From 4a45331d311265fc6c5e0b646518587279e46fba Mon Sep 17 00:00:00 2001
From: NeoZng <neozng1@hnu.edn.cn>
Date: Thu, 22 Jun 2023 21:52:46 +0800
Subject: [PATCH] =?UTF-8?q?=E6=B7=BB=E5=8A=A0=E4=BA=86=E5=A4=A7=E9=87=8F?=
 =?UTF-8?q?=E8=B0=83=E8=AF=95log=EF=BC=8C=E6=96=B0=E5=A2=9E=E4=BA=86dwt?=
 =?UTF-8?q?=E8=AE=A1=E6=97=B6=E5=AE=8F=EF=BC=8C=E5=A2=9E=E5=8A=A0=E4=BA=86?=
 =?UTF-8?q?USB=E8=BD=AF=E4=BB=B6=E5=A4=8D=E4=BD=8D=E9=98=B2=E6=AD=A2?=
 =?UTF-8?q?=E4=B8=BB=E6=8E=A7=E5=A4=8D=E4=BD=8D=E5=90=8E=E4=B8=8A=E4=BD=8D?=
 =?UTF-8?q?=E6=9C=BA=E6=97=A0=E6=B3=95=E8=BF=9E=E6=8E=A5usb?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 Inc/stm32f4xx_it.h                      |   1 +
 Src/freertos.c                          |   4 +-
 Src/stm32f4xx_hal_msp.c                 |   5 ++
 Src/stm32f4xx_it.c                      |  14 +++
 Src/usbd_conf.c                         |   8 +-
 application/cmd/robot_cmd.c             |   5 ++
 application/robot_task.h                |  19 ++++
 basic_framework.ioc                     |   1 +
 bsp/can/bsp_can.c                       |  16 ++--
 bsp/dwt/bsp_dwt.c                       |   9 +-
 bsp/dwt/bsp_dwt.h                       |  37 +++++---
 bsp/dwt/bsp_dwt.md                      |  30 ++++++-
 bsp/log/bsp_log.h                       |   6 +-
 bsp/log/bsp_log.md                      |   1 -
 bsp/usart/bsp_usart.c                   |  16 ++--
 bsp/usart/bsp_usart.md                  |   4 +-
 bsp/usb/bsp_usb.c                       |   5 +-
 modules/BMI088/bmi088.c                 |  34 ++++---
 modules/BMI088/bmi088.md                |  14 +--
 modules/can_comm/can_comm.c             |  10 ++-
 modules/imu/BMI088driver.c              |  14 ++-
 modules/master_machine/master_process.c |  45 ++++++----
 modules/motor/DJImotor/dji_motor.c      |  35 ++++----
 modules/motor/HTmotor/HT04.c            |  12 ++-
 modules/motor/HTmotor/HT04.md           |   2 +
 modules/motor/LKmotor/LK9025.c          |   9 +-
 modules/ps_handle/ps_handle.c           | 115 ------------------------
 modules/ps_handle/ps_handle.h           |  38 --------
 modules/ps_handle/ps_handle.md          |   3 -
 modules/referee/rm_referee.c            |   8 +-
 modules/remote/remote_control.c         |   2 +
 31 files changed, 247 insertions(+), 275 deletions(-)
 delete mode 100644 modules/ps_handle/ps_handle.c
 delete mode 100644 modules/ps_handle/ps_handle.h
 delete mode 100644 modules/ps_handle/ps_handle.md

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/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/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..8188dc3 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
@@ -266,12 +269,14 @@ 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..ebde68e 100644
--- a/basic_framework.ioc
+++ b/basic_framework.ioc
@@ -308,6 +308,7 @@ 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/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/log/bsp_log.h b/bsp/log/bsp_log.h
index d5f0b2a..7709ffe 100644
--- a/bsp/log/bsp_log.h
+++ b/bsp/log/bsp_log.h
@@ -36,11 +36,11 @@ void BSPLogInit();
 
 /* 有颜色格式日志输出,建议使用这些宏来输出日志 */
 // 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.
diff --git a/bsp/log/bsp_log.md b/bsp/log/bsp_log.md
index a72c2b5..64be4a3 100644
--- a/bsp/log/bsp_log.md
+++ b/bsp/log/bsp_log.md
@@ -5,7 +5,6 @@
 > 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
 
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..2126cec 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
     }
 
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/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/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 <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)
         {
             // ��????
             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/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)