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sentry_chassis_hzz
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串口6DMA发送

This commit is contained in:
kidneygood 2023-01-09 16:17:03 +08:00
parent 162044889f
commit 86e30f7893
7 changed files with 744 additions and 31 deletions
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13
HAL_N_Middlewares/Src/main.c
View File

@ -33,6 +33,10 @@
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "robot.h"
//////////////////////////////////////////////////
#include "referee_UI.h"
#include "referee.h"
//////////////////////////////////////////////////
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
@ -113,6 +117,15 @@ int main(void)
RobotInit();
//////////////////////////////////////////////////
// Graph_Data shoot_line;
UI_Delete(UI_Data_Del_ALL,0);
// //绘制发射基准线
// Line_Draw(&shoot_line,"s1",UI_Graph_ADD,7,UI_Color_White,3,710,540,1210,540);
// UI_ReFresh(1,shoot_line);
//////////////////////////////////////////////////
/* USER CODE END 2 */
/* Call init function for freertos objects (in freertos.c) */

2
application/chassis/chassis.c
View File

@ -49,7 +49,7 @@ static DJIMotorInstance *motor_lb;
static DJIMotorInstance *motor_rb;
/* 用于自旋变速策略的时间变量,后续考虑查表加速 */
static float t;
// static float t;
/* 私有函数计算的中介变量,设为静态避免参数传递的开销 */
static float chassis_vx, chassis_vy; // 将云台系的速度投影到底盘

55
modules/referee/referee.c
View File

@ -2,18 +2,46 @@
#include "string.h"
#include "crc.h"
#include "bsp_usart.h"
#include "dma.h"
// 参考深圳大学 Infantry_X-master
#define RE_RX_BUFFER_SIZE 200
static USARTInstance *referee_usart_instance;
USARTInstance *referee_usart_instance; //暂时改为非静态变量
/**************裁判系统数据******************/
static referee_info_t referee_info;
static void JudgeReadData(uint8_t *ReadFromUsart);
static void RefereeRxCallback();
// static uint8_t Judge_Self_ID; // 当前机器人的ID
// static uint16_t Judge_SelfClient_ID; // 发送者机器人对应的客户端ID
/* 裁判系统通信初始化 */
referee_info_t *RefereeInit(UART_HandleTypeDef *referee_usart_handle)
{
USART_Init_Config_s conf;
conf.module_callback = RefereeRxCallback;
conf.usart_handle = referee_usart_handle;
conf.recv_buff_size = RE_RX_BUFFER_SIZE;
referee_usart_instance = USARTRegister(&conf);
return &referee_info;
}
/**
* @brief 发送函数
* @param send 待发送数据
*/
void RefereeSend(uint8_t *send,uint16_t tx_len)
{
USARTSend(referee_usart_instance,send,tx_len);
}
/*裁判系统串口接收回调函数,解析数据 */
static void RefereeRxCallback()
{
JudgeReadData(referee_usart_instance->recv_buff);
}
/**
* @brief 读取裁判数据,中断中读取保证速度
* @param ReadFromUsart: 读取到的裁判系统原始数据
@ -104,22 +132,3 @@ static void JudgeReadData(uint8_t *ReadFromUsart)
}
}
}
/**
* @brief 裁判系统串口接收回调函数,解析数据
*
*/
static void RefereeRxCallback()
{
JudgeReadData(referee_usart_instance->recv_buff);
}
referee_info_t *RefereeInit(UART_HandleTypeDef *referee_usart_handle)
{
USART_Init_Config_s conf;
conf.module_callback = RefereeRxCallback;
conf.usart_handle = referee_usart_handle;
conf.recv_buff_size = RE_RX_BUFFER_SIZE;
referee_usart_instance = USARTRegister(&conf);
return &referee_info;
}

11
modules/referee/referee.h
View File

@ -12,9 +12,10 @@
#ifndef REFEREE_H
#define REFEREE_H
#include "bsp_usart.h"
#include "usart.h"
#include "referee_def.h"
#include "bsp_usart.h"
#define FALSE 0
#define TRUE 1
@ -184,5 +185,13 @@ typedef struct
*/
referee_info_t* RefereeInit(UART_HandleTypeDef *referee_usart_handle);
/**
* @brief 发送函数
* @todo
* @param send 待发送数据
*/
void RefereeSend(uint8_t *send,uint16_t tx_len);
extern USARTInstance *referee_usart_instance;
#endif // !REFEREE_H

512
modules/referee/referee_UI.c
View File

@ -1,3 +1,513 @@
#include "referee_UI.h"
#include "string.h"
#include "crc.h"
#include "bsp_usart.h"
#include "dma.h"
