加ai
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@ -335,6 +335,7 @@ void USART1_IRQHandler(void)
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/* USER CODE END USART1_IRQn 0 */
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HAL_UART_IRQHandler(&huart1);
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/* USER CODE BEGIN USART1_IRQn 1 */
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BSP_UART_IRQHandler(&huart1);
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/* USER CODE END USART1_IRQn 1 */
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}
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@ -129,4 +129,8 @@ uart:
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devices:
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- instance: USART3
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name: DR16
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- instance: USART6
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name: AI
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- instance: USART1
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name: REF
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enabled: true
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@ -25,6 +25,10 @@ static void (*UART_Callback[BSP_UART_NUM][BSP_UART_CB_NUM])(void);
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static BSP_UART_t UART_Get(UART_HandleTypeDef *huart) {
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if (huart->Instance == USART3)
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return BSP_UART_DR16;
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else if (huart->Instance == USART6)
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return BSP_UART_AI;
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else if (huart->Instance == USART1)
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return BSP_UART_REF;
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else
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return BSP_UART_ERR;
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}
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@ -115,6 +119,10 @@ UART_HandleTypeDef *BSP_UART_GetHandle(BSP_UART_t uart) {
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switch (uart) {
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case BSP_UART_DR16:
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return &huart3;
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case BSP_UART_AI:
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return &huart6;
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case BSP_UART_REF:
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return &huart1;
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default:
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return NULL;
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}
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@ -28,6 +28,8 @@ extern "C" {
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/* UART实体枚举，与设备对应 */
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typedef enum {
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BSP_UART_DR16,
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BSP_UART_AI,
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BSP_UART_REF,
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BSP_UART_NUM,
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BSP_UART_ERR,
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} BSP_UART_t;
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138
User/device/ai.c
138
User/device/ai.c
@ -1,91 +1,93 @@
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// /*
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// AI
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// */
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/*
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AI
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*/
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// /* Includes ----------------------------------------------------------------- */
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// #include "ai.h"
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/* Includes ----------------------------------------------------------------- */
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#include "ai.h"
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// #include <string.h>
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#include <string.h>
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// #include "bsp/time.h"
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// #include "bsp/uart.h"
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// #include "component/crc16.h"
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// #include "component/crc8.h"
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// #include "component/user_math.h"
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// #include "component/filter.h"
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#include "bsp/time.h"
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#include "bsp/uart.h"
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#include "component/crc16.h"
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#include "component/crc8.h"
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#include "component/user_math.h"
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#include "component/filter.h"
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// /* Private define ----------------------------------------------------------- */
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// #define AI_LEN_RX_BUFF (sizeof(Protocol_DownPackage_t))
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/* Private define ----------------------------------------------------------- */
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#define AI_LEN_RX_BUFF (sizeof(AI_DownPackage_t))
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// /* Private macro ------------------------------------------------------------ */
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// /* Private typedef ---------------------------------------------------------- */
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// /* Private variables -------------------------------------------------------- */
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// static volatile uint32_t drop_message = 0;
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/* Private macro ------------------------------------------------------------ */
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/* Private typedef ---------------------------------------------------------- */
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/* Private variables -------------------------------------------------------- */
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// static uint8_t rxbuf[AI_LEN_RX_BUFF];
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static uint8_t rxbuf[AI_LEN_RX_BUFF];
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// static bool inited = false;
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static bool inited = false;
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// static osThreadId_t thread_alert;
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static osThreadId_t thread_alert;
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// /* Private function -------------------------------------------------------- */
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static uint32_t drop_message = 0;
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// static void Ai_RxCpltCallback(void) {
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// osThreadFlagsSet(thread_alert, SIGNAL_AI_RAW_REDY);
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// }
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/* Private function -------------------------------------------------------- */
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// static void Ai_IdleLineCallback(void) {
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// osThreadFlagsSet(thread_alert, SIGNAL_AI_RAW_REDY);
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// }
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static void Ai_RxCpltCallback(void) {
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osThreadFlagsSet(thread_alert, SIGNAL_AI_RAW_REDY);
