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修复中文注释乱码：22个GBK源文件统一转换为UTF-8，并更新Keil调试配置

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This commit is contained in:
DESKTOP-UB3FFU5\袁洪彬
2026-09-04 15:03:52 +08:00
parent 8200e7b8aa
commit 41021cf95c
24 changed files with 1058 additions and 1044 deletions
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Project/HC32F460/source/User/Src/main.c
+51 -51
View File
@@ -15,8 +15,8 @@
#define MAIN_DBG_LOG(...) DBG_LOG(__VA_ARGS__)
#define MAIN_DBG_ARRAY(ARRAY, SIZE) DBG_ARRAY(ARRAY,SIZE)
#define SOFTWARE_VERSION 11 //软件版本
#define HARDWARE_VERSION 20 //硬件版本
#define SOFTWARE_VERSION 11 //软件版本
#define HARDWARE_VERSION 20 //硬件版本
AppDetect_t App;
@@ -290,25 +290,25 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
App.LeftRunFalg = false;
App.RightRunFalg = false;
App.CentreRunFalg = false;
if(((lu_ad[0] < App.ADTrack.LeftUp_Org_AdZero-CENTRE_VPT)//判断中间操作
if(((lu_ad[0] < App.ADTrack.LeftUp_Org_AdZero-CENTRE_VPT)//判断中间操作
&& (ru_ad[0] < App.ADTrack.RightUp_Org_AdZero-CENTRE_VPT)
&& (lu_ad[1] < App.ADTrack.LeftUp_Org_AdZero-CENTRE_VPT)
&& (ru_ad[1] < App.ADTrack.RightUp_Org_AdZero-CENTRE_VPT)
&& (lu_ad[2] < App.ADTrack.LeftUp_Org_AdZero-CENTRE_VPT)
&& (ru_ad[2] < App.ADTrack.RightUp_Org_AdZero-CENTRE_VPT)
&& (ll_ad[0] > App.ADTrack.LeftLow_Org_AdZero+CENTRE_VPT)//判断中间操作
&& (ll_ad[0] > App.ADTrack.LeftLow_Org_AdZero+CENTRE_VPT)//判断中间操作
&& (rl_ad[0] > App.ADTrack.RightLow_Org_AdZero+CENTRE_VPT)
&& (ll_ad[1] > App.ADTrack.LeftLow_Org_AdZero+CENTRE_VPT)
&& (rl_ad[1] > App.ADTrack.RightLow_Org_AdZero+CENTRE_VPT)
&& (ll_ad[2] > App.ADTrack.LeftLow_Org_AdZero+CENTRE_VPT)
&& (rl_ad[2] > App.ADTrack.RightLow_Org_AdZero+CENTRE_VPT))
|| ((lu_ad[0] > App.ADTrack.LeftUp_Org_AdZero+CENTRE_VPT)//判断中间操作
|| ((lu_ad[0] > App.ADTrack.LeftUp_Org_AdZero+CENTRE_VPT)//判断中间操作
&& (ru_ad[0] > App.ADTrack.RightUp_Org_AdZero+CENTRE_VPT)
&& (lu_ad[1] > App.ADTrack.LeftUp_Org_AdZero+CENTRE_VPT)
&& (ru_ad[1] > App.ADTrack.RightUp_Org_AdZero+CENTRE_VPT)
&& (lu_ad[2] > App.ADTrack.LeftUp_Org_AdZero+CENTRE_VPT)
&& (ru_ad[2] > App.ADTrack.RightUp_Org_AdZero+CENTRE_VPT)
&& (ll_ad[0] < App.ADTrack.LeftLow_Org_AdZero-CENTRE_VPT)//判断中间操作
&& (ll_ad[0] < App.ADTrack.LeftLow_Org_AdZero-CENTRE_VPT)//判断中间操作
&& (rl_ad[0] < App.ADTrack.RightLow_Org_AdZero-CENTRE_VPT)
&& (ll_ad[1] < App.ADTrack.LeftLow_Org_AdZero-CENTRE_VPT)
&& (rl_ad[1] < App.ADTrack.RightLow_Org_AdZero-CENTRE_VPT)
@@ -318,10 +318,10 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
{
App.CentreRunFalg = true;
App.CentCollDelay1mSCnt = CENT_TIME_MS;
if(LeftDiff > RightDiff)//判断偏左
if(LeftDiff > RightDiff)//判断偏左
{
App.LeftRunFalg = true;
