HFUT_Firmament_EC
/
sentry_gimbal_hzz
11
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

修改了初始化顺序和布局

This commit is contained in:
NeoZng 2023-04-19 19:28:17 +08:00
parent f6c686598d
commit bcb1d72a97
9 changed files with 93 additions and 372 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

242
HAL_N_Middlewares/Src/main.c
View File

@ -1,242 +0,0 @@
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : main.c
* @brief : Main program body
******************************************************************************
* @attention
*
* Copyright (c) 2023 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "cmsis_os.h"
#include "adc.h"
#include "can.h"
#include "crc.h"
#include "dac.h"
#include "dma.h"
#include "i2c.h"
#include "rng.h"
#include "rtc.h"
#include "spi.h"
#include "tim.h"
#include "usart.h"
#include "usb_device.h"
#include "gpio.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "robot.h"
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
/* USER CODE END PTD */
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
/* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
void MX_FREERTOS_Init(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
/**
* @brief The application entry point.
* @retval int
*/
int main(void)
{
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* MCU Configuration--------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* USER CODE BEGIN Init */
/* USER CODE END Init */
/* Configure the system clock */
SystemClock_Config();
/* USER CODE BEGIN SysInit */
/* USER CODE END SysInit */
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_DMA_Init();
MX_ADC1_Init();
MX_CAN1_Init();
MX_CAN2_Init();
MX_SPI1_Init();
MX_TIM4_Init();
MX_TIM5_Init();
MX_USART3_UART_Init();
MX_RNG_Init();
MX_RTC_Init();
MX_TIM1_Init();
MX_TIM10_Init();
MX_USART1_UART_Init();
MX_USART6_UART_Init();
MX_TIM8_Init();
MX_I2C2_Init();
MX_I2C3_Init();
MX_SPI2_Init();
MX_CRC_Init();
MX_DAC_Init();
/* USER CODE BEGIN 2 */
RobotInit();
/* USER CODE END 2 */
/* Call init function for freertos objects (in freertos.c) */
MX_FREERTOS_Init();
/* Start scheduler */
osKernelStart();
/* We should never get here as control is now taken by the scheduler */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}
/**
* @brief System Clock Configuration
* @retval None
*/
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
/** Configure the main internal regulator output voltage
*/
__HAL_RCC_PWR_CLK_ENABLE();
__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
/** Initializes the RCC Oscillators according to the specified parameters
* in the RCC_OscInitTypeDef structure.
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
RCC_OscInitStruct.HSEState = RCC_HSE_ON;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
RCC_OscInitStruct.PLL.PLLM = 6;
RCC_OscInitStruct.PLL.PLLN = 168;
RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
RCC_OscInitStruct.PLL.PLLQ = 7;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
{
Error_Handler();
}
/** Initializes the CPU, AHB and APB buses clocks
*/
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
{
Error_Handler();
}
}
/* USER CODE BEGIN 4 */
/* USER CODE END 4 */
/**
* @brief Period elapsed callback in non blocking mode
* @note This function is called when TIM14 interrupt took place, inside
* HAL_TIM_IRQHandler(). It makes a direct call to HAL_IncTick() to increment
* a global variable "uwTick" used as application time base.
* @param htim : TIM handle
* @retval None
*/
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
/* USER CODE BEGIN Callback 0 */
/* USER CODE END Callback 0 */
if (htim->Instance == TIM14)
{
HAL_IncTick();
}
/* USER CODE BEGIN Callback 1 */
/* USER CODE END Callback 1 */
}
/**
* @brief This function is executed in case of error occurrence.
* @retval None
*/
void Error_Handler(void)
{
/* USER CODE BEGIN Error_Handler_Debug */
/* User can add his own implementation to report the HAL error return state */
__disable_irq();
while (1)
{
}
/* USER CODE END Error_Handler_Debug */
}
#ifdef USE_FULL_ASSERT
/**
* @brief Reports the name of the source file and the source line number
* where the assert_param error has occurred.
* @param file: pointer to the source file name
* @param line: assert_param error line source number
* @retval None
*/
void assert_failed(uint8_t *file, uint32_t line)
{
/* USER CODE BEGIN 6 */
/* User can add his own implementation to report the file name and line number,
ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
/* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */

