串口6DMA发送

2026-07-24 11:37:45 +08:00 · 2023-01-09 16:17:03 +08:00
parent 162044889f
commit 86e30f7893
7 changed files with 744 additions and 31 deletions
--- a/modules/referee/referee_UI.h
+++ b/modules/referee/referee_UI.h
@@ -0,0 +1,172 @@
+#ifndef REFEREE_UI_H
+#define REFEREE_UI_H
+
+#include "stdarg.h"
+#include "usart.h"
+#include "stdint.h"
+#pragma pack(1)                           //按1字节对齐
+
+// #define NULL 0
+#define __FALSE 100
+
+/****************************开始标志*********************/
+#define UI_SOF 0xA5
+/****************************CMD_ID数据********************/
+#define UI_CMD_Robo_Exchange 0x0301    
+/****************************内容ID数据********************/
+#define UI_Data_ID_Del 0x100 
+#define UI_Data_ID_Draw1 0x101
+#define UI_Data_ID_Draw2 0x102
+#define UI_Data_ID_Draw5 0x103
+#define UI_Data_ID_Draw7 0x104
+#define UI_Data_ID_DrawChar 0x110
+/****************************红方机器人ID********************/
+#define UI_Data_RobotID_RHero 1         
+#define UI_Data_RobotID_REngineer 2
+#define UI_Data_RobotID_RStandard1 3
+#define UI_Data_RobotID_RStandard2 4
+#define UI_Data_RobotID_RStandard3 5
+#define UI_Data_RobotID_RAerial 6
+#define UI_Data_RobotID_RSentry 7
+#define UI_Data_RobotID_RRadar 9
+/****************************蓝方机器人ID********************/
+#define UI_Data_RobotID_BHero 101
+#define UI_Data_RobotID_BEngineer 102
+#define UI_Data_RobotID_BStandard1 103
+#define UI_Data_RobotID_BStandard2 104
+#define UI_Data_RobotID_BStandard3 105
+#define UI_Data_RobotID_BAerial 106
+#define UI_Data_RobotID_BSentry 107
+#define UI_Data_RobotID_BRadar 109
+/**************************红方操作手ID************************/
+#define UI_Data_CilentID_RHero 0x0101
+#define UI_Data_CilentID_REngineer 0x0102
+#define UI_Data_CilentID_RStandard1 0x0103
+#define UI_Data_CilentID_RStandard2 0x0104
+#define UI_Data_CilentID_RStandard3 0x0105
+#define UI_Data_CilentID_RAerial 0x0106
+/***************************蓝方操作手ID***********************/
+#define UI_Data_CilentID_BHero 0x0165
+#define UI_Data_CilentID_BEngineer 0x0166
+#define UI_Data_CilentID_BStandard1 0x0167
+#define UI_Data_CilentID_BStandard2 0x0168
+#define UI_Data_CilentID_BStandard3 0x0169
+#define UI_Data_CilentID_BAerial 0x016A
+/***************************删除操作***************************/
+#define UI_Data_Del_NoOperate 0
+#define UI_Data_Del_Layer 1
+#define UI_Data_Del_ALL 2
+/***************************图形配置参数__图形操作********************/
+#define UI_Graph_ADD 1
+#define UI_Graph_Change 2
+#define UI_Graph_Del 3
+/***************************图形配置参数__图形类型********************/
+#define UI_Graph_Line 0         //直线
+#define UI_Graph_Rectangle 1    //矩形
+#define UI_Graph_Circle 2       //整圆
+#define UI_Graph_Ellipse 3      //椭圆
+#define UI_Graph_Arc 4          //圆弧
+#define UI_Graph_Float 5        //浮点型
+#define UI_Graph_Int 6          //整形
+#define UI_Graph_Char 7         //字符型
+/***************************图形配置参数__图形颜色********************/
+#define UI_Color_Main 0         //红蓝主色
+#define UI_Color_Yellow 1
+#define UI_Color_Green 2
+#define UI_Color_Orange 3
+#define UI_Color_Purplish_red 4 //紫红色
+#define UI_Color_Pink 5
