Merge branch 'master' of https://gitee.com/hnuyuelurm/basic_framework

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

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);

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
 
 
 #######################################

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 */
 }
 

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) */

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 */

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.
   */

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 */
   }
 }

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");
     }
 }
 

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()

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

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();
 }

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;
-}

bsp/bsp_legacy_support/bsp_buzzer.h

@@ -1,10 +0,0 @@
-#ifndef BSP_BUZZER_H
-#define BSP_BUZZER_H
-
-#include <stdint.h>
-
-void BuzzerInit();
-extern void BuzzerOn(uint16_t psc, uint16_t pwm, uint8_t level);
-extern void BuzzerOff(void);
-
-#endif

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;
 }
 

bsp/dwt/bsp_dwt.c

@@ -22,7 +22,7 @@ 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
  *
  */
@@ -131,6 +131,5 @@ void DWT_Delay(float Delay)
     float wait = Delay;
 
     while ((DWT->CYCCNT - tickstart) < wait * (float)CPU_FREQ_Hz)
-    {
+        ;
-    }
 }

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
 {
@@ -23,6 +25,19 @@ 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
@@ -83,6 +98,4 @@ void DWT_Delay(float Delay);
  */
 void DWT_SysTimeUpdate(void);
 
-
-
 #endif /* BSP_DWT_H_ */

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
@@ -28,3 +26,29 @@ for(uint8_t i=0;i<10;i++)
 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;
+```

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          擦除flash
+  * @param[in]      address: flash 地址
+  * @param[in]      len: 页数量
+  * @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          往一页flash写数据
+  * @param[in]      start_address: flash 地址
+  * @param[in]      buf: 数据指针
+  * @param[in]      len: 数据长度
+  * @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          往几页flash写数据
+  * @param[in]      start_address: flash 开始地址
+  * @param[in]      end_address: flash 结束地址
+  * @param[in]      buf: 数据指针
+  * @param[in]      len: 数据长度
+  * @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          从flash读数据
+  * @param[in]      start_address: flash 地址
+  * @param[out]     buf: 数据指针
+  * @param[in]      len: 数据长度
+  * @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          获取flash的sector号
+  * @param[in]      address: flash 地址
+  * @retval         sector号
+  */
+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          获取下一页flash地址
+  * @param[in]      address: flash 地址
+  * @retval         下一页flash地址
+  */
+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;
+}

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

bsp/log/bsp_log.h

@@ -7,8 +7,6 @@
 
 #define BUFFER_INDEX 0
 
-
-
 /**
  * @brief 日志系统初始化
  *
@@ -26,7 +24,7 @@ void BSPLogInit();
                           ##__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)
@@ -34,16 +32,20 @@ void BSPLogInit();
 /* 无颜色日志输出 */
 #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
@@ -53,6 +55,7 @@ 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

bsp/log/bsp_log.md

@@ -2,11 +2,6 @@
 
 <p align='right'>neozng1@hnu.edu.cn</p>
 
-> 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。
-
-
-

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)
 {

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));
 
@@ -76,14 +83,10 @@ void USARTSend(USARTInstance *_instance, uint8_t *send_buf, uint16_t send_size,
 uint8_t USARTIsReady(USARTInstance *_instance)
 {
     if (_instance->usart_handle->gState | HAL_UART_STATE_BUSY_TX)
-    {
         return 0;
-    }
     else
-    {
         return 1;
 }
-}
 
 /**
  * @brief 每次dma/idle中断发生时，都会调用此函数.对于每个uart实例会调用对应的回调进行进一步的处理
@@ -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;
         }
     }

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
 

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
+    // usb的软件复位(模拟拔插)在usbd_conf.c中的HAL_PCD_MspInit()中
-    LOGINFO("USB init success");
     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;
 }
 

