xidipower test

2026-07-23 19:25:09 +08:00 · 2026-03-09 01:57:43 +08:00
parent 5145d60794
commit 9c58a09eab
4 changed files with 92 additions and 72 deletions
--- a/User_Code/module/periph/power_meters/xiditech/xidipwmeter.c
+++ b/User_Code/module/periph/power_meters/xiditech/xidipwmeter.c
@@ -7,11 +7,11 @@

 #include "daemon.h"

-static PowerMeterInstance *power_meter_instance = NULL;
+static XidiPowerMeterInstance *power_meter_instance = NULL;

 /**
 * @brief 功率计数据解码函数
- * @param instance FDCAN实例指针
+ * @param _instance FDCAN实例指针
 *
 * @note 数据格式:
 *        DATA[0]: 电流数值低8位
@@ -22,13 +22,13 @@ static PowerMeterInstance *power_meter_instance = NULL;
 *
 *        电压电流数值均为放大100倍后的整数，需要除以100.0得到实际值
 */
-void PowerMeterDecode(FDCANInstance *instance)
+void XidiPowerMeterDecode(FDCANInstance *_instance)
 {
    if (power_meter_instance == NULL)
        return;

-    uint8_t *rxbuff = instance->rx_buff;
-    PowerMeter_Measure_s *measure = &power_meter_instance->measure;
+    uint8_t *rxbuff = _instance->rx_buff;
+    XidiPowerMeter_Msg_s *measure = &power_meter_instance->powermeter_msg;

    // 重载守护进程
    // if (power_meter_instance->daemon != NULL)
@@ -60,57 +60,51 @@ void PowerMeterDecode(FDCANInstance *instance)
 * @brief 功率计丢失回调函数
 * @param power_meter_ptr 功率计实例指针
 */
-void PowerMeterLostCallback(void *power_meter_ptr)
+void XidiPowerMeterLostCallback(void *power_meter_ptr)
 {
-    PowerMeterInstance *power_meter = (PowerMeterInstance *) power_meter_ptr;
+    XidiPowerMeterInstance *power_meter = (XidiPowerMeterInstance *) power_meter_ptr;
 }

 /**
 * @brief 功率计初始化
- * @param can_handle FDCAN句柄指针
- * @return PowerMeterInstance* 功率计实例指针
+ * @param XidiPowerMeter_config 功率计初始化配置结构体指针 (必须确保其生命周期是全局或静态的)
+ * @return XidiPowerMeterInstance* 功率计实例指针
 */
-PowerMeterInstance *PowerMeterInit(FDCAN_HandleTypeDef *can_handle)
+XidiPowerMeterInstance *XidiPowerMeterInit(XidiPowerMeter_Init_Config_s *XidiPowerMeter_config)
 {
-    // 检查是否已经初始化
+    // 1. 检查是否已经初始化
    if (power_meter_instance != NULL)
    {
        return power_meter_instance;
    }

-    // 分配内存
-    power_meter_instance = (PowerMeterInstance *) malloc(sizeof(PowerMeterInstance));
+    // 2. 分配内存并清零
+    power_meter_instance = (XidiPowerMeterInstance *)malloc(sizeof(XidiPowerMeterInstance));
    if (power_meter_instance == NULL)
    {
        return NULL;
    }
-    memset(power_meter_instance, 0, sizeof(PowerMeterInstance));
+    memset(power_meter_instance, 0, sizeof(XidiPowerMeterInstance));

-    // 配置功率计初始化参数
-    FDCAN_Init_Config_s can_config = {
-        .can_handle = can_handle,
-        .rx_id = 0x213, // 功率计反馈标识符
-        .tx_id = 0x000, // 不需要发送，设为0
-        .can_module_callback = PowerMeterDecode,
-        .id = power_meter_instance, // 将实例指针作为ID传递
-    };
+    // 3. 配置并注册 FDCAN 实例
+    // (rx_id, tx_id, can_handle 等参数由外部 config 提供，这里只绑定回调和私有指针)
+    XidiPowerMeter_config->can_config.can_module_callback = XidiPowerMeterDecode;
+    XidiPowerMeter_config->can_config.id = power_meter_instance;

