HFUT_Firmament_EC
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sentry_chassis_hzz
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字符绘制

This commit is contained in:
kidneygood 2023-01-12 15:24:56 +08:00
parent 8df0014a79
commit 85a97abb9d
5 changed files with 115 additions and 86 deletions
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21
HAL_N_Middlewares/Src/main.c
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@ -120,13 +120,24 @@ int main(void)
////////////////////////////////////////////////// //////////////////////////////////////////////////
Graph_Data graph[5]; Graph_Data graph[5];
Graph_Data num[2];
String_Data sdata[1];
memset(sdata[0].show_Data, 0, 30); //使用memset方法
UI_Delete(UI_Data_Del_ALL,0); UI_Delete(UI_Data_Del_ALL,0);
Line_Draw(&graph[0],"s0",UI_Graph_ADD,0,UI_Color_White,3,710,540,1210,540); Line_Draw(&graph[0],"s0",UI_Graph_ADD,0,UI_Color_White,3,710,540,1210,540);
Rectangle_Draw(&graph[1],"s1",UI_Graph_ADD,1,UI_Color_Yellow,4,600,200,800,500); Rectangle_Draw(&graph[1],"s1",UI_Graph_ADD,0,UI_Color_Yellow,4,600,200,800,500);
Circle_Draw(&graph[2],"s2",UI_Graph_ADD,2,UI_Color_Green,5,960,540,100); Circle_Draw(&graph[2],"s2",UI_Graph_ADD,0,UI_Color_Green,5,960,540,100);
Elliptical_Draw(&graph[3],"s3",UI_Graph_ADD,3,UI_Color_Orange,3,960,540,100,20); Elliptical_Draw(&graph[3],"s3",UI_Graph_ADD,0,UI_Color_Orange,3,960,540,100,20);
Arc_Draw(&graph[4],"s4",UI_Graph_ADD,4,UI_Color_Purplish_red,30,160,3,1200,550,50,100); Arc_Draw(&graph[4],"s4",UI_Graph_ADD,0,UI_Color_Purplish_red,30,160,3,1200,550,50,100);
UI_ReFresh(5,graph[0],graph[1],graph[2],graph[3],graph[4]);
Float_Draw(&num[0],"s5",UI_Graph_ADD,0,UI_Color_Pink,50,3,5,1050,660,111111111);
Integer_Draw(&num[1],"s6",UI_Graph_ADD,0,UI_Color_Cyan,50,5,1050,460,12345);
UI_ReFresh(7,graph[0],graph[1],graph[2],graph[3],graph[4],num[0],num[1]);
Char_Draw(&sdata[0],"s7",UI_Graph_ADD,0,UI_Color_Green,20,2,620,710);
Char_Write(&sdata[0],"number:%d",1234);
Char_ReFresh(sdata[0]);
////////////////////////////////////////////////// //////////////////////////////////////////////////

4
application/gimbal/gimbal.c
View File

@ -16,7 +16,9 @@ static Gimbal_Ctrl_Cmd_s gimbal_cmd_recv; // 来自cmd的控制信息
void GimbalInit() void GimbalInit()
{ {
gimba_IMU_data = INS_Init(); // IMU先初始化,获取姿态数据指针赋给yaw电机的其他数据来源 /* syh referee不需要imu
暂时关闭以加快初始化速度 */
// gimba_IMU_data = INS_Init(); // IMU先初始化,获取姿态数据指针赋给yaw电机的其他数据来源
// YAW // YAW
Motor_Init_Config_s yaw_config = { Motor_Init_Config_s yaw_config = {

2
modules/referee/referee.c
View File

@ -34,7 +34,7 @@ void RefereeSend(uint8_t *send,uint16_t tx_len)
{ {
USARTSend(referee_usart_instance,send,tx_len); USARTSend(referee_usart_instance,send,tx_len);
/* syhtodo DMA请求过快会导致数据发送丢失，考虑数据尽可能打成一阵个包 */ /* syhtodo DMA请求过快会导致数据发送丢失，考虑数据尽可能打成一阵个包 */
HAL_Delay(1); HAL_Delay(5);
} }

