HFUT_Firmament_EC
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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.

This commit is contained in:
NeoZeng 2022-11-19 16:28:39 +08:00
parent 269b08f701
commit e3137d867f
8 changed files with 85 additions and 93 deletions
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3
.vscode/settings.json vendored
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@ -3,7 +3,8 @@
"memory.h": "c", "memory.h": "c",
"stdint-gcc.h": "c", "stdint-gcc.h": "c",
"led_task.h": "c", "led_task.h": "c",
"stdinf.h": "c" "stdinf.h": "c",
"usart.h": "c"
}, },
"C_Cpp.default.configurationProvider": "ms-vscode.makefile-tools", "C_Cpp.default.configurationProvider": "ms-vscode.makefile-tools",
} }

2
HAL_N_Middlewares/Src/main.c
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@ -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}}}; .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); dji_motor_instance *djimotor = DJIMotorInit(config);
referee_init(&huart6); RefereeInit(&huart6);
/* USER CODE END 2 */ /* USER CODE END 2 */
/* Call init function for freertos objects (in freertos.c) */ /* Call init function for freertos objects (in freertos.c) */

2
README.md
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@ -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**。 **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。 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。

3
bsp/bsp_usart.c
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@ -67,8 +67,7 @@ void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)
if (huart == instance[i]->usart_handle) if (huart == instance[i]->usart_handle)
{ {
instance[i]->module_callback(); 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_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); __HAL_DMA_DISABLE_IT(instance[i]->usart_handle->hdmarx, DMA_IT_HT);
break; break;

1
bsp/bsp_usart.h
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@ -13,6 +13,7 @@ typedef void (*usart_module_callback)();
/* usart_instance struct,each app would have one instance */ /* usart_instance struct,each app would have one instance */
typedef struct 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[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 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 UART_HandleTypeDef *usart_handle; // 实例对应的usart_handle

3
modules/motor/dji_motor.c
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@ -209,6 +209,7 @@ void DJIMotorControl()
motor_controller = &motor->motor_controller; motor_controller = &motor->motor_controller;
motor_measure = &motor->motor_measure; 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->close_loop_type & ANGLE_LOOP) // 计算位置环
{ {
if (motor_setting->angle_feedback_source == OTHER_FEED) 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); 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 if (motor_setting->reverse_flag == MOTOR_DIRECTION_REVERSE) // 设置反转
set *= -1; set *= -1;

