增加了daemon模块

HAL_N_Middlewares/Src/freertos.c

@@ -28,7 +28,7 @@
 #include "ins_task.h"
 #include "motor_task.h"
 #include "led_task.h"
-#include "monitor.h"
+#include "daemon.h"
 #include "robot.h"
 
 /* USER CODE END Includes */
@@ -60,8 +60,11 @@ void StartINSTASK(void const * argument);
 
 void StartMOTORTASK(void const * argument);
 
+void StartDAEMONTASK(void const* argument);
+
 void StartROBOTTASK(void const* argument);
 
+
 /* USER CODE END FunctionPrototypes */
 
 void StartDefaultTask(void const * argument);
@@ -122,6 +125,9 @@ void MX_FREERTOS_Init(void) {
   osThreadDef(motortask, StartMOTORTASK, osPriorityNormal, 0, 256);
   defaultTaskHandle = osThreadCreate(osThread(motortask), NULL);
 
+  osThreadDef(daemontask, StartDAEMONTASK, osPriorityNormal, 0, 512);
+  defaultTaskHandle = osThreadCreate(osThread(daemontask), NULL);
+
   osThreadDef(robottask, StartROBOTTASK, osPriorityNormal, 0, 2048);
   defaultTaskHandle = osThreadCreate(osThread(robottask), NULL);
 
@@ -176,6 +182,16 @@ void StartMOTORTASK(void const * argument)
   }
 }
 
+void StartDAEMONTASK(void const * argument)
+{
+  while (1)
+  {
+    //500Hz
+    DaemonTask();
+    osDelay(10);
+  }
+}
+
 void StartROBOTTASK(void const * argument)
 {
   while (1)

Makefile

@@ -132,7 +132,7 @@ modules/remote/remote_control.c \
 modules/super_cap/super_cap.c \
 modules/can_comm/can_comm.c \
 modules/message_center/message_center.c \
-modules/monitor/monitor.c \
+modules/daemon/daemon.c \
 modules/vofa/vofa.c \
 application/gimbal/gimbal.c \
 application/chassis/chassis.c \
@@ -230,7 +230,7 @@ C_INCLUDES =  \
 -Imodules/super_cap \
 -Imodules/can_comm \
 -Imodules/message_center \
--Imodules/monitor \
+-Imodules/daemon \
 -Imodules/vofa \
 -Imodules/
 

TODO.md

@@ -20,14 +20,14 @@
 
 #### bsp_buzzer
 
-需要和**monitor**模块配合。
+需要和**daemon**模块配合。
 
 - [ ] 增加错误或异常提示音
 - [ ] 增加功能提示音
 
 #### bsp_led
 
-需要和**monitor**模块配合。这同时会影响到module层的led_task，放在这一并解决。
+需要和**daemon**模块配合。这同时会影响到module层的led_task，放在这一并解决。
 
 - [ ] 增加错误或异常流水灯
 - [ ] 增加功能点灯
@@ -81,11 +81,11 @@
 
 - [ ] 编写舵机模块
 
-#### ==monitor==
+#### ==daemon==
 
 应用和模块监视功能，用于提供掉线和异常检测与应对机制，和底层的buzzer、led、oled等配合提供快速的问题定位。
 
-- [ ] 编写monitor
+- [ ] 编写daemon
 
 #### LKMotor
 

application/chassis/chassis.c

@@ -57,12 +57,9 @@ static float vt_lf, vt_rf, vt_lb, vt_rb; // 底盘速度解算后的临时输出
 
 void ChassisInit()
 {
-    // 左前轮
+    // 四个轮子的参数一样,改tx_id和反转标志位即可
-    Motor_Init_Config_s left_foward_config = {
+    Motor_Init_Config_s chassis_motor_config = {
-        .can_init_config = {
+        .can_init_config.can_handle=&hcan2,
-            .can_handle = &hcan2,
-            .tx_id = 1,
-        },
         .controller_param_init_config = {
             .speed_PID = {
 