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}
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// /* Exported functions ------------------------------------------------------- */
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// int8_t AI_Init(AI_t *ai) {
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// UNUSED(ai);
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// ASSERT(ai);
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// if (inited) return DEVICE_ERR_INITED;
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// VERIFY((thread_alert = osThreadGetId()) != NULL);
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static void Ai_IdleLineCallback(void) {
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osThreadFlagsSet(thread_alert, SIGNAL_AI_RAW_REDY);
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}
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// BSP_UART_RegisterCallback(BSP_UART_AI, BSP_UART_RX_CPLT_CB,
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// Ai_RxCpltCallback);
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// BSP_UART_RegisterCallback(BSP_UART_AI, BSP_UART_IDLE_LINE_CB,
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// Ai_IdleLineCallback);
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/* Exported functions ------------------------------------------------------- */
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int8_t AI_Init(AI_t *ai) {
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UNUSED(ai);
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if (inited) return DEVICE_ERR_INITED;
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thread_alert = osThreadGetId();
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BSP_UART_RegisterCallback(BSP_UART_AI, BSP_UART_RX_CPLT_CB,
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Ai_RxCpltCallback);
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BSP_UART_RegisterCallback(BSP_UART_AI, BSP_UART_IDLE_LINE_CB,
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Ai_IdleLineCallback);
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// inited = true;
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// return 0;
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// }
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inited = true;
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return 0;
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}
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// int8_t AI_Restart(void) {
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// __HAL_UART_DISABLE(BSP_UART_GetHandle(BSP_UART_AI));
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// __HAL_UART_ENABLE(BSP_UART_GetHandle(BSP_UART_AI));
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// return DEVICE_OK;
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// }
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int8_t AI_Restart(AI_t *ai) {
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UNUSED(ai);
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__HAL_UART_DISABLE(BSP_UART_GetHandle(BSP_UART_AI));
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__HAL_UART_ENABLE(BSP_UART_GetHandle(BSP_UART_AI));
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return DEVICE_OK;
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}
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// int8_t AI_StartReceiving(AI_t *ai) {
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// UNUSED(ai);
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// if (HAL_UART_Receive_DMA(BSP_UART_GetHandle(BSP_UART_AI), rxbuf,
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// AI_LEN_RX_BUFF) == HAL_OK)
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// return DEVICE_OK;
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// return DEVICE_ERR;
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// }
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int8_t AI_StartReceiving(AI_t *ai) {
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UNUSED(ai);
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if (HAL_UART_Receive_DMA(BSP_UART_GetHandle(BSP_UART_AI), rxbuf,
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AI_LEN_RX_BUFF) == HAL_OK)
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return DEVICE_OK;
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return DEVICE_ERR;
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}
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// bool AI_WaitDmaCplt(void) {
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// return (osThreadFlagsWait(SIGNAL_AI_RAW_REDY, osFlagsWaitAll, 0) ==
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// SIGNAL_AI_RAW_REDY);
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// }
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bool AI_WaitDmaCplt(uint32_t timeout) {
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return (osThreadFlagsWait(SIGNAL_AI_RAW_REDY, osFlagsWaitAll, timeout) ==
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SIGNAL_AI_RAW_REDY);
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}
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// int8_t AI_ParseHost(AI_t *ai) {
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// if (!CRC16_Verify((const uint8_t *)&(rxbuf), sizeof(ai->from_host)))
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// goto error;
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// ai->ai_online = true;
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// memcpy(&(ai->from_host), rxbuf, sizeof(ai->from_host));
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// memset(rxbuf, 0, AI_LEN_RX_BUFF);
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// return DEVICE_OK;
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int8_t AI_ParseHost(AI_t *ai) {
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if (!CRC16_Verify((const uint8_t *)&(rxbuf), sizeof(ai->from_host)))
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goto error;
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ai->header.online = true;
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ai->header.last_online_time = BSP_TIME_Get();
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memcpy(&(ai->from_host), rxbuf, sizeof(ai->from_host));
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memset(rxbuf, 0, AI_LEN_RX_BUFF);
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return DEVICE_OK;
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// error:
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// drop_message++;
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// return DEVICE_ERR;
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// }
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error:
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drop_message++;
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return DEVICE_ERR;
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}
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// void AI_PackCmd(AI_t *ai, CMD_Host_t *cmd_host) {
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// cmd_host->gimbal_delta.yaw = ai->from_host.data.gimbal.yaw;
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@ -58,7 +58,7 @@ typedef struct __packed {
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/* 视觉 -> 电控 数据包 */
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typedef struct __packed {
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uint8_t id; /* 包ID */
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AI_Protucol_DownData_t package; /* 数据包 */
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AI_Protocol_DownData_t package; /* 数据包 */
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uint16_t crc16; /* CRC16校验 */
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} AI_DownPackage_t;
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@ -30,7 +30,7 @@ extern "C" {
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/* AUTO GENERATED SIGNALS END */
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/* USER SIGNALS BEGIN */
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#define SIGNAL_AI_RAW_REDY (1u << 5)
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/* USER SIGNALS END */
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/*设备层通用Header*/
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typedef struct {
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