57
modules/referee/referee.c
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@ -4,8 +4,7 @@
#include "bsp_usart.h" #include "bsp_usart.h"
#include "dma.h" #include "dma.h"
// 参考深圳大学 Infantry_X-master
//参考深圳大学 Infantry_X-master
#define RE_RX_BUFFER_SIZE 200 #define RE_RX_BUFFER_SIZE 200
// static usart_instance referee_usart_instance; // static usart_instance referee_usart_instance;
@ -13,17 +12,15 @@ usart_instance referee_usart_instance;
/**************裁判系统数据******************/ /**************裁判系统数据******************/
referee_info_t referee_info; referee_info_t referee_info;
uint8_t Judge_Self_ID; //当前机器人的ID 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 uint16_t Judge_SelfClient_ID; // 发送者机器人对应的客户端ID
static void ReceiveCallback() 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.module_callback = ReceiveCallback;
referee_usart_instance.usart_handle = referee_usart_handle; referee_usart_instance.usart_handle = referee_usart_handle;
@ -31,41 +28,38 @@ void referee_init(UART_HandleTypeDef *referee_usart_handle)
USARTRegister(&referee_usart_instance); USARTRegister(&referee_usart_instance);
} }
/** /**
* @brief 读取裁判数据,中断中读取保证速度 * @brief 读取裁判数据,中断中读取保证速度
* @param 缓存数据 * @param 缓存数据
* @retval 是否对正误判断做处理 * @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 * @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 uint16_t judge_length; // 统计一帧数据长度
// referee_info.CmdID = 0; //数据命令码解析 // referee_info.CmdID = 0; //数据命令码解析
//空数据包，则不作任何处理 // 空数据包，则不作任何处理
if (ReadFromUsart == NULL) 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
//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); memcpy(&referee_info.FrameHeader, ReadFromUsart, LEN_HEADER);
//判断帧头数据(0)是否为0xA5 // 判断帧头数据(0)是否为0xA5
if (ReadFromUsart[SOF] == JUDGE_FRAME_HEADER) if (ReadFromUsart[SOF] == JUDGE_FRAME_HEADER)
{ {
//帧头CRC8校验 // 帧头CRC8校验
if (Verify_CRC8_Check_Sum(ReadFromUsart, LEN_HEADER) == TRUE) if (Verify_CRC8_Check_Sum(ReadFromUsart, LEN_HEADER) == TRUE)
{ {
//统计一帧数据长度(byte),用于CR16校验 // 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; judge_length = ReadFromUsart[DATA_LENGTH] + LEN_HEADER + LEN_CMDID + LEN_TAIL;
//帧尾CRC16校验 // 帧尾CRC16校验
if (Verify_CRC16_Check_Sum(ReadFromUsart, judge_length) == TRUE) if (Verify_CRC16_Check_Sum(ReadFromUsart, judge_length) == TRUE)
{ {
// 2个8位拼成16位int // 2个8位拼成16位int
referee_info.CmdID = (ReadFromUsart[6] << 8 | ReadFromUsart[5]); 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) // 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 // 第8个字节开始才是数据 data=7
switch (referee_info.CmdID) switch (referee_info.CmdID)
{ {
case ID_game_state: // 0x0001 case ID_game_state: // 0x0001
@ -89,10 +83,10 @@ void Judge_Read_Data(uint8_t *ReadFromUsart)
break; break;
case ID_game_robot_state: // 0x0201 case ID_game_robot_state: // 0x0201
memcpy(&referee_info.GameRobotStat,(ReadFromUsart + DATA),LEN_game_robot_state); memcpy(&referee_info.GameRobotStat, (ReadFromUsart + DATA), LEN_game_robot_state);
break; break;
case ID_power_heat_data: // 0x0202 case ID_power_heat_data: // 0x0202
memcpy(&referee_info.PowerHeatData, (ReadFromUsart + DATA), LEN_power_heat_data); memcpy(&referee_info.PowerHeatData, (ReadFromUsart + DATA), LEN_power_heat_data);
break; break;
case ID_game_robot_pos: // 0x0203 case ID_game_robot_pos: // 0x0203
@ -118,12 +112,11 @@ void Judge_Read_Data(uint8_t *ReadFromUsart)
} }
} }
} }
//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 // 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) 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 // 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 * @retval 实时功率值
* @attention * @attention
*/ */
float JUDGE_fGetChassisPower(void) float JudgeGetChassisPower(void)
{ {
return (referee_info.PowerHeatData.chassis_power); return (referee_info.PowerHeatData.chassis_power);
} }

