156 lines
4.8 KiB
C
156 lines
4.8 KiB
C
/**
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* @file master_process.c
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* @author neozng
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* @brief module for recv&send vision data
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* @version beta
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* @date 2022-11-03
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* @todo 增加对串口调试助手协议的支持,包括vofa和serial debug
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* @copyright Copyright (c) 2022
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*
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*/
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#include "master_process.h"
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#include "seasky_protocol.h"
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#include "daemon.h"
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#include "bsp_log.h"
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#include "robot_def.h"
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static Vision_Recv_s recv_data;
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static Vision_Send_s send_data;
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static DaemonInstance *vision_daemon_instance;
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void VisionSetFlag(Enemy_Color_e enemy_color, Work_Mode_e work_mode, Bullet_Speed_e bullet_speed)
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{
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send_data.enemy_color = enemy_color;
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send_data.work_mode = work_mode;
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send_data.bullet_speed = bullet_speed;
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}
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void VisionSetAltitude(float yaw, float pitch, float roll)
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{
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send_data.yaw = yaw;
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send_data.pitch = pitch;
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send_data.roll = roll;
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}
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/**
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* @brief 离线回调函数,将在daemon.c中被daemon task调用
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* @attention 由于HAL库的设计问题,串口开启DMA接收之后同时发送有概率出现__HAL_LOCK()导致的死锁,使得无法
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* 进入接收中断.通过daemon判断数据更新,重新调用服务启动函数以解决此问题.
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*
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* @param id vision_usart_instance的地址,此处没用.
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*/
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static void VisionOfflineCallback(void *id)
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{
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#ifdef VISION_USE_UART
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USARTServiceInit(vision_usart_instance);
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#endif // !VISION_USE_UART
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LOGWARNING("[vision] vision offline, restart communication.");
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}
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#ifdef VISION_USE_UART
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#include "bsp_usart.h"
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static USARTInstance *vision_usart_instance;
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/**
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* @brief 接收解包回调函数,将在bsp_usart.c中被usart rx callback调用
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* @todo 1.提高可读性,将get_protocol_info的第四个参数增加一个float类型buffer
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* 2.添加标志位解码
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*/
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static void DecodeVision()
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{
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uint16_t flag_register;
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DaemonReload(vision_daemon_instance); // 喂狗
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get_protocol_info(vision_usart_instance->recv_buff, &flag_register, (uint8_t *)&recv_data.pitch);
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// TODO: code to resolve flag_register;
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}
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Vision_Recv_s *VisionInit(UART_HandleTypeDef *_handle)
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{
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USART_Init_Config_s conf;
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conf.module_callback = DecodeVision;
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conf.recv_buff_size = VISION_RECV_SIZE;
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conf.usart_handle = _handle;
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vision_usart_instance = USARTRegister(&conf);
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// 为master process注册daemon,用于判断视觉通信是否离线
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Daemon_Init_Config_s daemon_conf = {
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.callback = VisionOfflineCallback, // 离线时调用的回调函数,会重启串口接收
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.owner_id = vision_usart_instance,
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.reload_count = 10,
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};
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vision_daemon_instance = DaemonRegister(&daemon_conf);
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return &recv_data;
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}
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/**
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* @brief 发送函数
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*
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* @param send 待发送数据
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*
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*/
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void VisionSend()
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{
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// buff和txlen必须为static,才能保证在函数退出后不被释放,使得DMA正确完成发送
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// 析构后的陷阱需要特别注意!
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static uint16_t flag_register;
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static uint8_t send_buff[VISION_SEND_SIZE];
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static uint16_t tx_len;
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// TODO: code to set flag_register
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flag_register = 30 << 8 | 0b00000001;
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// 将数据转化为seasky协议的数据包
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get_protocol_send_data(0x02, flag_register, &send_data.yaw, 3, send_buff, &tx_len);
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USARTSend(vision_usart_instance, send_buff, tx_len, USART_TRANSFER_DMA); // 和视觉通信使用IT,防止和接收使用的DMA冲突
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// 此处为HAL设计的缺陷,DMASTOP会停止发送和接收,导致再也无法进入接收中断.
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// 也可在发送完成中断中重新启动DMA接收,但较为复杂.因此,此处使用IT发送.
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// 若使用了daemon,则也可以使用DMA发送.
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}
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#endif // VISION_USE_UART
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#ifdef VISION_USE_VCP
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#include "bsp_usb.h"
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static uint8_t *vis_recv_buff;
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static void DecodeVision(uint16_t recv_len)
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{
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uint16_t flag_register;
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get_protocol_info(vis_recv_buff, &flag_register, (uint8_t *)&recv_data.pitch);
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// TODO: code to resolve flag_register;
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}
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/* 视觉通信初始化 */
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Vision_Recv_s *VisionInit(UART_HandleTypeDef *_handle)
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{
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UNUSED(_handle); // 仅为了消除警告
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USB_Init_Config_s conf = {.rx_cbk = DecodeVision};
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vis_recv_buff = USBInit(conf);
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// 为master process注册daemon,用于判断视觉通信是否离线
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Daemon_Init_Config_s daemon_conf = {
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.callback = VisionOfflineCallback, // 离线时调用的回调函数,会重启串口接收
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.owner_id = NULL,
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.reload_count = 5, // 50ms
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};
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vision_daemon_instance = DaemonRegister(&daemon_conf);
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return &recv_data;
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}
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void VisionSend()
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{
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static uint16_t flag_register;
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static uint8_t send_buff[VISION_SEND_SIZE];
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static uint16_t tx_len;
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// TODO: code to set flag_register
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flag_register = 30 << 8 | 0b00000001;
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// 将数据转化为seasky协议的数据包
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get_protocol_send_data(0x02, flag_register, &send_data.yaw, 3, send_buff, &tx_len);
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USBTransmit(send_buff, tx_len);
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}
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#endif // VISION_USE_VCP
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