From ce57615c379d8df9acd97748ef7a63adf845c4a0 Mon Sep 17 00:00:00 2001 From: Leo Liu <65527170+CuboiLeo@users.noreply.github.com> Date: Wed, 22 May 2024 20:52:31 -0400 Subject: [PATCH 1/3] New referee system (#47) * UI added, not tested * referee system updated, fixed compiling issues --- src/app/inc/robot_tasks.h | 1 + src/app/src/robot.c | 2 +- src/devices/inc/referee_system.h | 330 ++++++++++++++++++------------- src/devices/src/referee_system.c | 155 +++++++++------ src/ui/inc/ui_interface.h | 1 + src/ui/src/ui_interface.c | 88 +-------- 6 files changed, 300 insertions(+), 277 deletions(-) diff --git a/src/app/inc/robot_tasks.h b/src/app/inc/robot_tasks.h index 80cf2dc..552b9e0 100644 --- a/src/app/inc/robot_tasks.h +++ b/src/app/inc/robot_tasks.h @@ -10,6 +10,7 @@ #include "jetson_orin.h" #include "bsp_serial.h" #include "bsp_daemon.h" +#include "ui.h" extern void IMU_Task(void const *pvParameters); diff --git a/src/app/src/robot.c b/src/app/src/robot.c index 3d30a34..181ea06 100644 --- a/src/app/src/robot.c +++ b/src/app/src/robot.c @@ -146,7 +146,7 @@ void Robot_Cmd_Loop() /* Gimbal ends here */ /* Launch control starts here */ - if (Referee_System.Power_n_Heat.Shooter_1_Heat < 200) + if (Referee_System.Power_Heat.Shooter_1_17mm_Heat < 200) { if (g_remote.controller.wheel < -50.0f) { // dial wheel forward single fire diff --git a/src/devices/inc/referee_system.h b/src/devices/inc/referee_system.h index 1f44197..cd8a2ee 100644 --- a/src/devices/inc/referee_system.h +++ b/src/devices/inc/referee_system.h @@ -2,10 +2,10 @@ * @file Referee_System.h * @author Leo Liu * @brief header file for referee system - * @version 1.0 - * @date 2022-07-19 + * @version 2.0 + * @date 2024-05-22 * - * @copyright Copyright (c) 2022 + * @copyright Copyright (c) 2024 * */ @@ -18,139 +18,147 @@ #include #include -#define Referee_System_Func_GroundInit \ -{ \ - &Referee_UART_Receive_Interrupt, \ - &Referee_System_Handler, \ - &Referee_Get_Data, \ - &Referee_Set_Robot_State, \ -} - //Standard Confrontation #define V1_STANDARD_POWER_MAX 120 #define V1_STANDARD_HP_MAX 200 -#define V1_STANDARD_BULLET_SPEED_MAX 18 +#define V1_STANDARD_LAUNCH_SPEED_MAX 30 #define V1_STANDARD_HEAT_MAX 280 #define V1_STANDARD_COOLING_RATE 25 #define V1_SBR_POWER_MAX 150 #define V1_SBR_HP_MAX 200 -#define V1_SBR_BULLET_SPEED_MAX 18 +#define V1_SBR_LAUNCH_SPEED_MAX 30 #define V1_SBR_HEAT_MAX 280 #define V1_SBR_COOLING_RATE 50 +//Sentry Configuration +#define SENTRY_POWER_MAX 100 +#define SENTRY_HP_MAX 600 +#define SENTRY_LAUNCH_SPEED_MAX 30 +#define SENTRY_HEAT_MAX 400 +#define SENTRY_COOLING_RATE 80 + //3V3 Confrontation -#define V3_POWER_FOCUSED_LV1_HP_MAX 150 -#define V3_POWER_FOCUSED_LV1_POWER_MAX 60 -#define V3_POWER_FOCUSED_LV2_HP_MAX 200 -#define V3_POWER_FOCUSED_LV2_POWER_MAX 80 -#define V3_POWER_FOCUSED_LV3_HP_MAX 250 -#define V3_POWER_FOCUSED_LV3_POWER_MAX 100 +#define V3_STANDARD_LAUNCH_SPEED_MAX 30 +#define V3_STANDARD_LV10_HP_MAX 400 +#define V3_STANDARD_LV10_POWER_MAX 100 + +#define V3_HERO_LAUNCH_SPEED_MAX 16 +#define V3_HERO_LV10_HP_MAX 500 +#define V3_HERO_LV10_POWER_MAX 120 -#define V3_HP_FOCUSED_LV1_HP_MAX 200 -#define V3_HP_FOCUSED_LV1_POWER_MAX 45 -#define V3_HP_FOCUSED_LV2_HP_MAX 300 -#define V3_HP_FOCUSED_LV2_POWER_MAX 50 -#define V3_HP_FOCUSED_LV3_HP_MAX 400 -#define V3_HP_FOCUSED_LV3_POWER_MAX 55 +#define V3_HERO_POWER_FOCUSED_LV1_HP_MAX 200 +#define V3_HERO_POWER_FOCUSED_HP_INCREMENT 25 +#define V3_HERO_POWER_FOCUSED_LV1_POWER_MAX 70 +#define V3_HERO_POWER_FOCUSED_POWER_INCREMENT 5 -#define V3_SBR_LV1_HP_MAX 300 -#define V3_SBR_LV1_POWER_MAX 60 -#define V3_SBR_LV2_HP_MAX 400 -#define V3_SBR_LV2_POWER_MAX 80 -#define V3_SBR_LV3_HP_MAX 500 -#define V3_SBR_LV3_POWER_MAX 100 +#define V3_HERO_HP_FOCUSED_LV1_HP_MAX 250 +#define V3_HERO_HP_FOCUSED_HP_INCREMENT 25 +#define V3_HERO_HP_FOCUSED_LV1_POWER_MAX 55 +#define V3_HERO_HP_FOCUSED_POWER_INCREMENT 5 +#define V3_HERO_HP_FOCUSED_LV9_POWER_MAX 100 -#define V3_BURST_FOCUSED_V1_HEAT_MAX 150 -#define V3_BURST_FOCUSED_V1_COOLING_RATE 15 -#define V3_BURST_FOCUSED_V1_BULLET_SPEED_MAX 15 -#define V3_BURST_FOCUSED_V2_HEAT_MAX 280 -#define V3_BURST_FOCUSED_V2_COOLING_RATE 25 -#define V3_BURST_FOCUSED_V2_BULLET_SPEED_MAX 15 -#define V3_BURST_FOCUSED_V3_HEAT_MAX 400 -#define V3_BURST_FOCUSED_V3_COOLING_RATE 35 -#define V3_BURST_FOCUSED_V3_BULLET_SPEED_MAX 15 +#define V3_STANDARD_POWER_FOCUSED_LV1_HP_MAX 150 +#define V3_STANDARD_POWER_FOCUSED_HP_INCREMENT 25 +#define V3_STANDARD_POWER_FOCUSED_LV1_POWER_MAX 60 +#define V3_STANDARD_POWER_FOCUSED_POWER_INCREMENT 5 -#define V3_COOLING_FOCUSED_V1_HEAT_MAX 50 -#define V3_COOLING_FOCUSED_V1_COOLING_RATE 40 -#define V3_COOLING_FOCUSED_V1_BULLET_SPEED_MAX 15 -#define V3_COOLING_FOCUSED_V2_HEAT_MAX 100 -#define V3_COOLING_FOCUSED_V2_COOLING_RATE 60 -#define V3_COOLING_FOCUSED_V2_BULLET_SPEED_MAX 18 -#define V3_COOLING_FOCUSED_V3_HEAT_MAX 150 -#define V3_COOLING_FOCUSED_V3_COOLING_RATE 80 -#define V3_COOLING_FOCUSED_V3_BULLET_SPEED_MAX 18 +#define V3_STANDARD_HP_FOCUSED_LV1_HP_MAX 200 +#define V3_STANDARD_HP_FOCUSED_HP_INCREMENT 25 +#define V3_STANDARD_HP_FOCUSED_LV1_POWER_MAX 45 +#define V3_STANDARD_HP_FOCUSED_POWER_INCREMENT 5 +#define V3_STANDARD_HP_FOCUSED_LV9_POWER_MAX 90 -#define V3_BULLET_SPEED_FOCUSED_V1_HEAT_MAX 75 -#define V3_BULLET_SPEED_FOCUSED_V1_COOLING_RATE 15 -#define V3_BULLET_SPEED_FOCUSED_V1_BULLET_SPEED_MAX 30 -#define V3_BULLET_SPEED_FOCUSED_V2_HEAT_MAX 150 -#define V3_BULLET_SPEED_FOCUSED_V2_COOLING_RATE 25 -#define V3_BULLET_SPEED_FOCUSED_V2_BULLET_SPEED_MAX 30 -#define V3_BULLET_SPEED_FOCUSED_V3_HEAT_MAX 200 -#define V3_BULLET_SPEED_FOCUSED_V3_COOLING_RATE 35 -#define V3_BULLET_SPEED_FOCUSED_V3_BULLET_SPEED_MAX 30 +#define V3_STANDARD_BURST_FOCUSED_LV1_HEAT_MAX 200 +#define V3_STANDARD_BURST_FOCUSED_HEAT_INCREMENT 50 +#define V3_STANDARD_BURST_FOCUSED_LV1_COOLING_MAX 10 +#define V3_STANDARD_BURST_FOCUSED_COOLING_INCREMENT 5 +#define V3_STANDARD_COOLING_FOCUSED_LV1_HEAT_MAX 