#include "stdio.h"
#include "referee.h"
uint16_t Robot_ID = UI_Data_RobotID_BHero;
uint16_t Cilent_ID = UI_Data_CilentID_BHero;
unsigned char UI_Seq; //包序号
/****************************************串口驱动映射************************************/
void UI_SendByte(unsigned char ch)
{
HAL_UART_Transmit_DMA(&huart6,&ch,1);
}
/********************************************删除操作*************************************
**参数：Del_Operate 对应头文件删除操作
Del_Layer 要删除的层 取值0-9
*****************************************************************************************/
void UI_Delete(uint8_t Del_Operate,uint8_t Del_Layer)
{
unsigned char *framepoint; //读写指针
uint16_t frametail=0xFFFF; //CRC16校验值
UI_Packhead framehead; //帧头
UI_Data_Operate datahead; //数据交互帧
UI_Data_Delete del; //删除图层帧
framepoint=(unsigned char *)&framehead;
framehead.SOF=UI_SOF;
framehead.Data_Length=8;
framehead.Seq=UI_Seq;
framehead.CRC8=Get_CRC8_Check_Sum_UI(framepoint,4,0xFF);
framehead.CMD_ID=UI_CMD_Robo_Exchange; //填充包头数据
datahead.Data_ID=UI_Data_ID_Del;
datahead.Sender_ID=Robot_ID;
datahead.Receiver_ID=Cilent_ID; //填充操作数据
del.Delete_Operate=Del_Operate;
del.Layer=Del_Layer; //控制信息
frametail=Get_CRC16_Check_Sum_UI(framepoint,sizeof(framehead),frametail);
framepoint=(unsigned char *)&datahead;
frametail=Get_CRC16_Check_Sum_UI(framepoint,sizeof(datahead),frametail);
framepoint=(unsigned char *)&del;
frametail=Get_CRC16_Check_Sum_UI(framepoint,sizeof(del),frametail); //CRC16校验值计算
RefereeSend((uint8_t *)&framehead,sizeof(framehead));
RefereeSend((uint8_t *)&datahead,sizeof(datahead));
RefereeSend((uint8_t *)&del,sizeof(del)); //发送所有帧
RefereeSend((uint8_t *)&frametail,sizeof(frametail)); //发送CRC16校验值
UI_Seq++; //包序号+1
}
/************************************************绘制直线*************************************************
**参数：*image Graph_Data类型变量指针，用于存放图形数据
imagename[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_Width 图形线宽
Start_x、Start_y 开始坐标
End_x、End_y 结束坐标
**********************************************************************************************************/
void Line_Draw(Graph_Data *image,char imagename[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)
{
int i;
for(i=0;i<3&&imagename[i]!='\0';i++)
image->graphic_name[2-i]=imagename[i];
image->operate_tpye = Graph_Operate;
image->layer = Graph_Layer;
image->color = Graph_Color;
image->width = Graph_Width;
image->start_x = Start_x;
image->start_y = Start_y;
image->end_x = End_x;
image->end_y = End_y;
}
/************************************************绘制矩形*************************************************
**参数：*image Graph_Data类型变量指针，用于存放图形数据
imagename[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_Width 图形线宽
Start_x、Start_y 开始坐标
End_x、End_y 结束坐标（对顶角坐标）
**********************************************************************************************************/
void Rectangle_Draw(Graph_Data *image,char imagename[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)
{
int i;
for(i=0;i<3&&imagename[i]!='\0';i++)
image->graphic_name[2-i]=imagename[i];
image->graphic_tpye = UI_Graph_Rectangle;
image->operate_tpye = Graph_Operate;
image->layer = Graph_Layer;
image->color = Graph_Color;
image->width = Graph_Width;
image->start_x = Start_x;
image->start_y = Start_y;
image->end_x = End_x;
image->end_y = End_y;
}
/************************************************绘制整圆*************************************************
**参数：*image Graph_Data类型变量指针，用于存放图形数据
imagename[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_Width 图形线宽
Start_x、Start_y 圆心坐标
Graph_Radius 图形半径
**********************************************************************************************************/
void Circle_Draw(Graph_Data *image,char imagename[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)
