Merge branch 'referee'
This commit is contained in:
NeoZeng
commit
be4609c4d2
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@ -16,7 +16,7 @@
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|||
".\\openocd.cfg", // 配置文件已经在根目录提供,若要修改以此类推
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],
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||||
// path to your gcc-arm-none-eabi/arm-none-eabi-gdb.exe,如果在cortex-debug的设置中写入了全局路径,这里不需要再写
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||||
"gdbPath": "D:\\gcc-arm-none-eabi\\bin\\arm-none-eabi-gdb.exe",
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||||
// "gdbPath": "D:\\gcc-arm-none-eabi\\bin\\arm-none-eabi-gdb.exe",
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||||
//"preLaunchTask": "build task",//先运行Build任务,取消注释即可使用
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||||
},
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||||
// 使用j-link时的参考配置
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||||
|
|
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|||
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@ -1,53 +1,8 @@
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{
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||||
"C_Cpp.default.configurationProvider": "ms-vscode.makefile-tools",
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"files.associations": {
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||||
"arm_math.h": "c",
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||||
"task.h": "c",
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||||
"main.h": "c",
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||||
"cmsis_os.h": "c",
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||||
"freertos.h": "c",
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||||
"bmi088driver.h": "c",
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||||
"user_lib.h": "c",
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"mpu_armv7.h": "c",
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||||
"stm32f4xx_hal.h": "c",
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"stm32f4xx_hal_conf.h": "c",
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"stm32_hal_legacy.h": "c",
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"stm32f4xx.h": "c",
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"cstdint": "c",
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"tim.h": "c",
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||||
"struct_typedef.h": "c",
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"bsp_can.h": "c",
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"stdint.h": "c",
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||||
"bsp_temperature.h": "c",
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"bsp_rc.h": "c",
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||||
"remote_control.h": "c",
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"bsp_usart.h": "c",
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||||
"led_task.h": "c",
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"can_receive.h": "c",
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"can_process.h": "c",
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"can.h": "c",
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"stdlib.h": "c",
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||||
"lk9025.h": "c",
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"dji_motor.h": "c",
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"ht04.h": "c",
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"controller.h": "c",
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"memory.h": "c",
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"motor_task.h": "c",
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"functional": "c",
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"stdexcept": "c",
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"tuple": "c",
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"typeinfo": "c",
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"chrono": "c",
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"complex": "c",
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"usb_device.h": "c",
