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https://gitee.com/dlmu-cone/bf_original_balance_chassis
synced 2026-07-24 03:27:45 +08:00
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.
This commit is contained in:
NeoZeng
@@ -1,19 +1,19 @@
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/**
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* @file referee.h
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* @author kidneygood (you@domain.com)
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* @brief
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* @brief
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* @version 0.1
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* @date 2022-11-18
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*
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*
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* @copyright Copyright (c) 2022
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*
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*
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*/
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#ifndef REFEREE_H
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#define REFEREE_H
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#include"bsp_usart.h"
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#include"usart.h"
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#include "bsp_usart.h"
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#include "usart.h"
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#define FALSE 0
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#define TRUE 1
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@@ -21,12 +21,13 @@
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#define JUDGE_DATA_ERROR 0
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#define JUDGE_DATA_CORRECT 1
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#define LEN_HEADER 5 //帧头长
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#define LEN_CMDID 2 //命令码长度
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#define LEN_TAIL 2 //帧尾CRC16
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#define LEN_HEADER 5 // 帧头长
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#define LEN_CMDID 2 // 命令码长度
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#define LEN_TAIL 2 // 帧尾CRC16
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//起始字节,协议固定为0xA5
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// 起始字节,协议固定为0xA5
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#define JUDGE_FRAME_HEADER (0xA5)
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#pragma pack(1)
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/***************裁判系统数据接收********************/
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@@ -41,33 +42,33 @@ typedef enum
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// 5字节帧头,偏移位置
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typedef enum
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{
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SOF = 0, //起始位
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DATA_LENGTH = 1, //帧内数据长度,根据这个来获取数据长度
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SEQ = 3, //包序号
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SOF = 0, // 起始位
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DATA_LENGTH = 1, // 帧内数据长度,根据这个来获取数据长度
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SEQ = 3, // 包序号
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CRC8 = 4 // CRC8
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} FrameHeaderOffset;
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//命令码ID,用来判断接收的是什么数据
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// 命令码ID,用来判断接收的是什么数据
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typedef enum
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{
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ID_game_state = 0x0001, //比赛状态数据
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ID_game_result = 0x0002, //比赛结果数据
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ID_game_robot_survivors = 0x0003, //比赛机器人血量数据
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ID_event_data = 0x0101, //场地事件数据
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ID_supply_projectile_action = 0x0102, //场地补给站动作标识数据
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ID_supply_projectile_booking = 0x0103, //场地补给站预约子弹数据
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ID_game_robot_state = 0x0201, //机器人状态数据
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ID_power_heat_data = 0x0202, //实时功率热量数据
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ID_game_robot_pos = 0x0203, //机器人位置数据
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ID_buff_musk = 0x0204, //机器人增益数据
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ID_aerial_robot_energy = 0x0205, //空中机器人能量状态数据
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ID_robot_hurt = 0x0206, //伤害状态数据
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ID_shoot_data = 0x0207, //实时射击数据
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ID_game_state = 0x0001, // 比赛状态数据
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ID_game_result = 0x0002, // 比赛结果数据
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ID_game_robot_survivors = 0x0003, // 比赛机器人血量数据
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ID_event_data = 0x0101, // 场地事件数据
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ID_supply_projectile_action = 0x0102, // 场地补给站动作标识数据
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ID_supply_projectile_booking = 0x0103, // 场地补给站预约子弹数据
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ID_game_robot_state = 0x0201, // 机器人状态数据
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ID_power_heat_data = 0x0202, // 实时功率热量数据
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ID_game_robot_pos = 0x0203, // 机器人位置数据
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ID_buff_musk = 0x0204, // 机器人增益数据
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ID_aerial_robot_energy = 0x0205, // 空中机器人能量状态数据
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ID_robot_hurt = 0x0206, // 伤害状态数据
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ID_shoot_data = 0x0207, // 实时射击数据
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} CmdID;
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//命令码数据段长,根据官方协议来定义长度
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// 命令码数据段长,根据官方协议来定义长度
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typedef enum
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{
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LEN_game_state = 3, // 0x0001
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@@ -86,7 +87,7 @@ typedef enum
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} JudgeDataLength;
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/* 自定义帧头 */
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typedef struct
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typedef struct
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{
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uint8_t SOF;
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uint16_t DataLength;
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@@ -172,7 +173,7 @@ typedef struct
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{
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uint16_t chassis_volt;
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uint16_t chassis_current;
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float chassis_power; //瞬时功率
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float chassis_power; // 瞬时功率
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uint16_t chassis_power_buffer; // 60焦耳缓冲能量
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uint16_t shooter_heat0; // 17mm
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uint16_t shooter_heat1;
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@@ -293,34 +294,34 @@ typedef struct
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*/
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typedef struct
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{
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uint8_t data[10]; //数据段,n需要小于113
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uint8_t data[10]; // 数据段,n需要小于113
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} robot_interactive_data_t;
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//发送给客户端的信息
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//帧头 命令码 数据段头结构 数据段 帧尾
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// 发送给客户端的信息
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// 帧头 命令码 数据段头结构 数据段 帧尾
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typedef struct
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{
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xFrameHeader txFrameHeader; //帧头
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uint16_t CmdID; //命令码
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ext_student_interactive_header_data_t dataFrameHeader; //数据段头结构
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client_custom_data_t clientData; //数据段
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uint16_t FrameTail; //帧尾
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xFrameHeader txFrameHeader; // 帧头
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uint16_t CmdID; // 命令码
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ext_student_interactive_header_data_t dataFrameHeader; // 数据段头结构
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client_custom_data_t clientData; // 数据段
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uint16_t FrameTail; // 帧尾
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} ext_SendClientData_t;
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//机器人交互信息
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// 机器人交互信息
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typedef struct
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{
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xFrameHeader txFrameHeader; //帧头
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uint16_t CmdID; //命令码
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ext_student_interactive_header_data_t dataFrameHeader; //数据段头结构
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robot_interactive_data_t interactData; //数据段
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uint16_t FrameTail; //帧尾
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xFrameHeader txFrameHeader; // 帧头
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uint16_t CmdID; // 命令码
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ext_student_interactive_header_data_t dataFrameHeader; // 数据段头结构
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robot_interactive_data_t interactData; // 数据段
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uint16_t FrameTail; // 帧尾
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} ext_CommunatianData_t;
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//裁判系统接收数据整合进一个结构体
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// 裁判系统接收数据整合进一个结构体
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typedef struct
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{
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xFrameHeader FrameHeader; //接收到的帧头信息
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xFrameHeader FrameHeader; // 接收到的帧头信息
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uint16_t CmdID;
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ext_game_state_t GameState; // 0x0001
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ext_game_result_t GameResult; // 0x0002
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@@ -335,20 +336,14 @@ typedef struct
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ext_robot_hurt_t RobotHurt; // 0x0206
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ext_shoot_data_t ShootData; // 0x0207
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ext_SendClientData_t ShowData; //客户端信息
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ext_CommunatianData_t CommuData; //队友通信信息
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ext_SendClientData_t ShowData; // 客户端信息
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ext_CommunatianData_t CommuData; // 队友通信信息
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} referee_info_t;
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extern referee_info_t referee_info;
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void referee_init(UART_HandleTypeDef *referee_usart_handle);
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void Judge_Read_Data(uint8_t *ReadFromUsart);
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float JUDGE_fGetChassisPower(void);
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void RefereeInit(UART_HandleTypeDef *referee_usart_handle);
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void JudgeReadData(uint8_t *ReadFromUsart);
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float JudgeGetChassisPower(void);
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#endif // !REFEREE_H
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