修改了freertos的支持include，增加了daemon的上线等待时间，增加pid参数整定指南

Inc/FreeRTOSConfig.h

@@ -69,6 +69,7 @@
 #define configUSE_16_BIT_TICKS                   0
 #define configUSE_MUTEXES                        1
 #define configQUEUE_REGISTRY_SIZE                8
+#define configUSE_COUNTING_SEMAPHORES            1
 #define configUSE_PORT_OPTIMISED_TASK_SELECTION  1
 /* USER CODE BEGIN MESSAGE_BUFFER_LENGTH_TYPE */
 /* Defaults to size_t for backward compatibility, but can be changed

Makefile

@@ -119,7 +119,7 @@ bsp/can/bsp_can.c \
 bsp/usart/bsp_usart.c \
 bsp/usb/bsp_usb.c \
 bsp/log/bsp_log.c \
-bsp/log/bsp_flash.c \
+bsp/flash/bsp_flash.c \
 bsp/bsp_init.c \
 modules/algorithm/controller.c \
 modules/algorithm/kalman_filter.c \
@@ -244,6 +244,7 @@ C_INCLUDES =  \
 -Ibsp/spi \
 -Ibsp/iic \
 -Ibsp/log \
+-Ibsp/flash \
 -Ibsp/pwm \
 -Ibsp/bsp_legacy_support \
 -Ibsp \

application/cmd/robot_cmd.c

@@ -132,16 +132,8 @@ static void RemoteControlSet()
     { // 按照摇杆的输出大小进行角度增量,增益系数需调整
         gimbal_cmd_send.yaw += 0.005f * (float)rc_data[TEMP].rc.rocker_l_;
         gimbal_cmd_send.pitch += 0.001f * (float)rc_data[TEMP].rc.rocker_l1;
-        // 摇杆控制的软件限位
-        //  if (gimbal_cmd_send.pitch <= PITCH_MIN_ECD)
-        //  {
-        //      gimbal_cmd_send.pitch = PITCH_MIN_ECD;
-        //  }
-        //  else if (gimbal_cmd_send.pitch >= PITCH_MAX_ECD)
-        //  {
-        //      gimbal_cmd_send.pitch = PITCH_MAX_ECD;
-        //  }
     }
+    // 云台软件限位
 
     // 底盘参数,目前没有加入小陀螺(调试似乎暂时没有必要),系数需要调整
     chassis_cmd_send.vx = 10.0f * (float)rc_data[TEMP].rc.rocker_r_; // _水平方向

basic_framework.ioc

@@ -174,11 +174,12 @@ Dma.USART6_TX.1.PeriphInc=DMA_PINC_DISABLE
 Dma.USART6_TX.1.Priority=DMA_PRIORITY_HIGH
 Dma.USART6_TX.1.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,FIFOThreshold,MemBurst,PeriphBurst
 FREERTOS.INCLUDE_vTaskDelayUntil=1
-FREERTOS.IPParameters=Tasks01,configENABLE_FPU,configMAX_TASK_NAME_LEN,configUSE_TIMERS,configUSE_POSIX_ERRNO,INCLUDE_vTaskDelayUntil,configTOTAL_HEAP_SIZE
+FREERTOS.IPParameters=Tasks01,configENABLE_FPU,configMAX_TASK_NAME_LEN,configUSE_TIMERS,configUSE_POSIX_ERRNO,INCLUDE_vTaskDelayUntil,configTOTAL_HEAP_SIZE,configUSE_COUNTING_SEMAPHORES
 FREERTOS.Tasks01=defaultTask,0,128,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL
 FREERTOS.configENABLE_FPU=1
 FREERTOS.configMAX_TASK_NAME_LEN=32
 FREERTOS.configTOTAL_HEAP_SIZE=20000
+FREERTOS.configUSE_COUNTING_SEMAPHORES=1
 FREERTOS.configUSE_POSIX_ERRNO=0
 FREERTOS.configUSE_TIMERS=0
 File.Version=6

