSP_MSP_485_ANDROID_H_ +#define BASE_INC_MSP_MSP_485_ANDROID_H_ +#include "bsp_Error_Detect.h" +#include "bsp_MB_host.h" + + + + +extern int isOnLineCount; +extern int16_t read_android_holidng_register_count; +extern void android_485_intialize_with_slaveID(struct UARTHandler *Handler, + int slave_id); +extern void android_485_intialize(struct UARTHandler *Handler); + +#endif /* BASE_INC_MSP_MSP_485_ANDROID_H_ */ diff --git a/Core/BASE/Inc/MSP/msp_WH_LTE_7S0.h b/Core/BASE/Inc/MSP/msp_WH_LTE_7S0.h index 3a1f1ed..06874d0 100644 --- a/Core/BASE/Inc/MSP/msp_WH_LTE_7S0.h +++ b/Core/BASE/Inc/MSP/msp_WH_LTE_7S0.h @@ -16,6 +16,21 @@ void WH_LTE_7S0_intialize(struct UARTHandler *Handler); void decode_received_data_from_computer(uint8_t *buffer, uint16_t length); void decode_command_from_wh_LTE_7S0(uint8_t *buffer, uint16_t length); void UpdateGV(); +void LTE7S0_Init_MQTT(void); +void LTE7S0_Init_MQTT2(void); +void LTE_StepIntoConfigMode(void); +void LTE_StepOutOfConfigMode(void); +void LTE_CheckModuleAlive(void); + + +void LTE7S0_Init_HuaWei_MQTT(void); +void LTE7S0_Init_HuaWei_MQTT2(void); +void LTE_StepIntoConfigMode_HuaWei(void); +void LTE_StepOutOfConfigMode_HuaWei(void); +void LTE_Connect_HuaWei(void); +void LTE_CheckModuleAlive_HuaWei(void); +void Upload_Data_To_HuaWeiCloud(void); + extern char NeedToFeedBackToComputer; #endif /* INC_BSP_BSP_WH_LTE_7S0_H_ */ diff --git a/Core/BASE/Protobuf/PSource/bsp_CV.pb.h b/Core/BASE/Protobuf/PSource/bsp_CV.pb.h index a7a2cec..b152768 100644 --- a/Core/BASE/Protobuf/PSource/bsp_CV.pb.h +++ b/Core/BASE/Protobuf/PSource/bsp_CV.pb.h @@ -18,6 +18,7 @@ typedef struct _CV_struct_define { float strain_gauge_b; /* 压力传感器的b值 */ float pressure_Max; /* 最大压力值 */ float angle_offset; /* 陀螺仪角度偏置 */ + float operating_times; /* 机器人总运行时间 */ } CV_struct_define; @@ -26,21 +27,23 @@ extern "C" { #endif /* Initializer values for message structs */ -#define CV_struct_define_init_default {0, 0, 0, 0} -#define CV_struct_define_init_zero {0, 0, 0, 0} +#define CV_struct_define_init_default {0, 0, 0, 0, 0} +#define CV_struct_define_init_zero {0, 0, 0, 0, 0} /* Field tags (for use in manual encoding/decoding) */ #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 +#define CV_struct_define_operating_times_tag 5 /* Struct field encoding specification for nanopb */ #define CV_struct_define_FIELDLIST(X, a) \ 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) +X(a, STATIC, SINGULAR, FLOAT, angle_offset, 4) \ +X(a, STATIC, SINGULAR, FLOAT, operating_times, 5) #define CV_struct_define_CALLBACK NULL #define CV_struct_define_DEFAULT NULL @@ -51,7 +54,7 @@ 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 20 +#define CV_struct_define_size 25 #ifdef __cplusplus } /* extern "C" */ diff --git a/Core/BASE/Protobuf/PSource/bsp_Error.pb.h b/Core/BASE/Protobuf/PSource/bsp_Error.pb.h index 14ddd5c..bf73b79 100644 --- a/Core/BASE/Protobuf/PSource/bsp_Error.pb.h +++ b/Core/BASE/Protobuf/PSource/bsp_Error.pb.h @@ -19,11 +19,10 @@ typedef enum _ComError { ComError_ZQ_CAN_ID2_RightMotor = 5, ComError_ZQ_CAN_ID3_SwingMotor = 6, ComError_Force_Sensor = 7, - ComError_Mfog40 = 8, - ComError_Ultrasonic_Sensor = 9, - ComError_UWB_20_Error = 10, - ComError_Strain_Gauge = 11, - ComError_Ground_Management = 12 + ComError_Ultrasonic_Sensor = 8, + ComError_Android_485 = 9, /* UWB_20_Error=10; */ + ComError_Strain_Gauge = 10, + ComError_Ground_Management = 11 } ComError; /* Struct definitions */ diff --git a/Core/BASE/Protobuf/PSource/bsp_GV.pb.h b/Core/BASE/Protobuf/PSource/bsp_GV.pb.h index 59370b5..60d2f7a 100644 --- a/Core/BASE/Protobuf/PSource/bsp_GV.pb.h +++ b/Core/BASE/Protobuf/PSource/bsp_GV.pb.h @@ -64,6 +64,7 @@ typedef struct _GV_struct_define { int32_t auto_working; /* 记录是否正在自动行进 */ int32_t client_close; int32_t robot_real_speed; + int32_t wire_status; } GV_struct_define; @@ -72,8 +73,8 @@ extern "C" { #endif /* 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} -#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} +#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_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} /* Field tags (for use in manual encoding/decoding) */ #define GV_struct_define_TempatureE_2C_tag 1 @@ -110,6 +111,7 @@ extern "C" { #define GV_struct_define_auto_working_tag 32 #define GV_struct_define_client_close_tag 33 #define GV_struct_define_robot_real_speed_tag 34 +#define GV_struct_define_wire_status_tag 35 /* Struct field encoding specification for nanopb */ #define GV_struct_define_FIELDLIST(X, a) \ @@ -146,7 +148,8 @@ X(a, STATIC, OPTIONAL, MESSAGE, GroundManagementValue, 30) \ X(a, STATIC, SINGULAR, INT32, robot_back_distance, 31) \ X(a, STATIC, SINGULAR, INT32, auto_working, 32) \ 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) #define GV_struct_define_CALLBACK NULL #define GV_struct_define_DEFAULT NULL #define GV_struct_define_P_MK32_MSGTYPE SP_MSP_MK32_Button @@ -167,7 +170,7 @@ 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 2051 +#define GV_struct_define_size 2086 #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 7b73861..48ba781 100644 --- a/Core/BASE/Protobuf/PSource/bsp_IV.pb.h +++ b/Core/BASE/Protobuf/PSource/bsp_IV.pb.h @@ -79,6 +79,8 @@ typedef struct _IV_struct_define { int32_t auto_mode_status; /* 确诊机器人出错的原因 */ int32_t reason_of_robot_error; + /* 获取有线连接还是无线连接 */ + int32_t wire_or_wireless; } IV_struct_define; @@ -87,8 +89,8 @@ 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, 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} +#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, 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, 0} /* Field tags (for use in manual encoding/decoding) */ #define IV_struct_define_LeftCompensation_tag 1 @@ -114,6 +116,7 @@ extern "C" { #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 +#define IV_struct_define_wire_or_wireless_tag 24 /* Struct field encoding specification for nanopb */ #define IV_struct_define_FIELDLIST(X, a) \ @@ -139,7 +142,8 @@ 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, reason_of_robot_error, 23) +X(a, STATIC, SINGULAR, INT32, reason_of_robot_error, 23) \ +X(a, STATIC, SINGULAR, INT32, wire_or_wireless, 24) #define IV_struct_define_CALLBACK NULL #define IV_struct_define_DEFAULT NULL @@ -150,7 +154,7 @@ 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 261 +#define IV_struct_define_size 273 #ifdef __cplusplus } /* extern "C" */ diff --git a/Core/BASE/Protobuf/PSource/bsp_PV.pb.h b/Core/BASE/Protobuf/PSource/bsp_PV.pb.h index ede80e1..2dce15b 100644 --- a/Core/BASE/Protobuf/PSource/bsp_PV.pb.h +++ b/Core/BASE/Protobuf/PSource/bsp_PV.pb.h @@ -13,67 +13,22 @@ /* 抛丸机器人作业参数结构体定义 作用：用于APP/遥控器与机器人控制系统之间的参数传输，涵盖操作模式、运动参数、摆臂参数、作业参数等核心配置 */ typedef struct _PV_struct_define { - /* 操作模式（枚举值） - 1 - 手动模式：人工摇杆/按键控制机器人所有动作 - 2 - 水平模式：适配水平作业面的半自动/手动操作 - 3 - 平面模式：适配平面作业面的操作（修正原文笔误：原"平民"为"平面"） - 4 - 竖直左模式：左侧垂直作业面（如船舶外壁左侧）操作 - 5 - 竖直右模式：右侧垂直作业面（如船舶外壁右侧）操作 - 6 - 水平区域自动：水平作业面的区域自动作业模式 - 7 - 平面区域自动：平面作业面的区域自动作业模式 */ - int32_t Robot_Operation_Mode; - /* 机器人移动速度（基础行走速度） - 单位：0.1m/min（字段值×0.1=实际速度，如值为10则实际速度1m/min） - 取值范围：0~180（对应实际0~18m/min，符合协议书中最大18m/min的要求） */ - int32_t Robot_Move_Speed; - /* 换道距离（自动换道功能的核心参数） - 单位：mm（建议，可根据实际硬件标定调整） - 作用：一键换道时机器人横向移动的距离，用于控制换道压边量 */ - int32_t Robot_Change_Lane_Distance; - /* 摆臂速度（抛丸/喷砂摆臂装置的摆动速度） - 单位：°/s（度/秒） - 取值要求：≥25（对应协议书中摆臂速度≥25°/S的要求） */ - int32_t Robot_Swing_Speed; - /* 摆臂角度设置模式（对称/非对称） - 1 - 对称模式：摆臂以中心轴左右对称摆动 - 2 - 非对称模式：摆臂仅单侧（左/右）摆动 */ - int32_t Robot_symmetricalOrNot; - /* 对称模式下摆臂总摆动角度 - 单位：°（度） - 示例：值为90则摆臂从-45°~+45°对称摆动 */ - int32_t Robot_Swing_Range_Angle; - /* 非对称模式下的摆动侧选择 - 1 - 左侧：仅摆臂左侧区域摆动 - 2 - 右侧：仅摆臂右侧区域摆动 */ - int32_t Robot_asymmetricalAngleSetValue; - /* 后退作业模式（抛丸/喷砂作业时的后退逻辑） - 1 - 打退交替：作业一段距离后停止作业，后退指定距离再继续作业 - 2 - 边打边退：作业过程中同步后退，持续作业无中断 */ - int32_t Robot_backMode; - /* 打退交替模式下的后退距离 - 单位：mm（建议） - 作用：打退交替时单次后退的距离，适配不同作业面的补抛需求 */ - int32_t Robot_Back_Distance; - /* 边打边退模式下的后退速度 - 单位：0.1m/min（同Robot_Move_Speed） - 取值范围：0~180（对应实际0~18m/min） */ - int32_t Robot_Back_Speed; - /* 压力设置（抛丸/喷砂作业的介质压力） - 单位：0.01MPa（建议，如值为50则实际0.5MPa） - 作用：控制抛丸/喷砂的强度，适配不同表面处理等级（≥Sa2.5） */ - int32_t Robot_Press_Set; - /* 竖直微调（竖直作业模式下的位置微调量） - 单位：mm（建议） - 作用：竖直作业时微调机器人位置，补偿曲面/安装误差 */ - int32_t Robot_Vertical_Adjust; - /* 自动模式下的作业长度 - 单位：mm（建议） - 作用：区域自动作业时，单次作业的纵向长度（完成后自动换道） */ - int32_t Robot_Length_Homework; - /* 自动模式下的作业宽度 - 单位：mm（建议） - 作用：区域自动作业时，单次作业的横向宽度（默认适配110mm标准作业宽度） */ - int32_t Robot_Width_Homework; + int32_t Robot_Operation_Mode; /* 操作模式 手动模式1 2 3 4 自动模式5 6 7 */ + int32_t Robot_Move_Speed; /* 机器人移动速度 */ + int32_t Robot_Change_Lane_Distance; /* 换道距离 */ + int32_t Robot_Swing_Speed; /* 摆臂速度 */ + int32_t Robot_symmetricalOrNot; /* 摆臂角度界面中的对称or非对称 1 对称 2 非对称 */ + int32_t Robot_Swing_Range_Angle; /* 对称下的摆臂角度 */ + int32_t Robot_asymmetricalAngleSetValue; /* 非对称条件下下 1左侧 2 右侧 */ + int32_t Robot_backMode; /* 后退设置模式 1 打退交替 2 边打边退 */ + int32_t Robot_Back_Distance; /* 打退交替条件下的后退距离 */ + int32_t Robot_Back_Speed; /* 边打边退条件下的后退速度 */ + int32_t Robot_Press_Set; /* 压力设置 */ + int32_t Robot_Vertical_Adjust; /* 竖直微调 */ + int32_t Robot_Length_Homework; /* 自动模式下的作业长度 */ + int32_t Robot_Width_Homework; /* 自动模式下的作业宽度 */ + int32_t Robot_SandBalst_Encode_One; /* 喷砂机编码1 输入为空发1 */ + int32_t Robot_SandBalst_Encode_Two; /* 喷砂机编码2 输入为空发2 */ } PV_struct_define; @@ -82,8 +37,8 @@ extern "C" { #endif /* Initializer values for message structs */ -#define PV_struct_define_init_default {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0} -#define PV_struct_define_init_zero {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0} +#define PV_struct_define_init_default {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0} +#define PV_struct_define_init_zero {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0} /* Field tags (for use in manual encoding/decoding) */ #define PV_struct_define_Robot_Operation_Mode_tag 1 @@ -100,6 +55,8 @@ extern "C" { #define PV_struct_define_Robot_Vertical_Adjust_tag 12 #define PV_struct_define_Robot_Length_Homework_tag 13 #define PV_struct_define_Robot_Width_Homework_tag 14 +#define PV_struct_define_Robot_SandBalst_Encode_One_tag 15 +#define PV_struct_define_Robot_SandBalst_Encode_Two_tag 16 /* Struct field encoding specification for nanopb */ #define PV_struct_define_FIELDLIST(X, a) \ @@ -116,7 +73,9 @@ X(a, STATIC, SINGULAR, INT32, Robot_Back_Speed, 10) \ X(a, STATIC, SINGULAR, INT32, Robot_Press_Set, 11) \ X(a, STATIC, SINGULAR, INT32, Robot_Vertical_Adjust, 12) \ X(a, STATIC, SINGULAR, INT32, Robot_Length_Homework, 13) \ -X(a, STATIC, SINGULAR, INT32, Robot_Width_Homework, 14) +X(a, STATIC, SINGULAR, INT32, Robot_Width_Homework, 14) \ +X(a, STATIC, SINGULAR, INT32, Robot_SandBalst_Encode_One, 15) \ +X(a, STATIC, SINGULAR, INT32, Robot_SandBalst_Encode_Two, 16) #define PV_struct_define_CALLBACK NULL #define PV_struct_define_DEFAULT NULL @@ -127,7 +86,7 @@ extern const pb_msgdesc_t PV_struct_define_msg; /* Maximum encoded size of messages (where known) */ #define BSP_PV_PB_H_MAX_SIZE PV_struct_define_size -#define PV_struct_define_size 154 +#define PV_struct_define_size 177 #ifdef __cplusplus } /* extern "C" */ diff --git a/Core/BASE/Protobuf/Proto/bsp_CV.proto b/Core/BASE/Protobuf/Proto/bsp_CV.proto index 027da2a..822a180 100644 --- a/Core/BASE/Protobuf/Proto/bsp_CV.proto +++ b/Core/BASE/Protobuf/Proto/bsp_CV.proto @@ -10,6 +10,7 @@ message CV_struct_define{ 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 + float operating_times=5; //机器人总运行时间 } diff --git a/Core/BASE/Protobuf/Proto/bsp_Error.proto b/Core/BASE/Protobuf/Proto/bsp_Error.proto index b36cd35..cc87e5f 100644 --- a/Core/BASE/Protobuf/Proto/bsp_Error.proto +++ b/Core/BASE/Protobuf/Proto/bsp_Error.proto @@ -23,12 +23,10 @@ enum ComError //枚举消息类型 Error Bit Define ZQ_CAN_ID3_SwingMotor =6; Force_Sensor =7; - Mfog40 =8; - Ultrasonic_Sensor =9; - UWB_20_Error=10; - - Strain_Gauge=11; - Ground_Management = 12; + Ultrasonic_Sensor =8; + Android_485 =9; //UWB_20_Error=10; + Strain_Gauge =10; + Ground_Management =11; } //protoc --nanopb_out=. *.proto diff --git a/Core/BASE/Protobuf/Proto/bsp_GV.proto b/Core/BASE/Protobuf/Proto/bsp_GV.proto index 04953fe..0a3079b 100644 --- a/Core/BASE/Protobuf/Proto/bsp_GV.proto +++ b/Core/BASE/Protobuf/Proto/bsp_GV.proto @@ -47,6 +47,7 @@ message GV_struct_define int32 auto_working =32; //记录是否正在自动行进 int32 client_close=33; int32 robot_real_speed=34; + int32 wire_status=35; }; diff --git a/Core/BASE/Protobuf/Proto/bsp_IV.proto b/Core/BASE/Protobuf/Proto/bsp_IV.proto index 22f60da..91d6aed 100644 --- a/Core/BASE/Protobuf/Proto/bsp_IV.proto +++ b/Core/BASE/Protobuf/Proto/bsp_IV.proto @@ -96,4 +96,7 @@ message IV_struct_define //确诊机器人出错的原因 int32 reason_of_robot_error=23; + + //获取有线连接还是无线连接 + int32 wire_or_wireless=24; }; \ No newline at end of file diff --git a/Core/BASE/Protobuf/Proto/bsp_PV.proto b/Core/BASE/Protobuf/Proto/bsp_PV.proto index 7477bce..e5a75a2 100644 --- a/Core/BASE/Protobuf/Proto/bsp_PV.proto +++ b/Core/BASE/Protobuf/Proto/bsp_PV.proto @@ -5,79 +5,22 @@ option java_package = "com.example.swingarmapp.models"; // 抛丸机器人作业参数结构体定义 // 作用：用于APP/遥控器与机器人控制系统之间的参数传输，涵盖操作模式、运动参数、摆臂参数、作业参数等核心配置 -message PV_struct_define{ - // 操作模式（枚举值） - // 1 - 手动模式：人工摇杆/按键控制机器人所有动作 - // 2 - 水平模式：适配水平作业面的半自动/手动操作 - // 3 - 平面模式：适配平面作业面的操作（修正原文笔误：原"平民"为"平面"） - // 4 - 竖直左模式：左侧垂直作业面（如船舶外壁左侧）操作 - // 5 - 竖直右模式：右侧垂直作业面（如船舶外壁右侧）操作 - // 6 - 水平区域自动：水平作业面的区域自动作业模式 - // 7 - 平面区域自动：平面作业面的区域自动作业模式 - int32 Robot_Operation_Mode = 1; - - // 机器人移动速度（基础行走速度） - // 单位：0.1m/min（字段值×0.1=实际速度，如值为10则实际速度1m/min） - // 取值范围：0~180（对应实际0~18m/min，符合协议书中最大18m/min的要求） - int32 