TuxMonkey/bf_original_balance_chassis
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增加了hardfault调试支持,修复了消息队列在发布者先于订阅者创建话题时野指针的错误

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NeoZng
2022-12-03 15:20:17 +08:00
parent b024d56bca
commit bc1f928e02
14 changed files with 401 additions and 94 deletions
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138
application/chassis/chassis.c
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@@ -2,33 +2,149 @@
#include "robot_def.h"
#include "dji_motor.h"
#include "super_cap.h"
#include "message_center.h"
#ifdef CHASSIS_BOARD //使用板载IMU获取底盘转动角速度
/* 底盘应用包含的模块和信息存储 */
#ifdef CHASSIS_BOARD // 使用板载IMU获取底盘转动角速度
#include "ins_task.h"
IMU_Data_t* Chassis_IMU_data;
IMU_Data_t *Chassis_IMU_data;
#endif // CHASSIS_BOARD
// static SuperCAP cap;
static dji_motor_instance *lf; // left right forward back
static dji_motor_instance *rf;
static dji_motor_instance *lb;
static dji_motor_instance *rb;
// SuperCAP cap;
static dji_motor_instance* lf; //left right forward back
static dji_motor_instance* rf;
static dji_motor_instance* lb;
static dji_motor_instance* rb;
static Chassis_Ctrl_Cmd_s chassis_cmd_recv;
static Publisher_t* chassis_pub;
static Chassis_Upload_Data_s chassis_feedback_data;
static Subscriber_t* chassis_sub;
static Chassis_Ctrl_Cmd_s chassis_cmd_recv;
static void mecanum_calculate()
{
}
void ChassisInit()
{
// 左前轮
Motor_Init_Config_s left_foward_config = {
.can_init_config = {
.can_handle = &hcan2,
.tx_id = 1,
},
.controller_param_init_config = {
.angle_PID = {
.Kd = 10,
.Ki = 1,
.Kd = 2,
},
.speed_PID = {
},
.current_PID = {
},
},
.controller_setting_init_config = {
.angle_feedback_source = MOTOR_FEED,
.speed_feedback_source = MOTOR_FEED,
.close_loop_type = SPEED_LOOP | CURRENT_LOOP,
.reverse_flag = MOTOR_DIRECTION_REVERSE,
},
.motor_type = M3508};
// 右前轮
Motor_Init_Config_s right_foward_config = {
.can_init_config = {
.can_handle = &hcan2,
.tx_id = 2,
},
.controller_param_init_config = {
.angle_PID = {
.Kd = 10,
.Ki = 1,
.Kd = 2,
},
.speed_PID = {
},
.current_PID = {
},
},
.controller_setting_init_config = {
.angle_feedback_source = MOTOR_FEED,
.speed_feedback_source = MOTOR_FEED,
.close_loop_type = SPEED_LOOP | CURRENT_LOOP,
.reverse_flag = MOTOR_DIRECTION_REVERSE,
},
.motor_type = M3508};
// 左后轮
Motor_Init_Config_s left_back_config = {
.can_init_config = {
.can_handle = &hcan2,
.tx_id = 3,
},
.controller_param_init_config = {
.angle_PID = {
.Kd = 10,
.Ki = 1,
.Kd = 2,
},
.speed_PID = {
},
.current_PID = {
},
},
.controller_setting_init_config = {
.angle_feedback_source = MOTOR_FEED,
.speed_feedback_source = MOTOR_FEED,
.close_loop_type = SPEED_LOOP | CURRENT_LOOP,
.reverse_flag = MOTOR_DIRECTION_REVERSE,
},
.motor_type = M3508};
// 右后轮
Motor_Init_Config_s right_back_config = {
.can_init_config = {
.can_handle = &hcan2,
.tx_id = 4,
},
.controller_param_init_config = {
.angle_PID = {
.Kd = 10,
.Ki = 1,
.Kd = 2,
},
.speed_PID = {
},
.current_PID = {
},
},
.controller_setting_init_config = {
.angle_feedback_source = MOTOR_FEED,
.speed_feedback_source = MOTOR_FEED,
.close_loop_type = SPEED_LOOP | CURRENT_LOOP,
.reverse_flag = MOTOR_DIRECTION_REVERSE,
},
.motor_type = M3508};
lf = DJIMotorInit(&left_foward_config);
rf = DJIMotorInit(&right_foward_config);
lb = DJIMotorInit(&left_back_config);
rb = DJIMotorInit(&right_back_config);
// SupercapInit();
chassis_sub=SubRegister("chassis_cmd",sizeof(Chassis_Ctrl_Cmd_s));
chassis_pub=PubRegister("chassis_feed",sizeof(Chassis_Upload_Data_s));
}
void ChassisTask()
void ChassisTask()
{
}