Merge pull request #21 from RoboMaster/icra2019_dev

BUG:修复一个协议接口初始化值错误导致的重复解包
RoboMaster · May 5, 2019 · 9cb7d9d · 9cb7d9d
2 parents 651a7c3 + 05f2e25
commit 9cb7d9d
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Showing 4 changed files with 18 additions and 7 deletions.
diff --git a/MDK-ARM/bin/infantry.bin b/MDK-ARM/bin/infantry.bin
diff --git a/MDK-ARM/infantry.uvprojx b/MDK-ARM/infantry.uvprojx
@@ -54,7 +54,7 @@
  <CreateLib>0</CreateLib>
  <CreateHexFile>0</CreateHexFile>
  <DebugInformation>1</DebugInformation>
- <BrowseInformation>0</BrowseInformation>
+ <BrowseInformation>1</BrowseInformation>
  <ListingPath>..\build\</ListingPath>
  <HexFormatSelection>1</HexFormatSelection>
  <Merge32K>0</Merge32K>

diff --git a/application/infantry_cmd.h b/application/infantry_cmd.h
@@ -26,7 +26,7 @@
 
 #include "sys.h"
 
-#define FIRMWARE_VERSION_0 5u
+#define FIRMWARE_VERSION_0 6u
 #define FIRMWARE_VERSION_1 1u
 #define FIRMWARE_VERSION_2 0u
 #define FIRMWARE_VERSION_3 1u
@@ -37,6 +37,8 @@
 #define CHASSIS_ADDRESS 0x01
 #define GIMBAL_ADDRESS 0x02
 
+/* cmd id can not be set 0xffff */
+
 #define CMD_MANIFOLD2_HEART (0x0001u)
 #define CMD_REPORT_VERSION (0x0002u)
 

diff --git a/application/protocol/protocol.c b/application/protocol/protocol.c
@@ -161,12 +161,21 @@ uint32_t protocol_local_init(uint8_t address)
  }
 
  MUTEX_INIT(protocol_local_info.mutex_lock);
-
+ 
  memset(protocol_local_info.route_table, 0xFF, PROTOCOL_ROUTE_TABLE_MAX_NUM);
- memset(protocol_local_info.interface, 0, sizeof(protocol_local_info.interface));
- memset(&boardcast_object, 0, sizeof(boardcast_object_t));
- memset(&protocol_local_info.send_cmd_info, 0, sizeof(protocol_local_info.send_cmd_info));
- memset(&protocol_local_info.rcv_cmd_info, 0, sizeof(protocol_local_info.rcv_cmd_info));
+
+ for(int i; i < PROTOCOL_INTERFACE_MAX; i++)
+ {
+ /* initalization user data is 0xFF */
+ memset(&protocol_local_info.interface[i].user_data, 0xFF, sizeof(union interface_user_data));
+ }
+
+ for(int i; i < PROTOCOL_CMD_MAX_NUM; i++)
+ {
+ /* initalization cmd is 0xFF */
+ memset(&protocol_local_info.send_cmd_info[i].cmd, 0xFFFF, 2);
+ memset(&protocol_local_info.rcv_cmd_info[i].cmd, 0xFFFF, 2);
+ }
 
  protocol_local_info.address = address;
  protocol_local_info.rcv_nor_callBack = protocol_rcv_pack_handle;