Robot_Move_Speed = 2; - - // 换道距离（自动换道功能的核心参数） - // 单位：mm（建议，可根据实际硬件标定调整） - // 作用：一键换道时机器人横向移动的距离，用于控制换道压边量 - int32 Robot_Change_Lane_Distance = 3; - - // 摆臂速度（抛丸/喷砂摆臂装置的摆动速度） - // 单位：°/s（度/秒） - // 取值要求：≥25（对应协议书中摆臂速度≥25°/S的要求） - int32 Robot_Swing_Speed = 4; - - // 摆臂角度设置模式（对称/非对称） - // 1 - 对称模式：摆臂以中心轴左右对称摆动 - // 2 - 非对称模式：摆臂仅单侧（左/右）摆动 - int32 Robot_symmetricalOrNot = 5; - - // 对称模式下摆臂总摆动角度 - // 单位：°（度） - // 示例：值为90则摆臂从-45°~+45°对称摆动 - int32 Robot_Swing_Range_Angle = 6; - - // 非对称模式下的摆动侧选择 - // 1 - 左侧：仅摆臂左侧区域摆动 - // 2 - 右侧：仅摆臂右侧区域摆动 - int32 Robot_asymmetricalAngleSetValue = 7; - - // 后退作业模式（抛丸/喷砂作业时的后退逻辑） - // 1 - 打退交替：作业一段距离后停止作业，后退指定距离再继续作业 - // 2 - 边打边退：作业过程中同步后退，持续作业无中断 - int32 Robot_backMode = 8; - - // 打退交替模式下的后退距离 - // 单位：mm（建议） - // 作用：打退交替时单次后退的距离，适配不同作业面的补抛需求 - int32 Robot_Back_Distance = 9; - - // 边打边退模式下的后退速度 - // 单位：0.1m/min（同Robot_Move_Speed） - // 取值范围：0~180（对应实际0~18m/min） - int32 Robot_Back_Speed = 10; - - // 压力设置（抛丸/喷砂作业的介质压力） - // 单位：0.01MPa（建议，如值为50则实际0.5MPa） - // 作用：控制抛丸/喷砂的强度，适配不同表面处理等级（≥Sa2.5） - int32 Robot_Press_Set = 11; - - // 竖直微调（竖直作业模式下的位置微调量） - // 单位：mm（建议） - // 作用：竖直作业时微调机器人位置，补偿曲面/安装误差 - int32 Robot_Vertical_Adjust = 12; - - // 自动模式下的作业长度 - // 单位：mm（建议） - // 作用：区域自动作业时，单次作业的纵向长度（完成后自动换道） - int32 Robot_Length_Homework = 13; - - // 自动模式下的作业宽度 - // 单位：mm（建议） - // 作用：区域自动作业时，单次作业的横向宽度（默认适配110mm标准作业宽度） - int32 Robot_Width_Homework = 14; +message PV_struct_define{ + + int32 Robot_Operation_Mode= 1; //操作模式 手动模式1 2 3 4 自动模式5 6 7 + int32 Robot_Move_Speed=2; //机器人移动速度 + int32 Robot_Change_Lane_Distance= 3; //换道距离 + int32 Robot_Swing_Speed= 4; //摆臂速度 + int32 Robot_symmetricalOrNot=5; //摆臂角度界面中的对称or非对称 1 对称 2 非对称 + int32 Robot_Swing_Range_Angle=6; //对称下的摆臂角度 + int32 Robot_asymmetricalAngleSetValue=7; //非对称条件下下 1左侧 2 右侧 + int32 Robot_backMode=8; //后退设置模式 1 打退交替 2 边打边退 + int32 Robot_Back_Distance= 9; //打退交替条件下的后退距离 + int32 Robot_Back_Speed=10; //边打边退条件下的后退速度 + int32 Robot_Press_Set= 11; //压力设置 + int32 Robot_Vertical_Adjust= 12; //竖直微调 + int32 Robot_Length_Homework=13; //自动模式下的作业长度 + int32 Robot_Width_Homework=14; //自动模式下的作业宽度 + int32 Robot_SandBalst_Encode_One=15; //喷砂机编码1 输入为空发1 + int32 Robot_SandBalst_Encode_Two=16; //喷砂机编码2 输入为空发2 }; \ No newline at end of file diff --git a/Core/BASE/Src/BSP/B03_Para_01_100.c b/Core/BASE/Src/BSP/B03_Para_01_100.c index 3b4a587..f6cae63 100644 --- a/Core/BASE/Src/BSP/B03_Para_01_100.c +++ b/Core/BASE/Src/BSP/B03_Para_01_100.c @@ -7,47 +7,29 @@ #include "B03_Para_01_100.h" -// 100台机械臂DH参数表（指定初始化器写法） -//const P02_Para_t g_P02_param_table[100] = { -// // 第0台 SN001 -// { -// .Speed_m_per_min_1=10, -// .LeftTurnSpeed_2=12, -// .RightTurnSpeed_3 =12, -// .RobotLeftAngleValue_4=90, -// .RobotRightAngleValue_5=-90, -// .RobotUpAngleValue_6=0, -// .RobotDownAngleValue_7=0, -// //.... -// .wheel_Diameter_m_20=45 -// }, -// // 第1台 SN002 -// { -// .Speed_m_per_min_1=11, -// .LeftTurnSpeed_2=13, -// .RightTurnSpeed_3 =12, -// .RobotLeftAngleValue_4=90, -// .RobotRightAngleValue_5=-90, -// .RobotUpAngleValue_6=0, -// .RobotDownAngleValue_7=0, -// // ... 其余参数 -// .wheel_Diameter_m_20=45 -// }, -// // 剩下98台... -//}; - - -const B03_Para_t g_B03_param_table[100] = { - // 第1台 B03-13 + + + +B03_Para_t g_B03_param_table[100] = { + // 第1台 B03-17 { - .TT_Motor_1m_per_min=1540.988, - .TT_Motor_one_degree=11014, + .angle_offset=0.0f, }, - // 第2台 B03-14 + // 第2台 B03-19 { + .angle_offset=192.0f, }, - // 剩下98台... + // 第3台 B03-18 + { + .angle_offset=0.0f, + }, + // 第4台 B03-16 + { + .angle_offset=0.0f, + .operating_times=0.0f, + }, + // 剩下97台... }; diff --git a/Core/BASE/Src/BSP/BHBF_ROBOT.c b/Core/BASE/Src/BSP/BHBF_ROBOT.c index 9d340ca..3c02e47 100644 --- a/Core/BASE/Src/BSP/BHBF_ROBOT.c +++ b/Core/BASE/Src/BSP/BHBF_ROBOT.c @@ -39,6 +39,7 @@ GV_struct_define GV = PV_struct_define decoded_PV_variable = { 0 }; PV_struct_define decoded_PV = { 0 }; +PV_struct_define _decoded_PV_temp = { 0 }; IV_struct_define IV ={ 0 }; diff --git a/Core/BASE/Src/BSP/bsp_MB_host.c b/Core/BASE/Src/BSP/bsp_MB_host.c index 1924714..be4cc14 100644 --- a/Core/BASE/Src/BSP/bsp_MB_host.c +++ b/Core/BASE/Src/BSP/bsp_MB_host.c @@ -221,12 +221,12 @@ void MB_ReadHoldingReg(uint8_t *Tx_Buf, uint8_t *TxCount_t, uint8_t _addr, uint16_t TxCount = 0; uint16_t crc = 0; - Tx_Buf[TxCount++] = _addr; /* 从站地址 */ + Tx_Buf[TxCount++] = _addr; /* 从站地址 */ //40 Tx_Buf[TxCount++] = 0x03; /* 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++] = _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 */ - Tx_Buf[TxCount++] = _num; /* 低字节 */ + Tx_Buf[TxCount++] = _num; /* 低字节 */ //20 crc = MB_CRC16(Tx_Buf, TxCount); Tx_Buf[TxCount++] = crc; /* crc 低字节 */ diff --git a/Core/BASE/Src/BSP/bsp_client_setting.c b/Core/BASE/Src/BSP/bsp_client_setting.c index 9a489a1..ee776c1 100644 --- a/Core/BASE/Src/BSP/bsp_client_setting.c +++ b/Core/BASE/Src/BSP/bsp_client_setting.c @@ -86,9 +86,11 @@ void decode_received_data_from_client(uint8_t *buffer, uint16_t length) i_pv_stream = pb_istream_from_buffer(&buffer[4], length - 4); pb_decode(&i_pv_stream, PV_struct_define_fields, &decoded_PV_variable); HardWareErrorController->Set_PCOMHardWare(HardWareErrorController,"ZQ_Serial",1); + HardWareErrorController->Set_PCOMHardWare(HardWareErrorController, "Android_485", 1); //pb_decode(&i_pv_stream, PV_struct_define_fields, &decoded_PV); - + GV.PV = decoded_PV_variable; + GV.wire_status=1; //1代表无线 // if(decoded_PV_variable.TimeStamp>decoded_PV.TimeStamp) // { // decoded_PV=decoded_PV_variable; diff --git a/Core/BASE/Src/MSP/msp_485_android.c b/Core/BASE/Src/MSP/msp_485_android.c new file mode 100644 index 0000000..e9f4b86 --- /dev/null +++ b/Core/BASE/Src/MSP/msp_485_android.c @@ -0,0 +1,187 @@ +/* + * msp_485_android.c + * + * Created on: 2025年12月1日 + * Author: akeguo + */ +#include "msp_485_android.h" +#include "msp_MK32_1.h" +#include "bsp_Error_Detect.h" +void decode_android_Sbus(uint8_t *buffer, uint16_t length); +void decode_android_PV(uint8_t *buffer, uint16_t length); +void android_485_loop(); //inqure data from the, in fact this is a modbus 03 function; + +struct UARTHandler *android_handler; + +DispacherController *androidr_dispacherController; +int android_slave_id = 0x40; + +int8_t android_slave_iv_start_holiding_register = 100; +int16_t android_slave_iv_holiding_register_num = 0; //这个数据要随时改变 + +//最多读取多少个字节 +int16_t read_android_holidng_register_count = 18 + 1 + PV_struct_define_size / 2; //16个subs通道 1个PV数据长度， + +uint16_t Decoded_Android_HoldingReg_Value[100]; //用来对Android的Sbus /PV /IV 的操作 +uint16_t send_pv_android_holdingReg_Value[100]; // /PV /IV 的操作 + +void android_485_intialize(struct UARTHandler *Handler) +{ + android_handler = Handler; + + androidr_dispacherController = Handler->dispacherController; + androidr_dispacherController->Dispacher_Enable = 1; + //不周期性发送 + androidr_dispacherController->Add_Dispatcher_List(androidr_dispacherController, android_485_loop); + + HardWareErrorController->Add_PCOMHardWare(HardWareErrorController, "Android_485", 0, ComError_Android_485); + LOG("msp_485_android_intialize"); +} + +void android_485_intialize_with_slaveID(struct UARTHandler *Handler, int slave_id) +{ + android_485_intialize(Handler); + android_slave_id = slave_id; +} +int time_to_adapt = 150; +void android_485_loop() +{ + //读取安卓数据 03 + MB_ReadHoldingReg(&android_handler->Tx_Buf, &android_handler->TxCount, android_slave_id, 0, 20); + android_handler->AddSendList(android_handler, android_handler->Tx_Buf, android_handler->TxCount, time_to_adapt, + decode_android_Sbus); + +} +int PMK32Index = 0; +int32_t *p_mk32_pointer; + + +int received_android_counter = 0; +int received_counter_max = 10/2;// 每次读取多少次遥控器然后读取PV/写IV +int count=0; +//读取 的寄存器 +void decode_android_Sbus(uint8_t *buffer, uint16_t length) +{ +// uint8_t data1[length]; +// memcpy(data1, buffer, length); + if (length <= 5) + { + return; + } + int decoded_result = MB_Decode_HoldingRegs(buffer, length, read_android_holidng_register_count, + &Decoded_Android_HoldingReg_Value[0]); + if (decoded_result == 1) + { + + p_mk32_pointer = (int32_t*) P_MK32; + //Sbus 设定 + + for (int PMK32Index = 0; PMK32Index < 18; PMK32Index++) + { + //此处必须加类型转换 + *p_mk32_pointer = (int16_t) Decoded_Android_HoldingReg_Value[PMK32Index]; + p_mk32_pointer++; + } + + + //检查按钮是否复位 + if (Is_All_Button_Reset == 0) + { + if (P_MK32->CH4_SA == 0 && P_MK32->CH5_SB == 0 && P_MK32->CH6_SC == 0 && P_MK32->CH7_SD == 0) + { + Is_All_Button_Reset = 1; + HardWareErrorController->Set_PCOMHardWare(HardWareErrorController, "Need_To_Reset", 1); + } + } + else if (Is_All_Button_Reset == 1) + { + HardWareErrorController->Set_PCOMHardWare(HardWareErrorController, "Need_To_Reset", 1); + } + HardWareErrorController->Set_PCOMHardWare(HardWareErrorController, "Android_485", 1); + HardWareErrorController->Set_PCOMHardWare(HardWareErrorController, "mk32_sbus", 1); + + received_android_counter++; + + //读取遥控器 + MB_ReadHoldingReg(&android_handler->Tx_Buf, &android_handler->TxCount, android_slave_id, 0, 20); + android_handler->AddSendList(android_handler, android_handler->Tx_Buf, android_handler->TxCount, time_to_adapt, + decode_android_Sbus); + + if (received_android_counter % received_counter_max != 0) return; + switch (received_android_counter / received_counter_max % 2) + { + case 0: + { + //设定安卓数据 0x10传IV + pb_ostream_t IV_o_stream = pb_ostream_from_buffer(&send_pv_android_holdingReg_Value[1], + sizeof(send_pv_android_holdingReg_Value) - 1); + pb_encode(&IV_o_stream, IV_struct_define_fields, &IV); + + android_slave_iv_holiding_register_num = (IV_o_stream.bytes_written + 1) / 2 + 1; + + send_pv_android_holdingReg_Value[0] = SWAP_ENDIAN_16(IV_o_stream.bytes_written); + + MB_WriteNumHoldingReg(&android_handler->Tx_Buf, &android_handler->TxCount, android_slave_id, + android_slave_iv_start_holiding_register, android_slave_iv_holiding_register_num, + send_pv_android_holdingReg_Value); + android_handler->AddSendList(android_handler, android_handler->Tx_Buf, android_handler->TxCount, + time_to_adapt, NULL); + received_android_counter = 0; + break; + } + case 1: + { //读取安卓数据 03 PV + MB_ReadHoldingReg(&android_handler->Tx_Buf, &android_handler->TxCount, android_slave_id, 19, + (Decoded_Android_HoldingReg_Value[18] + 1) / 2); + android_handler->AddSendList(android_handler, android_handler->Tx_Buf, android_handler->TxCount, + time_to_adapt, decode_android_PV); + + break; + } + } + + } + else + { + LOGFF(DL_ERROR, "Android_485 decoding failed"); + count++; + } +} +/*****/ +void decode_android_PV(uint8_t *buffer, uint16_t length) +{ +// uint8_t data1[1000]; +// memcpy(data1, buffer, length); + if (length <= 5) + { + return; + } + int decoded_result = MB_Decode_HoldingRegs(buffer, length, (Decoded_Android_HoldingReg_Value[18] + 1) / 2, + &Decoded_Android_HoldingReg_Value[19]); + if (decoded_result == 1) + { + //PV解析 + pb_istream_t i_pv_stream = + { 0 }; + + i_pv_stream = pb_istream_from_buffer(&Decoded_Android_HoldingReg_Value[19], + Decoded_Android_HoldingReg_Value[18]); + int checkreturn = pb_decode(&i_pv_stream, PV_struct_define_fields, &_decoded_PV_temp); + if (checkreturn == 1) + { + + decoded_PV = _decoded_PV_temp; + GV.PV=decoded_PV; + GV.wire_status=2; //2代表无线 + + } + + HardWareErrorController->Set_PCOMHardWare(HardWareErrorController, "Android_485", 1); + HardWareErrorController->Set_PCOMHardWare(HardWareErrorController,"ZQ_Serial",1); + + } + else + { + LOGFF(DL_ERROR, "Android_485 decoding failed"); + } +} diff --git a/Core/BASE/Src/MSP/msp_MK32_1.c b/Core/BASE/Src/MSP/msp_MK32_1.c index a80c080..b52f6ed 100644 --- a/Core/BASE/Src/MSP/msp_MK32_1.c +++ b/Core/BASE/Src/MSP/msp_MK32_1.c @@ -44,7 +44,8 @@ void decode_MK32Data(uint8_t *buffer, uint16_t length) if (Is_All_Button_Reset == 0) { if (P_MK32->CH4_SA == 0 && P_MK32->CH5_SB == 0 && P_MK32->CH6_SC == 0 - && P_MK32->CH7_SD == 0 && P_MK32->IsOnline == 1) + && P_MK32->CH7_SD == 0 && P_MK32->CH8_SE==0 + && P_MK32->CH9_SF == 0 && P_MK32->IsOnline == 1) { HardWareErrorController->Set_PCOMHardWare(HardWareErrorController, "Need_To_Reset", 1); diff --git a/Core/BASE/Src/MSP/msp_TL720D.c b/Core/BASE/Src/MSP/msp_TL720D.c index fbf3dca..d8a19ac 100644 --- a/Core/BASE/Src/MSP/msp_TL720D.c +++ b/Core/BASE/Src/MSP/msp_TL720D.c @@ -44,6 +44,7 @@ void decode_TL720D(uint8_t *buffer, uint16_t length) { //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 = SP_MSP_RF_TL720D_Parameters_In->RF_Angle_Roll-CV.angle_offset; SP_MSP_RF_TL720D_Parameters_In->RF_Angle_Pitch = getDeci(&buffer[7]); SP_MSP_RF_TL720D_Parameters_In->RF_Angle_Yaw = getDeci(&buffer[10]); SP_MSP_RF_TL720D_Parameters_In->RF_Acc_X = getDeci(&buffer[13]); diff --git a/Core/BASE/Src/MSP/msp_WH_LTE_7S0.c b/Core/BASE/Src/MSP/msp_WH_LTE_7S0.c index 5e8e5da..1a69011 100644 --- a/Core/BASE/Src/MSP/msp_WH_LTE_7S0.c +++ b/Core/BASE/Src/MSP/msp_WH_LTE_7S0.c @@ -46,8 +46,8 @@ void WH_LTE_7S0_intialize(struct UARTHandler *Handler) void Send_WH_LTE_7S0_Data(uint8_t *data, int length) { - char datass[100]; - memcpy(datass, data, length); +// char datass[256]; +// memcpy(datass, data, length); wh_LTE_7S0_Handler->UART_Decode = decode_received_data_from_computer; memcpy(wh_LTE_7S0_Handler->Tx_Buf, data, length); wh_LTE_7S0_Handler->TxCount = length; @@ -71,7 +71,7 @@ void UpdateGV() //wh_LTE_7S0_Handler->Tx_Buf[2]='1'; wh_LTE_7S0_Handler->TxCount = GV_o_stream.bytes_written+2; - wh_LTE_7S0_Handler->UART_Tx(wh_LTE_7S0_Handler); + //wh_LTE_7S0_Handler->UART_Tx(wh_LTE_7S0_Handler); //先不发 } void decode_received_data_from_computer(uint8_t *buffer, uint16_t length) @@ -94,5 +94,425 @@ void decode_received_data_from_computer(uint8_t *buffer, uint16_t length) +void LTE7S0_Init_MQTT(void) +{ + uint8_t cmd_buf[128]; + int cmd_len; + + // 1. 