118
modules/referee/referee_UI.c
View File

@ -5,11 +5,11 @@
#include "dma.h" #include "dma.h"
#include "stdio.h" #include "stdio.h"
#include "referee.h" #include "referee.h"
/* syhtodo 根据自身id判断客户端id */
uint16_t Robot_ID = UI_Data_RobotID_BHero; uint16_t Robot_ID = UI_Data_RobotID_BHero;
uint16_t Cilent_ID = UI_Data_CilentID_BHero; uint16_t Cilent_ID = UI_Data_CilentID_BHero;
unsigned char UI_Seq; //包序号 uint8_t UI_Seq; //包序号
/********************************************删除操作************************************* /********************************************删除操作*************************************
**参数：Del_Operate 对应头文件删除操作 **参数：Del_Operate 对应头文件删除操作
@ -192,7 +192,8 @@ void Elliptical_Draw(Graph_Data *graph,char graphname[3],uint32_t Graph_Operate,
**********************************************************************************************************/ **********************************************************************************************************/
void Arc_Draw(Graph_Data *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color, void Arc_Draw(Graph_Data *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,
uint32_t Graph_StartAngle,uint32_t Graph_EndAngle,uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y,uint32_t end_x,uint32_t end_y) uint32_t Graph_StartAngle,uint32_t Graph_EndAngle,uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y,
uint32_t end_x,uint32_t end_y)
{ {
int i; int i;
for(i=0;i<3&&graphname[i]!='\0';i++) for(i=0;i<3&&graphname[i]!='\0';i++)
@ -214,8 +215,6 @@ void Arc_Draw(Graph_Data *graph,char graphname[3],uint32_t Graph_Operate,uint32_
graph->end_y = end_y; graph->end_y = end_y;
} }
/************************************************绘制浮点型数据************************************************* /************************************************绘制浮点型数据*************************************************
**参数：*graph Graph_Data类型变量指针，用于存放图形数据 **参数：*graph Graph_Data类型变量指针，用于存放图形数据
graphname[3] 图片名称，用于标识更改 graphname[3] 图片名称，用于标识更改
@ -226,69 +225,129 @@ void Arc_Draw(Graph_Data *graph,char graphname[3],uint32_t Graph_Operate,uint32_
Graph_Digit 小数位数 Graph_Digit 小数位数
Graph_Width 图形线宽 Graph_Width 图形线宽
Start_x、Start_y 开始坐标 Start_x、Start_y 开始坐标
Graph_Float 要显示的浮点数数值*1000 radius=a&0x3FF; a为浮点数乘以1000后的32位整型数
end_x=(a>>10)&0x7FF;
end_y=(a>>21)&0x7FF;
**********************************************************************************************************/ **********************************************************************************************************/
/* syhtodo浮点，整形，字符待编写或检查 */
/* syhtodo需要解决位分配问腿，更换结构体 */ void Float_Draw(Graph_Data *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,
void Float_Draw(Float_Data *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,uint32_t Graph_Size,uint32_t Graph_Digit,uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y,int32_t Graph_Float) uint32_t Graph_Size,uint32_t Graph_Digit,uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y,int32_t Graph_Float)
{ {
int i; int i;
for(i=0;i<3&&graphname[i]!='\0';i++) for(i=0;i<3&&graphname[i]!='\0';i++)
{
graph->graphic_name[2-i]=graphname[i]; graph->graphic_name[2-i]=graphname[i];
}
graph->graphic_tpye = UI_Graph_Float; graph->graphic_tpye = UI_Graph_Float;
graph->operate_tpye = Graph_Operate; graph->operate_tpye = Graph_Operate;
