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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101
application/shoot/shoot.c
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@@ -1,15 +1,106 @@
#include "shoot.h"
#include "robot_def.h"
#include "dji_motor.h"
#include "message_center.h"
static dji_motor_instance *friction_l; // 左摩擦轮
static dji_motor_instance *friction_r; // 右摩擦轮
static dji_motor_instance *loader; // 拨盘电机
static Shoot_Ctrl_Cmd_s shoot_cmd_recv; // 来自gimbal_cmd的发射控制信息
static Shoot_Upload_Data_s shoot_feedback_data; // 反馈回gimbal_cmd的发射状态信息
/* 对于双发射机构的机器人,将下面的数据封装成结构体即可,生成两份shoot应用实例
*/
static dji_motor_instance *friction_l; // 左摩擦轮
static dji_motor_instance *friction_r; // 右摩擦轮
static dji_motor_instance *loader; // 拨盘电机
static Publisher_t *shoot_pub;
static Shoot_Ctrl_Cmd_s shoot_cmd_recv; // 来自gimbal_cmd的发射控制信息
static Subscriber_t *shoot_sub;
static Shoot_Upload_Data_s shoot_feedback_data; // 来自gimbal_cmd的发射控制信息
void ShootInit()
{
// 左摩擦轮
Motor_Init_Config_s left_friction_config = {
.can_init_config = {
.can_handle = &hcan1,
.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};
// 右摩擦轮
Motor_Init_Config_s right_friction_config = {
.can_init_config = {
.can_handle = &hcan1,
.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};
// 拨盘电机
Motor_Init_Config_s loader_config = {
.can_init_config = {
.can_handle = &hcan1,
.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 = M2006};
friction_l = DJIMotorInit(&left_friction_config);
friction_r = DJIMotorInit(&right_friction_config);
loader = DJIMotorInit(&loader_config);
shoot_pub = PubRegister("shoot_feed", sizeof(Shoot_Upload_Data_s));
shoot_sub = SubRegister("shoot_cmd", sizeof(Shoot_Ctrl_Cmd_s));
}
void ShootTask()