【务必拉取】修复ui发送使用临时变量buffer的问题，增加了DMAbuffer防止裁判系统接收溢出
This commit is contained in:
NeoZng
parent
7a95d3c451
commit
1c384d5193
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@ -50,15 +50,14 @@
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/* Private variables ---------------------------------------------------------*/
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/* USER CODE BEGIN Variables */
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/* USER CODE END Variables */
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osThreadId defaultTaskHandle;
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osThreadId insTaskHandle;
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osThreadId ledTaskHandle;
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osThreadId robotTaskHandle;
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osThreadId motorTaskHandle;
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osThreadId daemonTaskHandle;
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osThreadId uiTaskHandle;
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/* USER CODE END Variables */
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osThreadId defaultTaskHandle;
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/* Private function prototypes -----------------------------------------------*/
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/* USER CODE BEGIN FunctionPrototypes */
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@ -73,13 +72,13 @@ void StartROBOTTASK(void const *argument);
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void StartUITASK(void const *argument);
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/* USER CODE END FunctionPrototypes */
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void StartDefaultTask(void const *argument);
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void StartDefaultTask(void const * argument);
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extern void MX_USB_DEVICE_Init(void);
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void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */
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/* GetIdleTaskMemory prototype (linked to static allocation support) */
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void vApplicationGetIdleTaskMemory(StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize);
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void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize );
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/* USER CODE BEGIN GET_IDLE_TASK_MEMORY */
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static StaticTask_t xIdleTaskTCBBuffer;
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@ -95,12 +94,11 @@ void vApplicationGetIdleTaskMemory(StaticTask_t **ppxIdleTaskTCBBuffer, StackTyp
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/* USER CODE END GET_IDLE_TASK_MEMORY */
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/**
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* @brief FreeRTOS initialization
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* @param None
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* @retval None
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*/
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void MX_FREERTOS_Init(void)
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{
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* @brief FreeRTOS initialization
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* @param None
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* @retval None
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*/
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void MX_FREERTOS_Init(void) {
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/* USER CODE BEGIN Init */
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/* USER CODE END Init */
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@ -144,6 +142,7 @@ void MX_FREERTOS_Init(void)
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defaultTaskHandle = osThreadCreate(osThread(uitask), NULL);
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/* USER CODE END RTOS_THREADS */
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}
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/* USER CODE BEGIN Header_StartDefaultTask */
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@ -153,16 +152,12 @@ void MX_FREERTOS_Init(void)
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* @retval None
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*/
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/* USER CODE END Header_StartDefaultTask */
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void StartDefaultTask(void const *argument)
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void StartDefaultTask(void const * argument)
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{
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/* init code for USB_DEVICE */
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MX_USB_DEVICE_Init();
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/* USER CODE BEGIN StartDefaultTask */
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/* Infinite loop */
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// for (;;)
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// {
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// osDelay(1);
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// }
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vTaskDelete( NULL );
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/* USER CODE END StartDefaultTask */
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}
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@ -173,7 +168,7 @@ void StartINSTASK(void const *argument)
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while (1)
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{
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// 1kHz
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INS_Task();
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INS_Task();
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osDelay(1);
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}
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}
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@ -204,7 +199,7 @@ void StartROBOTTASK(void const *argument)
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{
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// 200Hz
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RobotTask();
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osDelay(5);
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osDelay(5);
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}
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}
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10
Src/usart.c
10
Src/usart.c
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@ -274,7 +274,10 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
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hdma_usart6_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
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hdma_usart6_rx.Init.Mode = DMA_NORMAL;
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hdma_usart6_rx.Init.Priority = DMA_PRIORITY_HIGH;
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hdma_usart6_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
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hdma_usart6_rx.Init.FIFOMode = DMA_FIFOMODE_ENABLE;
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hdma_usart6_rx.Init.FIFOThreshold = DMA_FIFO_THRESHOLD_FULL;
