TuxMonkey/bf_original_balance_chassis
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修复CAN中断优先级导致函数重入访问static变量的问题，提升了bsp和部分module的性能。

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This commit is contained in:
NeoZng
2023-03-23 18:22:24 +08:00
parent eefc0883ed
commit 41d033e3f8
16 changed files with 76 additions and 65 deletions
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8
modules/master_machine/master_process.c
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@@ -29,7 +29,7 @@ static DaemonInstance *vision_daemon_instance;
*/
static void DecodeVision()
{
static uint16_t flag_register;
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;
@@ -80,9 +80,9 @@ Vision_Recv_s *VisionInit(UART_HandleTypeDef *_handle)
*/
void VisionSend(Vision_Send_s *send)
{
static uint16_t flag_register;
static uint8_t send_buff[VISION_SEND_SIZE];
static uint16_t tx_len;
uint16_t flag_register;
uint8_t send_buff[VISION_SEND_SIZE];
uint16_t tx_len;
// TODO: code to set flag_register
// 将数据转化为seasky协议的数据包