检测模块是否开机 + uint8_t at_test[] = "AT\r\n"; + Send_WH_LTE_7S0_Data(at_test, sizeof(at_test)-1); + HAL_Delay(500); + + // 2. 配置MQTT服务器IP端口 + uint8_t srv_cfg[] = "AT+MQTTSRV=TCP,120.xx.xx.xx,1883\r\n"; + Send_WH_LTE_7S0_Data(srv_cfg, sizeof(srv_cfg)-1); + HAL_Delay(300); + + // 3. 设置发布主题（机器人上传数据用） + uint8_t pub_cfg[] = "AT+MQTTPUB=robot/weld/data\r\n"; + Send_WH_LTE_7S0_Data(pub_cfg, sizeof(pub_cfg)-1); + HAL_Delay(300); + + // 4. 设置订阅主题（接收手机下发控制指令） + uint8_t sub_cfg[] = "AT+MQTTSUB=robot/cmd/control\r\n"; + Send_WH_LTE_7S0_Data(sub_cfg, sizeof(sub_cfg)-1); + HAL_Delay(300); + + // 5. 开启MQTT纯透传模式 + uint8_t mqtt_trans[] = "AT+MQTTMOD=1\r\n"; + Send_WH_LTE_7S0_Data(mqtt_trans, sizeof(mqtt_trans)-1); + HAL_Delay(300); + + // 6. 保存配置 + uint8_t save_cfg[] = "AT+S\r\n"; + Send_WH_LTE_7S0_Data(save_cfg, sizeof(save_cfg)-1); +} + + +void LTE7S0_Init_MQTT2(void) +{ + uint8_t cmd_buf[128]; + + // 1. AT+E=OFF + uint8_t cmd1[] = "AT+E=OFF\r\n"; + Send_WH_LTE_7S0_Data(cmd1, sizeof(cmd1)-1); + HAL_Delay(100); + + // 2. AT+MQTTCFG=120,0 + uint8_t cmd2[] = "AT+MQTTCFG=120,0\r\n"; + Send_WH_LTE_7S0_Data(cmd2, sizeof(cmd2)-1); + HAL_Delay(100); + + // 3. 发布主题1 + uint8_t cmd3[] = "AT+MQTTPUBTP=1,1,BHBF/ROBOT/JC-01/DP/GVUP,0,1\r\n"; + Send_WH_LTE_7S0_Data(cmd3, sizeof(cmd3)-1); + HAL_Delay(100); + + // 4. 发布主题2 + uint8_t cmd4[] = "AT+MQTTPUBTP=2,1,BHBF/ROBOT/JC-01/DP/CVUP,0,1\r\n"; + Send_WH_LTE_7S0_Data(cmd4, sizeof(cmd4)-1); + HAL_Delay(100); + + // 5. 发布主题3 + uint8_t cmd5[] = "AT+MQTTPUBTP=3,1,BHBF/ROBOT/JC-01/DP/MESSAGE,0,1\r\n"; + Send_WH_LTE_7S0_Data(cmd5, sizeof(cmd5)-1); + HAL_Delay(100); + + // 6. 订阅主题1 + uint8_t cmd6[] = "AT+MQTTSUBTP=1,1,BHBF/HMI/1/CP/name,0\r\n"; + Send_WH_LTE_7S0_Data(cmd6, sizeof(cmd6)-1); + HAL_Delay(100); + + // 7. 订阅主题2 + uint8_t cmd7[] = "AT+MQTTSUBTP=2,1,BHBF/HMI/1/CP/CV,0\r\n"; + Send_WH_LTE_7S0_Data(cmd7, sizeof(cmd7)-1); + HAL_Delay(100); + + // 8. 订阅主题3 + uint8_t cmd8[] = "AT+MQTTSUBTP=3,1,BHBF/HMI/SoftWareID/CP/RobotName/CONFIG,0\r\n"; + Send_WH_LTE_7S0_Data(cmd8, sizeof(cmd8)-1); + HAL_Delay(100); + + // 9. 订阅主题4 + uint8_t cmd9[] = "AT+MQTTSUBTP=4,1,BHBF/HMI/SoftWareID/CP/RobotName/Reset,0\r\n"; + Send_WH_LTE_7S0_Data(cmd9, sizeof(cmd9)-1); + HAL_Delay(100); + + // 10. MQTT服务器地址端口 + uint8_t cmd10[] = "AT+MQTTSVR=123.207.52.103,10086\r\n"; + Send_WH_LTE_7S0_Data(cmd10, sizeof(cmd10)-1); + HAL_Delay(100); + + // 11. ClientID + uint8_t cmd11[] = "AT+MQTTCID=0240012205270000\r\n"; + Send_WH_LTE_7S0_Data(cmd11, sizeof(cmd11)-1); + HAL_Delay(100); + + // 12. MQTT用户名 + uint8_t cmd12[] = "AT+MQTTUSER=bingoorobot\r\n"; + Send_WH_LTE_7S0_Data(cmd12, sizeof(cmd12)-1); + HAL_Delay(100); + + // 13. MQTT密码 + uint8_t cmd13[] = "AT+MQTTPSW=123456\r\n"; + Send_WH_LTE_7S0_Data(cmd13, sizeof(cmd13)-1); + HAL_Delay(100); + + // 14. 切换工作模式为MQTT + uint8_t cmd14[] = "AT+WKMOD=MQTT\r\n"; + Send_WH_LTE_7S0_Data(cmd14, sizeof(cmd14)-1); + HAL_Delay(100); + + // 15. 开启MQTT分发透传模式 + uint8_t cmd15[] = "AT+MQTTMOD=1\r\n"; + Send_WH_LTE_7S0_Data(cmd15, sizeof(cmd15)-1); + HAL_Delay(100); + + // 16. 保存全部配置 + uint8_t cmd16[] = "AT+S\r\n"; + Send_WH_LTE_7S0_Data(cmd16, sizeof(cmd16)-1); + HAL_Delay(100); +} + + +void LTE_StepIntoConfigMode(void) +{ + // +++ 无\r\n + uint8_t cmd1[] = "+++"; + Send_WH_LTE_7S0_Data(cmd1, sizeof(cmd1)-1); + HAL_Delay(100); + + // a 带换行 + uint8_t cmd2[] = "a\r\n"; + Send_WH_LTE_7S0_Data(cmd2, sizeof(cmd2)-1); +} + + + +void LTE_StepOutOfConfigMode(void) +{ + uint8_t cmd[] = "AT+ENTM\r\n"; + Send_WH_LTE_7S0_Data(cmd, sizeof(cmd)-1); + HAL_Delay(200); +} + + +void LTE_CheckModuleAlive(void) +{ + uint8_t at_test[] = "AT\r\n"; + Send_WH_LTE_7S0_Data(at_test, sizeof(at_test)-1); + HAL_Delay(200); +} + + + + + +void LTE7S0_Init_HuaWei_MQTT(void) +{ + uint8_t cmd_buf[128]; + + // 1. 关闭串口回显 WH-LTE-7S0标准指令AT+E=OFF + uint8_t cmd1[] = "AT+E=OFF\r\n"; + Send_WH_LTE_7S0_Data(cmd1, sizeof(cmd1)-1); + HAL_Delay(100); + + // 2. MQTT心跳120s + uint8_t cmd2[] = "AT+MQTTCFG=120,0\r\n"; + Send_WH_LTE_7S0_Data(cmd2, sizeof(cmd2)-1); + HAL_Delay(100); + + // 3. 发布主题1：华为云系统上报Topic 设备->云端 + uint8_t cmd3[] = "AT+MQTTPUBTP=4,1,$oc/devices/BHBF_ROBOT_01/sys/messages/up,0,1\r\n"; + Send_WH_LTE_7S0_Data(cmd3, sizeof(cmd3)-1); + HAL_Delay(100); + + // 4. 订阅主题1：华为云系统下行Topic 云端->设备 + uint8_t cmd4[] = "AT+MQTTSUBTP=1,1,$oc/devices/BHBF_ROBOT_01/sys/messages/down,0\r\n"; + Send_WH_LTE_7S0_Data(cmd4, sizeof(cmd4)-1); + HAL_Delay(100); + + // 5. MQTT服务器：明文TCP域名+1883端口（模组仅支持明文，不能用8883加密端口） + uint8_t cmd10[] = "AT+MQTTSVR=TCP,744d3b81cd.st1.iotda-device.cn-north-4.myhuaweicloud.com,1883\r\n"; + Send_WH_LTE_7S0_Data(cmd10, sizeof(cmd10)-1); + HAL_Delay(300); + + // 6. ClientId 直接复制你给出的值 + uint8_t cmd11[] = "AT+MQTTCID=6a447a97cbb0cf6bb96ac1a7_BHBF_ROBOT_01_0_0_2026071701\r\n"; + Send_WH_LTE_7S0_Data(cmd11, sizeof(cmd11)-1); + HAL_Delay(100); + + // 7. Username 复制你给出的值 + uint8_t cmd12[] = "AT+MQTTUSER=6a447a97cbb0cf6bb96ac1a7_BHBF_ROBOT_01\r\n"; + Send_WH_LTE_7S0_Data(cmd12, sizeof(cmd12)-1); + HAL_Delay(100); + + // 8. Password 复制加密后的密钥 + uint8_t cmd13[] = "AT+MQTTPSW=0fb0063aec42956c51dccb48c89ac170aefd68a1bc6832bbf68d824432132a5b\r\n"; + Send_WH_LTE_7S0_Data(cmd13, sizeof(cmd13)-1); + HAL_Delay(100); + + // 9. 切换工作模式为MQTT + uint8_t cmd14[] = "AT+WKMOD=MQTT\r\n"; + Send_WH_LTE_7S0_Data(cmd14, sizeof(cmd14)-1); + HAL_Delay(100); + + // 10. MQTT分发透传模式1：串口发送数据自动走1号发布主题 + uint8_t cmd15[] = "AT+MQTTMOD=4\r\n"; + Send_WH_LTE_7S0_Data(cmd15, sizeof(cmd15)-1); + HAL_Delay(100); + + // 11. 开启MQTT纯透传模式 + uint8_t mqtt_trans[] = "AT+MQTTMOD=0\r\n"; + Send_WH_LTE_7S0_Data(mqtt_trans, sizeof(mqtt_trans)-1); + HAL_Delay(300); + + // 12. 清空出厂默认载荷，杜绝厂商测试字符混入 + uint8_t cmd16[] = "AT+MQTTPAYLOAD=""\r\n"; + Send_WH_LTE_7S0_Data(cmd16, sizeof(cmd16)-1); + HAL_Delay(300); + + // 13. 保存全部配置到模组Flash + uint8_t cmd17[] = "AT+S\r\n"; + Send_WH_LTE_7S0_Data(cmd17, sizeof(cmd17)-1); + HAL_Delay(300); +} + +void LTE7S0_Init_HuaWei_MQTT2(void) +{ + + // 1. 关闭串口回显 WH-LTE-7S0标准指令AT+E=OFF + uint8_t cmd1[] = "AT+WKMOD=MQTT\r\n"; + Send_WH_LTE_7S0_Data(cmd1, sizeof(cmd1)-1); + HAL_Delay(100); + + // 2. MQTT心跳120s + uint8_t cmd2[] = "AT+MQTTSVR=744d3b81cd.st1.iotda-device.cn-north-4.myhuaweicloud.com,1883\r\n"; + Send_WH_LTE_7S0_Data(cmd2, sizeof(cmd2)-1); + HAL_Delay(100); + + // 3. 发布主题1：华为云系统上报Topic 设备->云端 + uint8_t cmd3[] = "AT+MQTTUSER=6a447a97cbb0cf6bb96ac1a7_BHBF_ROBOT_01\r\n"; + Send_WH_LTE_7S0_Data(cmd3, sizeof(cmd3)-1); + HAL_Delay(100); + + // 4. 