Add minipc protocol 2.0 #66
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RogerQi
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examples/autoaim/CMakeLists.txt
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rickxu2
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* Break Send() into Pack() for each message type * add function headers and helpers for Pack() * lossless float transmission * data parse rewrite * rename autoaim_protocol as minipc_protocol; add more comments. * add examples --------- Co-authored-by: Richard Xu <[email protected]>
Andd54
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* Break Send() into Pack() for each message type * add function headers and helpers for Pack() * lossless float transmission * data parse rewrite * rename autoaim_protocol as minipc_protocol; add more comments. * add examples --------- Co-authored-by: Richard Xu <[email protected]>
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Update Minipc - Stm32 uart protocol.
Major feature:
Minor changes:
Note that the communication should always be single-sided. A response should never directly depend on any data in previous packets. Example: send back
rel_pitch += 1is an undefined behavior. (Yes, this is the pingpong test.)Protocol details:
See document:
docs/comm_protocol.mdin illini-robomaster/iRM_Vision_2023#16To test this:
Embedded repo
example/minipc/StressTestTypeC.ccwith Vision repoCommunication/communicator.pyand
Embedded repo
example/minipc/PingpongTest.ccwith Vision repoCommunication/communicator.pyFor testing details and config setup see code comments.
Embedded PR: #66
Vision PR: illini-robomaster/iRM_Vision_2023#16
Todo: