first commit

.project

@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <projectDescription>
-	<name>Roughening_UDPV2_0BB_WiredRPM</name>
+	<name>GP_Floor_Roughening</name>
 	<comment></comment>
 	<projects>
 	</projects>

.settings/language.settings.xml

@@ -5,7 +5,7 @@
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-1377807682938255891" 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="-1274559451698783667" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>
@@ -16,7 +16,7 @@
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-1377807682938255891" 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="-1274559451698783667" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>

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

@@ -111,7 +111,7 @@ 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                    1506
+#define GV_struct_define_size                    1539
 
 #ifdef __cplusplus
 } /* extern "C" */

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

@@ -17,6 +17,9 @@ typedef struct _Strain_Gauge_Struct {
     int32_t HX711_K; /* 寄存器2 HX711_K */
     int32_t HX711_D; /* 寄存器3  HX711_D */
     int32_t Save; /* 寄存器9：  设置为55时，把当前寄存器输入存入flash，写入成功自动变成1 */
+    int32_t RawPressure; /* 寄存器1： 输出的传感器原始数据 */
+    int32_t Read_K;
+    int32_t Read_D;
 } Strain_Gauge_Struct;
 
 
@@ -25,8 +28,8 @@ extern "C" {
 #endif
 
 /* Initializer values for message structs */
-#define Strain_Gauge_Struct_init_default         {0, 0, 0, 0, 0}
-#define Strain_Gauge_Struct_init_zero            {0, 0, 0, 0, 0}
+#define Strain_Gauge_Struct_init_default         {0, 0, 0, 0, 0, 0, 0, 0}
+#define Strain_Gauge_Struct_init_zero            {0, 0, 0, 0, 0, 0, 0, 0}
 
 /* Field tags (for use in manual encoding/decoding) */
 #define Strain_Gauge_Struct_MotorControl_tag     1
@@ -34,6 +37,9 @@ extern "C" {
 #define Strain_Gauge_Struct_HX711_K_tag          3
 #define Strain_Gauge_Struct_HX711_D_tag          4
 #define Strain_Gauge_Struct_Save_tag             5
+#define Strain_Gauge_Struct_RawPressure_tag      6
+#define Strain_Gauge_Struct_Read_K_tag           7
+#define Strain_Gauge_Struct_Read_D_tag           8
 
 /* Struct field encoding specification for nanopb */
 #define Strain_Gauge_Struct_FIELDLIST(X, a) \
@@ -41,7 +47,10 @@ X(a, STATIC,   SINGULAR, INT32,    MotorControl,      1) \
 X(a, STATIC,   SINGULAR, INT32,    Pressure,          2) \
 X(a, STATIC,   SINGULAR, INT32,    HX711_K,           3) \
 X(a, STATIC,   SINGULAR, INT32,    HX711_D,           4) \
-X(a, STATIC,   SINGULAR, INT32,    Save,              5)
+X(a, STATIC,   SINGULAR, INT32,    Save,              5) \
+X(a, STATIC,   SINGULAR, INT32,    RawPressure,       6) \
+X(a, STATIC,   SINGULAR, INT32,    Read_K,            7) \
+X(a, STATIC,   SINGULAR, INT32,    Read_D,            8)
 #define Strain_Gauge_Struct_CALLBACK NULL
 #define Strain_Gauge_Struct_DEFAULT NULL
 
@@ -52,7 +61,7 @@ extern const pb_msgdesc_t Strain_Gauge_Struct_msg;
 
 /* Maximum encoded size of messages (where known) */
 #define BSP_STRAIN_GAUGE_PB_H_MAX_SIZE           Strain_Gauge_Struct_size
-#define Strain_Gauge_Struct_size                 55
+#define Strain_Gauge_Struct_size                 88
 
 #ifdef __cplusplus
 } /* extern "C" */

Core/BASE/Protobuf/Proto/bsp_strain_gauge.proto

@@ -7,6 +7,9 @@ message Strain_Gauge_Struct
 	int32 HX711_K=3; //寄存器2 HX711_K
 	int32 HX711_D=4; //寄存器3  HX711_D
 	int32 Save=5;//寄存器9：  设置为55时，把当前寄存器输入存入flash，写入成功自动变成1
+	int32 RawPressure=6;// 寄存器1： 输出的传感器原始数据
+	int32 Read_K=7;
+	int32 Read_D=8;
  
 };
 

Core/BASE/Src/BSP/bsp_MB_host.c

@@ -325,12 +325,14 @@ void MB_WriteNumHoldingReg(uint8_t *Tx_Buf, uint8_t *TxCount_t, uint8_t _addr,
  * 返 回 值: 1 表示解析正确，0 表示解析错误 CRC验证错误
  * 说    明:
  */
+
 uint8_t MB_Decode_HoldingRegs(uint8_t buffer[], uint16_t length,uint16_t Read_Reg_Num,uint16_t* Decoded_Reg_Value)
 {
 	/* CRC 校验 */
 	uint16_t crc_check = ((buffer[length - 1] << 8) | buffer[length - 2]);
 	/* CRC 校验正确 */
-	if (crc_check == MB_CRC16(buffer, length - 2))
+
+	if (crc_check == MB_CRC16(buffer, length - 2) && (buffer[1]&0xf0)!=0x80)
 	{
 		int i = 0;
 		for (i = 0; i < Read_Reg_Num; i++)

Core/BASE/Src/MSP/msp_ground_management.c

@@ -46,13 +46,16 @@ void ground_management_inquiry()
 	dataToSend[1] = SWAP_ENDIAN_16((uint16_t ) ground_management_value->K2);
 	dataToSend[2] = SWAP_ENDIAN_16((uint16_t ) ground_management_value->K3);
 	dataToSend[3] = SWAP_ENDIAN_16((uint16_t ) ground_management_value->K4);
+
+//	ground_management_value->K5_Default = 0;  // Default置0才能给输出
 	dataToSend[4] = SWAP_ENDIAN_16((uint16_t ) ground_management_value->K5_Default);
+
 	dataToSend[5] = SWAP_ENDIAN_16(
 	        (uint16_t ) ground_management_value->MaualControlPower);
 	dataToSend[6] = SWAP_ENDIAN_16(
 	        (uint16_t ) ground_management_value->MaualPowerState);
 
-	ground_management_value->Time_Out_Period=400;
+	ground_management_value->Time_Out_Period=1000;
 	dataToSend[7] = SWAP_ENDIAN_16(
 	        (uint16_t ) ground_management_value->Time_Out_Period);
 

Core/BASE/Src/MSP/msp_strain_gauge.c

@@ -11,10 +11,15 @@ Strain_Gauge_Struct *strainGaugeValue;
 uint8_t strain_gauge_slave_id = 0x32; //默认为1
 struct UARTHandler *strain_gauge_handler;
 
+uint16_t to_send_bytes[50];
+
 DispacherController *strain_gauge_dispacherController;
 void strain_gauge_loop();
 void decode_strain_gauge_01(uint8_t *buffer, uint16_t length);
 void decode_strain_gauge_09(uint8_t *buffer, uint16_t length);
+void decode_strain_gauge_56(uint8_t *buffer, uint16_t length);
+void decode_strain_gauge_2(uint8_t *buffer, uint16_t length);
+void decode_strain_gauge_34(uint8_t *buffer, uint16_t length);
 void strain_gauge_intialize(struct UARTHandler *Handler)
 {
 	//strain_gauge_slave_id=slave_id;
@@ -24,7 +29,7 @@ void strain_gauge_intialize(struct UARTHandler *Handler)
 	strain_gauge_dispacherController->Dispacher_Enable = 1;
 	//不周期性发送
 	strain_gauge_dispacherController->Add_Dispatcher_List(
-	        strain_gauge_dispacherController, strain_gauge_loop);//Dispatcher_List_Add_t bsp com helper.c
+	        strain_gauge_dispacherController, strain_gauge_loop); //Dispatcher_List_Add_t bsp com helper.c
 
 	HardWareErrorController->Add_PCOMHardWare(HardWareErrorController,
 	        "strain_gauge", 0, ComError_Strain_Gauge);
@@ -46,48 +51,78 @@ void strain_gauge_loop()
 	MB_ReadHoldingReg(&strain_gauge_handler->Tx_Buf,
 	        &strain_gauge_handler->TxCount, strain_gauge_slave_id, 1, 1); //03 command ; read 3 registers  从1 开始 读取1个
 	strain_gauge_handler->AddSendList(strain_gauge_handler,
-	        strain_gauge_handler->Tx_Buf, strain_gauge_handler->TxCount, OneLineWaitTime,
-	        decode_strain_gauge_01);
+	        strain_gauge_handler->Tx_Buf, strain_gauge_handler->TxCount,
+	        OneLineWaitTime, decode_strain_gauge_01);
 
 	//推杆控制
 	MB_WriteHoldingReg(&strain_gauge_handler->Tx_Buf,
 	        &strain_gauge_handler->TxCount, strain_gauge_slave_id, 0,
-	        strainGaugeValue->MotorControl);//strainGaugeValue->MotorControl 电机控制，=0 停止，=1 前进，=2 后退
+	        strainGaugeValue->MotorControl); //strainGaugeValue->MotorControl 电机控制，=0 停止，=1 前进，=2 后退
 	strain_gauge_handler->AddSendList(strain_gauge_handler,
-	        strain_gauge_handler->Tx_Buf, strain_gauge_handler->TxCount, OneLineWaitTime,
+	        strain_gauge_handler->Tx_Buf, strain_gauge_handler->TxCount,
+	        OneLineWaitTime,
 	        NULL);
 
 	/*写寄存器2 3 KD**/
-	if(SAVE_Register23==1)
+	if (SAVE_Register23 == 1)
 	{
 		/*写寄存器2 K**/
 		MB_WriteHoldingReg(&strain_gauge_handler->Tx_Buf,
 		        &strain_gauge_handler->TxCount, strain_gauge_slave_id, 2,
-				strainGaugeValue->HX711_K);
+		        (uint16_t) strainGaugeValue->HX711_K);
 		strain_gauge_handler->AddSendList(strain_gauge_handler,
-				strain_gauge_handler->Tx_Buf, strain_gauge_handler->TxCount, OneLineWaitTime,
+		        strain_gauge_handler->Tx_Buf, strain_gauge_handler->TxCount,
+		        OneLineWaitTime,
 		        NULL);
-		/*写寄存器3 D**/
-		MB_WriteHoldingReg(&strain_gauge_handler->Tx_Buf,
-				&strain_gauge_handler->TxCount, strain_gauge_slave_id, 3,
-				strainGaugeValue->HX711_D);
+		/*写寄存器3 and 4 D**/
+		memcpy(&to_send_bytes[3],&strainGaugeValue->HX711_D,4);
+
+		to_send_bytes[3]=SWAP_ENDIAN_16(to_send_bytes[3]);
+		to_send_bytes[4]=SWAP_ENDIAN_16(to_send_bytes[4]);
+		MB_WriteNumHoldingReg(&strain_gauge_handler->Tx_Buf,
+		        &strain_gauge_handler->TxCount, strain_gauge_slave_id, 3, 2,
+		        &to_send_bytes[3]);
+
 		strain_gauge_handler->AddSendList(strain_gauge_handler,
-				strain_gauge_handler->Tx_Buf, strain_gauge_handler->TxCount, OneLineWaitTime,
+		        strain_gauge_handler->Tx_Buf, strain_gauge_handler->TxCount,
+		        OneLineWaitTime,
 		        NULL);
-		SAVE_Register23=0;
+// read 5 -6 holidng registers origin press
+		MB_ReadHoldingReg(&strain_gauge_handler->Tx_Buf,
+		        &strain_gauge_handler->TxCount, strain_gauge_slave_id, 5, 2); //03 command ; read 2 registers  从1 开始 读取1个
+		strain_gauge_handler->AddSendList(strain_gauge_handler,
+		        strain_gauge_handler->Tx_Buf, strain_gauge_handler->TxCount,
+		        OneLineWaitTime, decode_strain_gauge_56);
+		SAVE_Register23 = 0;
 	}
 
 	/*写寄存器9 设置为55保存KD**/
-	if(SAVE_Register9==1)
+	if (SAVE_Register9 == 1)
 	{
-
+		 strainGaugeValue->Save=55;
 		MB_WriteHoldingReg(&strain_gauge_handler->Tx_Buf,
 		        &strain_gauge_handler->TxCount, strain_gauge_slave_id, 9,
 		        strainGaugeValue->Save);
 		strain_gauge_handler->AddSendList(strain_gauge_handler,
-				strain_gauge_handler->Tx_Buf, strain_gauge_handler->TxCount, OneLineWaitTime,
+		        strain_gauge_handler->Tx_Buf, strain_gauge_handler->TxCount,
+		        OneLineWaitTime,
 		        NULL);
-		SAVE_Register9=0;
+		SAVE_Register9 = 0;
+	}
+	if(1 == Read_KD)
+	{
+		/*read K 2   D 3-4*/
+		MB_ReadHoldingReg(&strain_gauge_handler->Tx_Buf,
+						&strain_gauge_handler->TxCount, strain_gauge_slave_id, 2, 1); //03 command ; read 2 registers  从1 开始 读取1个
+				strain_gauge_handler->AddSendList(strain_gauge_handler,
+						strain_gauge_handler->Tx_Buf, strain_gauge_handler->TxCount,
+						OneLineWaitTime, decode_strain_gauge_2);
+		MB_ReadHoldingReg(&strain_gauge_handler->Tx_Buf,
+						&strain_gauge_handler->TxCount, strain_gauge_slave_id, 3, 2); //03 command ; read 2 registers  从1 开始 读取1个
+				strain_gauge_handler->AddSendList(strain_gauge_handler,
+						strain_gauge_handler->Tx_Buf, strain_gauge_handler->TxCount,
+						OneLineWaitTime, decode_strain_gauge_34);
+				Read_KD = 0 ;
 	}
 
