修复因内存对齐访问导致的硬件错误

.vscode/settings.json

@@ -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",
 }

HAL_N_Middlewares/Src/usart.c

@@ -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);

bsp/bsp_usart.c

@@ -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;

modules/master_machine/master_process.c

@@ -8,14 +8,17 @@
  * @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;
+    conf.usart_handle = _handle;
-    vision_usart_instance=USARTRegister(&conf);
+    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;
 }

modules/master_machine/master_process.h

@@ -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

modules/master_machine/seasky_protocol.c

@@ -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++)
+            memcpy(rx_data,rx_buf+8,4*sizeof(pro.header.data_length - 2));
-            {
-                rx_data[i] = float_protocol(&rx_buf[8 + 4 * i]);
-            }
-            for (int i = 0; i < date_length; i++)
-            {
-                rx_buf[i] = 0;
-            }
             return pro.cmd_id;
         }
     }

modules/master_machine/seasky_protocol.h

@@ -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