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

modules/master_machine/master_process.c

@@ -10,11 +10,13 @@
  */
 #include "master_process.h"
 #include "seasky_protocol.h"
+#include "daemon.h"
 #include "bsp_log.h"
 #include "robot_def.h"
 
 static Vision_Recv_s recv_data;
 static Vision_Send_s send_data;
+static DaemonInstance *vision_daemon_instance;
 
 void VisionSetFlag(Enemy_Color_e enemy_color, Work_Mode_e work_mode, Bullet_Speed_e bullet_speed)
 {
@@ -30,13 +32,26 @@ void VisionSetAltitude(float yaw, float pitch, float roll)
     send_data.roll = roll;
 }
 
+/**
+ * @brief 离线回调函数,将在daemon.c中被daemon task调用
+ * @attention 由于HAL库的设计问题,串口开启DMA接收之后同时发送有概率出现__HAL_LOCK()导致的死锁,使得无法
+ *            进入接收中断.通过daemon判断数据更新,重新调用服务启动函数以解决此问题.
+ *
+ * @param id vision_usart_instance的地址,此处没用.
+ */
+static void VisionOfflineCallback(void *id)
+{
+#ifdef VISION_USE_UART
+    USARTServiceInit(vision_usart_instance);
+#endif // !VISION_USE_UART
+    LOGWARNING("[vision] vision offline, restart communication.");
+}
+
 #ifdef VISION_USE_UART
 
 #include "bsp_usart.h"
-#include "daemon.h"
 
 static USARTInstance *vision_usart_instance;
-static DaemonInstance *vision_daemon_instance;
 
 /**
  * @brief 接收解包回调函数,将在bsp_usart.c中被usart rx callback调用
@@ -51,21 +66,8 @@ static void DecodeVision()
     // TODO: code to resolve flag_register;
 }
 
-/**
- * @brief 离线回调函数,将在daemon.c中被daemon task调用
- * @attention 由于HAL库的设计问题,串口开启DMA接收之后同时发送有概率出现__HAL_LOCK()导致的死锁,使得无法
- *            进入接收中断.通过daemon判断数据更新,重新调用服务启动函数以解决此问题.
- *
- * @param id vision_usart_instance的地址,此处没用.
- */
-static void VisionOfflineCallback(void *id)
-{
-    USARTServiceInit(vision_usart_instance);
-}
-
 Vision_Recv_s *VisionInit(UART_HandleTypeDef *_handle)
 {
-#ifdef VISION_USE_UART
     USART_Init_Config_s conf;
     conf.module_callback = DecodeVision;
     conf.recv_buff_size = VISION_RECV_SIZE;
@@ -79,7 +81,6 @@ Vision_Recv_s *VisionInit(UART_HandleTypeDef *_handle)
         .reload_count = 10,
     };
     vision_daemon_instance = DaemonRegister(&daemon_conf);
-#endif // VISION_USE_UART
 
     return &recv_data;
 }
@@ -125,9 +126,17 @@ static void DecodeVision(uint16_t recv_len)
 Vision_Recv_s *VisionInit(UART_HandleTypeDef *_handle)
 {
     UNUSED(_handle); // 仅为了消除警告
-    USB_Init_Config_s conf = {0};
-    conf.rx_cbk = DecodeVision;
+    USB_Init_Config_s conf = {.rx_cbk = DecodeVision};
     vis_recv_buff = USBInit(conf);
+
+    // 为master process注册daemon,用于判断视觉通信是否离线
+    Daemon_Init_Config_s daemon_conf = {
+        .callback = VisionOfflineCallback, // 离线时调用的回调函数,会重启串口接收
+        .owner_id = NULL,
+        .reload_count = 5, // 50ms
+    };
+    vision_daemon_instance = DaemonRegister(&daemon_conf);
+
     return &recv_data;
 }