modules/BMI088/bmi088.c

@@ -382,7 +382,7 @@ void BMI088CalibrateIMU(BMI088Instance *_bmi088)
 BMI088Instance *BMI088Register(BMI088_Init_Config_s *config)
 {
     // 申请内存
-    BMI088Instance *bmi088_instance = (BMI088Instance *)zero_malloc(sizeof(BMI088Instance));
+    BMI088Instance *bmi088_instance = (BMI088Instance *)zmalloc(sizeof(BMI088Instance));
     // 从右向左赋值,让bsp instance保存指向bmi088_instance的指针(父指针),便于在底层中断中访问bmi088_instance
     config->acc_int_config.id =
         config->gyro_int_config.id =

modules/algorithm/user_lib.c

@@ -23,9 +23,7 @@
 #define user_malloc malloc
 #endif
 
-uint8_t GlobalDebugMode = 7;
-
-void *zero_malloc(size_t size)
+void *zmalloc(size_t size)
 {
     void *ptr = malloc(size);
     memset(ptr, 0, size);
@@ -207,3 +205,4 @@ float AverageFilter(float new_data, float *buf, uint8_t len)
     sum += new_data;
     return sum / len;
 }
+

modules/algorithm/user_lib.h

@@ -23,8 +23,6 @@
 #define mcos(x) (arm_cos_f32(x))
 
 
-extern uint8_t GlobalDebugMode;
-
 #ifndef user_malloc
 #ifdef _CMSIS_OS_H
 #define user_malloc pvPortMalloc
@@ -89,7 +87,7 @@ extern uint8_t GlobalDebugMode;
  * @param size 分配大小
  * @return void*
  */
-void *zero_malloc(size_t size);
+void *zmalloc(size_t size);
 
 // <20><><EFBFBD>ٿ<EFBFBD><D9BF><EFBFBD>
 float Sqrt(float x);

modules/daemon/daemon.c

@@ -13,8 +13,9 @@ DaemonInstance *DaemonRegister(Daemon_Init_Config_s *config)
     memset(instance, 0, sizeof(DaemonInstance));
 
     instance->owner_id = config->owner_id;
-    instance->reload_count = config->reload_count == 0 ? 100 : config->reload_count;
+    instance->reload_count = config->reload_count == 0 ? 100 : config->reload_count; // 默认值为100
     instance->callback = config->callback;
+    instance->temp_count = config->init_count == 0 ? 100 : config->init_count; // 默认值为100,初始计数
 
     daemon_instances[idx++] = instance;
     return instance;

modules/daemon/daemon.h

@@ -22,6 +22,7 @@ typedef struct daemon_ins
 typedef struct
 {
     uint16_t reload_count;     // 实际上这是app唯一需要设置的值?
+    uint16_t init_count;       // 上线等待时间,有些模块需要收到主控的指令才会反馈报文,或pc等需要开机时间
     offline_callback callback; // 异常处理函数,当模块发生异常时会被调用
     void *owner_id;            // id取拥有daemon的实例的地址,如DJIMotorInstance*,cast成void*类型
 } Daemon_Init_Config_s;

modules/led/led.c

@@ -8,7 +8,7 @@ static LEDInstance *bsp_led_ins[LED_MAX_NUM] = {NULL};
 
 LEDInstance *LEDRegister(LED_Init_Config_s *led_config)
 {
-    LEDInstance *led_ins = (LEDInstance *)zero_malloc(sizeof(LEDInstance));
+    LEDInstance *led_ins = (LEDInstance *)zmalloc(sizeof(LEDInstance));
     // 剩下的值暂时都被置零
     led_ins->led_pwm = PWMRegister(&led_config->pwm_config);
     led_ins->led_switch = led_config->init_swtich;

合理地进行PID参数整定.md

@@ -0,0 +1,3 @@
+# 利用Ozone进行model-based PID tunning
+
+Ozone的实时变量可视化监测(示波器)功能可以很好地帮助我们观察控制器在时域的表现，典型的有上升时间、超调量和稳态时间等。