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"vofa_protocol.h": "c",
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"master_process.h": "c",
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"stdint-gcc.h": "c",
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"string.h": "c",
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"motor_def.h": "c",
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"stdio.h": "c",
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||||
"segger_rtt_conf.h": "c",
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"segger_rtt.h": "c",
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"bsp_log.h": "c"
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},
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"led_task.h": "c",
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"stdinf.h": "c"
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},,
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}
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@ -38,6 +38,7 @@
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#include "can.h"
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#include "dji_motor.h"
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#include "motor_task.h"
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#include "referee.h"
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/* USER CODE END Includes */
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/* Private typedef -----------------------------------------------------------*/
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@ -118,13 +119,15 @@ int main(void)
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RC_init(&huart3);
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DWT_Init(168);
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Motor_Init_Config_s config = {
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.motor_type = M3508,
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.motor_type = M2006,
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.can_init_config = {
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.can_handle = &hcan1,
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.tx_id = 1},
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.controller_setting_init_config = {.angle_feedback_source = MOTOR_FEED, .close_loop_type = SPEED_LOOP | CURRENT_LOOP, .speed_feedback_source = MOTOR_FEED, .reverse_flag = MOTOR_DIRECTION_NORMAL},
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.controller_param_init_config = {.current_PID = {.Improve = 0, .Kp = 1, .Ki = 0, .Kd = 0, .DeadBand = 0, .MaxOut = 4000}, .speed_PID = {.Improve = 0, .Kp = 1, .Ki = 0, .Kd = 0, .DeadBand = 0, .MaxOut = 4000}}};
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dji_motor_instance *djimotor = DJIMotorInit(config);
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referee_init(&huart6);
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/* USER CODE END 2 */
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/* Call init function for freertos objects (in freertos.c) */
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|
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1
Makefile
1
Makefile
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@ -118,6 +118,7 @@ modules/motor/HT04.c \
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modules/motor/LK9025.c \
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modules/mode/step_motor.c \
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modules/motor/motor_task.c \
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modules/referee/crc.c \
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modules/referee/referee.c \
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modules/referee/referee_UI.c \
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modules/referee/referee_communication.c \
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@ -4,7 +4,7 @@
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#include <stdint-gcc.h>
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void buzzer_init();
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extern void buzzer_on(uint16_t psc, uint16_t pwm, uint8_t level);
