From 7d926dcd15d4b1aa68e8d93f08508a020e16f13f Mon Sep 17 00:00:00 2001
From: sph <1527550984@qq.com>
Date: Sun, 17 Mar 2024 13:47:22 +0800
Subject: [PATCH] =?UTF-8?q?=E5=88=A0=E9=99=A4vofa=E5=86=85=E7=9A=84usb?=
 =?UTF-8?q?=E5=8F=91=E9=80=81?=
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---
 modules/master_machine/master_process.c |  7 ++++---
 modules/master_machine/master_process.h | 11 ++++++++---
 modules/vofa/vofa.c                     |  6 ++----
 3 files changed, 14 insertions(+), 10 deletions(-)

diff --git a/modules/master_machine/master_process.c b/modules/master_machine/master_process.c
index ce59852..6c00de1 100644
--- a/modules/master_machine/master_process.c
+++ b/modules/master_machine/master_process.c
@@ -143,7 +143,7 @@ static void DecodeVision(uint16_t recv_len)
     {
         if(VerifyCRC16CheckSum(vis_recv_buff,sizeof(recv_data)))
         {
-            DaemonReload(vision_daemon_instance);
+            DaemonReload(vision_daemon_instance);  //喂狗
             memcpy(&recv_data,vis_recv_buff,sizeof(recv_data));
         }
     }
@@ -180,8 +180,9 @@ void VisionSend()
     static uint8_t send_buffer[24]={0};
 
     send_data.header = 0x5A;
-    //VisionSetFlag(1);
-
+    VisionSetFlag(COLOR_BLUE);
+    //VisionSetAim(recv_data.x,recv_data.y,recv_data.z);
+    VisionSetAim(0,0,0);
     send_data.checksum = crc_16(&send_data.header,sizeof(send_data)-2);
 
     memcpy(send_buffer,&send_data,sizeof(send_data));
diff --git a/modules/master_machine/master_process.h b/modules/master_machine/master_process.h
index 0675996..dcb1641 100644
--- a/modules/master_machine/master_process.h
+++ b/modules/master_machine/master_process.h
@@ -45,8 +45,8 @@ typedef enum {
 //	COLOR_NONE = 0,
 //	COLOR_BLUE = 1,
 //	COLOR_RED = 2,
-    ENEMY_COLOR_RED = 0,
-    ENEMY_COLOR_BLUE = 1,
+    COLOR_RED = 0,
+    COLOR_BLUE = 1,
 } Enemy_Color_e;
 
 typedef enum {
@@ -88,10 +88,12 @@ typedef struct {
 
 typedef struct {
     uint8_t header; //= 0xA5;
+
     uint8_t tracking: 1;
     uint8_t id: 3;          // 0-outpost 6-guard 7-base
     uint8_t armors_num: 3;  // 2-balance 3-outpost 4-normal
     uint8_t reserved: 1;
+
 //    float x;
 //    float y;
 //    float z;
@@ -103,9 +105,12 @@ typedef struct {
 //    float r1;
 //    float r2;
 //    float dz;
+
+    //导航数据
     float nav_vx;
     float nav_vy;
     float nav_wz;
+
     uint16_t checksum;
 } RecievePacket_t;
 #pragma pack()
@@ -144,4 +149,4 @@ void VisionSetFlag(Enemy_Color_e enemy_color);
 void VisionSetAltitude(float yaw, float pitch);
 
 void VisionSetAim(float aim_x, float aim_y,float aim_z);
-#endif // !MASTER_PROCESS_H
+#endif // !MASTER_PROCESS_H
\ No newline at end of file
diff --git a/modules/vofa/vofa.c b/modules/vofa/vofa.c
index 41526ea..26fe198 100644
--- a/modules/vofa/vofa.c
+++ b/modules/vofa/vofa.c
@@ -79,8 +79,6 @@ void ANODT_SendF1(int32_t Angle,int32_t speed_rpm,int32_t Angle_target,int32_t s
     DataSendBuf[cnt++]=sc;
     DataSendBuf[cnt++]=ac;
 
-//	for(uint8_t i=0;i<cnt;i++)
-//		HAL_UART_Transmit(&huart6,&DataSendBuf[i],1,100);
-    CDC_Transmit_FS(DataSendBuf, cnt);
-
+    for(uint8_t i=0;i<cnt;i++)
+        HAL_UART_Transmit(&huart6,&DataSendBuf[i],1,100);
 }