{
int i;
for(i=0;i<3&&imagename[i]!='\0';i++)
image->graphic_name[2-i]=imagename[i];
image->graphic_tpye = UI_Graph_Circle;
image->operate_tpye = Graph_Operate;
image->layer = Graph_Layer;
image->color = Graph_Color;
image->width = Graph_Width;
image->start_x = Start_x;
image->start_y = Start_y;
image->radius = Graph_Radius;
}
/************************************************绘制圆弧*************************************************
**参数：*image Graph_Data类型变量指针，用于存放图形数据
imagename[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_StartAngle,Graph_EndAngle 开始，终止角度
Graph_Width 图形线宽
Start_y,Start_y 圆心坐标
x_Length,y_Length x,y方向上轴长，参考椭圆
**********************************************************************************************************/
void Arc_Draw(Graph_Data *image,char imagename[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 x_Length,uint32_t y_Length)
{
int i;
for(i=0;i<3&&imagename[i]!='\0';i++)
image->graphic_name[2-i]=imagename[i];
image->graphic_tpye = UI_Graph_Arc;
image->operate_tpye = Graph_Operate;
image->layer = Graph_Layer;
image->color = Graph_Color;
image->width = Graph_Width;
image->start_x = Start_x;
image->start_y = Start_y;
image->start_angle = Graph_StartAngle;
image->end_angle = Graph_EndAngle;
image->end_x = x_Length;
image->end_y = y_Length;
}
/************************************************绘制浮点型数据*************************************************
**参数：*image Graph_Data类型变量指针，用于存放图形数据
imagename[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_Digit 小数位数
Graph_Width 图形线宽
Start_x、Start_y 开始坐标
Graph_Float 要显示的浮点数数值*1000
**********************************************************************************************************/
void Float_Draw(Float_Data *image,char imagename[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)
{
int i;
for(i=0;i<3&&imagename[i]!='\0';i++)
image->graphic_name[2-i]=imagename[i];
image->graphic_tpye = UI_Graph_Float;
image->operate_tpye = Graph_Operate;
image->layer = Graph_Layer;
image->color = Graph_Color;
image->width = Graph_Width;
image->start_x = Start_x;
image->start_y = Start_y;
image->start_angle = Graph_Size;
image->end_angle = Graph_Digit;
image->graph_Float = Graph_Float;
}
/************************************************绘制字符型数据*************************************************
**参数：*image Graph_Data类型变量指针，用于存放图形数据
imagename[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
**********************************************************************************************************/
void Char_Draw(String_Data *image,char imagename[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)
{
int i;
for(i=0;i<3&&imagename[i]!='\0';i++)
image->Graph_Control.graphic_name[2-i]=imagename[i];
image->Graph_Control.graphic_tpye = UI_Graph_Char;
image->Graph_Control.operate_tpye = Graph_Operate;
image->Graph_Control.layer = Graph_Layer;
image->Graph_Control.color = Graph_Color;
image->Graph_Control.width = Graph_Width;
image->Graph_Control.start_x = Start_x;
image->Graph_Control.start_y = Start_y;
image->Graph_Control.start_angle = Graph_Size;
}
void Char_Write(String_Data *image,char* fmt, ...)
{
uint16_t i = 0;
va_list ap;
va_start(ap, fmt);
vsprintf((char*)image->show_Data, fmt, ap);
va_end(ap);
i = strlen((const char*)image->show_Data);
image->Graph_Control.end_angle = i;
}
/************************************************UI推送函数（使更改生效）*********************************
**参数： cnt 图形个数
... 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
**********************************************************************************************************/
int UI_ReFresh(int cnt,...)