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extern void buzzer_on(uint16_t psc, uint16_t pwm,uint8_t level);
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extern void buzzer_off(void);
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#endif
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@ -10,6 +10,7 @@
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*/
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#include "bsp_usart.h"
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#include "stdlib.h"
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#include "memory.h"
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/* usart service instance, modules' info would be recoreded here using USARTRegister() */
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/* usart服务实例,所有注册了usart的模块信息会被保存在这里 */
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@ -66,6 +67,8 @@ void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)
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if (huart == instance[i]->usart_handle)
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{
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instance[i]->module_callback();
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memset(instance[i]->recv_buff,0,instance[i]->recv_buff_size);
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HAL_UARTEx_ReceiveToIdle_DMA(instance[i]->usart_handle, instance[i]->recv_buff, instance[i]->recv_buff_size);
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__HAL_DMA_DISABLE_IT(instance[i]->usart_handle->hdmarx, DMA_IT_HT);
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break;
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@ -5,7 +5,7 @@
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#include "main.h"
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#define DEVICE_USART_CNT 3 // C板至多分配3个串口
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#define USART_RXBUFF_LIMIT 128 // if your protocol needs bigger buff, modify here
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#define USART_RXBUFF_LIMIT 256 // if your protocol needs bigger buff, modify here
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/* application callback,which resolves specific protocol,解析协议的回调函数 */
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typedef void (*usart_module_callback)();
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@ -0,0 +1,29 @@
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#ifndef STRUCT_TYPEDEF_H
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#define STRUCT_TYPEDEF_H
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typedef signed char int8_t;
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typedef signed short int int16_t;
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|
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#ifndef _INT32_T_DECLARED
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typedef signed int int32_t;
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#define _INT32_T_DECLARED
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#endif
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typedef signed long long int64_t;
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||||
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/* exact-width unsigned integer types */
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typedef unsigned char uint8_t;
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typedef unsigned short int uint16_t;
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#ifndef _UINT32_T_DECLARED
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typedef unsigned int uint32_t;
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#define _UINT32_T_DECLARED
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#endif
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||||
|
||||
typedef unsigned long long uint64_t;
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||||
typedef unsigned char bool_t;
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||||
typedef float float;
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typedef double fp64;
