Merge branch 'main' into referee_update

RoboMaster-Club · May 24, 2024 · 985a8f7 · 985a8f7
2 parents 60d6eb0 + 77c1951
commit 985a8f7
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Showing 5 changed files with 53 additions and 6 deletions.
diff --git a/src/app/src/debug_task.c b/src/app/src/debug_task.c
@@ -24,6 +24,7 @@ extern Daemon_Instance_t *g_remote_daemon;
 #ifdef PRINT_RUNTIME_STATS
 char g_debug_buffer[1024*2] = {0};
 #endif
+//#define DEBUG_ENABLED
 
 const char* top_border = "\r\n\r\n\r\n/***** System Info *****/\r\n";
 const char* bottom_border = "/***** End of Info *****/\r\n";

diff --git a/src/devices/inc/referee_system.h b/src/devices/inc/referee_system.h
@@ -291,7 +291,7 @@ typedef struct
 	{
 		uint32_t State;
 	}RFID;
-	
+
 	uint16_t Info_Update_Frame;
 	uint8_t Offline_Flag;
 } Referee_System_t;

diff --git a/src/devices/src/jetson_orin.c b/src/devices/src/jetson_orin.c
@@ -104,5 +104,5 @@ void Jetson_Orin_Send_Data(void)
 	g_orin_data.tx_buffer[1] = g_orin_data.sending.enemy_color_flag << 1 | g_orin_data.sending.game_start_flag;
 	memcpy(&g_orin_data.tx_buffer[2],&g_orin_data.sending.float_byte.data_bytes[0], 32*sizeof(uint8_t));
 
-	UART_Transmit(g_orin_uart_instance_ptr, g_orin_data.tx_buffer, sizeof(g_orin_data.tx_buffer), UART_DMA);
+	//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/referee_system.c b/src/devices/src/referee_system.c
@@ -192,13 +192,59 @@ void Referee_Get_Data(void)
                     memcpy(&Referee_System.RFID, &Referee_System.Buffer[n + 7], sizeof(uint8_t[REFEREE_ROBOT_RFID_LEN-9]));
                     n += REFEREE_ROBOT_RFID_LEN;
                 }
+                else
+                    n++;
+                break;
+			case REFEREE_DART_CLIENT:
+                if (Verify_CRC16_Check_Sum(Referee_System.Buffer + n, REFEREE_DART_CLIENT_LEN))
+                {
+                    memcpy(&Referee_System.Dart_Client, &Referee_System.Buffer[n + 7], sizeof(uint8_t[REFEREE_DART_CLIENT_LEN-9]));
+                    n += REFEREE_DART_CLIENT_LEN;
+                }
+                else
+                    n++;
+                break;
+			case REFEREE_GROUND_POS:
+                if (Verify_CRC16_Check_Sum(Referee_System.Buffer + n, REFEREE_GROUND_POS_LEN))
+                {
+                    memcpy(&Referee_System.Ground_Pos, &Referee_System.Buffer[n + 7], sizeof(uint8_t[REFEREE_GROUND_POS_LEN-9]));
+                    n += REFEREE_GROUND_POS_LEN;
+                }
+                else
+                    n++;
+                break;
+			case REFEREE_RADAR_PROGRESS:
+                if (Verify_CRC16_Check_Sum(Referee_System.Buffer + n, REFEREE_RADAR_PROGRESS_LEN))
+                {
+                    memcpy(&Referee_System.Radar_Progress, &Referee_System.Buffer[n + 7], sizeof(uint8_t[REFEREE_RADAR_PROGRESS_LEN-9]));
+                    n += REFEREE_RADAR_PROGRESS_LEN;
+                }
+                else
+                    n++;
+                break;
+			case REFEREE_SENTRY_DECISION:
+                if (Verify_CRC16_Check_Sum(Referee_System.Buffer + n, REFEREE_SENTRY_DECISION_LEN))
+                {
+                    memcpy(&Referee_System.Sentry_Decision, &Referee_System.Buffer[n + 7], sizeof(uint8_t[REFEREE_SENTRY_DECISION_LEN-9]));
+                    n += REFEREE_SENTRY_DECISION_LEN;
+                }
+                else
+                    n++;
+                break;
+			case REFEREE_RADAR_DECISION:
+                if (Verify_CRC16_Check_Sum(Referee_System.Buffer + n, REFEREE_RADAR_DECISION_LEN))
+                {
+                    memcpy(&Referee_System.Radar_Decision, &Referee_System.Buffer[n + 7], sizeof(uint8_t[REFEREE_RADAR_DECISION_LEN-9]));
+                    n += REFEREE_RADAR_DECISION_LEN;
+                }
                 else
                     n++;
                 break;
             default:
                 n++;
                 break;
             }
+
         }
         else
             n++;

diff --git a/src/ui/src/ui_interface.c b/src/ui/src/ui_interface.c
@@ -104,12 +104,12 @@ void ui_proc_ ## num##_frame(ui_ ## num##_frame_t *msg) {   \
     msg->header.SOF = 0xA5;                                 \
     msg->header.length = 6 + 15 * num;                      \
     msg->header.seq = seq++;                                \
-    msg->header.crc8 = calc_crc8((uint8_t*)msg, 4);        \
+    msg->header.crc8 = Verify_CRC8_Check_Sum((uint8_t*)msg, 4);        \
     msg->header.cmd_id = 0x0301;                            \
     msg->header.sub_id = id;                                \
     msg->header.send_id = ui_self_id;                       \
     msg->header.recv_id = ui_self_id + 256;                 \
-    msg->crc16 = calc_crc16((uint8_t*)msg, 13 + 15 * num); \
+    msg->crc16 = Verify_CRC16_Check_Sum((uint8_t*)msg, 13 + 15 * num); \
 }
 
 DEFINE_FRAME_PROC(1, 0x0101)
@@ -121,11 +121,11 @@ void ui_proc_string_frame(ui_string_frame_t *msg) {
     msg->header.SOF = 0xA5;
     msg->header.length = 51;
     msg->header.seq = seq++;
-    msg->header.crc8 = calc_crc8((uint8_t *) msg, 4);
+    msg->header.crc8 = Verify_CRC8_Check_Sum((uint8_t *) msg, 4);
     msg->header.cmd_id = 0x0301;
     msg->header.sub_id = 0x0110;
     msg->header.send_id = ui_self_id;
     msg->header.recv_id = ui_self_id + 256;
     msg->option.str_length = strlen(msg->option.string);
-    msg->crc16 = calc_crc16((uint8_t *) msg, 58);
+    msg->crc16 = Verify_CRC16_Check_Sum((uint8_t *) msg, 58);
 }