diff --git a/Inc/FreeRTOSConfig.h b/Inc/FreeRTOSConfig.h index a7de255..49e09e9 100644 --- a/Inc/FreeRTOSConfig.h +++ b/Inc/FreeRTOSConfig.h @@ -69,6 +69,7 @@ #define configUSE_16_BIT_TICKS 0 #define configUSE_MUTEXES 1 #define configQUEUE_REGISTRY_SIZE 8 +#define configUSE_COUNTING_SEMAPHORES 1 #define configUSE_PORT_OPTIMISED_TASK_SELECTION 1 /* USER CODE BEGIN MESSAGE_BUFFER_LENGTH_TYPE */ /* Defaults to size_t for backward compatibility, but can be changed diff --git a/Inc/stm32f4xx_it.h b/Inc/stm32f4xx_it.h index fdd3cc6..86acaac 100644 --- a/Inc/stm32f4xx_it.h +++ b/Inc/stm32f4xx_it.h @@ -52,6 +52,7 @@ void MemManage_Handler(void); void BusFault_Handler(void); void UsageFault_Handler(void); void DebugMon_Handler(void); +void FLASH_IRQHandler(void); void EXTI3_IRQHandler(void); void EXTI4_IRQHandler(void); void DMA1_Stream1_IRQHandler(void); diff --git a/Makefile b/Makefile index 327e6c7..97979fb 100644 --- a/Makefile +++ b/Makefile @@ -119,6 +119,7 @@ bsp/can/bsp_can.c \ bsp/usart/bsp_usart.c \ bsp/usb/bsp_usb.c \ bsp/log/bsp_log.c \ +bsp/flash/bsp_flash.c \ bsp/bsp_init.c \ modules/algorithm/controller.c \ modules/algorithm/kalman_filter.c \ @@ -152,6 +153,7 @@ modules/can_comm/can_comm.c \ modules/message_center/message_center.c \ modules/daemon/daemon.c \ modules/vofa/vofa.c \ +modules/alarm/buzzer.c \ application/gimbal/gimbal.c \ application/chassis/chassis.c \ application/shoot/shoot.c \ @@ -197,7 +199,7 @@ FPU = -mfpu=fpv4-sp-d16 FLOAT-ABI = -mfloat-abi=hard # mcu -MCU = $(CPU) -mthumb $(FPU) $(FLOAT-ABI) +MCU = $(CPU) -mthumb -mthumb-interwork $(FPU) $(FLOAT-ABI) # macros for gcc # AS defines @@ -209,7 +211,9 @@ C_DEFS = \ -DSTM32F407xx \ -DARM_MATH_CM4 \ -DARM_MATH_MATRIX_CHECK \ --DARM_MATH_ROUNDING +-DARM_MATH_ROUNDING \ +-DARM_MATH_LOOPUNROLL \ +-DISABLEFLOAT16 # AS includes AS_INCLUDES = \ @@ -244,6 +248,7 @@ C_INCLUDES = \ -Ibsp/spi \ -Ibsp/iic \ -Ibsp/log \ +-Ibsp/flash \ -Ibsp/pwm \ -Ibsp/bsp_legacy_support \ -Ibsp \ @@ -268,13 +273,14 @@ C_INCLUDES = \ -Imodules/message_center \ -Imodules/daemon \ -Imodules/vofa \ +-Imodules/alarm \ -Imodules # compile gcc flags ASFLAGS = $(MCU) $(AS_DEFS) $(AS_INCLUDES) $(OPT) -fdata-sections -ffunction-sections -CFLAGS += $(MCU) $(C_DEFS) $(C_INCLUDES) $(OPT) -fdata-sections -ffunction-sections +CFLAGS += $(MCU) $(C_DEFS) $(C_INCLUDES) $(OPT) -fdata-sections -ffunction-sections -fmessage-length=0 ifeq ($(DEBUG), 1) CFLAGS += -g -gdwarf-2 @@ -296,7 +302,7 @@ LIBS = -lc -lm -lnosys \ -l:libCMSISDSP.a LIBDIR = \ -LMiddlewares/ST/ARM/DSP/Lib -LDFLAGS = $(MCU) -specs=nano.specs -T$(LDSCRIPT) $(LIBDIR) $(LIBS) -Wl,-Map=$(BUILD_DIR)/$(TARGET).map,--cref -Wl,--gc-sections +LDFLAGS = $(MCU) -specs=nano.specs -T$(LDSCRIPT) $(LIBDIR) $(LIBS) -Wl,-Map=$(BUILD_DIR)/$(TARGET).map,--cref -Wl,--gc-sections -flto # default action: build all all: $(BUILD_DIR)/$(TARGET).elf $(BUILD_DIR)/$(TARGET).hex $(BUILD_DIR)/$(TARGET).bin @@ -336,7 +342,7 @@ $(BUILD_DIR): # clean up ####################################### clean: - rd /s/q $(BUILD_DIR) + rd $(BUILD_DIR) /s/q ####################################### diff --git a/Src/freertos.c b/Src/freertos.c index f6e1a25..1ff4a6b 100644 --- a/Src/freertos.c +++ b/Src/freertos.c @@ -123,9 +123,9 @@ void MX_FREERTOS_Init(void) void StartDefaultTask(void const *argument) { /* init code for USB_DEVICE */ - MX_USB_DEVICE_Init(); // USB??? + MX_USB_DEVICE_Init(); // 默认usb启动任务的位置 /* USER CODE BEGIN StartDefaultTask */ - vTaskDelete(NULL); // ??????,????CPU + vTaskDelete(NULL); // 避免空置和切换占用cpu /* USER CODE END StartDefaultTask */ } diff --git a/Src/main.c b/Src/main.c index 5a1f4b0..ce57ebb 100644 --- a/Src/main.c +++ b/Src/main.c @@ -36,6 +36,7 @@ /* Private includes ----------------------------------------------------------*/ /* USER CODE BEGIN Includes */ #include "robot.h" +#include "bsp_log.h" /* USER CODE END Includes */ /* Private typedef -----------------------------------------------------------*/ @@ -120,6 +121,7 @@ int main(void) MX_DAC_Init(); /* USER CODE BEGIN 2 */ RobotInit(); // 唯一的初始化函数 + LOGINFO("[main] SystemInit() and RobotInit() done"); /* USER CODE END 2 */ /* Call init function for freertos objects (in freertos.c) */ diff --git a/Src/stm32f4xx_hal_msp.c b/Src/stm32f4xx_hal_msp.c index ed524b2..f569c97 100644 --- a/Src/stm32f4xx_hal_msp.c +++ b/Src/stm32f4xx_hal_msp.c @@ -73,6 +73,11 @@ void HAL_MspInit(void) /* PendSV_IRQn interrupt configuration */ HAL_NVIC_SetPriority(PendSV_IRQn, 15, 0); + /* Peripheral interrupt init */ + /* FLASH_IRQn interrupt configuration */ + HAL_NVIC_SetPriority(FLASH_IRQn, 6, 0); + HAL_NVIC_EnableIRQ(FLASH_IRQn); + /* USER CODE BEGIN MspInit 1 */ /* USER CODE END MspInit 1 */ diff --git a/Src/stm32f4xx_it.c b/Src/stm32f4xx_it.c index 62b6f5c..fb06c6d 100644 --- a/Src/stm32f4xx_it.c +++ b/Src/stm32f4xx_it.c @@ -183,6 +183,20 @@ void DebugMon_Handler(void) /* please refer to the startup file (startup_stm32f4xx.s). */ /******************************************************************************/ +/** + * @brief This function handles Flash global interrupt. + */ +void FLASH_IRQHandler(void) +{ + /* USER CODE BEGIN FLASH_IRQn 0 */ + + /* USER CODE END FLASH_IRQn 0 */ + HAL_FLASH_IRQHandler(); + /* USER CODE BEGIN FLASH_IRQn 1 */ + + /* USER CODE END FLASH_IRQn 1 */ +} + /** * @brief This function handles EXTI line3 interrupt. */ diff --git a/Src/usbd_conf.c b/Src/usbd_conf.c index 128246a..4d67d2a 100644 --- a/Src/usbd_conf.c +++ b/Src/usbd_conf.c @@ -27,7 +27,7 @@ #include "usbd_cdc.h" /* USER CODE BEGIN Includes */ - +#include "bsp_dwt.h" /* USER CODE END Includes */ /* Private typedef -----------------------------------------------------------*/ @@ -95,7 +95,11 @@ void HAL_PCD_MspInit(PCD_HandleTypeDef* pcdHandle) HAL_NVIC_SetPriority(OTG_FS_IRQn, 5, 0); HAL_NVIC_EnableIRQ(OTG_FS_IRQn); /* USER CODE BEGIN USB_OTG_FS_MspInit 1 */ - + // 上电后重新枚举usb设备 + HAL_GPIO_WritePin(GPIOA, GPIO_PIN_12, GPIO_PIN_RESET); + DWT_Delay(100); + HAL_GPIO_WritePin(GPIOA, GPIO_PIN_12, GPIO_PIN_RESET); + DWT_Delay(100); /* USER CODE END USB_OTG_FS_MspInit 1 */ } } diff --git a/application/cmd/robot_cmd.c b/application/cmd/robot_cmd.c index 7f2edb7..6a989ce 100644 --- a/application/cmd/robot_cmd.c +++ b/application/cmd/robot_cmd.c @@ -8,6 +8,9 @@ #include "message_center.h" #include "general_def.h" #include "dji_motor.h" +// bsp +#include "bsp_dwt.h" +#include "bsp_log.h" // 私有宏,自动将编码器转换成角度值 #define YAW_ALIGN_ANGLE (YAW_CHASSIS_ALIGN_ECD * ECD_ANGLE_COEF_DJI) // 对齐时的角度,0-360 @@ -129,16 +132,8 @@ static void RemoteControlSet() { // 按照摇杆的输出大小进行角度增量,增益系数需调整 gimbal_cmd_send.yaw += 0.005f * (float)rc_data[TEMP].rc.rocker_l_; gimbal_cmd_send.pitch += 0.001f * (float)rc_data[TEMP].rc.rocker_l1; - // 摇杆控制的软件限位 - // if (gimbal_cmd_send.pitch <= PITCH_MIN_ECD) - // { - // gimbal_cmd_send.pitch = PITCH_MIN_ECD; - // } - // else if (gimbal_cmd_send.pitch >= PITCH_MAX_ECD) - // { - // gimbal_cmd_send.pitch = PITCH_MAX_ECD; - // } } + // 云台软件限位 // 底盘参数,目前没有加入小陀螺(调试似乎暂时没有必要),系数需要调整 chassis_cmd_send.vx = 10.0f * (float)rc_data[TEMP].rc.rocker_r_; // _水平方向 @@ -266,12 +261,14 @@ static void EmergencyHandler() shoot_cmd_send.shoot_mode = SHOOT_OFF; shoot_cmd_send.friction_mode = FRICTION_OFF; shoot_cmd_send.load_mode = LOAD_STOP; + LOGERROR("[CMD] emergency stop!"); } // 遥控器右侧开关为[上],恢复正常运行 if (switch_is_up(rc_data[TEMP].rc.switch_right)) { robot_state = ROBOT_READY; shoot_cmd_send.shoot_mode = SHOOT_ON; + LOGINFO("[CMD] reinstate, robot ready"); } } diff --git a/application/robot_task.h b/application/robot_task.h index 1b09e81..743c1cc 100644 --- a/application/robot_task.h +++ b/application/robot_task.h @@ -13,6 +13,8 @@ #include "daemon.h" #include "HT04.h" +#include "bsp_log.h" + osThreadId insTaskHandle; osThreadId robotTaskHandle; osThreadId motorTaskHandle; @@ -54,12 +56,15 @@ void StartINSTASK(void const *argument) { static float ins_start, ins_dt; INS_Init(); // 确保BMI088被正确初始化. + LOGINFO("[freeRTOS] INS Task Start"); while (1) { // 1kHz ins_start = DWT_GetTimeline_ms(); INS_Task(); ins_dt = DWT_GetTimeline_ms() - ins_start; + if (ins_dt > 1) + LOGERROR("[freeRTOS] INS Task is being DELAY! dt = [%f]", &ins_dt); VisionSend(); // 解算完成后发送视觉数据,但是当前的实现不太优雅,后续若添加硬件触发需要重新考虑结构的组织 osDelay(1); } @@ -68,21 +73,30 @@ void StartINSTASK(void const *argument) void StartMOTORTASK(void const *argument) { static float motor_dt, motor_start; + LOGINFO("[freeRTOS] MOTOR Task Start"); while (1) { motor_start = DWT_GetTimeline_ms(); MotorControlTask(); motor_dt = DWT_GetTimeline_ms() - motor_start; + if (motor_dt > 