 }
@@ -103,7 +138,7 @@ void decode_strain_gauge_01(uint8_t *buffer, uint16_t length)
 	        &decoded_strain_gauge_holdingReg_value[1]);
 	if (decoded_result == 1)
 	{
-		strainGaugeValue->Pressure = decoded_strain_gauge_holdingReg_value[1];
+		strainGaugeValue->Pressure = (int16_t)decoded_strain_gauge_holdingReg_value[1];
 		HardWareErrorController->Set_PCOMHardWare(HardWareErrorController,
 		        "strain_gauge", 1);
 		//	LOG("Battery_sensor  succeeded and the force is %d", *CMCU06_ForceValue);
@@ -113,13 +148,73 @@ void decode_strain_gauge_01(uint8_t *buffer, uint16_t length)
 		LOGFF(DL_ERROR, "strain_gauge_decoding failed");
 	}
 }
+/*origin value*/
+void decode_strain_gauge_56(uint8_t *buffer, uint16_t length)
+{
+	int decoded_result = MB_Decode_HoldingRegs(buffer, length, 2,
+		        &decoded_strain_gauge_holdingReg_value[5]);
+		if (decoded_result == 1)
+		{
+
+//			decoded_strain_gauge_holdingReg_value[5]=SWAP_ENDIAN_16(decoded_strain_gauge_holdingReg_value[5]);
+//			decoded_strain_gauge_holdingReg_value[6]=SWAP_ENDIAN_16(decoded_strain_gauge_holdingReg_value[6]);
+			memcpy(&strainGaugeValue->RawPressure,&decoded_strain_gauge_holdingReg_value[5],4);
+			HardWareErrorController->Set_PCOMHardWare(HardWareErrorController,
+			        "strain_gauge", 1);
+			//	LOG("Battery_sensor  succeeded and the force is %d", *CMCU06_ForceValue);
+		}
+		else
+		{
+			LOGFF(DL_ERROR, "strain_gauge_decoding failed");
+		}
+}
+/*k value*/
+void decode_strain_gauge_2(uint8_t *buffer, uint16_t length)
+{
+	int decoded_result = MB_Decode_HoldingRegs(buffer, length, 1,
+		        &decoded_strain_gauge_holdingReg_value[2]);
+		if (decoded_result == 1)
+		{
+
+//			decoded_strain_gauge_holdingReg_value[5]=SWAP_ENDIAN_16(decoded_strain_gauge_holdingReg_value[5]);
+//			decoded_strain_gauge_holdingReg_value[6]=SWAP_ENDIAN_16(decoded_strain_gauge_holdingReg_value[6]);
+			memcpy(&strainGaugeValue->Read_K,&decoded_strain_gauge_holdingReg_value[2],2);
+			HardWareErrorController->Set_PCOMHardWare(HardWareErrorController,
+			        "strain_gauge", 1);
+		}
+		else
+		{
+			LOGFF(DL_ERROR, "strain_gauge_decoding failed");
+		}
+}
+/*D value*/
+void decode_strain_gauge_34(uint8_t *buffer, uint16_t length)
+{
+	int decoded_result = MB_Decode_HoldingRegs(buffer, length, 2,
+		        &decoded_strain_gauge_holdingReg_value[3]);
+		if (decoded_result == 1)
+		{
+
+//			decoded_strain_gauge_holdingReg_value[5]=SWAP_ENDIAN_16(decoded_strain_gauge_holdingReg_value[5]);
+//			decoded_strain_gauge_holdingReg_value[6]=SWAP_ENDIAN_16(decoded_strain_gauge_holdingReg_value[6]);
+			memcpy(&strainGaugeValue->Read_D,&decoded_strain_gauge_holdingReg_value[3],4);
+			HardWareErrorController->Set_PCOMHardWare(HardWareErrorController,
+			        "strain_gauge", 1);
+
+		}
+		else
+		{
+			LOGFF(DL_ERROR, "strain_gauge_decoding failed");
+		}
+}
+
 //读取 09的寄存器
 void decode_strain_gauge_09(uint8_t *buffer, uint16_t length)
 {
 
 //	uint8_t data1[100];
 //	memcpy(data1, buffer, length);
-	int decoded_result = MB_Decode_HoldingRegs(buffer, length, 2,
+	int decoded_result = MB_Decode_HoldingRegs(buffer, length, 1,
 	        &decoded_strain_gauge_holdingReg_value[9]);
 	if (decoded_result == 1)
 	{

Core/FSM/Inc/fsm_state_control.h

@@ -16,6 +16,7 @@ extern void RougheningControl();
 extern int Auto_TiltControl();
 extern void IV_control();
 extern void MoveControl();
+extern void Pressure_Safety_Monitor(void);
 extern double GetVehicleSpeed(double speed_selection);
 extern void joysticker_manual_control();
 

Core/FSM/Inc/robot_move_actions.h

@@ -38,6 +38,11 @@ extern void Move_Head_To_Down_Do(transition_t *p_this);
 extern void Move_Head_To_Left_Do(transition_t *p_this);
 extern void Move_Head_To_Right_Do(transition_t *p_this);
 
+extern void Move_Head_To_UP_Add_Adjust_Do(transition_t *p_this);
+extern void Move_Head_To_Left_Add_Adjust_Do(transition_t *p_this);
+extern void Move_Head_To_Right_Add_Adjust_Do(transition_t *p_this);
+
+
 
 extern void HALT_State_Enter(transition_t *p_this);
 extern void HALT_State_Exit(transition_t *p_this);
@@ -76,4 +81,8 @@ extern transition_state_t   robot_move_head_to_up_enum_state;
 extern transition_state_t   robot_move_head_to_right_enum_state;
 extern transition_state_t   robot_move_head_to_down_enum_state;
 
+extern transition_state_t robot_move_head_to_up_add_adjust_enum_state;
+extern transition_state_t robot_move_head_to_left_add_adjust_enum_state;
+extern transition_state_t robot_move_head_to_right_add_adjust_enum_state;
+
 #endif /* FSM_INC_ROBOT_MOVE_ACTIONS_H_ */

Core/FSM/Src/change_line_control.c

@@ -74,6 +74,16 @@ int LaneChangeControl_Rough()
 
 	if (P_MK32->CH4_SA == -1000) /*竖直上or水平换道*/
 	{
+		// 防止无模式下，SB按下后，之后按下SA，SA抢占SB控制权
+		if (GV.PV.RunMode == Move_Manual)
+		{
+			return 0;
+		}
+//		if (GV.PV.RunMode != Move_Vertical_Move_To_Left && GV.PV.RunMode != Move_Vertical_Move_To_Right)/*竖直换道*/
+//		{
+//			return 0;
+//		}
+
 		if (GV.PV.RunMode == Move_Horizontal_Move)/*水平换道*/
 		{
 			if (HorizontalLaneChangeState != Lane_Change_Start)
@@ -95,11 +105,13 @@ int LaneChangeControl_Rough()
 			return 1;
 		}
 		/*************/
-		if (GV.PV.RunMode != Move_Vertical_Move_To_Left
-		        && GV.PV.RunMode != Move_Vertical_Move_To_Right)/*竖直换道*/
-		{
-			return 1;
-		}
+
+
+
+//		if (GV.PV.RunMode != Move_Vertical_Move_To_Left && GV.PV.RunMode != Move_Vertical_Move_To_Right)/*竖直换道*/
+//		{
+//			return 1;
+//		}
 
 		if (VerticalLaneChangeState != Lane_Change_Start)
 		{
@@ -123,6 +135,17 @@ int LaneChangeControl_Rough()
 
 	if (P_MK32->CH4_SA == 1000) //竖直下换道
 	{
+
+		// 防止无模式下，SB按下后，之后按下SA，SA抢占SB控制权
+		if (GV.PV.RunMode == Move_Manual)
+		{
+			return 0;
+		}
+//		if (GV.PV.RunMode != Move_Vertical_Move_To_Left && GV.PV.RunMode != Move_Vertical_Move_To_Right)/*竖直换道*/
+//		{
+//			return 0;
+//		}
+
 		if (GV.PV.RunMode != Move_Vertical_Move_To_Left
 		        && GV.PV.RunMode != Move_Vertical_Move_To_Right)
 		{
@@ -200,16 +223,19 @@ void Horizontal_Lane_Change_Turn_To_Right_Control()
 			if (CompareTimer(LaneChangeWaittime, &timer_handler_1))
 			{
 				CurrentHorizontal_ChangeState = HorizontalChange_TurnToRight;
-				fsm_state_set(&current_robot_move_state,
-				        &robot_move_head_to_right_enum_state); /*转到朝上*/
+//				fsm_state_set(&current_robot_move_state,
+//				        &robot_move_head_to_right_enum_state); /*转到朝上*/
+				fsm_state_set(&current_robot_move_state, &robot_move_head_to_right_add_adjust_enum_state); /*转到朝右+竖直微调项*/
+
 			}
 			break;
 		}
 		case HorizontalChange_TurnToRight:
 		{
-			fsm_state_set(&current_robot_move_state,
-			        &robot_move_head_to_right_enum_state); /*转到朝右*/
-			if (abs(GV.Robot_Angle - CV.RobotRightAngleValue)
+//			fsm_state_set(&current_robot_move_state,
+//			        &robot_move_head_to_right_enum_state); /*转到朝右*/
+			fsm_state_set(&current_robot_move_state, &robot_move_head_to_right_add_adjust_enum_state); /*转到朝右+竖直微调项*/
+			if (abs(GV.Robot_Angle - (CV.RobotRightAngleValue + GV.PV.Vertical_Calibration))
 			        <= CV.Allowable_Error_For_Angle_Tracking)
 			{
 				CurrentHorizontal_ChangeState = HorizontalChange_End;
@@ -268,16 +294,21 @@ void Horizontal_Lane_Change_Turn_To_Left_Control()
 			if (CompareTimer(LaneChangeWaittime, &timer_handler_1))		//计时结束
 			{
 				CurrentHorizontal_ChangeState = HorizontalChange_TurnToLeft;
-				fsm_state_set(&current_robot_move_state,
-				        &robot_move_head_to_left_enum_state); /*转到朝左*/
+//				fsm_state_set(&current_robot_move_state,
+//				        &robot_move_head_to_left_enum_state); /*转到朝左*/
+				fsm_state_set(&current_robot_move_state, &robot_move_head_to_left_add_adjust_enum_state); /*转到朝左+竖直微调项*/
+
+
 			}
 			break;
 		}
 		case HorizontalChange_TurnToLeft:
 		{
-			fsm_state_set(&current_robot_move_state,
-			        &robot_move_head_to_left_enum_state); /*转到朝左*/
-			if (abs(GV.Robot_Angle - CV.RobotLeftAngleValue)
+//			fsm_state_set(&current_robot_move_state,
+//			        &robot_move_head_to_left_enum_state); /*转到朝左*/
+			fsm_state_set(&current_robot_move_state, &robot_move_head_to_left_add_adjust_enum_state); /*转到朝左+竖直微调项*/
+
+			if (abs(GV.Robot_Angle - (CV.RobotLeftAngleValue + GV.PV.Vertical_Calibration))
 			        <= CV.Allowable_Error_For_Angle_Tracking)
 			{
 				CurrentHorizontal_ChangeState = HorizontalChange_End;
@@ -350,8 +381,11 @@ void Vertical_Lane_Change_From_Left_To_Right_UP_Control()
 			if (abs(GV.Robot_Angle - (CV.RobotUpAngleValue + GV.PV.Vertical_Calibration))
 			        >= CV.Allowable_Error_For_Angle_Tracking)
 			{
-				fsm_state_set(&current_robot_move_state,
-				        &robot_move_head_to_up_enum_state); /* 移动至头朝上  */
+//				fsm_state_set(&current_robot_move_state,
+//				        &robot_move_head_to_up_enum_state); /* 移动至头朝上  */
+
+				fsm_state_set(&current_robot_move_state, &robot_move_head_to_up_add_adjust_enum_state); /* 移动至头朝上+竖直微调  */
+
 			}
 			else
 			{
@@ -422,8 +456,9 @@ void Vertical_Lane_Change_From_Left_To_Right_Down_Control()
 			if (abs(GV.Robot_Angle - (CV.RobotUpAngleValue + GV.PV.Vertical_Calibration))
 			        >= CV.Allowable_Error_For_Angle_Tracking) //误差在1度内
 			{
-				fsm_state_set(&current_robot_move_state,
-				        &robot_move_head_to_up_enum_state); /* 移动至头朝上  */
+//				fsm_state_set(&current_robot_move_state,
+//				        &robot_move_head_to_up_enum_state); /* 移动至头朝上  */
+				fsm_state_set(&current_robot_move_state, &robot_move_head_to_up_add_adjust_enum_state); /* 移动至头朝上+竖直微调  */
 			}
 			else
 			{
@@ -493,8 +528,10 @@ void Vertical_Lane_Change_From_Right_To_Left_UP_Control()
 			if (abs(GV.Robot_Angle - (CV.RobotUpAngleValue + GV.PV.Vertical_Calibration))
 			        >= CV.Allowable_Error_For_Angle_Tracking)
 			{
-				fsm_state_set(&current_robot_move_state,
-				        &robot_move_head_to_up_enum_state); /* 移动至头朝上  */
+//				fsm_state_set(&current_robot_move_state,
+//				        &robot_move_head_to_up_enum_state); /* 移动至头朝上  */
+				fsm_state_set(&current_robot_move_state, &robot_move_head_to_up_add_adjust_enum_state); /* 移动至头朝上+竖直微调  */
+
 			}
 			else
 			{
@@ -565,8 +602,10 @@ void Vertical_Lane_Change_From_Right_To_Left_Down_Control()
 			if (abs(GV.Robot_Angle - (CV.RobotUpAngleValue + GV.PV.Vertical_Calibration))
 			        >= CV.Allowable_Error_For_Angle_Tracking) //误差在1度内
 			{
-				fsm_state_set(&current_robot_move_state,
-				        &robot_move_head_to_up_enum_state); /* 移动至头朝上  */
+//				fsm_state_set(&current_robot_move_state,
+//				        &robot_move_head_to_up_enum_state); /* 移动至头朝上  */
+				fsm_state_set(&current_robot_move_state, &robot_move_head_to_up_add_adjust_enum_state); /* 移动至头朝上+竖直微调  */
+
 			}
 			else
 			{

Core/FSM/Src/fsm_state_control.c

@@ -36,7 +36,8 @@ int LaneChangeControl();
 
 void DHRougheningControl(); //拉毛前端控制
 void Mannual_TiltControl();
-void Mannual_TiltControl1();
+//void Mannual_TiltControl1();
+void Mannual_TiltControl2();
 
 int Auto_TiltControl();
 