if(((Olu_diff1+Oru_diff1) > (App.ADTrack.Stop_VPT))//判断上拉
if(((Olu_diff1+Oru_diff1) > (App.ADTrack.Stop_VPT))//判断上拉
&& ((Olu_diff2+Oru_diff2) > (App.ADTrack.Stop_VPT))
&& ((Olu_diff3+Oru_diff3) > (App.ADTrack.Stop_VPT))
&& ((Oll_diff1+Orl_diff1) < -(App.ADTrack.Stop_VPT))
@@ -329,7 +329,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
&& ((Oll_diff3+Orl_diff3) < -(App.ADTrack.Stop_VPT))
)
{
// if(App.CaliZeroFlag == true)//判断是否校零
// if(App.CaliZeroFlag == true)//判断是否校零
{
if(App.MotorPara.Current_height < 1195)
{
@@ -343,7 +343,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
}
}
}
else if(((Olu_diff1+Oru_diff1) < -(App.ADTrack.Stop_VPT))//判断下拉
else if(((Olu_diff1+Oru_diff1) < -(App.ADTrack.Stop_VPT))//判断下拉
&& ((Olu_diff2+Oru_diff2) < -(App.ADTrack.Stop_VPT))
&& ((Olu_diff3+Oru_diff3) < -(App.ADTrack.Stop_VPT))
&& ((Oll_diff1+Orl_diff1) > (App.ADTrack.Stop_VPT))
@@ -351,7 +351,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
&& ((Oll_diff3+Orl_diff3) > (App.ADTrack.Stop_VPT))
)
{
// if(App.CaliZeroFlag == true)//判断是否校零
// if(App.CaliZeroFlag == true)//判断是否校零
{
if(App.MotorPara.Current_height > 725)
{
@@ -366,10 +366,10 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
}
}
}
else if(RightDiff > LeftDiff)//判断偏右
else if(RightDiff > LeftDiff)//判断偏右
{
App.RightRunFalg = true;
if(((Olu_diff1+Oru_diff1) > (App.ADTrack.Stop_VPT))//判断上拉
if(((Olu_diff1+Oru_diff1) > (App.ADTrack.Stop_VPT))//判断上拉
&& ((Olu_diff2+Oru_diff2) > (App.ADTrack.Stop_VPT))
&& ((Olu_diff3+Oru_diff3) > (App.ADTrack.Stop_VPT))
&& ((Oll_diff1+Orl_diff1) < -(App.ADTrack.Stop_VPT))
@@ -377,7 +377,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
&& ((Oll_diff3+Orl_diff3) < -(App.ADTrack.Stop_VPT))
)
{
// if(App.CaliZeroFlag == true)//判断是否校零
// if(App.CaliZeroFlag == true)//判断是否校零
{
if(App.MotorPara.Current_height < 1195)
{
@@ -391,7 +391,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
}
}
}
else if(((Olu_diff1+Oru_diff1) < -(App.ADTrack.Stop_VPT))//判断下拉
else if(((Olu_diff1+Oru_diff1) < -(App.ADTrack.Stop_VPT))//判断下拉
&& ((Olu_diff2+Oru_diff2) < -(App.ADTrack.Stop_VPT))
&& ((Olu_diff3+Oru_diff3) < -(App.ADTrack.Stop_VPT))
&& ((Oll_diff1+Orl_diff1) > (App.ADTrack.Stop_VPT))
@@ -399,7 +399,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
&& ((Oll_diff3+Orl_diff3) > (App.ADTrack.Stop_VPT))
)
{
// if(App.CaliZeroFlag == true)//判断是否校零
// if(App.CaliZeroFlag == true)//判断是否校零
{
if(App.MotorPara.Current_height > 725)
{
@@ -415,17 +415,17 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
}
}
}
else if((LeftSlopeSum > RightSlopeSum && LeftDiffSum > RightDiffSum && App.CentCollDelay1mSCnt <= 0))//判断左边操作