{
int i,n;
Graph_Data imageData;
unsigned char *framepoint; //读写指针
uint16_t frametail=0xFFFF; //CRC16校验值
UI_Packhead framehead;
UI_Data_Operate datahead;
va_list ap;
va_start(ap,cnt);
framepoint=(unsigned char *)&framehead;
framehead.SOF=UI_SOF;
framehead.Data_Length=6+cnt*15;
framehead.Seq=UI_Seq;
framehead.CRC8=Get_CRC8_Check_Sum_UI(framepoint,4,0xFF);
framehead.CMD_ID=UI_CMD_Robo_Exchange; //填充包头数据
switch(cnt)
{
case 1:
datahead.Data_ID=UI_Data_ID_Draw1;
break;
case 2:
datahead.Data_ID=UI_Data_ID_Draw2;
break;
case 5:
datahead.Data_ID=UI_Data_ID_Draw5;
break;
case 7:
datahead.Data_ID=UI_Data_ID_Draw7;
break;
default:
return (-1);
}
datahead.Sender_ID=Robot_ID;
datahead.Receiver_ID=Cilent_ID; //填充操作数据
framepoint=(unsigned char *)&framehead;
frametail=Get_CRC16_Check_Sum_UI(framepoint,sizeof(framehead),frametail);
framepoint=(unsigned char *)&datahead;
frametail=Get_CRC16_Check_Sum_UI(framepoint,sizeof(datahead),frametail); //CRC16校验值计算（部分）
framepoint=(unsigned char *)&framehead;
for(i=0;i<sizeof(framehead);i++)
{
UI_SendByte(*framepoint);
framepoint++;
}
framepoint=(unsigned char *)&datahead;
for(i=0;i<sizeof(datahead);i++)
{
UI_SendByte(*framepoint);
framepoint++;
}
for(i=0;i<cnt;i++)
{
imageData=va_arg(ap,Graph_Data);
framepoint=(unsigned char *)&imageData;
frametail=Get_CRC16_Check_Sum_UI(framepoint,sizeof(imageData),frametail); //CRC16校验
for(n=0;n<sizeof(imageData);n++)
{
UI_SendByte(*framepoint);
framepoint++;
} //发送图片帧
}
framepoint=(unsigned char *)&frametail;
for(i=0;i<sizeof(frametail);i++)
{
UI_SendByte(*framepoint);
framepoint++; //发送CRC16校验值
}
va_end(ap);
UI_Seq++; //包序号+1
return 0;
}
/************************************************UI推送字符（使更改生效）*********************************/
int Char_ReFresh(String_Data string_Data)
{
int i;
String_Data imageData;
unsigned char *framepoint; //读写指针
uint16_t frametail=0xFFFF; //CRC16校验值
UI_Packhead framehead;
UI_Data_Operate datahead;
imageData=string_Data;
framepoint=(unsigned char *)&framehead;
framehead.SOF=UI_SOF;
framehead.Data_Length=6+45;
framehead.Seq=UI_Seq;
framehead.CRC8=Get_CRC8_Check_Sum_UI(framepoint,4,0xFF);
framehead.CMD_ID=UI_CMD_Robo_Exchange; //填充包头数据
datahead.Data_ID=UI_Data_ID_DrawChar;
datahead.Sender_ID=Robot_ID;
datahead.Receiver_ID=Cilent_ID; //填充操作数据
framepoint=(unsigned char *)&framehead;
frametail=Get_CRC16_Check_Sum_UI(framepoint,sizeof(framehead),frametail);
framepoint=(unsigned char *)&datahead;
frametail=Get_CRC16_Check_Sum_UI(framepoint,sizeof(datahead),frametail);
framepoint=(unsigned char *)&imageData;
frametail=Get_CRC16_Check_Sum_UI(framepoint,sizeof(imageData),frametail); //CRC16校验 //CRC16校验值计算（部分）