@@ -44,6 +45,7 @@ int Auto_TiltControl();
 void IV_control();
 
 void MoveControl();
+void Pressure_Safety_Monitor(void);
 
 
 int LaneChangeControl();
@@ -92,6 +94,7 @@ int RegionAuto_MoveTask_Test_Result = 0;
 
 void Fsm_Init()
 {
+
 		IV_control();
 		//机器人运动状态初始化
 		fsm_state_init(&current_robot_move_state, &robot_halt_state);
@@ -102,8 +105,13 @@ void Fsm_Init()
 		//机器人电机供电状态初始化
 		fsm_state_init(&current_motor_power_state, &motor_power_off_state);
 
+
+
 		GF_BSP_Interrupt_Add_CallBack(DF_BSP_InterCall_TIM8_2ms_PeriodElapsedCallback, GF_Dispatch);
 		IV.RobotRestart = 1; //机器人上电初始化，需要通知机器人
+
+
+
 }
 void GF_Dispatch()
 {
@@ -120,7 +128,11 @@ void GF_Dispatch()
 	{
 		return;
 	}
-	/***上电检测通过 电机上电**/
+
+	/* 移动到Fsm_Init()里，实现软急停断48V后，只能重新上电恢复。
+	 * 但移上去出现有点问题：，电机、推杆首次无法正常启动，需排查初次上电完整启动流程后才能考虑插入
+	 *  */
+//	/***上电检测通过 电机上电**/
 	fsm_state_set(&current_motor_power_state, &motor_power_on_state); /* 上电关 此时设为开 */
 
 	/*按下遥控 app无法选择*/
@@ -205,41 +217,104 @@ void GF_Dispatch()
 
 
 
+
+
+
+
+
+
+
+
+
+
+
+
+
+
 //
 ///*
-// * MoveControl版本2：配置了两种模式：到达压力预警之前和之后
-// * 之前——所有功能都能正常运行；
-// * 之后——仅保留推杆手动操作，其余全部关停，且手动操作仅支持推杆抬升
+// * 三级压力报警版本V2.0
+// *
 // * */
-//// 全局定义
+//
 //volatile uint8_t g_IsPressureLocked = 0;
 //
+//// 压力保护参数配置（可动态调试修改）
+//volatile int g_Pressure_Lock_Threshold = 5000;   // 锁定阈值：触发报警锁定的压力值
+//volatile int g_Pressure_Warn_Threshold;   // 预警阈值：限制下压动作的压力值
+//volatile int g_Pressure_Unlock_Threshold; // 解锁阈值：解除锁定的压力值（滞回区间）
+//
 //void MoveControl()
 //{
-//    // 1. 故障与压力检测
-//    if (MotorErrorDetect() == 1 || IV.Press >= 500)
-//    {
-//        fsm_state_set(&current_robot_move_state, &robot_halt_state);
-//        fsm_state_set(&current_roughening_state, &roughening_halt_state);
+//    // ============================================================
+//    // 【配置参数】
+//    // ============================================================
+//    const int COUNT_LIMIT = 250;                // 0.5s 时间滤波
 //
-//        if (IV.Press >= 500) {
-//            SET_BIT_1(SystemErrorCode, ComError_Pressure_Detect_Alert);
-//            g_IsPressureLocked = 1; // 进入过载锁定状态
-//        }
-//        if (MotorErrorDetect() == 1) {
+//    g_Pressure_Warn_Threshold = g_Pressure_Lock_Threshold - 20;
+//    g_Pressure_Unlock_Threshold = g_Pressure_Lock_Threshold - 50;
+//
+//
+//    static int pressure_over_count = 0;
+//    bool needs_restricted_mode = false; // 标记是否需要受限模式
+//
+//    // ============================================================
+//    // 1. 压力检测与锁定逻辑
+//    // ============================================================
+//
+//    // 使用全局变量：g_Pressure_Lock_Threshold
+//    if (IV.Press >= g_Pressure_Lock_Threshold)
+//    {
+//        pressure_over_count++;
+//        if (pressure_over_count >= COUNT_LIMIT)
+//        {
 //            g_IsPressureLocked = 1;
+//            if (pressure_over_count > COUNT_LIMIT + 50) pressure_over_count = COUNT_LIMIT + 50;
 //        }
 //    }
 //    else
 //    {
-//        SET_BIT_0(SystemErrorCode, ComError_Pressure_Detect_Alert);
-//        // 增加迟滞，防止在500附近频繁切换，比如低于480才解除
-//        if (g_IsPressureLocked == 1 && IV.Press < 480) {
-//            g_IsPressureLocked = 0; // 解除锁定，恢复正常
+//        if (g_IsPressureLocked == 1)
+//        {
+//            // 使用全局变量：g_Pressure_Unlock_Threshold
+//            if (IV.Press < g_Pressure_Unlock_Threshold)
+//            {
+//                g_IsPressureLocked = 0;
+//                pressure_over_count = 0;
+//            }
+//            else
+//            {
+//                // 保持在锁定状态，压力在 解锁值~锁定值 之间
+//                pressure_over_count = 0;
 //            }
 //        }
+//        else
+//        {
+//            pressure_over_count = 0;
+//        }
+//    }
+//
+//    // 电机错误（原注释代码保持不变）
+//    // if (MotorErrorDetect() == 1)
+//    // {
+//    //     fsm_state_set(&current_robot_move_state, &robot_halt_state);
+//    //     fsm_state_set(&current_roughening_state, &roughening_halt_state);
+//    //     g_IsPressureLocked = 1;
+//    // }
 //
-//    // ... (补偿控制和速度计算代码保持不变) ...
+//    // 报警位处理
+//    if (g_IsPressureLocked == 1)
+//    {
+//        SET_BIT_1(SystemErrorCode, ComError_Pressure_Detect_Alert);
+//        fsm_state_set(&current_robot_move_state, &robot_halt_state);
+//        fsm_state_set(&current_roughening_state, &roughening_halt_state);
+//    }
+//    else
+//    {
+//        SET_BIT_0(SystemErrorCode, ComError_Pressure_Detect_Alert);
+//    }
+//
+//    // 补偿与速度计算（保持不变）
 //    Lcompensation_control();
 //    Rcompensation_control();
 //    speed_selection = 2.0 * (P_MK32->CH11_RD1 + 1000) / 200;
@@ -247,35 +322,56 @@ void GF_Dispatch()
 //    IV.RobotMoveSpeed = GetVehicleSpeed(speed_selection);
 //
 //    // ============================================================
-//    // 根据锁定状态选择摇杆控制函数
+//    // 2. 决定模式并强制中断旧状态
 //    // ============================================================
-//    if (g_IsPressureLocked == 1)
+//
+//    // 判断是否需要受限模式 (锁定中 OR 压力过高预警)
+//    // 使用全局变量：g_Pressure_Warn_Threshold
+//    if (g_IsPressureLocked == 1 || IV.Press >= g_Pressure_Warn_Threshold)
 //    {
-//        // 压力过载状态：调用受限的摇杆控制（只能抬，不能压）
-//        Mannual_TiltControl1();
+//        needs_restricted_mode = true;
+//
+//        // 核心动作：在切换函数前，强制将推杆停止
+//        fsm_state_set(&current_tilt_state, &tilt_halt_state);
 //    }
 //    else
 //    {
-//        // 正常工作状态：调用正常的摇杆控制
-//        Mannual_TiltControl();
+//        needs_restricted_mode = false;
 //    }
-//
 //	// ============================================================
-//    // 【运动互锁】：如果锁定，禁止机器人和拉毛盘运动，直接返回
+//	// 3. 执行对应的摇杆控制函数
 //	// ============================================================
-//    if (g_IsPressureLocked == 1)
+//	if (needs_restricted_mode)
 //	{
-//        // 再次确保状态机处于停止态（双重保险）
-//        fsm_state_set(&current_robot_move_state, &robot_halt_state);
-//        fsm_state_set(&current_roughening_state, &roughening_halt_state);
+//		// 此时 current_tilt_state 已经是 tilt_halt_state 了
+//		// Mannual_TiltControl1 将在这个“停止”的基础上运行
+//		// 逻辑是：检测到下压角度 -> 忽略/保持停止；检测到上抬角度 -> 允许上抬
+//		//        Mannual_TiltControl1();
 //
-//        // 直接退出，不执行后面的自动巡航、换道、手动行走等代码
-//        return;
+//		// 更改为压力自动恢复正常值:回归到屏幕设定的压力值内
+//		Mannual_TiltControl2();
+//	}
+//	else
+//	{
+//		// 正常模式，无干预
+//		Mannual_TiltControl();
 //	}
 //
-//    // --- 以下代码只有在未锁定 (g_IsPressureLocked == 0) 时才会执行 ---
+//	// ============================================================
+//	// 4. 【运动互锁】：如果锁定，禁止机器人和拉毛盘运动，直接返回。暂时关闭这个选项，因为有自适应压力调节，所以不需要锁定机器人运动
+//	// ============================================================
+////	if (g_IsPressureLocked == 1)
+////	{
+//		// 暂时关闭这个选项，因为有自适应压力调节，所以不需要锁定机器人运动
+////		fsm_state_set(&current_robot_move_state, &robot_halt_state);
+////		fsm_state_set(&current_roughening_state, &roughening_halt_state);
+////		return;
+////	}
 //
-//    DHRougheningControl(); /* 拉毛盘控制 */
+//	// ============================================================
+//	// 5. 正常运动逻辑
+//	// ============================================================
+//	DHRougheningControl();
 //
 //	if (GV.PV.RunMode == Move_Automation_Move_Horizontal_Move)
 //	{
@@ -299,80 +395,161 @@ void GF_Dispatch()
 //		return;
 //	}
 //
-//    joysticker_manual_control();	 // 摇杆手动控制底盘
+//	joysticker_manual_control();
+//    // =================================================
 //}
 
 
 
 
 
+
+
+
 /*
- * MoveControl版本7：彻底解决状态机惯性问题
- * 核心逻辑：
- * 1. 在调用摇杆函数 BEFORE，先根据压力状态判断是否需要“强制急停”推杆。
- * 2. 如果需要保护，先手动 fsm_state_set(..., tilt_halt_state)，切断之前的下压指令。
- * 3. 然后再调用 Mannual_TiltControl1()，此时它将在“停止”的基础上工作，只能响应“上抬”。
+ * 三级压力报警与震荡检测模块 V2.2
+ * 功能：适配低频传感器（10/40Hz），通过降采样实现高频控制下的震荡检测
  */
 
-// 全局定义
+// 全局状态变量
 volatile uint8_t g_IsPressureLocked = 0;
-int PRESSURE_LOCK_THRESHOLD = 1500;
 
-void MoveControl()
+// 压力保护参数配置
+volatile int g_Pressure_Lock_Threshold = 5000;   // 锁定阈值
+volatile int g_Pressure_Warn_Threshold = 0;      // 预警阈值
+volatile int g_Pressure_Unlock_Threshold = 0;    // 解锁阈值
+
+// 【新增】震荡检测配置参数
+// 假设本函数每2ms调用一次：
+// 设为 1 -> 每2ms检测一次 (适合高频传感器)
+// 设为 5 -> 每10ms检测一次 (适合100Hz传感器)
+// 设为 20 -> 每40ms检测一次 (适合25Hz传感器)
+//volatile uint8_t g_Pressure_Oscillation_Step = 5;
+volatile int g_Pressure_Oscillation_Step = 5;
+
+
+volatile int OSCILLATION_THRESHOLD = 1000;     // 震荡判定阈值：相邻两次采样差值超过此值视为异常 (根据实际传感器量程调整)
+volatile int OSCILLATION_CONFIRM_COUNT = 5;    // 震荡确认次数：连续5次(10ms)检测到剧烈跳变即触发
+volatile int pressure_over_count = 0;
+volatile int last_sampled_pressure = 0;       // 上一次“有效采样点”的压力
+volatile int oscillation_count = 0;           // 震荡计数器
+//volatile uint8_t sample_timer = 0;            // 降采样计时器
+volatile int sample_timer = 0;
+
+volatile int diff = 120;//测试是否真的能做出震荡判断
+
+
+void Pressure_Safety_Monitor(void)
 {
     // ============================================================
     // 【配置参数】
     // ============================================================
-//    const int PRESSURE_LOCK_THRESHOLD = 1500;
-    const int PRESSURE_UNLOCK_THRESHOLD = 1450;
-    const int COUNT_LIMIT = 10;                // 0.2s
+    const int COUNT_LIMIT = 250;                // 0.5s 持续超压滤波
+//    const int OSCILLATION_THRESHOLD = 1000;     // 震荡判定阈值：差值绝对值
+//    const int OSCILLATION_CONFIRM_COUNT = 5;    // 震荡确认次数
+
+    // 动态计算滞回区间：即三级压力预警的剩余两个值
+    g_Pressure_Warn_Threshold = g_Pressure_Lock_Threshold - 20;
+    g_Pressure_Unlock_Threshold = g_Pressure_Lock_Threshold - 50;
+
+    // 静态变量   // 震荡检测专用静态变量
+//    static int pressure_over_count = 0;
+//    static int last_sampled_pressure = 0;				// 上一次“有效采样点”的压力
+//    static int oscillation_count = 0;					// 震荡计数器
+//    static uint8_t sample_timer = 0;					// 降采样计时器
 
-    static int pressure_over_count = 0;
-    bool needs_restricted_mode = false; // 标记是否需要受限模式
+    int current_press = IV.Press;
 
     // ============================================================
-    // 1. 压力检测与锁定逻辑
+    // 1. 降采样震荡检测逻辑
     // ============================================================
+    sample_timer++;
 
