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串口6DMA发送

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kidneygood
2023-01-09 16:17:03 +08:00
parent 162044889f
commit 86e30f7893
7 changed files with 744 additions and 31 deletions
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55
modules/referee/referee.c
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@@ -2,18 +2,46 @@
#include "string.h"
#include "crc.h"
#include "bsp_usart.h"
#include "dma.h"
// 参考深圳大学 Infantry_X-master
#define RE_RX_BUFFER_SIZE 200
static USARTInstance *referee_usart_instance;
USARTInstance *referee_usart_instance; //暂时改为非静态变量
/**************裁判系统数据******************/
static referee_info_t referee_info;
static void JudgeReadData(uint8_t *ReadFromUsart);
static void RefereeRxCallback();
// static uint8_t Judge_Self_ID; // 当前机器人的ID
// static uint16_t Judge_SelfClient_ID; // 发送者机器人对应的客户端ID
/* 裁判系统通信初始化 */
referee_info_t *RefereeInit(UART_HandleTypeDef *referee_usart_handle)
{
USART_Init_Config_s conf;
conf.module_callback = RefereeRxCallback;
conf.usart_handle = referee_usart_handle;
conf.recv_buff_size = RE_RX_BUFFER_SIZE;
referee_usart_instance = USARTRegister(&conf);
return &referee_info;
}
/**
* @brief 发送函数
* @param send 待发送数据
*/
void RefereeSend(uint8_t *send,uint16_t tx_len)
{
USARTSend(referee_usart_instance,send,tx_len);
}
/*裁判系统串口接收回调函数,解析数据 */
static void RefereeRxCallback()
{
JudgeReadData(referee_usart_instance->recv_buff);
}
/**
* @brief 读取裁判数据,中断中读取保证速度
* @param ReadFromUsart: 读取到的裁判系统原始数据
@@ -103,23 +131,4 @@ static void JudgeReadData(uint8_t *ReadFromUsart)
JudgeReadData(ReadFromUsart + sizeof(xFrameHeader) + LEN_CMDID + referee_info.FrameHeader.DataLength + LEN_TAIL);
}
}
}
/**
* @brief 裁判系统串口接收回调函数,解析数据
*
*/
static void RefereeRxCallback()
{
JudgeReadData(referee_usart_instance->recv_buff);
}
referee_info_t *RefereeInit(UART_HandleTypeDef *referee_usart_handle)
{
USART_Init_Config_s conf;
conf.module_callback = RefereeRxCallback;
conf.usart_handle = referee_usart_handle;
conf.recv_buff_size = RE_RX_BUFFER_SIZE;
referee_usart_instance = USARTRegister(&conf);
return &referee_info;
}