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hdma_usart6_rx.Init.MemBurst = DMA_MBURST_SINGLE;
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hdma_usart6_rx.Init.PeriphBurst = DMA_PBURST_SINGLE;
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if (HAL_DMA_Init(&hdma_usart6_rx) != HAL_OK)
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{
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Error_Handler();
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@ -292,7 +295,10 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
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hdma_usart6_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
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hdma_usart6_tx.Init.Mode = DMA_NORMAL;
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hdma_usart6_tx.Init.Priority = DMA_PRIORITY_HIGH;
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hdma_usart6_tx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
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hdma_usart6_tx.Init.FIFOMode = DMA_FIFOMODE_ENABLE;
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hdma_usart6_tx.Init.FIFOThreshold = DMA_FIFO_THRESHOLD_FULL;
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hdma_usart6_tx.Init.MemBurst = DMA_MBURST_SINGLE;
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hdma_usart6_tx.Init.PeriphBurst = DMA_PBURST_SINGLE;
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if (HAL_DMA_Init(&hdma_usart6_tx) != HAL_OK)
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{
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Error_Handler();
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@ -148,25 +148,31 @@ Dma.USART3_RX.7.PeriphInc=DMA_PINC_DISABLE
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Dma.USART3_RX.7.Priority=DMA_PRIORITY_LOW
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Dma.USART3_RX.7.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
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Dma.USART6_RX.0.Direction=DMA_PERIPH_TO_MEMORY
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Dma.USART6_RX.0.FIFOMode=DMA_FIFOMODE_DISABLE
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Dma.USART6_RX.0.FIFOMode=DMA_FIFOMODE_ENABLE
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Dma.USART6_RX.0.FIFOThreshold=DMA_FIFO_THRESHOLD_FULL
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Dma.USART6_RX.0.Instance=DMA2_Stream2
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Dma.USART6_RX.0.MemBurst=DMA_MBURST_SINGLE
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Dma.USART6_RX.0.MemDataAlignment=DMA_MDATAALIGN_BYTE
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Dma.USART6_RX.0.MemInc=DMA_MINC_ENABLE
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Dma.USART6_RX.0.Mode=DMA_NORMAL
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Dma.USART6_RX.0.PeriphBurst=DMA_PBURST_SINGLE
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Dma.USART6_RX.0.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
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Dma.USART6_RX.0.PeriphInc=DMA_PINC_DISABLE
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Dma.USART6_RX.0.Priority=DMA_PRIORITY_HIGH
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Dma.USART6_RX.0.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
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Dma.USART6_RX.0.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,FIFOThreshold,MemBurst,PeriphBurst
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Dma.USART6_TX.1.Direction=DMA_MEMORY_TO_PERIPH
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Dma.USART6_TX.1.FIFOMode=DMA_FIFOMODE_DISABLE
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Dma.USART6_TX.1.FIFOMode=DMA_FIFOMODE_ENABLE
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Dma.USART6_TX.1.FIFOThreshold=DMA_FIFO_THRESHOLD_FULL
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Dma.USART6_TX.1.Instance=DMA2_Stream6
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Dma.USART6_TX.1.MemBurst=DMA_MBURST_SINGLE
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Dma.USART6_TX.1.MemDataAlignment=DMA_MDATAALIGN_BYTE
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Dma.USART6_TX.1.MemInc=DMA_MINC_ENABLE
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Dma.USART6_TX.1.Mode=DMA_NORMAL
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Dma.USART6_TX.1.PeriphBurst=DMA_PBURST_SINGLE
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Dma.USART6_TX.1.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
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Dma.USART6_TX.1.PeriphInc=DMA_PINC_DISABLE
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Dma.USART6_TX.1.Priority=DMA_PRIORITY_HIGH
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Dma.USART6_TX.1.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
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Dma.USART6_TX.1.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,FIFOThreshold,MemBurst,PeriphBurst
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FREERTOS.INCLUDE_vTaskDelayUntil=1
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FREERTOS.IPParameters=Tasks01,configENABLE_FPU,configMAX_TASK_NAME_LEN,configUSE_TIMERS,configUSE_POSIX_ERRNO,INCLUDE_vTaskDelayUntil
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FREERTOS.Tasks01=defaultTask,0,128,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL
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@ -22,7 +22,7 @@
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*****************************************************************************************/
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void UIDelete(referee_id_t *_id, uint8_t Del_Operate, uint8_t Del_Layer)
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{
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UI_delete_t UI_delete_data;
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static UI_delete_t UI_delete_data;
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uint8_t temp_datalength = Interactive_Data_LEN_Head + UI_Operate_LEN_Del; // 计算交互数据长度
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UI_delete_data.FrameHeader.SOF = REFEREE_SOF;
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@ -352,7 +352,7 @@ void UI_ReFresh(referee_id_t *_id, int cnt, ...)
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uint8_t temp_datalength = LEN_HEADER + LEN_CMDID + Interactive_Data_LEN_Head + UI_Operate_LEN_PerDraw * cnt + LEN_TAIL; // 计算交互数据长度
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uint8_t buffer[temp_datalength]; // 交互数据缓存
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static uint8_t buffer[512]; // 交互数据缓存
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va_list ap; // 创建一个 va_list 类型变量
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va_start(ap, cnt); // 初始化 va_list 变量为一个参数列表
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@ -398,7 +398,7 @@ void UI_ReFresh(referee_id_t *_id, int cnt, ...)
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/************************************************UI推送字符（使更改生效）*********************************/
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void Char_ReFresh(referee_id_t *_id, String_Data_t string_Data)
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{
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UI_CharReFresh_t UI_CharReFresh_data;
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static UI_CharReFresh_t UI_CharReFresh_data;
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uint8_t temp_datalength = Interactive_Data_LEN_Head + UI_Operate_LEN_DrawChar; // 计算交互数据长度
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