HFUT_Firmament_EC
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sentry_gimbal_hzz
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裁判系统发送重构前提交

This commit is contained in:
Kidenygood 2023-04-03 17:05:43 +08:00
parent 11b401c2bc
commit 7bb41c56b7
5 changed files with 44 additions and 43 deletions
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3
.vscode/extensions.json vendored Normal file
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@ -0,0 +1,3 @@
{
"recommendations": []
}

22
.vscode/tasks.json vendored
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@ -3,9 +3,9 @@
"version": "2.0.0",
"tasks": [
{
"label": "build task", // 任务标签
"type": "shell", // 任务类型,因为要调用mingw32-make,是在终端(CMD)里运行的,所以是shell任务
"command": "mingw32-make -j24",// 任务命令,线程数可以根据自己的电脑修改,建议为核数的4~8倍
"label": "build task",
"type": "shell",
"command": "mingw32-make -j24",
"problemMatcher": [],
"group": {
"kind": "build",
@ -14,21 +14,21 @@
},
{
"label": "download dap",
"type": "shell", // 如果希望在下载前编译,可以把command换成下面的命令
"command":"mingw32-make download_dap", // "mingw32-make -j24 && mingw32-make download_dap",
"group": { // 如果没有修改代码,编译任务不会消耗时间,因此推荐使用上面的替换.
"type": "shell",
"command": "mingw32-make download_dap",
"group": {
"kind": "build",
"isDefault": false,
},
"isDefault": false
}
},
{
"label": "download jlink",
"type": "shell",
"command":"mingw32-make download_jlink", // "mingw32-make -j24 && mingw32-make download_dap"
"command": "mingw32-make download_jlink",
"group": {
"kind": "build",
"isDefault": false,
"isDefault": false
}
}
},
]
}

23
application/referee/referee.c
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@ -30,18 +30,19 @@ static void UI_test_init(referee_info_t *_referee_info);//UI测试函数
void Referee_Interactive_init()
{
referee_data = RefereeInit(&huart6); // 裁判系统初始化
while (referee_data->GameRobotState.robot_id == 0)
;
// while (referee_data->GameRobotState.robot_id == 0);
referee_data->GameRobotState.robot_id = 101; // syhtodo RobotInit中关闭了中断进行初始化，无法读取到裁判系统的ID，暂时在此处写死
determine_ID(referee_data);
My_UI_init(referee_data);
//UI_test_init(referee_data);
// My_UI_init(referee_data);
UI_test_init(referee_data); // syhtodo此处先使用测试函数
for (int i=0;i<Communicate_Data_LEN;i++)
{
SendData->data[i]=i+1;
}
referee_data->referee_id.Receiver_Robot_ID = RobotID_BEngineer; // 机器人车间通信时接收者的ID暂时发给蓝色2
Communicate_SendData(&referee_data->referee_id,SendData);
// syhtodo此处先关闭机器人车间通信
// for (int i=0;i<Communicate_Data_LEN;i++)
// {
// SendData->data[i]=i+1;
// }
// referee_data->referee_id.Receiver_Robot_ID = RobotID_BEngineer; // 机器人车间通信时接收者的ID暂时发给蓝色2
// Communicate_SendData(&referee_data->referee_id,SendData);
}
void Referee_Interactive_task()
@ -305,7 +306,6 @@ static void My_UI_Refresh(referee_info_t *_referee_info, Referee_Interactive_inf
}
}
/**
* @brief 模式切换检测,模式发生切换时，对flag置位
* @param Referee_Interactive_info_t *_Interactive_data
@ -378,7 +378,6 @@ static void UI_test_init(referee_info_t *_referee_info)
Integer_Draw(&num[1], "s6", UI_Graph_ADD, 0, UI_Color_Cyan, 50, 5, 1050, 460, 12345);
UI_ReFresh(&_referee_info->referee_id, 7, graph[0], graph[1], graph[2], graph[3], graph[4], num[0], num[1]);
Char_Draw(&sdata[0], "s7", UI_Graph_ADD, 0, UI_Color_Green, 20, 2, 620, 710);
Char_Write(&sdata[0], "number:%d", 123);
Char_ReFresh(&_referee_info->referee_id, sdata[0]);

2
application/robot.c
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@ -52,6 +52,6 @@ void RobotTask()
#if defined(ONE_BOARD) || defined(CHASSIS_BOARD)
ChassisTask();
Referee_Interactive_task();
// Referee_Interactive_task();
#endif
}

1
modules/referee/rm_referee.c
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@ -43,7 +43,6 @@ void RefereeSend(uint8_t *send, uint16_t tx_len)
{
USARTSend(referee_usart_instance, send, tx_len);
/* syhtodo DMA请求过快会导致数据发送丢失，考虑数据尽可能打成一个整包以及队列发送，并且发送函数添加缓冲区 */
HAL_Delay(5);
}
/*裁判系统串口接收回调函数,解析数据 */