else if((LeftSlopeSum > RightSlopeSum && LeftDiffSum > RightDiffSum && App.CentCollDelay1mSCnt <= 0))//判断左边操作
{
App.LeftRunFalg = true;
if((Olu_diff1 >= (App.ADTrack.LeftUpVPT*5/6)) //通过差值判断上下拉方向
if((Olu_diff1 >= (App.ADTrack.LeftUpVPT*5/6)) //通过差值判断上下拉方向
&& (Olu_diff2 >= (App.ADTrack.LeftUpVPT*5/6))
&& (Olu_diff3 >= (App.ADTrack.LeftUpVPT*5/6))
&& (Oll_diff1 <= -(App.ADTrack.LeftLowVPT*5/6))
&& (Oll_diff2 <= -(App.ADTrack.LeftLowVPT*5/6))
&& (Oll_diff3 <= -(App.ADTrack.LeftLowVPT*5/6)))
{
if(((App.LeftUpCS1237_SlopeArray[0] <= -PRESS_VPT)//判断是否不是正面压
if(((App.LeftUpCS1237_SlopeArray[0] <= -PRESS_VPT)//判断是否不是正面压
&& (App.LeftUpCS1237_SlopeArray[1] <= -PRESS_VPT)
&& (App.LeftUpCS1237_SlopeArray[2] <= -PRESS_VPT)
&& (App.LeftLowCS1237_SlopeArray[0] >= PRESS_VPT)
@@ -433,9 +433,9 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
&& (App.LeftLowCS1237_SlopeArray[2] >= PRESS_VPT))
)
{
// if(App.CaliZeroFlag == true)//判断是否校零
// if(App.CaliZeroFlag == true)//判断是否校零
{
if((abs(Olu_diff1) > abs(Oru_diff1) * SHIELD_VPT)//判断是否不是侧面推拉
if((abs(Olu_diff1) > abs(Oru_diff1) * SHIELD_VPT)//判断是否不是侧面推拉
&& (abs(Olu_diff2) > abs(Oru_diff2) * SHIELD_VPT)
&& (abs(Olu_diff3) > abs(Oru_diff3) * SHIELD_VPT)
&& (abs(Oll_diff1) > abs(Orl_diff1) * SHIELD_VPT)
@@ -457,7 +457,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
}
}
}
else if(((Olu_diff1 <= -(App.ADTrack.LeftUpVPT*5/6))//通过差值判断上下拉方向
else if(((Olu_diff1 <= -(App.ADTrack.LeftUpVPT*5/6))//通过差值判断上下拉方向
&& (Olu_diff2 <= -(App.ADTrack.LeftUpVPT*5/6))
&& (Olu_diff3 <= -(App.ADTrack.LeftUpVPT*5/6))
&& (Oll_diff1 >= (App.ADTrack.LeftLowVPT*5/6))
@@ -465,7 +465,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
&& (Oll_diff3 >= (App.ADTrack.LeftLowVPT*5/6)))
)
{
if(((App.LeftUpCS1237_SlopeArray[0] >= PRESS_VPT) //判断是否不是正面压
if(((App.LeftUpCS1237_SlopeArray[0] >= PRESS_VPT) //判断是否不是正面压
&& (App.LeftUpCS1237_SlopeArray[1] >= PRESS_VPT)
&& (App.LeftUpCS1237_SlopeArray[2] >= PRESS_VPT)
&& (App.LeftLowCS1237_SlopeArray[0] <= -PRESS_VPT)
@@ -473,9 +473,9 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
&& (App.LeftLowCS1237_SlopeArray[2] <= -PRESS_VPT))
)
{
// if(App.CaliZeroFlag == true)//判断是否校零
// if(App.CaliZeroFlag == true)//判断是否校零
{
if((abs(Olu_diff1) > abs(Oru_diff1) * SHIELD_VPT)//判断是否不是侧面推拉
if((abs(Olu_diff1) > abs(Oru_diff1) * SHIELD_VPT)//判断是否不是侧面推拉
&& (abs(Olu_diff2) > abs(Oru_diff2) * SHIELD_VPT)
&& (abs(Olu_diff3) > abs(Oru_diff3) * SHIELD_VPT)
&& (abs(Oll_diff1) > abs(Orl_diff1) * SHIELD_VPT)
@@ -498,17 +498,17 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
}
}
}
else if(LeftSlopeSum < RightSlopeSum && LeftDiffSum < RightDiffSum && App.CentCollDelay1mSCnt <= 0)//判断右边操作
