TuxMonkey/bf_original_balance_chassis
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修改编译器的类型支持，将老旧的struct_typedef替换为新的stdint-gcc.h

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This commit is contained in:
NeoZeng
2022-11-19 15:34:15 +08:00
parent 6c56d4d19f
commit 1dc8622f53
14 changed files with 77 additions and 103 deletions
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12
modules/referee/crc.h
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@@ -1,18 +1,18 @@
#ifndef __CRC_H_
#define __CRC_H_
#include "struct_typedef.h"
#include <stdint-gcc.h>
#define TRUE 1
#define FALSE 0
// CRC8
void Append_CRC8_Check_Sum( uint8_t *pchMessage, uint16_t dwLength);
uint32_t Verify_CRC8_Check_Sum( uint8_t *pchMessage, uint16_t dwLength);
uint8_t Get_CRC8_Check_Sum( uint8_t *pchMessage, uint16_t dwLength, uint8_t ucCRC8 );
void Append_CRC8_Check_Sum(uint8_t *pchMessage, uint16_t dwLength);
uint32_t Verify_CRC8_Check_Sum(uint8_t *pchMessage, uint16_t dwLength);
uint8_t Get_CRC8_Check_Sum(uint8_t *pchMessage, uint16_t dwLength, uint8_t ucCRC8);
// CRC16
void Append_CRC16_Check_Sum(uint8_t * pchMessage,uint32_t dwLength);
void Append_CRC16_Check_Sum(uint8_t *pchMessage, uint32_t dwLength);
uint32_t Verify_CRC16_Check_Sum(uint8_t *pchMessage, uint32_t dwLength);
uint16_t Get_CRC16_Check_Sum(uint8_t *pchMessage,uint32_t dwLength,uint16_t wCRC);
uint16_t Get_CRC16_Check_Sum(uint8_t *pchMessage, uint32_t dwLength, uint16_t wCRC);
#endif

20
modules/referee/referee.c
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@@ -13,7 +13,6 @@ usart_instance referee_usart_instance;
/**************裁判系统数据******************/
referee_info_t referee_info;
bool_t Judge_Data_TF = FALSE; //裁判数据是否可用,辅助函数调用
uint8_t Judge_Self_ID; //当前机器人的ID
uint16_t Judge_SelfClient_ID; //发送者机器人对应的客户端ID
@@ -21,7 +20,7 @@ uint16_t Judge_SelfClient_ID; //发送者机器人对应的客户端ID
static void ReceiveCallback()
{
Judge_Data_TF=Judge_Read_Data(referee_usart_instance.recv_buff);
Judge_Read_Data(referee_usart_instance.recv_buff);
}
void referee_init(UART_HandleTypeDef *referee_usart_handle)
@@ -39,9 +38,8 @@ void referee_init(UART_HandleTypeDef *referee_usart_handle)
* @retval 是否对正误判断做处理
* @attention 在此判断帧头和CRC校验,无误再写入数据，不重复判断帧头
*/
bool_t Judge_Read_Data(uint8_t *ReadFromUsart)
void Judge_Read_Data(uint8_t *ReadFromUsart)
{
bool_t retval_tf = FALSE; //数据正确与否标志,每次调用读取裁判系统数据函数都先默认为错误
uint16_t judge_length; //统计一帧数据长度
// referee_info.CmdID = 0; //数据命令码解析
//空数据包，则不作任何处理
@@ -64,7 +62,6 @@ bool_t Judge_Read_Data(uint8_t *ReadFromUsart)
//帧尾CRC16校验
if (Verify_CRC16_Check_Sum(ReadFromUsart, judge_length) == TRUE)
{
retval_tf = TRUE; //都校验过了则说明数据可用
// 2个8位拼成16位int
referee_info.CmdID = (ReadFromUsart[6] << 8 | ReadFromUsart[5]);
//解析数据命令码,将数据拷贝到相应结构体中(注意拷贝数据的长度)
@@ -129,21 +126,8 @@ bool_t Judge_Read_Data(uint8_t *ReadFromUsart)
}
}
return retval_tf; //返回此次接收到的数据是否时有效的
}
/**
* @brief 数据是否可用
* @param void
* @retval TRUE可用 FALSE不可用
* @attention 在裁判读取函数中实时改变返回值
*/
bool_t JUDGE_sGetDataState(void)
{
return Judge_Data_TF;
}
/**
* @brief 读取瞬时功率
* @param void

4
modules/referee/referee.h
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@@ -342,9 +342,7 @@ typedef struct
extern referee_info_t referee_info;
void referee_init(UART_HandleTypeDef *referee_usart_handle);
bool_t Judge_Read_Data(uint8_t *ReadFromUsart);
bool_t JUDGE_sGetDataState(void);
void Judge_Read_Data(uint8_t *ReadFromUsart);
float JUDGE_fGetChassisPower(void);
#endif // !REFEREE_H