112 lines
3.8 KiB
C
112 lines
3.8 KiB
C
//
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// Created by SJQ on 2024/4/28.
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//
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#include "referee_VT.h"
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/**
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* @file rm_referee.C
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* @author kidneygood (you@domain.com)
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* @brief
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* @version 0.1
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* @date 2022-11-18
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*
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* @copyright Copyright (c) 2022
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*
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*/
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#include "rm_referee.h"
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#include "string.h"
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#include "crc_ref.h"
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#include "bsp_usart.h"
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#include "task.h"
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#include "daemon.h"
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#include "bsp_log.h"
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#include "cmsis_os.h"
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#define RE_RX_BUFFER_SIZE 255u // 裁判系统接收缓冲区大小
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static USARTInstance *VT_usart_instance; // 裁判系统串口实例
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static DaemonInstance *VT_daemon; // 裁判系统守护进程
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static VT_info_t VT_info; // 裁判系统数据
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uint8_t debug_data[39];
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/**
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* @brief 读取图传链路数据,中断中读取保证速度
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* @param buff: 读取到的裁判系统原始数据
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* @retval 是否对正误判断做处理
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* @attention 在此判断帧头和CRC校验,无误再写入数据，不重复判断帧头
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*/
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static void VTJudgeReadData(uint8_t *buff)
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{
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uint16_t judge_length; // 统计一帧数据长度
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if (buff == NULL) // 空数据包，则不作任何处理
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return;
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// 写入帧头数据(5-byte),用于判断是否开始存储裁判数据
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memcpy(&VT_info.FrameHeader, buff, LEN_HEADER);
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memcpy(&debug_data,buff,39);
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// 判断帧头数据(0)是否为0xA5
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if (buff[SOF] == REFEREE_SOF)
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{
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// 帧头CRC8校验
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if (Verify_CRC8_Check_Sum(buff, LEN_HEADER) == TRUE)
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{
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// 统计一帧数据长度(byte),用于CR16校验
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judge_length = buff[DATA_LENGTH] + LEN_HEADER + LEN_CMDID + LEN_TAIL;
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// 帧尾CRC16校验
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if (Verify_CRC16_Check_Sum(buff, judge_length) == TRUE)
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{
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// 2个8位拼成16位int
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VT_info.CmdID = (buff[6] << 8 | buff[5]);
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// 解析数据命令码,将数据拷贝到相应结构体中(注意拷贝数据的长度)
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// 第8个字节开始才是数据 data=7
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switch (VT_info.CmdID)
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{
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case ID_remote_control: // 0x0304
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memcpy(&VT_info.RemoteControl, (buff + DATA_Offset), LEN_remote_control);
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break;
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case ID_custom_robot: // 0x0302
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memcpy(&VT_info.CustomControl, (buff + DATA_Offset), LEN_custom_control);
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break;
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}
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}
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}
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// 首地址加帧长度,指向CRC16下一字节,用来判断是否为0xA5,从而判断一个数据包是否有多帧数据
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if (*(buff + sizeof(xFrameHeader) + LEN_CMDID + VT_info.FrameHeader.DataLength + LEN_TAIL) == 0xA5)
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{ // 如果一个数据包出现了多帧数据,则再次调用解析函数,直到所有数据包解析完毕
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VTJudgeReadData(buff + sizeof(xFrameHeader) + LEN_CMDID + VT_info.FrameHeader.DataLength + LEN_TAIL);
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}
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}
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}
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/*裁判系统串口接收回调函数,解析数据 */
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static void VTRxCallback()
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{
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DaemonReload(VT_daemon);
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VTJudgeReadData(VT_usart_instance->recv_buff);
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}
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// 裁判系统丢失回调函数,重新初始化裁判系统串口
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static void VTLostCallback(void *arg)
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{
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USARTServiceInit(VT_usart_instance);
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LOGWARNING("[rm_vt] lost vt data");
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}
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/* 裁判系统通信初始化 */
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VT_info_t *VTInit(UART_HandleTypeDef *VT_usart_handle)
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{
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USART_Init_Config_s conf;
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conf.module_callback = VTRxCallback;
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conf.usart_handle = VT_usart_handle;
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conf.recv_buff_size = RE_RX_BUFFER_SIZE; // mx 255(u8)
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VT_usart_instance = USARTRegister(&conf);
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Daemon_Init_Config_s daemon_conf = {
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.callback = VTLostCallback,
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.owner_id = VT_usart_instance,
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.reload_count = 30, // 0.3s没有收到数据,则认为丢失,重启串口接收
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};
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VT_daemon = DaemonRegister(&daemon_conf);
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return &VT_info;
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} |