From a539072052398fda18f15c7204670ba501342e59 Mon Sep 17 00:00:00 2001 From: NeoZeng Date: Tue, 29 Nov 2022 16:33:34 +0800 Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E5=A4=8D=E5=9B=A0=E5=86=85=E5=AD=98?= =?UTF-8?q?=E5=AF=B9=E9=BD=90=E8=AE=BF=E9=97=AE=E5=AF=BC=E8=87=B4=E7=9A=84?= =?UTF-8?q?=E7=A1=AC=E4=BB=B6=E9=94=99=E8=AF=AF?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .vscode/settings.json | 5 ++- HAL_N_Middlewares/Src/usart.c | 4 +- bsp/bsp_usart.c | 2 +- modules/master_machine/master_process.c | 22 ++++++----- modules/master_machine/master_process.h | 10 +---- modules/master_machine/seasky_protocol.c | 47 +++++++----------------- modules/master_machine/seasky_protocol.h | 7 ++-- 7 files changed, 36 insertions(+), 61 deletions(-) diff --git a/.vscode/settings.json b/.vscode/settings.json index e5148eb..df4410f 100644 --- a/.vscode/settings.json +++ b/.vscode/settings.json @@ -18,8 +18,9 @@ "can.h": "c", "bsp_can.h": "c", "dji_motor.h": "c", - "master_process.h": "c" + "master_process.h": "c", + "seasky_protocol.h": "c", + "bsp_usart.h": "c" }, "C_Cpp.default.configurationProvider": "ms-vscode.makefile-tools", - "C_Cpp.intelliSenseEngineFallback": "enabled", } \ No newline at end of file diff --git a/HAL_N_Middlewares/Src/usart.c b/HAL_N_Middlewares/Src/usart.c index 31895f5..f18a741 100644 --- a/HAL_N_Middlewares/Src/usart.c +++ b/HAL_N_Middlewares/Src/usart.c @@ -141,14 +141,14 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle) */ GPIO_InitStruct.Pin = GPIO_PIN_7; GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; + GPIO_InitStruct.Pull = GPIO_PULLUP; GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH; GPIO_InitStruct.Alternate = GPIO_AF7_USART1; HAL_GPIO_Init(GPIOB, &GPIO_InitStruct); GPIO_InitStruct.Pin = GPIO_PIN_9; GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; + GPIO_InitStruct.Pull = GPIO_PULLUP; GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH; GPIO_InitStruct.Alternate = GPIO_AF7_USART1; HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); diff --git a/bsp/bsp_usart.c b/bsp/bsp_usart.c index fc3346d..8acf528 100644 --- a/bsp/bsp_usart.c +++ b/bsp/bsp_usart.c @@ -75,7 +75,7 @@ void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size) if (huart == instance[i]->usart_handle) { instance[i]->module_callback(); - memset(instance[i]->recv_buff,0,instance[i]->recv_buff_size); // 接收结束后清空buffer,对于变长数据是必要的 + memset(instance[i]->recv_buff,0,Size); // 接收结束后清空buffer,对于变长数据是必要的 HAL_UARTEx_ReceiveToIdle_DMA(instance[i]->usart_handle, instance[i]->recv_buff, instance[i]->recv_buff_size); __HAL_DMA_DISABLE_IT(instance[i]->usart_handle->hdmarx, DMA_IT_HT); break; diff --git a/modules/master_machine/master_process.c b/modules/master_machine/master_process.c index 4f451e3..57548e3 100644 --- a/modules/master_machine/master_process.c +++ b/modules/master_machine/master_process.c @@ -5,17 +5,20 @@ * @version beta * @date 2022-11-03 * @todo 增加对串口调试助手协议的支持,包括vofa和serial debug - * @copyright Copyright (c) 2022 + * @copyright Copyright (c) 2022 * */ -#include "Master_process.h" +#include "master_process.h" +#include "bsp_usart.h" +#include "usart.h" +#include "seasky_protocol.h" /* use usart1 as vision communication*/ -static Vision_Recv_s recv_data; +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 @@ -25,18 +28,18 @@ 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, (uint8_t*)&recv_data.pitch); // TODO: code to resolve flag_register; } /* 视觉通信初始化 */ -Vision_Recv_s* VisionInit(UART_HandleTypeDef *handle) +Vision_Recv_s *VisionInit(UART_HandleTypeDef *_handle) { 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); + conf.usart_handle = _handle; + vision_usart_instance = USARTRegister(&conf); return &recv_data; } @@ -60,8 +63,7 @@ void VisionSend(Vision_Send_s *send) USARTSend(vision_usart_instance, send_buff, tx_len); } - -Vision_Recv_s* VisionGetcmd() +Vision_Recv_s *VisionGetcmd() { return &recv_data; } \ No newline at end of file diff --git a/modules/master_machine/master_process.h b/modules/master_machine/master_process.h index 8338a40..180aac6 100644 --- a/modules/master_machine/master_process.h +++ b/modules/master_machine/master_process.h @@ -2,7 +2,6 @@ #define MASTER_PROCESS_H #include "bsp_usart.h" -#include "usart.h" #include "seasky_protocol.h" #define VISION_RECV_SIZE 36u @@ -13,7 +12,7 @@ * * @param handle 用于和视觉通信的串口handle(C板上一般为USART1,丝印为USART2,4pin) */ -Vision_Recv_s *VisionInit(UART_HandleTypeDef *handle); +Vision_Recv_s *VisionInit(UART_HandleTypeDef *_handle); /** * @brief 发送视觉视觉 @@ -22,11 +21,4 @@ Vision_Recv_s *VisionInit(UART_HandleTypeDef *handle); */ void VisionSend(Vision_Send_s *send); -/** - * @brief 返回所需的上位机数据 - * - * @return Vision_Recv_s* 数据结构体指针 - */ -Vision_Recv_s* VisionGetcmd(); - #endif // !MASTER_PROCESS_H \ No newline at end of file diff --git a/modules/master_machine/seasky_protocol.c b/modules/master_machine/seasky_protocol.c index d221ebe..6fd6282 100644 --- a/modules/master_machine/seasky_protocol.c +++ b/modules/master_machine/seasky_protocol.c @@ -13,39 +13,32 @@ #include "seasky_protocol.h" #include "crc8.h" #include "crc16.h" +#include "memory.h" -/*获取CRC8校验码*/ -uint8_t Get_CRC8_Check(uint8_t *pchMessage, uint16_t dwLength) -{ - return crc_8(pchMessage, dwLength); -} /*检验CRC8数据段*/ -uint8_t CRC8_Check_Sum(uint8_t *pchMessage, uint16_t dwLength) +static uint8_t CRC8_Check_Sum(uint8_t *pchMessage, uint16_t dwLength) { uint8_t ucExpected = 0; if ((pchMessage == 0) || (dwLength <= 2)) return 0; - ucExpected = Get_CRC8_Check(pchMessage, dwLength - 1); + ucExpected = crc_8(pchMessage, dwLength - 1); return (ucExpected == pchMessage[dwLength - 1]); } -/*获取CRC16校验码*/ -uint16_t Get_CRC16_Check(uint8_t *pchMessage, uint32_t dwLength) -{ - return crc_16(pchMessage, dwLength); -} + /*检验CRC16数据段*/ -uint16_t CRC16_Check_Sum(uint8_t *pchMessage, uint32_t dwLength) +static uint16_t CRC16_Check_Sum(uint8_t *pchMessage, uint32_t dwLength) { uint16_t wExpected = 0; if ((pchMessage == 0) || (dwLength <= 2)) { return 0; } - wExpected = Get_CRC16_Check(pchMessage, dwLength - 2); + wExpected = crc_16(pchMessage, dwLength - 2); return (((wExpected & 0xff) == pchMessage[dwLength - 2]) && (((wExpected >> 8) & 0xff) == pchMessage[dwLength - 1])); } + /*检验数据帧头*/ -uint8_t protocol_heade_Check(protocol_rm_struct *pro,uint8_t *rx_buf) +static uint8_t protocol_heade_Check(protocol_rm_struct *pro,uint8_t *rx_buf) { if (rx_buf[0] == PROTOCOL_CMD_ID) { @@ -61,15 +54,6 @@ uint8_t protocol_heade_Check(protocol_rm_struct *pro,uint8_t *rx_buf) return 0; } -float float_protocol(uint8_t *dat_t) -{ - uint8_t f_data[4]; - f_data[0] = *(dat_t + 0); - f_data[1] = *(dat_t + 1); - f_data[2] = *(dat_t + 2); - f_data[3] = *(dat_t + 3); - return *(float *)f_data; -} /* 此函数根据待发送的数据更新数据帧格式以及内容，实现数据的打包操作 后续调用通信接口的发送函数发送tx_buf中的对应数据 @@ -118,24 +102,19 @@ void get_protocol_send_data(uint16_t send_id, //信号id */ uint16_t get_protocol_info(uint8_t *rx_buf, //接收到的原始数据 uint16_t *flags_register, //接收数据的16位寄存器地址 - float *rx_data) //接收的float数据存储地址 + uint8_t *rx_data) //接收的float数据存储地址 { static protocol_rm_struct pro; static uint16_t date_length; + volatile size_t s=sizeof(pro); + volatile size_t aa=sizeof(Vision_Recv_s); if (protocol_heade_Check(&pro, rx_buf)) { date_length = OFFSET_BYTE + pro.header.data_length; - while (CRC16_Check_Sum(&rx_buf[0], date_length)) + if (CRC16_Check_Sum(&rx_buf[0], date_length)) { *flags_register = (rx_buf[7] << 8) | rx_buf[6]; - for (int i = 0; i < (pro.header.data_length - 2) / 4; i++) - { - rx_data[i] = float_protocol(&rx_buf[8 + 4 * i]); - } - for (int i = 0; i < date_length; i++) - { - rx_buf[i] = 0; - } + memcpy(rx_data,rx_buf+8,4*sizeof(pro.header.data_length - 2)); return pro.cmd_id; } } diff --git a/modules/master_machine/seasky_protocol.h b/modules/master_machine/seasky_protocol.h index 20fc1a0..c769a92 100644 --- a/modules/master_machine/seasky_protocol.h +++ b/modules/master_machine/seasky_protocol.h @@ -2,7 +2,7 @@ #define __SEASKY_PROTOCOL_H #include -#include +#include #define PROTOCOL_CMD_ID 0XA5 @@ -41,8 +41,8 @@ typedef struct Target_State_e target_state; Target_Type_e target_type; - float yaw; float pitch; + float yaw; } Vision_Recv_s; typedef enum @@ -92,6 +92,7 @@ typedef struct uint16_t frame_tail; // 帧尾CRC校验 } protocol_rm_struct; + /*更新发送数据帧，并计算发送数据帧长度*/ void get_protocol_send_data(uint16_t send_id, // 信号id uint16_t flags_register, // 16位寄存器 @@ -103,6 +104,6 @@ void get_protocol_send_data(uint16_t send_id, // 信号id /*接收数据处理*/ uint16_t get_protocol_info(uint8_t *rx_buf, // 接收到的原始数据 uint16_t *flags_register, // 接收数据的16位寄存器地址 - float *rx_data); // 接收的float数据存储地址 + uint8_t *rx_data); // 接收的float数据存储地址 #endif