referee + orin comm tested

src/app/src/robot.c

@@ -10,6 +10,7 @@
 #include <math.h>
 #include "imu_task.h"
 #include "user_math.h"
+#include "referee_system.h"
 
 extern DJI_Motor_Handle_t *g_yaw;
 #define SPIN_TOP_OMEGA (1.0f)
@@ -33,7 +34,8 @@ void Robot_Init()
     Launch_Task_Init();
     Remote_Init();
     CAN_Service_Init();
-    Jetson_Orin_Init();
+    Referee_System_Init(&huart1);
+    Jetson_Orin_Init(&huart6);
     // Initialize all tasks
     Robot_Tasks_Start();
 }

src/bsp/Src/bsp_uart.c

@@ -1,15 +1,13 @@
 #include "bsp_uart.h"
 
-//#include "referee_system.h"
+#include "referee_system.h"
 #include "jetson_orin.h"
 
 void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart) {
-    // if (huart->Instance == &huart6)
-    // {
-    //         Referee_Get_Data(REFEREE_BUFFER_LEN);
-    // }
-
-    if (huart->Instance == huart1.Instance)
+    if (huart == Referee_System.huart) {
+        Referee_Get_Data();
+    }
+    if (huart == g_orin_data.huartx)
     {
         Jetson_Orin_Decode();
     }

src/devices/inc/jetson_orin.h

@@ -2,9 +2,12 @@
 #define JETSON_ORIN_H
 
 #include <stdint.h>
+#include "usart.h"
 
 typedef struct
 {
+    UART_HandleTypeDef *huartx;
+
     uint8_t rx_buffer[20];
     uint8_t tx_buffer[33];
 
@@ -63,7 +66,7 @@ typedef struct
 } Jetson_Orin_Data_t;
 
 extern Jetson_Orin_Data_t g_orin_data;
-void Jetson_Orin_Init(void);
+void Jetson_Orin_Init(UART_HandleTypeDef *huartx);
 void Jetson_Orin_Decode(void);
 void Jetson_Orin_Send_Data(void);
 

src/devices/inc/referee_system.h

@@ -172,6 +172,7 @@ typedef struct
 
 typedef struct
 {
+	UART_HandleTypeDef *huart;
 	uint16_t DMA_Counter;
 	uint8_t Buffer[REFEREE_BUFFER_LEN];
 

src/devices/src/jetson_orin.c

@@ -42,9 +42,10 @@ void Jetson_Orin_Decode(void)
 	}
 }
 
-void Jetson_Orin_Init(void)
+void Jetson_Orin_Init(UART_HandleTypeDef *huartx)
 {
-	HAL_UART_Receive_DMA(&huart1, g_orin_data.rx_buffer, 20);
+	g_orin_data.huartx = huartx;
+	HAL_UART_Receive_DMA(huartx, g_orin_data.rx_buffer, sizeof(g_orin_data.rx_buffer));
 }
 
 void Jetson_Orin_Send_Data(void)
@@ -70,5 +71,5 @@ void Jetson_Orin_Send_Data(void)
 	g_orin_data.tx_buffer[0] = 0xAA;
 	memcpy(&g_orin_data.tx_buffer[1],&g_orin_data.sending.float_byte.data_bytes[0], 32*sizeof(uint8_t));
 
-	HAL_UART_Transmit_DMA(&huart1, g_orin_data.tx_buffer, sizeof(g_orin_data.tx_buffer));
+	HAL_UART_Transmit_DMA(g_orin_data.huartx, g_orin_data.tx_buffer, sizeof(g_orin_data.tx_buffer));
 }

src/devices/src/referee_system.c

@@ -14,8 +14,6 @@
 Referee_System_t Referee_System;
 Referee_Robot_State_t Referee_Robot_State;
 
-HAL_StatusTypeDef Referee_UART_Receive_DMA_No_Interrupt(UART_HandleTypeDef *huart, uint8_t *pData, uint16_t Size);
-HAL_StatusTypeDef Referee_UART_Receive_Interrupt(UART_HandleTypeDef *huart, uint8_t *pData, uint16_t Size);
 void Referee_Get_Data(void);
 void Referee_Set_Robot_State(void);
 
@@ -73,34 +71,9 @@ void Referee_Set_Robot_State(void)
     // }
 }
 
-HAL_StatusTypeDef Referee_UART_Receive_DMA_No_Interrupt(UART_HandleTypeDef *huart, uint8_t *pData, uint16_t Size)
-{
-    if (huart->RxState == HAL_UART_STATE_READY)
-    {
-        if ((pData == NULL) || (Size == 0))
-        {
-            return HAL_ERROR;
-        }
-
-        huart->pRxBuffPtr = pData;
-        huart->RxXferSize = Size;
-        huart->ErrorCode = HAL_UART_ERROR_NONE;
-
-        /* Enable the DMA Stream */
-        HAL_DMA_Start(huart->hdmarx, (uint32_t)&huart->Instance->DR, (uint32_t)pData, Size);
-        /* Enable the DMA transfer for the receiver request by setting the DMAR bit in the UART CR3 register */
-        SET_BIT(huart->Instance->CR3, USART_CR3_DMAR);
-
-        return HAL_OK;
-    }
-    else
-    {
-        return HAL_BUSY;
-    }
-}
-
 void Referee_System_Init(UART_HandleTypeDef *huart)
 {
+    Referee_System.huart = huart;
     HAL_UART_Receive_DMA(huart, Referee_System.Buffer, REFEREE_BUFFER_LEN);
 }
 
@@ -238,11 +211,4 @@ void Referee_Get_Data(void)
         else
             n++;
     }
-}
-
-void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart) {
-    if (huart->Instance == huart1.Instance)
-    {
-        Referee_Get_Data();
-    }
 }