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];
+    uint8_t tx[2] = {reg, data};
-    tx[0] = reg;
-    tx[1] = 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];
+    uint8_t tx[2] = {reg, data};
-    tx[0] = reg;
-    tx[1] = 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 BMI088REG 0
-#define DATA 1
+#define BMI088DATA 1
-#define ERROR 2
+#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];
+        reg = BMI088_Accel_Init_Table[i][BMI088REG];
-        data = BMI088_Accel_Init_Table[i][DATA];
+        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])
+        if (data != BMI088_Accel_Init_Table[i][BMI088DATA])
-            error |= BMI088_Accel_Init_Table[i][ERROR];
+            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];
+        reg = BMI088_Gyro_Init_Table[i][BMI088REG];
-        data = BMI088_Gyro_Init_Table[i][DATA];
+        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])
+        if (data != BMI088_Gyro_Init_Table[i][BMI088DATA])
-            error |= BMI088_Gyro_Init_Table[i][ERROR];
+            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 =

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=GPIOB,
-            .GPIOx=GPIO_PIN_4,
+            .GPIOx=GPIO_PIN_0,
             .spi_handle=&hspi1,
         },
         .acc_int_config={
             .exti_mode=EXTI_TRIGGER_FALLING,
-            .GPIO_Pin=GPIO_PIN_10,
+            .GPIO_Pin=GPIO_PIN_4,
-            .GPIOx=GPIOA,
+            .GPIOx=GPIOC,
         },
         .gyro_int_config={
             .exti_mode=EXTI_TRIGGER_FALLING,
-            .GPIO_Pin=GPIO_PIN_11,
+            .GPIO_Pin=GPIO_PIN_5,
-            .GPIOx=GPIOA,
+            .GPIOx=GPIOC,
         },
         .heat_pid_config={
             .Kp=0.0f,

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;
+    }
+}
+
+
+
+
+

modules/alarm/buzzer.h

@@ -0,0 +1,7 @@
+#ifndef BUZZER_H
+#define BUZZER_H
+#include "daemon.h"
+void buzzer_init();
+
+
+#endif // !BUZZER_H

modules/algorithm/user_lib.c

@@ -23,9 +23,7 @@
 #define user_malloc malloc
 #endif
 
-uint8_t GlobalDebugMode = 7;
+void *zmalloc(size_t size)
-
-void *zero_malloc(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));
+}

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);
 
 // <20><><EFBFBD>ٿ<EFBFBD><D9BF><EFBFBD>
 float Sqrt(float x);

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
@@ -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));

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);
+            }
+
         }
     }
 }

modules/daemon/daemon.h

@@ -2,17 +2,33 @@
 #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
@@ -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;
 

modules/imu/BMI088driver.c

@@ -2,6 +2,7 @@
 #include "BMI088reg.h"
 #include "BMI088Middleware.h"
 #include "bsp_dwt.h"
+#include "bsp_log.h"
 #include <math.h>
 
 #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)
         {
             // <20><>????
             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++)

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;

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};
+    USB_Init_Config_s conf = {.rx_cbk = DecodeVision};
-    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;
 }
 

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
+                LOGERROR("[dji_motor] ID crash. Check in debug mode, add dji_motor_instance to watch to get more information.");
-                while (1)
+                uint16_t can_bus = config->can_handle == &hcan1 ? 1 : 2;
-                    ; // 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)
+                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)
+                uint16_t can_bus = config->can_handle == &hcan1 ? 1 : 2;
-                    ; // 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)
+                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);
 
@@ -195,18 +200,12 @@ 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)
 {
@@ -299,12 +298,10 @@ 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
     for (size_t i = 0; i < 6; ++i)

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)
+    LOGWARNING("[ht_motor] motor %d lost\n", motor->motor_can_instace->tx_id);
-        return;
     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]);
     }

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.

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);
 

modules/ps_handle/ps_handle.c

@@ -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();
-}
-

modules/ps_handle/ps_handle.h

@@ -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

modules/ps_handle/ps_handle.md

@@ -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.

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
 }

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)

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。