-    // 注册FDCAN实例
-    power_meter_instance->can_instance = CANRegister(&can_config);
-    if (power_meter_instance->can_instance == NULL)
+    power_meter_instance->fdcan_ins = CANRegister(&XidiPowerMeter_config->can_config);
+    if (power_meter_instance->fdcan_ins == NULL)
    {
        free(power_meter_instance);
        power_meter_instance = NULL;
        return NULL;
    }

-    //注册守护进程
-    Daemon_Init_Config_s daemon_config = {
-        .callback = PowerMeterLostCallback,
-        .owner_id = power_meter_instance,
-        .reload_count = 5, // 50ms未收到数据则认为丢失 (1000Hz发送，5个周期)
-    };
-    power_meter_instance->daemon = DaemonRegister(&daemon_config);
+    // 4. 配置并注册 守护进程
+    // (reload_count 等参数由外部 config 提供，这里只绑定回调和私有指针)
+    XidiPowerMeter_config->daemon_config.callback = XidiPowerMeterLostCallback;
+    XidiPowerMeter_config->daemon_config.owner_id = power_meter_instance;
+
+    power_meter_instance->daemon = DaemonRegister(&XidiPowerMeter_config->daemon_config);

    return power_meter_instance;
 }
@@ -120,11 +114,11 @@ PowerMeterInstance *PowerMeterInit(FDCAN_HandleTypeDef *can_handle)
 * @param power_meter 功率计实例指针
 * @return float 电压值 (V)
 */
-float PowerMeterGetVoltage(PowerMeterInstance *power_meter)
+float XidiPowerMeterGetVoltage(XidiPowerMeterInstance *power_meter)
 {
    if (power_meter == NULL)
        return 0.0f;
-    return power_meter->measure.voltage;
+    return power_meter->powermeter_msg.voltage;
 }

 /**
@@ -132,11 +126,11 @@ float PowerMeterGetVoltage(PowerMeterInstance *power_meter)
 * @param power_meter 功率计实例指针
 * @return float 电流值 (A)
 */
-float PowerMeterGetCurrent(PowerMeterInstance *power_meter)
+float XidiPowerMeterGetCurrent(XidiPowerMeterInstance *power_meter)
 {
    if (power_meter == NULL)
        return 0.0f;
-    return power_meter->measure.current;
+    return power_meter->powermeter_msg.current;
 }

 /**
@@ -144,11 +138,11 @@ float PowerMeterGetCurrent(PowerMeterInstance *power_meter)
 * @param power_meter 功率计实例指针
 * @return float 功率值 (W)
 */
-float PowerMeterGetPower(PowerMeterInstance *power_meter)
+float XidiPowerMeterGetPower(XidiPowerMeterInstance *power_meter)
 {
    if (power_meter == NULL)
        return 0.0f;
-    return power_meter->measure.power;
+    return power_meter->powermeter_msg.power;
 }

 /**
@@ -156,22 +150,22 @@ float PowerMeterGetPower(PowerMeterInstance *power_meter)
 * @param power_meter 功率计实例指针
 * @return float 累计能量 (J)
 */
-float PowerMeterGetEnergy(PowerMeterInstance *power_meter)
+float XidiPowerMeterGetEnergy(XidiPowerMeterInstance *power_meter)
 {
    if (power_meter == NULL)
        return 0.0f;
-    return power_meter->measure.energy;
+    return power_meter->powermeter_msg.energy;
 }

 /**
 * @brief 重置累计能量
 * @param power_meter 功率计实例指针
 */
-void PowerMeterResetEnergy(PowerMeterInstance *power_meter)
+void XidiPowerMeterResetEnergy(XidiPowerMeterInstance *power_meter)
 {
    if (power_meter != NULL)
    {
-        power_meter->measure.energy = 0.0f;
+        power_meter->powermeter_msg.energy = 0.0f;
    }
 }