订阅主题1：华为云系统下行Topic 云端->设备 + uint8_t cmd4[] = "AT+MQTTPSW=4380927792e69477f605e2720c409969e80a42cb612657f7c3591a6b36c3083d\r\n"; + Send_WH_LTE_7S0_Data(cmd4, sizeof(cmd4)-1); + HAL_Delay(100); + + // 5. MQTT服务器：明文TCP域名+1883端口（模组仅支持明文，不能用8883加密端口） + uint8_t cmd10[] = "AT+MQTTCID=6a447a97cbb0cf6bb96ac1a7_BHBF_ROBOT_01_0_0_2026071606\r\n"; + Send_WH_LTE_7S0_Data(cmd10, sizeof(cmd10)-1); + HAL_Delay(300); + + // 6. ClientId 直接复制你给出的值 + uint8_t cmd11[] = "AT+MQTTVER=4\r\n"; + Send_WH_LTE_7S0_Data(cmd11, sizeof(cmd11)-1); + HAL_Delay(100); + + // 7. Username 复制你给出的值 + uint8_t cmd12[] = "AT+SOCKRSTIM=10\r\n"; + Send_WH_LTE_7S0_Data(cmd12, sizeof(cmd12)-1); + HAL_Delay(100); + + // 8. Password 复制加密后的密钥 + uint8_t cmd13[] = "AT+SOCKRSNUM=60\r\n"; + Send_WH_LTE_7S0_Data(cmd13, sizeof(cmd13)-1); + HAL_Delay(100); + + // 9. 切换工作模式为MQTT + uint8_t cmd14[] = "AT+MQTTMOD=0\r\n"; + Send_WH_LTE_7S0_Data(cmd14, sizeof(cmd14)-1); + HAL_Delay(100); + + // 10. MQTT分发透传模式1：串口发送数据自动走1号发布主题 + uint8_t cmd15[] = "AT+MQTTCFG=120,0\r\n"; + Send_WH_LTE_7S0_Data(cmd15, sizeof(cmd15)-1); + HAL_Delay(100); + + // 11. 开启MQTT纯透传模式 + uint8_t cmd16[] = "AT+HEARTEN=OFF\r\n"; + Send_WH_LTE_7S0_Data(cmd16, sizeof(cmd16)-1); + HAL_Delay(300); + + // 11. 开启MQTT纯透传模式 + uint8_t cmd17[] = "AT+MQTTWILL=0\r\n"; + Send_WH_LTE_7S0_Data(cmd17, sizeof(cmd17)-1); + HAL_Delay(300); + + // 11. 开启MQTT纯透传模式 + 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); + HAL_Delay(300); + + // 11. 开启MQTT纯透传模式 + uint8_t cmd19[] = "AT+GNSSFUNEN=0\r\n"; + Send_WH_LTE_7S0_Data(cmd19, sizeof(cmd19)-1); + HAL_Delay(300); + + // 11. 开启MQTT纯透传模式 + uint8_t cmd20[] = "AT+SSLEN=OFF\r\n"; + Send_WH_LTE_7S0_Data(cmd20, sizeof(cmd20)-1); + HAL_Delay(300); + + // 11. 开启MQTT纯透传模式 + uint8_t cmd21[] = "AT+UART=115200,8,1,NONE,0\r\n"; + Send_WH_LTE_7S0_Data(cmd21, sizeof(cmd21)-1); + HAL_Delay(300); + + // 11. 开启MQTT纯透传模式 + uint8_t cmd22[] = "AT+UARTFT=50\r\n"; + Send_WH_LTE_7S0_Data(cmd22, sizeof(cmd22)-1); + HAL_Delay(300); + + // 11. 开启MQTT纯透传模式 AT+MQTTPAYLOAD="" + uint8_t cmd23[] = "AT+UARTFL=1024\r\n"; + Send_WH_LTE_7S0_Data(cmd23, sizeof(cmd23)-1); + HAL_Delay(300); + + // 11. 开启MQTT纯透传模式 AT+MQTTPAYLOAD="" + uint8_t cmd24[] = "AT+MQTTPAYLOAD=""\r\n"; + Send_WH_LTE_7S0_Data(cmd24, sizeof(cmd24)-1); + HAL_Delay(300); + + // 13. 保存全部配置到模组Flash + uint8_t cmd25[] = "AT+S\r\n"; + Send_WH_LTE_7S0_Data(cmd25, sizeof(cmd25)-1); + HAL_Delay(300); +} + +// 进入配置模式（无需改动） +void LTE_StepIntoConfigMode_HuaWei(void) +{ + uint8_t cmd1[] = "+++"; + Send_WH_LTE_7S0_Data(cmd1, sizeof(cmd1)-1); + HAL_Delay(100); + +// uint8_t cmd2[] = "a\r\n"; +// Send_WH_LTE_7S0_Data(cmd2, sizeof(cmd2)-1); +} + +// 退出配置模式，延长延时保证MQTT重连 +void LTE_StepOutOfConfigMode_HuaWei(void) +{ + uint8_t cmd[] = "AT+ENTM\r\n"; + Send_WH_LTE_7S0_Data(cmd, sizeof(cmd)-1); + HAL_Delay(1000); + +} + +// 配置好参数后连接到服务器 +void LTE_Connect_HuaWei(void) +{ + HAL_Delay(3000); + uint8_t cmd[] = "AT+MQTTCONN=1\r\n"; + Send_WH_LTE_7S0_Data(cmd, sizeof(cmd)-1); + HAL_Delay(1000); + +} + +// 模组存活检测（延长等待时间） +void LTE_CheckModuleAlive_HuaWei(void) +{ + uint8_t at_test[] = "AT\r\n"; + Send_WH_LTE_7S0_Data(at_test, sizeof(at_test)-1); + HAL_Delay(500); +} + +int time_cut=0; +char jsonBuf[256]; +int send_times=0; +uint8_t *send_data = NULL; +char online[8] = {0}; +void Upload_Data_To_HuaWeiCloud(void) +{ + // 1. 定义online字符串缓冲区，存储"断开"/"已连接" + if(IV.Is_Online == 0) + { + strcpy(online, "断开"); + } + else if(IV.Is_Online == 1) + { + strcpy(online, "已连接"); + } + online[sizeof(online)-1] = '\0'; + // 2. 正确sprintf转义双引号，workStatus是字符串用%s包裹引号 + snprintf(jsonBuf,256, + "{\"workStatus\":\"%s\",\"MoveSpeed\":%d,\"SetSpeed\":%f,\"Angle\":%d,\"LeftCompensation\":%f,\"RightCompensation\":%f,\"Press\":%d}", + online, + GV.robot_real_speed, + GV.Robot_Move_Speed, + GV.TL720DParameters.RF_Angle_Roll, + GV.Left_Compensation, + GV.Right_Compensation, + 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 + + // 3. 发送指针直接强转，无需额外data数组 + send_data = (uint8_t *)jsonBuf; + time_cut++; + + // 定时发送逻辑 + if(time_cut > 5000) // 1s需要计数500下 + { + time_cut = 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)); + uint16_t send_len = strlen(jsonBuf); + if(send_data != NULL && send_len > 0) + { + Send_WH_LTE_7S0_Data(send_data, send_len); + send_times++; + } + } + //HAL_Delay(1000); +} diff --git a/Core/FSM/Src/Handset_Status_Setting.c b/Core/FSM/Src/Handset_Status_Setting.c index 6c533a9..0f67b72 100644 --- a/Core/FSM/Src/Handset_Status_Setting.c +++ b/Core/FSM/Src/Handset_Status_Setting.c @@ -381,7 +381,7 @@ IO_State GetIOState(void) */ void PV_control(void) { - GV.PV = decoded_PV_variable; + //GV.PV = decoded_PV_variable; //GV.Robot_Move_Speed = ((float)GV.PV.Robot_Move_Speed) / 10; GV.Robot_Move_Speed = ((P_MK32->CH11_RD1+1000)*14)/2000; GV.LaneChangeDistance = GV.PV.Robot_Change_Lane_Distance; @@ -395,11 +395,11 @@ 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; -// } + //摆臂速度不允许为1，若设置了1，则强制置为0 + if(GV.Robot_Swing_Speed==1) + { + GV.Robot_Swing_Speed=0; + } } /** @@ -409,10 +409,11 @@ void PV_control(void) */ void IV_control(void) { - GV.PV = decoded_PV_variable; + //GV.PV = decoded_PV_variable; GV.Vertical_Adjust = ((float)GV.PV.Robot_Vertical_Adjust) / 10; GV.symmetricalOrNot = GV.PV.Robot_symmetricalOrNot; GV.Robot_Swing_Speed = GV.PV.Robot_Swing_Speed; + GV.Robot_Move_Speed = ((P_MK32->CH11_RD1+1000)*14)/2000; IV.SystemError = GV.SystemErrorData.Com_Error_Code; IV.Robot_Gyro = GV.TL720DParameters.RF_Angle_Roll; IV.Is_Online = GV.P_MK32.IsOnline; @@ -426,6 +427,7 @@ 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; + IV.wire_or_wireless = GV.wire_status; //机器人运行速度不允许为0，最小为1 @@ -435,10 +437,10 @@ void IV_control(void) } //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(GV.Robot_Swing_Speed==1) + { + GV.Robot_Swing_Speed=0; + } if((P_MK32->CH5_SB!=0)||(P_MK32->CH7_SD!=0)) { diff --git a/Core/FSM/Src/fsm_state_control.c b/Core/FSM/Src/fsm_state_control.c index 389ad02..0bef420 100644 --- a/Core/FSM/Src/fsm_state_control.c +++ b/Core/FSM/Src/fsm_state_control.c @@ -13,6 +13,7 @@ #include "swing_action.h" #include "motors_power_action.h" #include "BHBF_ROBOT.h" +#include "B03_Para_01_100.h" /*=========================== 2. 宏定义 ===========================*/ /* 本文件无宏定义，预留 */ @@ -29,6 +30,8 @@ int error_detcet=0; //获取机器人错误 uint32_t NVIC_Priority_Group; // 中断优先级分组 uint32_t TIM8_PreemptPrio; // 定时器8 抢占优先级 uint32_t TIM8_SubPrio; // 定时器8 子优先级 +uint32_t Operating_times=0; // 统计运行时间 +uint32_t Total_times=0; /*=========================== 5. 