更新了视觉上位机和CAN多机通信的文档

modules/master_machine/master_process.c

@@ -14,7 +14,7 @@
 #include "seasky_protocol.h"
 
 /* use usart1 as vision communication*/
-Vision_Recv_s recv_data;
+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;
@@ -61,9 +61,4 @@ void VisionSend(Vision_Send_s *send)
 
     get_protocol_send_data(0x02, flag_register, &send->yaw, 3, send_buff, &tx_len);
     USARTSend(vision_usart_instance, send_buff, tx_len);
-}
-
-Vision_Recv_s *VisionGetcmd()
-{
-    return &recv_data;
 }

modules/master_machine/master_process.h

@@ -7,6 +7,78 @@
 #define VISION_RECV_SIZE 36u
 #define VISION_SEND_SIZE 36u
 
+typedef enum
+{
+	NO_FIRE = 0,
+	AUTO_FIRE = 1,
+	AUTO_AIM = 2
+} Fire_Mode_e;
+
+typedef enum
+{
+	NO_TARGET = 0,
+	TARGET_CONVERGING = 1,
+	READY_TO_FIRE = 2
+} Target_State_e;
+
+typedef enum
+{
+	NO_TARGET_NUM = 0,
+	HERO1 = 1,
+	ENGINEER2 = 2,
+	INFANTRY3 = 3,
+	INFANTRY4 = 4,
+	INFANTRY5 = 5,
+	OUTPOST = 6,
+	SENTRY = 7,
+	BASE = 8
+} Target_Type_e;
+
+typedef struct
+{
+	Fire_Mode_e fire_mode;
+	Target_State_e target_state;
+	Target_Type_e target_type;
+
+	float pitch;
+	float yaw;
+} Vision_Recv_s;
+
+typedef enum
+{
+	BLUE = 0,
+	RED = 1
+} Enemy_Color_e;
+
+typedef enum
+{
+	MODE_AIM = 0,
+	MODE_SMALL_BUFF = 1,
+	MODE_BIG_BUFF = 2
+} Work_Mode_e;
+
+typedef enum
+{
+	BIG_AMU_10 = 10,
+	SMALL_AMU_15 = 15,
+	BIG_AMU_16 = 16,
+	SMALL_AMU_18 = 18,
+	SMALL_AMU_30 = 30,
+} Bullet_Speed_e;
+
+typedef struct
+{
+	Enemy_Color_e enemy_color;
+	Work_Mode_e work_mode;
+	Bullet_Speed_e bullet_speed;
+
+	float yaw;
+	float pitch;
+	float roll;
+
+	// uint32_t time_stamp; // @todo 用于和相机的时间戳对齐
+} Vision_Send_s;
+
 /**
  * @brief 调用此函数初始化和视觉的串口通信
  *

modules/master_machine/master_process.md

@@ -1 +1,134 @@
-# master_process
+# master_process
+
+
+
+<p align='right'>neozng1@hnu.edu.cn</p>
+
+> TODO:
+>
+> 1. 补全标志位解析和发送设置的代码
+> 2. 增加发送给视觉数据的时间戳用于数据对齐
+
+
+
+## 总览和封装说明
+
+模块包含了和视觉通信的初始化、向上位机发送信息的接口和模块的串口的回调处理。接口的定义统一，可以方便的替换成其他通信方式，如CAN。
+
+## 代码结构
+
+.h文件内包括了外部接口和与**视觉上位机通信的数据结构定义**，以及模块对应的宏。c文件内为私有函数和外部接口的定义。
+
+本模块主要是对协议解析的处理和协议发送的封装，实际内容不多。协议相关内容都在`seasky_protocol.h`中。
+
+## 类型定义
+
+和视觉通信所必须的标志位和数据。包括开火模式，目标状态，目标类型，接收/发送数据结构体。
+
+```c
+typedef enum
+{
+	NO_FIRE = 0,
+	AUTO_FIRE = 1,
+	AUTO_AIM = 2
+} Fire_Mode_e;
+
+typedef enum
+{
+	NO_TARGET = 0,
+	TARGET_CONVERGING = 1,
+	READY_TO_FIRE = 2
+} Target_State_e;
+
+typedef enum
+{
+	NO_TARGET_NUM = 0,
+	HERO1 = 1,
+	ENGINEER2 = 2,
+	INFANTRY3 = 3,
+	INFANTRY4 = 4,
+	INFANTRY5 = 5,
+	OUTPOST = 6,
+	SENTRY = 7,
+	BASE = 8
+} Target_Type_e;
+
+typedef struct
+{
+	Fire_Mode_e fire_mode;
+	Target_State_e target_state;
+	Target_Type_e target_type;
+
+	float pitch;
+	float yaw;
+} Vision_Recv_s;
+
+typedef enum
+{
+	BLUE = 0,
+	RED = 1
+} Enemy_Color_e;
+
+typedef enum
+{
+	MODE_AIM = 0,
+	MODE_SMALL_BUFF = 1,
+	MODE_BIG_BUFF = 2
+} Work_Mode_e;
+
+typedef enum
+{
+	BIG_AMU_10 = 10,
+	SMALL_AMU_15 = 15,
+	BIG_AMU_16 = 16,
+	SMALL_AMU_18 = 18,
+	SMALL_AMU_30 = 30,
+} Bullet_Speed_e;
+
+typedef struct
+{
+	Enemy_Color_e enemy_color;
+	Work_Mode_e work_mode;
+	Bullet_Speed_e bullet_speed;
+
+	float yaw;
+	float pitch;
+	float roll;
+	// uint32_t time_stamp; // @todo 用于和相机的时间戳对齐
+} Vision_Send_s;
+```
+
+## 外部接口
+
+```c
+Vision_Recv_s *VisionInit(UART_HandleTypeDef *_handle);
+
+void VisionSend(Vision_Send_s *send);
+```
+
+给`VisionInit()`传入串口handle，将初始化一个视觉通信模块，返回值是接收数据的结构体指针。拥有视觉模块的应用应该在初始化中调用此函数，并保存返回值的指针。
+
+调用`VisionSend`并传入填好发送数据的结构体，会通过底层的通信模块向视觉发送一帧报文。
+
+## 私有函数和变量
+
+```c
+static Vision_Recv_s recv_data;
+
+static usart_instance *vision_usart_instance;
+
+static void DecodeVision()
+{
+    static uint16_t flag_register;
+    get_protocol_info(vision_usart_instance->recv_buff, &flag_register, (uint8_t*)&recv_data.pitch);
+    // TODO: code to resolve flag_register;
+}
+```
+
+第一个是保存接收数据的结构体，其指针将会在初始化的时候返回给拥有者。目前最多只能配置一个视觉模块。
+
+第二个是该模块拥有的串口实例指针，用于调度其底层的发送和接收。如果要换成CAN/SPI等，替换成对应实例，并修改初始化和发送的实现即可。
+
+`DecodeVision()`是解析视觉接收数据的回调函数，会在串口接收回调中被调用。如果修改通信协议，只需要更改
+
+`get_protocol_info()`。