@@ -179,7 +173,7 @@ void PowerMeterResetEnergy(PowerMeterInstance *power_meter)
 * @brief 获取功率计实例（用于外部访问）
 * @return PowerMeterInstance* 功率计实例指针
 */
-PowerMeterInstance *GetPowerMeterInstance(void)
+XidiPowerMeterInstance *GetXidiPowerMeterInstance(void)
 {
    return power_meter_instance;
 }
--- a/User_Code/module/periph/power_meters/xiditech/xidipwmeter.h
+++ b/User_Code/module/periph/power_meters/xiditech/xidipwmeter.h
@@ -19,34 +19,40 @@ typedef struct
    float energy; // 累计能量 (J)
    uint32_t update_cnt; // 更新计数器
    float dt; // 更新时间间隔
-} PowerMeter_Measure_s;
+} XidiPowerMeter_Msg_s;

 /* 功率计实例结构 */
 typedef struct
 {
-    FDCANInstance *can_instance; // FDCAN实例指针
-    PowerMeter_Measure_s measure; // 测量数据
+    FDCANInstance *fdcan_ins; // FDCAN实例指针
+    XidiPowerMeter_Msg_s powermeter_msg; // 测量数据
    Daemon_Instance *daemon; // 守护进程
    uint32_t feed_cnt; // 喂狗计数器
-} PowerMeterInstance;
+} XidiPowerMeterInstance;
+
+/* 功率计初始化配置 */
+typedef struct {
+    FDCAN_Init_Config_s can_config;
+    Daemon_Init_Config_s daemon_config;
+} XidiPowerMeter_Init_Config_s;

 /* 函数声明 */
-PowerMeterInstance *PowerMeterInit(FDCAN_HandleTypeDef *can_handle);
+XidiPowerMeterInstance *XidiPowerMeterInit(XidiPowerMeter_Init_Config_s *XidiPowerMeter_config);

-void PowerMeterDecode(FDCANInstance *instance);
+void XidiPowerMeterDecode(FDCANInstance *_instance);

-void PowerMeterLostCallback(void *power_meter_ptr);
+void XidiPowerMeterLostCallback(void *power_meter_ptr);

-float PowerMeterGetVoltage(PowerMeterInstance *power_meter);
+float XidiPowerMeterGetVoltage(XidiPowerMeterInstance *power_meter);

-float PowerMeterGetCurrent(PowerMeterInstance *power_meter);
+float XidiPowerMeterGetCurrent(XidiPowerMeterInstance *power_meter);

-float PowerMeterGetPower(PowerMeterInstance *power_meter);
+float XidiPowerMeterGetPower(XidiPowerMeterInstance *power_meter);

-float PowerMeterGetEnergy(PowerMeterInstance *power_meter);
+float XidiPowerMeterGetEnergy(XidiPowerMeterInstance *power_meter);

-void PowerMeterResetEnergy(PowerMeterInstance *power_meter);
+void XidiPowerMeterResetEnergy(XidiPowerMeterInstance *power_meter);

-PowerMeterInstance *GetPowerMeterInstance(void);
+XidiPowerMeterInstance *GetPowerMeterInstance(void);

 #endif //TRONONEH7_SCAFFOLD_XIDIPWMETER_H
--- a/User_Code/user_task/dev_tasks/dev_cmd.c
+++ b/User_Code/user_task/dev_tasks/dev_cmd.c
@@ -8,7 +8,7 @@


 // ==================== 2. 定义局部指针 ====================
-static PowerMeterInstance *chassis_power_meter; // 功率计实例指针
+static XidiPowerMeterInstance *chassis_power_meter; // 功率计实例指针

 // 存放读取到的功率数据（也可以直接放进发给底盘的结构体里）
 static float current_power_w = 0.0f;
@@ -16,15 +16,34 @@ static float current_voltage_v = 0.0f;
 static float current_energy_j = 0.0f;

