添加了can的发送超时控制,添加了所有application层的文档和注释

modules/can_comm/can_comm.c

@@ -109,7 +109,7 @@ void CANCommSend(CANCommInstance *instance, uint8_t *data)
         send_len = instance->send_buf_len - i >= 8 ? 8 : instance->send_buf_len - i;
         CANSetDLC(instance->can_ins, send_len);
         memcpy(instance->can_ins->tx_buff, instance->raw_sendbuf + i, send_len);
-        CANTransmit(instance->can_ins);
+        CANTransmit(instance->can_ins,1);
     }
 }
 

modules/motor/DJImotor/dji_motor.c

@@ -288,7 +288,7 @@ void DJIMotorControl()
     {
         if (sender_enable_flag[i])
         {
-            CANTransmit(&sender_assignment[i]);
+            CANTransmit(&sender_assignment[i],1);
         }
     }
 }

modules/motor/HTmotor/HT04.c

@@ -16,7 +16,7 @@ static void HTMotorSetMode(HTMotor_Mode_t cmd, HTMotorInstance *motor)
     static uint8_t buf[8] = {0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x00};
     buf[7] = (uint8_t)cmd;
     memcpy(motor->motor_can_instace->tx_buff, buf, sizeof(buf));
-    CANTransmit(motor->motor_can_instace);
+    CANTransmit(motor->motor_can_instace,1);
 }
 
 /* 两个用于将uint值和float值进行映射的函数,在设定发送值和解析反馈值时使用 */
@@ -144,7 +144,7 @@ void HTMotorControl()
         { // 若该电机处于停止状态,直接将发送buff置零
             memset(motor_can->tx_buff + 6, 0, sizeof(uint16_t));
         }
-        CANTransmit(motor_can);
+        CANTransmit(motor_can,1);
     }
 }
 

modules/motor/LKmotor/LK9025.c

@@ -117,7 +117,7 @@ void LKMotorControl()
 
     if (idx) // 如果有电机注册了
     {
-        CANTransmit(sender_instance);
+        CANTransmit(sender_instance,1);
     }
 }
 

modules/motor/motor_def.h

@@ -29,9 +29,9 @@ typedef enum
     ANGLE_LOOP = 0b0100,
 
     // only for checking
-    _ = 0b0011,
-    __ = 0b0110,
-    ___ = 0b0111
+    SPEED_AND_CURRENT_LOOP = 0b0011,
+    ANGLE_AND_SPEED_LOOP = 0b0110,
+    ALL_THREE_LOOP = 0b0111
 } Closeloop_Type_e;
 
 typedef enum
@@ -80,7 +80,6 @@ typedef struct
 {
     float *other_angle_feedback_ptr; // 其他反馈来源的反馈数据指针
     float *other_speed_feedback_ptr;
-    // float *angle_foward_ptr; //前馈数据指针
     // float *speed_foward_ptr;
     // float *current_foward_ptr;
 

modules/remote/remote.md

@@ -71,14 +71,14 @@ remote_control
 
 
 
-拨轮向下打到底进入紧急停止模式;拨轮向上打开启摩擦轮,超过一半开始发射(速度环,连发)
+拨轮向下打到底进入紧急停止模式(后续改为关闭遥控器停止,利用daemon);拨轮向上打开启摩擦轮,超过一半开始发射(速度环,连发)
 
-左侧开关`s[1]`:
+左侧开关:
 - 上:键鼠控制
 - 中:视觉控制(没有识别到目标的时候仍然可以使用遥控器控制云台)
 - 下:遥控器控制
 
-右侧开关`s[0]`:
+右侧开关:
 - 上:弹舱开
 - 中:底盘云台分离(底盘不旋转,全向移动)
 - 下:底盘跟随云台

modules/remote/remote_control.c

@@ -11,7 +11,7 @@ static RC_ctrl_t rc_ctrl[2]; //[0]:当前数据TEMP,[1]:上一次的数据LAST.
 static USARTInstance *rc_usart_instance;
 
 /**
- * @brief 矫正遥控器摇杆的值
+ * @brief 矫正遥控器摇杆的值,超过660或者小于-660的值都认为是无效值,置0
  *
  */
 static void RectifyRCjoystick()
@@ -31,7 +31,7 @@ static void RectifyRCjoystick()
  */
 static void sbus_to_rc(const uint8_t *sbus_buf)
 {
-    memcpy(&rc_ctrl[1], &rc_ctrl[TEMP], sizeof(RC_ctrl_t)); // 保存上一次的数据
+    memcpy(&rc_ctrl[1], &rc_ctrl[TEMP], sizeof(RC_ctrl_t)); // 保存上一次的数据,用于按键持续按下和切换的判断
     // 摇杆,直接解算时减去偏置
     rc_ctrl[TEMP].rc.rocker_r_ = ((sbus_buf[0] | (sbus_buf[1] << 8)) & 0x07ff) - RC_CH_VALUE_OFFSET;                              //!< Channel 0
     rc_ctrl[TEMP].rc.rocker_r1 = (((sbus_buf[1] >> 3) | (sbus_buf[2] << 5)) & 0x07ff) - RC_CH_VALUE_OFFSET;                       //!< Channel 1
@@ -40,8 +40,8 @@ static void sbus_to_rc(const uint8_t *sbus_buf)
     rc_ctrl[TEMP].rc.dial = ((sbus_buf[16] | (sbus_buf[17] << 8)) & 0x07FF) - RC_CH_VALUE_OFFSET;                                 // 左侧拨轮
     RectifyRCjoystick();
     // 开关,0左1右
-    rc_ctrl[TEMP].rc.switch_right = ((sbus_buf[5] >> 4) & 0x0003);     //!< Switch left
-    rc_ctrl[TEMP].rc.switch_left = ((sbus_buf[5] >> 4) & 0x000C) >> 2; //!< Switch right
+    rc_ctrl[TEMP].rc.switch_right = ((sbus_buf[5] >> 4) & 0x0003);     //!< Switch right
+    rc_ctrl[TEMP].rc.switch_left = ((sbus_buf[5] >> 4) & 0x000C) >> 2; //!< Switch left
 
     // 鼠标解析
     rc_ctrl[TEMP].mouse.x = sbus_buf[6] | (sbus_buf[7] << 8);   //!< Mouse X axis
@@ -81,8 +81,7 @@ static void sbus_to_rc(const uint8_t *sbus_buf)
 /**
  * @brief protocol resolve callback
  *        this func would be called when usart3 idle interrupt happens
- *        对sbus_to_rc的简单封装
- *
+ *        对sbus_to_rc的简单封装,用于注册到bsp_usart的回调函数中
  */
 static void RemoteControlRxCallback()
 {

modules/super_cap/super_cap.c

@@ -35,7 +35,7 @@ SuperCapInstance *SuperCapInit(SuperCap_Init_Config_s *supercap_config)
 void SuperCapSend(SuperCapInstance *instance, uint8_t *data)
 {
     memcpy(instance->can_ins->tx_buff, data, 8);
-    CANTransmit(instance->can_ins);
+    CANTransmit(instance->can_ins,1);
 }
 
 SuperCap_Msg_s SuperCapGet(SuperCapInstance *instance)