From f1301ab7de563e04382f4bc73fe9b343b2d26c42 Mon Sep 17 00:00:00 2001
From: NeoZeng <neozng1@hnu.edu.cn>
Date: Mon, 28 Nov 2022 17:54:07 +0800
Subject: [PATCH] =?UTF-8?q?=E5=B0=86=E5=BA=95=E5=B1=82=E7=9A=84=E5=B0=81?=
 =?UTF-8?q?=E8=A3=85=E7=BB=9F=E4=B8=80=E4=B8=BA=E7=9B=B8=E5=90=8C=E7=9A=84?=
 =?UTF-8?q?=E6=A0=BC=E5=BC=8F?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .vscode/settings.json                    |  3 ++-
 HAL_N_Middlewares/Src/main.c             | 13 +++++++------
 bsp/bsp_can.c                            | 12 +++++++-----
 bsp/bsp_can.h                            |  2 +-
 bsp/bsp_usart.c                          | 16 ++++++++++++----
 bsp/bsp_usart.h                          | 12 ++++++++++--
 modules/can_comm/can_comm.c              | 10 +++++-----
 modules/can_comm/can_comm.h              |  2 +-
 modules/master_machine/master_process.c  | 15 ++++++++-------
 modules/master_machine/seasky_protocol.h |  2 +-
 modules/motor/HT04.c                     |  2 +-
 modules/motor/LK9025.c                   |  2 +-
 modules/motor/dji_motor.c                |  8 ++++----
 modules/motor/dji_motor.h                |  2 +-
 modules/referee/referee.c                | 13 +++++++------
 modules/remote/remote_control.c          | 18 +++++++-----------
 modules/remote/remote_control.h          |  6 ------
 17 files changed, 75 insertions(+), 63 deletions(-)

diff --git a/.vscode/settings.json b/.vscode/settings.json
index a80f8c2..e5148eb 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -17,7 +17,8 @@
         "main.h": "c",
         "can.h": "c",
         "bsp_can.h": "c",
-        "dji_motor.h": "c"
+        "dji_motor.h": "c",
+        "master_process.h": "c"
     },
     "C_Cpp.default.configurationProvider": "ms-vscode.makefile-tools",
     "C_Cpp.intelliSenseEngineFallback": "enabled",
diff --git a/HAL_N_Middlewares/Src/main.c b/HAL_N_Middlewares/Src/main.c
index 4158a05..ee91d2d 100644
--- a/HAL_N_Middlewares/Src/main.c
+++ b/HAL_N_Middlewares/Src/main.c
@@ -41,6 +41,7 @@
 #include "referee.h"
 #include "ins_task.h"
 #include "can_comm.h"
+#include "master_process.h"
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -143,7 +144,8 @@ int main(void)
 	volatile float tx = 32;
 	
 	RefereeInit(&huart6);
-
+	Vision_Recv_s* recv=VisionInit(&huart1);
+	Vision_Send_s send={.pitch=1,.roll=2,.yaw=3};
 	/* USER CODE END 2 */
 
 	/* Call init function for freertos objects (in freertos.c) */
@@ -160,14 +162,13 @@ int main(void)
 	while (1)
 	{
 		/* USER CODE END WHILE */
-
-
-		// DJIMotorSetRef(djimotor, 10);
-		// MotorControlTask();
+		DJIMotorSetRef(djimotor, 10);
+		MotorControlTask();
 		HAL_Delay(10);
 		CANCommSend(in, (uint8_t*)&tx);
 		tx+=1;
-		 rx=(sdf*)CANCommGet(in);
+		rx=(sdf*)CANCommGet(in);
+		VisionSend(&send);
 		// INS_Task();
 		/* USER CODE BEGIN 3 */
 	}
diff --git a/bsp/bsp_can.c b/bsp/bsp_can.c
index 684046c..687d249 100644
--- a/bsp/bsp_can.c
+++ b/bsp/bsp_can.c
@@ -55,28 +55,30 @@ static void CANServiceInit()
     HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO1_MSG_PENDING);
 }
 
-/* -----------------------two extern callable function -----------------------*/
+/* ----------------------- two extern callable function -----------------------*/
 