graph->layer = Graph_Layer; graph->layer = Graph_Layer;
graph->color = Graph_Color; graph->color = Graph_Color;
graph->width = Graph_Width; graph->width = Graph_Width;
graph->start_x = Start_x; graph->start_x = Start_x;
graph->start_y = Start_y; graph->start_y = Start_y;
graph->start_angle = Graph_Size; graph->start_angle = Graph_Size;
graph->end_angle = Graph_Digit; graph->end_angle = Graph_Digit;
graph->graph_Float = Graph_Float;
graph->radius=Graph_Float&0x3FF;
graph->end_x=(Graph_Float>>10)&0x7FF;
graph->end_y=(Graph_Float>>21)&0x7FF;
} }
/************************************************绘制整型数据*************************************************
**参数：*graph Graph_Data类型变量指针，用于存放图形数据
graphname[3] 图片名称，用于标识更改
Graph_Operate 图片操作，见头文件
Graph_Layer 图层0-9
Graph_Color 图形颜色
Graph_Size 字号
Graph_Width 图形线宽
Start_x、Start_y 开始坐标
radius=a&0x3FF; a为32位整型数
end_x=(a>>10)&0x7FF;
end_y=(a>>21)&0x7FF;
**********************************************************************************************************/
void Integer_Draw(Graph_Data *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,
uint32_t Graph_Size,uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y,int32_t Graph_Integer)
{
int i;
for(i=0;i<3&&graphname[i]!='\0';i++)
{
graph->graphic_name[2-i]=graphname[i];
}
graph->graphic_tpye = UI_Graph_Int;
graph->operate_tpye = Graph_Operate;
graph->layer = Graph_Layer;
graph->color = Graph_Color;
graph->start_angle = Graph_Size;
graph->width = Graph_Width;
graph->start_x = Start_x;
graph->start_y = Start_y;
graph->radius=Graph_Integer&0x3FF;
graph->end_x=(Graph_Integer>>10)&0x7FF;
graph->end_y=(Graph_Integer>>21)&0x7FF;
}
/************************************************绘制字符型数据************************************************* /************************************************绘制字符型数据*************************************************
**参数：*graph Graph_Data类型变量指针，用于存放图形数据 **参数：*graph Graph_Data类型变量指针，用于存放图形数据
graphname[3] 图片名称，用于标识更改 graphname[3] 图片名称，用于标识更改
Graph_Operate 图片操作，见头文件 Graph_Operate 图片操作，见头文件
Graph_Layer 图层0-9 Graph_Layer 图层0-9
Graph_Color 图形颜色 Graph_Color 图形颜色
Graph_Size 字号 Graph_Size 字号
Graph_Width 图形线宽 Graph_Width 图形线宽
Start_x、Start_y 开始坐标 Start_x、Start_y 开始坐标
**********************************************************************************************************/ **********************************************************************************************************/
void Char_Draw(String_Data *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,
void Char_Draw(String_Data *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,uint32_t Graph_Size,uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y) uint32_t Graph_Size,uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y)
{ {
int i; memset(graph->Graph_Control.graphic_name, 0, 3);
int i;
for(i=0;i<3&&graphname[i]!='\0';i++) for(i=0;i<3&&graphname[i]!='\0';i++)
graph->Graph_Control.graphic_name[2-i]=graphname[i]; {
graph->Graph_Control.graphic_name[2-i]=graphname[i];
}
graph->Graph_Control.graphic_tpye = UI_Graph_Char; graph->Graph_Control.graphic_tpye = UI_Graph_Char;
graph->Graph_Control.operate_tpye = Graph_Operate; graph->Graph_Control.operate_tpye = Graph_Operate;
graph->Graph_Control.layer = Graph_Layer; graph->Graph_Control.layer = Graph_Layer;
graph->Graph_Control.color = Graph_Color; graph->Graph_Control.color = Graph_Color;