静态函数声明 ===========================*/ /* 组函数（仅本文件使用） */ @@ -295,7 +298,7 @@ void GF_Dispatch(void) &&(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_MK32_Serial) == CONNECTED))) + &&Is_All_Button_Reset==1) { start_flag=1; //SystemErrorCode = 0; @@ -310,7 +313,7 @@ void GF_Dispatch(void) 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; + IV.reason_of_robot_error = error_detcet; } } @@ -369,6 +372,18 @@ void GF_Dispatch(void) watch_dog=DevMon_IsOnline(DEV_LEFT_MOTOR); + //统计机器人总运行时间 + Operating_times++; + if(Operating_times>30000) + { + Operating_times=0; + CV = GF_BSP_EEPROM_Get_CV(); + Total_times=CV.operating_times+1; + g_B03_param_table[ROBOT_NUMBER].operating_times=Total_times; + memcpy(&CV, &g_B03_param_table[ROBOT_NUMBER], sizeof(CV)); + GF_BSP_EEPROM_Set_CV(CV); + } + } /*------------------------------------------------------------------- @@ -386,11 +401,6 @@ int AbnormalDetect(void) { 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) { @@ -418,6 +428,14 @@ int AbnormalDetect(void) { is_error = 8; } + /* 串口出错 */ + else if (Get_BIT(SystemErrorCode, ComError_MK32_Serial) == DISCONNECTED) + { + if(GV.wire_status==1) //无线连接状态 + { + is_error = 2; + } + } else { // 完全正常 → 立刻清0计数 @@ -440,21 +458,24 @@ int AbnormalDetect(void) } 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) + else if (is_error == 2) { - return 3; + return 2; } else if (is_error == 4) { return 4; } + else if(is_error == 5) + { + return 5; + } // 正在计数，还没到触发条件 return 0; diff --git a/Core/FSM/Src/motor.c b/Core/FSM/Src/motor.c index c3a3c04..5134ea2 100644 --- a/Core/FSM/Src/motor.c +++ b/Core/FSM/Src/motor.c @@ -72,6 +72,7 @@ void Motor_Controller_intialize_CAN2(FDCANHandler *Handler) } +int heart_count=0; void MotorCommandsLoop() { @@ -125,13 +126,12 @@ void MotorCommandsLoop() Consumer_Or_microcontroller_Heartbeat(0x707, Roughening_Motor_Controller, 4); Consumer_Or_microcontroller_Heartbeat(0x708, Roughening_Motor_Controller, 4); Heartbeat_Flag_01=0; + heart_count++; } } -int32_t LAST_POSITON=0; -int32_t LAST_SPEED=0; -int32_t delta_pos=0; + void MotorCommandsLoop_2_Position() { @@ -139,7 +139,6 @@ void MotorCommandsLoop_2_Position() GV.SwingMotor.Tar_Position_Velcity_RPM=GV.Tar_Position_Velcity_Degree_S*Swing_Speed_Deg_Sencond_motor; - delta_pos=GV.SwingMotor.Real_Position-GV.SwingMotor.Last_Real_Position; if (TT_Motor_Need_To_Activate_1 == 1) { ActivateMotor(3, Roughening_Motor_Controller_CAN2, 6000); @@ -165,9 +164,6 @@ void MotorCommandsLoop_2_Position() Position_Immediately_Setting(3,Roughening_Motor_Controller_CAN2, GV.SwingMotor.Tar_Position_count,GV.SwingMotor.Tar_Position_Velcity_RPM,30); - LAST_POSITON=GV.SwingMotor.Tar_Position_count; - LAST_SPEED=GV.SwingMotor.Tar_Position_Velcity_RPM; - break; case 2: Position_Lag_Setting(3,Roughening_Motor_Controller_CAN2, GV.SwingMotor.Tar_Position_count,GV.SwingMotor.Tar_Position_Velcity_RPM,30); diff --git a/Core/FSM/Src/paint_gun_action.c b/Core/FSM/Src/paint_gun_action.c index b07c377..e4f715c 100644 --- a/Core/FSM/Src/paint_gun_action.c +++ b/Core/FSM/Src/paint_gun_action.c @@ -70,7 +70,7 @@ void PaintGun_Contronl() } else //受到限制控制推杆 { - if(GV.Now_press>3000) //若压力太大则强制抬起 + if(GV.Now_press>6000) //若压力太大则强制抬起 { strainGaugeValue->MotorControl=1; } @@ -103,7 +103,7 @@ void PaintGun_Contronl_Press() { GV.Now_press=strainGaugeValue->Pressure; curr_io_state = GetIOState(); - if(curr_io_state==IO_STATE_RISE||(GV.Now_press>3000)) + if(curr_io_state==IO_STATE_RISE||(GV.Now_press>6000)) { strainGaugeValue->MotorControl=1; } diff --git a/Core/FSM/Src/robot_move_actions.c b/Core/FSM/Src/robot_move_actions.c index 8a7733e..e8971cd 100644 --- a/Core/FSM/Src/robot_move_actions.c +++ b/Core/FSM/Src/robot_move_actions.c @@ -28,7 +28,7 @@ #define SPEED_FACTOR_SMALL 0.15f /* 小误差速度系数 */ #define SPEED_BASE 4.0f /* 电机速度基准 (m/min) */ #define K_OF_DIS_VER 1.011189f /* 最小二乘拟合的k */ -#define B_OF_DIS_VER 0.387616f /* 最小二乘拟合的b */ +#define B_OF_DIS_VER -0.612384f // 0.387616f /* 最小二乘拟合的b */ #define K_OF_DIS_HOR 1.013714f /* 最小二乘拟合的k */ #define B_OF_DIS_HOR 3.226667f /* 最小二乘拟合的b */ @@ -126,6 +126,7 @@ typedef enum { static FsmType s_activeFsm; static FsmType s_lastActiveFsm=FSM_init_state; static int s_fsmState[FSM_COUNT] = {0}; +extern int pos_flag; //控制延时停摆臂只读一次角度 int s_currentState = STATE_ATTITUDE_JUDGE; int horizontal_s_currentState = STATE_ATTITUDE_JUDGE; int vertical_s_currentState = STATE_ATTITUDE_JUDGE; @@ -397,6 +398,7 @@ void Robot_Stop(void) alternately_times =0; alternately_times_total=0; alternately_flag=0; + pos_flag=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 @@ -477,10 +479,26 @@ static void handleAttitudeJudge_horizontal(void) { float robotRoll = (float)GV.TL720DParameters.RF_Angle_Roll / 100.0f; - if (robotRoll > -180.0f && robotRoll < 0.0f) { - GV.Robot_Angle_Desire = -90.0f + (float)GV.Right_Compensation / 100.0f + GV.Vertical_Adjust; - } else { - GV.Robot_Angle_Desire = 90.0f + (float)GV.Left_Compensation / 100.0f + GV.Vertical_Adjust; +// if (robotRoll > -180.0f && robotRoll < 0.0f) { +// GV.Robot_Angle_Desire = -90.0f + (float)GV.Right_Compensation / 100.0f + GV.Vertical_Adjust; +// } else { +// GV.Robot_Angle_Desire = 90.0f + (float)GV.Left_Compensation / 100.0f + GV.Vertical_Adjust; +// } + if(GV.Robot_Desired_Speed>0&&robotRoll < 0.0f) //向左前进 + { + GV.Robot_Angle_Desire = -90.0f + (float)GV.Left_Compensation / 100.0f + GV.Vertical_Adjust; + } + else if(GV.Robot_Desired_Speed<0&&robotRoll < 0.0f) //向右后退 + { + GV.Robot_Angle_Desire = -90.0f + (float)GV.Right_Compensation / 100.0f + GV.Vertical_Adjust; + } + else if(GV.Robot_Desired_Speed>0&&robotRoll >= 0.0f) //向右前进 + { + GV.Robot_Angle_Desire = 90.0f + (float)GV.Right_Compensation / 100.0f + GV.Vertical_Adjust; + } + else if(GV.Robot_Desired_Speed<0&&robotRoll >= 0.0f) //向左后退 + { + GV.Robot_Angle_Desire = 90.0f + (float)GV.Left_Compensation / 100.0f + GV.Vertical_Adjust; } s_fsmState[s_activeFsm]=STATE_ATTITUDE_ADJUST; } @@ -759,11 +777,28 @@ void Update_Angle_compensation_hor(void) { float robotRoll = (float)GV.TL720DParameters.RF_Angle_Roll / 100.0f; - if (robotRoll > -180.0f && robotRoll < 0.0f) { - GV.Robot_Angle_Desire = -90.0f + (float)GV.Right_Compensation / 100.0f + GV.Vertical_Adjust; - } else { - GV.Robot_Angle_Desire = 90.0f + (float)GV.Left_Compensation / 100.0f + GV.Vertical_Adjust; - } +// if (robotRoll > -180.0f && robotRoll < 0.0f) { +// GV.Robot_Angle_Desire = -90.0f + (float)GV.Right_Compensation / 100.0f + GV.Vertical_Adjust; +// } else { +// GV.Robot_Angle_Desire = 90.0f + (float)GV.Left_Compensation / 100.0f + GV.Vertical_Adjust; +// } + + if(GV.Robot_Desired_Speed>0&&robotRoll < 0.0f) //向左前进 + { + GV.Robot_Angle_Desire = -90.0f + (float)GV.Left_Compensation / 100.0f + GV.Vertical_Adjust; + } + else if(GV.Robot_Desired_Speed<0&&robotRoll < 0.0f) //向右后退 + { + GV.Robot_Angle_Desire = -90.0f + (float)GV.Right_Compensation / 100.0f + GV.Vertical_Adjust; + } + else if(GV.Robot_Desired_Speed>0&&robotRoll >= 0.0f) //向右前进 + { + GV.Robot_Angle_Desire = 90.0f + (float)GV.Right_Compensation / 100.0f + GV.Vertical_Adjust; + } + else if(GV.Robot_Desired_Speed<0&&robotRoll >= 0.0f) //向左后退 + { + GV.Robot_Angle_Desire = 90.0f + (float)GV.Left_Compensation / 100.0f + GV.Vertical_Adjust; + } } @@ -930,7 +965,15 @@ void