-void CANRegister(can_instance *ins, can_instance_config_s* config)
+can_instance* CANRegister(can_instance_config_s* config)
 {
     static uint8_t idx;
     if (!idx)
     {
         CANServiceInit();
     }
-    instance[idx] = ins;
+    instance[idx] = (can_instance*)malloc(sizeof(can_instance));
+    memset(instance[idx],0,sizeof(can_instance));
 
     instance[idx]->txconf.StdId = config->tx_id;
     instance[idx]->txconf.IDE = CAN_ID_STD;
     instance[idx]->txconf.RTR = CAN_RTR_DATA;
-    instance[idx]->txconf.DLC = 0x08;
+    instance[idx]->txconf.DLC = 0x08; // 默认发送长度为8
 
     instance[idx]->can_handle = config->can_handle;
     instance[idx]->tx_id = config->tx_id;
     instance[idx]->rx_id = config->rx_id;
     instance[idx]->can_module_callback = config->can_module_callback;
 
-    CANAddFilter(instance[idx++]);
+    CANAddFilter(instance[idx]);
+    return instance[idx++];
 }
 
 void CANTransmit(can_instance *_instance)
diff --git a/bsp/bsp_can.h b/bsp/bsp_can.h
index 06d033c..d545820 100644
--- a/bsp/bsp_can.h
+++ b/bsp/bsp_can.h
@@ -51,7 +51,7 @@ void CANTransmit(can_instance *_instance);
  * @param config init config
  * @return can_instance* can instance owned by module
  */
-void CANRegister(can_instance *instance, can_instance_config_s *config);
+can_instance* CANRegister(can_instance_config_s *config);
 
 /**
  * @brief 修改CAN发送报文的数据帧长度;注意最大长度为8,在没有进行修改的时候,默认长度为8
diff --git a/bsp/bsp_usart.c b/bsp/bsp_usart.c
index 20a0ba6..fc3346d 100644
--- a/bsp/bsp_usart.c
+++ b/bsp/bsp_usart.c
@@ -31,11 +31,19 @@ static void USARTServiceInit(usart_instance *_instance)
     __HAL_DMA_DISABLE_IT(_instance->usart_handle->hdmarx, DMA_IT_HT);
 }
 
-void USARTRegister(usart_instance *_instance)
+usart_instance* USARTRegister(USART_Init_Config_s *init_config)
 {
-    static uint8_t instance_idx;
-    USARTServiceInit(_instance);
-    instance[instance_idx++] = _instance;
+    static uint8_t idx;
+
+    instance[idx]=(usart_instance*)malloc(sizeof(usart_instance));
+    memset(instance[idx],0,sizeof(usart_instance));
+
+    instance[idx]->module_callback=init_config->module_callback;
+    instance[idx]->recv_buff_size=init_config->recv_buff_size;
+    instance[idx]->usart_handle=init_config->usart_handle;
+    USARTServiceInit(instance[idx]);
+
+    return instance[idx++];
 }
 
 /* @todo 当前仅进行了形式上的封装,后续要进一步考虑是否将module的行为与bsp完全分离 */
diff --git a/bsp/bsp_usart.h b/bsp/bsp_usart.h
index 9d4e6a6..826f05a 100644
--- a/bsp/bsp_usart.h
+++ b/bsp/bsp_usart.h
@@ -20,12 +20,20 @@ typedef struct
     usart_module_callback module_callback; // 解析收到的数据的回调函数
 } usart_instance;
 
+/* usart 初始化配置结构体 */
+typedef struct
+{
+    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
+    usart_module_callback module_callback; // 解析收到的数据的回调函数
+} USART_Init_Config_s;
+
 /**
  * @brief 注册一个串口实例.
  *
- * @param _instance 传入一个由module拥有的串口实例,注意在传入前进行基本信息的配置,详见usart_instance的struct定义
+ * @param init_config 传入串口初始化结构体
  */
-void USARTRegister(usart_instance *_instance);
+usart_instance* USARTRegister(USART_Init_Config_s *init_config);
 