1) + LOGERROR("[freeRTOS] MOTOR Task is being DELAY! dt = [%f]", &motor_dt); osDelay(1); } } void StartDAEMONTASK(void const *argument) { + static float daemon_dt, daemon_start; + LOGINFO("[freeRTOS] Daemon Task Start"); while (1) { // 100Hz + daemon_start = DWT_GetTimeline_ms(); DaemonTask(); + daemon_dt = DWT_GetTimeline_ms() - daemon_start; + if (daemon_dt > 10) + LOGERROR("[freeRTOS] Daemon Task is being DELAY! dt = [%f]", &daemon_dt); osDelay(10); } } @@ -90,19 +104,24 @@ void StartDAEMONTASK(void const *argument) void StartROBOTTASK(void const *argument) { static float robot_dt, robot_start; + LOGINFO("[freeRTOS] ROBOT core Task Start"); // 200Hz-500Hz,若有额外的控制任务如平衡步兵可能需要提升至1kHz while (1) { robot_start = DWT_GetTimeline_ms(); RobotTask(); robot_dt = DWT_GetTimeline_ms() - robot_start; + if (robot_dt > 5) + LOGERROR("[freeRTOS] ROBOT core Task is being DELAY! dt = [%f]", &robot_dt); osDelay(5); } } void StartUITASK(void const *argument) { + LOGINFO("[freeRTOS] UI Task Start"); MyUIInit(); + LOGINFO("[freeRTOS] UI Init Done, communication with ref has established"); while (1) { // 每给裁判系统发送一包数据会挂起一次,详见UITask函数的refereeSend() diff --git a/basic_framework.ioc b/basic_framework.ioc index db6d55a..3cb82bd 100644 --- a/basic_framework.ioc +++ b/basic_framework.ioc @@ -174,11 +174,12 @@ Dma.USART6_TX.1.PeriphInc=DMA_PINC_DISABLE Dma.USART6_TX.1.Priority=DMA_PRIORITY_HIGH Dma.USART6_TX.1.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,FIFOThreshold,MemBurst,PeriphBurst FREERTOS.INCLUDE_vTaskDelayUntil=1 -FREERTOS.IPParameters=Tasks01,configENABLE_FPU,configMAX_TASK_NAME_LEN,configUSE_TIMERS,configUSE_POSIX_ERRNO,INCLUDE_vTaskDelayUntil,configTOTAL_HEAP_SIZE +FREERTOS.IPParameters=Tasks01,configENABLE_FPU,configMAX_TASK_NAME_LEN,configUSE_TIMERS,configUSE_POSIX_ERRNO,INCLUDE_vTaskDelayUntil,configTOTAL_HEAP_SIZE,configUSE_COUNTING_SEMAPHORES FREERTOS.Tasks01=defaultTask,0,128,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL FREERTOS.configENABLE_FPU=1 FREERTOS.configMAX_TASK_NAME_LEN=32 FREERTOS.configTOTAL_HEAP_SIZE=20000 +FREERTOS.configUSE_COUNTING_SEMAPHORES=1 FREERTOS.configUSE_POSIX_ERRNO=0 FREERTOS.configUSE_TIMERS=0 File.Version=6 @@ -308,6 +309,7 @@ NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:fals NVIC.EXTI3_IRQn=true\:5\:0\:true\:false\:true\:true\:true\:true\:true NVIC.EXTI4_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true NVIC.EXTI9_5_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true +NVIC.FLASH_IRQn=true\:6\:0\:true\:false\:true\:true\:true\:true\:true NVIC.ForceEnableDMAVector=true NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false NVIC.I2C2_ER_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true diff --git a/bsp/bsp_init.c b/bsp/bsp_init.c index 262ddda..16a8c66 100644 --- a/bsp/bsp_init.c +++ b/bsp/bsp_init.c @@ -2,7 +2,7 @@ #include "bsp_log.h" #include "bsp_dwt.h" #include "bsp_usb.h" -#include "bsp_buzzer.h" +#include "buzzer.h" #include "bsp_led.h" #include "bsp_temperature.h" @@ -15,5 +15,5 @@ void BSPInit() // legacy support，待删除,将在实现了led/tempctrl/buzzer的module之后移动到app层进行XXXRegister() LEDInit(); IMUTempInit(); - BuzzerInit(); + buzzer_init(); } \ No newline at end of file diff --git a/bsp/bsp_legacy_support/bsp_buzzer.c b/bsp/bsp_legacy_support/bsp_buzzer.c index 625d53f..e69de29 100644 --- a/bsp/bsp_legacy_support/bsp_buzzer.c +++ b/bsp/bsp_legacy_support/bsp_buzzer.c @@ -1,28 +0,0 @@ -#include "bsp_buzzer.h" -#include "main.h" - -#warning this is a legacy support file, please use the new version - -extern TIM_HandleTypeDef htim4; -static uint8_t tmp_warning_level = 0; - -void BuzzerInit() -{ - HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_3); -} - -void BuzzerOn(uint16_t psc, uint16_t pwm, uint8_t level) -{ - if (level > tmp_warning_level) - { - tmp_warning_level = level; - __HAL_TIM_PRESCALER(&htim4, psc); - __HAL_TIM_SetCompare(&htim4, TIM_CHANNEL_3, pwm); - } -} - -void BuzzerOff(void) -{ - __HAL_TIM_SetCompare(&htim4, TIM_CHANNEL_3, 0); - tmp_warning_level = 0; -} diff --git a/bsp/bsp_legacy_support/bsp_buzzer.h b/bsp/bsp_legacy_support/bsp_buzzer.h index cc09a68..e69de29 100644 --- a/bsp/bsp_legacy_support/bsp_buzzer.h +++ b/bsp/bsp_legacy_support/bsp_buzzer.h @@ -1,10 +0,0 @@ -#ifndef BSP_BUZZER_H -#define BSP_BUZZER_H - -#include - -void BuzzerInit(); -extern void BuzzerOn(uint16_t psc, uint16_t pwm, uint8_t level); -extern void BuzzerOff(void); - -#endif diff --git a/bsp/can/bsp_can.c b/bsp/can/bsp_can.c index 051dc31..992cde4 100644 --- a/bsp/can/bsp_can.c +++ b/bsp/can/bsp_can.c @@ -65,15 +65,20 @@ CANInstance *CANRegister(CAN_Init_Config_s *config) if (!idx) { CANServiceInit(); // 第一次注册,先进行硬件初始化 + LOGINFO("[bsp_can] CAN Service Init"); } if (idx >= CAN_MX_REGISTER_CNT) // 超过最大实例数 + { while (1) - ; + LOGERROR("[bsp_can] CAN instance exceeded MAX num, consider balance the load of CAN bus"); + } for (size_t i = 0; i < idx; i++) { // 重复注册 | id重复 if (can_instance[i]->rx_id == config->rx_id && can_instance[i]->can_handle == config->can_handle) + { while (1) - ; + LOGERROR("[}bsp_can] CAN id crash ,tx [%d] or rx [%d] already registered", &config->tx_id, &config->rx_id); + } } CANInstance *instance = (CANInstance *)malloc(sizeof(CANInstance)); // 分配空间 @@ -107,7 +112,7 @@ uint8_t CANTransmit(CANInstance *_instance, float timeout) { if (DWT_GetTimeline_ms() - dwt_start > timeout) // 超时 { - LOGWARNING("CAN BUSY sending! cnt:%d", busy_count); + LOGWARNING("[bsp_can] CAN MAILbox full! failed to add msg to mailbox. Cnt [%d]", busy_count); busy_count++; return 0; } @@ -116,7 +121,7 @@ uint8_t CANTransmit(CANInstance *_instance, float timeout) // tx_mailbox会保存实际填入了这一帧消息的邮箱,但是知道是哪个邮箱发的似乎也没啥用 if (HAL_CAN_AddTxMessage(_instance->can_handle, &_instance->txconf, _instance->tx_buff, &_instance->tx_mailbox)) { - LOGWARNING("CAN BUSY bus! cnt:%d", busy_count); + LOGWARNING("[bsp_can] CAN bus BUS! cnt:%d", busy_count); busy_count++; return 0; } @@ -125,9 +130,10 @@ uint8_t CANTransmit(CANInstance *_instance, float timeout) void CANSetDLC(CANInstance *_instance, uint8_t length) { + // 发送长度错误!检查调用参数是否出错,或出现野指针/越界访问 if (length > 8 || length == 0) // 安全检查 while (1) - ; // 发送长度错误!检查调用参数是否出错,或出现野指针/越界访问 + LOGERROR("[bsp_can] CAN DLC error! check your code or wild pointer"); _instance->txconf.DLC = length; } diff --git a/bsp/dwt/bsp_dwt.c b/bsp/dwt/bsp_dwt.c index ce2e4fa..61d95d6 100644 --- a/bsp/dwt/bsp_dwt.c +++ b/bsp/dwt/bsp_dwt.c @@ -21,8 +21,8 @@ static osMutexId DWT_MUTEX; /** * @brief 私有函数,用于检查DWT CYCCNT寄存器是否溢出,并更新CYCCNT_RountCount * @attention 此函数假设两次调用之间的时间间隔不超过一次溢出 - * - * @todo 更好的方案是为dwt的时间更新单独设置一个任务 + * + * @todo 更好的方案是为dwt的时间更新单独设置一个任务? * 不过,使用dwt的初衷是定时不被中断/任务等因素影响,因此该实现仍然有其存在的意义 * */ @@ -31,7 +31,7 @@ static void DWT_CNT_Update(void) if (__get_CONTROL()) // 不在中断中,使用互斥锁;在中断则直接执行即可,本框架将所有中断优先级设置为相同,故不会被其他中断重入 if (osOK != osMutexWait(DWT_MUTEX, 0)) return; - + volatile uint32_t cnt_now = DWT->CYCCNT; if (cnt_now < CYCCNT_LAST) CYCCNT_RountCount++; @@ -131,6 +131,5 @@ void DWT_Delay(float Delay) float wait = Delay; while ((DWT->CYCCNT - tickstart) < wait * (float)CPU_FREQ_Hz) - { - } + ; } diff --git a/bsp/dwt/bsp_dwt.h b/bsp/dwt/bsp_dwt.h index 5233c09..b1a223d 100644 --- a/bsp/dwt/bsp_dwt.h +++ b/bsp/dwt/bsp_dwt.h @@ -2,7 +2,8 @@ ****************************************************************************** * @file bsp_dwt.h * @author Wang Hongxi - * @version V1.1.0 + * @author modified by NeoZng + * @version V1.2.0 * @date 2022/3/8 * @brief ****************************************************************************** @@ -15,6 +16,7 @@ #include "main.h" #include "stdint.h" +#include "bsp_log.h" typedef struct { @@ -23,17 +25,30 @@ typedef struct uint16_t us; } DWT_Time_t; +/** + * @brief 该宏用于计算代码段执行时间,单位为秒/s,返回值为float类型 + * 首先需要创建一个float类型的变量,用于存储时间间隔 + * 计算得到的时间间隔同时还会通过RTT打印到日志终端,你也可以将你的dt变量添加到查看 + */ +#define TIME_ELAPSE(dt, code) \ + do \ + { \ + float tstart = DWT_GetTimeline_s(); \ + code; \ + dt = DWT_GetTimeline_s() - tstart; \ + LOGINFO("[DWT] " #dt " = %f s\r\n", dt); \ + } while (0) /** * @brief 初始化DWT,传入参数为CPU频率,单位MHz - * + * * @param CPU_Freq_mHz c板为168MHz,A板为180MHz */ void DWT_Init(uint32_t CPU_Freq_mHz); /** * @brief 获取两次调用之间的时间间隔,单位为秒/s - * + * * @param cnt_last 上一次调用的时间戳 * @return float 时间间隔,单位为秒/s */ @@ -41,7 +56,7 @@ float DWT_GetDeltaT(uint32_t *cnt_last); /** * @brief 获取两次调用之间的时间间隔,单位为秒/s,高精度 - * + * * @param cnt_last 上一次调用的时间戳 * @return double 时间间隔,单位为秒/s */ @@ -49,22 +64,22 @@ double DWT_GetDeltaT64(uint32_t *cnt_last); /** * @brief 获取当前时间,单位为秒/s,即初始化后的时间 - * + * * @return float 时间轴 */ float DWT_GetTimeline_s(void); /** * @brief 获取当前时间,单位为毫秒/ms,即初始化后的时间 - * - * @return float + * + * @return float */ float DWT_GetTimeline_ms(void); /** * @brief 获取当前时间,单位为微秒/us,即初始化后的时间 - * - * @return uint64_t + * + * @return uint64_t */ uint64_t DWT_GetTimeline_us(void); @@ -72,7 +87,7 @@ uint64_t DWT_GetTimeline_us(void); * @brief DWT延时函数,单位为秒/s * @attention 该函数不受中断是否开启的影响,可以在临界区和关闭中断时使用 * @note 禁止在__disable_irq()和__enable_irq()之间使用HAL_Delay()函数,应使用本函数 - * + * * @param Delay 延时时间,单位为秒/s */ void DWT_Delay(float Delay); @@ -83,6 +98,4 @@ void DWT_Delay(float Delay); */ void DWT_SysTimeUpdate(void); - - #endif /* BSP_DWT_H_ */ diff --git a/bsp/dwt/bsp_dwt.md b/bsp/dwt/bsp_dwt.md index f6677d5..921245f 100644 --- a/bsp/dwt/bsp_dwt.md +++ b/bsp/dwt/bsp_dwt.md @@ -2,8 +2,6 @@ DWT是stm32内部的一个"隐藏资源",他的用途是给下载器提供准确的定时,从而为调试信息加上时间戳.