diff --git a/.vscode/tasks.json b/.vscode/tasks.json index 4aef523..6291ce2 100644 --- a/.vscode/tasks.json +++ b/.vscode/tasks.json @@ -15,7 +15,7 @@ { "label": "download dap", "type": "shell", // 如果希望在下载前编译,可以把command换成下面的命令 - "command":"mingw32-make -j24 ; mingw32-make download_dap", // "mingw32-make -j24 && mingw32-make download_dap", + "command":"mingw32-make download_dap", // "mingw32-make -j24 ; mingw32-make download_dap", "group": { // 如果没有修改代码,编译任务不会消耗时间,因此推荐使用上面的替换. "kind": "build", "isDefault": false, @@ -24,7 +24,7 @@ { "label": "download jlink", "type": "shell", - "command":"mingw32-make -j24 ; mingw32-make download_jlink", // "mingw32-make -j24 && mingw32-make download_dap" + "command":"mingw32-make download_jlink", // "mingw32-make -j24 ; mingw32-make download_dap" "group": { "kind": "build", "isDefault": false, diff --git a/Bug_Report.md b/Bug_Report.md index a517636..ee0936c 100644 --- a/Bug_Report.md +++ b/Bug_Report.md @@ -48,4 +48,22 @@ ### 紧急程度 -⭐⭐⭐⭐⭐ \ No newline at end of file +⭐⭐⭐⭐⭐ + +## 总线挂载多个电机后,pitch和yaw的GM6020电机出现编码器反馈值跳动 + +> 已修复，详细信息见“如何定位bug.md” + +CAN1总线挂载5个电机,4\*3508+1\*6020,控制报文发送频率为500Hz,电机的反馈频率皆为1kHz.云台在控制时会出现突然跳动.添加到Ozone graph查看发现ECD(编码器)值在静止状态下也会出现突然抖动,并且幅度超过4000.但不会出现超过编码器反馈值范围的值. + +### 尝试解决的方案 + +若使用单个6020电机,不会出现此问题. 曾认为是指针越界导致`motor_measure->ecd`值被修改, 需要进一步观察其他反馈值是否出现问题. 且反馈值始终在编码器范围之内. + +### 如何复现问题 + +同时启用CAN1和CAN2，并在单条CAN总线上挂载超过5个电机. + +### 紧急程度 + +⭐⭐⭐ \ No newline at end of file diff --git a/HAL_N_Middlewares/Src/freertos.c b/HAL_N_Middlewares/Src/freertos.c index 27d6ec9..6229414 100644 --- a/HAL_N_Middlewares/Src/freertos.c +++ b/HAL_N_Middlewares/Src/freertos.c @@ -30,7 +30,6 @@ #include "led_task.h" #include "daemon.h" #include "robot.h" -#include "ps_handle.h" /* USER CODE END Includes */ diff --git a/Makefile b/Makefile index f6a50ab..7f97471 100644 --- a/Makefile +++ b/Makefile @@ -141,7 +141,6 @@ modules/can_comm/can_comm.c \ modules/message_center/message_center.c \ modules/daemon/daemon.c \ modules/vofa/vofa.c \ -modules/ps_handle/ps_handle.c \ application/gimbal/gimbal.c \ application/chassis/chassis.c \ application/shoot/shoot.c \ @@ -263,7 +262,6 @@ C_INCLUDES = \ -Imodules/message_center \ -Imodules/daemon \ -Imodules/vofa \ --Imodules/ps_handle \ -Imodules # compile gcc flags diff --git a/VSCode+Ozone使用方法.md b/VSCode+Ozone使用方法.md index 5001519..39ade18 100644 --- a/VSCode+Ozone使用方法.md +++ b/VSCode+Ozone使用方法.md @@ -659,7 +659,7 @@ Project.SetOSPlugin(“plugin_name”) 在Terminal窗口查看，还可以通过命令直接控制单片机的运行（不过不常用）。 -未打开窗口则在view-> terminal中打开。 +未打开窗口则在view-> terminal中打开。