TuxMonkey/bf_original_balance_chassis
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mirror of https://gitee.com/dlmu-cone/bf_original_balance_chassis synced 2026-07-24 19:47:44 +08:00
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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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9
modules/motor/LKmotor/LK9025.c
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@@ -3,6 +3,7 @@
#include "general_def.h"
#include "daemon.h"
#include "bsp_dwt.h"
#include "bsp_log.h"
static uint8_t idx;
static LKMotorInstance *lkmotor_instance[LK_MOTOR_MX_CNT] = {NULL};
@@ -43,6 +44,12 @@ static void LKMotorDecode(CANInstance *_instance)
measure->total_angle = measure->total_round * 360 + measure->angle_single_round;
}
static void LKMotorLostCallback(void *motor_ptr)
{
LKMotorInstance *motor = (LKMotorInstance *)motor_ptr;
LOGWARNING("[LKMotor] motor lost, id: %d", motor->motor_can_ins->tx_id);
}
LKMotorInstance *LKMotorInit(Motor_Init_Config_s *config)
{
LKMotorInstance *motor = (LKMotorInstance *)malloc(sizeof(LKMotorInstance));
@@ -75,7 +82,7 @@ LKMotorInstance *LKMotorInit(Motor_Init_Config_s *config)
Daemon_Init_Config_s daemon_config = {
.callback = NULL,
.owner_id = motor,
.reload_count = 5, // 0.05秒
.reload_count = 5, // 50ms
};
motor->daemon = DaemonRegister(&daemon_config);