+#define UI_Color_Cyan 6         //青色
+#define UI_Color_Black 7
+#define UI_Color_White 8
+
+
+
+typedef unsigned char Uint8_t;
+typedef unsigned char uint8_t;
+
+extern uint16_t Robot_ID;
+extern uint16_t Cilent_ID;
+
+
+
+typedef struct
+{
+   uint8_t SOF;                    //起始字节,固定0xA5
+   uint16_t Data_Length;           //帧数据长度
+   uint8_t Seq;                    //包序号
+   uint8_t CRC8;                   //CRC8校验值
+   uint16_t CMD_ID;                //命令ID
+} UI_Packhead;             //帧头
+
+typedef struct
+{
+   uint16_t Data_ID;               //内容ID
+   uint16_t Sender_ID;             //发送者ID
+   uint16_t Receiver_ID;           //接收者ID
+} UI_Data_Operate;         //操作定义帧
+
+typedef struct
+{
+   uint8_t Delete_Operate;         //删除操作
+   uint8_t Layer;                  //删除图层
+} UI_Data_Delete;          //删除图层帧
+
+
+typedef struct
+{ 
+   uint8_t graphic_name[3]; 
+   uint32_t operate_tpye:3; 
+   uint32_t graphic_tpye:3; 
+   uint32_t layer:4; 
+   uint32_t color:4; 
+   uint32_t start_angle:9;
+   uint32_t end_angle:9;
+   uint32_t width:10; 
+   uint32_t start_x:11; 
+   uint32_t start_y:11;
+   int32_t graph_Float;              //浮点数据
+} Float_Data;
+
+
+typedef struct
+{ 
+uint8_t graphic_name[3]; 
+uint32_t operate_tpye:3; 
+uint32_t graphic_tpye:3; 
+uint32_t layer:4; 
+uint32_t color:4; 
+uint32_t start_angle:9;
+uint32_t end_angle:9;
+uint32_t width:10; 
+uint32_t start_x:11; 
+uint32_t start_y:11;
+uint32_t radius:10; 
+uint32_t end_x:11; 
+uint32_t end_y:11;              //图形数据
+} Graph_Data;
+
+
+typedef struct
+{
+   Graph_Data Graph_Control;
+   uint8_t show_Data[30];
+} String_Data;                  //打印字符串数据
+
+#pragma pack()
+
+void UI_Delete(uint8_t Del_Operate,uint8_t Del_Layer);
+void Line_Draw(Graph_Data *image,char imagename[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y,uint32_t End_x,uint32_t End_y);
+int UI_ReFresh(int cnt,...);
+unsigned char Get_CRC8_Check_Sum_UI(unsigned char *pchMessage,unsigned int dwLength,unsigned char ucCRC8);
+uint16_t Get_CRC16_Check_Sum_UI(uint8_t *pchMessage,uint32_t dwLength,uint16_t wCRC);
+void Circle_Draw(Graph_Data *image,char imagename[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y,uint32_t Graph_Radius);
+void Rectangle_Draw(Graph_Data *image,char imagename[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y,uint32_t End_x,uint32_t End_y);
+void Float_Draw(Float_Data *image,char imagename[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,uint32_t Graph_Size,uint32_t Graph_Digit,uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y,int32_t Graph_Float);
+void Char_Draw(String_Data *image,char imagename[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,uint32_t Graph_Size,uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y);
+int Char_ReFresh(String_Data string_Data);
+void Char_Write(String_Data *image,char* fmt, ...);
+void Arc_Draw(Graph_Data *image,char imagename[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,uint32_t Graph_StartAngle,uint32_t Graph_EndAngle,uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y,uint32_t x_Length,uint32_t y_Length);
+
+
+#endif