并在固定的时间间隔将调试数据发送到你的xxlink上. - - ## 常用功能 ### 计算两次进入同一个函数的时间间隔 @@ -23,8 +21,34 @@ start=DWT_DetTimeline_ms(); // some proc to go... for(uint8_t i=0;i<10;i++) - foo(); + foo(); end = DWT_DetTimeline_ms()-start; ``` +我们还提供了一个宏用于调试计时: + +```c +#define TIME_ELAPSE(dt, code) \ + do \ + { \ + float tstart = DWT_GetTimeline_s(); \ + code; \ + dt = DWT_GetTimeline_s() - tstart; \ + LOGINFO("[DWT] " #dt " = %f s\r\n", dt); \ + } while (0) + +``` + +传入一个float类型的变量,并将你要执行的代码写入第二个参数: + +```c + static float my_func_dt; + TIME_ELAPSE(my_func_dt, + Function1(vara); + Function2(some, var); + Function3(your,param); + // something more + ); + // my_func_dt can be used for other purpose then; +``` diff --git a/bsp/flash/bsp_flash.c b/bsp/flash/bsp_flash.c new file mode 100644 index 0000000..dfdf9a9 --- /dev/null +++ b/bsp/flash/bsp_flash.c @@ -0,0 +1,289 @@ +#include "bsp_flash.h" +#include "main.h" +#include "string.h" + +static uint32_t ger_sector(uint32_t address); + +/** + * @brief erase flash + * @param[in] address: flash address + * @param[in] len: page num + * @retval none + */ +/** + * @brief flash + * @param[in] address: flash ַ + * @param[in] len: ҳ + * @retval none + */ +void flash_erase_address(uint32_t address, uint16_t len) +{ + FLASH_EraseInitTypeDef flash_erase; + uint32_t error; + + flash_erase.Sector = ger_sector(address); + flash_erase.TypeErase = FLASH_TYPEERASE_SECTORS; + flash_erase.VoltageRange = FLASH_VOLTAGE_RANGE_3; + flash_erase.NbSectors = len; + + HAL_FLASH_Unlock(); + HAL_FLASHEx_Erase(&flash_erase, &error); + HAL_FLASH_Lock(); +} + +/** + * @brief write data to one page of flash + * @param[in] start_address: flash address + * @param[in] buf: data point + * @param[in] len: data num + * @retval success 0, fail -1 + */ +/** + * @brief һҳflashд + * @param[in] start_address: flash ַ + * @param[in] buf: ָ + * @param[in] len: ݳ + * @retval success 0, fail -1 + */ +int8_t flash_write_single_address(uint32_t start_address, uint32_t *buf, uint32_t len) +{ + static uint32_t uw_address; + static uint32_t end_address; + static uint32_t *data_buf; + static uint32_t data_len; + + HAL_FLASH_Unlock(); + + uw_address = start_address; + end_address = get_next_flash_address(start_address); + data_buf = buf; + data_len = 0; + + while (uw_address <= end_address) + { + + if (HAL_FLASH_Program(FLASH_TYPEPROGRAM_WORD,uw_address, *data_buf) == HAL_OK) + { + uw_address += 4; + data_buf++; + data_len++; + if (data_len == len) + { + break; + } + } + else + { + HAL_FLASH_Lock(); + return -1; + } + } + + HAL_FLASH_Lock(); + return 0; +} + +/** + * @brief write data to some pages of flash + * @param[in] start_address: flash start address + * @param[in] end_address: flash end address + * @param[in] buf: data point + * @param[in] len: data num + * @retval success 0, fail -1 + */ +/** + * @brief ҳflashд + * @param[in] start_address: flash ʼַ + * @param[in] end_address: flash ַ + * @param[in] buf: ָ + * @param[in] len: ݳ + * @retval success 0, fail -1 + */ +int8_t flash_write_muli_address(uint32_t start_address, uint32_t end_address, uint32_t *buf, uint32_t len) +{ + uint32_t uw_address = 0; + uint32_t *data_buf; + uint32_t data_len; + + HAL_FLASH_Unlock(); + + uw_address = start_address; + data_buf = buf; + data_len = 0; + while (uw_address <= end_address) + { + if (HAL_FLASH_Program(FLASH_TYPEPROGRAM_WORD,uw_address, *data_buf) == HAL_OK) + { + uw_address += 4; + data_buf++; + data_len++; + if (data_len == len) + { + break; + } + } + else + { + HAL_FLASH_Lock(); + return -1; + } + } + + HAL_FLASH_Lock(); + return 0; +} + + +/** + * @brief read data for flash + * @param[in] address: flash address + * @param[out] buf: data point + * @param[in] len: data num + * @retval none + */ +/** + * @brief flash + * @param[in] start_address: flash ַ + * @param[out] buf: ָ + * @param[in] len: ݳ + * @retval none + */ +void flash_read(uint32_t address, uint32_t *buf, uint32_t len) +{ + memcpy(buf, (void*)address, len *4); +} + + +/** + * @brief get the sector number of flash + * @param[in] address: flash address + * @retval sector number + */ +/** + * @brief ȡflashsector + * @param[in] address: flash ַ + * @retval sector + */ +static uint32_t ger_sector(uint32_t address) +{ + uint32_t sector = 0; + if ((address < ADDR_FLASH_SECTOR_1) && (address >= ADDR_FLASH_SECTOR_0)) + { + sector = FLASH_SECTOR_0; + } + else if ((address < ADDR_FLASH_SECTOR_2) && (address >= ADDR_FLASH_SECTOR_1)) + { + sector = FLASH_SECTOR_1; + } + else if ((address < ADDR_FLASH_SECTOR_3) && (address >= ADDR_FLASH_SECTOR_2)) + { + sector = FLASH_SECTOR_2; + } + else if ((address < ADDR_FLASH_SECTOR_4) && (address >= ADDR_FLASH_SECTOR_3)) + { + sector = FLASH_SECTOR_3; + } + else if ((address < ADDR_FLASH_SECTOR_5) && (address >= ADDR_FLASH_SECTOR_4)) + { + sector = FLASH_SECTOR_4; + } + else if ((address < ADDR_FLASH_SECTOR_6) && (address >= ADDR_FLASH_SECTOR_5)) + { + sector = FLASH_SECTOR_5; + } + else if ((address < ADDR_FLASH_SECTOR_7) && (address >= ADDR_FLASH_SECTOR_6)) + { + sector = FLASH_SECTOR_6; + } + else if ((address < ADDR_FLASH_SECTOR_8) && (address >= ADDR_FLASH_SECTOR_7)) + { + sector = FLASH_SECTOR_7; + } + else if ((address < ADDR_FLASH_SECTOR_9) && (address >= ADDR_FLASH_SECTOR_8)) + { + sector = FLASH_SECTOR_8; + } + else if ((address < ADDR_FLASH_SECTOR_10) && (address >= ADDR_FLASH_SECTOR_9)) + { + sector = FLASH_SECTOR_9; + } + else if ((address < ADDR_FLASH_SECTOR_11) && (address >= ADDR_FLASH_SECTOR_10)) + { + sector = FLASH_SECTOR_10; + } + else if ((address < ADDR_FLASH_SECTOR_12) && (address >= ADDR_FLASH_SECTOR_11)) + { + sector = FLASH_SECTOR_11; + } + else + { + sector = FLASH_SECTOR_11; + } + + return sector; +} + +/** + * @brief get the next page flash address + * @param[in] address: flash address + * @retval next page flash address + */ +/** + * @brief ȡһҳflashַ + * @param[in] address: flash ַ + * @retval һҳflashַ + */ +uint32_t get_next_flash_address(uint32_t address) +{ + uint32_t sector = 0; + + if ((address < ADDR_FLASH_SECTOR_1) && (address >= ADDR_FLASH_SECTOR_0)) + { + sector = ADDR_FLASH_SECTOR_1; + } + else if ((address < ADDR_FLASH_SECTOR_2) && (address >= ADDR_FLASH_SECTOR_1)) + { + sector = ADDR_FLASH_SECTOR_2; + } + else if ((address < ADDR_FLASH_SECTOR_3) && (address >= ADDR_FLASH_SECTOR_2)) + { + sector = ADDR_FLASH_SECTOR_3; + } + else if ((address < ADDR_FLASH_SECTOR_4) && (address >= ADDR_FLASH_SECTOR_3)) + { + sector = ADDR_FLASH_SECTOR_4; + } + else if ((address < ADDR_FLASH_SECTOR_5) && (address >= ADDR_FLASH_SECTOR_4)) + { + sector = ADDR_FLASH_SECTOR_5; + } + else if ((address < ADDR_FLASH_SECTOR_6) && (address >= ADDR_FLASH_SECTOR_5)) + { + sector = ADDR_FLASH_SECTOR_6; + } + else if ((address < ADDR_FLASH_SECTOR_7) && (address >= ADDR_FLASH_SECTOR_6)) + { + sector = ADDR_FLASH_SECTOR_7; + } + else if ((address < ADDR_FLASH_SECTOR_8) && (address >= ADDR_FLASH_SECTOR_7)) + { + sector = ADDR_FLASH_SECTOR_8; + } + else if ((address < ADDR_FLASH_SECTOR_9) && (address >= ADDR_FLASH_SECTOR_8)) + { + sector = ADDR_FLASH_SECTOR_9; + } + else if ((address < ADDR_FLASH_SECTOR_10) && (address >= ADDR_FLASH_SECTOR_9)) + { + sector = ADDR_FLASH_SECTOR_10; + } + else if ((address < ADDR_FLASH_SECTOR_11) && (address >= ADDR_FLASH_SECTOR_10)) + { + sector = ADDR_FLASH_SECTOR_11; + } + else /*(address < FLASH_END_ADDR) && (address >= ADDR_FLASH_SECTOR_23))*/ + { + sector = FLASH_END_ADDR; + } + return sector; +} diff --git a/bsp/flash/bsp_flash.h b/bsp/flash/bsp_flash.h new file mode 100644 index 0000000..ed4a83f --- /dev/null +++ b/bsp/flash/bsp_flash.h @@ -0,0 +1,80 @@ +#ifndef _BSP_FLASH_H +#define _BSP_FLASH_H +#include "main.h" + +/* Base address of the Flash sectors */ +#define ADDR_FLASH_SECTOR_0 ((uint32_t)0x08000000) /* Base address of Sector 0, 16 Kbytes */ +#define ADDR_FLASH_SECTOR_1 ((uint32_t)0x08004000) /* Base address of Sector 1, 16 Kbytes */ +#define ADDR_FLASH_SECTOR_2 ((uint32_t)0x08008000) /* Base address of Sector 2, 16 Kbytes */ +#define ADDR_FLASH_SECTOR_3 ((uint32_t)0x0800C000) /* Base address of Sector 3, 16 Kbytes */ +#define ADDR_FLASH_SECTOR_4 ((uint32_t)0x08010000) /* Base address of Sector 4, 64 Kbytes */ +#define ADDR_FLASH_SECTOR_5 ((uint32_t)0x08020000) /* Base address of Sector 5, 128 Kbytes */ +#define ADDR_FLASH_SECTOR_6 ((uint32_t)0x08040000) /* Base address of Sector 6, 128 Kbytes */ +#define ADDR_FLASH_SECTOR_7 ((uint32_t)0x08060000) /* Base address of Sector 7, 128 Kbytes */ +#define ADDR_FLASH_SECTOR_8 ((uint32_t)0x08080000) /* Base address of Sector 8, 128 Kbytes */ +#define ADDR_FLASH_SECTOR_9 ((uint32_t)0x080A0000) /* Base address of Sector 9, 128 Kbytes */ +#define ADDR_FLASH_SECTOR_10 ((uint32_t)0x080C0000) /* Base address of Sector 10, 128 Kbytes */ +#define ADDR_FLASH_SECTOR_11 ((uint32_t)0x080E0000) /* Base address of Sector 11, 128 Kbytes */ + +#define FLASH_END_ADDR ((uint32_t)0x08100000) /* Base address of Sector 23, 128 Kbytes */ + + +#define ADDR_FLASH_SECTOR_12 ((uint32_t)0x08100000) /* Base address of Sector 12, 16 Kbytes */ +#define ADDR_FLASH_SECTOR_13 ((uint32_t)0x08104000) /* Base address of Sector 13, 16 Kbytes */ +#define ADDR_FLASH_SECTOR_14 ((uint32_t)0x08108000) /* Base address of Sector 14, 16 Kbytes */ +#define ADDR_FLASH_SECTOR_15 ((uint32_t)0x0810C000) /* Base address of Sector 15, 16 Kbytes */ +#define ADDR_FLASH_SECTOR_16 ((uint32_t)0x08110000) /* Base address of Sector 16, 64 Kbytes */ +#define ADDR_FLASH_SECTOR_17 ((uint32_t)0x08120000) /* Base address of Sector 17, 128 Kbytes */ +#define ADDR_FLASH_SECTOR_18 ((uint32_t)0x08140000) /* Base address of Sector 18, 128 Kbytes */ +#define ADDR_FLASH_SECTOR_19 ((uint32_t)0x08160000) /* Base address of Sector 19, 128 Kbytes */ +#define ADDR_FLASH_SECTOR_20 ((uint32_t)0x08180000) /* Base address of Sector 20, 128 Kbytes */ +#define ADDR_FLASH_SECTOR_21 ((uint32_t)0x081A0000) /* Base address of Sector 21, 128 Kbytes */ +#define ADDR_FLASH_SECTOR_22 ((uint32_t)0x081C0000) /* Base address of Sector 22, 128 Kbytes */ +#define ADDR_FLASH_SECTOR_23 ((uint32_t)0x081E0000) /* Base address of Sector 23, 128 Kbytes */ + + + +/** + * @brief erase flash + * @param[in] address: flash address + * @param[in] len: page num + * @retval none + */ +void flash_erase_address(uint32_t address, uint16_t len); + +/** + * @brief write data to one page of flash + * @param[in] start_address: flash address + * @param[in] buf: data point + * @param[in] len: data num + * @retval success 0, fail -1 + */ +int8_t flash_write_single_address(uint32_t start_address, uint32_t *buf, uint32_t len); + + +/** + * @brief write data to some pages of flash + * @param[in] start_address: flash start address + * @param[in] end_address: flash end address + * @param[in] buf: data point + * @param[in] len: data num + * @retval success 0, fail -1 + */ +int8_t flash_write_muli_address(uint32_t start_address, uint32_t end_address, uint32_t *buf, uint32_t len); + +/** + * @brief read data for flash + * @param[in] address: flash address + * @param[out] buf: data point + * @param[in] len: data num + * @retval none + */ +void flash_read(uint32_t address, uint32_t *buf, uint32_t len); + +/** + * @brief get the next page flash address + * @param[in] address: flash address + * @retval next page flash address + */ +uint32_t get_next_flash_address(uint32_t address); +#endif diff --git a/bsp/flash/bsp_flash.md b/bsp/flash/bsp_flash.md new file mode 100644 index 0000000..e69de29 diff --git a/bsp/log/bsp_log.h b/bsp/log/bsp_log.h index d5f0b2a..002be77 100644 --- a/bsp/log/bsp_log.h +++ b/bsp/log/bsp_log.h @@ -7,44 +7,46 @@ #define BUFFER_INDEX 0 - - /** * @brief 日志系统初始化 - * + * */ void BSPLogInit(); /** * @brief 日志功能原型,供下面的LOGI,LOGW,LOGE等使用 - * + * */ -#define LOG_PROTO(type,color,format,...) \ - SEGGER_RTT_printf(BUFFER_INDEX," %s%s"format"\r\n%s", \ - color, \ - type, \ - ##__VA_ARGS__, \ +#define LOG_PROTO(type, color, format, ...) \ + SEGGER_RTT_printf(BUFFER_INDEX, " %s%s" format "\r\n%s", \ + color, \ + type, \ + ##__VA_ARGS__, \ RTT_CTRL_RESET) -/*------下面是日志输出的接口--------*/ +/*----------------------------------------下面是日志输出的接口-------------------------------------------------*/ /* 清屏 */ -#define LOG_CLEAR() SEGGER_RTT_WriteString(0, " "RTT_CTRL_CLEAR) +#define LOG_CLEAR() SEGGER_RTT_WriteString(0, " " RTT_CTRL_CLEAR) /* 无颜色日志输出 */ -#define LOG(format,...) LOG_PROTO("","",format,##__VA_ARGS__) +#define LOG(format, ...) LOG_PROTO("", "", format, ##__VA_ARGS__) -/* 有颜色格式日志输出,建议使用这些宏来输出日志 */ +/** + * 有颜色格式日志输出,建议使用这些宏来输出日志 + * @attention 注意这些接口不支持浮点格式化输出,若有需要,请使用Float2Str()函数进行转换后再打印 + */ // information level -#define LOGINFO(format,...) LOG_PROTO("I", RTT_CTRL_TEXT_BRIGHT_GREEN , format, ##__VA_ARGS__) +#define LOGINFO(format, ...) LOG_PROTO("I:", RTT_CTRL_TEXT_BRIGHT_GREEN, format, ##__VA_ARGS__) // warning level -#define LOGWARNING(format,...) LOG_PROTO("W", RTT_CTRL_TEXT_BRIGHT_YELLOW, format, ##__VA_ARGS__) +#define LOGWARNING(format, ...) LOG_PROTO("W:", RTT_CTRL_TEXT_BRIGHT_YELLOW, format, ##__VA_ARGS__) // error level -#define LOGERROR(format,...) LOG_PROTO("E", RTT_CTRL_TEXT_BRIGHT_RED , format, ##__VA_ARGS__) +#define LOGERROR(format, ...) LOG_PROTO("E:", RTT_CTRL_TEXT_BRIGHT_RED, format, ##__VA_ARGS__) /** * @brief 通过segger RTT打印日志,支持格式化输出,格式化输出的实现参考printf. - * + * @attention !! 此函数不支持浮点格式化,若有需要,请使用Float2Str()函数进行转换后再打印 !! + * * @param fmt 格式字符串 * @param ... 参数列表 * @return int 打印的log字符数 @@ -53,7 +55,8 @@ int PrintLog(const char *fmt, ...); /** * @brief 利用sprintf(),将float转换为字符串进行打印 - * + * @attention 浮点数需要转换为字符串后才能通过RTT打印 + * * @param str 转换后的字符串 * @param va 待转换的float */ diff --git a/bsp/log/bsp_log.md b/bsp/log/bsp_log.md index a72c2b5..259c296 100644 --- a/bsp/log/bsp_log.md +++ b/bsp/log/bsp_log.md @@ -2,11 +2,6 @@

neozng1@hnu.edu.cn

-> TODO: -> -> 1. 在未接入调试器的时候，将日志写入flash中，并提供接口读取 -> 2. 增加日志分级，提供info、warning、error三个等级的日志 - ## 使用说明 bsp_log是基于segger RTT实现的日志打印模块。 @@ -19,11 +14,11 @@ bsp_log是基于segger RTT实现的日志打印模块。 #define LOGERROR(format,...) ``` -分别用于输出不同等级的日志。 +分别用于输出不同等级的日志。注意RTT不支持直接使用`%f`进行浮点格式化,要使用`void Float2Str(char *str, float va);`转化成字符串之后再发送。 -**若想启用RTT，必须通过`launch.json`的`debug-jlink`启动调试（不论使用什么调试器）。** +**若想启用RTT，必须通过`launch.json`的`debug-jlink`启动调试（不论使用什么调试器）。** 按照`VSCode+Ozone环境配置`完成配置之后的cmsis dap和daplink是可以支持Jlink全家桶的。 -注意，若你使用的是cmsis-dap和daplink，**请在调试任务启动之后再打开`log`任务。**（均在项目文件夹下的.vsocde/task.json中，有注释自行查看）。 +另外，若你使用的是cmsis-dap和daplink，**请在 *jlink* 调试任务启动之后再打开`log`任务。**（均在项目文件夹下的.vsocde/task.json中，有注释自行查看）。否则可能出线RTT viewer无法连接客户端的情况。 在ozone中查看log输出，直接打开console调试任务台和terminal调试中断便可看到调试输出。 @@ -35,7 +30,7 @@ bsp_log是基于segger RTT实现的日志打印模块。 ```c int printf_log(const char *fmt, ...); -void Float2Str(char *str, float va); +void Float2Str(char *str, float va); // 输出浮点需要先用此函数进行转换 ``` 调用第一个函数，可以通过jlink或dap-link向调试器连接的上位机发送信息，格式和printf相同，示例如下： @@ -53,8 +48,3 @@ char* str_buff[64]; Float2Str(str_buff,current_feedback); printf_log("Motor %d met some problem, error code %d!\n",3,1); ``` - -或直接通过`%f`格式符直接使用`printf_log()`发送日志，可以设置小数点位数以降低带宽开销。 - - - diff --git a/bsp/pwm/bsp_pwm.c b/bsp/pwm/bsp_pwm.c index 410992b..403b75c 100644 --- a/bsp/pwm/bsp_pwm.c +++ b/bsp/pwm/bsp_pwm.c @@ -8,6 +8,8 @@ static PWMInstance *pwm_instance[PWM_DEVICE_CNT] = {NULL}; // 所有的pwm insta /** * @brief pwm dma传输完成回调函数 + * @attention 由于HAL库的设计问题,当一个pulse完成(即tim的计数超过比较寄存器)也会调用此函数 + * 故对于那些开启了PWM的TIM,务必关闭其全局中断,仅保持DMA传输完成中断打开 * * @param htim 发生中断的定时器句柄 */ @@ -15,7 +17,7 @@ void HAL_TIM_PWM_PulseFinishedCallback(TIM_HandleTypeDef *htim) { for (uint8_t i = 0; i < idx; i++) { // 来自同一个定时器的中断且通道相同 - if (pwm_instance[i]->htim == htim && htim->Channel == pwm_instance[i]->channel) + if (pwm_instance[i]->htim == htim && htim->Channel == (1<<(pwm_instance[i]->channel/4))) { if (pwm_instance[i]->callback) // 如果有回调函数 pwm_instance[i]->callback(pwm_instance[i]); @@ -39,7 +41,7 @@ PWMInstance *PWMRegister(PWM_Init_Config_s *config) pwm->callback = config->callback; pwm->id = config->id; // 启动PWM - HAL_TIM_PWM_Start(pwm->htim, pwm->channel); + HAL_TIM_PWM_Start_IT(pwm->htim, pwm->channel); __HAL_TIM_SetCompare(pwm->htim, pwm->channel, pwm->pulse); // 设置占空比 pwm_instance[idx++] = pwm; @@ -65,7 +67,11 @@ void PWMSetPulse(PWMInstance *pwm, uint32_t pulse) pwm->pulse = pulse; __HAL_TIM_SetCompare(pwm->htim, pwm->channel, pwm->pulse); } - +void PWMSetPeriod(PWMInstance *pwm, uint32_t period) +{ + pwm->period = period; + __HAL_TIM_PRESCALER(pwm->htim, pwm->period); +} /* 只是对HAL的函数进行了形式上的封装 */ void PWMStartDMA(PWMInstance *pwm, uint32_t *pData, uint32_t Size) { diff --git a/bsp/usart/bsp_usart.c b/bsp/usart/bsp_usart.c index f1c0a97..ccefeb3 100644 --- a/bsp/usart/bsp_usart.c +++ b/bsp/usart/bsp_usart.c @@ -9,6 +9,7 @@ * */ #include "bsp_usart.h" +#include "bsp_log.h" #include "stdlib.h" #include "memory.h" @@ -38,7 +39,13 @@ USARTInstance *USARTRegister(USART_Init_Config_s *init_config) { if (idx >= DEVICE_USART_CNT) // 超过最大实例数 while (1) - ; + LOGERROR("[bsp_usart] USART exceed max instance count!"); + + for (uint8_t i = 0; i < idx; i++) // 检查是否已经注册过 + if (usart_instance[i]->usart_handle == init_config->usart_handle) + while (1) + LOGERROR("[bsp_usart] USART instance already registered!"); + USARTInstance *instance = (USARTInstance *)malloc(sizeof(USARTInstance)); memset(instance, 0, sizeof(USARTInstance)); @@ -75,14 +82,10 @@ void USARTSend(USARTInstance *_instance, uint8_t *send_buf, uint16_t send_size, /* 串口发送时,gstate会被设为BUSY_TX */ uint8_t USARTIsReady(USARTInstance *_instance) { - if(_instance->usart_handle->gState | HAL_UART_STATE_BUSY_TX) - { + if (_instance->usart_handle->gState | HAL_UART_STATE_BUSY_TX) return 0; - } else - { return 1; - } } /** @@ -129,6 +132,7 @@ void HAL_UART_ErrorCallback(UART_HandleTypeDef *huart) { HAL_UARTEx_ReceiveToIdle_DMA(usart_instance[i]->usart_handle, usart_instance[i]->recv_buff, usart_instance[i]->recv_buff_size); __HAL_DMA_DISABLE_IT(usart_instance[i]->usart_handle->hdmarx, DMA_IT_HT); + LOGWARNING("[bsp_usart] USART error callback triggered, instance idx [%d]", i); return; } } diff --git a/bsp/usart/bsp_usart.md b/bsp/usart/bsp_usart.md index e42607e..532df57 100644 --- a/bsp/usart/bsp_usart.md +++ b/bsp/usart/bsp_usart.md @@ -11,9 +11,9 @@ 需要在串口实例下设定接收的数据包的长度，实例对应的串口硬件（通过`UART_HandleTypeDef`指定，如`&huart1`），解析接收数据对应的回调函数这三个参数。然后，调用`USARTRegister()`并传入配置好的`usart_instance`指针即可。 -若要发送数据，调用`USARTSend()`。注意buffsize务必小于buff的大小，否则造成指针越界后果未知。 +若要发送数据，调用`USARTSend()`。注意buffsize务必小于你创建的buff的大小，否则造成指针越界后果未知。 -串口硬件收到数据时，会将其存入`usart_instance.recv_buff[]`中，当收到完整一包数据，会调用设定的回调函数`module_callback`（即你提供的解析函数）。在此函数中，你可以通过`usart_instance.recv_buff[]`访问串口收到的数据。 +串口硬件收到数据时，会将其存入`usart_instance.recv_buff[]`中，当收到完整一包数据，会调用设定的回调函数`module_callback`（即你注册时提供的解析函数）。在此函数中，你可以通过`usart_instance.recv_buff[]`访问串口收到的数据。 ## 代码结构 diff --git a/bsp/usb/bsp_usb.c b/bsp/usb/bsp_usb.c index af71281..9c4ad2f 100644 --- a/bsp/usb/bsp_usb.c +++ b/bsp/usb/bsp_usb.c @@ -11,16 +11,17 @@ #include "bsp_usb.h" #include "bsp_log.h" +#include "bsp_dwt.h" static uint8_t *bsp_usb_rx_buffer; // 接收到的数据会被放在这里,buffer size为2048 // 注意usb单个数据包(Full speed模式下)最大为64byte,超出可能会出现丢包情况 uint8_t *USBInit(USB_Init_Config_s usb_conf) { - // 上电后重新枚举usb设备 - LOGINFO("USB init success"); + // usb的软件复位(模拟拔插)在usbd_conf.c中的HAL_PCD_MspInit()中 bsp_usb_rx_buffer = CDCInitRxbufferNcallback(usb_conf.tx_cbk, usb_conf.rx_cbk); // 获取接收数据指针 // usb的接收回调函数会在这里被设置,并将数据保存在bsp_usb_rx_buffer中 + LOGINFO("USB init success"); return bsp_usb_rx_buffer; } diff --git a/modules/BMI088/bmi088.c b/modules/BMI088/bmi088.c index b59bc36..fb0ec46 100644 --- a/modules/BMI088/bmi088.c +++ b/modules/BMI088/bmi088.c @@ -55,9 +55,7 @@ static void BMI088GyroRead(BMI088Instance *bmi088, uint8_t reg, uint8_t *dataptr */ static void BMI088AccelWriteSingleReg(BMI088Instance *bmi088, uint8_t reg, uint8_t data) { - static uint8_t tx[2]; - tx[0] = reg; - tx[1] = data; + uint8_t tx[2] = {reg, data}; SPITransmit(bmi088->spi_acc, tx, 2); } @@ -71,17 +69,15 @@ static void BMI088AccelWriteSingleReg(BMI088Instance *bmi088, uint8_t reg, uint8 */ static void BMI088GyroWriteSingleReg(BMI088Instance *bmi088, uint8_t reg, uint8_t data) { - static uint8_t tx[2]; - tx[0] = reg; - tx[1] = data; + uint8_t tx[2] = {reg, data}; SPITransmit(bmi088->spi_gyro, tx, 2); } // -------------------------以上为私有函数,封装了BMI088寄存器读写函数,blocking--------------------------------// // -------------------------以下为私有函数,用于初始化BMI088acc和gyro的硬件和配置--------------------------------// -#define REG 0 -#define DATA 1 -#define ERROR 2 +#define BMI088REG 0 +#define BMI088DATA 1 +#define BMI088ERROR 2 // BMI088初始化配置数组for accel,第一列为reg地址,第二列为写入的配置值,第三列为错误码(如果出错) static uint8_t BMI088_Accel_Init_Table[BMI088_WRITE_ACCEL_REG_NUM][3] = { @@ -106,7 +102,7 @@ static uint8_t BMI088_Gyro_Init_Table[BMI088_WRITE_GYRO_REG_NUM][3] = * @brief 初始化BMI088加速度计,提高可读性分拆功能 * * @param bmi088 待初始化的BMI088实例 - * @return uint8_t ERROR CODE if any problems here + * @return uint8_t BMI088ERROR CODE if any problems here */ static uint8_t BMI088AccelInit(BMI088Instance *bmi088) { @@ -130,14 +126,14 @@ static uint8_t BMI088AccelInit(BMI088Instance *bmi088) // 使用sizeof而不是magic number,这样如果修改了数组大小,不用修改这里的代码;或者使用宏定义 for (uint8_t i = 0; i < sizeof(BMI088_Accel_Init_Table) / sizeof(BMI088_Accel_Init_Table[0]); i++) { - reg = BMI088_Accel_Init_Table[i][REG]; - data = BMI088_Accel_Init_Table[i][DATA]; + reg = BMI088_Accel_Init_Table[i][BMI088REG]; + data = BMI088_Accel_Init_Table[i][BMI088DATA]; BMI088AccelWriteSingleReg(bmi088, reg, data); // 写入寄存器 DWT_Delay(0.01); BMI088AccelRead(bmi088, reg, &data, 1); // 写完之后立刻读回检查 DWT_Delay(0.01); - if (data != BMI088_Accel_Init_Table[i][DATA]) - error |= BMI088_Accel_Init_Table[i][ERROR]; + if (data != BMI088_Accel_Init_Table[i][BMI088DATA]) + error |= BMI088_Accel_Init_Table[i][BMI088ERROR]; //{i--;} 可以设置retry次数,如果retry次数用完了,则返回error } return error; @@ -147,7 +143,7 @@ static uint8_t BMI088AccelInit(BMI088Instance *bmi088) * @brief 初始化BMI088陀螺仪,提高可读性分拆功能 * * @param bmi088 待初始化的BMI088实例 - * @return uint8_t ERROR CODE + * @return uint8_t BMI088ERROR CODE */ static uint8_t BMI088GyroInit(BMI088Instance *bmi088) { @@ -169,14 +165,14 @@ static uint8_t BMI088GyroInit(BMI088Instance *bmi088) // 使用sizeof而不是magic number,这样如果修改了数组大小,不用修改这里的代码;或者使用宏定义 for (uint8_t i = 0; i < sizeof(BMI088_Gyro_Init_Table) / sizeof(BMI088_Gyro_Init_Table[0]); i++) { - reg = BMI088_Gyro_Init_Table[i][REG]; - data = BMI088_Gyro_Init_Table[i][DATA]; + reg = BMI088_Gyro_Init_Table[i][BMI088REG]; + data = BMI088_Gyro_Init_Table[i][BMI088DATA]; BMI088GyroWriteSingleReg(bmi088, reg, data); // 写入寄存器 DWT_Delay(0.001); BMI088GyroRead(bmi088, reg, &data, 1); // 写完之后立刻读回对应寄存器检查是否写入成功 DWT_Delay(0.001); - if (data != BMI088_Gyro_Init_Table[i][DATA]) - error |= BMI088_Gyro_Init_Table[i][ERROR]; + if (data != BMI088_Gyro_Init_Table[i][BMI088DATA]) + error |= BMI088_Gyro_Init_Table[i][BMI088ERROR]; //{i--;} 可以设置retry次数,尝试重新写入.如果retry次数用完了,则返回error } @@ -386,7 +382,7 @@ void BMI088CalibrateIMU(BMI088Instance *_bmi088) BMI088Instance *BMI088Register(BMI088_Init_Config_s *config) { // 申请内存 - BMI088Instance *bmi088_instance = (BMI088Instance *)zero_malloc(sizeof(BMI088Instance)); + BMI088Instance *bmi088_instance = (BMI088Instance *)zmalloc(sizeof(BMI088Instance)); // 从右向左赋值,让bsp instance保存指向bmi088_instance的指针(父指针),便于在底层中断中访问bmi088_instance config->acc_int_config.id = config->gyro_int_config.id = diff --git a/modules/BMI088/bmi088.md b/modules/BMI088/bmi088.md index d226a1b..88a42a2 100644 --- a/modules/BMI088/bmi088.md +++ b/modules/BMI088/bmi088.md @@ -7,24 +7,24 @@ ```c BMI088_Init_Config_s imu_config = { .spi_acc_config={ - .GPIOx=GPIOC, + .GPIOx=GPIOA, .GPIOx=GPIO_PIN_4, .spi_handle=&hspi1, }, .spi_gyro_config={ - .GPIOx=GPIOC, - .GPIOx=GPIO_PIN_4, + .GPIOx=GPIOB, + .GPIOx=GPIO_PIN_0, .spi_handle=&hspi1, }, .acc_int_config={ .exti_mode=EXTI_TRIGGER_FALLING, - .GPIO_Pin=GPIO_PIN_10, - .GPIOx=GPIOA, + .GPIO_Pin=GPIO_PIN_4, + .GPIOx=GPIOC, }, .gyro_int_config={ .exti_mode=EXTI_TRIGGER_FALLING, - .GPIO_Pin=GPIO_PIN_11, - .GPIOx=GPIOA, + .GPIO_Pin=GPIO_PIN_5, + .GPIOx=GPIOC, }, .heat_pid_config={ .Kp=0.0f, diff --git a/modules/alarm/buzzer.c b/modules/alarm/buzzer.c new file mode 100644 index 0000000..b768058 --- /dev/null +++ b/modules/alarm/buzzer.c @@ -0,0 +1,88 @@ +#include "bsp_pwm.h" +#include "buzzer.h" +#include "bsp_dwt.h" + +static PWMInstance *buzzer; + +static alarm_level_e now_alarm_level = ALARM_OFFLINE; + +void BuzzerOn(PWMInstance *buzzer ); +/** +* +* @brief 蜂鸣器报警函数 +* @param alarm_level 报警级别 +*/ +void BuzzerPlay(alarm_level_e alarm_level) +{ + static alarm_level_e last_alarm_level = ALARM_LEVEL_LOW; + + if(((int)DWT_GetTimeline_s() % 5)<1) //每5秒检查一次 + { + last_alarm_level = ALARM_LEVEL_LOW; + now_alarm_level = ALARM_OFFLINE; + } + + if(last_alarm_level <= now_alarm_level) //如果当前报警级别大于等于上一次报警级别,则更新报警级别 + { + now_alarm_level = alarm_level; + } + last_alarm_level = alarm_level; + +} + +/** + * @brief 蜂鸣器初始化 + * + */ +void buzzer_init() +{ + PWM_Init_Config_s buzzer_config = { + .htim = &htim4, + .channel= TIM_CHANNEL_3, + .period = 1, + .pulse = 10000, + .callback = BuzzerOn, + }; + buzzer = PWMRegister(&buzzer_config); +} +/** + * @brief 开启蜂鸣器 + * + * @param buzzer + */ +//*@todo: 优化报警声，应类似D__,DDD,B__,BBB等报警声 +void BuzzerOn(PWMInstance *buzzer ) +{ + switch (now_alarm_level) + { + case ALARM_LEVEL_LOW: + PWMSetPeriod(buzzer, 1); + PWMSetPulse(buzzer, 10000); + break; + case ALARM_LEVEL_BELOW_MEDIUM: + PWMSetPeriod(buzzer, 2); + PWMSetPulse(buzzer, 10000); + break; + case ALARM_LEVEL_MEDIUM: + PWMSetPeriod(buzzer, 3); + PWMSetPulse(buzzer, 10000); + break; + case ALARM_LEVEL_ABOVE_MEDIUM: + PWMSetPeriod(buzzer, 4); + PWMSetPulse(buzzer, 10000); + break; + case ALARM_LEVEL_HIGH: + PWMSetPeriod(buzzer, 5); + PWMSetPulse(buzzer, 10000); + break; + + default: + PWMSetPulse(buzzer, 0); + break; + } +} + + + + + diff --git a/modules/alarm/buzzer.h b/modules/alarm/buzzer.h new file mode 100644 index 0000000..3a8668e --- /dev/null +++ b/modules/alarm/buzzer.h @@ -0,0 +1,7 @@ +#ifndef BUZZER_H +#define BUZZER_H +#include "daemon.h" +void buzzer_init(); + + +#endif // !BUZZER_H diff --git a/modules/algorithm/user_lib.c b/modules/algorithm/user_lib.c index eb3b021..5029109 100644 --- a/modules/algorithm/user_lib.c +++ b/modules/algorithm/user_lib.c @@ -23,9 +23,7 @@ #define user_malloc malloc #endif -uint8_t GlobalDebugMode = 7; - -void *zero_malloc(size_t size) +void *zmalloc(size_t size) { void *ptr = malloc(size); memset(ptr, 0, size); @@ -207,3 +205,10 @@ float AverageFilter(float new_data, float *buf, uint8_t len) sum += new_data; return sum / len; } + +void MatInit(mat *m, uint8_t row, uint8_t col) +{ + m->numCols = col; + m->numRows = row; + m->pData = (float *)zmalloc(row * col * sizeof(float)); +} diff --git a/modules/algorithm/user_lib.h b/modules/algorithm/user_lib.h index 4404c46..9a15097 100644 --- a/modules/algorithm/user_lib.h +++ b/modules/algorithm/user_lib.h @@ -13,18 +13,13 @@ #ifndef _USER_LIB_H #define _USER_LIB_H - #include "stdint.h" #include "main.h" #include "cmsis_os.h" +#include "stm32f407xx.h" +#include "arm_math.h" -#define msin(x) (arm_sin_f32(x)) -#define mcos(x) (arm_cos_f32(x)) - - -extern uint8_t GlobalDebugMode; - #ifndef user_malloc #ifdef _CMSIS_OS_H #define user_malloc pvPortMalloc @@ -33,6 +28,18 @@ extern uint8_t GlobalDebugMode; #endif #endif +#define msin(x) (arm_sin_f32(x)) +#define mcos(x) (arm_cos_f32(x)) + +typedef arm_matrix_instance_f32 mat; +// 若运算速度不够,可以使用q31代替f32,但是精度会降低 +#define MatAdd arm_mat_add_f32 +#define MatSubtract arm_mat_sub_f32 +#define MatMultiply arm_mat_mult_f32 +#define MatTranspose arm_mat_trans_f32 +#define MatInverse arm_mat_inverse_f32 +void MatInit(mat *m, uint8_t row, uint8_t col); + /* boolean type definitions */ #ifndef TRUE #define TRUE 1 /**< boolean true */ @@ -42,12 +49,6 @@ extern uint8_t GlobalDebugMode; #define FALSE 0 /**< boolean fails */ #endif -/* math relevant */ -/* radian coefficient */ -#ifndef RADIAN_COEF -#define RADIAN_COEF 57.295779513f -#endif - /* circumference ratio */ #ifndef PI #define PI 3.14159265354f @@ -89,7 +90,7 @@ extern uint8_t GlobalDebugMode; * @param size 分配大小 * @return void* */ -void *zero_malloc(size_t size); +void *zmalloc(size_t size); // ���ٿ��� float Sqrt(float x); diff --git a/modules/can_comm/can_comm.c b/modules/can_comm/can_comm.c index f000dd9..415a67d 100644 --- a/modules/can_comm/can_comm.c +++ b/modules/can_comm/can_comm.c @@ -3,6 +3,7 @@ #include "stdlib.h" #include "crc8.h" #include "bsp_dwt.h" +#include "bsp_log.h" /** * @brief 重置CAN comm的接收状态和buffer @@ -59,7 +60,7 @@ static void CANCommRxCallback(CANInstance *_instance) if (comm->raw_recvbuf[comm->recv_buf_len - 2] == crc_8(comm->raw_recvbuf + 2, comm->recv_data_len)) { // 数据量大的话考虑使用DMA memcpy(comm->unpacked_recv_data, comm->raw_recvbuf + 2, comm->recv_data_len); - comm->update_flag = 1; // 数据更新flag置为1 + comm->update_flag = 1; // 数据更新flag置为1 DaemonReload(comm->comm_daemon); // 重载daemon,避免数据更新后一直不被读取而导致数据更新不及时 } } @@ -69,6 +70,13 @@ static void CANCommRxCallback(CANInstance *_instance) } } +static void CANCommLostCallback(void *cancomm) +{ + CANCommInstance *comm = (CANCommInstance *)cancomm; + CANCommResetRx(comm); + LOGWARNING("[can_comm] can comm rx[%d] lost, reset rx state.", &comm->can_ins->rx_id); +} + CANCommInstance *CANCommInit(CANComm_Init_Config_s *comm_config) { CANCommInstance *ins = (CANCommInstance *)malloc(sizeof(CANCommInstance)); diff --git a/modules/daemon/daemon.c b/modules/daemon/daemon.c index 85cf752..d4ecb6e 100644 --- a/modules/daemon/daemon.c +++ b/modules/daemon/daemon.c @@ -2,6 +2,7 @@ #include "bsp_dwt.h" // 后续通过定时器来计时? #include "stdlib.h" #include "memory.h" +#include "buzzer.h" // 用于保存所有的daemon instance static DaemonInstance *daemon_instances[DAEMON_MX_CNT] = {NULL}; @@ -13,9 +14,13 @@ DaemonInstance *DaemonRegister(Daemon_Init_Config_s *config) memset(instance, 0, sizeof(DaemonInstance)); instance->owner_id = config->owner_id; - instance->reload_count = config->reload_count == 0 ? 100 : config->reload_count; + instance->reload_count = config->reload_count == 0 ? 100 : config->reload_count; // 默认值为100 instance->callback = config->callback; + instance->temp_count = config->init_count == 0 ? 100 : config->init_count; // 默认值为100,初始计数 + instance->alarm_state = config->alarm_state; + instance->alarm_level = config->alarm_level; + instance->temp_count = config->reload_count; daemon_instances[idx++] = instance; return instance; } @@ -36,6 +41,7 @@ void DaemonTask() DaemonInstance *dins; // 提高可读性同时降低访存开销 for (size_t i = 0; i < idx; ++i) { + dins = daemon_instances[i]; if (dins->temp_count > 0) // 如果计数器还有值,说明上一次喂狗后还没有超时,则计数器减一 dins->temp_count--; @@ -43,6 +49,11 @@ void DaemonTask() { dins->callback(dins->owner_id); // module内可以将owner_id强制类型转换成自身类型从而调用特定module的offline callback // @todo 为蜂鸣器/led等增加离线报警的功能,非常关键! + if(dins->alarm_state == ALARM_ON) + { + BuzzerPlay(dins->alarm_level); + } + } } } diff --git a/modules/daemon/daemon.h b/modules/daemon/daemon.h index e729c96..78eaa87 100644 --- a/modules/daemon/daemon.h +++ b/modules/daemon/daemon.h @@ -2,18 +2,34 @@ #define MONITOR_H #include "stdint.h" +#include "string.h" #define DAEMON_MX_CNT 64 /* 模块离线处理函数指针 */ typedef void (*offline_callback)(void *); - +typedef enum +{ + ALARM_OFF = 0, + ALARM_ON = 1, +}alarm_state_e; +typedef enum +{ + ALARM_LEVEL_LOW = 0, + ALARM_LEVEL_BELOW_MEDIUM = 1, + ALARM_LEVEL_MEDIUM = 2, + ALARM_LEVEL_ABOVE_MEDIUM = 3, + ALARM_LEVEL_HIGH = 4, + ALARM_OFFLINE = 5, +}alarm_level_e; /* 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 - + alarm_state_e alarm_state; // 蜂鸣器状态 + alarm_level_e alarm_level; //警报级别 + 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; @@ -22,7 +38,11 @@ typedef struct daemon_ins typedef struct { uint16_t reload_count; // 实际上这是app唯一需要设置的值? + uint16_t init_count; // 上线等待时间,有些模块需要收到主控的指令才会反馈报文,或pc等需要开机时间 offline_callback callback; // 异常处理函数,当模块发生异常时会被调用 + alarm_state_e alarm_state; // 蜂鸣器状态 + alarm_level_e alarm_level; //警报级别 + void *owner_id; // id取拥有daemon的实例的地址,如DJIMotorInstance*,cast成void*类型 } Daemon_Init_Config_s; diff --git a/modules/imu/BMI088driver.c b/modules/imu/BMI088driver.c index 4772204..ad3ec05 100644 --- a/modules/imu/BMI088driver.c +++ b/modules/imu/BMI088driver.c @@ -2,6 +2,7 @@ #include "BMI088reg.h" #include "BMI088Middleware.h" #include "bsp_dwt.h" +#include "bsp_log.h" #include #warning this is a legacy support. test the new BMI088 module as soon as possible. @@ -129,7 +130,7 @@ void Calibrate_MPU_Offset(IMU_Data_t *bmi088) startTime = DWT_GetTimeline_s(); do { - if (DWT_GetTimeline_s() - startTime > 10) + if (DWT_GetTimeline_s() - startTime > 12) { // ��???? bmi088->GyroOffset[0] = GxOFFSET; @@ -137,6 +138,7 @@ void Calibrate_MPU_Offset(IMU_Data_t *bmi088) bmi088->GyroOffset[2] = GzOFFSET; bmi088->gNorm = gNORM; bmi088->TempWhenCali = 40; + LOGERROR("[BMI088] Calibrate Failed! Use offline params"); break; } @@ -206,7 +208,11 @@ void Calibrate_MPU_Offset(IMU_Data_t *bmi088) gyroDiff[0] > 0.15f || gyroDiff[1] > 0.15f || gyroDiff[2] > 0.15f) + { + LOGWARNING("[bmi088] calibration was interrupted\n"); break; + } + DWT_Delay(0.0005); } @@ -252,7 +258,10 @@ uint8_t bmi088_accel_init(void) // check the "who am I" if (res != BMI088_ACC_CHIP_ID_VALUE) + { + LOGERROR("[bmi088] Can not read bmi088 acc chip id"); return BMI088_NO_SENSOR; + } // set accel sonsor config and check for (write_reg_num = 0; write_reg_num < BMI088_WRITE_ACCEL_REG_NUM; write_reg_num++) @@ -294,7 +303,10 @@ uint8_t bmi088_gyro_init(void) // check the "who am I" if (res != BMI088_GYRO_CHIP_ID_VALUE) + { + LOGERROR("[bmi088] Can not read bmi088 gyro chip id"); return BMI088_NO_SENSOR; + } // set gyro sonsor config and check for (write_reg_num = 0; write_reg_num < BMI088_WRITE_GYRO_REG_NUM; write_reg_num++) diff --git a/modules/led/led.c b/modules/led/led.c index f3f4a38..6140fc0 100644 --- a/modules/led/led.c +++ b/modules/led/led.c @@ -8,7 +8,7 @@ static LEDInstance *bsp_led_ins[LED_MAX_NUM] = {NULL}; LEDInstance *LEDRegister(LED_Init_Config_s *led_config) { - LEDInstance *led_ins = (LEDInstance *)zero_malloc(sizeof(LEDInstance)); + LEDInstance *led_ins = (LEDInstance *)zmalloc(sizeof(LEDInstance)); // 剩下的值暂时都被置零 led_ins->led_pwm = PWMRegister(&led_config->pwm_config); led_ins->led_switch = led_config->init_swtich; diff --git a/modules/master_machine/master_process.c b/modules/master_machine/master_process.c index 91b96a3..057c8fd 100644 --- a/modules/master_machine/master_process.c +++ b/modules/master_machine/master_process.c @@ -10,11 +10,13 @@ */ #include "master_process.h" #include "seasky_protocol.h" +#include "daemon.h" #include "bsp_log.h" #include "robot_def.h" static Vision_Recv_s recv_data; static Vision_Send_s send_data; +static DaemonInstance *vision_daemon_instance; void VisionSetFlag(Enemy_Color_e enemy_color, Work_Mode_e work_mode, Bullet_Speed_e bullet_speed) { @@ -30,13 +32,26 @@ void VisionSetAltitude(float yaw, float pitch, float roll) send_data.roll = roll; } +/** + * @brief 离线回调函数,将在daemon.c中被daemon task调用 + * @attention 由于HAL库的设计问题,串口开启DMA接收之后同时发送有概率出现__HAL_LOCK()导致的死锁,使得无法 + * 进入接收中断.通过daemon判断数据更新,重新调用服务启动函数以解决此问题. + * + * @param id vision_usart_instance的地址,此处没用. + */ +static void VisionOfflineCallback(void *id) +{ +#ifdef VISION_USE_UART + USARTServiceInit(vision_usart_instance); +#endif // !VISION_USE_UART + LOGWARNING("[vision] vision offline, restart communication."); +} + #ifdef VISION_USE_UART #include "bsp_usart.h" -#include "daemon.h" static USARTInstance *vision_usart_instance; -static DaemonInstance *vision_daemon_instance; /** * @brief 接收解包回调函数,将在bsp_usart.c中被usart rx callback调用 @@ -51,21 +66,8 @@ static void DecodeVision() // TODO: code to resolve flag_register; } -/** - * @brief 离线回调函数,将在daemon.c中被daemon task调用 - * @attention 由于HAL库的设计问题,串口开启DMA接收之后同时发送有概率出现__HAL_LOCK()导致的死锁,使得无法 - * 进入接收中断.通过daemon判断数据更新,重新调用服务启动函数以解决此问题. - * - * @param id vision_usart_instance的地址,此处没用. - */ -static void VisionOfflineCallback(void *id) -{ - USARTServiceInit(vision_usart_instance); -} - Vision_Recv_s *VisionInit(UART_HandleTypeDef *_handle) { -#ifdef VISION_USE_UART USART_Init_Config_s conf; conf.module_callback = DecodeVision; conf.recv_buff_size = VISION_RECV_SIZE; @@ -79,7 +81,6 @@ Vision_Recv_s *VisionInit(UART_HandleTypeDef *_handle) .reload_count = 10, }; vision_daemon_instance = DaemonRegister(&daemon_conf); -#endif // VISION_USE_UART return &recv_data; } @@ -125,9 +126,17 @@ static void DecodeVision(uint16_t recv_len) Vision_Recv_s *VisionInit(UART_HandleTypeDef *_handle) { UNUSED(_handle); // 仅为了消除警告 - USB_Init_Config_s conf = {0}; - conf.rx_cbk = DecodeVision; + USB_Init_Config_s conf = {.rx_cbk = DecodeVision}; vis_recv_buff = USBInit(conf); + + // 为master process注册daemon,用于判断视觉通信是否离线 + Daemon_Init_Config_s daemon_conf = { + .callback = VisionOfflineCallback, // 离线时调用的回调函数,会重启串口接收 + .owner_id = NULL, + .reload_count = 5, // 50ms + }; + vision_daemon_instance = DaemonRegister(&daemon_conf); + return &recv_data; } diff --git a/modules/motor/DJImotor/dji_motor.c b/modules/motor/DJImotor/dji_motor.c index 1f88cc6..73dc080 100644 --- a/modules/motor/DJImotor/dji_motor.c +++ b/modules/motor/DJImotor/dji_motor.c @@ -4,14 +4,15 @@ #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 - /* DJI电机的实例,此处仅保存指针,内存的分配将通过电机实例初始化时通过malloc()进行 */ -static DJIMotorInstance *dji_motor_instance[DJI_MOTOR_CNT] = {NULL}; +static DJIMotorInstance *dji_motor_instance[DJI_MOTOR_CNT] = {NULL}; // 会在control任务中遍历该指针数组进行pid计算 /** * @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 * + * @note 因为只用于发送,所以不需要在bsp_can中注册 + * * C610(m2006)/C620(m3508):0x1ff,0x200; * GM6020:0x1ff,0x2ff * 反馈(rx_id): GM6020: 0x204+id ; C610/C620: 0x200+id @@ -69,9 +70,10 @@ static void MotorSenderGrouping(DJIMotorInstance *motor, CAN_Init_Config_s *conf { 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) { - 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) + LOGERROR("[dji_motor] ID crash. Check in debug mode, add dji_motor_instance to watch to get more information."); + uint16_t can_bus = config->can_handle == &hcan1 ? 1 : 2; + while (1) // 后续可以把id和CAN打印出来 // 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) + LOGERROR("[dji_motor] id [%d], can_bus [%d]", config->rx_id, can_bus); } } break; @@ -98,16 +100,16 @@ static void MotorSenderGrouping(DJIMotorInstance *motor, CAN_Init_Config_s *conf 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) { 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) + uint16_t can_bus = config->can_handle == &hcan1 ? 1 : 2; + while (1) // 后续可以把id和CAN打印出来 // 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) + LOGERROR("[dji_motor] id [%d], can_bus [%d]", config->rx_id, can_bus); } } break; default: // other motors should not be registered here - LOGERROR("You must not register other motors using the API of DJI motor."); while (1) - ; // 其他电机不应该在这里注册 + LOGERROR("[dji_motor]You must not register other motors using the API of DJI motor."); // 其他电机不应该在这里注册 } } @@ -148,6 +150,9 @@ static void DecodeDJIMotor(CANInstance *_instance) static void DJIMotorLostCallback(void *motor_ptr) { + DJIMotorInstance *motor = (DJIMotorInstance *)motor_ptr; + uint16_t can_bus = motor->motor_can_instance->can_handle == &hcan1 ? 1 : 2; + LOGWARNING("[dji_motor] Motor lost, can bus [%d] , id [%d]", can_bus, motor->motor_can_instance->tx_id); } // 电机初始化,返回一个电机实例 @@ -182,7 +187,7 @@ DJIMotorInstance *DJIMotorInit(Motor_Init_Config_s *config) Daemon_Init_Config_s daemon_config = { .callback = DJIMotorLostCallback, .owner_id = instance, - .reload_count = 1, // 10ms未收到数据则丢失 + .reload_count = 2, // 20ms未收到数据则丢失 }; instance->daemon = DaemonRegister(&daemon_config); @@ -195,17 +200,11 @@ DJIMotorInstance *DJIMotorInit(Motor_Init_Config_s *config) void DJIMotorChangeFeed(DJIMotorInstance *motor, Closeloop_Type_e loop, Feedback_Source_e type) { if (loop == ANGLE_LOOP) - { motor->motor_settings.angle_feedback_source = type; - } else if (loop == SPEED_LOOP) - { motor->motor_settings.speed_feedback_source = type; - } else - { 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 - } } void DJIMotorStop(DJIMotorInstance *motor) @@ -299,11 +298,9 @@ void DJIMotorControl() sender_assignment[group].tx_buff[2 * num] = (uint8_t)(set >> 8); // 低八位 sender_assignment[group].tx_buff[2 * num + 1] = (uint8_t)(set & 0x00ff); // 高八位 - // 电机是否停止运行 + // 若该电机处于停止状态,直接将buff置零 if (motor->stop_flag == MOTOR_STOP) - { // 若该电机处于停止状态,直接将buff置零 memset(sender_assignment[group].tx_buff + 2 * num, 0, 16u); - } } // 遍历flag,检查是否要发送这一帧报文 diff --git a/modules/motor/HTmotor/HT04.c b/modules/motor/HTmotor/HT04.c index 4057290..a7ce0b4 100644 --- a/modules/motor/HTmotor/HT04.c +++ b/modules/motor/HTmotor/HT04.c @@ -6,6 +6,7 @@ #include "string.h" #include "daemon.h" #include "stdlib.h" +#include "bsp_log.h" static uint8_t idx; static HTMotorInstance *ht_motor_instance[HT_MOTOR_CNT]; @@ -64,17 +65,14 @@ static void HTMotorDecode(CANInstance *motor_can) tmp = (uint16_t)(((rxbuff[4] & 0x0f) << 8) | rxbuff[5]); measure->real_current = CURRENT_SMOOTH_COEF * uint_to_float(tmp, T_MIN, T_MAX, 12) + (1 - CURRENT_SMOOTH_COEF) * measure->real_current; - - } static void HTMotorLostCallback(void *motor_ptr) { HTMotorInstance *motor = (HTMotorInstance *)motor_ptr; - if (motor->stop_flag == MOTOR_STOP) - return; + LOGWARNING("[ht_motor] motor %d lost\n", motor->motor_can_instace->tx_id); if (++motor->lost_cnt % 10 != 0) - HTMotorSetMode(CMD_MOTOR_MODE, motor); // 若不在停止模式,尝试重新让电机进入控制模式 + HTMotorSetMode(CMD_MOTOR_MODE, motor); // 尝试重新让电机进入控制模式 } /* 海泰电机一生黑,什么垃圾协议! */ @@ -99,7 +97,7 @@ void HTMotorCalibEncoder(HTMotorInstance *motor) memcpy(zero_buff, buf, 6); // 初始化的时候至少调用一次,故将其他指令为0时发送的报文保存一下,详见ht04电机说明 CANTransmit(motor->motor_can_instace, 1); DWT_Delay(0.005); - HTMotorSetMode(CMD_ZERO_POSITION, motor); + HTMotorSetMode(CMD_ZERO_POSITION, motor); // sb 玩意校准完了编码器也不为0 DWT_Delay(0.005); // HTMotorSetMode(CMD_MOTOR_MODE, motor); } @@ -215,7 +213,7 @@ void HTMotorControlInit() char ht_id_buff[2] = {0}; __itoa(i, ht_id_buff, 