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#endif
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@ -1,6 +1,7 @@
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|||
#ifndef LK9025_H
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#define LK9025_H
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#include <stdint-gcc.h>
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#include "bsp_can.h"
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||||
#include "controller.h"
|
||||
#include "motor_def.h"
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||||
|
|
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|
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@ -0,0 +1,194 @@
|
|||
#include "crc.h"
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||||
#include <stdio.h>
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||||
//裁判系统官方CRC校验
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||||
|
||||
const uint8_t CRC8_INIT = 0xff;
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||||
const uint8_t CRC8_TAB[256] =
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||||
{
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||||
0x00, 0x5e, 0xbc, 0xe2, 0x61, 0x3f, 0xdd, 0x83, 0xc2, 0x9c, 0x7e, 0x20, 0xa3, 0xfd, 0x1f, 0x41,
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||||
0x9d, 0xc3, 0x21, 0x7f, 0xfc, 0xa2, 0x40, 0x1e, 0x5f, 0x01, 0xe3, 0xbd, 0x3e, 0x60, 0x82, 0xdc,
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||||
0x23, 0x7d, 0x9f, 0xc1, 0x42, 0x1c, 0xfe, 0xa0, 0xe1, 0xbf, 0x5d, 0x03, 0x80, 0xde, 0x3c, 0x62,
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||||
0xbe, 0xe0, 0x02, 0x5c, 0xdf, 0x81, 0x63, 0x3d, 0x7c, 0x22, 0xc0, 0x9e, 0x1d, 0x43, 0xa1, 0xff,
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||||
0x46, 0x18, 0xfa, 0xa4, 0x27, 0x79, 0x9b, 0xc5, 0x84, 0xda, 0x38, 0x66, 0xe5, 0xbb, 0x59, 0x07,
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||||
0xdb, 0x85, 0x67, 0x39, 0xba, 0xe4, 0x06, 0x58, 0x19, 0x47, 0xa5, 0xfb, 0x78, 0x26, 0xc4, 0x9a,
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||||
0x65, 0x3b, 0xd9, 0x87, 0x04, 0x5a, 0xb8, 0xe6, 0xa7, 0xf9, 0x1b, 0x45, 0xc6, 0x98, 0x7a, 0x24,
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||||
0xf8, 0xa6, 0x44, 0x1a, 0x99, 0xc7, 0x25, 0x7b, 0x3a, 0x64, 0x86, 0xd8, 0x5b, 0x05, 0xe7, 0xb9,
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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,
|
||||
};
|
||||
|
||||
|
||||
uint16_t CRC_INIT = 0xffff;
|
||||
const uint16_t wCRC_Table[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
|
||||
};
|
||||
|
||||
// CRC8
|
||||
void Append_CRC8_Check_Sum( uint8_t *pchMessage, uint16_t dwLength);
|
||||
uint32_t Verify_CRC8_Check_Sum( uint8_t *pchMessage, uint16_t dwLength);
|
||||
uint8_t Get_CRC8_Check_Sum( uint8_t *pchMessage, uint16_t dwLength, uint8_t ucCRC8 );
|
||||
|
||||
// CRC16
|
||||
void Append_CRC16_Check_Sum(uint8_t * pchMessage,uint32_t dwLength);
|
||||
uint32_t Verify_CRC16_Check_Sum(uint8_t *pchMessage, uint32_t dwLength);
|
||||
uint16_t Get_CRC16_Check_Sum(uint8_t *pchMessage,uint32_t dwLength,uint16_t wCRC);
|
||||
|
||||
|
||||
|
||||
|
||||
/* CRC校验 */
|
||||
|
||||
uint8_t Get_CRC8_Check_Sum( uint8_t *pchMessage, uint16_t dwLength, uint8_t ucCRC8 )
|
||||
{
|
||||
uint8_t ucIndex;
|
||||
|
||||
while (dwLength--)
|
||||
{
|
||||
ucIndex = ucCRC8^(*pchMessage++);
|
||||
ucCRC8 = CRC8_TAB[ucIndex];
|
||||
}
|
||||
return ucCRC8;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
** Descriptions: CRC8 Verify function
|
||||
** Input: Data to Verify,Stream length = Data + checksum
|
||||
** Output: True or False (CRC Verify Result)
|
||||
*/
|
||||
uint32_t Verify_CRC8_Check_Sum( uint8_t *pchMessage, uint16_t dwLength)
|
||||
{
|
||||
uint8_t ucExpected = 0;
|
||||
|
||||
if (pchMessage == 0 || dwLength <= 2)
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
|
||||
ucExpected = Get_CRC8_Check_Sum( pchMessage, dwLength-1, CRC8_INIT);
|
||||
|
||||
return ( ucExpected == pchMessage[dwLength-1] );
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
** Descriptions: append CRC8 to the end of data
|
||||
** Input: Data to CRC and append,Stream length = Data + checksum
|