-    if (IV.Press >= PRESSURE_LOCK_THRESHOLD)
+    // 只有当计时器达到设定步长时，才进行一次“有效对比”
+    if (sample_timer >= g_Pressure_Oscillation_Step)
     {
-        pressure_over_count++;
-        if (pressure_over_count >= COUNT_LIMIT)
+//        int diff = current_press - last_sampled_pressure;
+    	diff = current_press - last_sampled_pressure;
+        if (diff < 0) diff = -diff; // 取绝对值
+
+        // 判断是否剧烈跳变
+        if (diff >= OSCILLATION_THRESHOLD)
         {
-            g_IsPressureLocked = 1;
-            if (pressure_over_count > COUNT_LIMIT + 50) pressure_over_count = COUNT_LIMIT + 50;
-        }
+            oscillation_count++;
         }
         else
         {
+            // 波动恢复正常，震荡计数清零
+            oscillation_count = 0;
+        }
+
+        last_sampled_pressure = current_press;
+        sample_timer = 0;
+    }
+
+    // ============================================================
+    // 2. 状态机逻辑 (修复解锁漏洞)
+    // ============================================================
+
+    // --- 情况 A：如果当前已经锁定 ---
     if (g_IsPressureLocked == 1)
     {
-            if (IV.Press < PRESSURE_UNLOCK_THRESHOLD)
+        // 判断是否可以解锁
+        // 逻辑：必须同时满足两个条件才算安全
+        // 1. 压力值已经降下来 (解除超压风险)
+        // 2. 震荡已经消失 (解除乱跳风险)
+
+        bool is_pressure_low = (current_press < g_Pressure_Unlock_Threshold);
+        bool is_oscillation_free = (oscillation_count == 0);
+
+        if (is_pressure_low && is_oscillation_free)
         {
+            // 只有既不乱跳，压力又低，才允许解锁
             g_IsPressureLocked = 0;
             pressure_over_count = 0;
         }
-            else
+        // 否则保持锁定状态，直接返回，不再执行下面的超压计数逻辑
+        return;
+    }
+
+    // --- 情况 B：当前未锁定，检查是否需要触发锁定 ---
+
+    // 1. 优先检查震荡 (震荡优先级高于超压)
+    if (oscillation_count >= OSCILLATION_CONFIRM_COUNT)
     {
-                // 保持在锁定状态，压力在 4500-5000 之间
-                pressure_over_count = 0;
+        g_IsPressureLocked = 1;
+        return; // 锁定后直接返回
+    }
+
+    // 2. 检查持续超压
+    if (current_press >= g_Pressure_Lock_Threshold)
+    {
+        pressure_over_count++;
+        if (pressure_over_count >= COUNT_LIMIT)
+        {
+            g_IsPressureLocked = 1;
+            if (pressure_over_count > COUNT_LIMIT + 50) pressure_over_count = COUNT_LIMIT + 50;
         }
     }
     else
     {
         pressure_over_count = 0;
     }
-    }
+}
+
 
-//     电机错误
-//    if (MotorErrorDetect() == 1)
-//    {
-//        fsm_state_set(&current_robot_move_state, &robot_halt_state);
-//        fsm_state_set(&current_roughening_state, &roughening_halt_state);
-//        g_IsPressureLocked = 1;
-//    }
 
-    // 报警位
+// ============================================================
+// 主控制函数
+// ============================================================
+void MoveControl()
+{
+    // 1. 【核心隔离】调用压力监测函数
+    Pressure_Safety_Monitor();
+
+    bool needs_restricted_mode = false;
+
+    // 2. 压力传感器报警位处理
     if (g_IsPressureLocked == 1)
     {
         SET_BIT_1(SystemErrorCode, ComError_Pressure_Detect_Alert);
@@ -384,24 +561,17 @@ void MoveControl()
         SET_BIT_0(SystemErrorCode, ComError_Pressure_Detect_Alert);
     }
 
+    // 3. 补偿与速度计算
     Lcompensation_control();
     Rcompensation_control();
     speed_selection = 2.0 * (P_MK32->CH11_RD1 + 1000) / 200;
     GV.Robot_Move_Speed = speed_M_min_toE01_M_min(GetVehicleSpeed(speed_selection));
     IV.RobotMoveSpeed = GetVehicleSpeed(speed_selection);
 
-    // ============================================================
-    // 2. 决定模式并强制中断旧状态
-    // ============================================================
-
-    // 判断是否需要受限模式 (锁定中 OR 压力过高预警)
-    // 把阈值设在 4800，一旦超过，就算没锁定，也先限制下压，防止冲过5000
-    if (g_IsPressureLocked == 1 || IV.Press >= 1480)
+    // 4. 决定模式
+    if (g_IsPressureLocked == 1 || IV.Press >= g_Pressure_Warn_Threshold)
     {
         needs_restricted_mode = true;
-
-        // 核心动作：在切换函数前，强制将推杆状态机复位为“停止” ：否则，即使超限，因为右摇杆一直没有松手，所以还是能keep下压
-        // 这行代码会立即打断 Mannual_TiltControl 之前可能设置的 tilt_down_state
         fsm_state_set(&current_tilt_state, &tilt_halt_state);
     }
     else
@@ -409,35 +579,17 @@ void MoveControl()
         needs_restricted_mode = false;
     }
 
-    // ============================================================
-    // 3. 执行对应的摇杆控制函数
-    // ============================================================
+    // 5. 执行控制
     if (needs_restricted_mode)
     {
-        // 此时 current_tilt_state 已经是 tilt_halt_state 了
-        // Mannual_TiltControl1 将在这个“停止”的基础上运行
-        // 逻辑是：检测到下压角度 -> 忽略/保持停止；检测到上抬角度 -> 允许上抬
-        Mannual_TiltControl1();
+        Mannual_TiltControl2();
     }
     else
     {
-        // 正常模式，无干预
         Mannual_TiltControl();
     }
 
-    // ============================================================
-    // 4. 【运动互锁】：如果锁定，禁止机器人和拉毛盘运动，直接返回
-    // ============================================================
-    if (g_IsPressureLocked == 1)
-    {
-        fsm_state_set(&current_robot_move_state, &robot_halt_state);
-        fsm_state_set(&current_roughening_state, &roughening_halt_state);
-        return;
-    }
-
-    // ============================================================
-    // 5. 正常运动逻辑
-    // ============================================================
+    // 6. 运动逻辑
     DHRougheningControl();
 
     if (GV.PV.RunMode == Move_Automation_Move_Horizontal_Move)
@@ -470,6 +622,8 @@ void MoveControl()
 
 
 
+
+
 /* @brief: 电机出现报警返回1，电机正常返回0 */
 uint8_t MotorErrorDetect()
 {
@@ -618,107 +772,112 @@ void joysticker_manual_control()
 
 
 
+//
+//void Mannual_TiltControl()
+//{
+//
+//	if (TiltWorking_Mode != Tilt_Manual_Mode || GV.PV.RunMode == 0) return;
+//
+//	if (abs(P_MK32->CH1_RY_V) <= CV.Joy_Sticker_Value_Allowance
+//	        && abs(P_MK32->CH0_RY_H) <= CV.Joy_Sticker_Value_Allowance)/*停止*//*600*/
+//	{
+//		fsm_state_set(&current_tilt_state, &tilt_halt_state); /*停止推杆*/
+//		return;
+//	}
+//	int angle = atan2(P_MK32->CH1_RY_V, P_MK32->CH0_RY_H) * 180 / M_PI;
+//
+//	if (abs(angle - (-90)) <= CV.Joy_Sticker_Angle_Allowance)
+//	{
+//		fsm_state_set(&current_tilt_state, &tilt_up_state);/*上升*/
+//		return;
+//	}
+//	// 原下压逻辑：无限位
+//	if (abs(angle - 90) <= CV.Joy_Sticker_Angle_Allowance)/*45° 下降*/
+//	{
+//		if (GV.Strain_Gauge.Pressure <= GV.PV.PressSet)
+//		{
+//			fsm_state_set(&current_tilt_state, &tilt_down_state);
+//			return;
+//		}
+//		fsm_state_set(&current_tilt_state, &tilt_halt_state);
+//	}
+//
+//}
+
 
 void Mannual_TiltControl()
 {
-
     if (TiltWorking_Mode != Tilt_Manual_Mode || GV.PV.RunMode == 0) return;
 
+    // 摇杆回中
     if (abs(P_MK32->CH1_RY_V) <= CV.Joy_Sticker_Value_Allowance
-	        && abs(P_MK32->CH0_RY_H) <= CV.Joy_Sticker_Value_Allowance)/*停止*//*600*/
+            && abs(P_MK32->CH0_RY_H) <= CV.Joy_Sticker_Value_Allowance)
     {
         fsm_state_set(&current_tilt_state, &tilt_halt_state); /*停止推杆*/
         return;
     }
+
     int angle = atan2(P_MK32->CH1_RY_V, P_MK32->CH0_RY_H) * 180 / M_PI;
 
+    // 上升
     if (abs(angle - (-90)) <= CV.Joy_Sticker_Angle_Allowance)
     {
         fsm_state_set(&current_tilt_state, &tilt_up_state);/*上升*/
         return;
     }
-	// 原下压逻辑：无限位
-	if (abs(angle - 90) <= CV.Joy_Sticker_Angle_Allowance)/*45° 下降*/
+
+    // 下降
+    if (abs(angle - 90) <= CV.Joy_Sticker_Angle_Allowance)
+    {
+        if (GV.PV.PressSet == 0)
+        {
+            // 情况1: 预设值为0，对应用户没有输入预期压力,故允许一直下压，直到达到极限压力值的 80%
+            if (GV.Strain_Gauge.Pressure <= (g_Pressure_Lock_Threshold * 0.8))
+            {
+                fsm_state_set(&current_tilt_state, &tilt_down_state);
+            }
+            else
+            {
+                fsm_state_set(&current_tilt_state, &tilt_halt_state);
+            }
+        }
+        else
         {
+            // 情况2: 预设值不为0，即用户有输入，能压到哪里受限于屏幕预设值
             if (GV.Strain_Gauge.Pressure <= GV.PV.PressSet)
             {
                 fsm_state_set(&current_tilt_state, &tilt_down_state);
-			return;
             }
+            else
+            {
                 fsm_state_set(&current_tilt_state, &tilt_halt_state);
             }
-
-
-
-//	// 下压+软限位。消抖计数，初始化为0
-//	static int pressure_over_count = 0;
-//
-//	const int SOFT_LIMIT_PRESSURE = 2000;   // 压力阈值
-//	const int COUNT_LIMIT = 1;            // 200ms / 2ms = 100次计数
-//	if (abs(angle - 90) <= CV.Joy_Sticker_Angle_Allowance)
-//	{
-//		int current_pressure = IV.Press;
-//
-//		// --- 新增软限位 (带消抖) ---
-//		bool is_soft_safe = (current_pressure <= SOFT_LIMIT_PRESSURE);
-//		if (!is_soft_safe)
-//		{
-//			pressure_over_count++;
-//
-//			// 判断是否达到连续时间阈值 (100次 * 2ms = 200ms)
-//			if (pressure_over_count >= COUNT_LIMIT)
-//			{
-//				fsm_state_set(&current_tilt_state, &tilt_halt_state);
-//				// 此时计数器保持在高位，直到压力降低或摇杆回中才清零
-//			}
-//			else
-//			{
-//				// 处于消抖过程中 (例如超压了 50ms)，视为干扰，允许继续下降
-//				fsm_state_set(&current_tilt_state, &tilt_down_state);
-//			}
-//		}
-//		else
-//		{
-//			// 压力正常， 计数器清零 (打破连续性)
-//			pressure_over_count = 0;
-//
-//			// 允许下降
-//			fsm_state_set(&current_tilt_state, &tilt_down_state);
-//		}
-//
-//		return;
-//	}
-//
-//	// 其他角度情况，默认停止
-//	fsm_state_set(&current_tilt_state, &tilt_halt_state);
-
-
-
-
+        }
+    }
 }
 
 
-// 压力过载下的推杆控制：删除下压功能
-void Mannual_TiltControl1()
+volatile int g_AUTO_LIFT_RELEASE_PRESSURE = 1500; // 自动抬升的停止阈值，后续改成界面上压力设定值
+// 压力过载下的推杆控制：自动模式下，一旦超出软限位值，
+void Mannual_TiltControl2()
 {
-
+    // 基础模式检查
     if (TiltWorking_Mode != Tilt_Manual_Mode || GV.PV.RunMode == 0) return;
 
-	if (abs(P_MK32->CH1_RY_V) <= CV.Joy_Sticker_Value_Allowance
-	        && abs(P_MK32->CH0_RY_H) <= CV.Joy_Sticker_Value_Allowance)/*停止*//*600*/
-	{
-		fsm_state_set(&current_tilt_state, &tilt_halt_state); /*停止推杆*/
-		return;
-	}
-	int angle = atan2(P_MK32->CH1_RY_V, P_MK32->CH0_RY_H) * 180 / M_PI;
+//    const int g_AUTO_LIFT_RELEASE_PRESSURE = 1500; // 自动抬升的停止阈值
 
-	if (abs(angle - (-90)) <= CV.Joy_Sticker_Angle_Allowance)
+    // 1. 自动抬升逻辑
+    // 只要压力还大于停止阈值，就一直保持抬升状态
+    if (IV.Press > g_AUTO_LIFT_RELEASE_PRESSURE)
     {
-		fsm_state_set(&current_tilt_state, &tilt_up_state);/*上升*/
+        fsm_state_set(&current_tilt_state, &tilt_up_state); /*强制上升*/
         return;
     }
-}
 
