Merge remote-tracking branch 'origin/master'

# Conflicts:
#	.vscode/launch.json
#	application/gimbal/gimbal.c
#	application/robot.c
#	bsp/usart/bsp_usart.c
#	bsp/usart/bsp_usart.h
#	modules/master_machine/master_process.c
#	modules/master_machine/seasky_protocol.c

modules/master_machine/master_process.c

@@ -12,12 +12,15 @@
 #include "bsp_usart.h"
 #include "usart.h"
 #include "seasky_protocol.h"
+#include "daemon.h"
+#include "bsp_log.h"
 
 static Vision_Recv_s recv_data;
 // @todo:由于后续需要进行IMU-Cam的硬件触发采集控制,因此可能需要将发送设置为定时任务,或由IMU采集完成产生的中断唤醒的任务,
 // 后者显然更nice,使得时间戳对齐. 因此,在send_data中设定其他的标志位数据,让ins_task填充姿态值.
 // static Vision_Send_s send_data;
 static USARTInstance *vision_usart_instance;
+static DaemonInstance *vision_daemon_instance;
 
 /**
  * @brief 接收解包回调函数,将在bsp_usart.c中被usart rx callback调用
@@ -27,9 +30,23 @@ static USARTInstance *vision_usart_instance;
 static void DecodeVision()
 {
     static uint16_t flag_register;
+    DaemonReload(vision_daemon_instance); // 喂狗
     get_protocol_info(vision_usart_instance->recv_buff, &flag_register, (uint8_t *)&recv_data.pitch);
- 
     // TODO: code to resolve flag_register;
+    PrintLog("decode vision");
+
+}
+
+/**
+ * @brief 离线回调函数,将在daemon.c中被daemon task调用
+ * @attention 由于HAL库的设计问题,串口开启DMA接收之后同时发送有概率出现__HAL_LOCK()导致的死锁,使得无法
+ *            进入接收中断.通过daemon判断数据更新,重新调用服务启动函数以解决此问题.
+ *
+ * @param id vision_usart_instance的地址,此处没用.
+ */
+static void VisionOfflineCallback(void *id)
+{
+    USARTServiceInit(vision_usart_instance);
 }
 
 /* 视觉通信初始化 */
@@ -39,8 +56,16 @@ Vision_Recv_s *VisionInit(UART_HandleTypeDef *_handle)
     conf.module_callback = DecodeVision;
     conf.recv_buff_size = VISION_RECV_SIZE;
     conf.usart_handle = _handle;
-    
     vision_usart_instance = USARTRegister(&conf);
+
+    // 为master process注册daemon,用于判断视觉通信是否离线
+    Daemon_Init_Config_s daemon_conf = {
+        .callback = VisionOfflineCallback, // 离线时调用的回调函数,会重启串口接收
+        .owner_id = vision_usart_instance,
+        .reload_count = 10,
+    };
+    vision_daemon_instance = DaemonRegister(&daemon_conf);
+
     return &recv_data;
 }
 
@@ -59,13 +84,11 @@ void VisionSend(Vision_Send_s *send)
     static uint8_t send_buff[VISION_SEND_SIZE];
     static uint16_t tx_len;
     // TODO: code to set flag_register
-    flag_register = 0x0001;
+
     // 将数据转化为seasky协议的数据包
     get_protocol_send_data(0x02, flag_register, &send->yaw, 3, send_buff, &tx_len);
-    USARTSend(vision_usart_instance, send_buff, tx_len,USART_TRANSFER_IT);
-    // if(vision_usart_instance->usart_handle->ReceptionType == HAL_UART_RECEPTION_TOIDLE)
-    // {HAL_UARTEx_ReceiveToIdle_DMA(vision_usart_instance->usart_handle, vision_usart_instance->recv_buff, vision_usart_instance->recv_buff_size);
-    //         __HAL_DMA_DISABLE_IT(vision_usart_instance->usart_handle->hdmarx, DMA_IT_HT);
-        
-    // }
+    USARTSend(vision_usart_instance, send_buff, tx_len, USART_TRANSFER_DMA); // 和视觉通信使用IT,防止和接收使用的DMA冲突
+    // 此处为HAL设计的缺陷,DMASTOP会停止发送和接收,导致再也无法进入接收中断.
+    // 也可在发送完成中断中重新启动DMA接收,但较为复杂.因此,此处使用IT发送.
+    // 若使用了daemon,则也可以使用DMA发送.
 }