||||
** Output: True or False (CRC Verify Result)
|
||||
*/
|
||||
void Append_CRC8_Check_Sum( uint8_t *pchMessage, uint16_t dwLength)
|
||||
{
|
||||
uint8_t ucCRC = 0;
|
||||
|
||||
if (pchMessage == 0 || dwLength <= 2)
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
ucCRC = Get_CRC8_Check_Sum( (uint8_t *)pchMessage, dwLength-1, CRC8_INIT);
|
||||
|
||||
pchMessage[dwLength-1] = ucCRC;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
** Descriptions: CRC16 checksum function
|
||||
** Input: Data to check,Stream length, initialized checksum
|
||||
** Output: CRC checksum
|
||||
*/
|
||||
uint16_t Get_CRC16_Check_Sum(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[((uint16_t)(wCRC) ^ (uint16_t)(chData)) & 0x00ff];
|
||||
}
|
||||
|
||||
return wCRC;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
** Descriptions: CRC16 Verify function
|
||||
** Input: Data to Verify,Stream length = Data + checksum
|
||||
** Output: True or False (CRC Verify Result)
|
||||
*/
|
||||
uint32_t Verify_CRC16_Check_Sum(uint8_t *pchMessage, uint32_t dwLength)
|
||||
{
|
||||
uint16_t wExpected = 0;
|
||||
|
||||
if ((pchMessage == NULL) || (dwLength <= 2))
|
||||
{
|
||||
return FALSE;
|
||||
}
|
||||
|
||||
wExpected = Get_CRC16_Check_Sum ( pchMessage, dwLength - 2, CRC_INIT);
|
||||
return ( (wExpected & 0xff) == pchMessage[dwLength - 2]
|
||||
&& ((wExpected >> 8) & 0xff) == pchMessage[dwLength - 1]);
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
** Descriptions: append CRC16 to the end of data
|
||||
** Input: Data to CRC and append,Stream length = Data + checksum
|
||||
** Output: True or False (CRC Verify Result)
|
||||
*/
|
||||
void Append_CRC16_Check_Sum(uint8_t * pchMessage,uint32_t dwLength)
|
||||
{
|
||||
uint16_t wCRC = 0;
|
||||
|
||||
if ((pchMessage == NULL) || (dwLength <= 2))
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
wCRC = Get_CRC16_Check_Sum ( (uint8_t *)pchMessage, dwLength-2, CRC_INIT );
|
||||
|
||||
pchMessage[dwLength-2] = (uint8_t)(wCRC & 0x00ff);
|
||||
pchMessage[dwLength-1] = (uint8_t)((wCRC >> 8)& 0x00ff);
|
||||
}
|
||||
|
|
@ -0,0 +1,18 @@
|
|||
#ifndef __CRC_H_
|
||||
#define __CRC_H_
|
||||
|
||||
#include <stdint-gcc.h>
|
||||
|
||||
#define TRUE 1
|
||||
#define FALSE 0
|
||||
// CRC8
|
||||
void Append_CRC8_Check_Sum(uint8_t *pchMessage, uint16_t dwLength);
|
||||
uint32_t Verify_CRC8_Check_Sum(uint8_t *pchMessage, uint16_t dwLength);
|
||||
uint8_t Get_CRC8_Check_Sum(uint8_t *pchMessage, uint16_t dwLength, uint8_t ucCRC8);
|
||||
|
||||
// CRC16
|
||||
void Append_CRC16_Check_Sum(uint8_t *pchMessage, uint32_t dwLength);
|
||||
uint32_t Verify_CRC16_Check_Sum(uint8_t *pchMessage, uint32_t dwLength);
|
||||
uint16_t Get_CRC16_Check_Sum(uint8_t *pchMessage, uint32_t dwLength, uint16_t wCRC);
|
||||
|
||||
#endif
|
||||
|
|
@ -0,0 +1,140 @@
|
|||
#include "referee.h"
|
||||
#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 usart_instance referee_usart_instance;
|
||||
usart_instance referee_usart_instance;
|
||||
|
||||
/**************裁判系统数据******************/
|
||||
referee_info_t referee_info;
|
||||
uint8_t Judge_Self_ID; //当前机器人的ID
|
||||
uint16_t Judge_SelfClient_ID; //发送者机器人对应的客户端ID
|
||||
|
||||
|
||||
|
||||
static void ReceiveCallback()
|
||||
{
|
||||
Judge_Read_Data(referee_usart_instance.recv_buff);
|
||||
}
|
||||
|
||||
void referee_init(UART_HandleTypeDef *referee_usart_handle)
|
||||
{
|
||||
referee_usart_instance.module_callback = ReceiveCallback;
|
||||
referee_usart_instance.usart_handle = referee_usart_handle;
|
||||
referee_usart_instance.recv_buff_size = RE_RX_BUFFER_SIZE;
|
||||
USARTRegister(&referee_usart_instance);
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief 读取裁判数据,中断中读取保证速度
|
||||
* @param 缓存数据
|
||||
* @retval 是否对正误判断做处理
|
||||
* @attention 在此判断帧头和CRC校验,无误再写入数据，不重复判断帧头
|
||||
*/
|
||||
void Judge_Read_Data(uint8_t *ReadFromUsart)
|
||||
{
|
||||
uint16_t judge_length; //统计一帧数据长度
|
||||
// referee_info.CmdID = 0; //数据命令码解析
|
||||
//空数据包，则不作任何处理
|
||||
if (ReadFromUsart == NULL)
|
||||
{
|
||||
return -1;
|
||||
}
|
||||
|
||||
//写入帧头数据(5-byte),用于判断是否开始存储裁判数据
|
||||
memcpy(&referee_info.FrameHeader, ReadFromUsart, LEN_HEADER);
|
||||
|
||||