2
Src/freertos.c
View File

@ -206,7 +206,7 @@ void StartROBOTTASK(void const *argument)
void StartUITASK(void const *argument)
{
Referee_Interactive_init();
My_UI_init();
while (1)
{
Referee_Interactive_task();

4
application/chassis/chassis.c
View File

@ -16,7 +16,7 @@
#include "dji_motor.h"
#include "super_cap.h"
#include "message_center.h"
#include "rm_referee.h"
#include "referee_task.h"
#include "general_def.h"
#include "bsp_dwt.h"
@ -103,7 +103,7 @@ void ChassisInit()
chassis_motor_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_REVERSE;
motor_rb = DJIMotorInit(&chassis_motor_config);
referee_data = RefereeInit(&huart6,&ui_data); // 裁判系统初始化
referee_data = Referee_Interactive_init(&huart6,&ui_data); // 裁判系统初始化
// while (referee_data->GameRobotState.robot_id ==0);
// Referee_Interactive_init(referee_data);

30
modules/referee/referee.md
View File

@ -1 +1,29 @@
# referee
# referee
若需要进行多机交互，可增加此函数：
```c
void CommBetweenRobotSend(referee_id_t *_id, robot_interactive_data_t *_data)
{
Communicate_SendData_t SendData;
uint8_t temp_datalength = Interactive_Data_LEN_Head + Communicate_Data_LEN; // 计算交互数据长度 6+n,n为交互数据长度
SendData.FrameHeader.SOF = REFEREE_SOF;
SendData.FrameHeader.DataLength = temp_datalength;
SendData.FrameHeader.Seq = UI_Seq;
SendData.FrameHeader.CRC8 = Get_CRC8_Check_Sum((uint8_t *)&SendData, LEN_CRC8, 0xFF);
SendData.CmdID = ID_student_interactive;
SendData.datahead.data_cmd_id = Communicate_Data_ID;
SendData.datahead.sender_ID = _id->Robot_ID;
SendData.datahead.receiver_ID = _id->Receiver_Robot_ID;
SendData.Data = *_data;
SendData.frametail = Get_CRC16_Check_Sum((uint8_t *)&SendData, LEN_HEADER + LEN_CMDID + temp_datalength, 0xFFFF);
RefereeSend((uint8_t *)&SendData, LEN_HEADER + LEN_CMDID + temp_datalength + LEN_TAIL); // 发送
UI_Seq++; // 包序号+1
}
```

2
modules/referee/referee_UI.c
View File

@ -389,7 +389,7 @@ void UI_ReFresh(referee_id_t *_id, int cnt, ...)
graphData = va_arg(ap, Graph_Data_t); // 访问参数列表中的每个项,第二个参数是你要返回的参数的类型,在取值时需要将其强制转化为指定类型的变量
memcpy(buffer + (LEN_HEADER + LEN_CMDID + Interactive_Data_LEN_Head + UI_Operate_LEN_PerDraw * i), (uint8_t *)&graphData, UI_Operate_LEN_PerDraw);
}
Append_CRC16_Check_Sum(buffer,temp_datalength);
Append_CRC16_Check_Sum(buffer, temp_datalength);
RefereeSend(buffer, temp_datalength); // 发送CRC16校验值
va_end(ap); // 结束可变参数的获取

