wheel_legged_gimbal/modules/master_machine/master_process.c

/**
 * @file master_process.c
 * @author neozng
 * @brief  module for recv&send vision data
 * @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
 *
 */
#include "master_process.h"
#include "seasky_protocol.h"
#include "daemon.h"
#include "bsp_log.h"
#include "robot_def.h"
#include "crc16.h"

static RecievePacket_t recv_data;
static SendPacket_t send_data;
static DaemonInstance *vision_daemon_instance;

//void VisionSetFlag(Enemy_Color_e enemy_color, Work_Mode_e work_mode, Bullet_Speed_e bullet_speed)
//{
//    send_data.enemy_color = enemy_color;
//    send_data.work_mode = work_mode;
//    send_data.bullet_speed = bullet_speed;
//}
void VisionSetFlag(Enemy_Color_e enemy_color)
{
    send_data.detect_color = enemy_color;
    send_data.reserved = 0;
}

//void VisionSetAltitude(float yaw, float pitch)
//{
//    send_data.yaw = yaw;
//    send_data.pitch = pitch;
//}
void VisionSetAltitude(float yaw, float pitch)
{
    send_data.yaw = yaw;
    send_data.pitch = pitch;
}

void VisionSetAim(float aim_x, float aim_y, float aim_z) {
    send_data.aim_x = aim_x;
    send_data.aim_y = aim_y;
    send_data.aim_z = aim_z;
}


/**
 * @brief 离线回调函数,将在daemon.c中被daemon task调用
 * @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
 *            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.
 *
 * @param id vision_usart_instance的地址,此处没用.
 */
static void VisionOfflineCallback(void *id)
{
#ifdef VISION_USE_UART
    USARTServiceInit(vision_usart_instance);
#endif // !VISION_USE_UART
    LOGWARNING("[vision] vision offline, restart communication.");
}

#ifdef VISION_USE_UART

#include "bsp_usart.h"

static USARTInstance *vision_usart_instance;

/**
 * @brief 接收解包回调函数,将在bsp_usart.c中被usart rx callback调用
 * @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
 *        2.添加标志位解码
 */
static void DecodeVision()
{
    uint16_t flag_register;
    DaemonReload(vision_daemon_instance); // 喂狗
    get_protocol_info(vision_usart_instance->recv_buff, &flag_register, (uint8_t *)&recv_data.pitch);
    // TODO: code to resolve flag_register;
}

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);

    // 为master process注册daemon,用于判断视觉通信是否离线
    Daemon_Init_Config_s daemon_conf = {
        .callback = VisionOfflineCallback, // 离线时调用的回调函数,会重启串口接收
        .owner_id = vision_usart_instance,
        .reload_count = 10,
    };
    vision_daemon_instance = DaemonRegister(&daemon_conf);

    return &recv_data;
}

/**
 * @brief 发送函数
 *
 * @param send 待发送数据
 *
 */
void VisionSend()
{
    // 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
    // 析构后的陷阱需要特别注意!
    static uint16_t flag_register;
    static uint8_t send_buff[VISION_SEND_SIZE];
    static uint16_t tx_len;
    // TODO: code to set flag_register
    flag_register = 30 << 8 | 0b00000001;
    // 将数据转化为seasky协议的数据包
    get_protocol_send_data(0x02, flag_register, &send_data.yaw, 3, send_buff, &tx_len);
    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
    // 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.
    // 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.
    // 若使用了daemon,则也可以使用DMA发送.
}

#endif // VISION_USE_UART

#ifdef VISION_USE_VCP

#include "bsp_usb.h"
static uint8_t *vis_recv_buff; //接收到的原始数据

static void DecodeVision(uint16_t recv_len)
{
//    uint16_t flag_register;
//    get_protocol_info(vis_recv_buff, &flag_register, (uint8_t *)&recv_data.pitch);
//    // TODO: code to resolve flag_register;
    if(vis_recv_buff[0]==0xA5)
    {
        if(VerifyCRC16CheckSum(vis_recv_buff,sizeof(recv_data)))
        {
            memcpy(&recv_data,vis_recv_buff,sizeof(recv_data));
        }
    }
}

/* 视觉通信初始化 */
RecievePacket_t *VisionInit(UART_HandleTypeDef *_handle)
{
    UNUSED(_handle); // 仅为了消除警告
    USB_Init_Config_s conf = {.rx_cbk = DecodeVision};
    vis_recv_buff = USBInit(conf);

    // 为master process注册daemon,用于判断视觉通信是否离线
    Daemon_Init_Config_s daemon_conf = {
            .callback = VisionOfflineCallback, // 离线时调用的回调函数,会重启串口接收
            .owner_id = NULL,
            .reload_count = 5, // 50ms
    };
    vision_daemon_instance = DaemonRegister(&daemon_conf);

    return &recv_data;
}

void VisionSend()
{
//    static uint16_t flag_register;
//    static uint8_t send_buff[VISION_SEND_SIZE];
//    static uint16_t tx_len;
//    // TODO: code to set flag_register
//    flag_register = 30 << 8 | 0b00000001;
//    // 将数据转化为seasky协议的数据包
//    get_protocol_send_data(0x02, flag_register, &send_data.yaw, 3, send_buff, &tx_len);
//    USBTransmit(send_buff, tx_len);
    static uint8_t send_buffer[24]={0};

    send_data.header = 0x5A;
    //VisionSetFlag(1);
    VisionSetAim(recv_data.x,recv_data.y,recv_data.z);
    send_data.checksum = crc_16(&send_data.header,sizeof(send_data)-2);

    memcpy(send_buffer,&send_data,sizeof(send_data));
    USBTransmit(send_buffer, sizeof(send_data));
}

#endif // VISION_USE_VCP