50 +#define V3_STANDARD_COOLING_FOCUSED_HEAT_INCREMENT 35 +#define V3_STANDARD_COOLING_FOCUSED_LV10_HEAT_MAX 400 +#define V3_STANDARD_COOLING_FOCUSED_LV1_COOLING_MAX 40 +#define V3_STANDARD_COOLING_FOCUSED_COOLING_INCREMENT 5 +#define V3_STANDARD_COOLING_FOCUSED_LV10_COOLING_MAX 80 -//Referee System Communication Definition -#define REFEREE_BUFFER_LEN 389u //Buffer length to receive all data -#define REFEREE_FRAME_HEADER_START 0xA5 //Frame header -#define REFEREE_FRAME_HEADER_LEN 5 //Frame header length -#define REFEREE_ID_LEN 2 //ID length -#define REFEREE_FRAME_TAIL_LEN 2 //Frame tail length +#define V3_HERO_LV1_HEAT_MAX 200 +#define V3_HERO_LV10_HEAT_MAX 200 +#define V3_HERO_HEAT_INCREMENT 30 +#define V3_HERO_LV1_COOLING_MAX 40 +#define V3_HERO_COOLING_INCREMENT 8 +#define V3_HERO_LV10_COOLING_MAX 120 -#define REFEREE_OFFSET_SOF 0 //SOF offset -#define REFEREE_OFFSET_DATA_LENGTH 1 //Data length offset -#define REFEREE_OFFSET_SEQ 3 //SEQ offset -#define REFEREE_OFFSET_CRC8 4 //CRC offset +#define REFEREE_BUFFER_LEN 787u //Buffer length to receive all data +#define REFEREE_FRAME_HEADER_START 0xA5 //Frame header +#define REFEREE_FRAME_HEADER_LEN 5 //Frame header length +#define REFEREE_ID_LEN 2 //ID length +#define REFEREE_FRAME_TAIL_LEN 2 //Frame tail length -#define REFEREE_GAME_STATUS 0x0001 -#define REFEREE_GAME_RESULT 0x0002 -#define REFEREE_ROBOT_HP 0x0003 -#define REFEREE_DART_LAUNCH 0x0004 -#define REFEREE_AI_CHALLENGEBUFF 0x0005 -#define REFEREE_EVENT_DATA 0x0101 -#define REFEREE_SUPPLY_STATION 0x0102 -//#define REFEREE_REQUEST_RECHARGE 0x0103 -#define REFEREE_REFEREE_WARNING 0x0104 -#define REFEREE_DART_COUNTDOWN 0x0105 -#define REFEREE_ROBOT_STATE 0x0201 -#define REFEREE_POWER_HEAT 0x0202 -#define REFEREE_ROBOT_POSITION 0x0203 -#define REFEREE_ROBOT_BUFF 0x0204 -#define REFEREE_AERIAL_ENERGY 0x0205 -#define REFEREE_INJURY_STATE 0x0206 -#define REFEREE_SHOOTER_STATE 0x0207 -#define REFEREE_REMAINING_AMMO 0x0208 -#define REFEREE_ROBOT_RFID 0x0209 -#define REFEREE_DART_CLIENT 0x020A -#define REFEREE_ROBOT_COMMUNICATE 0x0301 -#define REFEREE_USER_DEFINED 0x0302 +#define REFEREE_OFFSET_SOF 0 //SOF offset +#define REFEREE_OFFSET_DATA_LENGTH 1 //Data length offset +#define REFEREE_OFFSET_SEQ 3 //SEQ offset +#define REFEREE_OFFSET_CRC8 4 //CRC offset +#define REFEREE_GAME_STATUS 0x0001 //Competition status data, transmitted at a fixed frequency of 1 Hz. +#define REFEREE_GAME_RESULT 0x0002 //Competition result data, transmitted upon completion of the competition. +#define REFEREE_ROBOT_HP 0x0003 //Robot health data, transmitted at a fixed frequency of 3 Hz. +#define REFEREE_EVENT_DATA 0x0101 //Site event data, transmitted at a fixed frequency of 1 Hz +#define REFEREE_SUPPLY_STATION 0x0102 //Action identifier data of the Official Projectile Supplier, transmitted when the Official Projectile Supplier releases projectiles. +#define REFEREE_REFEREE_WARNING 0x0104 //Referee warning data, transmitted when one's team is issued a penalty/forfeiture and at a fixed frequency of 1 Hz in other cases. +#define REFEREE_DART_DATA 0x0105 //Dart launching data, transmitted at a fixed frequency of 1 Hz. +#define REFEREE_ROBOT_STATE 0x0201 //Robot performance system data, transmitted at a fixed frequency of 10 Hz. +#define REFEREE_POWER_HEAT 0x0202 //Real-time chassis power and barrel heat data, transmitted at a fixed frequency of 50 Hz +#define REFEREE_ROBOT_POSITION 0x0203 //Robot position data, transmitted at a fixed frequency of 1 Hz. +#define REFEREE_ROBOT_BUFF 0x0204 //Robot buff data, transmitted at a fixed frequency of 3 Hz. +#define REFEREE_AERIAL_DATA 0x0205 //Air support time data, transmitted at a fixed frequency of 1 Hz. +#define REFEREE_INJURY_STATE 0x0206 //Damage status data, transmitted after the damage occurs. +#define REFEREE_SHOOTER_STATE 0x0207 //Real-time launching data, transmitted after a projectile is launched. +#define REFEREE_REMAINING_AMMO 0x0208 //Projectile allowance, transmitted at a fixed frequency of 10 Hz. +#define REFEREE_ROBOT_RFID 0x0209 //Robot RFID module status, transmitted at a fixed frequency of 3 Hz. +#define REFEREE_DART_CLIENT 0x020A //Dart player's client command data, transmitted at a fixed frequency of 3 Hz. +#define REFEREE_GROUND_POS 0x020B //Ground Robot position data, transmitted at a fixed frequency of 1 Hz. +#define REFEREE_RADAR_PROGRESS 0x020C //Radar-marked progress data, transmitted at a fixed frequency of 1 Hz. +#define REFEREE_SENTRY_DECISION 0x020D //Decision-making data of Sentry Robot, transmitted at a fixed frequency of 1 Hz. +#define REFEREE_RADAR_DECISION 0x020E //Decision-making data of Radar, transmitted at a fixed frequency of 1 Hz. +#define REFEREE_ROBOT_COMMUNICATE 0x0301 //Robot interaction data, transmitted at a maximum frequency of 10 Hz when triggered by the sender. +#define REFEREE_USER_DEFINED 0x0302 //Data about the interaction between the Custom Controller and robots, transmitted at a maximum frequency of 30 Hz when triggered by the sender. +#define REFEREE_SMALL_MAP_INTERACT 0x0303 //Player client's small map interaction data, transmitted when triggered by the player client. +#define REFEREE_KEYBOARD_REMOTE 0x0304 //Keyboard, mouse, and remote control data, transmitted at a fixed frequency of 30 Hz. +#define REFEREE_SMALL_MAP_RADAR 0x0305 //Radar data received by player clients' Small Maps, transmitted at a maximum frequency of 10 Hz. +#define REFEREE_CUSTOM_CONTROLLER 0x0306 //Data about the interaction between the Custom Controller and player clients, transmitted at a maximum frequency of 30 Hz when triggered by the sender. +#define REFEREE_SENTRY_DATA 0x0307 //Sentry data received by player clients' Small Maps, transmitted at a maximum frequency of 1 Hz. +#define REFEREE_CUSTOM_DATA 0x0308 //Robot data received by player clients' Small Map, transmitted at a maximum frequency of 3 Hz. /*Calculation: REFEREE_FRAME_HEADER_LEN(5-byte) + REFEREE_ID_LEN(2-byte) + DATA(n-byte) + REFEREE_FRAME_TAIL_LEN(2-byte,CRC16)*/ -#define REFEREE_GAME_STATUS_LEN 20 +#define REFEREE_GAME_STATUS_LEN 20 #define REFEREE_GAME_RESULT_LEN 10 #define REFEREE_ROBOT_HP_LEN 41 -#define REFEREE_DART_LAUNCH_LEN 12 -#define REFEREE_AI_CHALLENGEBUFF_LEN 20 #define REFEREE_EVENT_DATA_LEN 13 #define REFEREE_SUPPLY_STATION_LEN 13 -//#define REFEREE_REQUEST_RECHARGE_LEN 11 -#define REFEREE_REFEREE_WARNING_LEN 11 -#define REFEREE_DART_COUNTDOWN_LEN 10 -#define REFEREE_ROBOT_STATE_LEN 36 +#define REFEREE_REFEREE_WARNING_LEN 12 +#define REFEREE_DART_DATA_LEN 12 +#define REFEREE_ROBOT_STATE_LEN 22 #define REFEREE_POWER_HEAT_LEN 25 #define REFEREE_ROBOT_POSITION_LEN 25 -#define REFEREE_ROBOT_BUFF_LEN 10 -#define REFEREE_AERIAL_ENERGY_LEN 10 +#define REFEREE_ROBOT_BUFF_LEN 15 +#define REFEREE_AERIAL_DATA_LEN 11 #define REFEREE_INJURY_STATE_LEN 10 #define REFEREE_SHOOTER_STATE_LEN 16 #define REFEREE_REMAINING_AMMO_LEN 15 #define REFEREE_ROBOT_RFID_LEN 13 -#define REFEREE_DART_CLIENT_LEN 21 -#define REFEREE_ROBOT_COMMUNICATE_LEN 35 -#define REFEREE_USER_DEFINED_LEN 26 +#define REFEREE_DART_CLIENT_LEN 15 +#define REFEREE_GROUND_POS_LEN 49 +#define REFEREE_RADAR_PROGRESS_LEN 15 +#define REFEREE_SENTRY_DECISION_LEN 13 +#define REFEREE_RADAR_DECISION_LEN 10 +//#define REFEREE_ROBOT_COMMUNICATE_LEN 137 +#define REFEREE_USER_DEFINED_LEN 39 +//#define REFEREE_SMALL_MAP_INTERACT_LEN 24 +//#define REFEREE_KEYBOARD_REMOTE_LEN 21 +//#define REFEREE_SMALL_MAP_RADAR_LEN 19 +//#define REFEREE_CUSTOM_CONTROLLER_LEN 17 +//#define REFEREE_SENTRY_DATA_LEN 112 +//#define REFEREE_CUSTOM_DATA_LEN 43 typedef struct { @@ -160,12 +168,13 @@ typedef struct uint16_t Cooling_Rate; uint16_t Heat_Max; - uint16_t Bullet_Speed_Max; + uint16_t Launch_Speed_Max; uint16_t Chassis_Power_Max; float Chassis_Power; float Power_Buffer; - uint16_t Shooter_Heat; + uint16_t Shooter_Heat_1; + uint16_t Shooter_Heat_2; uint8_t Shooting_Frequency; float Shooting_Speed; }Referee_Robot_State_t; @@ -178,8 +187,8 @@ typedef struct struct __attribute__ ((__packed__)) { - uint8_t Type; - uint8_t Progress; + uint8_t Type:4; + uint8_t Progress:4; uint16_t Remaining_Time; uint64_t Sync_Time_Stamp; }Game_Status; @@ -214,34 +223,38 @@ typedef struct struct __attribute__ ((__packed__)) { - uint32_t Type; + uint32_t Event_Data; }Event; + struct __attribute__ ((__packed__)) + { + uint8_t Reserved; + uint8_t Supply_Robot_ID; + uint8_t Supply_Projectile_Step; + uint8_t Supply_Projectile_Num; + }Supply_Station; + struct __attribute__ ((__packed__)) { uint8_t Card; uint8_t Foul_Robot_ID; + uint8_t Count; }Warning; + struct __attribute__ ((__packed__)) + { + uint8_t Dart_Remaining_Time; + uint16_t Dart_Info; + }Dart_Info; + struct __attribute__ ((__packed__)) { uint8_t ID; uint8_t Level; uint16_t Remaining_HP; uint16_t HP_Max; - - uint16_t Shooter_1_Cooling_Rate_17mm; - uint16_t Shooter_1_Heat_Max_17mm; - uint16_t Shooter_1_Speed_Limit_17mm; - - uint16_t Shooter_2_Cooling_Rate_17mm; - uint16_t Shooter_2_Heat_Max_17mm; - uint16_t Shooter_2_Speed_Limit_17mm; - - uint16_t Shooter_Cooling_Rate_42mm; - uint16_t Shooter_Heat_Max_42mm; - uint16_t Shooter_Speed_Limit_42mm; - + uint16_t Shooter_Cooling_Value; + uint16_t Shooter_Heat_Max; uint16_t Chassis_Power_Max; uint8_t Gimbal_Power_Output:1; uint8_t Chassis_Power_Output:1; @@ -254,29 +267,38 @@ typedef struct uint16_t Chassis_Current; float Chassis_Power; uint16_t Chassis_Power_Buffer; - uint16_t Shooter_1_Heat; - uint16_t Shooter_2_Heat; - uint16_t Mobile_Shooter_Heat; - }Power_n_Heat; + uint16_t Shooter_1_17mm_Heat; + uint16_t Shooter_2_17mm_Heat; + uint16_t Shooter_42mm_Heat; + }Power_Heat; struct __attribute__ ((__packed__)) { float x; float y; - float z; - float Yaw; - }Location; + float Angle; + }Robot_Pos; struct __attribute__ ((__packed__)) { - uint8_t Buff; + uint8_t Recovery_Buff; + uint8_t Cooling_Buff; + uint8_t Defence_Buff; + uint8_t Vulnerability_Buff; + uint16_t Attack_Buff; }Robot_Buff; struct __attribute__ ((__packed__)) { - uint8_t Armor_ID; - uint8_t Type; - }Damage; + uint8_t Aerial_Status; + uint8_t Time_Remaining; + }Aerial_Data; + + struct __attribute__ ((__packed__)) + { + uint8_t Armor_ID : 4; + uint8_t HP_Deduction_Reason : 4; + }Injury_State; struct __attribute__ ((__packed__)) { @@ -297,7 +319,49 @@ typedef struct { uint32_t State; }RFID; - + + struct __attribute__ ((__packed__)) + { + uint8_t Dart_Launch_Opening_Status; + uint8_t Reserved; + uint16_t Target_Change_Time; + uint16_t Latest_Launch_Cmd_Time; + }Dart_Client; + + struct __attribute__ ((__packed__)) + { + float hero_x; + float hero_y; + float engineer_x; + float engineer_y; + float standard_3_x; + float standard_3_y; + float standard_4_x; + float standard_4_y; + float standard_5_x; + float standard_5_y; + }Ground_Pos; + + struct __attribute__ ((__packed__)) + { + uint8_t Mark_Hero_Progress; + uint8_t Mark_Engineer_Progress; + uint8_t Mark_Standard_3_Progress; + uint8_t Mark_Standard_4_Progress; + uint8_t Mark_Standard_5_Progress; + uint8_t Mark_Sentry_Progress; + }Radar_Progress; + + struct __attribute__ ((__packed__)) + { + uint32_t Sentry_Info; + }Sentry_Decision; + + struct __attribute__ ((__packed__)) + { + uint8_t Radar_Info; + }Radar_Decision; + uint16_t Info_Update_Frame; uint8_t Offline_Flag; } Referee_System_t; @@ -309,4 +373,4 @@ void Referee_System_Init(UART_HandleTypeDef *huart); extern Referee_Robot_State_t Referee_Robot_State; extern Referee_System_t Referee_System; -#endif \ No newline at end of file +#endif diff --git a/src/devices/src/referee_system.c b/src/devices/src/referee_system.c index 6c0ab00..ad0456f 100644 --- a/src/devices/src/referee_system.c +++ b/src/devices/src/referee_system.c @@ -2,10 +2,10 @@ * @file Referee_System.c * @author Leo Liu * @brief reading data from the referee system - * @version 1.0 - * @date 2022-07-19 + * @version 2.0 + * @date 2024-05-22 * - * @copyright Copyright (c) 2022 + * @copyright Copyright (c) 2024 * */ #include "referee_system.h" @@ -23,52 +23,17 @@ void Referee_Set_Robot_State(void) Referee_Robot_State.ID = Referee_System.Robot_State.ID; Referee_Robot_State.Level = Referee_System.Robot_State.Level; - Referee_Robot_State.Cooling_Rate = Referee_System.Robot_State.Shooter_1_Cooling_Rate_17mm; - Referee_Robot_State.Heat_Max = Referee_System.Robot_State.Shooter_1_Heat_Max_17mm; - Referee_Robot_State.Bullet_Speed_Max = Referee_System.Robot_State.Shooter_1_Speed_Limit_17mm; - Referee_Robot_State.Chassis_Power_Max = Referee_System.Robot_State.Chassis_Power_Max; + Referee_Robot_State.Cooling_Rate = SENTRY_COOLING_RATE; + Referee_Robot_State.Heat_Max = SENTRY_HEAT_MAX; + Referee_Robot_State.Launch_Speed_Max = SENTRY_LAUNCH_SPEED_MAX; + Referee_Robot_State.Chassis_Power_Max = SENTRY_POWER_MAX; - Referee_Robot_State.Chassis_Power = Referee_System.Power_n_Heat.Chassis_Power; - Referee_Robot_State.Power_Buffer = Referee_System.Power_n_Heat.Chassis_Power_Buffer; - Referee_Robot_State.Shooter_Heat = Referee_System.Power_n_Heat.Shooter_1_Heat; + Referee_Robot_State.Chassis_Power = Referee_System.Power_Heat.Chassis_Power; + Referee_Robot_State.Power_Buffer = Referee_System.Power_Heat.Chassis_Power_Buffer; + Referee_Robot_State.Shooter_Heat_1 = Referee_System.Power_Heat.Shooter_1_17mm_Heat; + Referee_Robot_State.Shooter_Heat_2 = Referee_System.Power_Heat.Shooter_2_17mm_Heat; Referee_Robot_State.Shooting_Frequency = Referee_System.Shooter.Frequency; Referee_Robot_State.Shooting_Speed = Referee_System.Shooter.Speed; - - // TODO: test fric speed + chassis spintop power - // switch(Referee_Robot_State.Bullet_Speed_Max) - // { - // case 15: - // Shooting.Fric_Wheel.Target_Speed = FRIC_SPEED_15; - // break; - // case 18: - // Shooting.Fric_Wheel.Target_Speed = FRIC_SPEED_18; - // break; - // case 30: - // Shooting.Fric_Wheel.Target_Speed = FRIC_SPEED_30; - // break; - // default: - // Shooting.Fric_Wheel.Target_Speed = FRIC_SPEED_10; - // break; - // } - - // switch(Referee_Robot_State.Chassis_Power_Max) - // { - // case 60: - // Chassis.Chassis_Coord.Spin_Rate = CHASSIS_SPINTOP_RATE_POWER_60; - // break; - // case 80: - // Chassis.Chassis_Coord.Spin_Rate = CHASSIS_SPINTOP_RATE_POWER_80; - // break; - // case 100: - // Chassis.Chassis_Coord.Spin_Rate = CHASSIS_SPINTOP_RATE_POWER_100; - // break; - // case 150: - // Chassis.Chassis_Coord.Spin_Rate = CHASSIS_SPINTOP_RATE_POWER_150; - // break; - // default: - // Chassis.Chassis_Coord.Spin_Rate = CHASSIS_SPINTOP_RATE_POWER_60; - // break; - // } } void Referee_System_Init(UART_HandleTypeDef *huart) @@ -89,7 +54,7 @@ void Referee_Get_Data(void) case REFEREE_GAME_STATUS: if (Verify_CRC16_Check_Sum(Referee_System.Buffer + n, REFEREE_GAME_STATUS_LEN)) { - memcpy(&Referee_System.Game_Status, &Referee_System.Buffer[n + 7], sizeof(uint8_t[11])); + memcpy(&Referee_System.Game_Status, &Referee_System.Buffer[n + 7], sizeof(uint8_t[REFEREE_GAME_STATUS_LEN-9])); n += REFEREE_GAME_STATUS_LEN; } else @@ -98,7 +63,7 @@ void Referee_Get_Data(void) case REFEREE_GAME_RESULT: if (Verify_CRC16_Check_Sum(Referee_System.Buffer + n, REFEREE_GAME_RESULT_LEN)) { - memcpy(&Referee_System.Game_Result, &Referee_System.Buffer[n + 7], sizeof(uint8_t[1])); + memcpy(&Referee_System.Game_Result, &Referee_System.Buffer[n + 7], sizeof(uint8_t[REFEREE_GAME_RESULT_LEN-9])); n += REFEREE_GAME_RESULT_LEN; } else @@ -107,7 +72,7 @@ void Referee_Get_Data(void) case REFEREE_ROBOT_HP: if (Verify_CRC16_Check_Sum(Referee_System.Buffer + n, REFEREE_ROBOT_HP_LEN)) { - memcpy(&Referee_System.Alive_Robot, &Referee_System.Buffer[n + 7], sizeof(uint8_t[32])); + memcpy(&Referee_System.Alive_Robot, &Referee_System.Buffer[n + 7], sizeof(uint8_t[REFEREE_ROBOT_HP_LEN-9])); n += REFEREE_ROBOT_HP_LEN; } else @@ -116,25 +81,43 @@ void Referee_Get_Data(void) case REFEREE_EVENT_DATA: if (Verify_CRC16_Check_Sum(Referee_System.Buffer + n, REFEREE_EVENT_DATA_LEN)) { - memcpy(&Referee_System.Event, &Referee_System.Buffer[n + 7], sizeof(uint8_t[4])); + memcpy(&Referee_System.Event, &Referee_System.Buffer[n + 7], sizeof(uint8_t[REFEREE_EVENT_DATA_LEN-9])); n += REFEREE_EVENT_DATA_LEN; } + else + n++; + break; + case REFEREE_SUPPLY_STATION: + if (Verify_CRC16_Check_Sum(Referee_System.Buffer + n, REFEREE_SUPPLY_STATION_LEN)) + { + memcpy(&Referee_System.Supply_Station, &Referee_System.Buffer[n + 7], sizeof(uint8_t[REFEREE_SUPPLY_STATION_LEN-9])); + n += REFEREE_SUPPLY_STATION_LEN; + } else n++; break; case REFEREE_REFEREE_WARNING: if (Verify_CRC16_Check_Sum(Referee_System.Buffer + n, REFEREE_REFEREE_WARNING_LEN)) { - memcpy(&Referee_System.Warning, &Referee_System.Buffer[n + 7], sizeof(uint8_t[2])); + memcpy(&Referee_System.Warning, &Referee_System.Buffer[n + 7], sizeof(uint8_t[REFEREE_REFEREE_WARNING_LEN-9])); n += REFEREE_REFEREE_WARNING_LEN; } + else + n++; + break; + case REFEREE_DART_DATA: + if (Verify_CRC16_Check_Sum(Referee_System.Buffer + n, REFEREE_DART_DATA_LEN)) + { + memcpy(&Referee_System.Dart_Info, &Referee_System.Buffer[n + 7], sizeof(uint8_t[REFEREE_DART_DATA_LEN-9])); + n += REFEREE_DART_DATA_LEN; + } else n++; break; case REFEREE_ROBOT_STATE: if (Verify_CRC16_Check_Sum(Referee_System.Buffer + n, REFEREE_ROBOT_STATE_LEN)) { - memcpy(&Referee_System.Robot_State, &Referee_System.Buffer[n + 7], sizeof(uint8_t[27])); + memcpy(&Referee_System.Robot_State, &Referee_System.Buffer[n + 7], sizeof(uint8_t[REFEREE_ROBOT_STATE_LEN-9])); n += REFEREE_ROBOT_STATE_LEN; } else @@ -143,7 +126,7 @@ void Referee_Get_Data(void) case REFEREE_POWER_HEAT: if (Verify_CRC16_Check_Sum(Referee_System.Buffer + n, REFEREE_POWER_HEAT_LEN)) { - memcpy(&Referee_System.Power_n_Heat, &Referee_System.Buffer[n + 7], sizeof(uint8_t[16])); + memcpy(&Referee_System.Power_Heat, &Referee_System.Buffer[n + 7], sizeof(uint8_t[REFEREE_POWER_HEAT_LEN-9])); n += REFEREE_POWER_HEAT_LEN; } else @@ -152,7 +135,7 @@ void Referee_Get_Data(void) case REFEREE_ROBOT_POSITION: if (Verify_CRC16_Check_Sum(Referee_System.Buffer + n, REFEREE_ROBOT_POSITION_LEN)) { - memcpy(&Referee_System.Location, &Referee_System.Buffer[n + 7], sizeof(uint8_t[16])); + memcpy(&Referee_System.Robot_Pos, &Referee_System.Buffer[n + 7], sizeof(uint8_t[REFEREE_ROBOT_POSITION_LEN-9])); n += REFEREE_ROBOT_POSITION_LEN; } else @@ -161,16 +144,25 @@ void Referee_Get_Data(void) case REFEREE_ROBOT_BUFF: if (Verify_CRC16_Check_Sum(Referee_System.Buffer + n, REFEREE_ROBOT_BUFF_LEN)) { - memcpy(&Referee_System.Robot_Buff, &Referee_System.Buffer[n + 7], sizeof(uint8_t[1])); + memcpy(&Referee_System.Robot_Buff, &Referee_System.Buffer[n + 7], sizeof(uint8_t[REFEREE_ROBOT_BUFF_LEN-9])); n += REFEREE_ROBOT_BUFF_LEN; } + else + n++; + break; + case REFEREE_AERIAL_DATA: + if (Verify_CRC16_Check_Sum(Referee_System.Buffer + n, REFEREE_AERIAL_DATA)) + { + memcpy(&Referee_System.Aerial_Data, &Referee_System.Buffer[n + 7], sizeof(uint8_t[REFEREE_AERIAL_DATA_LEN-9])); + n += REFEREE_AERIAL_DATA; + } else n++; break; case REFEREE_INJURY_STATE: if (Verify_CRC16_Check_Sum(Referee_System.Buffer + n, REFEREE_INJURY_STATE_LEN)) { - memcpy(&Referee_System.Damage, &Referee_System.Buffer[n + 7], sizeof(uint8_t[1])); + memcpy(&Referee_System.Injury_State, &Referee_System.Buffer[n + 7], sizeof(uint8_t[REFEREE_INJURY_STATE_LEN-9])); n += REFEREE_INJURY_STATE_LEN; } else @@ -179,7 +171,7 @@ void Referee_Get_Data(void) case REFEREE_SHOOTER_STATE: if (Verify_CRC16_Check_Sum(Referee_System.Buffer + n, REFEREE_SHOOTER_STATE_LEN)) { - memcpy(&Referee_System.Shooter, &Referee_System.Buffer[n + 7], sizeof(uint8_t[7])); + memcpy(&Referee_System.Shooter, &Referee_System.Buffer[n + 7], sizeof(uint8_t[REFEREE_SHOOTER_STATE_LEN-9])); n += REFEREE_SHOOTER_STATE_LEN; } else @@ -188,7 +180,7 @@ void Referee_Get_Data(void) case REFEREE_REMAINING_AMMO: if (Verify_CRC16_Check_Sum(Referee_System.Buffer + n, REFEREE_REMAINING_AMMO_LEN)) { - memcpy(&Referee_System.Remaining_Ammo, &Referee_System.Buffer[n + 7], sizeof(uint8_t[6])); + memcpy(&Referee_System.Remaining_Ammo, &Referee_System.Buffer[n + 7], sizeof(uint8_t[REFEREE_REMAINING_AMMO_LEN-9])); n += REFEREE_REMAINING_AMMO_LEN; } else @@ -197,9 +189,54 @@ void Referee_Get_Data(void) case REFEREE_ROBOT_RFID: if (Verify_CRC16_Check_Sum(Referee_System.Buffer + n, REFEREE_ROBOT_RFID_LEN)) { - memcpy(&Referee_System.RFID, &Referee_System.Buffer[n + 7], sizeof(uint8_t[4])); + 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; diff --git a/src/ui/inc/ui_interface.h b/src/ui/inc/ui_interface.h index 6a454ab..1cd2942 100644 --- a/src/ui/inc/ui_interface.h +++ b/src/ui/inc/ui_interface.h @@ -7,6 +7,7 @@ #include #include "ui_types.h" +#include "bsp_crc.h" extern int ui_self_id; diff --git a/src/ui/src/ui_interface.c b/src/ui/src/ui_interface.c index 5e5429b..a08d1e3 100644 --- a/src/ui/src/ui_interface.c +++ b/src/ui/src/ui_interface.c @@ -15,97 +15,17 @@ void print_message(const uint8_t *message, const int length) { printf("\n\n"); } -const unsigned char CRC8_TAB[256] = { - 0x00, 0x5e, 0xbc, 0xe2, 0x61, 0x3f, 0xdd, 0x83, 0xc2, 0x9c, 0x7e, 0x20, 0xa3, 0xfd, 0x1f, 0x41, - 0x9d, 0xc3, 0x21, 0x7f, 0xfc, 0xa2, 0x40, 0x1e, 0x5f, 0x01, 0xe3, 0xbd, 0x3e, 0x60, 0x82, 0xdc, 0x23, - 0x7d, 0x9f, 0xc1, 0x42, 0x1c, 0xfe, 0xa0, 0xe1, 0xbf, 0x5d, 0x03, 0x80, 0xde, 0x3c, 0x62, 0xbe, 0xe0, - 0x02, 0x5c, 0xdf, 0x81, 0x63, 0x3d, 0x7c, 0x22, 0xc0, 0x9e, 0x1d, 0x43, 0xa1, 0xff, 0x46, 0x18, 0xfa, - 0xa4, 0x27, 0x79, 0x9b, 0xc5, 0x84, 0xda, 0x38, 0x66, 0xe5, 0xbb, 0x59, 0x07, 0xdb, 0x85, 0x67, - 0x39, 0xba, 0xe4, 0x06, 0x58, 0x19, 0x47, 0xa5, 0xfb, 0x78, 0x26, 0xc4, 0x9a, 0x65, 0x3b, 0xd9, 0x87, - 0x04, 0x5a, 0xb8, 0xe6, 0xa7, 0xf9, 0x1b, 0x45, 0xc6, 0x98, 0x7a, 0x24, 0xf8, 0xa6, 0x44, 0x1a, 0x99, - 0xc7, 0x25, 0x7b, 0x3a, 0x64, 0x86, 0xd8, 0x5b, 0x05, 0xe7, 0xb9, - 0x8c, 0xd2, 0x30, 0x6e, 0xed, 0xb3, 0x51, 0x0f, 0x4e, 0x10, 0xf2, 0xac, 0x2f, 0x71, 0x93, 0xcd, 0x11, - 0x4f, 0xad, 0xf3, 0x70, 0x2e, 0xcc, 0x92, 0xd3, 0x8d, 0x6f, 0x31, 0xb2, 0xec, 0x0e, 0x50, 0xaf, 0xf1, - 0x13, 0x4d, 0xce, 0x90, 0x72, 0x2c, 0x6d, 0x33, 0xd1, 0x8f, 0x0c, 0x52, 0xb0, 0xee, 0x32, 0x6c, 0x8e, - 0xd0, 0x53, 0x0d, 0xef, 0xb1, 0xf0, 0xae, 0x4c, 0x12, 0x91, 0xcf, 0x2d, 0x73, 0xca, 0x94, 0x76, 0x28, - 0xab, 0xf5, 0x17, 0x49, 0x08, 0x56, 0xb4, 0xea, 0x69, 0x37, 0xd5, 0x8b, 0x57, 0x09, 0xeb, 0xb5, - 0x36, 0x68, 0x8a, 0xd4, 0x95, 0xcb, 0x29, 0x77, 0xf4, 0xaa, 0x48, 0x16, 0xe9, 0xb7, 0x55, 0x0b, 0x88, - 0xd6, 0x34, 0x6a, 0x2b, 0x75, 0x97, 0xc9, 0x4a, 0x14, 0xf6, 0xa8, - 0x74, 0x2a, 0xc8, 0x96, 0x15, 0x4b, 0xa9, 0xf7, 0xb6, 0xe8, 0x0a, 0x54, 0xd7, 0x89, 0x6b, 0x35, -}; - -unsigned char calc_crc8(unsigned char *pchMessage, unsigned int dwLength) { - unsigned char ucCRC8 = 0xff; - unsigned char ucIndex; - while (dwLength--) { - ucIndex = ucCRC8 ^ (*pchMessage++); - ucCRC8 = CRC8_TAB[ucIndex]; - } - return (ucCRC8); -} - -const uint16_t wCRC_Table[256] = { - 0x0000, 0x1189, 0x2312, 0x329b, 0x4624, 0x57ad, 0x6536, 0x74bf, - 0x8c48, 0x9dc1, 0xaf5a, 0xbed3, 0xca6c, 0xdbe5, 0xe97e, 0xf8f7, - 0x1081, 0x0108, 0x3393, 0x221a, 0x56a5, 0x472c, 0x75b7, 0x643e, - 0x9cc9, 0x8d40, 0xbfdb, 0xae52, 0xdaed, 0xcb64, 0xf9ff, 0xe876, - 0x2102, 0x308b, 0x0210, 0x1399, 0x6726, 0x76af, 0x4434, 0x55bd, - 0xad4a, 0xbcc3, 0x8e58, 0x9fd1, 0xeb6e, 0xfae7, 0xc87c, 0xd9f5, - 0x3183, 0x200a, 0x1291, 0x0318, 0x77a7, 0x662e, 0x54b5, 0x453c, - 0xbdcb, 0xac42, 0x9ed9, 0x8f50, 0xfbef, 0xea66, 0xd8fd, 0xc974, - 0x4204, 0x538d, 0x6116, 0x709f, 0x0420, 0x15a9, 0x2732, 0x36bb, - 0xce4c, 0xdfc5, 0xed5e, 0xfcd7, 0x8868, 0x99e1, 0xab7a, 0xbaf3, - 0x5285, 0x430c, 0x7197, 0x601e, 0x14a1, 0x0528, 0x37b3, 0x263a, - 0xdecd, 0xcf44, 0xfddf, 0xec56, 0x98e9, 0x8960, 0xbbfb, 0xaa72, - 0x6306, 0x728f, 0x4014, 0x519d, 0x2522, 0x34ab, 0x0630, 0x17b9, - 0xef4e, 0xfec7, 0xcc5c, 0xddd5, 0xa96a, 0xb8e3, 0x8a78, 0x9bf1, - 0x7387, 0x620e, 0x5095, 0x411c, 0x35a3, 0x242a, 0x16b1, 0x0738, - 0xffcf, 0xee46, 0xdcdd, 0xcd54, 0xb9eb, 0xa862, 0x9af9, 0x8b70, - 0x8408, 0x9581, 0xa71a, 0xb693, 0xc22c, 0xd3a5, 0xe13e, 0xf0b7, - 0x0840, 