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修复裁判系统解析未定义的问题

This commit is contained in:
NeoZng 2022-12-05 22:10:08 +08:00
parent 6d4a0cb148
commit a235aec5df
2 changed files with 21 additions and 17 deletions
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36
modules/referee/referee.c
View File

@ -15,28 +15,13 @@ static referee_info_t referee_info;
static uint8_t Judge_Self_ID; // 当前机器人的ID
static uint16_t Judge_SelfClient_ID; // 发送者机器人对应的客户端ID
static void RefereeRxCallback()
{
JudgeReadData(referee_usart_instance->recv_buff);
}
referee_info_t *RefereeInit(UART_HandleTypeDef *referee_usart_handle)
{
USART_Init_Config_s conf;
conf.module_callback = RefereeRxCallback;
conf.usart_handle = referee_usart_handle;
conf.recv_buff_size = RE_RX_BUFFER_SIZE;
referee_usart_instance = USARTRegister(&conf);
return &referee_info;
}
/**
* @brief 读取裁判数据,中断中读取保证速度
* @param 缓存数据
* @retval 是否对正误判断做处理
* @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
*/
void JudgeReadData(uint8_t *ReadFromUsart)
static void JudgeReadData(uint8_t *ReadFromUsart)
{
uint16_t judge_length; // 统计一帧数据长度
// referee_info.CmdID = 0; //数据命令码解析
@ -121,4 +106,23 @@ void JudgeReadData(uint8_t *ReadFromUsart)
JudgeReadData(ReadFromUsart + sizeof(xFrameHeader) + LEN_CMDID + referee_info.FrameHeader.DataLength + LEN_TAIL);
}
}
}
/**
* @brief 裁判系统串口接收回调函数,解析数据
*
*/
static void RefereeRxCallback()
{
JudgeReadData(referee_usart_instance->recv_buff);
}
referee_info_t *RefereeInit(UART_HandleTypeDef *referee_usart_handle)
{
USART_Init_Config_s conf;
conf.module_callback = RefereeRxCallback;
conf.usart_handle = referee_usart_handle;
conf.recv_buff_size = RE_RX_BUFFER_SIZE;
referee_usart_instance = USARTRegister(&conf);
return &referee_info;
}

2
modules/referee/referee.h
View File

@ -344,7 +344,7 @@ typedef struct
#pragma pack()
/**
* @brief
* @brief 初始化裁判系统,返回接收数据指针
*
* @param referee_usart_handle
* @return referee_info_t*