109
modules/referee/referee_task.c
View File

@ -16,21 +16,32 @@
static Referee_Interactive_info_t *Interactive_data; // UI绘制需要的机器人状态数据
static referee_info_t *referee_recv_info; // 接收到的裁判系统数据
static void DeterminRobotID(referee_info_t *_referee_info);
static void My_UI_init(referee_info_t *_referee_info);
static void My_UI_Refresh(referee_info_t *_referee_info, Referee_Interactive_info_t *_Interactive_data);
/**
* @brief 判断各种ID，选择客户端ID
* @param referee_info_t *referee_recv_info
* @retval none
* @attention
*/
static void DeterminRobotID()
{
// id小于7是红色,大于7是蓝色,0为红色，1为蓝色 #define Robot_Red 0 #define Robot_Blue 1
referee_recv_info->referee_id.Robot_Color = referee_recv_info->GameRobotState.robot_id > 7 ? Robot_Blue : Robot_Red;
referee_recv_info->referee_id.Robot_ID = referee_recv_info->GameRobotState.robot_id;
referee_recv_info->referee_id.Cilent_ID = 0x0100 + referee_recv_info->referee_id.Robot_ID; // 计算客户端ID
referee_recv_info->referee_id.Receiver_Robot_ID = 0;
}
static void My_UI_Refresh(referee_info_t *referee_recv_info, Referee_Interactive_info_t *_Interactive_data);
static void Mode_Change_Check(Referee_Interactive_info_t *_Interactive_data); // 模式切换检测
// syhtod 正式上车后需删除
static void robot_mode_change(Referee_Interactive_info_t *_Interactive_data); // 测试用函数，实现模式自动变化
static void UI_test_init(referee_info_t *_referee_info); // UI测试函数
void Referee_Interactive_init()
referee_info_t *Referee_Interactive_init(UART_HandleTypeDef *referee_usart_handle, Referee_Interactive_info_t *UI_data)
{
RefereeGetUIData(&referee_recv_info, &Interactive_data);
while (referee_recv_info->GameRobotState.robot_id == 0);
DeterminRobotID(referee_recv_info);
My_UI_init(referee_recv_info);
referee_recv_info = RefereeInit(referee_usart_handle); // 初始化裁判系统的串口,并返回裁判系统反馈数据指针
Interactive_data = UI_data; // 获取UI绘制需要的机器人状态数据
return referee_recv_info;
}
void Referee_Interactive_task()
@ -44,9 +55,10 @@ static String_Data_t UI_State_sta[6]; // 机器人状态,静态只需画一次
static String_Data_t UI_State_dyn[6]; // 机器人状态,动态先add才能change
static uint32_t shoot_line_location[10] = {540, 960, 490, 515, 565};
static void My_UI_init(referee_info_t *_referee_info)
void My_UI_init()
{
UIDelete(&_referee_info->referee_id, UI_Data_Del_ALL, 0);
DeterminRobotID();
UIDelete(&referee_recv_info->referee_id, UI_Data_Del_ALL, 0); // 清空UI
// // 绘制发射基准线
Line_Draw(&UI_shoot_line[0], "sl0", UI_Graph_ADD, 7, UI_Color_White, 3, 710, shoot_line_location[0], 1210, shoot_line_location[0]);
@ -55,40 +67,40 @@ static void My_UI_init(referee_info_t *_referee_info)
Line_Draw(&UI_shoot_line[3], "sl3", UI_Graph_ADD, 7, UI_Color_Yellow, 2, 810, shoot_line_location[3], 1110, shoot_line_location[3]);
Line_Draw(&UI_shoot_line[4], "sl4", UI_Graph_ADD, 7, UI_Color_Yellow, 2, 810, shoot_line_location[4], 1110, shoot_line_location[4]);
UI_ReFresh(&_referee_info->referee_id, 5, UI_shoot_line[0], UI_shoot_line[1], UI_shoot_line[2], UI_shoot_line[3], UI_shoot_line[4]);
UI_ReFresh(&referee_recv_info->referee_id, 5, UI_shoot_line[0], UI_shoot_line[1], UI_shoot_line[2], UI_shoot_line[3], UI_shoot_line[4]);
// 绘制车辆状态标志指示
Char_Draw(&UI_State_sta[0], "ss0", UI_Graph_ADD, 8, UI_Color_Main, 15, 2, 150, 750, "chassis:");