使用bsp_log打印的日志会输出到该窗口中. - **外设查看** diff --git a/application/cmd/robot_cmd.c b/application/cmd/robot_cmd.c index 5e4f787..3a09594 100644 --- a/application/cmd/robot_cmd.c +++ b/application/cmd/robot_cmd.c @@ -240,14 +240,14 @@ static void MouseKeySet() switch (rc_data[TEMP].key[KEY_PRESS].shift) //待添加 按shift允许超功率 消耗缓冲能量 { case 1: - + break; - + default: break; } - + } /** @@ -281,7 +281,7 @@ static void EmergencyHandler() robot_state = ROBOT_READY; shoot_cmd_send.shoot_mode = SHOOT_ON; break; - + default: robot_state = ROBOT_STOP; gimbal_cmd_send.gimbal_mode = GIMBAL_ZERO_FORCE; diff --git a/application/gimbal/gimbal.c b/application/gimbal/gimbal.c index 327fd79..c756f5a 100644 --- a/application/gimbal/gimbal.c +++ b/application/gimbal/gimbal.c @@ -20,41 +20,41 @@ BMI088Instance* imu; void GimbalInit() { BMI088_Init_Config_s imu_config = { - .spi_acc_config={ - .GPIOx=CS1_ACCEL_GPIO_Port, - .cs_pin=CS1_ACCEL_Pin, - .spi_handle=&hspi1, + .spi_acc_config = { + .GPIOx = CS1_ACCEL_GPIO_Port, + .cs_pin = CS1_ACCEL_Pin, + .spi_handle = &hspi1, }, - .spi_gyro_config={ - .GPIOx=CS1_GYRO_GPIO_Port, - .cs_pin=CS1_GYRO_Pin, - .spi_handle=&hspi1, + .spi_gyro_config = { + .GPIOx = CS1_GYRO_GPIO_Port, + .cs_pin = CS1_GYRO_Pin, + .spi_handle = &hspi1, }, - .acc_int_config={ - .exti_mode=EXTI_TRIGGER_FALLING, - .GPIO_Pin=INT_ACC_Pin, - .GPIOx=INT_ACC_GPIO_Port, + .acc_int_config = { + .exti_mode = EXTI_TRIGGER_FALLING, + .GPIO_Pin = INT_ACC_Pin, + .GPIOx = INT_ACC_GPIO_Port, }, - .gyro_int_config={ - .exti_mode=EXTI_TRIGGER_FALLING, - .GPIO_Pin=INT_GYRO_Pin, - .GPIOx=INT_GYRO_GPIO_Port, + .gyro_int_config = { + .exti_mode = EXTI_TRIGGER_FALLING, + .GPIO_Pin = INT_GYRO_Pin, + .GPIOx = INT_GYRO_GPIO_Port, }, - .heat_pid_config={ - .Kp=0.0f, - .Kd=0.0f, - .Ki=0.0f, - .MaxOut=0.0f, - .DeadBand=0.0f, + .heat_pid_config = { + .Kp = 0.0f, + .Kd = 0.0f, + .Ki = 0.0f, + .MaxOut = 0.0f, + .DeadBand = 0.0f, }, - .heat_pwm_config={ - .channel=TIM_CHANNEL_1, - .htim=&htim1, + .heat_pwm_config = { + .channel = TIM_CHANNEL_1, + .htim = &htim1, }, - .cali_mode=BMI088_CALIBRATE_ONLINE_MODE, - .work_mode=BMI088_BLOCK_PERIODIC_MODE, + .cali_mode = BMI088_CALIBRATE_ONLINE_MODE, + .work_mode = BMI088_BLOCK_PERIODIC_MODE, }; - // imu=BMI088Register(&imu_config); + // imu=BMI088Register(&imu_config); gimba_IMU_data = INS_Init(); // IMU先初始化,获取姿态数据指针赋给yaw电机的其他数据来源 // YAW Motor_Init_Config_s yaw_config = { @@ -101,11 +101,11 @@ void GimbalInit() }, .controller_param_init_config = { .angle_PID = { - .Kp =10,//10 + .Kp = 10, // 10 .Ki = 0, .Kd = 0, - .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit |PID_Derivative_On_Measurement, - .IntegralLimit =100, + .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement, + .IntegralLimit = 100, .MaxOut = 500, }, .speed_PID = { @@ -118,7 +118,7 @@ void GimbalInit() }, .other_angle_feedback_ptr = &gimba_IMU_data->Pitch, // 还需要增加角速度额外反馈指针,注意方向,ins_task.md中有c板的bodyframe坐标系说明 - .other_speed_feedback_ptr=(&gimba_IMU_data->Gyro[0]), + .other_speed_feedback_ptr = (&gimba_IMU_data->Gyro[0]), }, .controller_setting_init_config = { .angle_feedback_source = OTHER_FEED, @@ -136,7 +136,7 @@ void GimbalInit() gimbal_pub = PubRegister("gimbal_feed", sizeof(Gimbal_Upload_Data_s)); gimbal_sub = SubRegister("gimbal_cmd", sizeof(Gimbal_Ctrl_Cmd_s)); } -int aaaaaaa; + /* 机器人云台控制核心任务,后续考虑只保留IMU控制,不再需要电机的反馈 */ void GimbalTask() { @@ -178,10 +178,7 @@ void GimbalTask() default: break; } -// if(yaw_motor->motor_measure.total_angle>120) -// { -// aaaaaaa++; -// } + // 在合适的地方添加pitch重力补偿前馈力矩 // 根据IMU姿态/pitch电机角度反馈计算出当前配重下的重力矩 // ... diff --git a/basic_framework.ioc b/basic_framework.ioc index 6c9ab7e..28060eb 100644 --- a/basic_framework.ioc +++ b/basic_framework.ioc @@ -276,9 +276,9 @@ Mcu.UserName=STM32F407IGHx MxCube.Version=6.7.0 MxDb.Version=DB.6.0.70 NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false -NVIC.CAN1_RX0_IRQn=true\:6\:0\:true\:false\:true\:true\:true\:true\:true +NVIC.CAN1_RX0_IRQn=true\:5\:0\:true\:false\:true\:true\:true\:true\:true NVIC.CAN1_RX1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true -NVIC.CAN2_RX0_IRQn=true\:6\:0\:true\:false\:true\:true\:true\:true\:true +NVIC.CAN2_RX0_IRQn=true\:5\:0\:true\:false\:true\:true\:true\:true\:true NVIC.CAN2_RX1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true NVIC.DMA1_Stream1_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true NVIC.DMA1_Stream2_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true @@ -432,7 +432,7 @@ PF0.Mode=I2C PF0.Signal=I2C2_SDA PF1.Mode=I2C PF1.Signal=I2C2_SCL -PF6.GPIOParameters=GPIO_Label,GPIO_Speed,GPIO_PuPd +PF6.GPIOParameters=GPIO_Speed,GPIO_PuPd,GPIO_Label PF6.GPIO_Label=IMU_TEMP PF6.GPIO_PuPd=GPIO_PULLUP PF6.GPIO_Speed=GPIO_SPEED_FREQ_HIGH diff --git a/bsp/can/bsp_can.c b/bsp/can/bsp_can.c index 36066d1..0b73035 100644 --- a/bsp/can/bsp_can.c +++ b/bsp/can/bsp_can.c @@ -131,9 +131,9 @@ void CANSetDLC(CANInstance *_instance, uint8_t length) */ static void CANFIFOxCallback(CAN_HandleTypeDef *_hcan, uint32_t fifox) { - static uint8_t can_rx_buff[8]; // 用于保存接收到的数据,static是为了减少栈空间占用,避免重复分配 static CAN_RxHeaderTypeDef rxconf; // 同上 - + uint8_t can_rx_buff[8]; + HAL_CAN_GetRxMessage(_hcan, fifox, &rxconf, can_rx_buff); // 从FIFO中获取数据 for (size_t i = 0; i < idx; ++i) { // 两者相等说明这是要找的实例 diff --git a/bsp/gpio/bsp_gpio.c b/bsp/gpio/bsp_gpio.c index a871709..970b81f 100644 --- a/bsp/gpio/bsp_gpio.c +++ b/bsp/gpio/bsp_gpio.c @@ -15,7 +15,7 @@ static GPIOInstance *gpio_instance[GPIO_MX_DEVICE_NUM] = {NULL}; void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin) { // 如有必要,可以根据pinstate和HAL_GPIO_ReadPin来判断是上升沿还是下降沿/rise&fall等 - static GPIOInstance *gpio; + GPIOInstance *gpio; for (size_t i = 0; i < idx; i++) { gpio = gpio_instance[i]; diff --git a/modules/algorithm/controller.h b/modules/algorithm/controller.h index d9c860f..2a871ea 100644 --- a/modules/algorithm/controller.h +++ b/modules/algorithm/controller.h @@ -65,10 +65,10 @@ typedef struct // improve parameter PID_Improvement_e Improve; - float IntegralLimit; // 积分限幅 - float CoefA; // 变速积分 For Changing Integral - float CoefB; // 变速积分 ITerm = Err*((A-abs(err)+B)/A) when B<|err|id; // 注意写法,将can instance的id强制转换为CANCommInstance*类型 + CANCommInstance *comm = (CANCommInstance *)_instance->id; // 注意写法,将can instance的id强制转换为CANCommInstance*类型 /* 接收状态判断 */ if (_instance->rx_buff[0] == CAN_COMM_HEADER && comm->recv_state == 0) // 之前尚未开始接收且此次包里第一个位置是帧头 diff --git a/modules/daemon/daemon.c b/modules/daemon/daemon.c index e71f057..783d0d5 100644 --- a/modules/daemon/daemon.c +++ b/modules/daemon/daemon.c @@ -33,7 +33,7 @@ uint8_t DaemonIsOnline(DaemonInstance *instance) void DaemonTask() { - static DaemonInstance *dins; // 提高可读性同时降低访存开销 + 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]; diff --git a/modules/imu/ins_task.c b/modules/imu/ins_task.c index b7fa54d..a64a78b 100644 --- a/modules/imu/ins_task.c +++ b/modules/imu/ins_task.c @@ -118,18 +118,10 @@ void INS_Task(void) } BodyFrameToEarthFrame(INS.MotionAccel_b, INS.MotionAccel_n, INS.q); // 转换回导航系n - //获取最终数据 - INS.Accel[X] = INS.Accel[X]*RAD_2_ANGLE; - INS.Accel[Y] = INS.Accel[Y]*RAD_2_ANGLE; - INS.Accel[Z] = INS.Accel[Z]*RAD_2_ANGLE; - INS.Gyro[X] = INS.Gyro[X]*RAD_2_ANGLE; - INS.Gyro[Y] = INS.Gyro[Y]*RAD_2_ANGLE; - INS.Gyro[Z] = INS.Gyro[Z]*RAD_2_ANGLE; INS.Yaw = QEKF_INS.Yaw; INS.Pitch = QEKF_INS.Pitch; INS.Roll = QEKF_INS.Roll; INS.YawTotalAngle = QEKF_INS.YawTotalAngle; - } // temperature control diff --git a/modules/ist8310/ist8310.c b/modules/ist8310/ist8310.c index 851416f..4fe4427 100644 --- a/modules/ist8310/ist8310.c +++ b/modules/ist8310/ist8310.c @@ -29,9 +29,8 @@ static uint8_t ist8310_write_reg_data_error[IST8310_WRITE_REG_NUM][3] = { */ static void IST8310Decode(IICInstance *iic) { - static int16_t temp[3]; // 用于存储解码后的数据 - static IST8310Instance *ist; // 用于存储IST8310实例的指针 - ist = (IST8310Instance *)(iic->id); // iic的id保存了IST8310实例的指针(父指针) + int16_t temp[3]; // 用于存储解码后的数据 + IST8310Instance *ist= (IST8310Instance *)(iic->id); // iic的id保存了IST8310实例的指针(父指针) memcpy(temp, ist->iic_buffer, 6 * sizeof(uint8_t)); // 不要强制转换,直接cpy for (uint8_t i = 0; i < 3; i++) diff --git a/modules/led/led.c b/modules/led/led.c index 4b134ac..f3f4a38 100644 --- a/modules/led/led.c +++ b/modules/led/led.c @@ -10,7 +10,7 @@ LEDInstance *LEDRegister(LED_Init_Config_s *led_config) { LEDInstance *led_ins = (LEDInstance *)zero_malloc(sizeof(LEDInstance)); // 剩下的值暂时都被置零 - led_ins->led_pwm = GPIORegister(&led_config->pwm_config); + led_ins->led_pwm = PWMRegister(&led_config->pwm_config); led_ins->led_switch = led_config->init_swtich; bsp_led_ins[idx++] = led_ins; diff --git a/modules/master_machine/master_process.c b/modules/master_machine/master_process.c index 7bb5282..c80a44a 100644 --- a/modules/master_machine/master_process.c +++ b/modules/master_machine/master_process.c @@ -29,12 +29,10 @@ static DaemonInstance *vision_daemon_instance; */ static void DecodeVision() { - static uint16_t flag_register; + uint16_t flag_register; DaemonReload(vision_daemon_instance); // 喂狗 get_protocol_info(vision_usart_instance->recv_buff, &flag_register, (uint8_t *)&recv_data.pitch); // TODO: code to resolve flag_register; - PrintLog("decode vision"); - } /** @@ -80,9 +78,9 @@ Vision_Recv_s *VisionInit(UART_HandleTypeDef *_handle) */ void VisionSend(Vision_Send_s *send) { - static uint16_t flag_register; - static uint8_t send_buff[VISION_SEND_SIZE]; - static uint16_t tx_len; + uint16_t flag_register; + uint8_t send_buff[VISION_SEND_SIZE]; + uint16_t tx_len; // TODO: code to set flag_register flag_register = 30<<8|0b00000001; // 将数据转化为seasky协议的数据包 diff --git a/modules/motor/DJImotor/dji_motor.c b/modules/motor/DJImotor/dji_motor.c index 40da6b5..898b287 100644 --- a/modules/motor/DJImotor/dji_motor.c +++ b/modules/motor/DJImotor/dji_motor.c @@ -72,7 +72,8 @@ 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) + 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) } } break; @@ -99,7 +100,8 @@ 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) + 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) } } break; @@ -118,13 +120,10 @@ static void MotorSenderGrouping(DJIMotorInstance *motor, CAN_Init_Config_s *conf */ static void DecodeDJIMotor(CANInstance *_instance) { - // 由于需要多次变址访存,直接将buff和measure地址保存在寄存器里避免多次存取 - static uint8_t *rxbuff; - static DJI_Motor_Measure_s *measure; - rxbuff = _instance->rx_buff; // 这里对can instance的id进行了强制转换,从而获得电机的instance实例地址 // _instance指针指向的id是对应电机instance的地址,通过强制转换为电机instance的指针,再通过->运算符访问电机的成员motor_measure,最后取地址获得指针 - measure = &(((DJIMotorInstance *)_instance->id)->motor_measure); // measure要多次使用,保存指针减小访存开销 + uint8_t *rxbuff = _instance->rx_buff; + DJI_Motor_Measure_s *measure = &(((DJIMotorInstance *)_instance->id)->motor_measure); // measure要多次使用,保存指针减小访存开销 // 解析数据并对电流和速度进行滤波,电机的反馈报文具体格式见电机说明手册 measure->last_ecd = measure->ecd; @@ -188,7 +187,7 @@ void DJIMotorChangeFeed(DJIMotorInstance *motor, Closeloop_Type_e loop, Feedback } 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 + 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 } } @@ -217,15 +216,14 @@ void DJIMotorSetRef(DJIMotorInstance *motor, float ref) // 为所有电机实例计算三环PID,发送控制报文 void DJIMotorControl() { - // 预先通过静态变量定义避免反复释放分配栈空间,直接保存一次指针引用从而减小访存的开销 - // 同样可以提高可读性 - static uint8_t group, num; // 电机组号和组内编号 - static int16_t set; // 电机控制CAN发送设定值 - static DJIMotorInstance *motor; - static Motor_Control_Setting_s *motor_setting; // 电机控制参数 - static Motor_Controller_s *motor_controller; // 电机控制器 - static DJI_Motor_Measure_s *motor_measure; // 电机测量值 - static float pid_measure, pid_ref; // 电机PID测量值和设定值 + // 直接保存一次指针引用从而减小访存的开销,同样可以提高可读性 + uint8_t group, num; // 电机组号和组内编号 + int16_t set; // 电机控制CAN发送设定值 + DJIMotorInstance *motor; + Motor_Control_Setting_s *motor_setting; // 电机控制参数 + Motor_Controller_s *motor_controller; // 电机控制器 + DJI_Motor_Measure_s *motor_measure; // 电机测量值 + float pid_measure, pid_ref; // 电机PID测量值和设定值 // 遍历所有电机实例,进行串级PID的计算并设置发送报文的值 for (size_t i = 0; i < idx; ++i) diff --git a/modules/motor/HTmotor/HT04.c