sentry_gimbal_hzz/modules/referee/referee.md

referee

若需要进行多机交互，可增加此函数：

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
}