Char_ReFresh(&_referee_info->referee_id, UI_State_sta[0]);
Char_ReFresh(&referee_recv_info->referee_id, UI_State_sta[0]);
Char_Draw(&UI_State_sta[1], "ss1", UI_Graph_ADD, 8, UI_Color_Yellow, 15, 2, 150, 700, "gimbal:");
Char_ReFresh(&_referee_info->referee_id, UI_State_sta[1]);
Char_ReFresh(&referee_recv_info->referee_id, UI_State_sta[1]);
Char_Draw(&UI_State_sta[2], "ss2", UI_Graph_ADD, 8, UI_Color_Orange, 15, 2, 150, 650, "shoot:");
Char_ReFresh(&_referee_info->referee_id, UI_State_sta[2]);
Char_ReFresh(&referee_recv_info->referee_id, UI_State_sta[2]);
Char_Draw(&UI_State_sta[3], "ss3", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 150, 600, "frict:");
Char_ReFresh(&_referee_info->referee_id, UI_State_sta[3]);
Char_ReFresh(&referee_recv_info->referee_id, UI_State_sta[3]);
Char_Draw(&UI_State_sta[4], "ss4", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 150, 550, "lid:");
Char_ReFresh(&_referee_info->referee_id, UI_State_sta[4]);
Char_ReFresh(&referee_recv_info->referee_id, UI_State_sta[4]);
// 底盘功率显示，静态
Char_Draw(&UI_State_sta[5], "ss5", UI_Graph_ADD, 8, UI_Color_Green, 18, 2, 720, 210, "Power:");
Char_ReFresh(&_referee_info->referee_id, UI_State_sta[5]);
Char_ReFresh(&referee_recv_info->referee_id, UI_State_sta[5]);
// 绘制车辆状态标志，动态
// 由于初始化时xxx_last_mode默认为0，所以此处对应UI也应该设为0时对应的UI，防止模式不变的情况下无法置位flag，导致UI无法刷新
Char_Draw(&UI_State_dyn[0], "sd0", UI_Graph_ADD, 8, UI_Color_Main, 15, 2, 270, 750, "zeroforce");
Char_ReFresh(&_referee_info->referee_id, UI_State_dyn[0]);
Char_ReFresh(&referee_recv_info->referee_id, UI_State_dyn[0]);
Char_Draw(&UI_State_dyn[1], "sd1", UI_Graph_ADD, 8, UI_Color_Yellow, 15, 2, 270, 700, "zeroforce");
Char_ReFresh(&_referee_info->referee_id, UI_State_dyn[1]);
Char_ReFresh(&referee_recv_info->referee_id, UI_State_dyn[1]);
Char_Draw(&UI_State_dyn[2], "sd2", UI_Graph_ADD, 8, UI_Color_Orange, 15, 2, 270, 650, "off");
Char_ReFresh(&_referee_info->referee_id, UI_State_dyn[2]);
Char_ReFresh(&referee_recv_info->referee_id, UI_State_dyn[2]);
Char_Draw(&UI_State_dyn[3], "sd3", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 270, 600, "off");
Char_ReFresh(&_referee_info->referee_id, UI_State_dyn[3]);
Char_ReFresh(&referee_recv_info->referee_id, UI_State_dyn[3]);
Char_Draw(&UI_State_dyn[4], "sd4", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 270, 550, "open ");
Char_ReFresh(&_referee_info->referee_id, UI_State_dyn[4]);
Char_ReFresh(&referee_recv_info->referee_id, UI_State_dyn[4]);
// 底盘功率显示,动态
Char_Draw(&UI_State_dyn[5], "sd5", UI_Graph_ADD, 8, UI_Color_Green, 18, 2, 840, 210, "0000");
Char_ReFresh(&_referee_info->referee_id, UI_State_dyn[5]);
Char_ReFresh(&referee_recv_info->referee_id, UI_State_dyn[5]);
}
static uint8_t count = 0;
@ -144,7 +156,7 @@ static void robot_mode_change(Referee_Interactive_info_t *_Interactive_data) //
}
}
static void My_UI_Refresh(referee_info_t *_referee_info, Referee_Interactive_info_t *_Interactive_data)
static void My_UI_Refresh(referee_info_t *referee_recv_info, Referee_Interactive_info_t *_Interactive_data)
{
Mode_Change_Check(_Interactive_data);
// chassis
