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
parent
269b08f701
commit
e3137d867f
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@ -3,7 +3,8 @@
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"memory.h": "c",
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"stdint-gcc.h": "c",
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"led_task.h": "c",
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"stdinf.h": "c"
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"stdinf.h": "c",
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"usart.h": "c"
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},
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"C_Cpp.default.configurationProvider": "ms-vscode.makefile-tools",
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}
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@ -127,7 +127,7 @@ int main(void)
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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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RefereeInit(&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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@ -259,3 +259,5 @@ HAL库初始化 --> BSP初始化 --> Application初始化 --> app调用其拥有
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**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**。
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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。
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> 参考了哈工深南宫小樱战队的框架设计，在此鸣谢。
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@ -67,8 +67,7 @@ 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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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
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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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@ -13,6 +13,7 @@ typedef void (*usart_module_callback)();
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/* usart_instance struct,each app would have one instance */
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typedef struct
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{
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// 更新:弃用malloc方案,使用了固定大小的数组方便debug时查看
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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
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uint8_t recv_buff_size; // 模块接收一包数据的大小
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UART_HandleTypeDef *usart_handle; // 实例对应的usart_handle
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@ -209,6 +209,7 @@ void DJIMotorControl()
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motor_controller = &motor->motor_controller;
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motor_measure = &motor->motor_measure;
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// pid_ref会顺次通过被启用的环充当数据的载体
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if (motor_setting->close_loop_type & ANGLE_LOOP) // 计算位置环
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{
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if (motor_setting->angle_feedback_source == OTHER_FEED)
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@ -233,7 +234,7 @@ void DJIMotorControl()
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motor_controller->pid_ref = PID_Calculate(&motor_controller->current_PID, motor_measure->given_current, motor_controller->pid_ref);
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}
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set = (int16_t)motor_controller->pid_ref;
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set = (int16_t)motor_controller->pid_ref; // 获取最终输出
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if (motor_setting->reverse_flag == MOTOR_DIRECTION_REVERSE) // 设置反转
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set *= -1;
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@ -4,8 +4,7 @@
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#include "bsp_usart.h"
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#include "dma.h"
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//参考深圳大学 Infantry_X-master
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// 参考深圳大学 Infantry_X-master
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#define RE_RX_BUFFER_SIZE 200
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// static usart_instance referee_usart_instance;
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@ -13,17 +12,15 @@ usart_instance referee_usart_instance;
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/**************裁判系统数据******************/
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referee_info_t referee_info;
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uint8_t Judge_Self_ID; //当前机器人的ID
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uint16_t Judge_SelfClient_ID; //发送者机器人对应的客户端ID
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uint8_t Judge_Self_ID; // 当前机器人的ID
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uint16_t Judge_SelfClient_ID; // 发送者机器人对应的客户端ID
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static void ReceiveCallback()
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{
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Judge_Read_Data(referee_usart_instance.recv_buff);
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JudgeReadData(referee_usart_instance.recv_buff);
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}
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void referee_init(UART_HandleTypeDef *referee_usart_handle)
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void RefereeInit(UART_HandleTypeDef *referee_usart_handle)
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{
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referee_usart_instance.module_callback = ReceiveCallback;
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referee_usart_instance.usart_handle = referee_usart_handle;
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@ -31,41 +28,38 @@ void referee_init(UART_HandleTypeDef *referee_usart_handle)
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USARTRegister(&referee_usart_instance);
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}
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/**
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* @brief 读取裁判数据,中断中读取保证速度
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* @param 缓存数据
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* @retval 是否对正误判断做处理
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* @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
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*/
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void Judge_Read_Data(uint8_t *ReadFromUsart)
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void JudgeReadData(uint8_t *ReadFromUsart)
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{
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uint16_t judge_length; //统计一帧数据长度
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// referee_info.CmdID = 0; //数据命令码解析
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//空数据包，则不作任何处理
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uint16_t judge_length; // 统计一帧数据长度
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// referee_info.CmdID = 0; //数据命令码解析
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// 空数据包，则不作任何处理
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if (ReadFromUsart == NULL)
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{
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return -1;
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}
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return;
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//写入帧头数据(5-byte),用于判断是否开始存储裁判数据
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// 写入帧头数据(5-byte),用于判断是否开始存储裁判数据
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memcpy(&referee_info.FrameHeader, ReadFromUsart, LEN_HEADER);
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//判断帧头数据(0)是否为0xA5
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// 判断帧头数据(0)是否为0xA5
