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增加了daemon模块

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NeoZng
2022-12-08 17:36:12 +08:00
parent f043d5e265
commit c1a22e6f68
12 changed files with 157 additions and 106 deletions
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43
modules/daemon/daemon.c Normal file
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@@ -0,0 +1,43 @@
#include "daemon.h"
#include "bsp_dwt.h" // 后续通过定时器来计时?
static DaemonInstance *daemon_instances[DAEMON_MX_CNT] = {NULL};
static uint8_t idx;
DaemonInstance *DaemonRegister(Daemon_Init_Config_s *config)
{
daemon_instances[idx] = (DaemonInstance *)malloc(sizeof(DaemonInstance));
daemon_instances[idx]->reload_count = config->reload_count;
daemon_instances[idx]->callback = config->callback;
daemon_instances[idx]->owner_id = config->id;
daemon_instances[idx]->temp_count = config->reload_count;
return daemon_instances[idx++];
}
void DaemonReload(DaemonInstance *instance)
{
instance->temp_count = instance->reload_count;
}
uint8_t DaemonIsOnline(DaemonInstance *instance)
{
return instance->temp_count>0;
}
void DaemonTask()
{
static DaemonInstance* pins; //提高可读性同时降低访存开销
for (size_t i = 0; i < idx; i++)
{
pins=daemon_instances[i];
if(pins->temp_count>0)
pins->temp_count--;
else if(pins->callback)
{ // 每个module根据自身的offline callback进行调用
pins->callback(pins->owner_id); // module将owner_id强制类型转换成自身类型
}
}
}

60
modules/daemon/daemon.h Normal file
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@@ -0,0 +1,60 @@
#ifndef MONITOR_H
#define MONITOR_H
#include "stdint-gcc.h"
#define DAEMON_MX_CNT 64
/* 模块离线处理函数指针 */
typedef void (*offline_callback)(void *);
/* daemon结构体定义 */
typedef struct daemon_ins
{
uint16_t reload_count; // 重载值
offline_callback callback; // 异常处理函数,当模块发生异常时会被调用
uint16_t temp_count; //当前值,减为零说明模块离线或异常
void *owner_id; // daemon实例的地址,初始化的时候填入
} DaemonInstance;
/* daemon初始化配置 */
typedef struct
{
uint16_t reload_count; // 实际上这是app唯一需要设置的值?
offline_callback callback;
void *id; // id取拥有daemon的实例的地址,如DJIMotorInstance*,cast成void*类型
} Daemon_Init_Config_s;
/**
* @brief 注册一个daemon实例
*
* @param config 初始化配置
* @return DaemonInstance* 返回实例指针
*/
DaemonInstance *DaemonRegister(Daemon_Init_Config_s *config);
/**
* @brief 当模块收到新的数据或进行其他动作时,调用该函数重载temp_count,相当于"喂狗"
*
* @param instance daemon实例指针
*/
void DaemonReload(DaemonInstance *instance);
/**
* @brief 确认模块是否离线
*
* @param instance daemon实例指针
* @return uint8_t 若在线且工作正常,返回1;否则返回零. 后续根据异常类型和离线状态等进行优化.
*/
uint8_t DaemonIsOnline(DaemonInstance *instance);
/**
* @brief 放入rtos中,会给每个daemon实例的temp_count按频率进行递减操作.
* 模块成功接受数据或成功操作则会重载temp_count的值为reload_count.
*
*/
void DaemonTask();
#endif // !MONITOR_H

5
modules/daemon/daemon.md Normal file
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@@ -0,0 +1,5 @@
daemon
<p align='right'>neozng1@hnu.edu.cn</p>
用于监测模块和应用运行情况的module(和官方代码中的deteck task作用相同)

3
modules/monitor/monitor.c
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@@ -1,3 +0,0 @@
#include "monitor.h"
#include "bsp_dwt.h"

6
modules/monitor/monitor.h
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@@ -1,6 +0,0 @@
#ifndef MONITOR_H
#define MONITOR_H
#endif // !MONITOR_H