@@ -76,80 +73,24 @@ void ChassisInit()
             .speed_feedback_source = MOTOR_FEED,
             .outer_loop_type = SPEED_LOOP,
             .close_loop_type = SPEED_LOOP | CURRENT_LOOP,
-            .reverse_flag = MOTOR_DIRECTION_REVERSE,
         },
         .motor_type = M3508};
-    // 右前轮
+    
-    Motor_Init_Config_s right_foward_config = {
+    chassis_motor_config.can_init_config.tx_id=1;
-        .can_init_config = {
+    chassis_motor_config.controller_setting_init_config.reverse_flag=MOTOR_DIRECTION_REVERSE;
-            .can_handle = &hcan2,
+    motor_lf = DJIMotorInit(&chassis_motor_config);
-            .tx_id = 2,
-        },
-        .controller_param_init_config = {
-            .speed_PID = {
 
-            },
+    chassis_motor_config.can_init_config.tx_id=2,
-            .current_PID = {
+    chassis_motor_config.controller_setting_init_config.reverse_flag=MOTOR_DIRECTION_REVERSE;
+    motor_rf = DJIMotorInit(&chassis_motor_config);
+    
+    chassis_motor_config.can_init_config.tx_id=3,
+    chassis_motor_config.controller_setting_init_config.reverse_flag=MOTOR_DIRECTION_REVERSE;
+    motor_lb = DJIMotorInit(&chassis_motor_config);
 
-            },
+    chassis_motor_config.can_init_config.tx_id=4,
-        },
+    chassis_motor_config.controller_setting_init_config.reverse_flag=MOTOR_DIRECTION_REVERSE;
-        .controller_setting_init_config = {
+    motor_rb = DJIMotorInit(&chassis_motor_config);
-            .angle_feedback_source = MOTOR_FEED,
-            .speed_feedback_source = MOTOR_FEED,
-            .outer_loop_type = SPEED_LOOP,
-            .close_loop_type = SPEED_LOOP | CURRENT_LOOP,
-            .reverse_flag = MOTOR_DIRECTION_REVERSE,
-        },
-        .motor_type = M3508};
-    // 左后轮
-    Motor_Init_Config_s left_back_config = {
-        .can_init_config = {
-            .can_handle = &hcan2,
-            .tx_id = 3,
-        },
-        .controller_param_init_config = {
-            .speed_PID = {
-
-            },
-            .current_PID = {
-
-            },
-        },
-        .controller_setting_init_config = {
-            .angle_feedback_source = MOTOR_FEED,
-            .speed_feedback_source = MOTOR_FEED,
-            .outer_loop_type = SPEED_LOOP,
-            .close_loop_type = SPEED_LOOP | CURRENT_LOOP,
-            .reverse_flag = MOTOR_DIRECTION_REVERSE,
-        },
-        .motor_type = M3508};
-    // 右后轮
-    Motor_Init_Config_s right_back_config = {
-        .can_init_config = {
-            .can_handle = &hcan2,
-            .tx_id = 4,
-        },
-        .controller_param_init_config = {
-            .speed_PID = {
-
-            },
-            .current_PID = {
-
-            },
-        },
-        .controller_setting_init_config = {
-            .angle_feedback_source = MOTOR_FEED,
-            .speed_feedback_source = MOTOR_FEED,
-            .outer_loop_type = SPEED_LOOP,
-            .close_loop_type = SPEED_LOOP | CURRENT_LOOP,
-            .reverse_flag = MOTOR_DIRECTION_REVERSE,
-        },
-        .motor_type = M3508};
-
-    motor_lf = DJIMotorInit(&left_foward_config);
-    motor_rf = DJIMotorInit(&right_foward_config);
-    motor_lb = DJIMotorInit(&left_back_config);
-    motor_rb = DJIMotorInit(&right_back_config);
 
     referee_data = RefereeInit(&huart6);
     

