修改了bsp_usart的初始化方式,防止出现变包长数据读取一场的问题.增加了注释.

.vscode/settings.json

@@ -3,7 +3,8 @@
         "memory.h": "c",
         "stdint-gcc.h": "c",
         "led_task.h": "c",
-        "stdinf.h": "c"
+        "stdinf.h": "c",
+        "usart.h": "c"
     },
     "C_Cpp.default.configurationProvider": "ms-vscode.makefile-tools",
 }

HAL_N_Middlewares/Src/main.c

@@ -127,7 +127,7 @@ int main(void)
 		.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}}};
 	dji_motor_instance *djimotor = DJIMotorInit(config);
 
-	referee_init(&huart6);
+	RefereeInit(&huart6);
 	/* USER CODE END 2 */
 
 	/* Call init function for freertos objects (in freertos.c) */

README.md

@@ -259,3 +259,5 @@ HAL库初始化 --> BSP初始化 --> Application初始化 --> app调用其拥有
 **注意，应用初始化不得放入其对应任务中，即使是在死循环前，否则可能导致一些需要定时器的任务初始化异常**。
 
 APP会调用其所有的模块的初始化函数（注册函数），这是因为本框架的设计思想是任何模块在被注册（构造/初始化）之前，都是不存在的，当且仅当定义了一个模块结构体（也称实例）的时候，才有一个实体的概念。
+
+> 参考了哈工深南宫小樱战队的框架设计，在此鸣谢。

bsp/bsp_usart.c

@@ -67,8 +67,7 @@ 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);
+            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
-            
             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;

bsp/bsp_usart.h

@@ -13,6 +13,7 @@ typedef void (*usart_module_callback)();
 /* usart_instance struct,each app would have one instance */
 typedef struct
 {
+    // 更新:弃用malloc方案,使用了固定大小的数组方便debug时查看
     uint8_t recv_buff[USART_RXBUFF_LIMIT]; // 预先定义的最大buff大小,如果太小请修改USART_RXBUFF_LIMIT
     uint8_t recv_buff_size;                // 模块接收一包数据的大小
     UART_HandleTypeDef *usart_handle;      // 实例对应的usart_handle

modules/motor/dji_motor.c

@@ -209,6 +209,7 @@ void DJIMotorControl()
             motor_controller = &motor->motor_controller;
             motor_measure = &motor->motor_measure;
 
+            // pid_ref会顺次通过被启用的环充当数据的载体
             if (motor_setting->close_loop_type & ANGLE_LOOP) // 计算位置环
             {
                 if (motor_setting->angle_feedback_source == OTHER_FEED)
@@ -233,7 +234,7 @@ void DJIMotorControl()
                 motor_controller->pid_ref = PID_Calculate(&motor_controller->current_PID, motor_measure->given_current, motor_controller->pid_ref);
             }
 
-            set = (int16_t)motor_controller->pid_ref;
+            set = (int16_t)motor_controller->pid_ref; // 获取最终输出
             if (motor_setting->reverse_flag == MOTOR_DIRECTION_REVERSE) // 设置反转
                 set *= -1;
 

modules/referee/referee.c

@@ -4,7 +4,6 @@
 #include "bsp_usart.h"
 #include "dma.h"
 
-
 // 参考深圳大学  Infantry_X-master
 #define RE_RX_BUFFER_SIZE 200
 
@@ -16,14 +15,12 @@ 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);
+	JudgeReadData(referee_usart_instance.recv_buff);
 }
 
-void referee_init(UART_HandleTypeDef *referee_usart_handle)
+void RefereeInit(UART_HandleTypeDef *referee_usart_handle)
 {
 	referee_usart_instance.module_callback = ReceiveCallback;
 	referee_usart_instance.usart_handle = referee_usart_handle;
@@ -31,22 +28,19 @@ void referee_init(UART_HandleTypeDef *referee_usart_handle)
 	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)
+void JudgeReadData(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;
-		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);
@@ -122,8 +116,7 @@ void Judge_Read_Data(uint8_t *ReadFromUsart)
 		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);
+			JudgeReadData(ReadFromUsart + sizeof(xFrameHeader) + LEN_CMDID + referee_info.FrameHeader.DataLength + LEN_TAIL);
-            
 		}
 	}
 }
@@ -134,7 +127,7 @@ void Judge_Read_Data(uint8_t *ReadFromUsart)
  * @retval 实时功率值
  * @attention
  */
-float JUDGE_fGetChassisPower(void)
+float JudgeGetChassisPower(void)
 {
 	return (referee_info.PowerHeatData.chassis_power);
 }

modules/referee/referee.h

@@ -27,6 +27,7 @@
 
 // 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********************/
@@ -341,14 +342,8 @@ typedef struct
 
 extern referee_info_t referee_info;
 
-void referee_init(UART_HandleTypeDef *referee_usart_handle);
+void RefereeInit(UART_HandleTypeDef *referee_usart_handle);
-void Judge_Read_Data(uint8_t *ReadFromUsart);
+void JudgeReadData(uint8_t *ReadFromUsart);
-float JUDGE_fGetChassisPower(void);
+float JudgeGetChassisPower(void);
 
 #endif // !REFEREE_H
-
-
-
-
-
-