//判断帧头数据(0)是否为0xA5
|
||||
if (ReadFromUsart[SOF] == JUDGE_FRAME_HEADER)
|
||||
{
|
||||
//帧头CRC8校验
|
||||
if (Verify_CRC8_Check_Sum(ReadFromUsart, LEN_HEADER) == TRUE)
|
||||
{
|
||||
//统计一帧数据长度(byte),用于CR16校验
|
||||
judge_length = ReadFromUsart[DATA_LENGTH] + LEN_HEADER + LEN_CMDID + LEN_TAIL;
|
||||
//帧尾CRC16校验
|
||||
if (Verify_CRC16_Check_Sum(ReadFromUsart, judge_length) == TRUE)
|
||||
{
|
||||
// 2个8位拼成16位int
|
||||
referee_info.CmdID = (ReadFromUsart[6] << 8 | ReadFromUsart[5]);
|
||||
//解析数据命令码,将数据拷贝到相应结构体中(注意拷贝数据的长度)
|
||||
//第8个字节开始才是数据 data=7
|
||||
switch (referee_info.CmdID)
|
||||
{
|
||||
case ID_game_state: // 0x0001
|
||||
memcpy(&referee_info.GameState, (ReadFromUsart + DATA), LEN_game_state);
|
||||
break;
|
||||
|
||||
case ID_game_result: // 0x0002
|
||||
memcpy(&referee_info.GameResult, (ReadFromUsart + DATA), LEN_game_result);
|
||||
break;
|
||||
|
||||
case ID_game_robot_survivors: // 0x0003
|
||||
memcpy(&referee_info.GameRobotHP, (ReadFromUsart + DATA), LEN_game_robot_HP);
|
||||
break;
|
||||
|
||||
case ID_event_data: // 0x0101
|
||||
memcpy(&referee_info.EventData, (ReadFromUsart + DATA), LEN_event_data);
|
||||
break;
|
||||
|
||||
case ID_supply_projectile_action: // 0x0102
|
||||
memcpy(&referee_info.SupplyProjectileAction, (ReadFromUsart + DATA), LEN_supply_projectile_action);
|
||||
break;
|
||||
|
||||
case ID_game_robot_state: // 0x0201
|
||||
memcpy(&referee_info.GameRobotStat,(ReadFromUsart + DATA),LEN_game_robot_state);
|
||||
break;
|
||||
case ID_power_heat_data: // 0x0202
|
||||
memcpy(&referee_info.PowerHeatData, (ReadFromUsart + DATA), LEN_power_heat_data);
|
||||
break;
|
||||
|
||||
case ID_game_robot_pos: // 0x0203
|
||||
memcpy(&referee_info.GameRobotPos, (ReadFromUsart + DATA), LEN_game_robot_pos);
|
||||
break;
|
||||
|
||||
case ID_buff_musk: // 0x0204
|
||||
memcpy(&referee_info.BuffMusk, (ReadFromUsart + DATA), LEN_buff_musk);
|
||||
break;
|
||||
|
||||
case ID_aerial_robot_energy: // 0x0205
|
||||
memcpy(&referee_info.AerialRobotEnergy, (ReadFromUsart + DATA), LEN_aerial_robot_energy);
|
||||
break;
|
||||
|
||||
case ID_robot_hurt: // 0x0206
|
||||
memcpy(&referee_info.RobotHurt, (ReadFromUsart + DATA), LEN_robot_hurt);
|
||||
break;
|
||||
|
||||
case ID_shoot_data: // 0x0207
|
||||
memcpy(&referee_info.ShootData, (ReadFromUsart + DATA), LEN_shoot_data);
|
||||
// JUDGE_ShootNumCount();//发弹量统计
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
//首地址加帧长度,指向CRC16下一字节,用来判断是否为0xA5,用来判断一个数据包是否有多帧数据
|
||||
if (*(ReadFromUsart + sizeof(xFrameHeader) + LEN_CMDID + referee_info.FrameHeader.DataLength + LEN_TAIL) == 0xA5)
|
||||
{
|
||||
//如果一个数据包出现了多帧数据,则再次读取
|
||||
Judge_Read_Data(ReadFromUsart + sizeof(xFrameHeader) + LEN_CMDID + referee_info.FrameHeader.DataLength + LEN_TAIL);
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief 读取瞬时功率
|
||||
* @param void
|
||||
* @retval 实时功率值
|
||||
* @attention
|
||||
*/
|
||||
float JUDGE_fGetChassisPower(void)
|
||||
{
|
||||
return (referee_info.PowerHeatData.chassis_power);
|
||||
}
|
||||
|
|
@ -1,9 +1,9 @@
|
|||
/**
|
||||
* @file referee.h
|
||||
* @author your name (you@domain.com)
|
||||
* @author kidneygood (you@domain.com)
|
||||
* @brief
|
||||
* @version 0.1
|
||||
* @date 2022-11-04
|
||||
* @date 2022-11-18
|
||||
*
|
||||
* @copyright Copyright (c) 2022
|
||||
*
|
||||
|
|
@ -15,8 +15,340 @@
|
|||
#include"bsp_usart.h"
|
||||
#include"usart.h"
|
||||
|
||||
#define FALSE 0
|
||||
#define TRUE 1
|
||||
|
||||
#define JUDGE_DATA_ERROR 0
|
||||
#define JUDGE_DATA_CORRECT 1
|
||||
|
||||
#define LEN_HEADER 5 //帧头长
|
||||
#define LEN_CMDID 2 //命令码长度
|
||||
#define LEN_TAIL 2 //帧尾CRC16
|
||||
|
||||
//起始字节,协议固定为0xA5
|
||||
#define JUDGE_FRAME_HEADER (0xA5)
|
||||
#pragma pack(1)
|
||||
|
||||
/***************裁判系统数据接收********************/
|
||||
|
||||
typedef enum
|
||||
{
|
||||
FRAME_HEADER = 0,
|
||||
CMD_ID = 5,
|
||||
DATA = 7,
|
||||
} JudgeFrameOffset;
|
||||
|
||||
// 5字节帧头,偏移位置
|
||||
typedef enum
|
||||
{
|
||||
SOF = 0, //起始位
|
||||
DATA_LENGTH = 1, //帧内数据长度,根据这个来获取数据长度
|
||||
SEQ = 3, //包序号
|
||||
CRC8 = 4 // CRC8
|
||||
|
||||
} FrameHeaderOffset;
|
||||
|
||||
//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
|
||||
ID_game_result = 0x0002, //比赛结果数据