+    // 2. 停止逻辑
+    // 当压力降到停止阈值以下，停止推杆
+    fsm_state_set(&current_tilt_state, &tilt_halt_state); /*停止推杆*/
+}
 
 
 int Auto_TiltControl()
@@ -729,8 +888,7 @@ int Auto_TiltControl()
 	}
 	TiltWorking_Mode = Tilt_Auto_Mode;
 	/*存在一个问题，当显示大于设定值时需要上升，但是由于机械硬件无法上升，压力无法改变，会卡在推杆上升中，自动程序无法执行*/
-	if (GV.Strain_Gauge.Pressure >= GV.PV.PressSet * 0.8 - 50
-	        && GV.Strain_Gauge.Pressure <= GV.PV.PressSet * 0.8 + 50)
+	if (GV.Strain_Gauge.Pressure >= GV.PV.PressSet * 0.8 )
 	{
 		fsm_state_set(&current_tilt_state, &tilt_halt_state); /*关闭推杆*/
 		/*正转开启拉毛盘*/
@@ -742,13 +900,13 @@ int Auto_TiltControl()
 		isAutoAdjustPress = 0;
 		return 0;
 	}
-	else if (GV.Strain_Gauge.Pressure >= GV.PV.PressSet * 0.8 + 50)
-	{
-		fsm_state_set(&current_tilt_state, &tilt_up_state); /*上升推杆*/
-		return 1;
-
-	}
-	else if (GV.Strain_Gauge.Pressure <= GV.PV.PressSet * 0.8 - 50)
+//	else if (GV.Strain_Gauge.Pressure >= GV.PV.PressSet * 0.8 + 50)
+//	{
+//		fsm_state_set(&current_tilt_state, &tilt_up_state); /*上升推杆*/
+//		return 1;
+//
+//	}
+	else if (GV.Strain_Gauge.Pressure <= GV.PV.PressSet * 0.8)
 	{
 		fsm_state_set(&current_tilt_state, &tilt_down_state); /*下降推杆*/
 		return 1;
@@ -904,6 +1062,16 @@ int AbnormalDetect()
 		fsm_state_set(&current_roughening_state, &roughening_halt_state); /*关闭拉毛盘*/
 		return 1;
 	}
+	// 预留：初次上电时，检测压力传感器值是否在零位附近如【-50，+50】
+//	if (IV.Press >= -50 && IV.Press <= 50)
+//	{
+////		fsm_state_set(&current_robot_move_state, &robot_halt_state); /*停止机器人*/
+//		fsm_state_set(&current_roughening_state, &roughening_halt_state); /*关闭拉毛盘*/
+//		return 1;
+//	}
+
+
+
 	if (P_MK32->IsOnline == 0)	//等于0时 subus有数，但是遥控器关机了，或者失联
 	{
 		fsm_state_set(&current_robot_move_state, &robot_halt_state); /*停止机器人*/

Core/FSM/Src/motors.c

@@ -1,3 +1,137 @@
+///*
+// * motors.c
+// *
+// *  Created on: 2025年12月29日
+// *      Author: xsq
+// */
+//
+//#include "motors.h"
+//#include "msp_TTMotor_ZQ.h"
+//
+//char TT_Motor_Need_To_Activate = 0;
+//
+//FDCANHandler *Roughening_Motor_Controller;
+//DispacherController *Roughening_DispacherController;
+//TT_MotorParameters *TT_Motor[7];
+//#define LeftMotorID 1
+//#define RightMotorID 2
+//int32_t speed_E01m_per_min(int32_t speed_E01m_per_min);
+//
+//void MotorCommandsLoop();
+//void Roughening_MotorDecodeCAN(uint32_t canID, uint8_t *buffer, uint32_t length);
+//
+//void Roughening_Motor_Controller_intialize(FDCANHandler *Handler)
+//{
+//	//初始化
+//
+//	Roughening_Motor_Controller = Handler;
+//	Roughening_Motor_Controller->CAN_Decode = Roughening_MotorDecodeCAN;
+//
+//	HardWareErrorController->Add_PCOMHardWare(HardWareErrorController,
+//	        "ZQ_CAN_ID2_LeftMotor", 0, ComError_ZQ_LeftMotor);
+//	HardWareErrorController->Add_PCOMHardWare(HardWareErrorController,
+//	        "ZQ_CAN_ID3_RightMotor", 0, ComError_ZQ_RightMotor);
+//
+//	Roughening_DispacherController = Handler->dispacherController;
+//	Roughening_DispacherController->DispacherCallTime = 2;
+//	Roughening_DispacherController->Add_Dispatcher_List(
+//	        Roughening_DispacherController, MotorCommandsLoop);
+//
+//	LOGFF(DL_WARN,"TT_Motors_intialize");
+//
+//}
+//void MotorCommandsLoop()
+//{
+//
+//	if (TT_Motor_Need_To_Activate == 1)
+//	{
+//
+//		ActivateMotor(LeftMotorID, Roughening_Motor_Controller, 2000);
+//		ActivateMotor(LeftMotorID, Roughening_Motor_Controller, 2000);
+//		ActivateMotor(RightMotorID, Roughening_Motor_Controller, 2000);
+//		ActivateMotor(RightMotorID, Roughening_Motor_Controller, 2000);
+//
+//		SpeedModeSetup(LeftMotorID, Roughening_Motor_Controller, 6, 1000, 1000, 0);
+//		SpeedModeSetup(RightMotorID, Roughening_Motor_Controller, 6, 1000, 1000, 0);
+////		SpeedModeSetup(LeftMotorID, Roughening_Motor_Controller, 6, 3500, 450, 0);
+////		SpeedModeSetup(RightMotorID, Roughening_Motor_Controller, 6, 3500, 450, 0);
+//		TT_Motor_Need_To_Activate = 2;
+//	}
+//	else if (TT_Motor_Need_To_Activate == 2)
+//	{
+//		for (int i = 1; i < 3; i++)
+//		{
+//			TT_Request_Position(i, Roughening_Motor_Controller, 6);
+//			TT_Request_Velocity(i, Roughening_Motor_Controller, 6);
+//			TT_Request_Current(i, Roughening_Motor_Controller, 6);
+//			TT_Request_Fault(i, Roughening_Motor_Controller, 6);
+//			TT_Request_Tempature(i, Roughening_Motor_Controller, 6);
+//		}
+//		TT_SpeedMode_Set_TargetSpeed(LeftMotorID, Roughening_Motor_Controller, 6,
+//				speed_E01m_per_min(GV.LeftMotor.Target_Velcity)   );
+//		TT_SpeedMode_Set_TargetSpeed(RightMotorID, Roughening_Motor_Controller, 6,
+//				speed_E01m_per_min(-GV.RightMotor.Target_Velcity)  );
+//
+//	}
+//
+//}
+//
+//char a[10];
+//void Roughening_MotorDecodeCAN(uint32_t canID, uint8_t *buffer, uint32_t length)
+//{
+//
+//	memcpy(a,buffer,8);
+//	switch (canID - 0x580)
+//	{
+//
+//		case LeftMotorID:
+//		{
+//			HardWareErrorController->Set_PCOMHardWare(HardWareErrorController,
+//			        "ZQ_CAN_ID2_LeftMotor", 1);
+//			TT_Analytic_Fun(LeftMotorID, buffer);
+//		}
+//			break;
+//		case RightMotorID:
+//		{
+//			HardWareErrorController->Set_PCOMHardWare(HardWareErrorController,
+//			        "ZQ_CAN_ID3_RightMotor", 1);
+//			TT_Analytic_Fun(RightMotorID, buffer);
+//		}
+//			break;
+//	}
+//
+//}
+///*
+// * SpeedMPMin:0.1 m/min
+// * return:1 pulse/s
+// * */
+//int32_t speed_E01m_per_min(int32_t speed_E01m_per_min)
+//{
+//	return (int32_t) (speed_E01m_per_min*0.1 *10 * CV.wheel_Reduction_Ratio
+//		        / (3.14 * CV.wheel_Diameter_m));
+//}
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+/**
+ * motors.c版本02：仿照摆臂的心跳模式，有问题，左电机死掉了
+ *
+ * /
 /*
  * motors.c
  *
@@ -13,17 +147,57 @@ char TT_Motor_Need_To_Activate = 0;
 FDCANHandler *Roughening_Motor_Controller;
 DispacherController *Roughening_DispacherController;
 TT_MotorParameters *TT_Motor[7];
+
 #define LeftMotorID 1
 #define RightMotorID 2
+
+// --- 定义心跳包 CAN ID (0x700 + 节点ID) ---
+#define HEARTBEAT_ID_LEFT  0x701
+#define HEARTBEAT_ID_RIGHT 0x702
+
 int32_t speed_E01m_per_min(int32_t speed_E01m_per_min);
 
 void MotorCommandsLoop();
 void Roughening_MotorDecodeCAN(uint32_t canID, uint8_t *buffer, uint32_t length);
 
-void Roughening_Motor_Controller_intialize(FDCANHandler *Handler)
+// --- 1. 心跳包发送函数 ---
+void Send_Motor_Heartbeat(int32_t can_id, FDCANHandler *handler)
+{
+    handler->Tx_Buf[0] = 0x05; // 0x05 = Operational
+    handler->AddCANSendList(handler, can_id, 1, handler->Tx_Buf, 0, NULL);
+}
+
+// --- 2. 配置心跳监控 (Consumer Heartbeat) ---
+void Configure_Asynchronous_Mode(int32_t MotorID, FDCANHandler *ZQ_Motor_Controller, int32_t Node_Number, int32_t WaitTime)
+{
+    ZQ_Motor_Controller->Tx_Buf[0] = 0x23; // SDO 写入
+    ZQ_Motor_Controller->Tx_Buf[1] = 0x16; // 0x1016
+    ZQ_Motor_Controller->Tx_Buf[2] = 0x10;
+    ZQ_Motor_Controller->Tx_Buf[3] = 0x01;
+//    ZQ_Motor_Controller->Tx_Buf[4] = 0xe8; // 1000ms
+//    ZQ_Motor_Controller->Tx_Buf[5] = 0x03;
+    ZQ_Motor_Controller->Tx_Buf[4] = 0x64; // 100ms
+    ZQ_Motor_Controller->Tx_Buf[5] = 0x00;
+    ZQ_Motor_Controller->Tx_Buf[6] = Node_Number; // 监听 ID
+    ZQ_Motor_Controller->Tx_Buf[7] = 0x00;
+
+    ZQ_Motor_Controller->AddCANSendList(ZQ_Motor_Controller, 0x600 + MotorID, 8, ZQ_Motor_Controller->Tx_Buf, WaitTime, NULL);
+
+}
+
+// --- 3. 新增：NMT 启动函数 ---
+void Enable_NMT(int32_t MotorID, FDCANHandler *ZQ_Motor_Controller, int32_t Node_Number, int32_t WaitTime)
 {
-	//初始化
+    ZQ_Motor_Controller->Tx_Buf[0] = 0x01; // 0x01 = Start Node
+    ZQ_Motor_Controller->Tx_Buf[1] = Node_Number;
+    // 发送到 0x000 (NMT 广播地址)
+    ZQ_Motor_Controller->AddCANSendList(ZQ_Motor_Controller, 0x000, 2, ZQ_Motor_Controller->Tx_Buf, WaitTime, NULL);
 
+
+}
+
+void Roughening_Motor_Controller_intialize(FDCANHandler *Handler)
+{
     Roughening_Motor_Controller = Handler;
     Roughening_Motor_Controller->CAN_Decode = Roughening_MotorDecodeCAN;
 
@@ -38,27 +212,52 @@ void Roughening_Motor_Controller_intialize(FDCANHandler *Handler)
             Roughening_DispacherController, MotorCommandsLoop);
 
     LOGFF(DL_WARN,"TT_Motors_intialize");
-
 }
+
 void MotorCommandsLoop()
 {
+    static int heartbeat_counter = 0;
 
     if (TT_Motor_Need_To_Activate == 1)
     {
-
-		ActivateMotor(LeftMotorID, Roughening_Motor_Controller, 2000);
+        // 1. 激活电机 (内部可能包含状态机切换)
         ActivateMotor(LeftMotorID, Roughening_Motor_Controller, 2000);
         ActivateMotor(RightMotorID, Roughening_Motor_Controller, 2000);
+
+        ActivateMotor(LeftMotorID, Roughening_Motor_Controller, 2000);
         ActivateMotor(RightMotorID, Roughening_Motor_Controller, 2000);
+//        ActivateMotor(LeftMotorID, Roughening_Motor_Controller, 2000);
+//        ActivateMotor(RightMotorID, Roughening_Motor_Controller, 2000);
+
+        // 3. 【新增】发送 NMT 启动指令
+        // 这一步是必须的，确保电机进入运行状态
+        Enable_NMT(000, Roughening_Motor_Controller, 1, 1000);
+        Enable_NMT(000, Roughening_Motor_Controller, 2, 1000);
+
+
+        // 2. 配置心跳监控
+        // 告诉电机：监听 ID 1 和 2，超时 1000ms
+        Configure_Asynchronous_Mode(LeftMotorID, Roughening_Motor_Controller, 1, 500);
+        Configure_Asynchronous_Mode(RightMotorID, Roughening_Motor_Controller, 2, 500);
+
+
+        // 4. 配置速度模式
+        SpeedModeSetup(LeftMotorID, Roughening_Motor_Controller, 6, 500, 500, 0);
+        SpeedModeSetup(RightMotorID, Roughening_Motor_Controller, 6, 500, 500, 0);
+
+        // 5. 立即发送一次心跳
+        Send_Motor_Heartbeat(HEARTBEAT_ID_LEFT, Roughening_Motor_Controller);
+        Send_Motor_Heartbeat(HEARTBEAT_ID_RIGHT, Roughening_Motor_Controller);
+
+
+
+
 
-		SpeedModeSetup(LeftMotorID, Roughening_Motor_Controller, 6, 1000, 1000, 0);
-		SpeedModeSetup(RightMotorID, Roughening_Motor_Controller, 6, 1000, 1000, 0);
-//		SpeedModeSetup(LeftMotorID, Roughening_Motor_Controller, 6, 3500, 450, 0);
-//		SpeedModeSetup(RightMotorID, Roughening_Motor_Controller, 6, 3500, 450, 0);
         TT_Motor_Need_To_Activate = 2;
     }
     else if (TT_Motor_Need_To_Activate == 2)
     {
+        // 读取状态
         for (int i = 1; i < 3; i++)
         {
             TT_Request_Position(i, Roughening_Motor_Controller, 6);
@@ -67,23 +266,33 @@ void MotorCommandsLoop()
             TT_Request_Fault(i, Roughening_Motor_Controller, 6);
             TT_Request_Tempature(i, Roughening_Motor_Controller, 6);
         }
+
+        // 速度控制
         TT_SpeedMode_Set_TargetSpeed(LeftMotorID, Roughening_Motor_Controller, 6,
                 speed_E01m_per_min(GV.LeftMotor.Target_Velcity)   );
         TT_SpeedMode_Set_TargetSpeed(RightMotorID, Roughening_Motor_Controller, 6,
                 speed_E01m_per_min(-GV.RightMotor.Target_Velcity)  );
 
+        // 周期性心跳
+        heartbeat_counter++;
+        if (heartbeat_counter >= 5)
+        {
+            Send_Motor_Heartbeat(HEARTBEAT_ID_LEFT, Roughening_Motor_Controller);
+            Send_Motor_Heartbeat(HEARTBEAT_ID_RIGHT, Roughening_Motor_Controller);
+            heartbeat_counter = 0;
+        }
     }
-
 }
 