get_swing_mode(void) left_compare_value=center_angle-offset_angle/2; + if(left_compare_value<-90) //左限位 + { + left_compare_value=-90; + } right_compare_value=center_angle+offset_angle/2; + if(right_compare_value>90) //右限位 + { + right_compare_value=90; + } } else if(GV.symmetricalOrNot==2) //非对称式 diff --git a/Core/FSM/Src/swing_action.c b/Core/FSM/Src/swing_action.c index a00814c..3d84102 100644 --- a/Core/FSM/Src/swing_action.c +++ b/Core/FSM/Src/swing_action.c @@ -127,7 +127,7 @@ void Move_Swing_Halt_Func_Do(void) //延几度再停 Position_angle= -(float)GV.SwingMotor.Real_Position/11014 +GV.Robot_Swing_Speed*0.5; - if(Position_angle>90) + if(Position_angle>90) //别超右极限 { Position_angle=90; } @@ -139,7 +139,7 @@ void Move_Swing_Halt_Func_Do(void) //延几度再停 Position_angle= -(float)GV.SwingMotor.Real_Position/11014 -GV.Robot_Swing_Speed*0.5; - if(Position_angle<-90) + if(Position_angle<-90) //别超左极限 { Position_angle=-90; } @@ -149,12 +149,16 @@ void Move_Swing_Halt_Func_Do(void) else { GV.Tar_Position_Velcity_Degree_S=0; + GV.SwingMotor.Tar_Position_count=0; + } } else { //GV.Tar_Position_Velcity_Degree_S=0; + //GV.SwingMotor.Tar_Position_count=0; + //GV.Tar_Position_Velcity_Degree_S=0; } diff --git a/Core/Src/main.c b/Core/Src/main.c index 95bdf1f..48fff3f 100644 --- a/Core/Src/main.c +++ b/Core/Src/main.c @@ -110,6 +110,7 @@ int main(void) // the baud rate of the pressure sensor is 19200 // tdl720 115200 + /* USER CODE END 1 */ /* MPU Configuration--------------------------------------------------------*/ @@ -127,12 +128,12 @@ 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机 // __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：内部下拉 // HAL_GPIO_Init(GPIOH, &gpio_conf); /* USER CODE END Init */ @@ -190,35 +191,37 @@ int main(void) if(dog_flag==0) { //HAL_IWDG_Refresh(&hiwdg1); // 喂狗 + Upload_Data_To_HuaWeiCloud(); } if (SAVE_To_CV == 1) { - //�??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�?? + //�????0号机器人的参数传入CV�???? + memcpy(&CV, &g_B03_param_table[ROBOT_NUMBER], sizeof(CV)); + //恢复SAVE_To_CV值防止重复设�???? SAVE_To_CV = 0; } + //&CV.operating_times //CV写入EEPROM else if (SAVE_To_CV == 2) { - GF_BSP_EEPROM_Set_CV(CV); - SAVE_To_CV = 0; + GF_BSP_EEPROM_Set_CV(CV); + SAVE_To_CV = 0; } //从EEPROM读取参数 else if (SAVE_To_CV == 3) { - CV = GF_BSP_EEPROM_Get_CV(); - SAVE_To_CV = 0; + CV = GF_BSP_EEPROM_Get_CV(); + SAVE_To_CV = 0; } // 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(); @@ -377,7 +380,8 @@ void GF_Robot_Init() MK32_Sbus_UART_Handler_intialize(&E28_SBUS_UART_Handler); //huart5 client_setting_intialize(&LPUART1_UART_Handler); - //WH_LTE_7S0_intialize(<E_7S0_Serial_UART_Handler);//huart2 + WH_LTE_7S0_intialize(<E_7S0_Serial_UART_Handler);//huart2 + android_485_intialize(&RS_485_2_UART_Handler); GF_BSP_FDCAN_Init();//初始化FDCAN @@ -393,6 +397,26 @@ void GF_Robot_Init() GF_BSP_TIMER_Init(); //定时器最后启 +// // 1. �??测模块是否上电正�?? +// LTE_CheckModuleAlive(); +// // 2. 进入配置命令模式 +// LTE_StepIntoConfigMode(); +// // 3. 下发全套MQTT参数 +// LTE7S0_Init_MQTT(); +// // 4. �??出配置模式，进入正常透传收发 +// LTE_StepOutOfConfigMode(); + + // 1. �??测模组串口�?�信 + //LTE_CheckModuleAlive_HuaWei(); + // 2. 进入AT配置模式 + //LTE_StepIntoConfigMode_HuaWei(); + // 3. 下发华为云全套MQTT参数 + //LTE7S0_Init_HuaWei_MQTT(); + // 4. �??出配置，模组自动发起MQTT连接云端 + LTE_StepOutOfConfigMode_HuaWei(); + // 5.连接到服务器 + //LTE_Connect_HuaWei(); + } /* USER CODE END 4 */ diff --git a/Core/Src/usart.c b/Core/Src/usart.c index 44159f6..0f54aeb 100644 --- a/Core/Src/usart.c +++ b/Core/Src/usart.c @@ -53,7 +53,7 @@ void MX_LPUART1_UART_Init(void) /* USER CODE END LPUART1_Init 1 */ hlpuart1.Instance = LPUART1; - hlpuart1.Init.BaudRate = 115200; + hlpuart1.Init.BaudRate = 57600; hlpuart1.Init.WordLength = UART_WORDLENGTH_8B; hlpuart1.Init.StopBits = UART_STOPBITS_1; hlpuart1.Init.Parity = UART_PARITY_NONE; @@ -327,10 +327,10 @@ void MX_USART3_UART_Init(void) /* USER CODE END USART3_Init 1 */ huart3.Instance = USART3; - huart3.Init.BaudRate = 921600; - huart3.Init.WordLength = UART_WORDLENGTH_9B; + huart3.Init.BaudRate = 115200; + huart3.Init.WordLength = UART_WORDLENGTH_8B; huart3.Init.StopBits = UART_STOPBITS_1; - huart3.Init.Parity = UART_PARITY_EVEN; + huart3.Init.Parity = UART_PARITY_NONE; huart3.Init.Mode = UART_MODE_TX_RX; huart3.Init.HwFlowCtl = UART_HWCONTROL_NONE; huart3.Init.OverSampling = UART_OVERSAMPLING_16; diff --git a/Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal.c b/Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal.c index 4e036a1..52cf63e 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_UDP_cabled Debug.launch b/Swing_Rust_UDP_cabled Debug.launch new file mode 100644 index 0000000..730cca2 --- /dev/null +++ b/Swing_Rust_UDP_cabled Debug.launch @@ -0,0 +1,80 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/Swing_Rust_UDPV2.ioc b/Swing_Rust_UDP_cabled.ioc similarity index 99% rename from Swing_Rust_UDPV2.ioc rename to Swing_Rust_UDP_cabled.ioc index a5e9a6c..3dbb1a6 100644 --- a/Swing_Rust_UDPV2.ioc +++ b/Swing_Rust_UDP_cabled.ioc @@ -201,7 +201,7 @@ GPIO.groupedBy=Group By Peripherals I2C4.IPParameters=Timing I2C4.Timing=0x10C0ECFF KeepUserPlacement=false -LPUART1.BaudRate=115200 +LPUART1.BaudRate=57600 LPUART1.DMADisableonRxErrorParam=UART_ADVFEATURE_DMA_DISABLEONRXERROR LPUART1.IPParameters=BaudRate,OverrunDisableParam,DMADisableonRxErrorParam LPUART1.OverrunDisableParam=UART_ADVFEATURE_OVERRUN_DISABLE @@ -722,14 +722,14 @@ ProjectManager.MainLocation=Core/Src ProjectManager.NoMain=false ProjectManager.PreviousToolchain=STM32CubeIDE ProjectManager.ProjectBuild=false -ProjectManager.ProjectFileName=Swing_Rust_UDPV2.ioc -ProjectManager.ProjectName=Swing_Rust_UDPV2 +ProjectManager.ProjectFileName=Swing_Rust_UDP_cabled.ioc +ProjectManager.ProjectName=Swing_Rust_UDP_cabled 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,20-MX_IWDG1_Init-IWDG1-false-HAL-true,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,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 @@ -861,14 +861,14 @@ USART2.DMADisableonRxErrorParam=ADVFEATURE_DMA_DISABLEONRXERROR USART2.IPParameters=VirtualMode-Asynchronous,OverrunDisableParam,DMADisableonRxErrorParam USART2.OverrunDisableParam=ADVFEATURE_OVERRUN_DISABLE USART2.VirtualMode-Asynchronous=VM_ASYNC -USART3.BaudRate=921600 +USART3.BaudRate=115200 USART3.DMADisableonRxErrorParam=ADVFEATURE_DMA_DISABLEONRXERROR USART3.FIFOMode=FIFOMODE_ENABLE USART3.IPParameters=VirtualMode-Asynchronous,DMADisableonRxErrorParam,OverrunDisableParam,FIFOMode,BaudRate,WordLength,Parity USART3.OverrunDisableParam=ADVFEATURE_OVERRUN_DISABLE -USART3.Parity=PARITY_EVEN +USART3.Parity=PARITY_NONE USART3.VirtualMode-Asynchronous=VM_ASYNC -USART3.WordLength=WORDLENGTH_9B +USART3.WordLength=WORDLENGTH_8B USART6.BaudRate=19200 USART6.DMADisableonRxErrorParam=ADVFEATURE_DMA_ENABLEONRXERROR USART6.FIFOMode=FIFOMODE_ENABLE