TuxMonkey/bf_original_balance_chassis
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添加了不同等级的日志

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NeoZng
2023-03-19 11:11:40 +08:00
parent 6f7bf8e9d7
commit eefc0883ed
11 changed files with 53 additions and 26 deletions
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26
modules/motor/DJImotor/dji_motor.c
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@@ -1,5 +1,6 @@
#include "dji_motor.h"
#include "general_def.h"
#include "bsp_log.h"
static uint8_t idx = 0; // register idx,是该文件的全局电机索引,在注册时使用
@@ -32,16 +33,6 @@ static CANInstance sender_assignment[6] = {
*/
static uint8_t sender_enable_flag[6] = {0};
/**
* @brief 当注册的电机id冲突时,会进入这个函数并提示冲突的ID
* @todo 通过segger jlink 发送日志
*/
static void IDcrash_Handler(uint8_t conflict_motor_idx, uint8_t temp_motor_idx)
{
while (1)
;
}
/**
* @brief 根据电调/拨码开关上的ID,根据说明书的默认id分配方式计算发送ID和接收ID,
* 并对电机进行分组以便处理多电机控制命令
@@ -79,7 +70,10 @@ static void MotorSenderGrouping(DJIMotorInstance *motor, CAN_Init_Config_s *conf
for (size_t i = 0; i < idx; ++i)
{
if (dji_motor_instance[i]->motor_can_instance->can_handle == config->can_handle && dji_motor_instance[i]->motor_can_instance->rx_id == config->rx_id)
IDcrash_Handler(i, idx);
{
LOGERROR("[dji_motor] ID crash. Check in debug mode, add dji_motor_instance to watch to get more information."); // 后续可以把id和CAN打印出来
while (1); // 6020的id 1-4和2006/3508的id 5-8会发生冲突(若有注册,即1!5,2!6,3!7,4!8) (1!5!,LTC! (((不是)
}
}
break;
@@ -103,7 +97,10 @@ static void MotorSenderGrouping(DJIMotorInstance *motor, CAN_Init_Config_s *conf
for (size_t i = 0; i < idx; ++i)
{
if (dji_motor_instance[i]->motor_can_instance->can_handle == config->can_handle && dji_motor_instance[i]->motor_can_instance->rx_id == config->rx_id)
IDcrash_Handler(i, idx);
{
LOGERROR("[dji_motor] ID crash. Check in debug mode, add dji_motor_instance to watch to get more information.");
while (1); // 6020的id 1-4和2006/3508的id 5-8会发生冲突(若有注册,即1!5,2!6,3!7,4!8)
}
}
break;
@@ -139,7 +136,7 @@ static void DecodeDJIMotor(CANInstance *_instance)
CURRENT_SMOOTH_COEF * (float)((int16_t)(rxbuff[4] << 8 | rxbuff[5]));
measure->temperate = rxbuff[6];
// 多圈角度计算,前提是两次采样间电机转过的角度小于180°,高速转动时可能会出现问题,自己画个图就清楚计算过程了
// 多圈角度计算,前提是假设两次采样间电机转过的角度小于180°,自己画个图就清楚计算过程了
if (measure->ecd - measure->last_ecd > 4096)
measure->total_round--;
else if (measure->ecd - measure->last_ecd < -4096)
@@ -191,8 +188,7 @@ void DJIMotorChangeFeed(DJIMotorInstance *motor, Closeloop_Type_e loop, Feedback
}
else
{
while (1)
; // LOOP TYPE ERROR!!!检查是否传入了正确的LOOP类型,或发生了指针越界
LOGERROR("[dji_motor] loop type error, check memory access and func param");// 检查是否传入了正确的LOOP类型,或发生了指针越界
}
}