 /**
  * @todo 是否需要进一步封装发送buff和size,并创建一个串口任务以一定频率自动发送?
diff --git a/modules/can_comm/can_comm.c b/modules/can_comm/can_comm.c
index 37eaa05..d5c3632 100644
--- a/modules/can_comm/can_comm.c
+++ b/modules/can_comm/can_comm.c
@@ -28,7 +28,7 @@ static void CANCommRxCallback(can_instance *_instance)
 {
     for (size_t i = 0; i < idx; i++)
     {
-        if (&can_comm_instance[i]->can_ins == _instance) // 遍历,找到对应的接收CAN COMM实例
+        if (can_comm_instance[i]->can_ins == _instance) // 遍历,找到对应的接收CAN COMM实例
         {
             /* 接收状态判断 */
             if (_instance->rx_buff[0] == CAN_COMM_HEADER && can_comm_instance[i]->recv_state == 0) // 尚未开始接收且新的一包里有帧头
@@ -91,7 +91,7 @@ CANCommInstance *CANCommInit(CANComm_Init_Config_s *comm_config)
     can_comm_instance[idx]->raw_sendbuf[comm_config->send_data_len + CAN_COMM_OFFSET_BYTES - 1] = CAN_COMM_TAIL;
 
     comm_config->can_config.can_module_callback = CANCommRxCallback;
-    CANRegister(&can_comm_instance[idx]->can_ins, &comm_config->can_config);
+    can_comm_instance[idx]->can_ins=CANRegister(&comm_config->can_config);
     return can_comm_instance[idx++];
 }
 
@@ -106,9 +106,9 @@ void CANCommSend(CANCommInstance *instance, uint8_t *data)
     for (size_t i = 0; i < instance->send_buf_len; i += 8)
     {   // 如果是最后一包,send len将会小于8,要修改CAN的txconf中的DLC位,调用bsp_can提供的接口即可
         send_len = instance->send_buf_len - i >= 8 ? 8 : instance->send_buf_len - i;
-        CANSetDLC(&instance->can_ins, send_len);
-        memcpy(instance->can_ins.tx_buff, instance->raw_sendbuf+i, send_len);
-        CANTransmit(&instance->can_ins);
+        CANSetDLC(instance->can_ins, send_len);
+        memcpy(instance->can_ins->tx_buff, instance->raw_sendbuf+i, send_len);
+        CANTransmit(instance->can_ins);
     }
 }
 
diff --git a/modules/can_comm/can_comm.h b/modules/can_comm/can_comm.h
index 90d7d9d..bab3aed 100644
--- a/modules/can_comm/can_comm.h
+++ b/modules/can_comm/can_comm.h
@@ -24,7 +24,7 @@
 /* CAN comm 结构体, 拥有CAN comm的app应该包含一个CAN comm指针 */
 typedef struct
 {
-    can_instance can_ins;
+    can_instance* can_ins;
     /* 发送部分 */
     uint8_t send_data_len;
     uint8_t send_buf_len;
diff --git a/modules/master_machine/master_process.c b/modules/master_machine/master_process.c
index db1bef8..4f451e3 100644
--- a/modules/master_machine/master_process.c
+++ b/modules/master_machine/master_process.c
@@ -15,7 +15,7 @@ static 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
@@ -25,17 +25,18 @@ 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, &recv_data.pitch);
     // TODO: code to resolve flag_register;
 }
 
 /* 视觉通信初始化 */
 Vision_Recv_s* VisionInit(UART_HandleTypeDef *handle)
 {
-    vision_usart_instance.module_callback = DecodeVision;
-    vision_usart_instance.recv_buff_size = VISION_RECV_SIZE;
-    vision_usart_instance.usart_handle = handle;
-    USARTRegister(&vision_usart_instance);
+    USART_Init_Config_s conf;
+    conf.module_callback = DecodeVision;
+    conf.recv_buff_size = VISION_RECV_SIZE;
+    conf.usart_handle = handle;
+    vision_usart_instance=USARTRegister(&conf);
     return &recv_data;
 }
 