107
modules/referee/referee.h
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@ -1,19 +1,19 @@
/** /**
* @file referee.h * @file referee.h
* @author kidneygood (you@domain.com) * @author kidneygood (you@domain.com)
* @brief * @brief
* @version 0.1 * @version 0.1
* @date 2022-11-18 * @date 2022-11-18
* *
* @copyright Copyright (c) 2022 * @copyright Copyright (c) 2022
* *
*/ */
#ifndef REFEREE_H #ifndef REFEREE_H
#define REFEREE_H #define REFEREE_H
#include"bsp_usart.h" #include "bsp_usart.h"
#include"usart.h" #include "usart.h"
#define FALSE 0 #define FALSE 0
#define TRUE 1 #define TRUE 1
@ -21,12 +21,13 @@
#define JUDGE_DATA_ERROR 0 #define JUDGE_DATA_ERROR 0
#define JUDGE_DATA_CORRECT 1 #define JUDGE_DATA_CORRECT 1
#define LEN_HEADER 5 //帧头长 #define LEN_HEADER 5 // 帧头长
#define LEN_CMDID 2 //命令码长度 #define LEN_CMDID 2 // 命令码长度
#define LEN_TAIL 2 //帧尾CRC16 #define LEN_TAIL 2 // 帧尾CRC16
//起始字节,协议固定为0xA5 // 起始字节,协议固定为0xA5
#define JUDGE_FRAME_HEADER (0xA5) #define JUDGE_FRAME_HEADER (0xA5)
#pragma pack(1) #pragma pack(1)
/***************裁判系统数据接收********************/ /***************裁判系统数据接收********************/
@ -41,33 +42,33 @@ typedef enum
// 5字节帧头,偏移位置 // 5字节帧头,偏移位置
typedef enum typedef enum
{ {
SOF = 0, //起始位 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 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 SEQ = 3, // 包序号
CRC8 = 4 // CRC8 CRC8 = 4 // CRC8
} FrameHeaderOffset; } FrameHeaderOffset;
//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 typedef enum
{ {
ID_game_state = 0x0001, //比赛状态数据 ID_game_state = 0x0001, // 比赛状态数据
ID_game_result = 0x0002, //比赛结果数据 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_game_robot_survivors = 0x0003, // 比赛机器人血量数据
ID_event_data = 0x0101, //场地事件数据 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_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_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_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_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_game_robot_pos = 0x0203, // 机器人位置数据
ID_buff_musk = 0x0204, //机器人增益数据 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_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_robot_hurt = 0x0206, // 伤害状态数据
ID_shoot_data = 0x0207, //实时射击数据 ID_shoot_data = 0x0207, // 实时射击数据
} CmdID; } 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 typedef enum
{ {
LEN_game_state = 3, // 0x0001 LEN_game_state = 3, // 0x0001
@ -86,7 +87,7 @@ typedef enum
} JudgeDataLength; } JudgeDataLength;
/* 自定义帧头 */ /* 自定义帧头 */
typedef struct typedef struct
{ {
uint8_t SOF; uint8_t SOF;
uint16_t DataLength; uint16_t DataLength;
@ -172,7 +173,7 @@ typedef struct
{ {
uint16_t chassis_volt; uint16_t chassis_volt;
uint16_t chassis_current; uint16_t chassis_current;
float chassis_power; //瞬时功率 float chassis_power; // 瞬时功率
uint16_t chassis_power_buffer; // 60焦耳缓冲能量 uint16_t chassis_power_buffer; // 60焦耳缓冲能量
uint16_t shooter_heat0; // 17mm uint16_t shooter_heat0; // 17mm
uint16_t shooter_heat1; uint16_t shooter_heat1;
@ -293,34 +294,34 @@ typedef struct
*/ */
typedef struct typedef struct
{ {
uint8_t data[10]; //数据段,n需要小于113 uint8_t data[10]; // 数据段,n需要小于113
} robot_interactive_data_t; } robot_interactive_data_t;
//发送给客户端的信息 // 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 // 帧头 命令码 数据段头结构 数据段 帧尾
typedef struct typedef struct
{ {
xFrameHeader txFrameHeader; //帧头 xFrameHeader txFrameHeader; // 帧头
uint16_t CmdID; //命令码 uint16_t CmdID; // 命令码
ext_student_interactive_header_data_t dataFrameHeader; //数据段头结构 ext_student_interactive_header_data_t dataFrameHeader; // 数据段头结构
client_custom_data_t clientData; //数据段 client_custom_data_t clientData; // 数据段
uint16_t FrameTail; //帧尾 uint16_t FrameTail; // 帧尾
} ext_SendClientData_t; } ext_SendClientData_t;
//机器人交互信息 // 机器人交互信息
typedef struct typedef struct
{ {
xFrameHeader txFrameHeader; //帧头 xFrameHeader txFrameHeader; // 帧头
uint16_t CmdID; //命令码 uint16_t CmdID; // 命令码
ext_student_interactive_header_data_t dataFrameHeader; //数据段头结构 ext_student_interactive_header_data_t dataFrameHeader; // 数据段头结构
robot_interactive_data_t interactData; //数据段 robot_interactive_data_t interactData; // 数据段
uint16_t FrameTail; //帧尾 uint16_t FrameTail; // 帧尾
} ext_CommunatianData_t; } ext_CommunatianData_t;
//裁判系统接收数据整合进一个结构体 // 裁判系统接收数据整合进一个结构体
typedef struct typedef struct
{ {
xFrameHeader FrameHeader; //接收到的帧头信息 xFrameHeader FrameHeader; // 接收到的帧头信息
uint16_t CmdID; uint16_t CmdID;
ext_game_state_t GameState; // 0x0001 ext_game_state_t GameState; // 0x0001
ext_game_result_t GameResult; // 0x0002 ext_game_result_t GameResult; // 0x0002
@ -335,20 +336,14 @@ typedef struct
ext_robot_hurt_t RobotHurt; // 0x0206 ext_robot_hurt_t RobotHurt; // 0x0206
ext_shoot_data_t ShootData; // 0x0207 ext_shoot_data_t ShootData; // 0x0207
ext_SendClientData_t ShowData; //客户端信息 ext_SendClientData_t ShowData; // 客户端信息
ext_CommunatianData_t CommuData; //队友通信信息 ext_CommunatianData_t CommuData; // 队友通信信息
} referee_info_t; } referee_info_t;
extern referee_info_t referee_info; 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 #endif // !REFEREE_H