0x19c9, 0x2b52, 0x3adb, 0x4e64, 0x5fed, 0x6d76, 0x7cff, - 0x9489, 0x8500, 0xb79b, 0xa612, 0xd2ad, 0xc324, 0xf1bf, 0xe036, - 0x18c1, 0x0948, 0x3bd3, 0x2a5a, 0x5ee5, 0x4f6c, 0x7df7, 0x6c7e, - 0xa50a, 0xb483, 0x8618, 0x9791, 0xe32e, 0xf2a7, 0xc03c, 0xd1b5, - 0x2942, 0x38cb, 0x0a50, 0x1bd9, 0x6f66, 0x7eef, 0x4c74, 0x5dfd, - 0xb58b, 0xa402, 0x9699, 0x8710, 0xf3af, 0xe226, 0xd0bd, 0xc134, - 0x39c3, 0x284a, 0x1ad1, 0x0b58, 0x7fe7, 0x6e6e, 0x5cf5, 0x4d7c, - 0xc60c, 0xd785, 0xe51e, 0xf497, 0x8028, 0x91a1, 0xa33a, 0xb2b3, - 0x4a44, 0x5bcd, 0x6956, 0x78df, 0x0c60, 0x1de9, 0x2f72, 0x3efb, - 0xd68d, 0xc704, 0xf59f, 0xe416, 0x90a9, 0x8120, 0xb3bb, 0xa232, - 0x5ac5, 0x4b4c, 0x79d7, 0x685e, 0x1ce1, 0x0d68, 0x3ff3, 0x2e7a, - 0xe70e, 0xf687, 0xc41c, 0xd595, 0xa12a, 0xb0a3, 0x8238, 0x93b1, - 0x6b46, 0x7acf, 0x4854, 0x59dd, 0x2d62, 0x3ceb, 0x0e70, 0x1ff9, - 0xf78f, 0xe606, 0xd49d, 0xc514, 0xb1ab, 0xa022, 0x92b9, 0x8330, - 0x7bc7, 0x6a4e, 0x58d5, 0x495c, 0x3de3, 0x2c6a, 0x1ef1, 0x0f78 -}; - -uint16_t calc_crc16(uint8_t *pchMessage, uint32_t dwLength) -{ - uint16_t wCRC = 0xffff; - uint8_t chData; - if (pchMessage == NULL) - { - return 0xFFFF; - } - while(dwLength--) - { - chData = *pchMessage++; - (wCRC) = ((uint16_t)(wCRC) >> 8) ^ wCRC_Table[((uint16_t)(wCRC) ^ (uint16_t)(chData)) & 0x00ff]; - } - return wCRC; -} - #define DEFINE_FRAME_PROC(num, id) \ 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) @@ -117,11 +37,11 @@ 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); } From f0edeadb8c5e6c34f3eda2ac71008f57e4df55a4 Mon Sep 17 00:00:00 2001 From: Leo Liu <65527170+CuboiLeo@users.noreply.github.com> Date: Thu, 23 May 2024 02:50:07 -0400 Subject: [PATCH 2/3] Referee UI update (#49) * UI added, not tested * referee system updated, fixed compiling issues * reduced package size for 3v3 * small change --- src/app/src/debug_task.c | 1 + src/app/src/robot.c | 2 +- src/devices/inc/referee_system.h | 84 +++----------------------------- src/devices/src/jetson_orin.c | 2 +- src/devices/src/referee_system.c | 1 + src/ui/inc/ui_interface.h | 5 +- src/ui/src/ui_interface.c | 84 +++++++++++++++++++++++++++++++- 7 files changed, 98 insertions(+), 81 deletions(-) diff --git a/src/app/src/debug_task.c b/src/app/src/debug_task.c index ab9b3c8..0b0df36 100644 --- 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/app/src/robot.c b/src/app/src/robot.c index 181ea06..a1c4fad 100644 --- a/src/app/src/robot.c +++ b/src/app/src/robot.c @@ -49,7 +49,7 @@ void Robot_Init() Remote_Init(&huart3); CAN_Service_Init(); Referee_System_Init(&huart1); - Jetson_Orin_Init(&huart6); + //Jetson_Orin_Init(&huart6); ui_init_indicator_0(); ui_init_indicator_1(); // Initialize all tasks diff --git a/src/devices/inc/referee_system.h b/src/devices/inc/referee_system.h index cd8a2ee..217d53a 100644 --- a/src/devices/inc/referee_system.h +++ b/src/devices/inc/referee_system.h @@ -88,20 +88,20 @@ #define V3_HERO_COOLING_INCREMENT 8 #define V3_HERO_LV10_COOLING_MAX 120 -#define REFEREE_BUFFER_LEN 787u //Buffer length to receive all data +#define REFEREE_BUFFER_LEN 273u //Buffer length to receive all data #define REFEREE_FRAME_HEADER_START 0xA5 //Frame header -#define REFEREE_FRAME_HEADER_LEN 5 //Frame header length -#define REFEREE_ID_LEN 2 //ID length -#define REFEREE_FRAME_TAIL_LEN 2 //Frame tail length +#define REFEREE_FRAME_HEADER_LEN 5 //Frame header length +#define REFEREE_ID_LEN 2 //ID length +#define REFEREE_FRAME_TAIL_LEN 2 //Frame tail length #define REFEREE_OFFSET_SOF 0 //SOF offset #define REFEREE_OFFSET_DATA_LENGTH 1 //Data length offset #define REFEREE_OFFSET_SEQ 3 //SEQ offset #define REFEREE_OFFSET_CRC8 4 //CRC offset -#define REFEREE_GAME_STATUS 0x0001 //Competition status data, transmitted at a fixed frequency of 1 Hz. -#define REFEREE_GAME_RESULT 0x0002 //Competition result data, transmitted upon completion of the competition. -#define REFEREE_ROBOT_HP 0x0003 //Robot health data, transmitted at a fixed frequency of 3 Hz. +#define REFEREE_GAME_STATUS 0x0001 //Competition status data, transmitted at a fixed frequency of 1 Hz. +#define REFEREE_GAME_RESULT 0x0002 //Competition result data, transmitted upon completion of the competition. +#define REFEREE_ROBOT_HP 0x0003 //Robot health data, transmitted at a fixed frequency of 3 Hz. #define REFEREE_EVENT_DATA 0x0101 //Site event data, transmitted at a fixed frequency of 1 Hz #define REFEREE_SUPPLY_STATION 0x0102 //Action identifier data of the Official Projectile Supplier, transmitted when the Official Projectile Supplier releases projectiles. #define REFEREE_REFEREE_WARNING 0x0104 //Referee warning data, transmitted when one's team is issued a penalty/forfeiture and at a fixed frequency of 1 Hz in other cases. @@ -115,19 +115,6 @@ #define REFEREE_SHOOTER_STATE 0x0207 //Real-time launching data, transmitted after a projectile is launched. #define REFEREE_REMAINING_AMMO 0x0208 //Projectile allowance, transmitted at a fixed frequency of 10 Hz. #define REFEREE_ROBOT_RFID 0x0209 //Robot RFID module status, transmitted at a fixed frequency of 3 Hz. -#define REFEREE_DART_CLIENT 0x020A //Dart player's client command data, transmitted at a fixed frequency of 3 Hz. -#define REFEREE_GROUND_POS 0x020B //Ground Robot position data, transmitted at a fixed frequency of 1 Hz. -#define REFEREE_RADAR_PROGRESS 0x020C //Radar-marked progress data, transmitted at a fixed frequency of 1 Hz. -#define REFEREE_SENTRY_DECISION 0x020D //Decision-making data of Sentry Robot, transmitted at a fixed frequency of 1 Hz. -#define REFEREE_RADAR_DECISION 0x020E //Decision-making data of Radar, transmitted at a fixed frequency of 1 Hz. -#define REFEREE_ROBOT_COMMUNICATE 0x0301 //Robot interaction data, transmitted at a maximum frequency of 10 Hz when triggered by the sender. -#define REFEREE_USER_DEFINED 0x0302 //Data about the interaction between the Custom Controller and robots, transmitted at a maximum frequency of 30 Hz when triggered by the sender. -#define