|
||||
ID_game_robot_survivors = 0x0003, //比赛机器人血量数据
|
||||
ID_event_data = 0x0101, //场地事件数据
|
||||
ID_supply_projectile_action = 0x0102, //场地补给站动作标识数据
|
||||
ID_supply_projectile_booking = 0x0103, //场地补给站预约子弹数据
|
||||
ID_game_robot_state = 0x0201, //机器人状态数据
|
||||
ID_power_heat_data = 0x0202, //实时功率热量数据
|
||||
ID_game_robot_pos = 0x0203, //机器人位置数据
|
||||
ID_buff_musk = 0x0204, //机器人增益数据
|
||||
ID_aerial_robot_energy = 0x0205, //空中机器人能量状态数据
|
||||
ID_robot_hurt = 0x0206, //伤害状态数据
|
||||
ID_shoot_data = 0x0207, //实时射击数据
|
||||
|
||||
} CmdID;
|
||||
|
||||
//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
|
||||
LEN_game_result = 1, // 0x0002
|
||||
LEN_game_robot_HP = 2, // 0x0003
|
||||
LEN_event_data = 4, // 0x0101
|
||||
LEN_supply_projectile_action = 4, // 0x0102
|
||||
// LEN_game_robot_state = 15, // 0x0201
|
||||
LEN_game_robot_state = 27, // 0x0201
|
||||
LEN_power_heat_data = 14, // 0x0202
|
||||
LEN_game_robot_pos = 16, // 0x0203
|
||||
LEN_buff_musk = 1, // 0x0204
|
||||
LEN_aerial_robot_energy = 1, // 0x0205
|
||||
LEN_robot_hurt = 1, // 0x0206
|
||||
LEN_shoot_data = 7, // 0x0207
|
||||
} JudgeDataLength;
|
||||
|
||||
/* 自定义帧头 */
|
||||
typedef struct
|
||||
{
|
||||
uint8_t SOF;
|
||||
uint16_t DataLength;
|
||||
uint8_t Seq;
|
||||
uint8_t CRC8;
|
||||
|
||||
} xFrameHeader;
|
||||
|
||||
/* ID: 0x0001 Byte: 3 比赛状态数据 */
|
||||
typedef struct
|
||||
{
|
||||
uint8_t game_type : 4;
|
||||
uint8_t game_progress : 4;
|
||||
uint16_t stage_remain_time;
|
||||
} ext_game_state_t;
|
||||
|
||||
/* ID: 0x0002 Byte: 1 比赛结果数据 */
|
||||
typedef struct
|
||||
{
|
||||
uint8_t winner;
|
||||
} ext_game_result_t;
|
||||
|
||||
/* ID: 0x0003 Byte: 32 比赛机器人血量数据 */
|
||||
typedef struct
|
||||
{
|
||||
uint16_t red_1_robot_HP;
|
||||
uint16_t red_2_robot_HP;
|
||||
uint16_t red_3_robot_HP;
|
||||
uint16_t red_4_robot_HP;
|
||||
uint16_t red_5_robot_HP;
|
||||
uint16_t red_7_robot_HP;
|
||||
uint16_t red_outpost_HP;
|
||||
uint16_t red_base_HP;
|
||||
uint16_t blue_1_robot_HP;
|
||||
uint16_t blue_2_robot_HP;
|
||||
uint16_t blue_3_robot_HP;
|
||||
uint16_t blue_4_robot_HP;
|
||||
uint16_t blue_5_robot_HP;
|
||||
uint16_t blue_7_robot_HP;
|
||||
uint16_t blue_outpost_HP;
|
||||
uint16_t blue_base_HP;
|
||||
} ext_game_robot_HP_t;
|
||||
|
||||
/* ID: 0x0101 Byte: 4 场地事件数据 */
|
||||
typedef struct
|
||||
{
|
||||
uint32_t event_type;
|
||||
} ext_event_data_t;
|
||||
|
||||
/* ID: 0x0102 Byte: 3 场地补给站动作标识数据 */
|
||||
typedef struct
|
||||
{
|
||||
uint8_t supply_projectile_id;
|
||||
uint8_t supply_robot_id;
|
||||
uint8_t supply_projectile_step;
|
||||
uint8_t supply_projectile_num;
|
||||
} ext_supply_projectile_action_t;
|
||||
|
||||
/* ID: 0X0201 Byte: 27 机器人状态数据 */
|
||||
typedef struct
|
||||
{
|
||||
uint8_t robot_id;
|
||||
uint8_t robot_level;
|
||||
uint16_t remain_HP;
|
||||
uint16_t max_HP;
|
||||
uint16_t shooter_id1_17mm_cooling_rate;
|
||||
uint16_t shooter_id1_17mm_cooling_limit;
|
||||
uint16_t shooter_id1_17mm_speed_limit;
|
||||
uint16_t shooter_id2_17mm_cooling_rate;
|
||||
uint16_t shooter_id2_17mm_cooling_limit;
|
||||
uint16_t shooter_id2_17mm_speed_limit;
|
||||
uint16_t shooter_id1_42mm_cooling_rate;
|
||||
uint16_t shooter_id1_42mm_cooling_limit;
|
||||
uint16_t shooter_id1_42mm_speed_limit;
|
||||
uint16_t chassis_power_limit;
|
||||
uint8_t mains_power_gimbal_output : 1;
|
||||
uint8_t mains_power_chassis_output : 1;
|
||||
uint8_t mains_power_shooter_output : 1;
|
||||
} ext_game_robot_state_t;
|
||||
|
||||
/* ID: 0X0202 Byte: 14 实时功率热量数据 */
|
||||
typedef struct
|
||||
{
|
||||
uint16_t chassis_volt;
|
||||
uint16_t chassis_current;
|
||||
float chassis_power; //瞬时功率
|
||||
uint16_t chassis_power_buffer; // 60焦耳缓冲能量
|
||||
uint16_t shooter_heat0; // 17mm
|
||||
uint16_t shooter_heat1;
|
||||
} ext_power_heat_data_t;
|
||||
|
||||
/* ID: 0x0203 Byte: 16 机器人位置数据 */
|
||||
typedef struct
|
||||
{
|
||||
float x;
|
||||
float y;
|
||||
float z;
|
||||
float yaw;
|
||||
} ext_game_robot_pos_t;
|
||||
|
||||
/* ID: 0x0204 Byte: 1 机器人增益数据 */
|
||||
typedef struct
|
||||
{
|
||||
uint8_t power_rune_buff;
|
||||
} ext_buff_musk_t;
|
||||
|
||||
/* ID: 0x0205 Byte: 1 空中机器人能量状态数据 */
|
||||
typedef struct
|
||||
{
|
||||
