sending working

RoboMaster-Club · Apr 13, 2024 · 66d1413 · 66d1413
1 parent 35f2643
commit 66d1413
Show file tree

Hide file tree

Showing 6 changed files with 22 additions and 11 deletions.
diff --git a/src/app/src/debug_task.c b/src/app/src/debug_task.c
@@ -28,7 +28,7 @@ char g_debug_buffer[1024*2] = {0};
 const char* top_border = "\r\n\r\n\r\n/***** System Info *****/\r\n";
 const char* bottom_border = "/***** End of Info *****/\r\n";
 
-#define DEBUG_ENABLED
+// #define DEBUG_ENABLED
 
 void Debug_Task_Loop(void)
 {

diff --git a/src/app/src/robot.c b/src/app/src/robot.c
@@ -47,8 +47,8 @@ void Robot_Init()
     Launch_Task_Init();
     Remote_Init(&huart3);
     CAN_Service_Init();
-    Referee_System_Init(&huart1);
-    Jetson_Orin_Init(&huart6);
+    // Referee_System_Init(&huart1);
+    Jetson_Orin_Init(&huart1);
     //  Initialize all tasks
     Robot_Tasks_Start();
 }

diff --git a/src/devices/inc/jetson_orin.h b/src/devices/inc/jetson_orin.h
@@ -5,10 +5,10 @@
 #include "bsp_uart.h"
 
 #define ORIN_DATA_RX_BUFER_SIZE (20)
-#define ORIN_DATA_TX_BUFER_SIZE (33)
+#define ORIN_DATA_TX_BUFER_SIZE (33+18) // 33 Normal data + 18 Remote data + 1 Remote Offline
 
 #define ORIN_TIMEOUT_MS (3000)
-#define JETSON_ORIN_PERIOD (100)
+#define JETSON_ORIN_PERIOD (10)
 
 typedef struct
 {
@@ -30,7 +30,7 @@ typedef struct
         union
         {
             float data[8];
-            uint8_t data_bytes[32];
+            uint8_t data_bytes[32+18];
         } float_byte;
     } sending;
 

diff --git a/src/devices/inc/remote.h b/src/devices/inc/remote.h
@@ -88,6 +88,7 @@ typedef struct
 
 
 extern Remote_t g_remote;
+extern uint8_t g_remote_shared_buffer[18];
 Remote_t* Remote_Init(UART_HandleTypeDef *huart);
 
 #endif /* __REMOTE_H */
diff --git a/src/devices/src/jetson_orin.c b/src/devices/src/jetson_orin.c
@@ -4,9 +4,9 @@
 
 #include "imu_task.h"
 #include "bsp_daemon.h"
+#include "remote.h"
 
 Jetson_Orin_Data_t g_orin_data;
-
 UART_Instance_t *g_orin_uart_instance_ptr;
 Daemon_Instance_t *g_orin_daemon_instance_ptr;
 
@@ -98,8 +98,15 @@ void Jetson_Orin_Send_Data(void)
 	g_orin_data.sending.float_byte.data[6] = g_orin_data.sending.velocity_x;
 	g_orin_data.sending.float_byte.data[7] = g_orin_data.sending.velocity_y;
 
-	g_orin_data.tx_buffer[0] = 0xAA;
-	memcpy(&g_orin_data.tx_buffer[1],&g_orin_data.sending.float_byte.data_bytes[0], 32*sizeof(uint8_t));
+	if (g_remote.online_flag == 1)
+	{
+		memcpy(&g_orin_data.sending.float_byte.data_bytes[32], &g_remote_shared_buffer, 18*sizeof(uint8_t));
+	} else {
+		memset(&g_orin_data.sending.float_byte.data_bytes[32], 0, 18*sizeof(uint8_t));
+	}
+
 
-	//UART_Transmit(g_orin_uart_instance_ptr, g_orin_data.tx_buffer, sizeof(g_orin_data.tx_buffer), UART_DMA);
+	g_orin_data.tx_buffer[0] = 0xAA;
+	memcpy(&g_orin_data.tx_buffer[1],&g_orin_data.sending.float_byte.data_bytes[0], ORIN_DATA_TX_BUFER_SIZE*sizeof(uint8_t));
+	UART_Transmit(g_orin_uart_instance_ptr, g_orin_data.tx_buffer, sizeof(g_orin_data.tx_buffer), UART_DMA);
 }
diff --git a/src/devices/src/remote.c b/src/devices/src/remote.c
@@ -12,9 +12,10 @@
 Remote_t g_remote;
 UART_Instance_t *g_remote_uart;
 Daemon_Instance_t *g_remote_daemon;
-
 uint8_t remote_buffer[18];
 volatile uint8_t debug_buffer[18];
+uint8_t g_remote_shared_buffer[18]; //protected by mutex
+
 /*
  * Remote_BufferProcess()
  * 
@@ -23,6 +24,8 @@ volatile uint8_t debug_buffer[18];
 void Remote_Buffer_Process()
 {
 	memcpy((void*) debug_buffer, remote_buffer, 18);
+	memcpy((void*) g_remote_shared_buffer, remote_buffer, 18);
+
 	// controller decode
 	g_remote.controller.right_stick.x = ((remote_buffer[0] | (remote_buffer[1] << 8)) & 0x07ff) - 1024;
 	g_remote.controller.right_stick.y = (((remote_buffer[1] >> 3) | (remote_buffer[2] << 5)) & 0x07ff) - 1024;