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增加了一键下载(不调试)的支持,并更新了makefile,添加了make clean支持

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NeoZeng
2022-11-29 20:00:46 +08:00
parent a539072052
commit 6dd2f9c504
8 changed files with 114 additions and 69 deletions
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62
modules/led_light/led_task.c
View File

@@ -37,41 +37,37 @@ uint32_t RGB_flow_color[RGB_FLOW_COLOR_LENGHT + 1] = {0xFF0000FF, 0x0000FF00, 0x
*/
void led_RGB_flow_task()
{
uint16_t i, j;
float delta_alpha, delta_red, delta_green, delta_blue;
float alpha, red, green, blue;
uint32_t aRGB;
uint16_t i, j;
float delta_alpha, delta_red, delta_green, delta_blue;
float alpha, red, green, blue;
uint32_t aRGB;
while (1)
{
for (i = 0; i < RGB_FLOW_COLOR_LENGHT; i++)
{
alpha = (RGB_flow_color[i] & 0xFF000000) >> 24;
red = ((RGB_flow_color[i] & 0x00FF0000) >> 16);
green = ((RGB_flow_color[i] & 0x0000FF00) >> 8);
blue = ((RGB_flow_color[i] & 0x000000FF) >> 0);
for (i = 0; i < RGB_FLOW_COLOR_LENGHT; i++)
{
alpha = (RGB_flow_color[i] & 0xFF000000) >> 24;
red = ((RGB_flow_color[i] & 0x00FF0000) >> 16);
green = ((RGB_flow_color[i] & 0x0000FF00) >> 8);
blue = ((RGB_flow_color[i] & 0x000000FF) >> 0);
delta_alpha = (float)((RGB_flow_color[i + 1] & 0xFF000000) >> 24) - (float)((RGB_flow_color[i] & 0xFF000000) >> 24);
delta_red = (float)((RGB_flow_color[i + 1] & 0x00FF0000) >> 16) - (float)((RGB_flow_color[i] & 0x00FF0000) >> 16);
delta_green = (float)((RGB_flow_color[i + 1] & 0x0000FF00) >> 8) - (float)((RGB_flow_color[i] & 0x0000FF00) >> 8);
delta_blue = (float)((RGB_flow_color[i + 1] & 0x000000FF) >> 0) - (float)((RGB_flow_color[i] & 0x000000FF) >> 0);
delta_alpha = (float)((RGB_flow_color[i + 1] & 0xFF000000) >> 24) - (float)((RGB_flow_color[i] & 0xFF000000) >> 24);
delta_red = (float)((RGB_flow_color[i + 1] & 0x00FF0000) >> 16) - (float)((RGB_flow_color[i] & 0x00FF0000) >> 16);
delta_green = (float)((RGB_flow_color[i + 1] & 0x0000FF00) >> 8) - (float)((RGB_flow_color[i] & 0x0000FF00) >> 8);
delta_blue = (float)((RGB_flow_color[i + 1] & 0x000000FF) >> 0) - (float)((RGB_flow_color[i] & 0x000000FF) >> 0);
delta_alpha /= RGB_FLOW_COLOR_CHANGE_TIME;
delta_red /= RGB_FLOW_COLOR_CHANGE_TIME;
delta_green /= RGB_FLOW_COLOR_CHANGE_TIME;
delta_blue /= RGB_FLOW_COLOR_CHANGE_TIME;
for (j = 0; j < RGB_FLOW_COLOR_CHANGE_TIME; j++)
{
alpha += delta_alpha;
red += delta_red;
green += delta_green;
blue += delta_blue;
delta_alpha /= RGB_FLOW_COLOR_CHANGE_TIME;
delta_red /= RGB_FLOW_COLOR_CHANGE_TIME;
delta_green /= RGB_FLOW_COLOR_CHANGE_TIME;
delta_blue /= RGB_FLOW_COLOR_CHANGE_TIME;
for (j = 0; j < RGB_FLOW_COLOR_CHANGE_TIME; j++)
{
alpha += delta_alpha;
red += delta_red;
green += delta_green;
blue += delta_blue;
aRGB = ((uint32_t)(alpha)) << 24 | ((uint32_t)(red)) << 16 | ((uint32_t)(green)) << 8 | ((uint32_t)(blue)) << 0;
aRGB_led_show(aRGB);
osDelay(1);
}
}
}
aRGB = ((uint32_t)(alpha)) << 24 | ((uint32_t)(red)) << 16 | ((uint32_t)(green)) << 8 | ((uint32_t)(blue)) << 0;
aRGB_led_show(aRGB);
}
}
HAL_Delay(1);
}

