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2026-01-13 14:52:42 +08:00
commit b1418b080c
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41
底盘独立控制器/code/CarBody/UI_Base.c Normal file
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#include "stm32f4xx.h" // Device header
#include "stm32f4xx_conf.h"
#include "UI_Base.h"
#include <string.h>
#include "RefereeSystem.h"
#include "RefereeSystem_CRCTable.h"
uint8_t UI_seq=0;
#define DEFINE_FRAME_PROC(num,id) \
void ui_proc_##num##_frame(ui_##num##_frame_t *msg) \
{ \
msg->header.SOF=0xA5; \
msg->header.data_length=6+15*num; \
msg->header.seq=UI_seq++; \
msg->header.CRC8=RefereeSystem_GetCRC8CheckSum((uint8_t*)msg,4,CRC8_Initial); \
msg->header.cmd_id=0x0301; \
msg->header.dada_cmd_id=id; \
msg->header.sender_id=RefereeSystem_RobotID; \
msg->header.receiver_id=RefereeSystem_RobotID+256; \
msg->CRC16=RefereeSystem_GetCRC16CheckSum((uint8_t*)msg,13+15*num,CRC16_Initial); \
}
DEFINE_FRAME_PROC(1,0x0101)
DEFINE_FRAME_PROC(2,0x0102)
DEFINE_FRAME_PROC(5,0x0103)
DEFINE_FRAME_PROC(7,0x0104)
void ui_proc_string_frame(ui_string_frame_t *msg)
{
msg->header.SOF=0xA5;
msg->header.data_length=51;
msg->header.seq=UI_seq++;
msg->header.CRC8=RefereeSystem_GetCRC8CheckSum((uint8_t*)msg,4,CRC8_Initial);
msg->header.cmd_id=0x0301;
msg->header.dada_cmd_id=0x0110;
msg->header.sender_id=RefereeSystem_RobotID;
msg->header.receiver_id=RefereeSystem_RobotID+256;
msg->option.str_length=strlen(msg->option.string);
msg->CRC16=RefereeSystem_GetCRC16CheckSum((uint8_t *)msg,58,CRC16_Initial);
}