TuxMonkey/bf_original_balance_chassis
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自定义交互数据、机器人车间通信的发送和接收，仅测试发送

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This commit is contained in:
kidneygood
2023-01-26 19:52:07 +08:00
parent 67940a4e38
commit dc68657c16
7 changed files with 154 additions and 145 deletions
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13
modules/referee/rm_referee.c
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@@ -16,12 +16,14 @@
#define RE_RX_BUFFER_SIZE 200
USARTInstance *referee_usart_instance; //暂时改为非静态变量
static USARTInstance *referee_usart_instance; // 暂时改为非静态变量
static referee_info_t referee_info;
static void JudgeReadData(uint8_t *ReadFromUsart);
static void RefereeRxCallback();
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)
{
@@ -37,9 +39,9 @@ referee_info_t *RefereeInit(UART_HandleTypeDef *referee_usart_handle)
* @brief 发送函数
* @param send 待发送数据
*/
void RefereeSend(uint8_t *send,uint16_t tx_len)
void RefereeSend(uint8_t *send, uint16_t tx_len)
{
USARTSend(referee_usart_instance,send,tx_len);
USARTSend(referee_usart_instance, send, tx_len);
/* syhtodo DMA请求过快会导致数据发送丢失，考虑数据尽可能打成一个整包以及队列发送，并且发送函数添加缓冲区 */
HAL_Delay(5);
}
@@ -58,7 +60,7 @@ static void RefereeRxCallback()
*/
static void JudgeReadData(uint8_t *ReadFromUsart)
{
uint16_t judge_length; // 统计一帧数据长度
uint16_t judge_length; // 统计一帧数据长度
if (ReadFromUsart == NULL) // 空数据包，则不作任何处理
return;
@@ -118,6 +120,9 @@ static void JudgeReadData(uint8_t *ReadFromUsart)
case ID_shoot_data: // 0x0207
memcpy(&referee_info.ShootData, (ReadFromUsart + DATA_Offset), LEN_shoot_data);
break;
case ID_student_interactive: // 0x0301 syhtodo接收代码未测试
memcpy(&referee_info.ReceiveData, (ReadFromUsart + DATA_Offset), LEN_receive_data);
break;
}
}
}