graph->Graph_Control.width = Graph_Width; graph->Graph_Control.width = Graph_Width;
graph->Graph_Control.start_x = Start_x; graph->Graph_Control.start_x = Start_x;
graph->Graph_Control.start_y = Start_y; graph->Graph_Control.start_y = Start_y;
graph->Graph_Control.start_angle = Graph_Size; graph->Graph_Control.start_angle = Graph_Size;
//syhtodo无关的赋值为0
graph->Graph_Control.radius=0;
graph->Graph_Control.end_x=0;
graph->Graph_Control.end_y=0;
} }
/************************************************绘制字符型数据*************************************************
**参数：*graph Graph_Data类型变量指针，用于存放图形数据
fmt需要显示的字符串
syhtodo 尚未理解该函数的写法
**********************************************************************************************************/
void Char_Write(String_Data *graph,char* fmt, ...) void Char_Write(String_Data *graph,char* fmt, ...)
{ {
uint16_t i = 0; uint16_t i = 0;
va_list ap; va_list ap;
va_start(ap, fmt); va_start(ap,fmt);
vsprintf((char*)graph->show_Data, fmt, ap); vsprintf((char*)graph->show_Data, fmt, ap);
va_end(ap); va_end(ap);
i = strlen((const char*)graph->show_Data); i = strlen((const char*)graph->show_Data);
graph->Graph_Control.end_angle = i; graph->Graph_Control.end_angle = i;
} }
/************************************************UI推送函数（使更改生效）********************************* /* UI推送函数（使更改生效）
**参数： cnt 图形个数 参数： cnt 图形个数
... 图形变量参数 ... 图形变量参数
Tips：：该函数只能推送1，2，5，7个图形，其他数目协议未涉及 Tips：：该函数只能推送1，2，5，7个图形，其他数目协议未涉及
**********************************************************************************************************/ */
int UI_ReFresh(int cnt,...) int UI_ReFresh(int cnt,...)
{ {
int i; int i;
@ -386,7 +445,6 @@ int Char_ReFresh(String_Data string_Data)
RefereeSend((uint8_t *)&framehead,sizeof(framehead)); RefereeSend((uint8_t *)&framehead,sizeof(framehead));
RefereeSend((uint8_t *)&datahead,sizeof(datahead)); RefereeSend((uint8_t *)&datahead,sizeof(datahead));
RefereeSend((uint8_t *)&graphData,sizeof(graphData)); //发送操作数据 RefereeSend((uint8_t *)&graphData,sizeof(graphData)); //发送操作数据
RefereeSend((uint8_t *)&frametail,sizeof(frametail)); //发送CRC16校验值 RefereeSend((uint8_t *)&frametail,sizeof(frametail)); //发送CRC16校验值
@ -394,14 +452,6 @@ int Char_ReFresh(String_Data string_Data)
return 0; return 0;
} }
// /**
// * @brief 上传自定义数据
// * @param void
// * @retval void
// * @attention 数据打包,打包完成后通过串口发送到裁判系统
// */
// #define send_max_len 200 // #define send_max_len 200
// unsigned char CliendTxBuffer[send_max_len]; // unsigned char CliendTxBuffer[send_max_len];
// void JUDGE_Show_Data(void) // void JUDGE_Show_Data(void)
@ -417,7 +467,7 @@ int Char_ReFresh(String_Data string_Data)
// ShowData.txFrameHeader.DataLength = sizeof(ext_student_interactive_header_data_t) + sizeof(client_custom_data_t); // ShowData.txFrameHeader.DataLength = sizeof(ext_student_interactive_header_data_t) + sizeof(client_custom_data_t);
// ShowData.txFrameHeader.Seq = 0; // ShowData.txFrameHeader.Seq = 0;
// memcpy(CliendTxBuffer, &ShowData.txFrameHeader, sizeof(xFrameHeader));//写入帧头数据 // memcpy(CliendTxBuffer, &ShowData.txFrameHeader, sizeof(xFrameHeader));//写入帧头数据
// Append_CRC8_Check_Sum(CliendTxBuffer, sizeof(xFrameHeader));//写入帧头CRC8校验码 // Append_CRC8_Check_Sum(CliendTxBuffer, sizeof(xFrameHeader));//写入帧头CRC8校验码
// ShowData.CmdID = 0x0301; // ShowData.CmdID = 0x0301;