+
+
+
 char a[10];
 void Roughening_MotorDecodeCAN(uint32_t canID, uint8_t *buffer, uint32_t length)
 {
-
     memcpy(a,buffer,8);
     switch (canID - 0x580)
     {
-
         case LeftMotorID:
         {
             HardWareErrorController->Set_PCOMHardWare(HardWareErrorController,
@@ -99,14 +308,28 @@ void Roughening_MotorDecodeCAN(uint32_t canID, uint8_t *buffer, uint32_t length)
         }
             break;
     }
-
 }
-/*
- * SpeedMPMin:0.1 m/min
- * return:1 pulse/s
- * */
+
 int32_t speed_E01m_per_min(int32_t speed_E01m_per_min)
 {
     return (int32_t) (speed_E01m_per_min*0.1 *10 * CV.wheel_Reduction_Ratio
             / (3.14 * CV.wheel_Diameter_m));
 }
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+

Core/FSM/Src/robot_move_actions.c

@@ -35,6 +35,11 @@ transition_state_t   robot_move_head_to_up_enum_state={NULL,Move_Head_To_UP_Do,N
 transition_state_t   robot_move_head_to_right_enum_state={NULL,Move_Head_To_Right_Do,NULL};	/* 移动至头朝右  */
 transition_state_t   robot_move_head_to_down_enum_state={NULL,Move_Head_To_Down_Do,NULL};	/* 移动至头朝下  */
 
+transition_state_t	 robot_move_head_to_up_add_adjust_enum_state={NULL,Move_Head_To_UP_Add_Adjust_Do,NULL};//移动到头朝上+竖直微调角度
+transition_state_t   robot_move_head_to_left_add_adjust_enum_state={NULL,Move_Head_To_Left_Add_Adjust_Do,NULL};	/* 移动至头朝左+竖直微调角度 */
+transition_state_t   robot_move_head_to_right_add_adjust_enum_state={NULL,Move_Head_To_Right_Add_Adjust_Do,NULL};	/* 移动至头朝右+竖直微调角度  */
+
+
 
 /* 声明最底层函数 */
 void Move_Forwards_Do(int32_t Target_Angle);
@@ -47,15 +52,19 @@ char IsRobotHaltSateChangedFlag = 0;
 
 void Forwards_State_Do(transition_t *p_this)
 {
-	GV.LeftMotor.Target_Velcity = GV.Robot_Move_Speed;
-	GV.RightMotor.Target_Velcity = GV.Robot_Move_Speed;
+	// 计算拨杆带来的额外差速修正值，范围变为 -10 到 10,%10才是真实的+—1
+	int correction = ((P_MK32->CH3_LY_H + 1000) * 20) / 2000 - 10;
+
+	GV.LeftMotor.Target_Velcity = GV.Robot_Move_Speed + correction;
+	GV.RightMotor.Target_Velcity = GV.Robot_Move_Speed - correction;
 }
 
 void Backwards_State_Do(transition_t *p_this)
 {
 
-	GV.LeftMotor.Target_Velcity = -GV.Robot_Move_Speed;
-	GV.RightMotor.Target_Velcity = -GV.Robot_Move_Speed;
+	int correction = ((P_MK32->CH3_LY_H + 1000) * 20) / 2000 - 10;
+	GV.LeftMotor.Target_Velcity = -GV.Robot_Move_Speed - correction;
+	GV.RightMotor.Target_Velcity = -GV.Robot_Move_Speed + correction;
 }
 /* 向左转
  *
@@ -120,7 +129,10 @@ void HALT_State_Exit(transition_t *p_this)
 void Move_Horizontal_Task_Forwards_Right_Do(transition_t *p_this)
 {
 //	Move_Forwards_Do(CV.RobotRightAngleValue - GV.Right_Compensation);
-	Move_Forwards_Do(CV.RobotRightAngleValue - GV.Right_Compensation + GV.PV.Horizontal_Calibration); //+补偿+水平微调
+	// 修改项V1.0：水平移动+左右补偿+水平微调
+//	Move_Forwards_Do(CV.RobotRightAngleValue - GV.Right_Compensation + GV.PV.Horizontal_Calibration); //+补偿+水平微调
+// 修改项V2.0：水平移动，共用竖直微调这一补偿项，即删除替换原来的水平微调。水平移动+左右补偿+竖直微调
+	Move_Forwards_Do(CV.RobotRightAngleValue - GV.Right_Compensation + GV.PV.Vertical_Calibration); //+补偿+竖直微调
 
 }
 void Move_Horizontal_Task_Forwards_Right_Paint_Do(transition_t *p_this)
@@ -133,7 +145,9 @@ void Move_Horizontal_Task_Forwards_Right_Paint_Do(transition_t *p_this)
 void Move_Horizontal_Task_Backwards_Right_Do(transition_t *p_this)
 {
 //	Move_Backwards_Do(CV.RobotRightAngleValue + GV.Left_Compensation);
-	Move_Backwards_Do(CV.RobotRightAngleValue + GV.Left_Compensation + GV.PV.Horizontal_Calibration);
+//	Move_Backwards_Do(CV.RobotRightAngleValue + GV.Left_Compensation + GV.PV.Horizontal_Calibration);
+	// 修改项V2.0：
+	Move_Backwards_Do(CV.RobotRightAngleValue + GV.Left_Compensation + GV.PV.Vertical_Calibration);
 
 }
 /**和拉毛区分开 防止左右补偿加到喷漆上**/
@@ -147,7 +161,9 @@ void Move_Horizontal_Task_Backwards_Right_Paint_Do(transition_t *p_this)
 void Move_Horizontal_Task_Forwards_Left_Do(transition_t *p_this)
 {
 //	Move_Forwards_Do(CV.RobotLeftAngleValue + GV.Left_Compensation);
-	Move_Forwards_Do(CV.RobotLeftAngleValue + GV.Left_Compensation + GV.PV.Horizontal_Calibration);
+//	Move_Forwards_Do(CV.RobotLeftAngleValue + GV.Left_Compensation + GV.PV.Horizontal_Calibration);
+	// 修改项V2.0：
+	Move_Forwards_Do(CV.RobotLeftAngleValue + GV.Left_Compensation + GV.PV.Vertical_Calibration);
 
 }
 /**和拉毛区分开 防止左右补偿加到喷漆上**/
@@ -162,7 +178,9 @@ void Move_Horizontal_Task_Forwards_Left_Paint_Do(transition_t *p_this)
 void Move_Horizontal_Task_Backwards_Left_Do(transition_t *p_this)
 {
 //	Move_Backwards_Do(CV.RobotLeftAngleValue - GV.Right_Compensation);
-	Move_Backwards_Do(CV.RobotLeftAngleValue - GV.Right_Compensation + GV.PV.Horizontal_Calibration);
+//	Move_Backwards_Do(CV.RobotLeftAngleValue - GV.Right_Compensation + GV.PV.Horizontal_Calibration);
+	// 修改项V2.0：
+	Move_Backwards_Do(CV.RobotLeftAngleValue - GV.Right_Compensation + GV.PV.Vertical_Calibration);
 
 }
 void Move_Horizontal_Task_Backwards_Left_Paint_Do(transition_t *p_this)
@@ -176,10 +194,17 @@ void Move_Horizontal_Task_Backwards_Left_Paint_Do(transition_t *p_this)
  * */
 void Move_Head_To_UP_Do(transition_t *p_this)
 {
-//	Calbrate_Robot_Positon(CV.RobotUpAngleValue);  // 原始版本，转到固定的0/90度那种
+	Calbrate_Robot_Positon(CV.RobotUpAngleValue);  // 原始版本，转到固定的0/90度那种
+//	Calbrate_Robot_Positon((CV.RobotUpAngleValue + GV.PV.Vertical_Calibration));  // 加入竖直微调项的转动角度
+}
+
+void Move_Head_To_UP_Add_Adjust_Do(transition_t *p_this)
+{
 	Calbrate_Robot_Positon((CV.RobotUpAngleValue + GV.PV.Vertical_Calibration));  // 加入竖直微调项的转动角度
 }
 
+
+
 /* 原地PID转向至目标角度 CV.RobotDownAngleValue
  * Target_Angle： 目标角度 （单位 0.01 度）
  * */
@@ -194,16 +219,33 @@ void Move_Head_To_Down_Do(transition_t *p_this)
 void Move_Head_To_Left_Do(transition_t *p_this)
 {
 	Calbrate_Robot_Positon(CV.RobotLeftAngleValue);
+//	Calbrate_Robot_Positon(CV.RobotLeftAngleValue + GV.PV.Vertical_Calibration);// 加入竖直微调项的转动角度,用于水平
+
+}
+
+void Move_Head_To_Left_Add_Adjust_Do(transition_t *p_this)
+{
+	Calbrate_Robot_Positon(CV.RobotLeftAngleValue + GV.PV.Vertical_Calibration);// 加入竖直微调项的转动角度,用于水平
+
 }
 
+
+
 /* 原地PID转向至目标角度 CV.RobotRightAngleValue
  * Target_Angle： 目标角度 （单位 0.01 度）
  * */
 void Move_Head_To_Right_Do(transition_t *p_this)
 {
 	Calbrate_Robot_Positon(CV.RobotRightAngleValue);
+//	Calbrate_Robot_Positon(CV.RobotLeftAngleValue + GV.PV.Vertical_Calibration);// 加入竖直微调项的转动角度,用于水平
+
 }
 
+void Move_Head_To_Right_Add_Adjust_Do(transition_t *p_this)
+{
+	Calbrate_Robot_Positon(CV.RobotRightAngleValue + GV.PV.Vertical_Calibration);// 加入竖直微调项的转动角度,用于水平
+
+}
 
 /*******************以下纠偏底层函数**********************************/
 /*
@@ -293,15 +335,15 @@ void Calbrate_Robot_Positon(int Target_Angle)
 	else if (abs(GV.Robot_Angle - Target_Angle) <= 500) //误差在正负1度内  1-5°
 	{
 		dletAngle = Angle_Tune_PID((double)GV.Robot_Angle, Target_Angle, 1, 0,0.5, 10);
-		GV.LeftMotor.Target_Velcity = -dletAngle ;
-		GV.RightMotor.Target_Velcity = dletAngle;
+		GV.LeftMotor.Target_Velcity = -dletAngle/2 ;  /* 换道回正or转向时，最后的5度内，转速降低 */
+		GV.RightMotor.Target_Velcity = dletAngle/2;
 	}
 	else//大于2°
 	{
 
 		dletAngle = Angle_Tune_PID((double)GV.Robot_Angle, Target_Angle, 2, 0, 0.5, 40);
-		GV.LeftMotor.Target_Velcity = -dletAngle ;
-		GV.RightMotor.Target_Velcity = dletAngle ;
+		GV.LeftMotor.Target_Velcity = -dletAngle/2;/* 换道回正or转向时，最后的5度内，转速降低 */
+		GV.RightMotor.Target_Velcity = dletAngle/2 ;
 	}
 }
 

Core/Inc/main.h

@@ -159,6 +159,7 @@ typedef enum _HardWare_Disconnected_State
 	CONNECTED = 0, DISCONNECTED = 1,
 } HardWare_Disconnected_State;
 extern int SAVE_Register23; //设置KD
+extern int Read_KD;
 
 extern int SAVE_Register9; //设置55 保存KD
 #define UR7    1

Core/Inc/stm32h7xx_hal_conf.h

@@ -165,7 +165,7 @@
   * @brief This is the HAL system configuration section
   */
 #define  VDD_VALUE                    (3300UL) /*!< Value of VDD in mv */
-#define  TICK_INT_PRIORITY            (15UL) /*!< tick interrupt priority */
+#define  TICK_INT_PRIORITY            (0UL) /*!< tick interrupt priority */
 #define  USE_RTOS                     0
 #define  USE_SD_TRANSCEIVER           0U               /*!< use uSD Transceiver */
 #define  USE_SPI_CRC	              0U               /*!< use CRC in SPI */

Core/Inc/stm32h7xx_it.h

@@ -72,6 +72,7 @@ void TIM8_UP_TIM13_IRQHandler(void);
 void UART4_IRQHandler(void);
 void UART5_IRQHandler(void);
 void ETH_IRQHandler(void);
+void ETH_WKUP_IRQHandler(void);
 void USART6_IRQHandler(void);
 void UART7_IRQHandler(void);
 void QUADSPI_IRQHandler(void);

Core/Src/dma.c

@@ -44,25 +44,25 @@ void MX_DMA_Init(void)
 
   /* DMA interrupt init */
   /* DMA1_Stream0_IRQn interrupt configuration */
-  HAL_NVIC_SetPriority(DMA1_Stream0_IRQn, 0, 0);
+  HAL_NVIC_SetPriority(DMA1_Stream0_IRQn, 3, 0);
   HAL_NVIC_EnableIRQ(DMA1_Stream0_IRQn);
   /* DMA1_Stream1_IRQn interrupt configuration */
-  HAL_NVIC_SetPriority(DMA1_Stream1_IRQn, 0, 0);
+  HAL_NVIC_SetPriority(DMA1_Stream1_IRQn, 3, 0);
   HAL_NVIC_EnableIRQ(DMA1_Stream1_IRQn);
   /* DMA1_Stream2_IRQn interrupt configuration */
-  HAL_NVIC_SetPriority(DMA1_Stream2_IRQn, 0, 0);
+  HAL_NVIC_SetPriority(DMA1_Stream2_IRQn, 3, 0);
   HAL_NVIC_EnableIRQ(DMA1_Stream2_IRQn);
   /* DMA1_Stream3_IRQn interrupt configuration */
-  HAL_NVIC_SetPriority(DMA1_Stream3_IRQn, 0, 0);
+  HAL_NVIC_SetPriority(DMA1_Stream3_IRQn, 3, 0);
   HAL_NVIC_EnableIRQ(DMA1_Stream3_IRQn);
   /* DMA1_Stream4_IRQn interrupt configuration */
-  HAL_NVIC_SetPriority(DMA1_Stream4_IRQn, 0, 0);
+  HAL_NVIC_SetPriority(DMA1_Stream4_IRQn, 3, 0);
   HAL_NVIC_EnableIRQ(DMA1_Stream4_IRQn);
   /* DMA1_Stream5_IRQn interrupt configuration */
-  HAL_NVIC_SetPriority(DMA1_Stream5_IRQn, 0, 0);
+  HAL_NVIC_SetPriority(DMA1_Stream5_IRQn, 3, 0);
   HAL_NVIC_EnableIRQ(DMA1_Stream5_IRQn);
   /* DMA1_Stream6_IRQn interrupt configuration */
-  HAL_NVIC_SetPriority(DMA1_Stream6_IRQn, 0, 0);
+  HAL_NVIC_SetPriority(DMA1_Stream6_IRQn, 3, 0);
   HAL_NVIC_EnableIRQ(DMA1_Stream6_IRQn);
 
