69 lines
2.2 KiB
C
69 lines
2.2 KiB
C
/**
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* @file master_process.c
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* @author neozng
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* @brief module for recv&send vision data
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* @version beta
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* @date 2022-11-03
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* @todo 增加对串口调试助手协议的支持,包括vofa和serial debug
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* @copyright Copyright (c) 2022
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*
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*/
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#include "master_process.h"
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#include "bsp_usart.h"
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#include "usart.h"
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#include "seasky_protocol.h"
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/* use usart1 as vision communication*/
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Vision_Recv_s recv_data;
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// @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,
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// 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.
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// static Vision_Send_s send_data;
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static usart_instance *vision_usart_instance;
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/**
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* @brief 接收解包回调函数,将在bsp_usart.c中被usart rx callback调用
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* @todo 1.提高可读性,将get_protocol_info的第四个参数增加一个float类型buffer
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* 2.添加标志位解码
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*/
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static void DecodeVision()
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{
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static uint16_t flag_register;
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get_protocol_info(vision_usart_instance->recv_buff, &flag_register, (uint8_t*)&recv_data.pitch);
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// TODO: code to resolve flag_register;
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}
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/* 视觉通信初始化 */
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Vision_Recv_s *VisionInit(UART_HandleTypeDef *_handle)
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{
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USART_Init_Config_s conf;
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conf.module_callback = DecodeVision;
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conf.recv_buff_size = VISION_RECV_SIZE;
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conf.usart_handle = _handle;
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vision_usart_instance = USARTRegister(&conf);
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return &recv_data;
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}
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/**
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* @brief 发送函数
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* @todo 1.提高可读性,将get_protocol_send_data的第6个参数增加一个float buffer
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* 2.添加标志位解码
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* 3.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
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* 或由IMU采集完成产生的中断唤醒的任务,使得时间戳对齐.
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*
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* @param send 待发送数据
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*/
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void VisionSend(Vision_Send_s *send)
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{
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static uint16_t flag_register;
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static uint8_t send_buff[VISION_SEND_SIZE];
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static uint16_t tx_len;
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// TODO: code to set flag_register
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get_protocol_send_data(0x02, flag_register, &send->yaw, 3, send_buff, &tx_len);
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USARTSend(vision_usart_instance, send_buff, tx_len);
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}
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Vision_Recv_s *VisionGetcmd()
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{
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return &recv_data;
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} |