TuxMonkey/bf_original_balance_chassis
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修复电机反馈的bug,通信bug,ps2手柄支持,舵机的修复,cmdbug的修复

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This commit is contained in:
chenfu
2023-03-22 16:37:12 +08:00
parent 3cf1831237
commit 58db6e5705
25 changed files with 231 additions and 145 deletions
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10
modules/master_machine/master_process.c
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@@ -28,6 +28,7 @@ static void DecodeVision()
{
static uint16_t flag_register;
get_protocol_info(vision_usart_instance->recv_buff, &flag_register, (uint8_t *)&recv_data.pitch);
// TODO: code to resolve flag_register;
}
@@ -58,8 +59,13 @@ void VisionSend(Vision_Send_s *send)
static uint8_t send_buff[VISION_SEND_SIZE];
static uint16_t tx_len;
// TODO: code to set flag_register
flag_register = 0x0001;
// 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);
USARTSend(vision_usart_instance, send_buff, tx_len,USART_TRANSFER_IT);
// if(vision_usart_instance->usart_handle->ReceptionType == HAL_UART_RECEPTION_TOIDLE)
// {HAL_UARTEx_ReceiveToIdle_DMA(vision_usart_instance->usart_handle, vision_usart_instance->recv_buff, vision_usart_instance->recv_buff_size);
// __HAL_DMA_DISABLE_IT(vision_usart_instance->usart_handle->hdmarx, DMA_IT_HT);
// }
}