TuxMonkey/bf_original_balance_chassis
1
0
Fork 0
mirror of https://gitee.com/dlmu-cone/bf_original_balance_chassis synced 2026-07-23 19:25:09 +08:00
Code Issues Packages Projects Releases Wiki Activity

增大了实时系统的栈空间,修复视觉通信函数临时变量导致内存泄漏的问题

Browse Source
This commit is contained in:
NeoZng
2023-04-20 09:54:04 +08:00
parent 1818edf117
commit 0f55fed9d6
4 changed files with 22 additions and 14 deletions
Download Patch File Download Diff File Expand all files Collapse all files

10
modules/master_machine/master_process.c
View File

@@ -78,11 +78,13 @@ Vision_Recv_s *VisionInit(UART_HandleTypeDef *_handle)
*/
void VisionSend(Vision_Send_s *send)
{
uint16_t flag_register;
uint8_t send_buff[VISION_SEND_SIZE];
uint16_t tx_len;
// 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;
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->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