framepoint=(unsigned char *)&framehead;
for(i=0;i<sizeof(framehead);i++)
{
UI_SendByte(*framepoint);
framepoint++;
}
framepoint=(unsigned char *)&datahead;
for(i=0;i<sizeof(datahead);i++)
{
UI_SendByte(*framepoint);
framepoint++;
} //发送操作数据
framepoint=(unsigned char *)&imageData;
for(i=0;i<sizeof(imageData);i++)
{
UI_SendByte(*framepoint);
framepoint++;
} //发送图片帧
framepoint=(unsigned char *)&frametail;
for(i=0;i<sizeof(frametail);i++)
{
UI_SendByte(*framepoint);
framepoint++; //发送CRC16校验值
}
UI_Seq++; //包序号+1
return 0;
}
/*****************************************************CRC8校验值计算**********************************************/
const unsigned char CRC8_INIT_UI = 0xff;
const unsigned char CRC8_TAB_UI[256] =
{
0x00, 0x5e, 0xbc, 0xe2, 0x61, 0x3f, 0xdd, 0x83, 0xc2, 0x9c, 0x7e, 0x20, 0xa3, 0xfd, 0x1f, 0x41,
0x9d, 0xc3, 0x21, 0x7f, 0xfc, 0xa2, 0x40, 0x1e, 0x5f, 0x01, 0xe3, 0xbd, 0x3e, 0x60, 0x82, 0xdc,
0x23, 0x7d, 0x9f, 0xc1, 0x42, 0x1c, 0xfe, 0xa0, 0xe1, 0xbf, 0x5d, 0x03, 0x80, 0xde, 0x3c, 0x62,
0xbe, 0xe0, 0x02, 0x5c, 0xdf, 0x81, 0x63, 0x3d, 0x7c, 0x22, 0xc0, 0x9e, 0x1d, 0x43, 0xa1, 0xff,
0x46, 0x18, 0xfa, 0xa4, 0x27, 0x79, 0x9b, 0xc5, 0x84, 0xda, 0x38, 0x66, 0xe5, 0xbb, 0x59, 0x07,
0xdb, 0x85, 0x67, 0x39, 0xba, 0xe4, 0x06, 0x58, 0x19, 0x47, 0xa5, 0xfb, 0x78, 0x26, 0xc4, 0x9a,
0x65, 0x3b, 0xd9, 0x87, 0x04, 0x5a, 0xb8, 0xe6, 0xa7, 0xf9, 0x1b, 0x45, 0xc6, 0x98, 0x7a, 0x24,
0xf8, 0xa6, 0x44, 0x1a, 0x99, 0xc7, 0x25, 0x7b, 0x3a, 0x64, 0x86, 0xd8, 0x5b, 0x05, 0xe7, 0xb9,
0x8c, 0xd2, 0x30, 0x6e, 0xed, 0xb3, 0x51, 0x0f, 0x4e, 0x10, 0xf2, 0xac, 0x2f, 0x71, 0x93, 0xcd,
0x11, 0x4f, 0xad, 0xf3, 0x70, 0x2e, 0xcc, 0x92, 0xd3, 0x8d, 0x6f, 0x31, 0xb2, 0xec, 0x0e, 0x50,
0xaf, 0xf1, 0x13, 0x4d, 0xce, 0x90, 0x72, 0x2c, 0x6d, 0x33, 0xd1, 0x8f, 0x0c, 0x52, 0xb0, 0xee,
0x32, 0x6c, 0x8e, 0xd0, 0x53, 0x0d, 0xef, 0xb1, 0xf0, 0xae, 0x4c, 0x12, 0x91, 0xcf, 0x2d, 0x73,
0xca, 0x94, 0x76, 0x28, 0xab, 0xf5, 0x17, 0x49, 0x08, 0x56, 0xb4, 0xea, 0x69, 0x37, 0xd5, 0x8b,
0x57, 0x09, 0xeb, 0xb5, 0x36, 0x68, 0x8a, 0xd4, 0x95, 0xcb, 0x29, 0x77, 0xf4, 0xaa, 0x48, 0x16,
0xe9, 0xb7, 0x55, 0x0b, 0x88, 0xd6, 0x34, 0x6a, 0x2b, 0x75, 0x97, 0xc9, 0x4a, 0x14, 0xf6, 0xa8,
0x74, 0x2a, 0xc8, 0x96, 0x15, 0x4b, 0xa9, 0xf7, 0xb6, 0xe8, 0x0a, 0x54, 0xd7, 0x89, 0x6b, 0x35,
};
unsigned char Get_CRC8_Check_Sum_UI(unsigned char *pchMessage,unsigned int dwLength,unsigned char ucCRC8)
{
unsigned char ucIndex;
while (dwLength--)
{
ucIndex = ucCRC8^(*pchMessage++);
ucCRC8 = CRC8_TAB_UI[ucIndex];
}
return(ucCRC8);
}
uint16_t CRC_INIT_UI = 0xffff;
const uint16_t wCRC_Table_UI[256] =
{
0x0000, 0x1189, 0x2312, 0x329b, 0x4624, 0x57ad, 0x6536, 0x74bf,
