add vision protocol

modules/master_machine/master_process.c

@@ -1 +1,54 @@
-#include "Master_process.h"
+/**
+ * @file master_process.c
+ * @author neozng
+ * @brief  module for recv&send vision data
+ * @version beta
+ * @date 2022-11-03
+ *
+ * @copyright Copyright (c) 2022
+ *
+ */
+#include "Master_process.h"
+
+/* use usart1 as vision communication*/
+static Vision_Recv_s recv_data;
+static usart_instance vision_usart_instance;
+
+/**
+ * @brief 接收解包回调函数,将在bsp_usart.c中被usart rx callback调用
+ * @todo  1.提高可读性,将get_protocol_info的第四个参数增加一个float buffer
+ *        2.添加标志位解码
+ */
+static void DecodeVision()
+{
+    static uint16_t flag_register;
+    get_protocol_info(vision_usart_instance.recv_buff, &flag_register, &recv_data.pitch);
+    // TODO: code to resolve flag_register;
+}
+
+/* 视觉通信初始化 */
+void VisionInit(UART_HandleTypeDef *handle)
+{
+    vision_usart_instance.module_callback = DecodeVision;
+    vision_usart_instance.recv_buff_size = VISION_RECV_SIZE;
+    vision_usart_instance.usart_handle = handle;
+    USARTRegister(&vision_usart_instance);
+}
+
+/**
+ * @brief 发送函数
+ * @todo 1.提高可读性,将get_protocol_info的第四个参数增加一个float buffer
+ *       2.添加标志位解码
+ *
+ * @param send 待发送数据
+ */
+void VisionSend(Vision_Send_s *send)
+{
+    static uint16_t flag_register;
+    static uint8_t send_buff[VISION_SEND_SIZE];
+    static uint16_t tx_len;
+    // TODO: code to set flag_register
+
+    get_protocol_send_data(0x02, flag_register, &send->yaw, 3, send_buff, &tx_len);
+    USARTSend(&vision_usart_instance, send_buff, tx_len);
+}