TuxMonkey/bf_original_balance_chassis
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将默认视觉通信换为usb虚拟串口，修复视觉发送roll错误；增加了attach调试支持

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This commit is contained in:
NeoZng
2023-05-04 21:38:35 +08:00
parent 35ceb50ca7
commit 116b9b78fb
13 changed files with 199 additions and 113 deletions
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70
modules/master_machine/master_process.c
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@@ -9,14 +9,32 @@
*
*/
#include "master_process.h"
#include "bsp_usart.h"
#include "usart.h"
#include "seasky_protocol.h"
#include "daemon.h"
#include "bsp_log.h"
#include "robot_def.h"
static Vision_Recv_s recv_data;
static Vision_Send_s send_data;
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 VisionSetAltitude(float yaw, float pitch, float roll)
{
send_data.yaw = yaw;
send_data.pitch = pitch;
send_data.roll = roll;
}
#ifdef VISION_USE_UART
#include "bsp_usart.h"
#include "daemon.h"
static USARTInstance *vision_usart_instance;
static DaemonInstance *vision_daemon_instance;
@@ -45,9 +63,9 @@ static void VisionOfflineCallback(void *id)
USARTServiceInit(vision_usart_instance);
}
/* 视觉通信初始化 */
Vision_Recv_s *VisionInit(UART_HandleTypeDef *_handle)
{
#ifdef VISION_USE_UART
USART_Init_Config_s conf;
conf.module_callback = DecodeVision;
conf.recv_buff_size = VISION_RECV_SIZE;
@@ -61,15 +79,16 @@ Vision_Recv_s *VisionInit(UART_HandleTypeDef *_handle)
.reload_count = 10,
};
vision_daemon_instance = DaemonRegister(&daemon_conf);
#endif // VISION_USE_UART
return &recv_data;
}
/**
* @brief 发送函数
*
*
* @param send 待发送数据
*
*
*/
void VisionSend()
{
@@ -88,15 +107,40 @@ void VisionSend()
// 若使用了daemon,则也可以使用DMA发送.
}
void VisionSetFlag(Enemy_Color_e enemy_color, Work_Mode_e work_mode, Bullet_Speed_e bullet_speed)
#endif // VISION_USE_UART
#ifdef VISION_USE_VCP
#include "bsp_usb.h"
static uint8_t *vis_recv_buff;
static void DecodeVision(uint16_t recv_len)
{
send_data.enemy_color = enemy_color;
send_data.work_mode = work_mode;
send_data.bullet_speed = bullet_speed;
uint16_t flag_register;
get_protocol_info(vis_recv_buff, &flag_register, (uint8_t *)&recv_data.pitch);
// TODO: code to resolve flag_register;
}
void VisionSetAltitude(float yaw, float pitch)
/* 视觉通信初始化 */
Vision_Recv_s *VisionInit(UART_HandleTypeDef *_handle)
{
send_data.yaw = yaw;
send_data.pitch = pitch;
UNUSED(_handle); // 仅为了消除警告
USB_Init_Config_s conf = {0};
conf.rx_cbk = DecodeVision;
vis_recv_buff = USBInit(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);
}
#endif // VISION_USE_VCP