0x8c48, 0x9dc1, 0xaf5a, 0xbed3, 0xca6c, 0xdbe5, 0xe97e, 0xf8f7,
0x1081, 0x0108, 0x3393, 0x221a, 0x56a5, 0x472c, 0x75b7, 0x643e,
0x9cc9, 0x8d40, 0xbfdb, 0xae52, 0xdaed, 0xcb64, 0xf9ff, 0xe876,
0x2102, 0x308b, 0x0210, 0x1399, 0x6726, 0x76af, 0x4434, 0x55bd,
0xad4a, 0xbcc3, 0x8e58, 0x9fd1, 0xeb6e, 0xfae7, 0xc87c, 0xd9f5,
0x3183, 0x200a, 0x1291, 0x0318, 0x77a7, 0x662e, 0x54b5, 0x453c,
0xbdcb, 0xac42, 0x9ed9, 0x8f50, 0xfbef, 0xea66, 0xd8fd, 0xc974,
0x4204, 0x538d, 0x6116, 0x709f, 0x0420, 0x15a9, 0x2732, 0x36bb,
0xce4c, 0xdfc5, 0xed5e, 0xfcd7, 0x8868, 0x99e1, 0xab7a, 0xbaf3,
0x5285, 0x430c, 0x7197, 0x601e, 0x14a1, 0x0528, 0x37b3, 0x263a,
0xdecd, 0xcf44, 0xfddf, 0xec56, 0x98e9, 0x8960, 0xbbfb, 0xaa72,
0x6306, 0x728f, 0x4014, 0x519d, 0x2522, 0x34ab, 0x0630, 0x17b9,
0xef4e, 0xfec7, 0xcc5c, 0xddd5, 0xa96a, 0xb8e3, 0x8a78, 0x9bf1,
0x7387, 0x620e, 0x5095, 0x411c, 0x35a3, 0x242a, 0x16b1, 0x0738,
0xffcf, 0xee46, 0xdcdd, 0xcd54, 0xb9eb, 0xa862, 0x9af9, 0x8b70,
0x8408, 0x9581, 0xa71a, 0xb693, 0xc22c, 0xd3a5, 0xe13e, 0xf0b7,
0x0840, 0x19c9, 0x2b52, 0x3adb, 0x4e64, 0x5fed, 0x6d76, 0x7cff,
0x9489, 0x8500, 0xb79b, 0xa612, 0xd2ad, 0xc324, 0xf1bf, 0xe036,
0x18c1, 0x0948, 0x3bd3, 0x2a5a, 0x5ee5, 0x4f6c, 0x7df7, 0x6c7e,
0xa50a, 0xb483, 0x8618, 0x9791, 0xe32e, 0xf2a7, 0xc03c, 0xd1b5,
0x2942, 0x38cb, 0x0a50, 0x1bd9, 0x6f66, 0x7eef, 0x4c74, 0x5dfd,
0xb58b, 0xa402, 0x9699, 0x8710, 0xf3af, 0xe226, 0xd0bd, 0xc134,
0x39c3, 0x284a, 0x1ad1, 0x0b58, 0x7fe7, 0x6e6e, 0x5cf5, 0x4d7c,
0xc60c, 0xd785, 0xe51e, 0xf497, 0x8028, 0x91a1, 0xa33a, 0xb2b3,
0x4a44, 0x5bcd, 0x6956, 0x78df, 0x0c60, 0x1de9, 0x2f72, 0x3efb,
0xd68d, 0xc704, 0xf59f, 0xe416, 0x90a9, 0x8120, 0xb3bb, 0xa232,
0x5ac5, 0x4b4c, 0x79d7, 0x685e, 0x1ce1, 0x0d68, 0x3ff3, 0x2e7a,
0xe70e, 0xf687, 0xc41c, 0xd595, 0xa12a, 0xb0a3, 0x8238, 0x93b1,
0x6b46, 0x7acf, 0x4854, 0x59dd, 0x2d62, 0x3ceb, 0x0e70, 0x1ff9,
0xf78f, 0xe606, 0xd49d, 0xc514, 0xb1ab, 0xa022, 0x92b9, 0x8330,
0x7bc7, 0x6a4e, 0x58d5, 0x495c, 0x3de3, 0x2c6a, 0x1ef1, 0x0f78
};
/*
** Descriptions: CRC16 checksum function
** Input: Data to check,Stream length, initialized checksum
** Output: CRC checksum
*/
uint16_t Get_CRC16_Check_Sum_UI(uint8_t *pchMessage,uint32_t dwLength,uint16_t wCRC)
{
Uint8_t chData;
if (pchMessage == NULL)
{
return 0xFFFF;
}
while(dwLength--)
{
chData = *pchMessage++;
(wCRC) = ((uint16_t)(wCRC) >> 8) ^ wCRC_Table_UI[((uint16_t)(wCRC) ^ (uint16_t)(chData)) &
0x00ff];
}
return wCRC;
}
// /**
// * @brief 上传自定义数据
// * @param void
@ -8,7 +518,7 @@
// unsigned char CliendTxBuffer[send_max_len];
// void JUDGE_Show_Data(void)
// {
// static u8 datalength,i;
// static uint8_t datalength,i;
// uint8_t judge_led = 0xff;//初始化led为全绿