modules/daemon/daemon.c

@@ -0,0 +1,43 @@
+#include "daemon.h"
+#include "bsp_dwt.h" // 后续通过定时器来计时?
+
+static DaemonInstance *daemon_instances[DAEMON_MX_CNT] = {NULL};
+static uint8_t idx;
+
+DaemonInstance *DaemonRegister(Daemon_Init_Config_s *config)
+{
+    
+    daemon_instances[idx] = (DaemonInstance *)malloc(sizeof(DaemonInstance));
+
+    daemon_instances[idx]->reload_count = config->reload_count;
+    daemon_instances[idx]->callback = config->callback;
+    daemon_instances[idx]->owner_id = config->id;
+    daemon_instances[idx]->temp_count = config->reload_count;
+
+    return daemon_instances[idx++];
+}
+
+void DaemonReload(DaemonInstance *instance)
+{
+    instance->temp_count = instance->reload_count;
+}
+
+uint8_t DaemonIsOnline(DaemonInstance *instance)
+{
+    return instance->temp_count>0;
+}
+
+void DaemonTask()
+{
+    static DaemonInstance* pins; //提高可读性同时降低访存开销
+    for (size_t i = 0; i < idx; i++)
+    {
+        pins=daemon_instances[i];
+        if(pins->temp_count>0)
+            pins->temp_count--;
+        else if(pins->callback)
+        {   // 每个module根据自身的offline callback进行调用
+            pins->callback(pins->owner_id); // module将owner_id强制类型转换成自身类型
+        }
+    }
+}

modules/daemon/daemon.h

@@ -0,0 +1,60 @@
+#ifndef MONITOR_H
+#define MONITOR_H
+
+#include "stdint-gcc.h"
+
+#define DAEMON_MX_CNT 64
+
+/* 模块离线处理函数指针 */
+typedef void (*offline_callback)(void *);
+
+/* 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
+
+    uint16_t temp_count; //当前值,减为零说明模块离线或异常
+    void *owner_id; // daemon实例的地址,初始化的时候填入
+
+} DaemonInstance;
+
+/* daemon初始化配置 */
+typedef struct
+{
+    uint16_t reload_count; // 实际上这是app唯一需要设置的值?
+    offline_callback callback; 
+    void *id; // id取拥有daemon的实例的地址,如DJIMotorInstance*,cast成void*类型
+} Daemon_Init_Config_s;
+
+/**
+ * @brief 注册一个daemon实例
+ * 
+ * @param config 初始化配置
+ * @return DaemonInstance* 返回实例指针
+ */
+DaemonInstance *DaemonRegister(Daemon_Init_Config_s *config);
+
+/**
+ * @brief 当模块收到新的数据或进行其他动作时,调用该函数重载temp_count,相当于"喂狗"
+ * 
+ * @param instance daemon实例指针
+ */
+void DaemonReload(DaemonInstance *instance);
+
+/**
+ * @brief 确认模块是否离线
+ * 
+ * @param instance daemon实例指针
+ * @return uint8_t 若在线且工作正常,返回1;否则返回零. 后续根据异常类型和离线状态等进行优化.
+ */
+uint8_t DaemonIsOnline(DaemonInstance *instance);
+
+/**
+ * @brief 放入rtos中,会给每个daemon实例的temp_count按频率进行递减操作.
+ *        模块成功接受数据或成功操作则会重载temp_count的值为reload_count.
+ * 
+ */
+void DaemonTask();
+
+#endif // !MONITOR_H

modules/daemon/daemon.md

@@ -0,0 +1,5 @@
+daemon
+
+<p align='right'>neozng1@hnu.edu.cn</p>
+
+用于监测模块和应用运行情况的module(和官方代码中的deteck task作用相同)

modules/monitor/monitor.c

@@ -1,3 +0,0 @@
-#include "monitor.h"
-#include "bsp_dwt.h"
-

modules/monitor/monitor.h

@@ -1,6 +0,0 @@
-#ifndef MONITOR_H
-#define MONITOR_H
-
-
-
-#endif // !MONITOR_H

modules/motor/dji_motor.c

@@ -10,8 +10,10 @@ static DJIMotorInstance *dji_motor_info[DJI_MOTOR_CNT] = {NULL};
  * @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
  *
+ * C610(m2006)/C620(m3508):0x1ff,0x200; GM6020:0x1ff,0x2ff
+ * 反馈: GM6020: 0x204+id ; C610/C620: 0x200+id
  * can1: [0]:0x1FF,[1]:0x200,[2]:0x2FF
- * can2: [0]:0x1FF,[1]:0x200,[2]:0x2FF
+ * can2: [3]:0x1FF,[4]:0x200,[5]:0x2FF
  */
 static CANInstance sender_assignment[6] =
     {