@@ -56,7 +57,7 @@ void VisionSend(Vision_Send_s *send)
     // TODO: code to set flag_register
 
     get_protocol_send_data(0x02, flag_register, &send->yaw, 3, send_buff, &tx_len);
-    USARTSend(&vision_usart_instance, send_buff, tx_len);
+    USARTSend(vision_usart_instance, send_buff, tx_len);
 }
 
 
diff --git a/modules/master_machine/seasky_protocol.h b/modules/master_machine/seasky_protocol.h
index 2bdc180..20fc1a0 100644
--- a/modules/master_machine/seasky_protocol.h
+++ b/modules/master_machine/seasky_protocol.h
@@ -24,7 +24,7 @@ typedef enum
 
 typedef enum
 {
-	NONE = 0,
+	NO_TARGET_NUM = 0,
 	HERO1 = 1,
 	ENGINEER2 = 2,
 	INFANTRY3 = 3,
diff --git a/modules/motor/HT04.c b/modules/motor/HT04.c
index 5a02ec9..8c6a6a1 100644
--- a/modules/motor/HT04.c
+++ b/modules/motor/HT04.c
@@ -40,7 +40,7 @@ joint_instance *HTMotorInit(can_instance_config_s config)
 {
     static uint8_t idx;
     joint_motor_info[idx] = (joint_instance *)malloc(sizeof(joint_instance));
-    CANRegister(joint_motor_info[idx++]->motor_can_instace, &config);
+    joint_motor_info[idx]->motor_can_instace =CANRegister(&config);
     return joint_motor_info[idx++];
 }
 
diff --git a/modules/motor/LK9025.c b/modules/motor/LK9025.c
index cccbbe6..1640fc4 100644
--- a/modules/motor/LK9025.c
+++ b/modules/motor/LK9025.c
@@ -23,7 +23,7 @@ driven_instance *LKMotroInit(can_instance_config_s config)
     static uint8_t idx;
     driven_motor_info[idx] = (driven_instance *)malloc(sizeof(driven_instance));
     config.can_module_callback = DecodeDriven;
-    CANRegister(driven_motor_info[idx]->motor_can_instance, &config);
+    driven_motor_info[idx]->motor_can_instance=CANRegister(&config);
     return driven_motor_info[idx++];
 }
 
diff --git a/modules/motor/dji_motor.c b/modules/motor/dji_motor.c
index 41fd4e8..59ce6c3 100644
--- a/modules/motor/dji_motor.c
+++ b/modules/motor/dji_motor.c
@@ -78,7 +78,7 @@ static void MotorSenderGrouping(can_instance_config_s *config)
         // 检查是否发生id冲突
         for (size_t i = 0; i < idx; i++)
         {
-            if (dji_motor_info[i]->motor_can_instance.can_handle == config->can_handle && dji_motor_info[i]->motor_can_instance.rx_id == config->rx_id)
+            if (dji_motor_info[i]->motor_can_instance->can_handle == config->can_handle && dji_motor_info[i]->motor_can_instance->rx_id == config->rx_id)
                 IDcrash_Handler(i, idx);
         }
         break;
@@ -102,7 +102,7 @@ static void MotorSenderGrouping(can_instance_config_s *config)
 
         for (size_t i = 0; i < idx; i++)
         {
-            if (dji_motor_info[i]->motor_can_instance.can_handle == config->can_handle && dji_motor_info[i]->motor_can_instance.rx_id == config->rx_id)
+            if (dji_motor_info[i]->motor_can_instance->can_handle == config->can_handle && dji_motor_info[i]->motor_can_instance->rx_id == config->rx_id)
                 IDcrash_Handler(i, idx);
         }
         break;
@@ -126,7 +126,7 @@ static void DecodeDJIMotor(can_instance *_instance)
 
     for (size_t i = 0; i < DJI_MOTOR_CNT; i++)
     {
-        if (&dji_motor_info[i]->motor_can_instance == _instance)
+        if (dji_motor_info[i]->motor_can_instance == _instance)
         {
             rxbuff = _instance->rx_buff;
             measure = &dji_motor_info[i]->motor_measure;
@@ -168,7 +168,7 @@ dji_motor_instance *DJIMotorInit(Motor_Init_Config_s *config)
     MotorSenderGrouping(&config->can_init_config);
     // register motor to CAN bus
     config->can_init_config.can_module_callback = DecodeDJIMotor; // set callback
-    CANRegister(&dji_motor_info[idx]->motor_can_instance, &config->can_init_config);
+    dji_motor_info[idx]->motor_can_instance=CANRegister(&config->can_init_config);
 
     return dji_motor_info[idx++];
 }
diff --git a/modules/motor/dji_motor.h b/modules/motor/dji_motor.h
index 6894553..7aa2ce9 100644
--- a/modules/motor/dji_motor.h
+++ b/modules/motor/dji_motor.h
@@ -53,7 +53,7 @@ typedef struct
     Motor_Controller_s motor_controller;
 
