新增udp clinet 每次测量每次发送

缩短前进避障距离
确定正压范围
找纠速度限位放大

.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="1328381158025398140" 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="1328381157137894459" 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="1328381158025398140" 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="1328381157137894459" 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/Inc/MSP/msp_PaintThickness.h

@@ -11,6 +11,7 @@
 #include "stdint.h"
 
 extern int32_t* PaintThickness;
+extern int32_t* PaintThickness_Count;
 
 extern void Paint_Thickness_intialize();
 

BASE/Src/BSP/bsp_client_setting.c

@@ -16,6 +16,7 @@ void decode_received_data_from_client(uint8_t *buffer, uint16_t length);
 
 struct UARTHandler *client_setting_Handler;  //相当于当前行及下一行这两个结构体与绑定的共享地址
 DispacherController *client_setting_dispacher;
+int LastCount;
 
 void client_setting_intialize(struct UARTHandler *Handler)
 {
@@ -35,79 +36,42 @@ void client_setting_intialize(struct UARTHandler *Handler)
 
 void UpdateIV()//往安卓发的
 {
-//根据提供的缓冲区和大小创建一个输出流对象
-	pb_ostream_t IV_o_stream = pb_ostream_from_buffer(
-		        &client_setting_Handler->Tx_Buf[2],
-		        sizeof(client_setting_Handler->Tx_Buf) - 2);
 
-	//将 IV 结构体中的数值按照 Protobuf 协议进行编码，并将编码后的字节流存储到 client_setting_Handler->Tx_Buf 数组（从第三个元素开始）
+	if(GV.Robot_PaintThickness_Count > LastCount)
-		pb_encode(&IV_o_stream, IV_struct_define_fields, &IV);
+	{
+
+	}
+	else
+	{
+		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[0] = 0x55;
-		client_setting_Handler->Tx_Buf[1] = 0x55;
-		client_setting_Handler->TxCount = IV_o_stream.bytes_written + 4;
 
-		uint16_t crc=MB_CRC16(&(client_setting_Handler->Tx_Buf[0]),  IV_o_stream.bytes_written + 2);
+		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[IV_o_stream.bytes_written + 2] = (crc>>8) &0xff;
+		uint16_t crc=MB_CRC16(&(client_setting_Handler->Tx_Buf[0]),  5);
-		client_setting_Handler->Tx_Buf[IV_o_stream.bytes_written + 3] =  crc & 0xff;;
+
+		client_setting_Handler->Tx_Buf[6] = (crc>>8) &0xff;
+		client_setting_Handler->Tx_Buf[5] =  crc & 0xff;
 
 
 		client_setting_Handler->UART_Tx(client_setting_Handler);
+
+		LastCount = GV.Robot_PaintThickness_Count;
 }
 
 void decode_received_data_from_client(uint8_t *buffer, uint16_t length)
 {
-	uint8_t data[20];
+	uint8_t data[2000];
 		memcpy(data,buffer,length);
 
-		//if (*buffer == 0x55 && *(buffer + 1) == 0x55 && length >= 4)
-		if (buffer[0] == 0x55 && buffer[1] == 0x55 && length >= 4)
-		{
-			uint16_t crc_check = ((buffer[length - 1] << 8) | buffer[length - 2]);
-			uint16_t crc_check1 = MB_CRC16(buffer, length - 2);
-			/* CRC 校验正确 */
-			if (crc_check == MB_CRC16(buffer, length - 2))
-			{
-				//if (*(buffer + 2) == 0x01 && *(buffer + 3) == 0x01) //01 01 设置PV
-				if (buffer[2] == 0x01 && buffer[3] == 0x01) //01 01 设置PV
-				{
-					PV_struct_define decoded_PV = PV_struct_define_init_default;
-					pb_istream_t i_pv_stream =
-					{ 0 };
-
-					i_pv_stream = pb_istream_from_buffer(&buffer[4], length - 4);
-					pb_decode(&i_pv_stream, PV_struct_define_fields, &decoded_PV);
-					//将CV写入EEPROM
-					//CV_struct_define saved_cV = GF_BSP_EEPROM_Get_CV();
-					GV.PV = decoded_PV;
-					GF_BSP_EEPROM_Set_CV(CV);
-				}
-				else if (*(buffer + 2) == 0x02 && *(buffer + 3) == 0x01) //设置PV
-				{
-
-				}
-				else if (*(buffer + 2) == 0x03 && *(buffer + 3) == 0x01) //返回IV
-				{
-
-				}
-				else
-				{
-
-				}
-
-			}
-			else
-			{
-				//Decode Error；
-				//log_error("wire sensor decoding failed");
-				LOGFF(DL_ERROR, "androidd decoding failed");
-
-			}
-
-		}
 
-	}
+}
 
 //	client_setting_Handler->Tx_Buf[0]='1';
 //	client_setting_Handler->Tx_Buf[1]=',';

BASE/Src/MSP/msp_PaintThickness.c

@@ -14,6 +14,10 @@ void GF_PT_Inquiry();//inqure data from the, in fact this is a modbus 03 functio
 
 
 int32_t* PaintThickness;
+int32_t  PaintThickness_LastLength;
+int32_t* PaintThickness_Count;
+
+
 struct UARTHandler *PaintThickness_sensor;
 
 DispacherController *PaintThickness_sensor_dispacherController;
@@ -51,6 +55,16 @@ void decode_PaintThickness(uint8_t *buffer, uint16_t 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] = {';','<',':','>'};
@@ -78,7 +92,7 @@ void decode_PaintThickness(uint8_t *buffer, uint16_t length)
 
 		*PaintThickness = atof(PaintThickness_in) * 10;
 
-
+		PaintThickness_LastLength = length;
 
 		HardWareErrorController->Set_PCOMHardWare(HardWareErrorController,"PaintThickness_sensor",1);
 		LOG("decode_PaintThickness  succeeded and the force is %d",*PaintThickness);

Core/Protobuf/PSource/bsp_GV.pb.h

@@ -43,6 +43,7 @@ typedef struct _GV_struct_define {
     int32_t Robot_ForceValue;
     int32_t Robot_DynamometerValue;
     int32_t Robot_PaintThickness;
+    int32_t Robot_PaintThickness_Count;
     int32_t Robot_Speed_mpm;
     bool has_Robot_Ultrasonic;
     MSP_UltrasonicParameters Robot_Ultrasonic;
@@ -55,8 +56,8 @@ extern "C" {
 #endif
 
 /* Initializer values for message structs */
-#define GV_struct_define_init_default            {false, PV_struct_define_init_default, false, MotorParameters_init_default, false, MotorParameters_init_default, false, SP_MSP_U7_Button_init_default, 0, false, ErrorData_init_default, false, MSP_TL720DParameters_init_default, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, false, MSP_UltrasonicParameters_init_default, 0}
+#define GV_struct_define_init_default            {false, PV_struct_define_init_default, false, MotorParameters_init_default, false, MotorParameters_init_default, false, SP_MSP_U7_Button_init_default, 0, false, ErrorData_init_default, false, MSP_TL720DParameters_init_default, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, false, MSP_UltrasonicParameters_init_default, 0}
-#define GV_struct_define_init_zero               {false, PV_struct_define_init_zero, false, MotorParameters_init_zero, false, MotorParameters_init_zero, false, SP_MSP_U7_Button_init_zero, 0, false, ErrorData_init_zero, false, MSP_TL720DParameters_init_zero, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, false, MSP_UltrasonicParameters_init_zero, 0}
+#define GV_struct_define_init_zero               {false, PV_struct_define_init_zero, false, MotorParameters_init_zero, false, MotorParameters_init_zero, false, SP_MSP_U7_Button_init_zero, 0, false, ErrorData_init_zero, false, MSP_TL720DParameters_init_zero, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, false, MSP_UltrasonicParameters_init_zero, 0}
 
 /* Field tags (for use in manual encoding/decoding) */
 #define GV_struct_define_PV_tag                  1
@@ -76,8 +77,9 @@ extern "C" {
 #define GV_struct_define_Robot_ForceValue_tag    15
 #define GV_struct_define_Robot_DynamometerValue_tag 16
 #define GV_struct_define_Robot_PaintThickness_tag 17
-#define GV_struct_define_Robot_Speed_mpm_tag     18
+#define GV_struct_define_Robot_PaintThickness_Count_tag 18
-#define GV_struct_define_Robot_Ultrasonic_tag    19
+#define GV_struct_define_Robot_Speed_mpm_tag     19
+#define GV_struct_define_Robot_Ultrasonic_tag    20
 #define GV_struct_define_Emergency_tag           21
 
