增加了CANcomm的守护线程

application/balance_chassis/balance.c

@@ -284,14 +284,35 @@ void BalanceInit()
 
     Motor_Init_Config_s joint_conf = {
         // 写一个,剩下的修改方向和id即可
-
+        .can_init_config = {
+            .can_handle = &hcan1,
+        },
+        .controller_param_init_config = {
+            .current_PID = {
+                .Kp = 1,
+            },
+        },
+        .controller_setting_init_config = {
+            .close_loop_type = CURRENT_LOOP,
+            .outer_loop_type = CURRENT_LOOP,
+            .motor_reverse_flag = FEEDBACK_DIRECTION_NORMAL,
+            .angle_feedback_source = MOTOR_FEED,
+            .speed_feedback_source = MOTOR_FEED,
+        },
+        .motor_type = HT04,
     };
+
+    joint_conf.can_init_config.tx_id = 1;
+    joint_conf.can_init_config.rx_id = 11;
     lf = HTMotorInit(&joint_conf);
-
-    rf = HTMotorInit(&joint_conf);
-
+    joint_conf.can_init_config.tx_id = 2;
+    joint_conf.can_init_config.rx_id = 12;
     lb = HTMotorInit(&joint_conf);
-
+    joint_conf.can_init_config.tx_id = 3;
+    joint_conf.can_init_config.rx_id = 13;
+    rf = HTMotorInit(&joint_conf);
+    joint_conf.can_init_config.tx_id = 4;
+    joint_conf.can_init_config.rx_id = 14;
     rb = HTMotorInit(&joint_conf);
 
     // ↓↓↓---------------驱动电机初始化----------------↓↓↓
@@ -300,10 +321,7 @@ void BalanceInit()
         .can_init_config.can_handle = &hcan1,
         .controller_param_init_config = {
             .current_PID = {
-                .Kp = 1,
-                .Ki = 0,
-                .Kd = 0,
-                .MaxOut = 500,
+                .Kp = 274.348,
             },
         },
         .controller_setting_init_config = {
@@ -311,12 +329,12 @@ void BalanceInit()
             .speed_feedback_source = MOTOR_FEED,
             .outer_loop_type = CURRENT_LOOP,
             .close_loop_type = CURRENT_LOOP,
+            .motor_reverse_flag = MOTOR_DIRECTION_NORMAL,
         },
         .motor_type = LK9025,
     };
     driven_conf.can_init_config.tx_id = 1;
     l_driven = LKMotorInit(&driven_conf);
-
     driven_conf.can_init_config.tx_id = 2;
     r_driven = LKMotorInit(&driven_conf);
 

modules/can_comm/can_comm.c

@@ -60,6 +60,7 @@ static void CANCommRxCallback(CANInstance *_instance)
                 { // 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
+                    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
                 }
             }
             CANCommResetRx(comm);
@@ -84,6 +85,13 @@ CANCommInstance *CANCommInit(CANComm_Init_Config_s *comm_config)
     comm_config->can_config.id = ins; // CANComm的实例指针作为CANInstance的id,回调函数中会用到
     comm_config->can_config.can_module_callback = CANCommRxCallback;
     ins->can_ins = CANRegister(&comm_config->can_config);
+
+    Daemon_Init_Config_s daemon_config = {
+        .callback = NULL,
+        .owner_id = (void *)ins,
+        .reload_count = comm_config->daemon_count,
+    };
+    ins->comm_daemon = DaemonRegister(&daemon_config);
     return ins;
 }
 
@@ -110,4 +118,9 @@ void *CANCommGet(CANCommInstance *instance)
 {
     instance->update_flag = 0; // 读取后将更新flag置为0
     return instance->unpacked_recv_data;
-}
+}
+
+uint8_t CANCommIsOnline(CANCommInstance *instance)
+{
+    return DaemonIsOnline(instance->comm_daemon);
+}

modules/can_comm/can_comm.h

@@ -12,6 +12,7 @@
 #define CAN_COMM_H
 
 #include "bsp_can.h"
+#include "daemon.h"
 
 #define MX_CAN_COMM_COUNT 4 // 注意均衡负载,一条总线上不要挂载过多的外设
 
@@ -38,6 +39,8 @@ typedef struct
     uint8_t recv_state;   // 接收状态,
     uint8_t cur_recv_len; // 当前已经接收到的数据长度(包括帧头帧尾datalen和校验和)
     uint8_t update_flag;  // 数据更新标志位,当接收到新数据时,会将此标志位置1,调用CANCommGet()后会将此标志位置0
+
+    DaemonInstance* comm_daemon;
 } CANCommInstance;
 #pragma pack()
 
@@ -47,6 +50,8 @@ typedef struct
     CAN_Init_Config_s can_config; // CAN初始化结构体
     uint8_t send_data_len;        // 发送数据长度
     uint8_t recv_data_len;        // 接收数据长度
+
+    uint16_t daemon_count; // 守护进程计数,用于初始化守护进程
 } CANComm_Init_Config_s;
 
 /**
@@ -76,4 +81,12 @@ void CANCommSend(CANCommInstance *instance, uint8_t *data);
  */
 void *CANCommGet(CANCommInstance *instance);
 
+/**
+ * @brief 检查CANComm是否在线
+ * 
+ * @param instance 
+ * @return uint8_t 
+ */
+uint8_t CANCommIsOnline(CANCommInstance *instance);
+
 #endif // !CAN_COMM_H