10); strcat(ht_task_name, ht_id_buff); // 似乎没什么吊用,osthreaddef会把第一个变量当作宏字符串传入,作为任务名 - // todo 还需要一个更优雅的方案来区分不同的电机任务 + // @todo 还需要一个更优雅的方案来区分不同的电机任务 osThreadDef(ht_task_name, HTMotorTask, osPriorityNormal, 0, 128); ht_task_handle[i] = osThreadCreate(osThread(ht_task_name), ht_motor_instance[i]); } diff --git a/modules/motor/HTmotor/HT04.md b/modules/motor/HTmotor/HT04.md index ab6af23..2f3ba49 100644 --- a/modules/motor/HTmotor/HT04.md +++ b/modules/motor/HTmotor/HT04.md @@ -40,3 +40,5 @@ static void HTMotorDecode(CANInstance *motor_can) } } ``` + +第一次收到数据时默认电机处于限位处,将速度和角度都设置为零,记录当前的编码器数据,之后每次收到都减去该值. diff --git a/modules/motor/LKmotor/LK9025.c b/modules/motor/LKmotor/LK9025.c index 2323734..103faac 100644 --- a/modules/motor/LKmotor/LK9025.c +++ b/modules/motor/LKmotor/LK9025.c @@ -3,6 +3,7 @@ #include "general_def.h" #include "daemon.h" #include "bsp_dwt.h" +#include "bsp_log.h" static uint8_t idx; static LKMotorInstance *lkmotor_instance[LK_MOTOR_MX_CNT] = {NULL}; @@ -43,6 +44,12 @@ static void LKMotorDecode(CANInstance *_instance) measure->total_angle = measure->total_round * 360 + measure->angle_single_round; } +static void LKMotorLostCallback(void *motor_ptr) +{ + LKMotorInstance *motor = (LKMotorInstance *)motor_ptr; + LOGWARNING("[LKMotor] motor lost, id: %d", motor->motor_can_ins->tx_id); +} + LKMotorInstance *LKMotorInit(Motor_Init_Config_s *config) { LKMotorInstance *motor = (LKMotorInstance *)malloc(sizeof(LKMotorInstance)); @@ -75,7 +82,7 @@ LKMotorInstance *LKMotorInit(Motor_Init_Config_s *config) Daemon_Init_Config_s daemon_config = { .callback = NULL, .owner_id = motor, - .reload_count = 5, // 0.05秒 + .reload_count = 5, // 50ms }; motor->daemon = DaemonRegister(&daemon_config); diff --git a/modules/ps_handle/ps_handle.c b/modules/ps_handle/ps_handle.c deleted file mode 100644 index 8928512..0000000 --- a/modules/ps_handle/ps_handle.c +++ /dev/null @@ -1,115 +0,0 @@ -#include "ps_handle.h" -uint8_t PS2_RawData[9] = {0}; -PS2_Instance PS2_Data = {0}; -void PS2_CS(uint8_t Val) -{ - if (Val) - HAL_GPIO_WritePin(PS2_CS_GPIOx, PS2_CS_Pin, GPIO_PIN_SET); - else - HAL_GPIO_WritePin(PS2_CS_GPIOx, PS2_CS_Pin, GPIO_PIN_RESET); -} -void PS2_CLK(uint8_t Val) -{ - if (Val) - HAL_GPIO_WritePin(PS2_CLK_GPIOx, PS2_CLK_Pin, GPIO_PIN_SET); - else - HAL_GPIO_WritePin(PS2_CLK_GPIOx, PS2_CLK_Pin, GPIO_PIN_RESET); -} -void PS2_DO(uint8_t Val) -{ - if (Val) - HAL_GPIO_WritePin(PS2_DO_GPIOx, PS2_DO_Pin, GPIO_PIN_SET); - else - HAL_GPIO_WritePin(PS2_DO_GPIOx, PS2_DO_Pin, GPIO_PIN_RESET); -} -uint8_t PS2_Read_DI() -{ - return HAL_GPIO_ReadPin(PS2_DI_GPIOx, PS2_DI_Pin); -} -void PS2_Delay() -{ - for (int i = 0; i < 0xBf; i++) - __NOP(); -} -uint8_t PS2_ReadWrite_Byte(uint8_t TxData) -{ - uint8_t TX = TxData; - uint8_t RX = 0; - for (int i = 0; i < 8; i++) - { - if (TX & 0x01) - PS2_DO(1); - else - PS2_DO(0); - TX >>= 1; - PS2_CLK(1); - PS2_Delay(); - PS2_CLK(0); - RX >>= 1; - RX |= (PS2_Read_DI() << 7); - PS2_Delay(); - PS2_CLK(1); - PS2_Delay(); - } - return RX; -} - -static void PS2_Decode() -{ - if (PS2_RawData[2] == 0x5A) - { - PS2_Data.Key_Select = (~PS2_RawData[3] >> 0) & 0x01; //选择键 - PS2_Data.Key_Start = (~PS2_RawData[3] >> 3) & 0x01; //开始键 - - //左侧按键 - PS2_Data.Key_L_Up = (~PS2_RawData[3] >> 4) & 0x01; - PS2_Data.Key_L_Right = (~PS2_RawData[3] >> 5) & 0x01; - PS2_Data.Key_L_Down = (~PS2_RawData[3] >> 6) & 0x01; - PS2_Data.Key_L_Left = (~PS2_RawData[3] >> 7) & 0x01; - - //后侧按键 - PS2_Data.Key_L2 = (~PS2_RawData[4] >> 0) & 0x01; - PS2_Data.Key_R2 = (~PS2_RawData[4] >> 1) & 0x01; - PS2_Data.Key_L1 = (~PS2_RawData[4] >> 2) & 0x01; - PS2_Data.Key_R1 = (~PS2_RawData[4] >> 3) & 0x01; - - //右侧按键 - PS2_Data.Key_R_Up = (~PS2_RawData[4] >> 4) & 0x01; - PS2_Data.Key_R_Right = (~PS2_RawData[4] >> 5) & 0x01; - PS2_Data.Key_R_Down = (~PS2_RawData[4] >> 6) & 0x01; - PS2_Data.Key_R_Left = (~PS2_RawData[4] >> 7) & 0x01; - - if (PS2_RawData[1] == 0x41) - { //无灯模式(摇杆值八向) - PS2_Data.Rocker_LX = 127 * (PS2_Data.Key_L_Right - PS2_Data.Key_L_Left); - PS2_Data.Rocker_LY = 127 * (PS2_Data.Key_L_Up - PS2_Data.Key_L_Down); - - PS2_Data.Rocker_RX = 127 * (PS2_Data.Key_R_Right - PS2_Data.Key_R_Left); - PS2_Data.Rocker_RY = 127 * (PS2_Data.Key_R_Up - PS2_Data.Key_R_Down); - } - else if (PS2_RawData[1] == 0x73) - { //红灯模式(摇杆值模拟) - - //摇杆按键 - PS2_Data.Key_Rocker_Left = (~PS2_RawData[3] >> 1) & 0x01; - PS2_Data.Key_Rocker_Right = (~PS2_RawData[3] >> 2) & 0x01; - - //摇杆值 - PS2_Data.Rocker_LX = PS2_RawData[7] - 0x80; - PS2_Data.Rocker_LY = -1 - (PS2_RawData[8] - 0x80); - PS2_Data.Rocker_RX = PS2_RawData[5] - 0x80; - PS2_Data.Rocker_RY = -1 - (PS2_RawData[6] - 0x80); - } - } -} -void PS2_Read_Data(void) -{ - PS2_CS(0); - PS2_RawData[0] = PS2_ReadWrite_Byte(0x01); // 0 - PS2_RawData[1] = PS2_ReadWrite_Byte(0x42); // 1 - for (int i = 2; i < 9; i++) - PS2_RawData[i] = PS2_ReadWrite_Byte(0xff); - PS2_CS(1); - PS2_Decode(); -} - diff --git a/modules/ps_handle/ps_handle.h b/modules/ps_handle/ps_handle.h deleted file mode 100644 index bd35311..0000000 --- a/modules/ps_handle/ps_handle.h +++ /dev/null @@ -1,38 +0,0 @@ -#ifndef PS_HANDLE_H -#define PS_HANDLE_H - -#include "bsp_spi.h" -#include "bsp_gpio.h" -#include "bsp_dwt.h" - -#define PS2_CS_GPIOx GPIOB -#define PS2_CS_Pin GPIO_PIN_12 - -#define PS2_CLK_GPIOx GPIOB -#define PS2_CLK_Pin GPIO_PIN_13 - -#define PS2_DO_GPIOx GPIOB -#define PS2_DO_Pin GPIO_PIN_15 - -#define PS2_DI_GPIOx GPIOB -#define PS2_DI_Pin GPIO_PIN_14 - -typedef struct -{ - uint8_t A_D; //模拟(红灯)为1 数字(无灯)为0 - int8_t Rocker_RX, Rocker_RY, Rocker_LX, Rocker_LY; //摇杆值(模拟状态为实际值0-0xFF)(数字态为等效的值0,0x80,0xFF) - //按键值0为未触发,1为触发态 - uint8_t Key_L1, Key_L2, Key_R1, Key_R2; //后侧大按键 - uint8_t Key_L_Right, Key_L_Left, Key_L_Up, Key_L_Down; //左侧按键 - uint8_t Key_R_Right, Key_R_Left, Key_R_Up, Key_R_Down; //右侧按键 - uint8_t Key_Select; //选择键 - uint8_t Key_Start; //开始键 - uint8_t Key_Rocker_Left, Key_Rocker_Right; //摇杆按键 - -} PS2_Instance; - - - - - -#endif // !PS_HANDLE_H#define PS_HANDLE_H diff --git a/modules/ps_handle/ps_handle.md b/modules/ps_handle/ps_handle.md deleted file mode 100644 index 81cf423..0000000 --- a/modules/ps_handle/ps_handle.md +++ /dev/null @@ -1,3 +0,0 @@ -# ps_handle - -提供ps手柄的支持,其通信协议和spi类似,可以使用bsp_spi来兼容.待编写. \ No newline at end of file diff --git a/modules/referee/rm_referee.c b/modules/referee/rm_referee.c index 4a31da5..d76c6cf 100644 --- a/modules/referee/rm_referee.c +++ b/modules/referee/rm_referee.c @@ -15,8 +15,9 @@ #include "bsp_usart.h" #include "task.h" #include "daemon.h" +#include "bsp_log.h" -#define RE_RX_BUFFER_SIZE 200 +#define RE_RX_BUFFER_SIZE 255u // 裁判系统接收缓冲区大小 static USARTInstance *referee_usart_instance; // 裁判系统串口实例 static DaemonInstance *referee_daemon; // 裁判系统守护进程 @@ -114,6 +115,7 @@ static void RefereeRxCallback() static void RefereeLostCallback(void *arg) { USARTServiceInit(referee_usart_instance); + LOGWARNING("[rm_ref] lost referee data"); } /* 裁判系统通信初始化 */ @@ -122,7 +124,7 @@ referee_info_t *RefereeInit(UART_HandleTypeDef *referee_usart_handle) USART_Init_Config_s conf; conf.module_callback = RefereeRxCallback; conf.usart_handle = referee_usart_handle; - conf.recv_buff_size = RE_RX_BUFFER_SIZE; + conf.recv_buff_size = RE_RX_BUFFER_SIZE; // mx 255(u8) referee_usart_instance = USARTRegister(&conf); Daemon_Init_Config_s daemon_conf = { @@ -143,5 +145,5 @@ void RefereeSend(uint8_t *send, uint16_t tx_len) { static TickType_t xLastWakeTime; USARTSend(referee_usart_instance, send, tx_len, USART_TRANSFER_DMA); - vTaskDelayUntil(&xLastWakeTime, 120); + vTaskDelayUntil(&xLastWakeTime, 120); // 裁判系统接收ui数据和多机通信最大支持频率为10Hz } diff --git a/modules/remote/remote_control.c b/modules/remote/remote_control.c index 239403d..4035304 100644 --- a/modules/remote/remote_control.c +++ b/modules/remote/remote_control.c @@ -4,6 +4,7 @@ #include "memory.h" #include "stdlib.h" #include "daemon.h" +#include "bsp_log.h" #define REMOTE_CONTROL_FRAME_SIZE 18u // 遥控器接收的buffer大小 @@ -104,6 +105,7 @@ static void RCLostCallback(void *id) { memset(rc_ctrl, 0, sizeof(rc_ctrl)); // 清空遥控器数据 USARTServiceInit(rc_usart_instance); // 尝试重新启动接收 + LOGWARNING("[rc] remote control lost"); } RC_ctrl_t *RemoteControlInit(UART_HandleTypeDef *rc_usart_handle) diff --git a/合理地进行PID参数整定.md b/合理地进行PID参数整定.md new file mode 100644 index 0000000..59ea115 --- /dev/null +++ b/合理地进行PID参数整定.md @@ -0,0 +1,7 @@ +# 利用Ozone进行model-based PID tunning + +Ozone的实时变量可视化监测(示波器)功能可以很好地帮助我们观察控制器在时域的表现，典型的有上升时间、超调量和稳态时间等。 + +## 调试顺序 + +先内环，后外环。若有已知的外部扰动如阻力、重力等可以在**保持kp不变**的情况下添加积分环节，并查看达到稳态时积分的输出，该输出值可以作为**前馈**作用通过feedforward_ptr一同送入下一个串级控制器。 \ No newline at end of file