新增漆膜测厚的序列号；在校验之后再判断新数据；急停信号的UDP正确上传

.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="1328381156250390778" 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="-48266367591953008" 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="1328381156250390778" 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="-48266367591953008" 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>

BASE/Src/BSP/bsp_client_setting.c

@@ -85,26 +85,40 @@ void UpdateIV_State()//往安卓发的
 void UpdateIV_PaintThickness()//往安卓发的
 {
 
-	if(GV.Robot_PaintThickness_Count <= LastCount + 1)
+	if(GV.Robot_PaintThickness_Count <= LastCount)
+	{
+		return;
+	}
+	if(GV.Robot_PaintThickness_Count == 1)
 	{
 		return;
 	}
 
 		client_setting_Handler->Tx_Buf[0] = 0x01;
 		client_setting_Handler->Tx_Buf[1] = 0x03;
-		client_setting_Handler->Tx_Buf[2] = 0x02;
-		client_setting_Handler->TxCount = 7;
-		client_setting_Handler->Tx_Buf[3] = (GV.Robot_PaintThickness>>8) &0xff;
-		client_setting_Handler->Tx_Buf[4] = GV.Robot_PaintThickness & 0xff;
+		client_setting_Handler->Tx_Buf[2] = 0x04;
+		client_setting_Handler->TxCount = 9;
+		client_setting_Handler->Tx_Buf[3] = ((GV.Robot_PaintThickness_Count - 1)>>8) &0xff;
+		client_setting_Handler->Tx_Buf[4] = (GV.Robot_PaintThickness_Count - 1) & 0xff;
+
+
+		client_setting_Handler->Tx_Buf[5] = (GV.Robot_PaintThickness>>8) &0xff;
+		client_setting_Handler->Tx_Buf[6] = GV.Robot_PaintThickness & 0xff;
 
-		uint16_t crc=MB_CRC16(&(client_setting_Handler->Tx_Buf[0]),  5);
+		uint16_t crc=MB_CRC16(&(client_setting_Handler->Tx_Buf[0]),  7);
 
-		client_setting_Handler->Tx_Buf[6] = (crc>>8) &0xff;
-		client_setting_Handler->Tx_Buf[5] =  crc & 0xff;
+		client_setting_Handler->Tx_Buf[8] = (crc>>8) &0xff;
+		client_setting_Handler->Tx_Buf[7] =  crc & 0xff;
 
 		client_setting_Handler->UART_Tx(client_setting_Handler);
 
+		if(GV.Robot_PaintThickness_Count >= ((uint16_t)pow(2, 31)) - 1)
+		{
+			GV.Robot_PaintThickness_Count = 1;
+		}
+
 		LastCount = GV.Robot_PaintThickness_Count;
+
 }
 
 

BASE/Src/MSP/msp_PaintThickness.c

@@ -38,6 +38,7 @@ void Paint_Thickness_intialize(struct UARTHandler *Handler)
 	HardWareErrorController->Add_PCOMHardWare(HardWareErrorController,"PaintThickness_sensor",0,PaintThickness_sensor);
 		//uartHandler->Insert_HardWare_Entry_UART
 	 LOG("steering_engine_intialize");
+
 }
 
 uint8_t Inquiry_Order_PT[6]={0X2E, 0X64, 0X30, 0X3C, 0X3A, 0X3E};
@@ -53,18 +54,11 @@ void GF_PT_Inquiry()
 
 void decode_PaintThickness(uint8_t *buffer, uint16_t length)
 {
+	uint8_t data[2000];
+		memcpy(data,buffer,length);
 	//memcpy(data_PaintThickness,buffer,length);
 	LOG("start decoding and the length is %d",length);
 
-	if(length >= PaintThickness_LastLength + 5)
-	{
-		*PaintThickness_Count = *PaintThickness_Count + 1;
-	}
-	else
-	{
-		return;
-	}
-
 	/* 校验 */
 	//;<:>
 	uint8_t crc_check[4] = {';','<',':','>'};
@@ -75,6 +69,17 @@ void decode_PaintThickness(uint8_t *buffer, uint16_t length)
 		&&  crc_check[1] == buffer[length - 3]
 		&&  crc_check[0] == buffer[length - 4])
 	{
+		//判断是否是新数据
+		if(length >= PaintThickness_LastLength + 5)
+		{
+			*PaintThickness_Count = *PaintThickness_Count + 1;
+		}
+		else
+		{
+			return;
+		}
+
+
 		int startIndex=0;
 
 		for(int j=5;j<=14;j++)

Core/Src/FSM.c

@@ -379,6 +379,10 @@ void RC_Emergency()
 {
 	if(Current_T_F4_Value.emergency_stop == 1)
 	{
+		GV.AuTo_Flag = 0;
+		GV.Chg_Flag = 0;
+		Chg_Pa.change_road_finish_flag = 0;
+
 		GF_BSP_GPIO_SetIO(Out_Spray,1);
 		GF_BSP_GPIO_SetIO(0,1);
 		CurrentMoveState = Move_Emergency;
@@ -389,21 +393,13 @@ void RC_Emergency()
 	}
 }
 
-void GF_Dispatch()//2ms调用一次 给车体速度等赋值
+//运动部分 Move Region
+void Robot_Move()
 {
-	//--遥控器急停判断
-	RC_Emergency();
-	//--自动作业模式下的探边检测判断
-	if(Current_T_F4_Value.AutoForWard == 1
-		|| Current_T_F4_Value.AutoBackWard == 1)
+	if(Current_T_F4_Value.emergency_stop == 1)
 	{
-		Dangerous_Test();
+		return;
 	}
-	//--
-	//--气压判断
-	Dym_Test();
-	//--
-	//运动部分 Move Region
 	if((Current_T_F4_Value.ChgDown_Ver == 1 || Current_T_F4_Value.ChgUp_Ver == 1
 		|| Current_T_F4_Value.ChgLeft_Hor == 1 || Current_T_F4_Value.ChgRight_Hor == 1
 		|| Current_T_F4_Value.AutoForWard == 1 || Current_T_F4_Value.AutoBackWard == 1)
@@ -499,6 +495,24 @@ void GF_Dispatch()//2ms调用一次 给车体速度等赋值
 	{
 		Off_AutoSpray();
 	}
+}
+
+void GF_Dispatch()//2ms调用一次 给车体速度等赋值
+{
+	//--遥控器急停判断
+	RC_Emergency();
+	//--自动作业模式下的探边检测判断
+	if(Current_T_F4_Value.AutoForWard == 1
+		|| Current_T_F4_Value.AutoBackWard == 1)
+	{
+		Dangerous_Test();
+	}
+
+	//--气压判断
+	Dym_Test();
+
+
+	Robot_Move();
 
 	//--探边置位消除
 	Dangerous_Flag_Delete();
@@ -547,7 +561,8 @@ void GF_Dispatch()//2ms调用一次 给车体速度等赋值
 
 
 	GV.Robot_State = CurrentMoveState;
-	if(GV.LeftFrontMotor.ERROR_Flag != 0 || GV.RightFrontMotor.ERROR_Flag != 0)
+	if((GV.LeftFrontMotor.ERROR_Flag != 0 || GV.RightFrontMotor.ERROR_Flag != 0)
+			&& Current_T_F4_Value.emergency_stop != 1)
 	{
 		GV.Robot_State = Move_Error;
 	}