TuxMonkey/bf_original_balance_chassis
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修改了bsp_usart的初始化方式,防止出现变包长数据读取一场的问题.增加了注释.

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This commit is contained in:
NeoZeng
2022-11-19 16:28:39 +08:00
parent 269b08f701
commit e3137d867f
8 changed files with 85 additions and 93 deletions
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57
modules/referee/referee.c
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@@ -4,8 +4,7 @@
#include "bsp_usart.h"
#include "dma.h"
//参考深圳大学 Infantry_X-master
// 参考深圳大学 Infantry_X-master
#define RE_RX_BUFFER_SIZE 200
// static usart_instance referee_usart_instance;
@@ -13,17 +12,15 @@ 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
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 void ReceiveCallback()
{
Judge_Read_Data(referee_usart_instance.recv_buff);
JudgeReadData(referee_usart_instance.recv_buff);
}
void referee_init(UART_HandleTypeDef *referee_usart_handle)
void RefereeInit(UART_HandleTypeDef *referee_usart_handle)
{
referee_usart_instance.module_callback = ReceiveCallback;
referee_usart_instance.usart_handle = referee_usart_handle;
@@ -31,41 +28,38 @@ void referee_init(UART_HandleTypeDef *referee_usart_handle)
USARTRegister(&referee_usart_instance);
}
/**
* @brief 读取裁判数据,中断中读取保证速度
* @param 缓存数据
* @retval 是否对正误判断做处理
* @attention 在此判断帧头和CRC校验,无误再写入数据，不重复判断帧头
*/
void Judge_Read_Data(uint8_t *ReadFromUsart)
void JudgeReadData(uint8_t *ReadFromUsart)
{
uint16_t judge_length; //统计一帧数据长度
// referee_info.CmdID = 0; //数据命令码解析
//空数据包，则不作任何处理
uint16_t judge_length; // 统计一帧数据长度
// referee_info.CmdID = 0; //数据命令码解析
// 空数据包，则不作任何处理
if (ReadFromUsart == NULL)
{
return -1;
}
//写入帧头数据(5-byte),用于判断是否开始存储裁判数据
return;
// 写入帧头数据(5-byte),用于判断是否开始存储裁判数据
memcpy(&referee_info.FrameHeader, ReadFromUsart, LEN_HEADER);
//判断帧头数据(0)是否为0xA5
if (ReadFromUsart[SOF] == JUDGE_FRAME_HEADER)
// 判断帧头数据(0)是否为0xA5
if (ReadFromUsart[SOF] == JUDGE_FRAME_HEADER)
{
//帧头CRC8校验
// 帧头CRC8校验
if (Verify_CRC8_Check_Sum(ReadFromUsart, LEN_HEADER) == TRUE)
{
//统计一帧数据长度(byte),用于CR16校验
// 统计一帧数据长度(byte),用于CR16校验
judge_length = ReadFromUsart[DATA_LENGTH] + LEN_HEADER + LEN_CMDID + LEN_TAIL;
//帧尾CRC16校验
// 帧尾CRC16校验
if (Verify_CRC16_Check_Sum(ReadFromUsart, judge_length) == TRUE)
{
// 2个8位拼成16位int
referee_info.CmdID = (ReadFromUsart[6] << 8 | ReadFromUsart[5]);
//解析数据命令码,将数据拷贝到相应结构体中(注意拷贝数据的长度)
//第8个字节开始才是数据 data=7
// 解析数据命令码,将数据拷贝到相应结构体中(注意拷贝数据的长度)
// 第8个字节开始才是数据 data=7
switch (referee_info.CmdID)
{
case ID_game_state: // 0x0001
@@ -89,10 +83,10 @@ void Judge_Read_Data(uint8_t *ReadFromUsart)
break;
case ID_game_robot_state: // 0x0201
memcpy(&referee_info.GameRobotStat,(ReadFromUsart + DATA),LEN_game_robot_state);
memcpy(&referee_info.GameRobotStat, (ReadFromUsart + DATA), LEN_game_robot_state);
break;
case ID_power_heat_data: // 0x0202
memcpy(&referee_info.PowerHeatData, (ReadFromUsart + DATA), LEN_power_heat_data);
memcpy(&referee_info.PowerHeatData, (ReadFromUsart + DATA), LEN_power_heat_data);
break;
case ID_game_robot_pos: // 0x0203
@@ -118,12 +112,11 @@ void Judge_Read_Data(uint8_t *ReadFromUsart)
}
}
}
//首地址加帧长度,指向CRC16下一字节,用来判断是否为0xA5,用来判断一个数据包是否有多帧数据
// 首地址加帧长度,指向CRC16下一字节,用来判断是否为0xA5,用来判断一个数据包是否有多帧数据
if (*(ReadFromUsart + sizeof(xFrameHeader) + LEN_CMDID + referee_info.FrameHeader.DataLength + LEN_TAIL) == 0xA5)
{
//如果一个数据包出现了多帧数据,则再次读取
Judge_Read_Data(ReadFromUsart + sizeof(xFrameHeader) + LEN_CMDID + referee_info.FrameHeader.DataLength + LEN_TAIL);
// 如果一个数据包出现了多帧数据,则再次读取
JudgeReadData(ReadFromUsart + sizeof(xFrameHeader) + LEN_CMDID + referee_info.FrameHeader.DataLength + LEN_TAIL);
}
}
}
@@ -134,7 +127,7 @@ void Judge_Read_Data(uint8_t *ReadFromUsart)
* @retval 实时功率值
* @attention
*/
float JUDGE_fGetChassisPower(void)
float JudgeGetChassisPower(void)
{
return (referee_info.PowerHeatData.chassis_power);
}