@ -166,7 +178,7 @@ static void My_UI_Refresh(referee_info_t *_referee_info, Referee_Interactive_inf
Char_Draw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 15, 2, 270, 750, "follow ");
break;
}
Char_ReFresh(&_referee_info->referee_id, UI_State_dyn[0]);
Char_ReFresh(&referee_recv_info->referee_id, UI_State_dyn[0]);
_Interactive_data->Referee_Interactive_Flag.chassis_flag = 0;
}
// gimbal
@ -190,7 +202,7 @@ static void My_UI_Refresh(referee_info_t *_referee_info, Referee_Interactive_inf
break;
}
}
Char_ReFresh(&_referee_info->referee_id, UI_State_dyn[1]);
Char_ReFresh(&referee_recv_info->referee_id, UI_State_dyn[1]);
_Interactive_data->Referee_Interactive_Flag.gimbal_flag = 0;
}
// shoot
@ -209,7 +221,7 @@ static void My_UI_Refresh(referee_info_t *_referee_info, Referee_Interactive_inf
break;
}
}
Char_ReFresh(&_referee_info->referee_id, UI_State_dyn[2]);
Char_ReFresh(&referee_recv_info->referee_id, UI_State_dyn[2]);
_Interactive_data->Referee_Interactive_Flag.shoot_flag = 0;
}
@ -228,7 +240,7 @@ static void My_UI_Refresh(referee_info_t *_referee_info, Referee_Interactive_inf
break;
}
}
Char_ReFresh(&_referee_info->referee_id, UI_State_dyn[3]);
Char_ReFresh(&referee_recv_info->referee_id, UI_State_dyn[3]);
_Interactive_data->Referee_Interactive_Flag.friction_flag = 0;
}
@ -247,7 +259,7 @@ static void My_UI_Refresh(referee_info_t *_referee_info, Referee_Interactive_inf
break;
}
}
Char_ReFresh(&_referee_info->referee_id, UI_State_dyn[4]);
Char_ReFresh(&referee_recv_info->referee_id, UI_State_dyn[4]);
_Interactive_data->Referee_Interactive_Flag.lid_flag = 0;
}
}
@ -290,40 +302,3 @@ static void Mode_Change_Check(Referee_Interactive_info_t *_Interactive_data)
_Interactive_data->lid_last_mode = _Interactive_data->lid_mode;
}
}
/**
* @brief 判断各种ID，选择客户端ID
* @param referee_info_t *_referee_info
* @retval none
* @attention
*/
static void DeterminRobotID(referee_info_t *_referee_info)
{
// id小于7是红色,大于7是蓝色,0为红色，1为蓝色 #define Robot_Red 0 #define Robot_Blue 1
_referee_info->referee_id.Robot_Color = _referee_info->GameRobotState.robot_id > 7 ? Robot_Blue : Robot_Red;
_referee_info->referee_id.Robot_ID = _referee_info->GameRobotState.robot_id;
_referee_info->referee_id.Cilent_ID = 0x0100 + _referee_info->referee_id.Robot_ID; // 计算客户端ID
_referee_info->referee_id.Receiver_Robot_ID = 0;
}
/* 测试用函数 */
static void UI_test_init(referee_info_t *_referee_info)
{
Graph_Data_t graph[5];
Graph_Data_t num[2];
String_Data_t sdata[1];
UIDelete(&_referee_info->referee_id, UI_Data_Del_ALL, 0);
Line_Draw(&graph[0], "s0", UI_Graph_ADD, 0, UI_Color_White, 3, 710, 540, 1210, 540);
Rectangle_Draw(&graph[1], "s1", UI_Graph_ADD, 0, UI_Color_Yellow, 4, 600, 200, 800, 500);
Circle_Draw(&graph[2], "s2", UI_Graph_ADD, 0, UI_Color_Green, 5, 960, 540, 100);
Elliptical_Draw(&graph[3], "s3", UI_Graph_ADD, 0, UI_Color_Orange, 3, 960, 540, 100, 20);
Arc_Draw(&graph[4], "s4", UI_Graph_ADD, 0, UI_Color_Purplish_red, 30, 160, 3, 1200, 550, 50, 100);
Float_Draw(&num[0], "s5", UI_Graph_ADD, 0, UI_Color_Pink, 50, 3, 5, 1050, 660, 1245545);
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, "number:%d", 123);
Char_ReFresh(&_referee_info->referee_id, sdata[0]);
}

