TuxMonkey/bf_original_balance_chassis
1
0
Fork 0
mirror of https://gitee.com/dlmu-cone/bf_original_balance_chassis synced 2026-07-24 03:27:45 +08:00
Code Issues Packages Projects Releases Wiki Activity

将底层的封装统一为相同的格式

Browse Source
This commit is contained in:
NeoZeng
2022-11-28 17:54:07 +08:00
parent 8332422eac
commit f1301ab7de
17 changed files with 75 additions and 63 deletions
Download Patch File Download Diff File Expand all files Collapse all files

15
modules/master_machine/master_process.c
View File

@@ -15,7 +15,7 @@ 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,
// 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 usart_instance vision_usart_instance;
static usart_instance* vision_usart_instance;
/**
* @brief 接收解包回调函数,将在bsp_usart.c中被usart rx callback调用
@@ -25,17 +25,18 @@ static usart_instance vision_usart_instance;
static void DecodeVision()
{
static uint16_t flag_register;
get_protocol_info(vision_usart_instance.recv_buff, &flag_register, &recv_data.pitch);
get_protocol_info(vision_usart_instance->recv_buff, &flag_register, &recv_data.pitch);
// TODO: code to resolve flag_register;
}
/* 视觉通信初始化 */
Vision_Recv_s* VisionInit(UART_HandleTypeDef *handle)
{
vision_usart_instance.module_callback = DecodeVision;
vision_usart_instance.recv_buff_size = VISION_RECV_SIZE;
vision_usart_instance.usart_handle = handle;
USARTRegister(&vision_usart_instance);
USART_Init_Config_s conf;
conf.module_callback = DecodeVision;
conf.recv_buff_size = VISION_RECV_SIZE;
conf.usart_handle = handle;
vision_usart_instance=USARTRegister(&conf);
return &recv_data;
}
@@ -56,7 +57,7 @@ void VisionSend(Vision_Send_s *send)
// TODO: code to set flag_register
get_protocol_send_data(0x02, flag_register, &send->yaw, 3, send_buff, &tx_len);
USARTSend(&vision_usart_instance, send_buff, tx_len);
USARTSend(vision_usart_instance, send_buff, tx_len);
}

2
modules/master_machine/seasky_protocol.h
View File

@@ -24,7 +24,7 @@ typedef enum
typedef enum
{
NONE = 0,
NO_TARGET_NUM = 0,
HERO1 = 1,
ENGINEER2 = 2,
INFANTRY3 = 3,