HFUT_Firmament_EC
/
sentry_chassis_hzz
11
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

修复因内存对齐访问导致的硬件错误

This commit is contained in:
NeoZeng 2022-11-29 16:33:34 +08:00
parent f1301ab7de
commit a539072052
7 changed files with 36 additions and 61 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
.vscode/settings.json vendored
View File

@ -18,8 +18,9 @@
"can.h": "c",
"bsp_can.h": "c",
"dji_motor.h": "c",
"master_process.h": "c"
"master_process.h": "c",
"seasky_protocol.h": "c",
"bsp_usart.h": "c"
},
"C_Cpp.default.configurationProvider": "ms-vscode.makefile-tools",
"C_Cpp.intelliSenseEngineFallback": "enabled",
}

4
HAL_N_Middlewares/Src/usart.c
View File

@ -141,14 +141,14 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
*/
GPIO_InitStruct.Pin = GPIO_PIN_7;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF7_USART1;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
GPIO_InitStruct.Pin = GPIO_PIN_9;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF7_USART1;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

2
bsp/bsp_usart.c
View File

@ -75,7 +75,7 @@ void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)
if (huart == instance[i]->usart_handle)
{
instance[i]->module_callback();
memset(instance[i]->recv_buff,0,instance[i]->recv_buff_size); // 接收结束后清空buffer,对于变长数据是必要的
memset(instance[i]->recv_buff,0,Size); // 接收结束后清空buffer,对于变长数据是必要的
HAL_UARTEx_ReceiveToIdle_DMA(instance[i]->usart_handle, instance[i]->recv_buff, instance[i]->recv_buff_size);
__HAL_DMA_DISABLE_IT(instance[i]->usart_handle->hdmarx, DMA_IT_HT);
break;

22
modules/master_machine/master_process.c
View File

@ -5,17 +5,20 @@
* @version beta
* @date 2022-11-03
* @todo 增加对串口调试助手协议的支持,包括vofa和serial debug
* @copyright Copyright (c) 2022
* @copyright Copyright (c) 2022
*
*/
#include "Master_process.h"
#include "master_process.h"
#include "bsp_usart.h"
#include "usart.h"
#include "seasky_protocol.h"
/* use usart1 as vision communication*/
static Vision_Recv_s recv_data;
Vision_Recv_s recv_data;
// @todo:由于后续需要进行IMU-Cam的硬件触发采集控制,因此可能需要将发送设置为定时任务,或由IMU采集完成产生的中断唤醒的任务,
// 使得时间戳对齐. 因此,在send_data中设定其他的标志位数据,让ins_task填充姿态值.
// static Vision_Send_s send_data;
static usart_instance* vision_usart_instance;
static usart_instance *vision_usart_instance;
/**
* @brief 接收解包回调函数,将在bsp_usart.c中被usart rx callback调用
@ -25,18 +28,18 @@ static usart_instance* vision_usart_instance;
static void DecodeVision()
{
static uint16_t flag_register;
get_protocol_info(vision_usart_instance->recv_buff, &flag_register, &recv_data.pitch);
get_protocol_info(vision_usart_instance->recv_buff, &flag_register, (uint8_t*)&recv_data.pitch);
// TODO: code to resolve flag_register;
}
/* 视觉通信初始化 */
Vision_Recv_s* VisionInit(UART_HandleTypeDef *handle)
Vision_Recv_s *VisionInit(UART_HandleTypeDef *_handle)
{
USART_Init_Config_s conf;
conf.module_callback = DecodeVision;
conf.recv_buff_size = VISION_RECV_SIZE;
conf.usart_handle = handle;
vision_usart_instance=USARTRegister(&conf);
conf.usart_handle = _handle;
vision_usart_instance = USARTRegister(&conf);
return &recv_data;
}
@ -60,8 +63,7 @@ void VisionSend(Vision_Send_s *send)
USARTSend(vision_usart_instance, send_buff, tx_len);
}
Vision_Recv_s* VisionGetcmd()
Vision_Recv_s *VisionGetcmd()
{
return &recv_data;
}

10
modules/master_machine/master_process.h
View File

@ -2,7 +2,6 @@
#define MASTER_PROCESS_H
#include "bsp_usart.h"
#include "usart.h"
#include "seasky_protocol.h"
#define VISION_RECV_SIZE 36u
@ -13,7 +12,7 @@
*
* @param handle 用于和视觉通信的串口handle(C板上一般为USART1,丝印为USART2,4pin)
*/
Vision_Recv_s *VisionInit(UART_HandleTypeDef *handle);
Vision_Recv_s *VisionInit(UART_HandleTypeDef *_handle);
/**
* @brief 发送视觉视觉
@ -22,11 +21,4 @@ Vision_Recv_s *VisionInit(UART_HandleTypeDef *handle);
*/
void VisionSend(Vision_Send_s *send);
/**
* @brief 返回所需的上位机数据
*
* @return Vision_Recv_s* 数据结构体指针
*/
Vision_Recv_s* VisionGetcmd();
#endif // !MASTER_PROCESS_H