b/modules/motor/HTmotor/HT04.c index 38a00ea..ddbf913 100644 --- a/modules/motor/HTmotor/HT04.c +++ b/modules/motor/HTmotor/HT04.c @@ -40,12 +40,9 @@ static float uint_to_float(int x_int, float x_min, float x_max, int bits) */ static void HTMotorDecode(CANInstance *motor_can) { - static uint16_t tmp; // 用于暂存解析值,稍后转换成float数据,避免多次创建临时变量 - static HTMotor_Measure_t *measure; - static uint8_t *rxbuff; - - rxbuff = motor_can->rx_buff; - measure = &((HTMotorInstance *)motor_can->id)->motor_measure; // 将can实例中保存的id转换成电机实例的指针 + uint16_t tmp; // 用于暂存解析值,稍后转换成float数据,避免多次创建临时变量 + uint8_t *rxbuff = motor_can->rx_buff; + HTMotor_Measure_t *measure = &((HTMotorInstance *)motor_can->id)->motor_measure; // 将can实例中保存的id转换成电机实例的指针 measure->last_angle = measure->total_angle; @@ -89,12 +86,12 @@ void HTMotorSetRef(HTMotorInstance *motor, float ref) void HTMotorControl() { - static float set, pid_measure, pid_ref; - static uint16_t tmp; - static HTMotorInstance *motor; - static HTMotor_Measure_t *measure; - static Motor_Control_Setting_s *setting; - static CANInstance *motor_can; + float set, pid_measure, pid_ref; + uint16_t tmp; + HTMotorInstance *motor; + HTMotor_Measure_t *measure; + Motor_Control_Setting_s *setting; + CANInstance *motor_can; // 遍历所有电机实例,计算PID for (size_t i = 0; i < idx; i++) diff --git a/modules/motor/LKmotor/LK9025.c b/modules/motor/LKmotor/LK9025.c index a8b6f43..4bdb70f 100644 --- a/modules/motor/LKmotor/LK9025.c +++ b/modules/motor/LKmotor/LK9025.c @@ -13,8 +13,8 @@ static CANInstance *sender_instance; // 多电机发送时使用的caninstance( */ static void LKMotorDecode(CANInstance *_instance) { - static LKMotor_Measure_t *measure; - static uint8_t *rx_buff; + LKMotor_Measure_t *measure; + uint8_t *rx_buff; rx_buff = _instance->rx_buff; measure = &(((LKMotorInstance *)_instance->id)->measure); // 通过caninstance保存的id获取对应的motorinstance @@ -72,11 +72,11 @@ LKMotorInstance *LKMotorInit(Motor_Init_Config_s *config) /* 第一个电机的can instance用于发送数据,向其tx_buff填充数据 */ void LKMotorControl() { - static float pid_measure, pid_ref; - static int16_t set; - static LKMotorInstance *motor; - static LKMotor_Measure_t *measure; - static Motor_Control_Setting_s *setting; + float pid_measure, pid_ref; + int16_t set; + LKMotorInstance *motor; + LKMotor_Measure_t *measure; + Motor_Control_Setting_s *setting; for (size_t i = 0; i < idx; ++i) { diff --git a/modules/motor/motor_def.h b/modules/motor/motor_def.h index e3cfa28..482e4bf 100644 --- a/modules/motor/motor_def.h +++ b/modules/motor/motor_def.h @@ -55,6 +55,7 @@ typedef enum MOTOR_DIRECTION_NORMAL = 0, MOTOR_DIRECTION_REVERSE = 1 } Motor_Reverse_Flag_e; + /* 反馈量正反标志 */ typedef enum { diff --git a/modules/motor/servo_motor/servo_motor.c b/modules/motor/servo_motor/servo_motor.c index 41145d0..e5c4564 100644 --- a/modules/motor/servo_motor/servo_motor.c +++ b/modules/motor/servo_motor/servo_motor.c @@ -82,7 +82,7 @@ void Servo_Motor_Type_Select(ServoInstance *Servo_Motor, int16_t mode) */ void ServeoMotorControl() { - static ServoInstance *Servo_Motor; + ServoInstance *Servo_Motor; for (size_t i = 0; i < servo_idx; i++) { diff --git a/modules/remote/remote_control.c b/modules/remote/remote_control.c index 7e4361f..cc58fee 100644 --- a/modules/remote/remote_control.c +++ b/modules/remote/remote_control.c @@ -112,12 +112,13 @@ static void RemoteControlRxCallback() } /** - * @brief + * @brief 遥控器离线的回调函数,注册到守护进程中,串口掉线时调用 * */ -static void RCLostCallback() +static void RCLostCallback(void *id) { // @todo 遥控器丢失的处理 + USARTServiceInit(rc_usart_instance); // 尝试重新启动接收 } RC_ctrl_t *RemoteControlInit(UART_HandleTypeDef *rc_usart_handle) @@ -131,9 +132,9 @@ RC_ctrl_t *RemoteControlInit(UART_HandleTypeDef *rc_usart_handle) // 进行守护进程的注册,用于定时检查遥控器是否正常工作 // @todo 当前守护进程直接在这里注册,后续考虑将其封装到遥控器的初始化函数中,即可以让用户决定reload_count的值(是否有必要?) Daemon_Init_Config_s daemon_conf = { - .reload_count = 100, // 100ms,遥控器的接收频率实际上是1000/14Hz(大约70) - .callback = NULL, // 后续考虑重新启动遥控器对应串口的传输 - .owner_id = NULL, // 只有1个遥控器,不需要owner_id + .reload_count = 10, // 100ms未收到数据视为离线,遥控器的接收频率实际上是1000/14Hz(大约70Hz) + .callback = RCLostCallback, + .owner_id = NULL, // 只有1个遥控器,不需要owner_id }; rc_daemon_instance = DaemonRegister(&daemon_conf); diff --git a/modules/super_cap/super_cap.c b/modules/super_cap/super_cap.c index 607a137..eb86749 100644 --- a/modules/super_cap/super_cap.c +++ b/modules/super_cap/super_cap.c @@ -13,8 +13,8 @@ static SuperCapInstance *super_cap_instance = NULL; // 可以由app保存此指 static void SuperCapRxCallback(CANInstance *_instance) { - static uint8_t *rxbuff; - static SuperCap_Msg_s *Msg; + uint8_t *rxbuff; + SuperCap_Msg_s *Msg; rxbuff = _instance->rx_buff; Msg = &super_cap_instance->cap_msg; Msg->vol = (uint16_t)(rxbuff[0] << 8 | rxbuff[1]); diff --git a/如何定位bug.md b/如何定位bug.md index a2e521f..f82395c 100644 --- a/如何定位bug.md +++ b/如何定位bug.md @@ -87,7 +87,7 @@ long long的范围比float小。无符号和有符号数直接转换可能变成 -## 典型debug案例 +## 典型debug案例一 这是一个结合了软件和硬件且有多模块耦合的异常。该bug发生在调试平衡步兵的底盘过程当中。 @@ -159,3 +159,15 @@ void MotorControlTask() 均衡总线负载，调节任务运行时间。 + + +# 典型debug案例二 + +这仍然是一个CAN总线引发的bug。使用的电机均为DJI电机。当多个电机接入时，会产生反馈值跳变的情况。起初认为**总线负载过高**，（控制频率为500Hz，反馈频率均为1kHz，计算之后得出CAN的负载率接近90%），但将电机减少为一半甚至更少时仍然出现此问题。**单独使用CAN1且仅挂载一个电机则问题消失**，同时使用CAN1和CAN2（不论单个总线挂载几个电机）则问题再次出现。 + +**单步调试发现反馈值并未因指针越界而被纂改**。仔细检查代码的计算发现并未出错，打开Ozone查看反馈值曲线，发现确实偶发跳变，但跳变值并未超出反馈值范围，即即使发生跳变值仍然在**正常范围内**，因此不像是总线负载过大导致数据帧错误或指针越界修改的随机值。加入多个电机同时查看反馈值，**发现反馈跳变之后会和另一电机的反馈值相同**，呈现“你跳到我我跳到你”的图景。怀疑CAN中断被**重入**，即一个中断未完成时另一个CAN报文到来，打断了当前的中断并执行了**相同的反馈解码函数**。但CAN1和CAN2的中断优先级均为5，因此不可能打断彼此。打开CubeMX查看初始化配置，发现两个CAN的FIFO0和FIFO1中断优先级不同，分别是5和6。则FIFO1的溢出中断会被FIFO0打断，且我们在电机的解码函数中使用了一些**静态变量**用于存储触发接收中断的电机报文的相关信息，故而新进入的中断覆写了之前中断的静态变量值，使得之前中断在恢复之后存储了前者的值，导致自身反馈错误。 + +将优先级统一设为5，编译之后重新运行，反馈值正常。 + +> “同时使用CAN1和CAN2（不论几个电机）则问题再次出现。” 导致此问题的原因是初始化CAN时按照rxid分配FIFO，因此注册的电机会被交替分配到不同的FIFO，故不论注册了几个电机（只要多于2）、注册到哪条总线都会出现FIFO1中断被FIFO0打断的情况。 +