135 lines
4.3 KiB
C
135 lines
4.3 KiB
C
#include "referee.h"
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#include "string.h"
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#include "crc.h"
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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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#define RE_RX_BUFFER_SIZE 200
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// static usart_instance referee_usart_instance;
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static 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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static void ReceiveCallback()
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{
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JudgeReadData(referee_usart_instance->recv_buff);
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}
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void RefereeInit(UART_HandleTypeDef *referee_usart_handle)
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{
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USART_Init_Config_s conf;
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conf.module_callback = ReceiveCallback;
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conf.usart_handle = referee_usart_handle;
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conf.recv_buff_size = RE_RX_BUFFER_SIZE;
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referee_usart_instance=USARTRegister(&conf);
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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 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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if (ReadFromUsart == NULL)
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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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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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if (ReadFromUsart[SOF] == JUDGE_FRAME_HEADER)
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{
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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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judge_length = ReadFromUsart[DATA_LENGTH] + LEN_HEADER + LEN_CMDID + LEN_TAIL;
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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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switch (referee_info.CmdID)
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{
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case ID_game_state: // 0x0001
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memcpy(&referee_info.GameState, (ReadFromUsart + DATA), LEN_game_state);
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break;
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case ID_game_result: // 0x0002
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memcpy(&referee_info.GameResult, (ReadFromUsart + DATA), LEN_game_result);
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break;
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case ID_game_robot_survivors: // 0x0003
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memcpy(&referee_info.GameRobotHP, (ReadFromUsart + DATA), LEN_game_robot_HP);
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break;
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case ID_event_data: // 0x0101
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memcpy(&referee_info.EventData, (ReadFromUsart + DATA), LEN_event_data);
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break;
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case ID_supply_projectile_action: // 0x0102
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memcpy(&referee_info.SupplyProjectileAction, (ReadFromUsart + DATA), LEN_supply_projectile_action);
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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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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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break;
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case ID_game_robot_pos: // 0x0203
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memcpy(&referee_info.GameRobotPos, (ReadFromUsart + DATA), LEN_game_robot_pos);
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break;
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case ID_buff_musk: // 0x0204
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memcpy(&referee_info.BuffMusk, (ReadFromUsart + DATA), LEN_buff_musk);
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break;
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case ID_aerial_robot_energy: // 0x0205
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memcpy(&referee_info.AerialRobotEnergy, (ReadFromUsart + DATA), LEN_aerial_robot_energy);
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break;
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case ID_robot_hurt: // 0x0206
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memcpy(&referee_info.RobotHurt, (ReadFromUsart + DATA), LEN_robot_hurt);
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break;
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case ID_shoot_data: // 0x0207
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memcpy(&referee_info.ShootData, (ReadFromUsart + DATA), LEN_shoot_data);
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// JUDGE_ShootNumCount();//发弹量统计
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break;
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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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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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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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/**
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* @brief 读取瞬时功率
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* @param void
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* @retval 实时功率值
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* @attention
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*/
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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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