else if(LeftSlopeSum < RightSlopeSum && LeftDiffSum < RightDiffSum && App.CentCollDelay1mSCnt <= 0)//判断右边操作
{
App.RightRunFalg = true;
if((Oru_diff1 >= (App.ADTrack.RightUpVPT*5/6)) //通过差值判断上下拉方向
if((Oru_diff1 >= (App.ADTrack.RightUpVPT*5/6)) //通过差值判断上下拉方向
&& (Oru_diff2 >= (App.ADTrack.RightUpVPT*5/6))
&& (Oru_diff3 >= (App.ADTrack.RightUpVPT*5/6))
&& (Orl_diff1 <= -(App.ADTrack.RightLowVPT*5/6))
&& (Orl_diff2 <= -(App.ADTrack.RightLowVPT*5/6))
&& (Orl_diff3 <= -(App.ADTrack.RightLowVPT*5/6)))
{
if(((App.RightUpCS1237_SlopeArray[0] <= -PRESS_VPT) //判断是否不是正面压
if(((App.RightUpCS1237_SlopeArray[0] <= -PRESS_VPT) //判断是否不是正面压
&& (App.RightUpCS1237_SlopeArray[1] <= -PRESS_VPT)
&& (App.RightUpCS1237_SlopeArray[2] <= -PRESS_VPT)
&& (App.RightLowCS1237_SlopeArray[0] >= PRESS_VPT)
@@ -516,9 +516,9 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
&& (App.RightLowCS1237_SlopeArray[2] >= PRESS_VPT))
)
{
// if(App.CaliZeroFlag == true)//判断是否校零
// if(App.CaliZeroFlag == true)//判断是否校零
{
if((abs(Oru_diff1) > abs(Olu_diff1) * SHIELD_VPT)//判断是否不是侧面推拉
if((abs(Oru_diff1) > abs(Olu_diff1) * SHIELD_VPT)//判断是否不是侧面推拉
&& (abs(Oru_diff2) > abs(Olu_diff2) * SHIELD_VPT)
&& (abs(Oru_diff3) > abs(Olu_diff3) * SHIELD_VPT)
&& (abs(Orl_diff1) > abs(Oll_diff1) * SHIELD_VPT)
@@ -540,14 +540,14 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
}
}
}
else if((Oru_diff1 <= -(App.ADTrack.RightUpVPT*5/6)) //通过差值判断上下拉方向
else if((Oru_diff1 <= -(App.ADTrack.RightUpVPT*5/6)) //通过差值判断上下拉方向
&& (Oru_diff2 <= -(App.ADTrack.RightUpVPT*5/6))
&& (Oru_diff3 <= -(App.ADTrack.RightUpVPT*5/6))
&& (Orl_diff1 >= (App.ADTrack.RightLowVPT*5/6))
&& (Orl_diff2 >= (App.ADTrack.RightLowVPT*5/6))
&& (Orl_diff3 >= (App.ADTrack.RightLowVPT*5/6)))
{
if(((App.RightUpCS1237_SlopeArray[0] >= PRESS_VPT) //判断是否不是正面压
if(((App.RightUpCS1237_SlopeArray[0] >= PRESS_VPT) //判断是否不是正面压
&& (App.RightUpCS1237_SlopeArray[1] >= PRESS_VPT)
&& (App.RightUpCS1237_SlopeArray[2] >= PRESS_VPT)
&& (App.RightLowCS1237_SlopeArray[0] <= -PRESS_VPT)
@@ -555,9 +555,9 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
&& (App.RightLowCS1237_SlopeArray[2] <= -PRESS_VPT))
)
{
// if(App.CaliZeroFlag == true)//判断是否校零
// if(App.CaliZeroFlag == true)//判断是否校零
{
if((abs(Oru_diff1) > abs(Olu_diff1) * SHIELD_VPT)//判断是否不是侧面推拉
if((abs(Oru_diff1) > abs(Olu_diff1) * SHIELD_VPT)//判断是否不是侧面推拉
&& (abs(Oru_diff2) > abs(Olu_diff2) * SHIELD_VPT)
&& (abs(Oru_diff3) > abs(Olu_diff3) * SHIELD_VPT)
&& (abs(Orl_diff1) > abs(Oll_diff1) * SHIELD_VPT)
@@ -821,13 +821,13 @@ static void AppInit(void)
READ_APP_PARA((uint32_t *)&App.Para);
if(App.Para.FactoryFlag != 0x00){
App.Para.FactoryFlag = 0x00;
/*参数初始化*/