uint8_t attack_time;
|
||||
} aerial_robot_energy_t;
|
||||
|
||||
/* ID: 0x0206 Byte: 1 伤害状态数据 */
|
||||
typedef struct
|
||||
{
|
||||
uint8_t armor_id : 4;
|
||||
uint8_t hurt_type : 4;
|
||||
} ext_robot_hurt_t;
|
||||
|
||||
/* ID: 0x0207 Byte: 7 实时射击数据 */
|
||||
typedef struct
|
||||
{
|
||||
uint8_t bullet_type;
|
||||
uint8_t shooter_id;
|
||||
uint8_t bullet_freq;
|
||||
float bullet_speed;
|
||||
} ext_shoot_data_t;
|
||||
|
||||
/***************裁判系统数据********************/
|
||||
/*
|
||||
|
||||
交互数据，包括一个统一的数据段头结构，
|
||||
包含了内容 ID，发送者以及接受者的 ID 和内容数据段，
|
||||
整个交互数据的包总共长最大为 128 个字节，
|
||||
减去 frame_header,cmd_id,frame_tail 以及数据段头结构的 6 个字节，
|
||||
故而发送的内容数据段最大为 113。
|
||||
整个交互数据 0x0301 的包上行频率为 10Hz。
|
||||
|
||||
机器人 ID：
|
||||
1，英雄(红)；
|
||||
2，工程(红)；
|
||||
3/4/5，步兵(红)；
|
||||
6，空中(红)；
|
||||
7，哨兵(红)；
|
||||
11，英雄(蓝)；
|
||||
12，工程(蓝)；
|
||||
13/14/15，步兵(蓝)；
|
||||
16，空中(蓝)；
|
||||
17，哨兵(蓝)。
|
||||
客户端 ID：
|
||||
0x0101 为英雄操作手客户端( 红) ；
|
||||
0x0102 ，工程操作手客户端 ((红 )；
|
||||
0x0103/0x0104/0x0105，步兵操作手客户端(红)；
|
||||
0x0106，空中操作手客户端((红)；
|
||||
0x0111，英雄操作手客户端(蓝)；
|
||||
0x0112，工程操作手客户端(蓝)；
|
||||
0x0113/0x0114/0x0115，操作手客户端步兵(蓝)；
|
||||
0x0116，空中操作手客户端(蓝)。
|
||||
*/
|
||||
/* 交互数据接收信息：0x0301 */
|
||||
typedef struct
|
||||
{
|
||||
uint16_t data_cmd_id;
|
||||
uint16_t send_ID;
|
||||
uint16_t receiver_ID;
|
||||
} ext_student_interactive_header_data_t;
|
||||
|
||||
/*
|
||||
客户端 客户端自定义数据：cmd_id:0x0301。内容 ID:0xD180
|
||||
发送频率：上限 10Hz
|
||||
1. 客户端 客户端自定义数据：cmd_id:0x0301。内容 ID:0xD180。发送频率：上限 10Hz
|
||||
字节偏移量 大小 说明 备注
|
||||
0 2 数据的内容 ID 0xD180
|
||||
2 2 送者的 ID 需要校验发送者机器人的 ID 正确性
|
||||
4 2 客户端的 ID 只能为发送者机器人对应的客户端
|
||||
6 4 自定义浮点数据 1
|
||||
10 4 自定义浮点数据 2
|
||||
14 4 自定义浮点数据 3
|
||||
18 1 自定义 8 位数据 4
|
||||
|
||||
*/
|
||||
typedef struct
|
||||
{
|
||||
float data1;
|
||||
float data2;
|
||||
float data3;
|
||||
uint8_t masks;
|
||||
} client_custom_data_t;
|
||||
|
||||
/*
|
||||
学生机器人间通信 cmd_id 0x0301，内容 ID:0x0200~0x02FF
|
||||
交互数据 机器人间通信：0x0301。
|
||||
发送频率：上限 10Hz
|
||||
|
||||
字节偏移量 大小 说明 备注
|
||||
0 2 数据的内容 ID 0x0200~0x02FF
|
||||
可以在以上 ID 段选取，具体 ID 含义由参赛队自定义
|
||||
|
||||
2 2 发送者的 ID 需要校验发送者的 ID 正确性，
|
||||
4 2 接收者的 ID 需要校验接收者的 ID 正确性，
|
||||
例如不能发送到敌对机器人的ID
|
||||
6 n 数据段 n 需要小于 113
|
||||
|
||||
*/
|
||||
typedef struct
|
||||
{
|
||||
uint8_t data[10]; //数据段,n需要小于113
|
||||
} robot_interactive_data_t;
|
||||
|
||||
//发送给客户端的信息
|
||||
//帧头 命令码 数据段头结构 数据段 帧尾
|
||||
typedef struct
|
||||
{
|
||||
xFrameHeader txFrameHeader; //帧头
|
||||
uint16_t CmdID; //命令码
|
||||
ext_student_interactive_header_data_t dataFrameHeader; //数据段头结构
|
||||
client_custom_data_t clientData; //数据段
|
||||
uint16_t FrameTail; //帧尾
|
||||
} ext_SendClientData_t;
|
||||
|
||||
//机器人交互信息
|
||||
typedef struct
|
||||
{
|
||||
xFrameHeader txFrameHeader; //帧头
|
||||
uint16_t CmdID; //命令码
|
||||
ext_student_interactive_header_data_t dataFrameHeader; //数据段头结构
|
||||
robot_interactive_data_t interactData; //数据段
|
||||
uint16_t FrameTail; //帧尾
|
||||
} ext_CommunatianData_t;
|
||||
|
||||
//裁判系统接收数据整合进一个结构体
|
||||
typedef struct
|
||||
{
|
||||
xFrameHeader FrameHeader; //接收到的帧头信息
|
||||
uint16_t CmdID;
|
||||
ext_game_state_t GameState; // 0x0001
|
||||
ext_game_result_t GameResult; // 0x0002
|
||||
ext_game_robot_HP_t GameRobotHP; // 0x0003
|
||||
ext_event_data_t EventData; // 0x0101
|
||||
ext_supply_projectile_action_t SupplyProjectileAction; // 0x0102
|
||||
ext_game_robot_state_t GameRobotStat; // 0x0201
|
||||
ext_power_heat_data_t PowerHeatData; // 0x0202
|
||||
ext_game_robot_pos_t GameRobotPos; // 0x0203
|
||||
ext_buff_musk_t BuffMusk; // 0x0204
|
||||
aerial_robot_energy_t AerialRobotEnergy; // 0x0205
|
||||
ext_robot_hurt_t RobotHurt; // 0x0206
|
||||
ext_shoot_data_t ShootData; // 0x0207
|
||||
|
||||
ext_SendClientData_t ShowData; //客户端信息
|
||||
ext_CommunatianData_t CommuData; //队友通信信息
|
||||
} referee_info_t;
|
||||
|
||||
extern referee_info_t referee_info;
|
||||
|
||||
void referee_init(UART_HandleTypeDef *referee_usart_handle);
|
||||
void Judge_Read_Data(uint8_t *ReadFromUsart);
|
||||
float JUDGE_fGetChassisPower(void);
|
||||
|
||||
#endif // !REFEREE_H
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
#endif // !REFEREE_H
|
||||
Loading…
Reference in New Issue