// static uint8_t auto_led_time = 0;
// static uint8_t buff_led_time = 0;

172
modules/referee/referee_UI.h
View File

@ -0,0 +1,172 @@
#ifndef REFEREE_UI_H
#define REFEREE_UI_H
#include "stdarg.h"
#include "usart.h"
#include "stdint.h"
#pragma pack(1) //按1字节对齐
// #define NULL 0
#define __FALSE 100
/****************************开始标志*********************/
#define UI_SOF 0xA5
/****************************CMD_ID数据********************/
#define UI_CMD_Robo_Exchange 0x0301
/****************************内容ID数据********************/
#define UI_Data_ID_Del 0x100
#define UI_Data_ID_Draw1 0x101
#define UI_Data_ID_Draw2 0x102
#define UI_Data_ID_Draw5 0x103
#define UI_Data_ID_Draw7 0x104
#define UI_Data_ID_DrawChar 0x110
/****************************红方机器人ID********************/
#define UI_Data_RobotID_RHero 1
#define UI_Data_RobotID_REngineer 2
#define UI_Data_RobotID_RStandard1 3
#define UI_Data_RobotID_RStandard2 4
#define UI_Data_RobotID_RStandard3 5
#define UI_Data_RobotID_RAerial 6
#define UI_Data_RobotID_RSentry 7
#define UI_Data_RobotID_RRadar 9
/****************************蓝方机器人ID********************/
#define UI_Data_RobotID_BHero 101
#define UI_Data_RobotID_BEngineer 102
#define UI_Data_RobotID_BStandard1 103
#define UI_Data_RobotID_BStandard2 104
#define UI_Data_RobotID_BStandard3 105
#define UI_Data_RobotID_BAerial 106
#define UI_Data_RobotID_BSentry 107
#define UI_Data_RobotID_BRadar 109
/**************************红方操作手ID************************/
#define UI_Data_CilentID_RHero 0x0101
#define UI_Data_CilentID_REngineer 0x0102
#define UI_Data_CilentID_RStandard1 0x0103
#define UI_Data_CilentID_RStandard2 0x0104
#define UI_Data_CilentID_RStandard3 0x0105
#define UI_Data_CilentID_RAerial 0x0106
/***************************蓝方操作手ID***********************/
#define UI_Data_CilentID_BHero 0x0165
#define UI_Data_CilentID_BEngineer 0x0166
#define UI_Data_CilentID_BStandard1 0x0167
#define UI_Data_CilentID_BStandard2 0x0168
#define UI_Data_CilentID_BStandard3 0x0169
#define UI_Data_CilentID_BAerial 0x016A
/***************************删除操作***************************/
#define UI_Data_Del_NoOperate 0
#define UI_Data_Del_Layer 1
#define UI_Data_Del_ALL 2
/***************************图形配置参数__图形操作********************/
#define UI_Graph_ADD 1
#define UI_Graph_Change 2
#define UI_Graph_Del 3
/***************************图形配置参数__图形类型********************/
#define UI_Graph_Line 0 //直线
#define UI_Graph_Rectangle 1 //矩形
#define UI_Graph_Circle 2 //整圆
#define UI_Graph_Ellipse 3 //椭圆
#define UI_Graph_Arc 4 //圆弧
#define UI_Graph_Float 5 //浮点型
#define UI_Graph_Int 6 //整形
#define UI_Graph_Char 7 //字符型
