第一次提交

2026-05-29 17:36:34 +08:00
commit 5b3333125d
1318 changed files with 722705 additions and 0 deletions
@@ -0,0 +1,99 @@
+#include "opencv.h"
+#include "daemon.h"
+#define FRAME_SOF          0xA5
+#define FRAME_PAYLOAD_LEN  (2+2+4*12)  // 52
+#define FRAME_FULL_LEN     (1+1+FRAME_PAYLOAD_LEN) //54
+
+float opencv_Vision_data[12];
+
+uint8_t Vison_revc_flag = 0; // 视觉数据接收标志位
+uint8_t vision_used_flag = 0; // 视觉数据使用标志位,用于判断是否需要使用视觉数据
+
+
+
+float Vison_Frequency; // 视觉数据接收频率,单位Hz
+static USARTInstance *cv_usart_instance;
+static DaemonInstance *OPENCV_vision_daemon_instance;
+
+/**
+ * @brief 接收解包回调函数,将在bsp_usart.c中被usart rx callback调用
+ * @todo  1.提高可读性,将get_protocol_info的第四个参数增加一个float类型buffer
+ *        2.添加标志位解码
+ */
+static void DecodeVision()
+{
+    DaemonReload(OPENCV_vision_daemon_instance); // 喂狗,防止离线
+    static uint32_t counter;
+    float dt = DWT_GetDeltaT(&counter); 
+    Vison_Frequency = 1.0f / dt; // 计算频率
+    const uint16_t len = cv_usart_instance->recv_buff_size;
+    uint16_t flag_register;
+    uint8_t *buf = cv_usart_instance->recv_buff;
+    if (len != FRAME_FULL_LEN) {
+        // 长度不符
+        LOGERROR("Vision frame length error");
+        return;
+    }
+    if (buf[0] != FRAME_SOF) {
+        // SOF 错误
+        LOGERROR("Vision frame SOF error");
+        return;
+    }
+    uint8_t payload_len = buf[1];
+    if (payload_len != FRAME_PAYLOAD_LEN) {
+        // Payload 长度不符
+        LOGERROR("Vision frame payload length error");
+        return;
+    }
+    // 解析命令号和 flags（小端）
+    uint16_t cmd_id = buf[2] | (buf[3] << 8);
+    uint16_t flags  = buf[4] | (buf[5] << 8);
+
+    // 解析 12 个 float
+    for (int i = 0; i < 12; i++) {
+        // 从 buf[6 + 4*i] 连续读 4 字节
+        memcpy(&opencv_Vision_data[i], buf + 6 + 4*i, sizeof(float));
+    }
+    // // 解析任务标志位(拟合最接近的int)
+    // int last_task_cmd = Vison_task_cmd;
+    // Vison_task_cmd = (int)(Vison_data[10] + 0.5f);
+    // if (Vison_task_cmd != last_task_cmd) {
+    //     Vison_task_changed = 1; // 任务命令变化
+    // }
+
+    Vison_revc_flag = 1; // 设置接收标志位
+    // vision_used_flag = 1; // 设置视觉数据使用标志位
+    //解析暂停标志位
+    // run = (int)(Vison_data[11] + 0.5f);
+
+    // 处理...
+    // printf("Got frame: cmd=0x%04X flags=0x%04X\n", cmd_id, flags);
+    // for (int i = 0; i < 12; i += 2) {
+    //     printf("  coord %d: (%.3f, %.3f)\n",
+    //            i/2, data[i], data[i+1]);
+    // float a = data[0];
+    
+    // TODO: code to resolve flag_register;
+}
+
+void VisionOfflineCallback(void *owner_id)
+{
+    Vison_revc_flag = 0; // 清除接收标志位
+}
+
+void Vision_Uart_Init(UART_HandleTypeDef *_handle)
+{
+    USART_Init_Config_s conf;
+    conf.module_callback = DecodeVision;
+    conf.recv_buff_size = 54;
+    conf.usart_handle = _handle;
+    cv_usart_instance = USARTRegister(&conf);
+
+    // 为master process注册daemon,用于判断视觉通信是否离线
+    Daemon_Init_Config_s daemon_conf = {
+        .callback = VisionOfflineCallback, // 离线时调用的回调函数,会重启串口接收
+        .owner_id = NULL,
+        .reload_count = 10,
+    };
+    OPENCV_vision_daemon_instance = DaemonRegister(&daemon_conf);
+}
@@ -0,0 +1,22 @@
+#ifndef OPENCV_H
+#define OPENCV_H
+#include "bsp_usart.h"
+#include "opencv.h"
+#include "bsp_log.h"
+#include "bsp_dwt.h"
+#include "usart.h"
+#include "robot_def.h"
+#include <string.h>
+#include <stdio.h>
+
+
+
+
+void Vision_Uart_Init(UART_HandleTypeDef *_handle);
+extern float opencv_Vision_data[12]; // 视觉数据,12个float
+extern uint8_t Vison_revc_flag; // 视觉数据接收标志位
+extern uint8_t vision_used_flag; // 视觉数据使用标志位,用于判断是否需要使用视觉数据
+extern float Vison_Frequency; // 视觉数据频率
+
+
+#endif // !OPENCV_H