8
modules/referee/referee_task.h
View File

@ -8,7 +8,13 @@
* @brief 初始化裁判系统交互任务(UI和多机通信)
*
*/
void Referee_Interactive_init();
referee_info_t *Referee_Interactive_init(UART_HandleTypeDef *referee_usart_handle, Referee_Interactive_info_t *UI_data);
/**
* @brief 在referee task之前调用,添加在freertos.c中
*
*/
void My_UI_init();
/**
* @brief 裁判系统交互任务(UI和多机通信)

32
modules/referee/rm_referee.c
View File

@ -19,7 +19,6 @@
static USARTInstance *referee_usart_instance; // 裁判系统串口实例
static referee_info_t referee_info; // 裁判系统数据
static Referee_Interactive_info_t *UI_tmp; // UI绘制需要的机器人状态数据
static void RefereeRxCallback();
static void JudgeReadData(uint8_t *buff);
@ -27,46 +26,17 @@ static void JudgeReadData(uint8_t *buff);
uint8_t UI_Seq = 0; // 包序号，供整个referee文件使用
/* 裁判系统通信初始化 */
referee_info_t *RefereeInit(UART_HandleTypeDef *referee_usart_handle, Referee_Interactive_info_t *UI_data)
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);
UI_tmp = UI_data;
return &referee_info;
}
void RefereeGetUIData(referee_info_t **recv_info_pp, Referee_Interactive_info_t **UI_data_pp)
{
*recv_info_pp = &referee_info;
*UI_data_pp = UI_tmp;
}
void CommBetweenRobotSend(referee_id_t *_id, robot_interactive_data_t *_data)
{
Communicate_SendData_t SendData;
uint8_t temp_datalength = Interactive_Data_LEN_Head + Communicate_Data_LEN; // 计算交互数据长度 6+n,n为交互数据长度
SendData.FrameHeader.SOF = REFEREE_SOF;
SendData.FrameHeader.DataLength = temp_datalength;
SendData.FrameHeader.Seq = UI_Seq;
SendData.FrameHeader.CRC8 = Get_CRC8_Check_Sum((uint8_t *)&SendData, LEN_CRC8, 0xFF);
SendData.CmdID = ID_student_interactive;
SendData.datahead.data_cmd_id = Communicate_Data_ID;
SendData.datahead.sender_ID = _id->Robot_ID;
SendData.datahead.receiver_ID = _id->Receiver_Robot_ID;
SendData.Data = *_data;
SendData.frametail = Get_CRC16_Check_Sum((uint8_t *)&SendData, LEN_HEADER + LEN_CMDID + temp_datalength, 0xFFFF);
RefereeSend((uint8_t *)&SendData, LEN_HEADER + LEN_CMDID + temp_datalength + LEN_TAIL); // 发送
UI_Seq++; // 包序号+1
}
/**
* @brief 裁判系统数据发送函数,由于使用

36
modules/referee/rm_referee.h
View File

@ -68,8 +68,8 @@ typedef struct
lid_mode_e lid_mode; // 弹舱盖打开
loader_mode_e loader_mode; // 单发...连发
Chassis_Power_Data_s Chassis_Power_Data; // 功率控制
//上一次的模式，用于flag判断
// 上一次的模式，用于flag判断
chassis_mode_e chassis_last_mode; // 底盘模式
gimbal_mode_e gimbal_last_mode; // 云台模式
shoot_mode_e shoot_last_mode; // 发射模式设置
@ -81,35 +81,19 @@ typedef struct
#pragma pack()
/**
* @brief 裁判系统通信初始化, 该函数会初始化裁判系统串口,开启中断,同时将UI绘制的数据指针传入
*
* @brief 裁判系统通信初始化,该函数会初始化裁判系统串口,开启中断
*
* @param referee_usart_handle 串口handle,C板一般用串口6
* @param UI_data UI绘制数据指针,即保存着UI绘制的各种状态数据
* @return referee_info_t* 返回裁判系统反馈的数据,包括热量/血量/状态等
*/
referee_info_t *RefereeInit(UART_HandleTypeDef *referee_usart_handle, Referee_Interactive_info_t *UI_data);
referee_info_t *RefereeInit(UART_HandleTypeDef *referee_usart_handle);
/**
* @brief 由UI绘制的任务初始化调用,用于获取裁判系统反馈的数据指针和UI绘制的数据指针,以便UI绘制任务使用
*
* @param recv_info_pp 指向裁判系统反馈的数据指针
* @param UI_data_pp
*/
void RefereeGetUIData(referee_info_t **recv_info_pp, Referee_Interactive_info_t **UI_data_pp);
/**
* @brief 发送机器人间的交互数据
* @param referee_id_t *_id sender为本机器人，receiver为接收方机器人，发送前设置Receiver_Robot_ID再调用该函数
* robot_interactive_data_t *data 数据段
* @retval none
* @attention
*/
void CommBetweenRobotSend(referee_id_t *_id, robot_interactive_data_t *_data);
/**
* @brief 发送函数
* @todo
* @param
* @brief UI绘制和交互数的发送接口,由UI绘制任务和多机通信函数调用
* @note 内部包含了一个实时系统的延时函数,这是因为裁判系统接收CMD数据至高位10Hz
*
* @param send 发送数据首地址
* @param tx_len 发送长度
*/
void RefereeSend(uint8_t *send, uint16_t tx_len);