47
modules/master_machine/seasky_protocol.c
View File

@ -13,39 +13,32 @@
#include "seasky_protocol.h"
#include "crc8.h"
#include "crc16.h"
#include "memory.h"
/*获取CRC8校验码*/
uint8_t Get_CRC8_Check(uint8_t *pchMessage, uint16_t dwLength)
{
return crc_8(pchMessage, dwLength);
}
/*检验CRC8数据段*/
uint8_t CRC8_Check_Sum(uint8_t *pchMessage, uint16_t dwLength)
static uint8_t CRC8_Check_Sum(uint8_t *pchMessage, uint16_t dwLength)
{
uint8_t ucExpected = 0;
if ((pchMessage == 0) || (dwLength <= 2))
return 0;
ucExpected = Get_CRC8_Check(pchMessage, dwLength - 1);
ucExpected = crc_8(pchMessage, dwLength - 1);
return (ucExpected == pchMessage[dwLength - 1]);
}
/*获取CRC16校验码*/
uint16_t Get_CRC16_Check(uint8_t *pchMessage, uint32_t dwLength)
{
return crc_16(pchMessage, dwLength);
}
/*检验CRC16数据段*/
uint16_t CRC16_Check_Sum(uint8_t *pchMessage, uint32_t dwLength)
static uint16_t CRC16_Check_Sum(uint8_t *pchMessage, uint32_t dwLength)
{
uint16_t wExpected = 0;
if ((pchMessage == 0) || (dwLength <= 2))
{
return 0;
}
wExpected = Get_CRC16_Check(pchMessage, dwLength - 2);
wExpected = crc_16(pchMessage, dwLength - 2);
return (((wExpected & 0xff) == pchMessage[dwLength - 2]) && (((wExpected >> 8) & 0xff) == pchMessage[dwLength - 1]));
}
/*检验数据帧头*/
uint8_t protocol_heade_Check(protocol_rm_struct *pro,uint8_t *rx_buf)
static uint8_t protocol_heade_Check(protocol_rm_struct *pro,uint8_t *rx_buf)
{
if (rx_buf[0] == PROTOCOL_CMD_ID)
{
@ -61,15 +54,6 @@ uint8_t protocol_heade_Check(protocol_rm_struct *pro,uint8_t *rx_buf)
return 0;
}
float float_protocol(uint8_t *dat_t)
{
uint8_t f_data[4];
f_data[0] = *(dat_t + 0);
f_data[1] = *(dat_t + 1);
f_data[2] = *(dat_t + 2);
f_data[3] = *(dat_t + 3);
return *(float *)f_data;
}
/*
此函数根据待发送的数据更新数据帧格式以及内容，实现数据的打包操作
后续调用通信接口的发送函数发送tx_buf中的对应数据
@ -118,24 +102,19 @@ void get_protocol_send_data(uint16_t send_id, //信号id
*/
uint16_t get_protocol_info(uint8_t *rx_buf, //接收到的原始数据
uint16_t *flags_register, //接收数据的16位寄存器地址
float *rx_data) //接收的float数据存储地址
uint8_t *rx_data) //接收的float数据存储地址
{
static protocol_rm_struct pro;
static uint16_t date_length;
volatile size_t s=sizeof(pro);
volatile size_t aa=sizeof(Vision_Recv_s);
if (protocol_heade_Check(&pro, rx_buf))
{
date_length = OFFSET_BYTE + pro.header.data_length;
while (CRC16_Check_Sum(&rx_buf[0], date_length))
if (CRC16_Check_Sum(&rx_buf[0], date_length))
{
*flags_register = (rx_buf[7] << 8) | rx_buf[6];
for (int i = 0; i < (pro.header.data_length - 2) / 4; i++)
{
rx_data[i] = float_protocol(&rx_buf[8 + 4 * i]);
}
for (int i = 0; i < date_length; i++)
{
rx_buf[i] = 0;
}
memcpy(rx_data,rx_buf+8,4*sizeof(pro.header.data_length - 2));
return pro.cmd_id;
}
}

7
modules/master_machine/seasky_protocol.h
View File

@ -2,7 +2,7 @@
#define __SEASKY_PROTOCOL_H
#include <stdio.h>
#include <stdint.h>
#include <stdint-gcc.h>
#define PROTOCOL_CMD_ID 0XA5
@ -41,8 +41,8 @@ typedef struct
Target_State_e target_state;
Target_Type_e target_type;
float yaw;
float pitch;
float yaw;
} Vision_Recv_s;
typedef enum
@ -92,6 +92,7 @@ typedef struct
uint16_t frame_tail; // 帧尾CRC校验
} protocol_rm_struct;
/*更新发送数据帧，并计算发送数据帧长度*/
void get_protocol_send_data(uint16_t send_id, // 信号id
uint16_t flags_register, // 16位寄存器
@ -103,6 +104,6 @@ void get_protocol_send_data(uint16_t send_id, // 信号id
/*接收数据处理*/
uint16_t get_protocol_info(uint8_t *rx_buf, // 接收到的原始数据
uint16_t *flags_register, // 接收数据的16位寄存器地址
float *rx_data); // 接收的float数据存储地址
uint8_t *rx_data); // 接收的float数据存储地址
#endif