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if (ReadFromUsart[SOF] == JUDGE_FRAME_HEADER)
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{
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//帧头CRC8校验
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// 帧头CRC8校验
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if (Verify_CRC8_Check_Sum(ReadFromUsart, LEN_HEADER) == TRUE)
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{
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//统计一帧数据长度(byte),用于CR16校验
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// 统计一帧数据长度(byte),用于CR16校验
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judge_length = ReadFromUsart[DATA_LENGTH] + LEN_HEADER + LEN_CMDID + LEN_TAIL;
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//帧尾CRC16校验
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// 帧尾CRC16校验
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if (Verify_CRC16_Check_Sum(ReadFromUsart, judge_length) == TRUE)
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{
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// 2个8位拼成16位int
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referee_info.CmdID = (ReadFromUsart[6] << 8 | ReadFromUsart[5]);
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//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)
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//第8个字节开始才是数据 data=7
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// 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)
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// 第8个字节开始才是数据 data=7
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switch (referee_info.CmdID)
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{
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case ID_game_state: // 0x0001
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@ -89,7 +83,7 @@ void Judge_Read_Data(uint8_t *ReadFromUsart)
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break;
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case ID_game_robot_state: // 0x0201
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memcpy(&referee_info.GameRobotStat,(ReadFromUsart + DATA),LEN_game_robot_state);
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memcpy(&referee_info.GameRobotStat, (ReadFromUsart + DATA), LEN_game_robot_state);
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break;
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case ID_power_heat_data: // 0x0202
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memcpy(&referee_info.PowerHeatData, (ReadFromUsart + DATA), LEN_power_heat_data);
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@ -118,12 +112,11 @@ void Judge_Read_Data(uint8_t *ReadFromUsart)
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}
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}
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}
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//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
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// 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
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if (*(ReadFromUsart + sizeof(xFrameHeader) + LEN_CMDID + referee_info.FrameHeader.DataLength + LEN_TAIL) == 0xA5)
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{
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//如果一个数据包出现了多帧数据,则再次读取
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Judge_Read_Data(ReadFromUsart + sizeof(xFrameHeader) + LEN_CMDID + referee_info.FrameHeader.DataLength + LEN_TAIL);
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// 如果一个数据包出现了多帧数据,则再次读取
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JudgeReadData(ReadFromUsart + sizeof(xFrameHeader) + LEN_CMDID + referee_info.FrameHeader.DataLength + LEN_TAIL);
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}
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}
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}
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@ -134,7 +127,7 @@ void Judge_Read_Data(uint8_t *ReadFromUsart)
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* @retval 实时功率值
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* @attention
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*/
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float JUDGE_fGetChassisPower(void)
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float JudgeGetChassisPower(void)
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{
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return (referee_info.PowerHeatData.chassis_power);
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}
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@ -12,8 +12,8 @@
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#ifndef REFEREE_H
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#define REFEREE_H
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#include"bsp_usart.h"
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#include"usart.h"
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#include "bsp_usart.h"
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#include "usart.h"
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#define FALSE 0
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#define TRUE 1
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@ -21,12 +21,13 @@
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#define JUDGE_DATA_ERROR 0
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#define JUDGE_DATA_CORRECT 1
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#define LEN_HEADER 5 //帧头长
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#define LEN_CMDID 2 //命令码长度
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#define LEN_TAIL 2 //帧尾CRC16
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#define LEN_HEADER 5 // 帧头长
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#define LEN_CMDID 2 // 命令码长度
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#define LEN_TAIL 2 // 帧尾CRC16
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//起始字节,协议固定为0xA5
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// 起始字节,协议固定为0xA5
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#define JUDGE_FRAME_HEADER (0xA5)
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#pragma pack(1)
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/***************裁判系统数据接收********************/
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@ -41,33 +42,33 @@ typedef enum
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// 5字节帧头,偏移位置
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typedef enum
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{
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SOF = 0, //起始位
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DATA_LENGTH = 1, //帧内数据长度,根据这个来获取数据长度
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SEQ = 3, //包序号
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SOF = 0, // 起始位
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DATA_LENGTH = 1, // 帧内数据长度,根据这个来获取数据长度
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SEQ = 3, // 包序号
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CRC8 = 4 // CRC8
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} FrameHeaderOffset;
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//命令码ID,用来判断接收的是什么数据
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// 命令码ID,用来判断接收的是什么数据
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typedef enum
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{
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ID_game_state = 0x0001, //比赛状态数据
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ID_game_result = 0x0002, //比赛结果数据
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ID_game_robot_survivors = 0x0003, //比赛机器人血量数据
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ID_event_data = 0x0101, //场地事件数据
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ID_supply_projectile_action = 0x0102, //场地补给站动作标识数据
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ID_supply_projectile_booking = 0x0103, //场地补给站预约子弹数据
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ID_game_robot_state = 0x0201, //机器人状态数据