REFEREE_SMALL_MAP_INTERACT 0x0303 //Player client's small map interaction data, transmitted when triggered by the player client. -#define REFEREE_KEYBOARD_REMOTE 0x0304 //Keyboard, mouse, and remote control data, transmitted at a fixed frequency of 30 Hz. -#define REFEREE_SMALL_MAP_RADAR 0x0305 //Radar data received by player clients' Small Maps, transmitted at a maximum frequency of 10 Hz. -#define REFEREE_CUSTOM_CONTROLLER 0x0306 //Data about the interaction between the Custom Controller and player clients, transmitted at a maximum frequency of 30 Hz when triggered by the sender. -#define REFEREE_SENTRY_DATA 0x0307 //Sentry data received by player clients' Small Maps, transmitted at a maximum frequency of 1 Hz. -#define REFEREE_CUSTOM_DATA 0x0308 //Robot data received by player clients' Small Map, transmitted at a maximum frequency of 3 Hz. /*Calculation: REFEREE_FRAME_HEADER_LEN(5-byte) + REFEREE_ID_LEN(2-byte) + DATA(n-byte) + REFEREE_FRAME_TAIL_LEN(2-byte,CRC16)*/ #define REFEREE_GAME_STATUS_LEN 20 @@ -146,19 +133,6 @@ #define REFEREE_SHOOTER_STATE_LEN 16 #define REFEREE_REMAINING_AMMO_LEN 15 #define REFEREE_ROBOT_RFID_LEN 13 -#define REFEREE_DART_CLIENT_LEN 15 -#define REFEREE_GROUND_POS_LEN 49 -#define REFEREE_RADAR_PROGRESS_LEN 15 -#define REFEREE_SENTRY_DECISION_LEN 13 -#define REFEREE_RADAR_DECISION_LEN 10 -//#define REFEREE_ROBOT_COMMUNICATE_LEN 137 -#define REFEREE_USER_DEFINED_LEN 39 -//#define REFEREE_SMALL_MAP_INTERACT_LEN 24 -//#define REFEREE_KEYBOARD_REMOTE_LEN 21 -//#define REFEREE_SMALL_MAP_RADAR_LEN 19 -//#define REFEREE_CUSTOM_CONTROLLER_LEN 17 -//#define REFEREE_SENTRY_DATA_LEN 112 -//#define REFEREE_CUSTOM_DATA_LEN 43 typedef struct { @@ -319,49 +293,7 @@ typedef struct { uint32_t State; }RFID; - - struct __attribute__ ((__packed__)) - { - uint8_t Dart_Launch_Opening_Status; - uint8_t Reserved; - uint16_t Target_Change_Time; - uint16_t Latest_Launch_Cmd_Time; - }Dart_Client; - - struct __attribute__ ((__packed__)) - { - float hero_x; - float hero_y; - float engineer_x; - float engineer_y; - float standard_3_x; - float standard_3_y; - float standard_4_x; - float standard_4_y; - float standard_5_x; - float standard_5_y; - }Ground_Pos; - - struct __attribute__ ((__packed__)) - { - uint8_t Mark_Hero_Progress; - uint8_t Mark_Engineer_Progress; - uint8_t Mark_Standard_3_Progress; - uint8_t Mark_Standard_4_Progress; - uint8_t Mark_Standard_5_Progress; - uint8_t Mark_Sentry_Progress; - }Radar_Progress; - - struct __attribute__ ((__packed__)) - { - uint32_t Sentry_Info; - }Sentry_Decision; - - struct __attribute__ ((__packed__)) - { - uint8_t Radar_Info; - }Radar_Decision; - + 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 index 7c6f4b5..249ac79 100644 --- 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); } \ No newline at end of file diff --git a/src/devices/src/referee_system.c b/src/devices/src/referee_system.c index ad0456f..a12a2fd 100644 --- a/src/devices/src/referee_system.c +++ b/src/devices/src/referee_system.c @@ -244,6 +244,7 @@ void Referee_Get_Data(void) n++; break; } + } else n++; diff --git a/src/ui/inc/ui_interface.h b/src/ui/inc/ui_interface.h index 1cd2942..343b2ef 100644 --- a/src/ui/inc/ui_interface.h +++ b/src/ui/inc/ui_interface.h @@ -8,12 +8,15 @@ #include #include "ui_types.h" #include "bsp_crc.h" +#include "usart.h" +#include "bsp_serial.h" + extern int ui_self_id; void print_message(const uint8_t* message, int length); -#define SEND_MESSAGE(message, length) print_message(message, length) +#define SEND_MESSAGE(message, length) HAL_UART_Transmit(&huart1,message,length,500) //print_message(message, length) void ui_proc_1_frame(ui_1_frame_t *msg); void ui_proc_2_frame(ui_2_frame_t *msg); diff --git a/src/ui/src/ui_interface.c b/src/ui/src/ui_interface.c index a08d1e3..7519224 100644 --- a/src/ui/src/ui_interface.c +++ b/src/ui/src/ui_interface.c @@ -6,15 +6,95 @@ #include uint8_t seq = 0; -int ui_self_id = 1; +int ui_self_id = 105; void print_message(const uint8_t *message, const int length) { for (int i = 0; i < length; i++) { - printf("%02x ", message[i]); + DEBUG_PRINTF(&huart6, "%02x", message[i]); } printf("\n\n"); } +const unsigned char CRC8_TAB1[256] = { + 0x00, 0x5e, 0xbc, 0xe2, 0x61, 0x3f, 0xdd, 0x83, 0xc2, 0x9c, 0x7e, 0x20, 0xa3, 0xfd, 0x1f, 0x41, + 0x9d, 0xc3, 0x21, 0x7f, 0xfc, 0xa2, 0x40, 0x1e, 0x5f, 0x01, 0xe3, 0xbd, 0x3e, 0x60, 0x82, 0xdc, 0x23, + 0x7d, 0x9f, 0xc1, 0x42, 0x1c, 0xfe, 0xa0, 0xe1, 0xbf, 0x5d, 0x03, 0x80, 0xde, 0x3c, 0x62, 0xbe, 0xe0, + 0x02, 0x5c, 0xdf, 0x81, 0x63, 0x3d, 0x7c, 0x22, 0xc0, 0x9e, 0x1d, 0x43, 0xa1, 0xff, 0x46, 0x18, 0xfa, + 0xa4, 0x27, 0x79, 0x9b, 0xc5, 0x84, 0xda, 0x38, 0x66, 0xe5, 0xbb, 0x59, 0x07, 0xdb, 0x85, 0x67, + 0x39, 0xba, 0xe4, 0x06, 0x58, 0x19, 0x47, 0xa5, 0xfb, 0x78, 0x26, 0xc4, 0x9a, 0x65, 0x3b, 0xd9, 0x87, + 0x04, 0x5a, 0xb8, 0xe6, 0xa7, 0xf9, 0x1b, 0x45, 0xc6, 0x98, 0x7a, 0x24, 0xf8, 0xa6, 0x44, 0x1a, 0x99, + 0xc7, 0x25, 0x7b, 0x3a, 0x64, 0x86, 0xd8, 0x5b, 0x05, 0xe7, 0xb9, + 0x8c, 0xd2, 0x30, 0x6e, 0xed, 0xb3, 0x51, 0x0f, 0x4e, 0x10, 0xf2, 0xac, 0x2f, 0x71, 0x93, 0xcd, 0x11, + 0x4f, 0xad, 0xf3, 0x70, 0x2e, 0xcc, 0x92, 0xd3, 0x8d, 0x6f, 0x31, 0xb2, 0xec, 0x0e, 0x50, 0xaf, 0xf1, + 0x13, 0x4d, 0xce, 0x90, 0x72, 0x2c, 0x6d, 0x33, 0xd1, 0x8f, 0x0c, 0x52, 0xb0, 0xee, 0x32, 0x6c, 0x8e, + 0xd0, 0x53, 0x0d, 0xef, 0xb1, 0xf0, 0xae, 0x4c, 0x12, 0x91, 0xcf, 0x2d, 0x73, 0xca, 0x94, 0x76, 0x28, + 0xab, 0xf5, 0x17, 0x49, 0x08, 0x56, 0xb4, 0xea, 0x69, 0x37, 0xd5, 0x8b, 0x57, 0x09, 0xeb, 0xb5, + 0x36, 0x68, 0x8a, 0xd4, 0x95, 0xcb, 0x29, 0x77, 0xf4, 0xaa, 0x48, 0x16, 0xe9, 0xb7, 0x55, 0x0b, 0x88, + 0xd6, 0x34, 0x6a, 0x2b, 0x75, 0x97, 0xc9, 0x4a, 0x14, 0xf6, 0xa8, + 0x74, 0x2a, 0xc8, 0x96, 0x15, 0x4b, 0xa9, 0xf7, 0xb6, 0xe8, 0x0a, 0x54, 0xd7, 0x89, 0x6b, 0x35, +}; + +unsigned char calc_crc8(unsigned char *pchMessage, unsigned int dwLength) { + unsigned char ucCRC8 = 0xff; + unsigned char ucIndex; + while (dwLength--) { + ucIndex = ucCRC8 ^ (*pchMessage++); + ucCRC8 = CRC8_TAB1[ucIndex]; + } + return (ucCRC8); +} + +const uint16_t wCRC_Table1[256] = { + 0x0000, 0x1189, 0x2312, 0x329b, 0x4624, 0x57ad, 0x6536, 0x74bf, + 0x8c48, 0x9dc1, 0xaf5a, 0xbed3, 0xca6c, 0xdbe5, 0xe97e, 0xf8f7, + 0x1081, 0x0108, 0x3393, 0x221a, 0x56a5, 0x472c, 0x75b7, 0x643e, + 0x9cc9, 0x8d40, 0xbfdb, 0xae52, 0xdaed, 0xcb64, 0xf9ff, 0xe876, + 0x2102, 0x308b, 0x0210, 0x1399, 0x6726, 0x76af, 0x4434, 0x55bd, + 0xad4a, 0xbcc3, 0x8e58, 0x9fd1, 0xeb6e, 0xfae7, 0xc87c, 0xd9f5, + 0x3183, 0x200a, 0x1291, 0x0318, 0x77a7, 0x662e, 0x54b5, 0x453c, + 0xbdcb, 0xac42, 0x9ed9, 0x8f50, 0xfbef, 0xea66, 0xd8fd, 0xc974, + 0x4204, 0x538d, 0x6116, 0x709f, 0x0420, 0x15a9, 0x2732, 0x36bb, + 0xce4c, 0xdfc5, 0xed5e, 0xfcd7, 0x8868, 0x99e1, 0xab7a, 0xbaf3, + 0x5285, 0x430c, 0x7197, 0x601e, 0x14a1, 0x0528, 0x37b3, 0x263a, + 0xdecd, 0xcf44, 0xfddf, 0xec56, 0x98e9, 0x8960, 0xbbfb, 0xaa72, + 0x6306, 0x728f, 0x4014, 0x519d, 0x2522, 0x34ab, 0x0630, 0x17b9, + 0xef4e, 0xfec7, 0xcc5c, 0xddd5, 0xa96a, 0xb8e3, 0x8a78, 0x9bf1, + 0x7387, 0x620e, 0x5095, 0x411c, 0x35a3, 0x242a, 0x16b1, 0x0738, + 0xffcf, 0xee46, 0xdcdd, 0xcd54, 0xb9eb, 0xa862, 0x9af9, 0x8b70, + 0x8408, 0x9581, 0xa71a, 0xb693, 0xc22c, 0xd3a5, 0xe13e, 0xf0b7, + 0x0840, 0x19c9, 0x2b52, 0x3adb, 0x4e64, 0x5fed, 0x6d76, 0x7cff, + 0x9489, 0x8500, 0xb79b, 0xa612, 0xd2ad, 0xc324, 0xf1bf, 0xe036, + 0x18c1, 0x0948, 0x3bd3, 0x2a5a, 0x5ee5, 0x4f6c, 0x7df7, 0x6c7e, + 0xa50a, 0xb483, 0x8618, 0x9791, 0xe32e, 0xf2a7, 0xc03c, 0xd1b5, + 0x2942, 0x38cb, 0x0a50, 0x1bd9, 0x6f66, 0x7eef, 0x4c74, 0x5dfd, + 0xb58b, 0xa402, 0x9699, 0x8710, 0xf3af, 0xe226, 0xd0bd, 0xc134, + 0x39c3, 0x284a, 0x1ad1, 0x0b58, 0x7fe7, 0x6e6e, 0x5cf5, 0x4d7c, + 0xc60c, 0xd785, 0xe51e, 0xf497, 0x8028, 0x91a1, 0xa33a, 0xb2b3, + 0x4a44, 0x5bcd, 0x6956, 0x78df, 0x0c60, 0x1de9, 0x2f72, 0x3efb, + 0xd68d, 0xc704, 0xf59f, 0xe416, 0x90a9, 0x8120, 0xb3bb, 0xa232, + 0x5ac5, 0x4b4c, 0x79d7, 0x685e, 0x1ce1, 0x0d68, 0x3ff3, 0x2e7a, + 0xe70e, 0xf687, 0xc41c, 0xd595, 0xa12a, 0xb0a3, 0x8238, 0x93b1, + 0x6b46, 0x7acf, 0x4854, 0x59dd, 0x2d62, 0x3ceb, 0x0e70, 0x1ff9, + 0xf78f, 0xe606, 0xd49d, 0xc514, 0xb1ab, 0xa022, 0x92b9, 0x8330, + 0x7bc7, 0x6a4e, 0x58d5, 0x495c, 0x3de3, 0x2c6a, 0x1ef1, 0x0f78 +}; + +uint16_t calc_crc16(uint8_t *pchMessage, uint32_t dwLength) +{ + uint16_t wCRC = 0xffff; + uint8_t chData; + if (pchMessage == NULL) + { + return 0xFFFF; + } + while(dwLength--) + { + chData = *pchMessage++; + (wCRC) = ((uint16_t)(wCRC) >> 8) ^ wCRC_Table1[((uint16_t)(wCRC) ^ (uint16_t)(chData)) & 0x00ff]; + } + return wCRC; +} + #define DEFINE_FRAME_PROC(num, id) \ void ui_proc_ ## num##_frame(ui_ ## num##_frame_t *msg) { \ msg->header.SOF = 0xA5; \ From 77c195184ceb0c53b7fd75a2b037770da35c69fa Mon Sep 17 00:00:00 2001 From: Leo Liu <65527170+CuboiLeo@users.noreply.github.com> Date: Thu, 23 May 2024 16:36:08 -0400 Subject: [PATCH 3/3] Referee UI update (#50) * UI added, not tested * referee system updated, fixed compiling issues * reduced package size for 3v3 * small change * referee protocol verified --- src/app/src/robot.c | 2 ++ src/devices/inc/referee_system.h | 4 +--- src/devices/src/referee_system.c | 8 ++++---- src/ui/inc/ui_interface.h | 1 - src/ui/src/ui_interface.c | 1 + 5 files changed, 8 insertions(+), 8 deletions(-) diff --git a/src/app/src/robot.c b/src/app/src/robot.c index a1c4fad..050a437 100644 --- a/src/app/src/robot.c +++ b/src/app/src/robot.c @@ -60,6 +60,8 @@ void Robot_Ctrl_Loop() { // Control loop for the robot Robot_Cmd_Loop(); + Referee_Get_Data(); + Referee_Set_Robot_State(); Chassis_Ctrl_Loop(); Gimbal_Ctrl_Loop(); Launch_Ctrl_Loop(); diff --git a/src/devices/inc/referee_system.h b/src/devices/inc/referee_system.h index 217d53a..e61b0aa 100644 --- a/src/devices/inc/referee_system.h +++ b/src/devices/inc/referee_system.h @@ -179,7 +179,6 @@ typedef struct uint16_t Red_3_HP; uint16_t Red_4_HP; uint16_t Red_5_HP; - uint16_t Red_6_HP; uint16_t Red_7_HP; uint16_t Red_Outpost_HP; uint16_t Red_Base_HP; @@ -189,7 +188,6 @@ typedef struct uint16_t Blue_3_HP; uint16_t Blue_4_HP; uint16_t Blue_5_HP; - uint16_t Blue_6_HP; uint16_t Blue_7_HP; uint16_t Blue_Outpost_HP; uint16_t Blue_Base_HP; @@ -293,7 +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/referee_system.c b/src/devices/src/referee_system.c index a12a2fd..ff325fc 100644 --- a/src/devices/src/referee_system.c +++ b/src/devices/src/referee_system.c @@ -23,10 +23,10 @@ void Referee_Set_Robot_State(void) Referee_Robot_State.ID = Referee_System.Robot_State.ID; Referee_Robot_State.Level = Referee_System.Robot_State.Level; - Referee_Robot_State.Cooling_Rate = SENTRY_COOLING_RATE; - Referee_Robot_State.Heat_Max = SENTRY_HEAT_MAX; - Referee_Robot_State.Launch_Speed_Max = SENTRY_LAUNCH_SPEED_MAX; - Referee_Robot_State.Chassis_Power_Max = SENTRY_POWER_MAX; + Referee_Robot_State.Cooling_Rate = Referee_System.Robot_State.Shooter_Cooling_Value; + Referee_Robot_State.Heat_Max = Referee_System.Robot_State.Shooter_Heat_Max; + Referee_Robot_State.Launch_Speed_Max = V3_STANDARD_LAUNCH_SPEED_MAX; + Referee_Robot_State.Chassis_Power_Max = Referee_System.Robot_State.Chassis_Power_Max; Referee_Robot_State.Chassis_Power = Referee_System.Power_Heat.Chassis_Power; Referee_Robot_State.Power_Buffer = Referee_System.Power_Heat.Chassis_Power_Buffer; diff --git a/src/ui/inc/ui_interface.h b/src/ui/inc/ui_interface.h index 343b2ef..9243ce4 100644 --- a/src/ui/inc/ui_interface.h +++ b/src/ui/inc/ui_interface.h @@ -11,7 +11,6 @@ #include "usart.h" #include "bsp_serial.h" - extern int ui_self_id; void print_message(const uint8_t* message, int length); diff --git a/src/ui/src/ui_interface.c b/src/ui/src/ui_interface.c index 7519224..1167a8f 100644 --- a/src/ui/src/ui_interface.c +++ b/src/ui/src/ui_interface.c @@ -95,6 +95,7 @@ uint16_t calc_crc16(uint8_t *pchMessage, uint32_t dwLength) return wCRC; } + #define DEFINE_FRAME_PROC(num, id) \ void ui_proc_ ## num##_frame(ui_ ## num##_frame_t *msg) { \ msg->header.SOF = 0xA5; \