34
modules/master_machine/seasky_protocol.c
View File

@@ -5,9 +5,9 @@
* @brief 湖南大学RoBoMatster串口通信协议
* @version 0.1
* @date 2022-11-03
*
*
* @copyright Copyright (c) 2022
*
*
*/
#include "seasky_protocol.h"
@@ -38,7 +38,7 @@ static uint16_t CRC16_Check_Sum(uint8_t *pchMessage, uint32_t dwLength)
}
/*检验数据帧头*/
static uint8_t protocol_heade_Check(protocol_rm_struct *pro,uint8_t *rx_buf)
static uint8_t protocol_heade_Check(protocol_rm_struct *pro, uint8_t *rx_buf)
{
if (rx_buf[0] == PROTOCOL_CMD_ID)
{
@@ -58,12 +58,12 @@ static uint8_t protocol_heade_Check(protocol_rm_struct *pro,uint8_t *rx_buf)
此函数根据待发送的数据更新数据帧格式以及内容，实现数据的打包操作
后续调用通信接口的发送函数发送tx_buf中的对应数据
*/
void get_protocol_send_data(uint16_t send_id, //信号id
void get_protocol_send_data(uint16_t send_id, // 信号id
uint16_t flags_register, // 16位寄存器
float *tx_data, //待发送的float数据
float *tx_data, // 待发送的float数据
uint8_t float_length, // float的数据长度
uint8_t *tx_buf, //待发送的数据帧
uint16_t *tx_buf_len) //待发送的数据帧长度
uint8_t *tx_buf, // 待发送的数据帧
uint16_t *tx_buf_len) // 待发送的数据帧长度
{
static uint16_t crc16;
static uint16_t data_len;
@@ -71,9 +71,9 @@ void get_protocol_send_data(uint16_t send_id, //信号id
data_len = float_length * 4 + 2;
/*帧头部分*/
tx_buf[0] = PROTOCOL_CMD_ID;
tx_buf[1] = data_len & 0xff; //低位在前
tx_buf[2] = (data_len >> 8) & 0xff; //低位在前
tx_buf[3] = Get_CRC8_Check(&tx_buf[0], 3); //获取CRC8校验位
tx_buf[1] = data_len & 0xff; // 低位在前
tx_buf[2] = (data_len >> 8) & 0xff; // 低位在前
tx_buf[3] = crc_8(&tx_buf[0], 3); // 获取CRC8校验位
/*数据的信号id*/
tx_buf[4] = send_id & 0xff;
@@ -90,7 +90,7 @@ void get_protocol_send_data(uint16_t send_id, //信号id
}
/*整包校验*/
crc16 = Get_CRC16_Check(&tx_buf[0], data_len + 6);
crc16 = crc_16(&tx_buf[0], data_len + 6);
tx_buf[data_len + 6] = crc16 & 0xff;
tx_buf[data_len + 7] = (crc16 >> 8) & 0xff;
@@ -100,21 +100,21 @@ void get_protocol_send_data(uint16_t send_id, //信号id
此函数用于处理接收数据，
返回数据内容的id
*/
uint16_t get_protocol_info(uint8_t *rx_buf, //接收到的原始数据
uint16_t *flags_register, //接收数据的16位寄存器地址
uint8_t *rx_data) //接收的float数据存储地址
uint16_t get_protocol_info(uint8_t *rx_buf, // 接收到的原始数据
uint16_t *flags_register, // 接收数据的16位寄存器地址
uint8_t *rx_data) // 接收的float数据存储地址
{
static protocol_rm_struct pro;
static uint16_t date_length;
volatile size_t s=sizeof(pro);
volatile size_t aa=sizeof(Vision_Recv_s);
volatile size_t s = sizeof(pro);
volatile size_t aa = sizeof(Vision_Recv_s);
if (protocol_heade_Check(&pro, rx_buf))
{
date_length = OFFSET_BYTE + pro.header.data_length;
if (CRC16_Check_Sum(&rx_buf[0], date_length))
{
*flags_register = (rx_buf[7] << 8) | rx_buf[6];
memcpy(rx_data,rx_buf+8,4*sizeof(pro.header.data_length - 2));
memcpy(rx_data, rx_buf + 8, 4 * sizeof(pro.header.data_length - 2));
return pro.cmd_id;
}
}