modules/remote/remote_control.c

@@ -18,12 +18,12 @@ static USARTInstance *rc_usart_instance;
 static void sbus_to_rc(volatile const uint8_t *sbus_buf)
 {
     memcpy(&rc_ctrl[1], &rc_ctrl[TEMP], sizeof(RC_ctrl_t)); // 保存上一次的数据
-    // 摇杆
+    // 摇杆,直接解算时减去偏置
-    rc_ctrl[TEMP].rc.joystick[0] = (sbus_buf[0] | (sbus_buf[1] << 8)) & 0x07ff;                              //!< Channel 0
+    rc_ctrl[TEMP].rc.joystick[0] = (sbus_buf[0] | (sbus_buf[1] << 8)) & 0x07ff - RC_CH_VALUE_OFFSET;                              //!< Channel 0
-    rc_ctrl[TEMP].rc.joystick[1] = ((sbus_buf[1] >> 3) | (sbus_buf[2] << 5)) & 0x07ff;                       //!< Channel 1
+    rc_ctrl[TEMP].rc.joystick[1] = ((sbus_buf[1] >> 3) | (sbus_buf[2] << 5)) & 0x07ff - RC_CH_VALUE_OFFSET;                       //!< Channel 1
-    rc_ctrl[TEMP].rc.joystick[2] = ((sbus_buf[2] >> 6) | (sbus_buf[3] << 2) | (sbus_buf[4] << 10)) & 0x07ff; //!< Channel 2
+    rc_ctrl[TEMP].rc.joystick[2] = ((sbus_buf[2] >> 6) | (sbus_buf[3] << 2) | (sbus_buf[4] << 10)) & 0x07ff - RC_CH_VALUE_OFFSET; //!< Channel 2
-    rc_ctrl[TEMP].rc.joystick[3] = ((sbus_buf[4] >> 1) | (sbus_buf[5] << 7)) & 0x07ff;                       //!< Channel 3
+    rc_ctrl[TEMP].rc.joystick[3] = ((sbus_buf[4] >> 1) | (sbus_buf[5] << 7)) & 0x07ff - RC_CH_VALUE_OFFSET;                       //!< Channel 3
-    rc_ctrl[TEMP].rc.joystick[4] = sbus_buf[16] | (sbus_buf[17] << 8);                                       // 拨轮
+    rc_ctrl[TEMP].rc.joystick[4] = sbus_buf[16] | (sbus_buf[17] << 8) - RC_CH_VALUE_OFFSET;                                       // 左侧拨轮
     // 开关,0左1右
     rc_ctrl[TEMP].rc.s[0] = ((sbus_buf[5] >> 4) & 0x0003);      //!< Switch left
     rc_ctrl[TEMP].rc.s[1] = ((sbus_buf[5] >> 4) & 0x000C) >> 2; //!< Switch right
@@ -61,13 +61,6 @@ static void sbus_to_rc(volatile const uint8_t *sbus_buf)
     //     rc_ctrl[TEMP].key_test[KEY_PRESS_WITH_CTRL] = rc_ctrl[TEMP].key_test[KEY_PRESS];
     // if (rc_ctrl[TEMP].key_test[KEY_PRESS].shift)
     //     rc_ctrl[TEMP].key_test[Key_Shift] = rc_ctrl[TEMP].key_test[KEY_PRESS];
-
-    // 减去偏置值
-    rc_ctrl[TEMP].rc.joystick[0] -= RC_CH_VALUE_OFFSET;
-    rc_ctrl[TEMP].rc.joystick[1] -= RC_CH_VALUE_OFFSET;
-    rc_ctrl[TEMP].rc.joystick[2] -= RC_CH_VALUE_OFFSET;
-    rc_ctrl[TEMP].rc.joystick[3] -= RC_CH_VALUE_OFFSET;
-    rc_ctrl[TEMP].rc.joystick[4] -= RC_CH_VALUE_OFFSET;
 }
 
 /**