TuxMonkey/bf_original_balance_chassis
1
0
Fork 0
mirror of https://gitee.com/dlmu-cone/bf_original_balance_chassis synced 2026-07-24 11:37:45 +08:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

35
modules/motor/DJImotor/dji_motor.c
View File

@@ -4,14 +4,15 @@
#include "bsp_log.h"
static uint8_t idx = 0; // register idx,是该文件的全局电机索引,在注册时使用
/* DJI电机的实例,此处仅保存指针,内存的分配将通过电机实例初始化时通过malloc()进行 */
static DJIMotorInstance *dji_motor_instance[DJI_MOTOR_CNT] = {NULL};
static DJIMotorInstance *dji_motor_instance[DJI_MOTOR_CNT] = {NULL}; // 会在control任务中遍历该指针数组进行pid计算
/**
* @brief 由于DJI电机发送以四个一组的形式进行,故对其进行特殊处理,用6个(2can*3group)can_instance专门负责发送
* 该变量将在 DJIMotorControl() 中使用,分组在 MotorSenderGrouping()中进行
*
* @note 因为只用于发送,所以不需要在bsp_can中注册
*
* C610(m2006)/C620(m3508):0x1ff,0x200;
* GM6020:0x1ff,0x2ff
* 反馈(rx_id): GM6020: 0x204+id ; C610/C620: 0x200+id
@@ -69,9 +70,10 @@ static void MotorSenderGrouping(DJIMotorInstance *motor, CAN_Init_Config_s *conf
{
if (dji_motor_instance[i]->motor_can_instance->can_handle == config->can_handle && dji_motor_instance[i]->motor_can_instance->rx_id == config->rx_id)
{
LOGERROR("[dji_motor] ID crash. Check in debug mode, add dji_motor_instance to watch to get more information."); // 后续可以把id和CAN打印出来
while (1)
; // 6020的id 1-4和2006/3508的id 5-8会发生冲突(若有注册,即1!5,2!6,3!7,4!8) (1!5!,LTC! (((不是)
LOGERROR("[dji_motor] ID crash. Check in debug mode, add dji_motor_instance to watch to get more information.");
uint16_t can_bus = config->can_handle == &hcan1 ? 1 : 2;
while (1) // 后续可以把id和CAN打印出来 // 6020的id 1-4和2006/3508的id 5-8会发生冲突(若有注册,即1!5,2!6,3!7,4!8) (1!5!,LTC! (((不是)
LOGERROR("[dji_motor] id [%d], can_bus [%d]", config->rx_id, can_bus);
}
}
break;
@@ -98,16 +100,16 @@ static void MotorSenderGrouping(DJIMotorInstance *motor, CAN_Init_Config_s *conf
if (dji_motor_instance[i]->motor_can_instance->can_handle == config->can_handle && dji_motor_instance[i]->motor_can_instance->rx_id == config->rx_id)
{
LOGERROR("[dji_motor] ID crash. Check in debug mode, add dji_motor_instance to watch to get more information.");
while (1)
; // 6020的id 1-4和2006/3508的id 5-8会发生冲突(若有注册,即1!5,2!6,3!7,4!8)
uint16_t can_bus = config->can_handle == &hcan1 ? 1 : 2;
while (1) // 后续可以把id和CAN打印出来 // 6020的id 1-4和2006/3508的id 5-8会发生冲突(若有注册,即1!5,2!6,3!7,4!8) (1!5!,LTC! (((不是)
LOGERROR("[dji_motor] id [%d], can_bus [%d]", config->rx_id, can_bus);
}
}
break;
default: // other motors should not be registered here
LOGERROR("You must not register other motors using the API of DJI motor.");
while (1)
; // 其他电机不应该在这里注册
LOGERROR("[dji_motor]You must not register other motors using the API of DJI motor."); // 其他电机不应该在这里注册
}
}
@@ -148,6 +150,9 @@ static void DecodeDJIMotor(CANInstance *_instance)
static void DJIMotorLostCallback(void *motor_ptr)
{
DJIMotorInstance *motor = (DJIMotorInstance *)motor_ptr;
uint16_t can_bus = motor->motor_can_instance->can_handle == &hcan1 ? 1 : 2;
LOGWARNING("[dji_motor] Motor lost, can bus [%d] , id [%d]", can_bus, motor->motor_can_instance->tx_id);
}
// 电机初始化,返回一个电机实例
@@ -182,7 +187,7 @@ DJIMotorInstance *DJIMotorInit(Motor_Init_Config_s *config)
Daemon_Init_Config_s daemon_config = {
.callback = DJIMotorLostCallback,
.owner_id = instance,
.reload_count = 1, // 10ms未收到数据则丢失
.reload_count = 2, // 20ms未收到数据则丢失
};
instance->daemon = DaemonRegister(&daemon_config);
@@ -195,17 +200,11 @@ DJIMotorInstance *DJIMotorInit(Motor_Init_Config_s *config)
void DJIMotorChangeFeed(DJIMotorInstance *motor, Closeloop_Type_e loop, Feedback_Source_e type)
{
if (loop == ANGLE_LOOP)
{
motor->motor_settings.angle_feedback_source = type;
}
else if (loop == SPEED_LOOP)
{
motor->motor_settings.speed_feedback_source = type;
}
else
{
LOGERROR("[dji_motor] loop type error, check memory access and func param"); // 检查是否传入了正确的LOOP类型,或发生了指针越界
}
}
void DJIMotorStop(DJIMotorInstance *motor)
@@ -299,11 +298,9 @@ void DJIMotorControl()
sender_assignment[group].tx_buff[2 * num] = (uint8_t)(set >> 8); // 低八位
sender_assignment[group].tx_buff[2 * num + 1] = (uint8_t)(set & 0x00ff); // 高八位
// 电机是否停止运行
// 若该电机处于停止状态,直接将buff置零
if (motor->stop_flag == MOTOR_STOP)
{ // 若该电机处于停止状态,直接将buff置零
memset(sender_assignment[group].tx_buff + 2 * num, 0, 16u);
}
}
// 遍历flag,检查是否要发送这一帧报文