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..964aa0b 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 { @@ -320,48 +294,6 @@ 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..2537813 100644 --- a/src/devices/src/referee_system.c +++ b/src/devices/src/referee_system.c @@ -192,51 +192,6 @@ 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; diff --git a/src/ui/inc/ui_interface.h b/src/ui/inc/ui_interface.h index 1cd2942..9243ce4 100644 --- a/src/ui/inc/ui_interface.h +++ b/src/ui/inc/ui_interface.h @@ -8,12 +8,14 @@ #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..a5d5b38 100644 --- a/src/ui/src/ui_interface.c +++ b/src/ui/src/ui_interface.c @@ -6,26 +6,107 @@ #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; \ msg->header.length = 6 + 15 * num; \ msg->header.seq = seq++; \ - msg->header.crc8 = Verify_CRC8_Check_Sum((uint8_t*)msg, 4); \ + msg->header.crc8 = calc_crc8((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 = Verify_CRC16_Check_Sum((uint8_t*)msg, 13 + 15 * num); \ + msg->crc16 = calc_crc16((uint8_t*)msg, 13 + 15 * num); \ } DEFINE_FRAME_PROC(1, 0x0101) @@ -37,11 +118,11 @@ 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 = Verify_CRC8_Check_Sum((uint8_t *) msg, 4); + msg->header.crc8 = calc_crc8((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 = Verify_CRC16_Check_Sum((uint8_t *) msg, 58); + msg->crc16 = calc_crc16((uint8_t *) msg, 58); }