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

Author: bzrobotics

MDK-ARM/bin/infantry.bin

@@ -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>

MDK-ARM/infantry.uvprojx

@@ -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)
 

application/infantry_cmd.h

@@ -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;