 }

Core/Src/fdcan.c

@@ -165,7 +165,7 @@ void HAL_FDCAN_MspInit(FDCAN_HandleTypeDef* fdcanHandle)
     HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
 
     /* FDCAN1 interrupt Init */
-    HAL_NVIC_SetPriority(FDCAN1_IT0_IRQn, 0, 0);
+    HAL_NVIC_SetPriority(FDCAN1_IT0_IRQn, 2, 0);
     HAL_NVIC_EnableIRQ(FDCAN1_IT0_IRQn);
   /* USER CODE BEGIN FDCAN1_MspInit 1 */
 
@@ -205,7 +205,7 @@ void HAL_FDCAN_MspInit(FDCAN_HandleTypeDef* fdcanHandle)
     HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
 
     /* FDCAN2 interrupt Init */
-    HAL_NVIC_SetPriority(FDCAN2_IT0_IRQn, 0, 0);
+    HAL_NVIC_SetPriority(FDCAN2_IT0_IRQn, 2, 0);
     HAL_NVIC_EnableIRQ(FDCAN2_IT0_IRQn);
   /* USER CODE BEGIN FDCAN2_MspInit 1 */
 

Core/Src/i2c.c

@@ -106,9 +106,9 @@ void HAL_I2C_MspInit(I2C_HandleTypeDef* i2cHandle)
     __HAL_RCC_I2C4_CLK_ENABLE();
 
     /* I2C4 interrupt Init */
-    HAL_NVIC_SetPriority(I2C4_EV_IRQn, 0, 0);
+    HAL_NVIC_SetPriority(I2C4_EV_IRQn, 15, 0);
     HAL_NVIC_EnableIRQ(I2C4_EV_IRQn);
-    HAL_NVIC_SetPriority(I2C4_ER_IRQn, 0, 0);
+    HAL_NVIC_SetPriority(I2C4_ER_IRQn, 15, 0);
     HAL_NVIC_EnableIRQ(I2C4_ER_IRQn);
   /* USER CODE BEGIN I2C4_MspInit 1 */
 

Core/Src/main.c

@@ -75,6 +75,7 @@ int can2_DispacherPeriod = 10;
 int SAVE_To_CV = 0;
 int SAVE_Register9=0; //设置55 保存KD
 int SAVE_Register23=0; //设置KD
+int Read_KD=0;
 /* USER CODE END PD */
 
 /* Private macro -------------------------------------------------------------*/
@@ -114,8 +115,7 @@ int main(void)
   /* USER CODE END 1 */
 
   /* MPU Configuration--------------------------------------------------------*/
-
-MPU_Config();
+  MPU_Config();
 
   /* Enable I-Cache---------------------------------------------------------*/
   SCB_EnableICache();
@@ -182,7 +182,7 @@ MPU_Config();
 		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();
@@ -333,7 +333,7 @@ void GF_Robot_Init()
 	tcp_server_init(3490);
 	dLT_Log_intialize_udp_tcp();
 
-	TL720D_intialize(&RS_485_1_UART_Handler);//倾角�? 115200
+	TL720D_intialize(&RS_485_1_UART_Handler);//倾角�?? 115200
 //	upper_Computer_UART_Handler_intialize(&RS_485_4_UART_Handler);
 	android_485_intialize(&RS_485_2_UART_Handler);
 

Core/Src/stm32h7xx_it.c

@@ -461,6 +461,20 @@ void ETH_IRQHandler(void)
   /* USER CODE END ETH_IRQn 1 */
 }
 
+/**
+  * @brief This function handles Ethernet wake-up interrupt through EXTI line 86.
+  */
+void ETH_WKUP_IRQHandler(void)
+{
+  /* USER CODE BEGIN ETH_WKUP_IRQn 0 */
+
+  /* USER CODE END ETH_WKUP_IRQn 0 */
+  HAL_ETH_IRQHandler(&heth);
+  /* USER CODE BEGIN ETH_WKUP_IRQn 1 */
+
+  /* USER CODE END ETH_WKUP_IRQn 1 */
+}
+
 /**
   * @brief This function handles USART6 global interrupt.
   */

Core/Src/tim.c

@@ -124,7 +124,7 @@ void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle)
     __HAL_RCC_TIM1_CLK_ENABLE();
 
     /* TIM1 interrupt Init */
-    HAL_NVIC_SetPriority(TIM1_UP_IRQn, 0, 0);
+    HAL_NVIC_SetPriority(TIM1_UP_IRQn, 1, 0);
     HAL_NVIC_EnableIRQ(TIM1_UP_IRQn);
   /* USER CODE BEGIN TIM1_MspInit 1 */
 

Core/Src/usart.c

@@ -464,7 +464,7 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
     __HAL_LINKDMA(uartHandle,hdmatx,hdma_lpuart1_tx);
 
     /* LPUART1 interrupt Init */
-    HAL_NVIC_SetPriority(LPUART1_IRQn, 0, 0);
+    HAL_NVIC_SetPriority(LPUART1_IRQn, 4, 0);
     HAL_NVIC_EnableIRQ(LPUART1_IRQn);
   /* USER CODE BEGIN LPUART1_MspInit 1 */
 
@@ -523,7 +523,7 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
     __HAL_LINKDMA(uartHandle,hdmatx,hdma_uart4_tx);
 
     /* UART4 interrupt Init */
-    HAL_NVIC_SetPriority(UART4_IRQn, 0, 0);
+    HAL_NVIC_SetPriority(UART4_IRQn, 4, 0);
     HAL_NVIC_EnableIRQ(UART4_IRQn);
   /* USER CODE BEGIN UART4_MspInit 1 */
 
@@ -587,7 +587,7 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
     __HAL_LINKDMA(uartHandle,hdmatx,hdma_uart5_tx);
 
     /* UART5 interrupt Init */
-    HAL_NVIC_SetPriority(UART5_IRQn, 0, 0);
+    HAL_NVIC_SetPriority(UART5_IRQn, 4, 0);
     HAL_NVIC_EnableIRQ(UART5_IRQn);
   /* USER CODE BEGIN UART5_MspInit 1 */
 
@@ -643,7 +643,7 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
     __HAL_LINKDMA(uartHandle,hdmatx,hdma_uart7_tx);
 
     /* UART7 interrupt Init */
-    HAL_NVIC_SetPriority(UART7_IRQn, 0, 0);
+    HAL_NVIC_SetPriority(UART7_IRQn, 4, 0);
     HAL_NVIC_EnableIRQ(UART7_IRQn);
   /* USER CODE BEGIN UART7_MspInit 1 */
 
@@ -702,7 +702,7 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
     __HAL_LINKDMA(uartHandle,hdmatx,hdma_usart1_tx);
 
     /* USART1 interrupt Init */
-    HAL_NVIC_SetPriority(USART1_IRQn, 0, 0);
+    HAL_NVIC_SetPriority(USART1_IRQn, 4, 0);
     HAL_NVIC_EnableIRQ(USART1_IRQn);
   /* USER CODE BEGIN USART1_MspInit 1 */
 
@@ -758,7 +758,7 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
     __HAL_LINKDMA(uartHandle,hdmatx,hdma_usart2_tx);
 
     /* USART2 interrupt Init */
-    HAL_NVIC_SetPriority(USART2_IRQn, 0, 0);
+    HAL_NVIC_SetPriority(USART2_IRQn, 4, 0);
     HAL_NVIC_EnableIRQ(USART2_IRQn);
   /* USER CODE BEGIN USART2_MspInit 1 */
 
@@ -814,7 +814,7 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
     __HAL_LINKDMA(uartHandle,hdmatx,hdma_usart3_tx);
 
     /* USART3 interrupt Init */
-    HAL_NVIC_SetPriority(USART3_IRQn, 0, 0);
+    HAL_NVIC_SetPriority(USART3_IRQn, 4, 0);
     HAL_NVIC_EnableIRQ(USART3_IRQn);
   /* USER CODE BEGIN USART3_MspInit 1 */
 
@@ -870,7 +870,7 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
     __HAL_LINKDMA(uartHandle,hdmatx,hdma_usart6_tx);
 
     /* USART6 interrupt Init */
-    HAL_NVIC_SetPriority(USART6_IRQn, 0, 0);
+    HAL_NVIC_SetPriority(USART6_IRQn, 4, 0);
     HAL_NVIC_EnableIRQ(USART6_IRQn);
   /* USER CODE BEGIN USART6_MspInit 1 */
 

GP_Floor_Roughening Debug.launch

@@ -0,0 +1,80 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<launchConfiguration type="com.st.stm32cube.ide.mcu.debug.launch.launchConfigurationType">
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.access_port_id" value="0"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.enable_live_expr" value="true"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.enable_swv" value="false"/>
+    <intAttribute key="com.st.stm32cube.ide.mcu.debug.launch.formatVersion" value="2"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.ip_address_local" value="localhost"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.limit_swo_clock.enabled" value="false"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.limit_swo_clock.value" value=""/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.loadList" value="{&quot;fItems&quot;:[{&quot;fIsFromMainTab&quot;:true,&quot;fPath&quot;:&quot;Debug/GP_Floor_Roughening.elf&quot;,&quot;fProjectName&quot;:&quot;GP_Floor_Roughening&quot;,&quot;fPerformBuild&quot;:true,&quot;fDownload&quot;:true,&quot;fLoadSymbols&quot;:true}]}"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.override_start_address_mode" value="default"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.remoteCommand" value="target remote"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.startServer" value="true"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.startuptab.exception.divby0" value="true"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.startuptab.exception.unaligned" value="false"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.startuptab.haltonexception" value="true"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.swd_mode" value="true"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.swv_port" value="61235"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.swv_trace_hclk" value="16000000"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.useRemoteTarget" value="true"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.vector_table" value=""/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.verify_flash_download" value="true"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.cti_allow_halt" value="false"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.cti_signal_halt" value="false"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.enable_external_loader" value="false"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.enable_logging" value="false"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.enable_max_halt_delay" value="false"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.enable_shared_stlink" value="false"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.external_loader" value=""/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.external_loader_init" value="false"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.frequency" value="0"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.halt_all_on_reset" value="false"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.log_file" value="C:\Users\lapto\Desktop\BHBF_robot\01_Lamao_ROBOT_Source\GP_Floor_Roughening_V1_2605\Debug\st-link_gdbserver_log.txt"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.low_power_debug" value="enable"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.max_halt_delay" value="2"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.reset_strategy" value="connect_under_reset"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.stlink_check_serial_number" value="false"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.stlink_txt_serial_number" value=""/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.watchdog_config" value="none"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlinkenable_rtos" value="false"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlinkrestart_configurations" value="{&quot;fVersion&quot;:1,&quot;fItems&quot;:[{&quot;fDisplayName&quot;:&quot;Reset&quot;,&quot;fIsSuppressible&quot;:false,&quot;fResetAttribute&quot;:&quot;Software system reset&quot;,&quot;fResetStrategies&quot;:[{&quot;fDisplayName&quot;:&quot;Software system reset&quot;,&quot;fLaunchAttribute&quot;:&quot;system_reset&quot;,&quot;fGdbCommands&quot;:[&quot;monitor reset\r\n&quot;],&quot;fCmdOptions&quot;:[&quot;-g&quot;]},{&quot;fDisplayName&quot;:&quot;Hardware reset&quot;,&quot;fLaunchAttribute&quot;:&quot;hardware_reset&quot;,&quot;fGdbCommands&quot;:[&quot;monitor reset hardware\r\n&quot;],&quot;fCmdOptions&quot;:[&quot;-g&quot;]},{&quot;fDisplayName&quot;:&quot;Core reset&quot;,&quot;fLaunchAttribute&quot;:&quot;core_reset&quot;,&quot;fGdbCommands&quot;:[&quot;monitor reset core\r\n&quot;],&quot;fCmdOptions&quot;:[&quot;-g&quot;]},{&quot;fDisplayName&quot;:&quot;None&quot;,&quot;fLaunchAttribute&quot;:&quot;no_reset&quot;,&quot;fGdbCommands&quot;:[],&quot;fCmdOptions&quot;:[&quot;-g&quot;]}],&quot;fGdbCommandGroup&quot;:{&quot;name&quot;:&quot;Additional commands&quot;,&quot;commands&quot;:[]},&quot;fStartApplication&quot;:true}]}"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.enableRtosProxy" value="false"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.rtosProxyCustomProperties" value=""/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.rtosProxyDriver" value="threadx"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.rtosProxyDriverAuto" value="false"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.rtosProxyDriverPort" value="cortex_m0"/>
+    <intAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.rtosProxyPort" value="60000"/>
+    <booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.doHalt" value="false"/>
+    <booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.doReset" value="false"/>
+    <stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.initCommands" value=""/>
+    <stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.ipAddress" value="localhost"/>
+    <stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.jtagDeviceId" value="com.st.stm32cube.ide.mcu.debug.stlink"/>
+    <stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.pcRegister" value=""/>
+    <intAttribute key="org.eclipse.cdt.debug.gdbjtag.core.portNumber" value="61234"/>
+    <stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.runCommands" value=""/>
+    <booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.setPcRegister" value="false"/>
+    <booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.setResume" value="true"/>
+    <booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.setStopAt" value="true"/>
+    <stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.stopAt" value="main"/>
+    <stringAttribute key="org.eclipse.cdt.dsf.gdb.DEBUG_NAME" value="arm-none-eabi-gdb"/>
+    <booleanAttribute key="org.eclipse.cdt.dsf.gdb.NON_STOP" value="false"/>
+    <booleanAttribute key="org.eclipse.cdt.dsf.gdb.UPDATE_THREADLIST_ON_SUSPEND" value="false"/>
+    <intAttribute key="org.eclipse.cdt.launch.ATTR_BUILD_BEFORE_LAUNCH_ATTR" value="2"/>
+    <stringAttribute key="org.eclipse.cdt.launch.COREFILE_PATH" value=""/>
+    <stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_START_MODE" value="remote"/>
+    <booleanAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN" value="true"/>
+    <stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN_SYMBOL" value="main"/>
+    <stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="Debug/GP_Floor_Roughening.elf"/>
+    <stringAttribute key="org.eclipse.cdt.launch.PROJECT_ATTR" value="GP_Floor_Roughening"/>
+    <booleanAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_AUTO_ATTR" value="true"/>
+    <stringAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_ID_ATTR" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.456396271"/>
+    <listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_PATHS">
+        <listEntry value="/GP_Floor_Roughening"/>
+    </listAttribute>
+    <listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_TYPES">
+        <listEntry value="4"/>
+    </listAttribute>
+    <stringAttribute key="org.eclipse.dsf.launch.MEMORY_BLOCKS" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&lt;memoryBlockExpressionList context=&quot;reserved-for-future-use&quot;/&gt;"/>
+    <stringAttribute key="process_factory_id" value="com.st.stm32cube.ide.mcu.debug.launch.HardwareDebugProcessFactory"/>
+</launchConfiguration>