 // ==================== 3. 在初始化函数中注册 ====================
+// 1. 定义为静态变量（static），确保它的内存空间常驻，防止底层指针悬垂！
+static XidiPowerMeter_Init_Config_s xidi_pm_config = {
+    .can_config = {
+        .can_handle = &hfdcan1,  // 原来直接传的句柄，现在放进结构体里
+        .rx_id = 0x213,          // 接收 ID
+        .tx_id = 0x000,          // 发送 ID (不发送填0)
+    },
+    .daemon_config = {
+        .reload_count = 5,       // 守护进程超时周期 (例如：5次没收到算离线)
+    }
+};
+
+// 2. 初始化任务
 void RobotCMDInit()
 {
-    chassis_power_meter = PowerMeterInit(&hfdcan1);
+    // 传入配置结构体的地址，而不是直接传 hfdcan1
+    chassis_power_meter = XidiPowerMeterInit(&xidi_pm_config);
+
    if (chassis_power_meter == NULL)
    {
        LOGERROR("[CMD] Power Meter Init Failed!");
    }
+    else
+    {
+        // 建议加一句成功日志，方便上机调试时确认
+        LOGINFO("[CMD] Power Meter Init Success!");
+    }
 }
-
 // ==================== 4. 在控制任务中读取使用 ====================
 void CmdTask()
 {
@@ -33,9 +52,9 @@ void CmdTask()
    {
        if (chassis_power_meter != NULL)
        {
-            current_power_w = PowerMeterGetPower(chassis_power_meter);
-            current_voltage_v = PowerMeterGetVoltage(chassis_power_meter);
-            current_energy_j = PowerMeterGetEnergy(chassis_power_meter);
+            current_power_w = XidiPowerMeterGetPower(chassis_power_meter);
+            current_voltage_v = XidiPowerMeterGetVoltage(chassis_power_meter);
+            current_energy_j = XidiPowerMeterGetEnergy(chassis_power_meter);