0
modules/monitor/monitor.md
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4
modules/motor/dji_motor.c
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@@ -10,8 +10,10 @@ static DJIMotorInstance *dji_motor_info[DJI_MOTOR_CNT] = {NULL};
* @brief 由于DJI电机发送以四个一组的形式进行,故对其进行特殊处理,用6个(2can*3group)can_instance专门负责发送
* 该变量将在 DJIMotorControl() 中使用,分组在 MotorSenderGrouping()中进行
*
* C610(m2006)/C620(m3508):0x1ff,0x200; GM6020:0x1ff,0x2ff
* 反馈: GM6020: 0x204+id ; C610/C620: 0x200+id
* can1: [0]:0x1FF,[1]:0x200,[2]:0x2FF
* can2: [0]:0x1FF,[1]:0x200,[2]:0x2FF
* can2: [3]:0x1FF,[4]:0x200,[5]:0x2FF
*/
static CANInstance sender_assignment[6] =
{

19
modules/remote/remote_control.c
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@@ -18,12 +18,12 @@ static USARTInstance *rc_usart_instance;
static void sbus_to_rc(volatile const uint8_t *sbus_buf)
{
memcpy(&rc_ctrl[1], &rc_ctrl[TEMP], sizeof(RC_ctrl_t)); // 保存上一次的数据
// 摇杆
rc_ctrl[TEMP].rc.joystick[0] = (sbus_buf[0] | (sbus_buf[1] << 8)) & 0x07ff; //!< Channel 0
rc_ctrl[TEMP].rc.joystick[1] = ((sbus_buf[1] >> 3) | (sbus_buf[2] << 5)) & 0x07ff; //!< Channel 1
rc_ctrl[TEMP].rc.joystick[2] = ((sbus_buf[2] >> 6) | (sbus_buf[3] << 2) | (sbus_buf[4] << 10)) & 0x07ff; //!< Channel 2
rc_ctrl[TEMP].rc.joystick[3] = ((sbus_buf[4] >> 1) | (sbus_buf[5] << 7)) & 0x07ff; //!< Channel 3
rc_ctrl[TEMP].rc.joystick[4] = sbus_buf[16] | (sbus_buf[17] << 8); // 拨轮
// 摇杆,直接解算时减去偏置
rc_ctrl[TEMP].rc.joystick[0] = (sbus_buf[0] | (sbus_buf[1] << 8)) & 0x07ff - RC_CH_VALUE_OFFSET; //!< Channel 0
rc_ctrl[TEMP].rc.joystick[1] = ((sbus_buf[1] >> 3) | (sbus_buf[2] << 5)) & 0x07ff - RC_CH_VALUE_OFFSET; //!< Channel 1
rc_ctrl[TEMP].rc.joystick[2] = ((sbus_buf[2] >> 6) | (sbus_buf[3] << 2) | (sbus_buf[4] << 10)) & 0x07ff - RC_CH_VALUE_OFFSET; //!< Channel 2
rc_ctrl[TEMP].rc.joystick[3] = ((sbus_buf[4] >> 1) | (sbus_buf[5] << 7)) & 0x07ff - RC_CH_VALUE_OFFSET; //!< Channel 3
rc_ctrl[TEMP].rc.joystick[4] = sbus_buf[16] | (sbus_buf[17] << 8) - RC_CH_VALUE_OFFSET; // 左侧拨轮
// 开关,0左1右
rc_ctrl[TEMP].rc.s[0] = ((sbus_buf[5] >> 4) & 0x0003); //!< Switch left
rc_ctrl[TEMP].rc.s[1] = ((sbus_buf[5] >> 4) & 0x000C) >> 2; //!< Switch right
@@ -61,13 +61,6 @@ static void sbus_to_rc(volatile const uint8_t *sbus_buf)
// rc_ctrl[TEMP].key_test[KEY_PRESS_WITH_CTRL] = rc_ctrl[TEMP].key_test[KEY_PRESS];
// if (rc_ctrl[TEMP].key_test[KEY_PRESS].shift)
// rc_ctrl[TEMP].key_test[Key_Shift] = rc_ctrl[TEMP].key_test[KEY_PRESS];
// 减去偏置值
rc_ctrl[TEMP].rc.joystick[0] -= RC_CH_VALUE_OFFSET;
rc_ctrl[TEMP].rc.joystick[1] -= RC_CH_VALUE_OFFSET;
rc_ctrl[TEMP].rc.joystick[2] -= RC_CH_VALUE_OFFSET;
rc_ctrl[TEMP].rc.joystick[3] -= RC_CH_VALUE_OFFSET;
rc_ctrl[TEMP].rc.joystick[4] -= RC_CH_VALUE_OFFSET;
}
/**