TuxMonkey/bf_original_balance_chassis
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修改了初始化顺序和布局

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This commit is contained in:
NeoZng
2023-04-19 19:28:17 +08:00
parent f6c686598d
commit bcb1d72a97
9 changed files with 93 additions and 372 deletions
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32
modules/referee/rm_referee.c
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@@ -19,7 +19,6 @@
static USARTInstance *referee_usart_instance; // 裁判系统串口实例
static referee_info_t referee_info; // 裁判系统数据
static Referee_Interactive_info_t *UI_tmp; // UI绘制需要的机器人状态数据
static void RefereeRxCallback();
static void JudgeReadData(uint8_t *buff);
@@ -27,46 +26,17 @@ static void JudgeReadData(uint8_t *buff);
uint8_t UI_Seq = 0; // 包序号，供整个referee文件使用
/* 裁判系统通信初始化 */
referee_info_t *RefereeInit(UART_HandleTypeDef *referee_usart_handle, Referee_Interactive_info_t *UI_data)
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);
UI_tmp = UI_data;
return &referee_info;
}
void RefereeGetUIData(referee_info_t **recv_info_pp, Referee_Interactive_info_t **UI_data_pp)
{
*recv_info_pp = &referee_info;
*UI_data_pp = UI_tmp;
}
void CommBetweenRobotSend(referee_id_t *_id, robot_interactive_data_t *_data)
{
Communicate_SendData_t SendData;
uint8_t temp_datalength = Interactive_Data_LEN_Head + Communicate_Data_LEN; // 计算交互数据长度 6+n,n为交互数据长度
SendData.FrameHeader.SOF = REFEREE_SOF;
SendData.FrameHeader.DataLength = temp_datalength;
SendData.FrameHeader.Seq = UI_Seq;
SendData.FrameHeader.CRC8 = Get_CRC8_Check_Sum((uint8_t *)&SendData, LEN_CRC8, 0xFF);
SendData.CmdID = ID_student_interactive;
SendData.datahead.data_cmd_id = Communicate_Data_ID;
SendData.datahead.sender_ID = _id->Robot_ID;
SendData.datahead.receiver_ID = _id->Receiver_Robot_ID;
SendData.Data = *_data;
SendData.frametail = Get_CRC16_Check_Sum((uint8_t *)&SendData, LEN_HEADER + LEN_CMDID + temp_datalength, 0xFFFF);
RefereeSend((uint8_t *)&SendData, LEN_HEADER + LEN_CMDID + temp_datalength + LEN_TAIL); // 发送
UI_Seq++; // 包序号+1
}
/**
* @brief 裁判系统数据发送函数,由于使用