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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This commit is contained in:
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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69
application/gimbal/gimbal.c
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@@ -2,15 +2,76 @@
#include "robot_def.h"
#include "dji_motor.h"
#include "ins_task.h"
#include "message_center.h"
static IMU_Data_t Gimbal_IMU_data; // 云台IMU数据
static dji_motor_instance yaw; // yaw电机
static dji_motor_instance pitch; // pitch电机
static Gimbal_Ctrl_Cmd_s gimbal_cmd_recv; // 来自gimbal_cmd的控制信息
static attitude_t* Gimbal_IMU_data; // 云台IMU数据
static dji_motor_instance* yaw_motor; // yaw电机
static dji_motor_instance *pitch_motor; // pitch电机
static Publisher_t* gimbal_pub;
static Gimbal_Upload_Data_s gimbal_feedback_data; // 回传给gimbal_cmd的云台状态信息
static Subscriber_t* gimbal_sub;
static Gimbal_Ctrl_Cmd_s gimbal_cmd_recv; // 来自gimbal_cmd的控制信息
void GimbalInit()
{
Gimbal_IMU_data=INS_Init();
// YAW
Motor_Init_Config_s yaw_config = {
.can_init_config = {
.can_handle = &hcan1,
.tx_id = 1,
},
.controller_param_init_config = {
.angle_PID = {
.Kd = 10,
.Ki = 1,
.Kd = 2,
},
.speed_PID = {
},
.other_angle_feedback_ptr=&Gimbal_IMU_data->YawTotalAngle,
},
.controller_setting_init_config = {
.angle_feedback_source = MOTOR_FEED,
.speed_feedback_source = MOTOR_FEED,
.close_loop_type = ANGLE_LOOP | SPEED_LOOP,
.reverse_flag = MOTOR_DIRECTION_REVERSE,
},
.motor_type = GM6020};
// PITCH
Motor_Init_Config_s pitch_config = {
.can_init_config = {
.can_handle = &hcan1,
.tx_id = 2,
},
.controller_param_init_config = {
.angle_PID = {
.Kd = 10,
.Ki = 1,
.Kd = 2,
},
.speed_PID = {
},
},
.controller_setting_init_config = {
.angle_feedback_source = MOTOR_FEED,
.speed_feedback_source = MOTOR_FEED,
.close_loop_type = ANGLE_LOOP | SPEED_LOOP,
.reverse_flag = MOTOR_DIRECTION_REVERSE,
},
.motor_type = GM6020};
yaw_motor=DJIMotorInit(&yaw_config);
pitch_motor=DJIMotorInit(&pitch_config);
gimbal_pub=PubRegister("gimbal_feed",sizeof(Gimbal_Upload_Data_s));
gimbal_sub=SubRegister("gimbal_cmd",sizeof(Gimbal_Ctrl_Cmd_s));
}
void GimbalTask()