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ID_power_heat_data = 0x0202, //实时功率热量数据
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ID_game_robot_pos = 0x0203, //机器人位置数据
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ID_buff_musk = 0x0204, //机器人增益数据
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ID_aerial_robot_energy = 0x0205, //空中机器人能量状态数据
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ID_robot_hurt = 0x0206, //伤害状态数据
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ID_shoot_data = 0x0207, //实时射击数据
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ID_game_state = 0x0001, // 比赛状态数据
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ID_game_result = 0x0002, // 比赛结果数据
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ID_game_robot_survivors = 0x0003, // 比赛机器人血量数据
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ID_event_data = 0x0101, // 场地事件数据
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ID_supply_projectile_action = 0x0102, // 场地补给站动作标识数据
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ID_supply_projectile_booking = 0x0103, // 场地补给站预约子弹数据
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ID_game_robot_state = 0x0201, // 机器人状态数据
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ID_power_heat_data = 0x0202, // 实时功率热量数据
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ID_game_robot_pos = 0x0203, // 机器人位置数据
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ID_buff_musk = 0x0204, // 机器人增益数据
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ID_aerial_robot_energy = 0x0205, // 空中机器人能量状态数据
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ID_robot_hurt = 0x0206, // 伤害状态数据
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ID_shoot_data = 0x0207, // 实时射击数据
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} CmdID;
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//命令码数据段长,根据官方协议来定义长度
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// 命令码数据段长,根据官方协议来定义长度
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typedef enum
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{
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LEN_game_state = 3, // 0x0001
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@ -172,7 +173,7 @@ typedef struct
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{
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uint16_t chassis_volt;
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uint16_t chassis_current;
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float chassis_power; //瞬时功率
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float chassis_power; // 瞬时功率
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uint16_t chassis_power_buffer; // 60焦耳缓冲能量
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uint16_t shooter_heat0; // 17mm
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uint16_t shooter_heat1;
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@ -293,34 +294,34 @@ typedef struct
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*/
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typedef struct
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{
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uint8_t data[10]; //数据段,n需要小于113
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uint8_t data[10]; // 数据段,n需要小于113
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} robot_interactive_data_t;
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//发送给客户端的信息
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//帧头 命令码 数据段头结构 数据段 帧尾
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// 发送给客户端的信息
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// 帧头 命令码 数据段头结构 数据段 帧尾
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typedef struct
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{
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xFrameHeader txFrameHeader; //帧头
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uint16_t CmdID; //命令码
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ext_student_interactive_header_data_t dataFrameHeader; //数据段头结构
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client_custom_data_t clientData; //数据段
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uint16_t FrameTail; //帧尾
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xFrameHeader txFrameHeader; // 帧头
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uint16_t CmdID; // 命令码
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ext_student_interactive_header_data_t dataFrameHeader; // 数据段头结构
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client_custom_data_t clientData; // 数据段
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uint16_t FrameTail; // 帧尾
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} ext_SendClientData_t;
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//机器人交互信息
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// 机器人交互信息
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typedef struct
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{
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xFrameHeader txFrameHeader; //帧头
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uint16_t CmdID; //命令码
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ext_student_interactive_header_data_t dataFrameHeader; //数据段头结构
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robot_interactive_data_t interactData; //数据段
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uint16_t FrameTail; //帧尾
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xFrameHeader txFrameHeader; // 帧头
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uint16_t CmdID; // 命令码
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ext_student_interactive_header_data_t dataFrameHeader; // 数据段头结构
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robot_interactive_data_t interactData; // 数据段
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uint16_t FrameTail; // 帧尾
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} ext_CommunatianData_t;
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//裁判系统接收数据整合进一个结构体
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// 裁判系统接收数据整合进一个结构体
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typedef struct
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{
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xFrameHeader FrameHeader; //接收到的帧头信息
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xFrameHeader FrameHeader; // 接收到的帧头信息
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uint16_t CmdID;
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ext_game_state_t GameState; // 0x0001
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ext_game_result_t GameResult; // 0x0002
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@ -335,20 +336,14 @@ typedef struct
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ext_robot_hurt_t RobotHurt; // 0x0206
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ext_shoot_data_t ShootData; // 0x0207
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ext_SendClientData_t ShowData; //客户端信息
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ext_CommunatianData_t CommuData; //队友通信信息
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ext_SendClientData_t ShowData; // 客户端信息
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ext_CommunatianData_t CommuData; // 队友通信信息
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} referee_info_t;
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extern referee_info_t referee_info;
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void referee_init(UART_HandleTypeDef *referee_usart_handle);
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void Judge_Read_Data(uint8_t *ReadFromUsart);
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float JUDGE_fGetChassisPower(void);
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void RefereeInit(UART_HandleTypeDef *referee_usart_handle);
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void JudgeReadData(uint8_t *ReadFromUsart);
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float JudgeGetChassisPower(void);
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#endif // !REFEREE_H
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Reference in New Issue