56
modules/referee/referee_UI.h
View File

@ -55,7 +55,7 @@
/***************************删除操作***************************/ /***************************删除操作***************************/
#define UI_Data_Del_NoOperate 0 #define UI_Data_Del_NoOperate 0
#define UI_Data_Del_Layer 1 #define UI_Data_Del_Layer 1
#define UI_Data_Del_ALL 2 #define UI_Data_Del_ALL 2 //删除全部图层，后面的参数已经不重要了。
/***************************图形配置参数__图形操作********************/ /***************************图形配置参数__图形操作********************/
#define UI_Graph_ADD 1 #define UI_Graph_ADD 1
#define UI_Graph_Change 2 #define UI_Graph_Change 2
@ -80,16 +80,6 @@
#define UI_Color_Black 7 #define UI_Color_Black 7
#define UI_Color_White 8 #define UI_Color_White 8
typedef unsigned char Uint8_t;
typedef unsigned char uint8_t;
extern uint16_t Robot_ID;
extern uint16_t Cilent_ID;
typedef struct typedef struct
{ {
uint8_t SOF; //起始字节,固定0xA5 uint8_t SOF; //起始字节,固定0xA5
@ -112,7 +102,7 @@ typedef struct
uint8_t Layer; //删除图层 uint8_t Layer; //删除图层
} UI_Data_Delete; //删除图层帧 } UI_Data_Delete; //删除图层帧
/* 是否有必要专门为浮点数定义？？ */ /* 图形数据 */
typedef struct typedef struct
{ {
uint8_t graphic_name[3]; uint8_t graphic_name[3];
@ -125,30 +115,9 @@ typedef struct
uint32_t width:10; uint32_t width:10;
uint32_t start_x:11; uint32_t start_x:11;
uint32_t start_y:11; uint32_t start_y:11;
int32_t graph_Float; uint32_t radius:10;
/* syhtodo uint32_t end_x:11;
uint32_t 正好对应 uint32_t end_y:11;
radius:10; uint32_t end_x:11; uint32_t end_y:11;
三个变量，考虑位操作赋值，则不需要专门定义结构体
*/
} Float_Data;
/* 图形数据 */
typedef struct
{
uint8_t graphic_name[3];
uint32_t operate_tpye:3;
uint32_t graphic_tpye:3;
uint32_t layer:4;
uint32_t color:4;
uint32_t start_angle:9;
uint32_t end_angle:9;
uint32_t width:10;
uint32_t start_x:11;
uint32_t start_y:11;
uint32_t radius:10;
uint32_t end_x:11;
uint32_t end_y:11;
} Graph_Data; } Graph_Data;
@ -161,22 +130,19 @@ typedef struct
#pragma pack() #pragma pack()
void UI_Delete(uint8_t Del_Operate,uint8_t Del_Layer); void UI_Delete(uint8_t Del_Operate,uint8_t Del_Layer);
void Line_Draw(Graph_Data *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y,uint32_t End_x,uint32_t End_y); void Line_Draw(Graph_Data *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y,uint32_t End_x,uint32_t End_y);
void Circle_Draw(Graph_Data *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y,uint32_t Graph_Radius); void Circle_Draw(Graph_Data *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y,uint32_t Graph_Radius);
void Elliptical_Draw(Graph_Data *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y,uint32_t end_x,uint32_t end_y); void Elliptical_Draw(Graph_Data *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y,uint32_t end_x,uint32_t end_y);
void Rectangle_Draw(Graph_Data *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y,uint32_t End_x,uint32_t End_y); void Rectangle_Draw(Graph_Data *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y,uint32_t End_x,uint32_t End_y);
void Float_Draw(Float_Data *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,uint32_t Graph_Size,uint32_t Graph_Digit,uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y,int32_t Graph_Float);
void Char_Draw(String_Data *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,uint32_t Graph_Size,uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y);
void Char_Write(String_Data *graph,char* fmt, ...);
void Arc_Draw(Graph_Data *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,uint32_t Graph_StartAngle,uint32_t Graph_EndAngle,uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y,uint32_t end_x,uint32_t end_y); void Arc_Draw(Graph_Data *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,uint32_t Graph_StartAngle,uint32_t Graph_EndAngle,uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y,uint32_t end_x,uint32_t end_y);
int Char_ReFresh(String_Data string_Data); void Float_Draw(Graph_Data *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,uint32_t Graph_Size,uint32_t Graph_Digit,uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y,int32_t Graph_Float);
void Integer_Draw(Graph_Data *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,uint32_t Graph_Size,uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y,int32_t Graph_Integer);
int UI_ReFresh(int cnt,...); int UI_ReFresh(int cnt,...);
unsigned char Get_CRC8_Check_Sum_UI(unsigned char *pchMessage,unsigned int dwLength,unsigned char ucCRC8); void Char_Draw(String_Data *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,uint32_t Graph_Size,uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y);
uint16_t Get_CRC16_Check_Sum_UI(uint8_t *pchMessage,uint32_t dwLength,uint16_t wCRC); void Char_Write(String_Data *graph,char* fmt, ...);
int Char_ReFresh(String_Data string_Data);
#endif #endif