TuxMonkey/bf_original_balance_chassis
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增加了hardfault调试支持,修复了消息队列在发布者先于订阅者创建话题时野指针的错误

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This commit is contained in:
NeoZng
2022-12-03 15:20:17 +08:00
parent b024d56bca
commit bc1f928e02
14 changed files with 401 additions and 94 deletions
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22
modules/referee/referee.c
View File

@@ -11,22 +11,23 @@
static usart_instance* referee_usart_instance;
/**************裁判系统数据******************/
referee_info_t referee_info;
uint8_t Judge_Self_ID; // 当前机器人的ID
uint16_t Judge_SelfClient_ID; // 发送者机器人对应的客户端ID
static referee_info_t referee_info;
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
static void ReceiveCallback()
{
JudgeReadData(referee_usart_instance->recv_buff);
}
void RefereeInit(UART_HandleTypeDef *referee_usart_handle)
referee_info_t* RefereeInit(UART_HandleTypeDef *referee_usart_handle)
{
USART_Init_Config_s conf;
conf.module_callback = ReceiveCallback;
conf.usart_handle = referee_usart_handle;
conf.recv_buff_size = RE_RX_BUFFER_SIZE;
referee_usart_instance=USARTRegister(&conf);
return &referee_info;
}
/**
@@ -120,15 +121,4 @@ void JudgeReadData(uint8_t *ReadFromUsart)
JudgeReadData(ReadFromUsart + sizeof(xFrameHeader) + LEN_CMDID + referee_info.FrameHeader.DataLength + LEN_TAIL);
}
}
}
/**
* @brief 读取瞬时功率
* @param void
* @retval 实时功率值
* @attention
*/
float JudgeGetChassisPower(void)
{
return (referee_info.PowerHeatData.chassis_power);
}
}

18
modules/referee/referee.h
View File

@@ -340,11 +340,17 @@ typedef struct
ext_CommunatianData_t CommuData; // 队友通信信息
} referee_info_t;
extern referee_info_t referee_info;
void RefereeInit(UART_HandleTypeDef *referee_usart_handle);
void JudgeReadData(uint8_t *ReadFromUsart);
float JudgeGetChassisPower(void);
#pragma pack()
/**
* @brief
*
* @param referee_usart_handle
* @return referee_info_t*
*/
referee_info_t* RefereeInit(UART_HandleTypeDef *referee_usart_handle);
#endif // !REFEREE_H