     /* the CAN instance own by motor instance*/
-    can_instance motor_can_instance;
+    can_instance* motor_can_instance;
 
     /* sender assigment*/
     uint8_t sender_group;
diff --git a/modules/referee/referee.c b/modules/referee/referee.c
index 96f65a9..f9ed9ac 100644
--- a/modules/referee/referee.c
+++ b/modules/referee/referee.c
@@ -8,7 +8,7 @@
 #define RE_RX_BUFFER_SIZE 200
 
 // static usart_instance referee_usart_instance;
-usart_instance referee_usart_instance;
+static usart_instance* referee_usart_instance;
 
 /**************裁判系统数据******************/
 referee_info_t referee_info;
@@ -17,15 +17,16 @@ uint16_t Judge_SelfClient_ID; // 发送者机器人对应的客户端ID
 
 static void ReceiveCallback()
 {
-	JudgeReadData(referee_usart_instance.recv_buff);
+	JudgeReadData(referee_usart_instance->recv_buff);
 }
 
 void RefereeInit(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);
+	USART_Init_Config_s conf;
+	conf.module_callback = ReceiveCallback;
+	conf.usart_handle = referee_usart_handle;
+	conf.recv_buff_size = RE_RX_BUFFER_SIZE;
+	referee_usart_instance=USARTRegister(&conf);
 }
 
 /**
diff --git a/modules/remote/remote_control.c b/modules/remote/remote_control.c
index 027d836..2e44e3d 100644
--- a/modules/remote/remote_control.c
+++ b/modules/remote/remote_control.c
@@ -7,7 +7,7 @@
 // 遥控器数据
 static RC_ctrl_t rc_ctrl;
 // 遥控器拥有的串口实例
-static usart_instance rc_usart_instance;
+static usart_instance* rc_usart_instance;
 
 /**
  * @brief          remote control protocol resolution
@@ -52,19 +52,15 @@ static void sbus_to_rc(volatile const uint8_t *sbus_buf, RC_ctrl_t *rc_ctrl)
  */
 static void ReceiveCallback()
 {
-    sbus_to_rc(rc_usart_instance.recv_buff, &rc_ctrl);
+    sbus_to_rc(rc_usart_instance->recv_buff, &rc_ctrl);
 }
 
 RC_ctrl_t *RC_init(UART_HandleTypeDef *rc_usart_handle)
 {
-    rc_usart_instance.module_callback = ReceiveCallback;
-    rc_usart_instance.usart_handle = rc_usart_handle;
-    rc_usart_instance.recv_buff_size = REMOTE_CONTROL_FRAME_SIZE;
-    USARTRegister(&rc_usart_instance);
-    return &rc_ctrl;
-}
-
-const RC_ctrl_t *get_remote_control_point(void)
-{
+    USART_Init_Config_s conf;
+    conf.module_callback = ReceiveCallback;
+    conf.usart_handle = rc_usart_handle;
+    conf.recv_buff_size = REMOTE_CONTROL_FRAME_SIZE;
+    rc_usart_instance = USARTRegister(&conf);
     return &rc_ctrl;
 }
\ No newline at end of file
diff --git a/modules/remote/remote_control.h b/modules/remote/remote_control.h
index 6235c02..895c246 100644
--- a/modules/remote/remote_control.h
+++ b/modules/remote/remote_control.h
@@ -75,10 +75,4 @@ typedef struct
  */
 RC_ctrl_t *RC_init(UART_HandleTypeDef *rc_usart_handle);
 
-/**
- * @brief Get the remote control point object
- *
- * @return const RC_ctrl_t*
- */
-const RC_ctrl_t *get_remote_control_point(void);
 #endif