            // 你可以将获取到的功率写入要发送给底盘的 cmd 中，例如限制最大速度
            // chassis_cmd_send.real_power = current_power_w;
--- a/ozonedeb/linuxdb2.jdebug.user
+++ b/ozonedeb/linuxdb2.jdebug.user
@@ -3,25 +3,26 @@
 OpenDocument="main.c", FilePath="/home/tuxmonkey/CLionProjects/tronone-h7-scaffold/Core/Src/main.c", Line=0
 OpenToolbar="Debug", Floating=0, x=0, y=0
 OpenWindow="Registers 1", DockArea=BOTTOM, x=5, y=0, w=492, h=285, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, FilteredItems=[], RefreshRate=1
-OpenWindow="Source Files", DockArea=LEFT, x=0, y=0, w=539, h=202, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
+OpenWindow="Source Files", DockArea=LEFT, x=0, y=0, w=539, h=203, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
 OpenWindow="Disassembly", DockArea=BOTTOM, x=0, y=0, w=453, h=285, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
-OpenWindow="Break & Tracepoints", DockArea=LEFT, x=0, y=1, w=539, h=293, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VectorCatchIndexMask=254
+OpenWindow="Break & Tracepoints", DockArea=LEFT, x=0, y=1, w=539, h=285, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VectorCatchIndexMask=254
 OpenWindow="Memory 1", DockArea=BOTTOM, x=4, y=0, w=438, h=285, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, EditorAddress=0x200003D8
-OpenWindow="Global Data", DockArea=RIGHT, x=0, y=1, w=561, h=330, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
-OpenWindow="Watched Data 1", DockArea=LEFT, x=0, y=2, w=539, h=146, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
+OpenWindow="Global Data", DockArea=RIGHT, x=0, y=1, w=561, h=329, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
+OpenWindow="Watched Data 1", DockArea=LEFT, x=0, y=2, w=539, h=153, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
 OpenWindow="Functions", DockArea=BOTTOM, x=3, y=0, w=411, h=285, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
 OpenWindow="Data Sampling", DockArea=BOTTOM, x=1, y=0, w=355, h=285, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VisibleTab=0, UniformSampleSpacing=0
-OpenWindow="Timeline", DockArea=RIGHT, x=0, y=0, w=561, h=312, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=1, DataPaneShown=1, PowerPaneShown=1, CodePaneShown=1, PinCursor="Cursor Movable", TimePerDiv="1 ns / Div", TimeStampFormat="Time", DataGraphDrawAsPoints=0, DataGraphLegendShown=1, DataGraphUniformSampleSpacing=0, DataGraphLegendPosition="355;0", DataGraphShowNamesAtCursor=0, PowerGraphDrawAsPoints=0, PowerGraphLegendShown=1, PowerGraphAvgFilterTime=Off, PowerGraphAvgFilterLen=Off, PowerGraphUniformSampleSpacing=0, PowerGraphLegendPosition="360;-67", CodeGraphLegendShown=1, CodeGraphLegendPosition="369;0"
+OpenWindow="Timeline", DockArea=RIGHT, x=0, y=0, w=561, h=313, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=1, DataPaneShown=1, PowerPaneShown=1, CodePaneShown=1, PinCursor="Cursor Movable", TimePerDiv="1 ns / Div", TimeStampFormat="Time", DataGraphDrawAsPoints=0, DataGraphLegendShown=1, DataGraphUniformSampleSpacing=0, DataGraphLegendPosition="355;-67", DataGraphShowNamesAtCursor=0, PowerGraphDrawAsPoints=0, PowerGraphLegendShown=1, PowerGraphAvgFilterTime=Off, PowerGraphAvgFilterLen=Off, PowerGraphUniformSampleSpacing=0, PowerGraphLegendPosition="360;-67", CodeGraphLegendShown=1, CodeGraphLegendPosition="309;0"
 OpenWindow="Console", DockArea=BOTTOM, x=2, y=0, w=406, h=285, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
 SmartViewPlugin="", Page="", Toolbar="Hidden", Window="SmartView 1"
-TableHeader="Global Data", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Location";"Size";"Type";"Scope"], ColWidths=[100;100;100;100;100;364]
+TableHeader="Global Data", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Location";"Size";"Type";"Scope"], ColWidths=[100;100;100;100;100;100]
 TableHeader="Vector Catches", SortCol="", SortOrder="ASCENDING", VisibleCols=["";"Vector Catch";"Description"], ColWidths=[50;300;500]
 TableHeader="Break & Tracepoints", SortCol="None", SortOrder="ASCENDING", VisibleCols=["";"Type";"Location";"Extras"], ColWidths=[100;100;100;239]
-TableHeader="Functions", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Address";"Size";"#Insts";"Source"], ColWidths=[1435;100;100;100;231]
-TableHeader="Source Files", SortCol="File", SortOrder="ASCENDING", VisibleCols=["File";"Status";"Size";"#Insts";"Path"], ColWidths=[225;100;100;100;875]
+TableHeader="Functions", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Address";"Size";"#Insts";"Source"], ColWidths=[1435;100;100;100;100]
+TableHeader="Source Files", SortCol="File", SortOrder="ASCENDING", VisibleCols=["File";"Status";"Size";"#Insts";"Path"], ColWidths=[225;100;100;100;100]
 TableHeader="Data Sampling Table", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time"], ColWidths=[100;100]
 TableHeader="Data Sampling Setup", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Type";"Value";"Min";"Max";"Average";"# Changes";"Min. Change";"Max. Change"], ColWidths=[126;100;100;100;100;100;100;100;100]
 TableHeader="Power Sampling", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time";"Ch 0"], ColWidths=[100;100;100]
-TableHeader="Registers 1", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Description"], ColWidths=[100;105;287]
+TableHeader="Registers 1", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Description"], ColWidths=[100;105;271]
 TableHeader="Watched Data 1", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Value";"Location";"Refresh"], ColWidths=[170;100;100;169]
-TableHeader="RegisterSelectionDialog", SortCol="None", SortOrder="ASCENDING", VisibleCols=[], ColWidths=[]
+TableHeader="RegisterSelectionDialog", SortCol="None", SortOrder="ASCENDING", VisibleCols=[], ColWidths=[]
+TableHeader="TargetExceptionDialog", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Address";"Description"], ColWidths=[26;26;26;26]