App.Para.Layout.ControlLevel = LEVEL_3;//出厂默认等级3
/*参数初始化*/
App.Para.Layout.ControlLevel = LEVEL_3;//出厂默认等级3
App.Para.Layout.DBGWaveOut = false;
SAVE_APP_PARA((uint32_t *)&App.Para);
}
if(App.Para.Layout.ControlLevel > 5 || App.Para.Layout.ControlLevel < 1){
App.Para.Layout.ControlLevel = LEVEL_3;//出厂默认等级3
App.Para.Layout.ControlLevel = LEVEL_3;//出厂默认等级3
SAVE_APP_PARA((uint32_t *)&App.Para);
}
DBG_LOG("\r\n\r\n");
@@ -852,7 +852,7 @@ static void AppInit(void)
App.Status = APP_STATUS_START_BEEP;
App.MotorPara.InitialFlag = false;
App.RStatus = READ_STATUS_START;
GradeControl(App.Para.Layout.ControlLevel);//等级控制
GradeControl(App.Para.Layout.ControlLevel);//等级控制
App.WaitFlag = false;
}
@@ -1226,10 +1226,10 @@ int main(void)
}
}
/*****************************************************************************************
* 函数名称: SysTick_IrqHandler
* 功能描述: 系统滴答中断
* 参 数: 无
* 返 回 值: 无
* 函数名称: SysTick_IrqHandler
* 功能描述: 系统滴答中断
* 参 数: 无
* 返 回 值: 无
*****************************************************************************************/
void SysTick_IrqHandler(void)
{
@@ -1246,10 +1246,10 @@ void SysTick_IrqHandler(void)
}
/*****************************************************************************************
* 函数名称: DBG_RxPinIntCallBack
* 功能描述: DBG接收中断回调函数
* 参 数: 无
* 返 回 值: 无
* 函数名称: DBG_RxPinIntCallBack
* 功能描述: DBG接收中断回调函数
* 参 数: 无
* 返 回 值: 无
*****************************************************************************************/
void DBG_RxPinIntCallBack(void)
{
@@ -1259,17 +1259,17 @@ void DBG_RxPinIntCallBack(void)
#if(USE_USART3 == 1)
// 定义函数Usart3RxIrqCallback，用于处理串口接收中断
// 定义函数Usart3RxIrqCallback，用于处理串口接收中断
void Usart3RxIrqCallback(void)
{
// 如果1分钟超时计数器为0，则清空RxLen
// 如果1分钟超时计数器为0，则清空RxLen
if(App.Uart3RxTimeOut1mSCnt == 0)
{
App.RxUart3Data.HeaderFrame = false;
App.RxUart3Data.RxLen = 0;
}
App.Uart3RxTimeOut1mSCnt = 5;
// 读取串口接收到的数据
// 读取串口接收到的数据
uint8_t Data = Uart3Rec();
if(App.RxUart3Data.HeaderFrame == false)
{
@@ -1293,7 +1293,7 @@ void Usart3RxIrqCallback(void)
// App.RxUart3Data.HeaderFrame = false;
// return;
// }
// 如果RxLen小于128，则将数据添加到RxBuff中
// 如果RxLen小于128，则将数据添加到RxBuff中
if(App.RxUart3Data.RxLen < 128) {
App.RxUart3Data.RxBuff[App.RxUart3Data.RxLen++] = Data;
}
@@ -1312,7 +1312,7 @@ void Usart3RxIrqCallback(void)
App.MotorPara.Current_height = h;
}
if(App.MotorPara.InitialFlag == true && h >=720 && h <= 1200)
{//缓存每个高度点对于零点应力的差值，对不同高度点的应力进行补偿
{//缓存每个高度点对于零点应力的差值，对不同高度点的应力进行补偿
if(App.MotorPara.LU_HeightStress[(App.MotorPara.Current_height)-720] == 0
|| App.MotorPara.LL_HeightStress[(App.MotorPara.Current_height)-720] == 0
|| App.MotorPara.RU_HeightStress[(App.MotorPara.Current_height)-720] == 0