TuxMonkey/bf_original_balance_chassis
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添加了大量调试log，新增了dwt计时宏，增加了USB软件复位防止主控复位后上位机无法连接usb

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This commit is contained in:
NeoZng
2023-06-22 21:52:46 +08:00
parent ea6163a48d
commit 4a45331d31
31 changed files with 247 additions and 275 deletions
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16
bsp/can/bsp_can.c
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@@ -65,15 +65,20 @@ CANInstance *CANRegister(CAN_Init_Config_s *config)
if (!idx)
{
CANServiceInit(); // 第一次注册,先进行硬件初始化
LOGINFO("[bsp_can] CAN Service Init");
}
if (idx >= CAN_MX_REGISTER_CNT) // 超过最大实例数
{
while (1)
;
LOGERROR("[bsp_can] CAN instance exceeded MAX num, consider balance the load of CAN bus");
}
for (size_t i = 0; i < idx; i++)
{ // 重复注册 | id重复
if (can_instance[i]->rx_id == config->rx_id && can_instance[i]->can_handle == config->can_handle)
{
while (1)
;
LOGERROR("[}bsp_can] CAN id crash ,tx [%d] or rx [%d] already registered", &config->tx_id, &config->rx_id);
}
}
CANInstance *instance = (CANInstance *)malloc(sizeof(CANInstance)); // 分配空间
@@ -107,7 +112,7 @@ uint8_t CANTransmit(CANInstance *_instance, float timeout)
{
if (DWT_GetTimeline_ms() - dwt_start > timeout) // 超时
{
LOGWARNING("CAN BUSY sending! cnt:%d", busy_count);
LOGWARNING("[bsp_can] CAN MAILbox full! failed to add msg to mailbox. Cnt [%d]", busy_count);
busy_count++;
return 0;
}
@@ -116,7 +121,7 @@ uint8_t CANTransmit(CANInstance *_instance, float timeout)
// tx_mailbox会保存实际填入了这一帧消息的邮箱,但是知道是哪个邮箱发的似乎也没啥用
if (HAL_CAN_AddTxMessage(_instance->can_handle, &_instance->txconf, _instance->tx_buff, &_instance->tx_mailbox))
{
LOGWARNING("CAN BUSY bus! cnt:%d", busy_count);
LOGWARNING("[bsp_can] CAN bus BUS! cnt:%d", busy_count);
busy_count++;
return 0;
}
@@ -125,9 +130,10 @@ uint8_t CANTransmit(CANInstance *_instance, float timeout)
void CANSetDLC(CANInstance *_instance, uint8_t length)
{
// 发送长度错误!检查调用参数是否出错,或出现野指针/越界访问
if (length > 8 || length == 0) // 安全检查
while (1)
; // 发送长度错误!检查调用参数是否出错,或出现野指针/越界访问
LOGERROR("[bsp_can] CAN DLC error! check your code or wild pointer");
_instance->txconf.DLC = length;
}