modules/master_machine/seasky_protocol.c

@@ -104,10 +104,10 @@ uint16_t get_protocol_info(uint8_t *rx_buf,          // 接收到的原始数据
                            uint16_t *flags_register, // 接收数据的16位寄存器地址
                            uint8_t *rx_data)         // 接收的float数据存储地址
 {
+    // 放在静态区,避免反复申请栈上空间
     static protocol_rm_struct pro;
     static uint16_t date_length;
-    volatile size_t s = sizeof(pro);
-    volatile size_t aa = sizeof(Vision_Recv_s);
+
     if (protocol_heade_Check(&pro, rx_buf))
     {
         date_length = OFFSET_BYTE + pro.header.data_length;

modules/master_machine/seasky_protocol.h

@@ -5,81 +5,8 @@
 #include <stdint-gcc.h>
 
 #define PROTOCOL_CMD_ID 0XA5
-
 #define OFFSET_BYTE 8 // 出数据段外，其他部分所占字节数
 
-typedef enum
-{
-	NO_FIRE = 0,
-	AUTO_FIRE = 1,
-	AUTO_AIM = 2
-} Fire_Mode_e;
-
-typedef enum
-{
-	NO_TARGET = 0,
-	TARGET_CONVERGING = 1,
-	READY_TO_FIRE = 2
-} Target_State_e;
-
-typedef enum
-{
-	NO_TARGET_NUM = 0,
-	HERO1 = 1,
-	ENGINEER2 = 2,
-	INFANTRY3 = 3,
-	INFANTRY4 = 4,
-	INFANTRY5 = 5,
-	OUTPOST = 6,
-	SENTRY = 7,
-	BASE = 8
-} Target_Type_e;
-
-typedef struct
-{
-	Fire_Mode_e fire_mode;
-	Target_State_e target_state;
-	Target_Type_e target_type;
-
-	float pitch;
-	float yaw;
-} Vision_Recv_s;
-
-typedef enum
-{
-	BLUE = 0,
-	RED = 1
-} Enemy_Color_e;
-
-typedef enum
-{
-	MODE_AIM = 0,
-	MODE_SMALL_BUFF = 1,
-	MODE_BIG_BUFF = 2
-} Work_Mode_e;
-
-typedef enum
-{
-	BIG_AMU_10 = 10,
-	SMALL_AMU_15 = 15,
-	BIG_AMU_16 = 16,
-	SMALL_AMU_18 = 18,
-	SMALL_AMU_30 = 30,
-} Bullet_Speed_e;
-
-typedef struct
-{
-	Enemy_Color_e enemy_color;
-	Work_Mode_e work_mode;
-	Bullet_Speed_e bullet_speed;
-
-	float yaw;
-	float pitch;
-	float roll;
-
-	// uint32_t time_stamp; // @todo 用于和相机的时间戳对齐
-} Vision_Send_s;
-
 typedef struct
 {
 	struct