feat: 实验性上行数据接收

app/by_frame.c

@@ -7,8 +7,8 @@
 #include "lwrb.h"
 #include "crc16.h"
 
-uint8_t frame_buffer_recv[(2 * (4 + BY_FRAME_DATA_NUM * sizeof(uint32_t))) + 1];
+uint8_t frame_buffer_recv[(2 * (4 + BY_FRAME_DATA_NUM_RECV * sizeof(uint32_t))) + 1];
-uint8_t frame_buffer_send[4 + BY_FRAME_DATA_NUM * sizeof(uint32_t)];
+uint8_t frame_buffer_send[4 + BY_FRAME_DATA_NUM_SEND * sizeof(uint32_t)];
 uint8_t frame_parse_busy;
 lwrb_t lwrb_ctx;
 
@@ -19,10 +19,10 @@ void by_frame_init(void)
     uart_rx_interrupt(BY_FRAME_UART_INDEX, ENABLE);
 }
 
-void by_frame_send(uint32_t *data_array)
+void by_frame_send(uint32_t* data_array)
 {
     uint16_t crc_cal            = 0;
-    const uint8_t data_byte_num = BY_FRAME_DATA_NUM * sizeof(uint32_t);
+    const uint8_t data_byte_num = BY_FRAME_DATA_NUM_SEND * sizeof(uint32_t);
 
     frame_buffer_send[0] = BY_FRAME_HEAD_1;
     frame_buffer_send[1] = BY_FRAME_HEAD_2;
@@ -49,9 +49,9 @@ void by_frame_parse(uint32_t *data_array)
     uint32_t len                = lwrb_get_full(&lwrb_ctx); // 缓冲区大小
     uint8_t status              = 0;                        // 状态 0-未找到帧头 1-找到帧头 2-校验
     uint16_t frame_start        = 0;                        // 帧起始位置
-    uint8_t frame_buf[4 + BY_FRAME_DATA_NUM * sizeof(uint32_t)] = {0};                      // 帧
+    uint8_t frame_buf[4 + BY_FRAME_DATA_NUM_RECV * sizeof(uint32_t)]    = {0};                      // 帧
-    uint8_t buf[(4 + BY_FRAME_DATA_NUM * sizeof(uint32_t)) * 2] = {0};                      // 用于解析的数据块
+    uint8_t buf[(4 + BY_FRAME_DATA_NUM_RECV * sizeof(uint32_t)) * 2]    = {0};                      // 用于解析的数据块
-    const uint8_t data_byte_num                                 = BY_FRAME_DATA_NUM * sizeof(uint32_t);
+    const uint8_t data_byte_num = BY_FRAME_DATA_NUM_RECV * sizeof(uint32_t);
 
     if (len < 2 * (4 + data_byte_num)) {
         // 当前要求缓冲区满

app/by_frame.h

@@ -16,12 +16,12 @@
 #define BY_FRAME_UART_INDEX    (UART_2)
 #define BY_FRAME_UART_BAUDRATE (115200)
 
-#define BY_FRAME_DATA_NUM      (3)
+#define BY_FRAME_DATA_NUM_SEND (3)
+#define BY_FRAME_DATA_NUM_RECV (1)
 
 extern void by_frame_init(void);
 void by_frame_send(uint32_t *data_array);
 void by_frame_parse(uint32_t *data_array);
 extern void by_frame_parse_uart_handle(uint8_t data);
 
-
 #endif

app/gl_tracking.c

@@ -112,7 +112,13 @@ void aim_distance_select(void)
 
 void ElementJudge()
 {
-    Check_shield();
+    
+    if(begin_flag == 1){
+        shield_type = SHIELD_BEGIN;
+        begin_flag = 0;
+        return;
+    }
+
     if (shield_type == SHIELD_NONE) {
         CheckGarage();
         if (garage_type == GARAGE_NONE) {
@@ -162,7 +168,11 @@ void ElementRun()
 
 void MidLineTrack()
 {
-    if (cross_type == CROSS_IN) {
+    if (shield_type == SHIELD_BEGIN) {
+        shield_type = SHIELD_NONE;
+        system_delay_ms(1000);  // 斑马线发车延时
+    }
+    else if (cross_type == CROSS_IN) {
         if (track_type == TRACK_LEFT) {
             mid_track = mid_left; // 这是为了预先分配内存
             GetMidLine_Left(pts_far_resample_left + far_Lpt0_rpts0s_id, pts_far_resample_left_count - far_Lpt0_rpts0s_id, mid_left, (int)round(ANGLEDIST / RESAMPLEDIST), PIXPERMETER * ROADWIDTH / 2);

app/isr.c

@@ -92,15 +92,11 @@ void USART1_IRQHandler(void)
 void USART2_IRQHandler(void)
 {
     if (USART_GetITStatus(USART2, USART_IT_RXNE) != RESET) {
-        // uint8_t data = (uint8_t)USART_ReceiveData(USART2);
+        by_frame_parse_uart_handle((uint8_t)USART_ReceiveData(USART2));
-        // by_frame_parse_uart_handle(data);
-        USART_ReceiveData(USART2);
-        NVIC_SystemReset();
         USART_ClearITPendingBit(USART2, USART_IT_RXNE);
     }
 
     if (USART_GetFlagStatus(USART2, USART_FLAG_ORE) != RESET) {
-
         USART_ClearFlag(USART2, USART_FLAG_ORE); // <20><><EFBFBD><EFBFBD> ORE <20><>־λ
         USART_ReceiveData(USART2);
     }

app/main.c

@@ -32,7 +32,7 @@
 
 int main(void)
 {
-
+    TYPE_UNION recv_data[BY_FRAME_DATA_NUM_RECV];
     clock_init(SYSTEM_CLOCK_144M);
     system_delay_init();
     debug_init();
@@ -54,6 +54,14 @@ int main(void)
 
     printf("start running\r\n");
     while (1) {
+        memset(recv_data, 0, sizeof(recv_data));
+        by_frame_parse(&recv_data[0].u32);
+        if(0xEB == recv_data[0].u32) {
+            NVIC_SystemReset();
+        }else if (0x5C == recv_data[0].u32) {
+            begin_flag = 1;
+        }
+
         Page_Run();
         by_buzzer_run();
         tiny_frame_param[0].f32   = pure_angle;