Roughening_UDPV2_0BB_WiredRPM.ioc → GP_Floor_Roughening.ioc

@@ -370,38 +370,39 @@ MxCube.Version=6.6.1
 MxDb.Version=DB.6.0.60
 NVIC.BDMA_Channel0_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true
 NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
-NVIC.DMA1_Stream0_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true
-NVIC.DMA1_Stream1_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true
-NVIC.DMA1_Stream2_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true
-NVIC.DMA1_Stream3_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true
-NVIC.DMA1_Stream4_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true
-NVIC.DMA1_Stream5_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true
-NVIC.DMA1_Stream6_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true
+NVIC.DMA1_Stream0_IRQn=true\:3\:0\:true\:false\:true\:false\:true\:true
+NVIC.DMA1_Stream1_IRQn=true\:3\:0\:true\:false\:true\:false\:true\:true
+NVIC.DMA1_Stream2_IRQn=true\:3\:0\:true\:false\:true\:false\:true\:true
+NVIC.DMA1_Stream3_IRQn=true\:3\:0\:true\:false\:true\:false\:true\:true
+NVIC.DMA1_Stream4_IRQn=true\:3\:0\:true\:false\:true\:false\:true\:true
+NVIC.DMA1_Stream5_IRQn=true\:3\:0\:true\:false\:true\:false\:true\:true
+NVIC.DMA1_Stream6_IRQn=true\:3\:0\:true\:false\:true\:false\:true\:true
 NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
-NVIC.ETH_IRQn=true\:6\:0\:true\:false\:true\:true\:true\:true
-NVIC.FDCAN1_IT0_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
-NVIC.FDCAN2_IT0_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
+NVIC.ETH_IRQn=true\:5\:0\:true\:false\:true\:true\:true\:true
+NVIC.ETH_WKUP_IRQn=true\:5\:0\:true\:false\:true\:true\:true\:true
+NVIC.FDCAN1_IT0_IRQn=true\:2\:0\:true\:false\:true\:true\:true\:true
+NVIC.FDCAN2_IT0_IRQn=true\:2\:0\:true\:false\:true\:true\:true\:true
 NVIC.ForceEnableDMAVector=true
 NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
-NVIC.I2C4_ER_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
-NVIC.I2C4_EV_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
-NVIC.LPUART1_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
+NVIC.I2C4_ER_IRQn=true\:15\:0\:true\:false\:true\:true\:true\:true
+NVIC.I2C4_EV_IRQn=true\:15\:0\:true\:false\:true\:true\:true\:true
+NVIC.LPUART1_IRQn=true\:4\:0\:true\:false\:true\:true\:true\:true
 NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 NVIC.PendSV_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4
 NVIC.QUADSPI_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
 NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
-NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:true\:false\:true\:false
-NVIC.TIM1_UP_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
+NVIC.SysTick_IRQn=true\:0\:0\:true\:false\:true\:false\:true\:false
+NVIC.TIM1_UP_IRQn=true\:1\:0\:true\:false\:true\:true\:true\:true
 NVIC.TIM8_UP_TIM13_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
-NVIC.UART4_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
-NVIC.UART5_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
-NVIC.UART7_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
-NVIC.USART1_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
-NVIC.USART2_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
-NVIC.USART3_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
-NVIC.USART6_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
+NVIC.UART4_IRQn=true\:4\:0\:true\:false\:true\:true\:true\:true
+NVIC.UART5_IRQn=true\:4\:0\:true\:false\:true\:true\:true\:true
+NVIC.UART7_IRQn=true\:4\:0\:true\:false\:true\:true\:true\:true
+NVIC.USART1_IRQn=true\:4\:0\:true\:false\:true\:true\:true\:true
+NVIC.USART2_IRQn=true\:4\:0\:true\:false\:true\:true\:true\:true
+NVIC.USART3_IRQn=true\:4\:0\:true\:false\:true\:true\:true\:true
+NVIC.USART6_IRQn=true\:4\:0\:true\:false\:true\:true\:true\:true
 NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 PA0.GPIOParameters=PinState,GPIO_Label
 PA0.GPIO_Label=OUT_2
@@ -685,8 +686,8 @@ ProjectManager.MainLocation=Core/Src
 ProjectManager.NoMain=false
 ProjectManager.PreviousToolchain=STM32CubeIDE
 ProjectManager.ProjectBuild=false
-ProjectManager.ProjectFileName=Roughening_UDPV2_0BB_Wired.ioc
-ProjectManager.ProjectName=Roughening_UDPV2_0BB_Wired
+ProjectManager.ProjectFileName=Roughening_UDPV2_0BB_WiredRPM.ioc
+ProjectManager.ProjectName=Roughening_UDPV2_0BB_WiredRPM
 ProjectManager.RegisterCallBack=
 ProjectManager.StackSize=0x1000
 ProjectManager.TargetToolchain=STM32CubeIDE

LWIP/Target/ethernetif.c

@@ -525,8 +525,10 @@ void HAL_ETH_MspInit(ETH_HandleTypeDef* ethHandle)
     HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
 
     /* Peripheral interrupt init */
-    HAL_NVIC_SetPriority(ETH_IRQn, 6, 0);
+    HAL_NVIC_SetPriority(ETH_IRQn, 5, 0);
     HAL_NVIC_EnableIRQ(ETH_IRQn);
+    HAL_NVIC_SetPriority(ETH_WKUP_IRQn, 5, 0);
+    HAL_NVIC_EnableIRQ(ETH_WKUP_IRQn);
   /* USER CODE BEGIN ETH_MspInit 1 */
 
   /* USER CODE END ETH_MspInit 1 */
@@ -565,6 +567,8 @@ void HAL_ETH_MspDeInit(ETH_HandleTypeDef* ethHandle)
     /* Peripheral interrupt Deinit*/
     HAL_NVIC_DisableIRQ(ETH_IRQn);
 
+    HAL_NVIC_DisableIRQ(ETH_WKUP_IRQn);
+
   /* USER CODE BEGIN ETH_MspDeInit 1 */
 
   /* USER CODE END ETH_MspDeInit 1 */

Roughening_UDPV3_0BB_WiredRPM Debug.launch

@@ -0,0 +1,80 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<launchConfiguration type="com.st.stm32cube.ide.mcu.debug.launch.launchConfigurationType">
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.access_port_id" value="0"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.enable_live_expr" value="true"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.enable_swv" value="false"/>
+    <intAttribute key="com.st.stm32cube.ide.mcu.debug.launch.formatVersion" value="2"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.ip_address_local" value="localhost"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.limit_swo_clock.enabled" value="false"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.limit_swo_clock.value" value=""/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.loadList" value="{&quot;fItems&quot;:[{&quot;fIsFromMainTab&quot;:true,&quot;fPath&quot;:&quot;Debug/Roughening_UDPV3_0BB_WiredRPM.elf&quot;,&quot;fProjectName&quot;:&quot;Roughening_UDPV3_0BB_WiredRPM&quot;,&quot;fPerformBuild&quot;:true,&quot;fDownload&quot;:true,&quot;fLoadSymbols&quot;:true}]}"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.override_start_address_mode" value="default"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.remoteCommand" value="target remote"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.startServer" value="true"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.startuptab.exception.divby0" value="true"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.startuptab.exception.unaligned" value="false"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.startuptab.haltonexception" value="true"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.swd_mode" value="true"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.swv_port" value="61235"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.swv_trace_hclk" value="16000000"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.useRemoteTarget" value="true"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.vector_table" value=""/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.verify_flash_download" value="true"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.cti_allow_halt" value="false"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.cti_signal_halt" value="false"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.enable_external_loader" value="false"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.enable_logging" value="false"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.enable_max_halt_delay" value="false"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.enable_shared_stlink" value="false"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.external_loader" value=""/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.external_loader_init" value="false"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.frequency" value="0"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.halt_all_on_reset" value="false"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.log_file" value="C:\Users\lapto\Desktop\BHBF_robot\01_Lamao_ROBOT_Source\Roughening_UDPV3_0BB_WiredRPM\Debug\st-link_gdbserver_log.txt"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.low_power_debug" value="enable"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.max_halt_delay" value="2"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.reset_strategy" value="connect_under_reset"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.stlink_check_serial_number" value="false"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.stlink_txt_serial_number" value=""/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.watchdog_config" value="none"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlinkenable_rtos" value="false"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlinkrestart_configurations" value="{&quot;fVersion&quot;:1,&quot;fItems&quot;:[{&quot;fDisplayName&quot;:&quot;Reset&quot;,&quot;fIsSuppressible&quot;:false,&quot;fResetAttribute&quot;:&quot;Software system reset&quot;,&quot;fResetStrategies&quot;:[{&quot;fDisplayName&quot;:&quot;Software system reset&quot;,&quot;fLaunchAttribute&quot;:&quot;system_reset&quot;,&quot;fGdbCommands&quot;:[&quot;monitor reset\r\n&quot;],&quot;fCmdOptions&quot;:[&quot;-g&quot;]},{&quot;fDisplayName&quot;:&quot;Hardware reset&quot;,&quot;fLaunchAttribute&quot;:&quot;hardware_reset&quot;,&quot;fGdbCommands&quot;:[&quot;monitor reset hardware\r\n&quot;],&quot;fCmdOptions&quot;:[&quot;-g&quot;]},{&quot;fDisplayName&quot;:&quot;Core reset&quot;,&quot;fLaunchAttribute&quot;:&quot;core_reset&quot;,&quot;fGdbCommands&quot;:[&quot;monitor reset core\r\n&quot;],&quot;fCmdOptions&quot;:[&quot;-g&quot;]},{&quot;fDisplayName&quot;:&quot;None&quot;,&quot;fLaunchAttribute&quot;:&quot;no_reset&quot;,&quot;fGdbCommands&quot;:[],&quot;fCmdOptions&quot;:[&quot;-g&quot;]}],&quot;fGdbCommandGroup&quot;:{&quot;name&quot;:&quot;Additional commands&quot;,&quot;commands&quot;:[]},&quot;fStartApplication&quot;:true}]}"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.enableRtosProxy" value="false"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.rtosProxyCustomProperties" value=""/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.rtosProxyDriver" value="threadx"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.rtosProxyDriverAuto" value="false"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.rtosProxyDriverPort" value="cortex_m0"/>
+    <intAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.rtosProxyPort" value="60000"/>
+    <booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.doHalt" value="false"/>
+    <booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.doReset" value="false"/>
+    <stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.initCommands" value=""/>
+    <stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.ipAddress" value="localhost"/>
+    <stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.jtagDeviceId" value="com.st.stm32cube.ide.mcu.debug.stlink"/>
+    <stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.pcRegister" value=""/>
+    <intAttribute key="org.eclipse.cdt.debug.gdbjtag.core.portNumber" value="61234"/>
+    <stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.runCommands" value=""/>
+    <booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.setPcRegister" value="false"/>
+    <booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.setResume" value="true"/>
+    <booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.setStopAt" value="true"/>
+    <stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.stopAt" value="main"/>
+    <stringAttribute key="org.eclipse.cdt.dsf.gdb.DEBUG_NAME" value="arm-none-eabi-gdb"/>
+    <booleanAttribute key="org.eclipse.cdt.dsf.gdb.NON_STOP" value="false"/>
+    <booleanAttribute key="org.eclipse.cdt.dsf.gdb.UPDATE_THREADLIST_ON_SUSPEND" value="false"/>
+    <intAttribute key="org.eclipse.cdt.launch.ATTR_BUILD_BEFORE_LAUNCH_ATTR" value="2"/>
+    <stringAttribute key="org.eclipse.cdt.launch.COREFILE_PATH" value=""/>
+    <stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_START_MODE" value="remote"/>
+    <booleanAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN" value="true"/>
+    <stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN_SYMBOL" value="main"/>
+    <stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="Debug/Roughening_UDPV3_0BB_WiredRPM.elf"/>
+    <stringAttribute key="org.eclipse.cdt.launch.PROJECT_ATTR" value="Roughening_UDPV3_0BB_WiredRPM"/>
+    <booleanAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_AUTO_ATTR" value="true"/>
+    <stringAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_ID_ATTR" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.456396271"/>
+    <listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_PATHS">
+        <listEntry value="/Roughening_UDPV3_0BB_WiredRPM"/>
+    </listAttribute>
+    <listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_TYPES">
+        <listEntry value="4"/>
+    </listAttribute>
+    <stringAttribute key="org.eclipse.dsf.launch.MEMORY_BLOCKS" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&lt;memoryBlockExpressionList context=&quot;reserved-for-future-use&quot;/&gt;"/>
+    <stringAttribute key="process_factory_id" value="com.st.stm32cube.ide.mcu.debug.launch.HardwareDebugProcessFactory"/>
+</launchConfiguration>

readme.txt

@@ -1 +1,4 @@
 25/12/26 加UDP
+
+V3：
+260423：新增右摇杆压力模式区分