 /* Struct field encoding specification for nanopb */
@@ -99,8 +101,9 @@ X(a, STATIC,   SINGULAR, INT32,    Robot_ChgLength,  14) \
 X(a, STATIC,   SINGULAR, INT32,    Robot_ForceValue,  15) \
 X(a, STATIC,   SINGULAR, INT32,    Robot_DynamometerValue,  16) \
 X(a, STATIC,   SINGULAR, INT32,    Robot_PaintThickness,  17) \
-X(a, STATIC,   SINGULAR, INT32,    Robot_Speed_mpm,  18) \
+X(a, STATIC,   SINGULAR, INT32,    Robot_PaintThickness_Count,  18) \
-X(a, STATIC,   OPTIONAL, MESSAGE,  Robot_Ultrasonic,  19) \
+X(a, STATIC,   SINGULAR, INT32,    Robot_Speed_mpm,  19) \
+X(a, STATIC,   OPTIONAL, MESSAGE,  Robot_Ultrasonic,  20) \
 X(a, STATIC,   SINGULAR, INT32,    Emergency,        21)
 #define GV_struct_define_CALLBACK NULL
 #define GV_struct_define_DEFAULT NULL
@@ -119,7 +122,7 @@ 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                    1087
+#define GV_struct_define_size                    1099
 
 #ifdef __cplusplus
 } /* extern "C" */

Core/Protobuf/Proto/bsp_GV.proto

@@ -32,9 +32,11 @@ message GV_struct_define
 	int32  Robot_ForceValue = 15;
 	int32  Robot_DynamometerValue = 16;
 	int32  Robot_PaintThickness = 17;
-	int32  Robot_Speed_mpm = 18;
+	int32  Robot_PaintThickness_Count = 18;
 
-	MSP_UltrasonicParameters Robot_Ultrasonic = 19;
+	int32  Robot_Speed_mpm = 19;
+
+	MSP_UltrasonicParameters Robot_Ultrasonic = 20;
 	int32  Emergency = 21;
 };
 

Core/Src/FSM.c

@@ -236,7 +236,7 @@ void Dangerous_Test()
 	}
 
 	//前进避障计数
-	if(GV.Robot_Ultrasonic.USValue_4 <= 5000
+	if(GV.Robot_Ultrasonic.USValue_4 <= 4500
 			&& GV.Robot_Ultrasonic.USValue_4 != 0)
 	{
 		GV.Robot_Ultrasonic.USValue_Count_4 ++;
@@ -288,7 +288,7 @@ void Dym_Test()
 	{
 		//计数，置位标志
 		//前进探边计数
-		if(GV.Robot_Ultrasonic.Dym_Value <= 10300 ||  GV.Robot_Ultrasonic.Dym_Value >= 11000)
+		if(GV.Robot_Ultrasonic.Dym_Value <= 10500 ||  GV.Robot_Ultrasonic.Dym_Value >= 15000)
 		{
 			GV.Robot_Ultrasonic.Dym_Value_Count ++;
 			if(GV.Robot_Ultrasonic.Dym_Value_Count >= 3)

Core/Src/main.c

@@ -267,6 +267,7 @@ void CV_GV_Init()
 	CMCUValue_in = &GV.Robot_ForceValue;
 	DynamometerValue_in = &GV.Robot_DynamometerValue;
 	PaintThickness = &GV.Robot_PaintThickness;
+	PaintThickness_Count = &GV.Robot_PaintThickness_Count;
 	USValue_in = &GV.Robot_Ultrasonic;
 
 	//Error Config
@@ -312,6 +313,8 @@ void GF_Robot_Init()
 	T_F4_Remote_Controller_intialize(&RS_485_3_UART_Handler);
 	Paint_Thickness_intialize(&RS_485_4_UART_Handler);
 
+	client_setting_intialize(&LPUART1_UART_Handler);
+
 	GF_BSP_FDCAN_Init();
 	GF_BSP_CANHandler_Init(can1_sendListPeriod, can1_DispacherPeriod,
 			can2_sendListPeriod, can2_DispacherPeriod);

Core/Src/robot_state.c

@@ -346,9 +346,9 @@ void VehicleAutoTurn(double InclinometerAngle, double expectationAngle, double K
 			deltaAngle=-deltaAngle;
 		}
 
-		if(deltaSpeed >= 400)
+		if(deltaSpeed >= 500)
 		{
-			deltaSpeed = 400;
+			deltaSpeed = 500;
 		}
 
 		GV.LeftFrontMotor.Target_Velcity=0;