/***************************图形配置参数__图形颜色********************/
#define UI_Color_Main 0 //红蓝主色
#define UI_Color_Yellow 1
#define UI_Color_Green 2
#define UI_Color_Orange 3
#define UI_Color_Purplish_red 4 //紫红色
#define UI_Color_Pink 5
#define UI_Color_Cyan 6 //青色
#define UI_Color_Black 7
#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
{
uint8_t SOF; //起始字节,固定0xA5
uint16_t Data_Length; //帧数据长度
uint8_t Seq; //包序号
uint8_t CRC8; //CRC8校验值
uint16_t CMD_ID; //命令ID
} UI_Packhead; //帧头
typedef struct
{
uint16_t Data_ID; //内容ID
uint16_t Sender_ID; //发送者ID
uint16_t Receiver_ID; //接收者ID
} UI_Data_Operate; //操作定义帧
typedef struct
{
uint8_t Delete_Operate; //删除操作
uint8_t Layer; //删除图层
} UI_Data_Delete; //删除图层帧
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;
int32_t graph_Float; //浮点数据
} Float_Data;
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; //图形数据
} Graph_Data;
typedef struct
{
Graph_Data Graph_Control;
uint8_t show_Data[30];
} String_Data; //打印字符串数据
#pragma pack()
void UI_Delete(uint8_t Del_Operate,uint8_t Del_Layer);
void Line_Draw(Graph_Data *image,char imagename[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);
int UI_ReFresh(int cnt,...);
unsigned char Get_CRC8_Check_Sum_UI(unsigned char *pchMessage,unsigned int dwLength,unsigned char ucCRC8);
uint16_t Get_CRC16_Check_Sum_UI(uint8_t *pchMessage,uint32_t dwLength,uint16_t wCRC);
void Circle_Draw(Graph_Data *image,char imagename[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 Rectangle_Draw(Graph_Data *image,char imagename[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 *image,char imagename[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 *image,char imagename[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);
int Char_ReFresh(String_Data string_Data);
void Char_Write(String_Data *image,char* fmt, ...);
void Arc_Draw(Graph_Data *image,char imagename[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 x_Length,uint32_t y_Length);
#endif

10
modules/referee/referee_def.h
View File

@ -15,7 +15,7 @@
#pragma pack(1)
// 枚举类型,代替#define声明
/* 通信协议格式偏移，枚举类型,代替#define声明 */
typedef enum
{
FRAME_HEADER = 0,
@ -23,7 +23,7 @@ typedef enum
DATA = 7,
} JudgeFrameOffset;
// 帧头偏移,枚举
/* 帧头偏移 */
typedef enum
{
SOF = 0, // 起始位
@ -32,7 +32,7 @@ typedef enum
CRC8 = 4 // CRC8
} FrameHeaderOffset;
/* 自定义帧头 */
/* 帧头定义 */
typedef struct
{
uint8_t SOF;
@ -41,7 +41,7 @@ typedef struct
uint8_t CRC8;
} xFrameHeader;
// 命令码ID,用来判断接收的是什么数据
/* 命令码ID,用来判断接收的是什么数据 */
typedef enum
{
ID_game_state = 0x0001, // 比赛状态数据
@ -60,7 +60,7 @@ typedef enum
} CmdID;
// 命令码数据段长,根据官方协议来定义长度
/* 命令码数据段长,根据官方协议来定义长度 */
typedef enum
{
LEN_game_state = 3, // 0x0001