HFUT_Firmament_EC
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sentry_chassis_hzz
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change all memory management to heap instead of stack

This commit is contained in:
NeoZng 2022-10-20 21:38:48 +08:00
parent a3a95768e6
commit f46a463449
9 changed files with 64 additions and 74 deletions
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4
.vscode/settings.json vendored
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@ -29,6 +29,8 @@
"stdlib.h": "c", "stdlib.h": "c",
"lk9025.h": "c", "lk9025.h": "c",
"dji_motor.h": "c", "dji_motor.h": "c",
"ht04.h": "c" "ht04.h": "c",
"controller.h": "c",
"memory.h": "c"
} }
} }

19
bsp/bsp_can.c
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@ -52,17 +52,22 @@ static void CANServiceInit()
HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO1_MSG_PENDING); HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO1_MSG_PENDING);
} }
void CANRegister(can_instance* _instance) can_instance* CANRegister(uint8_t tx_id,uint8_t rx_id,CAN_HandleTypeDef* can_handle,can_callback module_callback)
{ {
static uint8_t instance_idx; static uint8_t idx;
if(!instance_idx) if(!idx)
{ {
CANServiceInit(); CANServiceInit();
} }
_instance->rx_buff=(uint8_t*)malloc(8*sizeof(uint8_t)); instance[idx]=(can_instance*)malloc(sizeof(can_instance));
_instance->tx_buff=(uint8_t*)malloc(8*sizeof(uint8_t)); instance[idx]->can_handle=can_handle;
CANAddFilter(_instance); instance[idx]->tx_id=tx_id;
instance[instance_idx++]=_instance; instance[idx]->rx_id=rx_id;
instance[idx]->can_module_callback=module_callback;
instance[idx]->tx_buff=(uint8_t*)malloc(8*sizeof(uint8_t));
instance[idx]->rx_buff=(uint8_t*)malloc(8*sizeof(uint8_t));
CANAddFilter(instance[idx]);
return instance[idx++];
} }
void CANTransmit(can_instance* _instance) void CANTransmit(can_instance* _instance)

11
bsp/bsp_can.h
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@ -9,9 +9,6 @@
#define MX_CAN_FILTER_CNT (4 * 14) // temporarily useless #define MX_CAN_FILTER_CNT (4 * 14) // temporarily useless
#define DEVICE_CAN_CNT 2 // CAN1,CAN2 #define DEVICE_CAN_CNT 2 // CAN1,CAN2
/* module callback,which resolve protocol when new mesg arrives*/
/* can instance typedef, every module registered to CAN should have this variable */ /* can instance typedef, every module registered to CAN should have this variable */
typedef struct tmp typedef struct tmp
{ {
@ -24,6 +21,9 @@ typedef struct tmp
void (*can_module_callback)(struct tmp*); // callback needs an instance to tell among registered ones void (*can_module_callback)(struct tmp*); // callback needs an instance to tell among registered ones
} can_instance; } can_instance;
/* module callback,which resolve protocol when new mesg arrives*/
typedef void (*can_callback)(can_instance*);
/** /**
* @brief transmit mesg through CAN device * @brief transmit mesg through CAN device
* *
@ -34,13 +34,10 @@ void CANTransmit(can_instance* _instance);
/** /**
* @brief Register a module to CAN service,remember to call this before using a CAN device * @brief Register a module to CAN service,remember to call this before using a CAN device
* *
* @attention tx_id, rx_id, can_handle and module_callback should be set before calling this func
* for the rest configs, this func will do for you
*
* @param _instance can instance owned by a specific device, remember to initialize it! * @param _instance can instance owned by a specific device, remember to initialize it!
* *
*/ */
void CANRegister(can_instance* _instance); can_instance* CANRegister(uint8_t tx_id,uint8_t rx_id,CAN_HandleTypeDef* can_handle,can_callback module_callback);
#endif #endif

59
modules/motor/HT04.c
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@ -3,18 +3,6 @@
joint_instance* joint_motor_info[HT_MOTOR_CNT]; joint_instance* joint_motor_info[HT_MOTOR_CNT];
void HTMotorInit(joint_instance* _instance,CAN_HandleTypeDef* _hcan,uint8_t tx_id,uint8_t rx_id)
{
static uint8_t idx;
_instance->motor_can_instace.can_handle=_hcan;
_instance->motor_can_instace.tx_id=tx_id;
_instance->motor_can_instace.rx_id=rx_id;
_instance->motor_can_instace.can_module_callback=DecodeJoint;
CANRegister(&_instance->motor_can_instace);
joint_motor_info[idx++]=_instance;
}
static uint16_t float_to_uint(float x, float x_min, float x_max, uint8_t bits) static uint16_t float_to_uint(float x, float x_min, float x_max, uint8_t bits)
{ {
float span = x_max - x_min; float span = x_max - x_min;
@ -29,25 +17,7 @@ static float uint_to_float(int x_int, float x_min, float x_max, int bits)
return ((float)x_int)*span/((float)((1<<bits)-1)) + offset; return ((float)x_int)*span/((float)((1<<bits)-1)) + offset;
} }
void JointControl(joint_instance* _instance,float current) static void DecodeJoint(can_instance* motor_instance)
{
uint16_t tmp;
LIMIT_MIN_MAX(current, T_MIN, T_MAX);
tmp = float_to_uint(current, T_MIN, T_MAX, 12);
_instance->motor_can_instace.rx_buff[6] = tmp>>8;
_instance->motor_can_instace.rx_buff[7] = tmp&0xff;
CANTransmit(&_instance->motor_can_instace);
}
void SetJointMode(joint_mode cmd,joint_instance* _instance)
{
static uint8_t buf[8] = {0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x00};
buf[7]=(uint8_t)cmd;
memcpy(_instance->motor_can_instace.rx_buff,buf,8*sizeof(uint8_t));
CANTransmit(&_instance->motor_can_instace);
}
void DecodeJoint(can_instance* motor_instance)
{ {
uint16_t tmp; uint16_t tmp;
for (size_t i = 0; i < HT_MOTOR_CNT; i++) for (size_t i = 0; i < HT_MOTOR_CNT; i++)
@ -64,4 +34,29 @@ void DecodeJoint(can_instance* motor_instance)
break; break;
} }
} }
} }
joint_instance* HTMotorInit(CAN_HandleTypeDef* _hcan,uint8_t tx_id,uint8_t rx_id)
{
static uint8_t idx;
joint_motor_info[idx]=(joint_instance*)malloc(sizeof(joint_instance));
joint_motor_info[idx++]->motor_can_instace=CANRegister(tx_id,rx_id,_hcan,DecodeJoint);
}
void JointControl(joint_instance* _instance,float current)
{
uint16_t tmp;
LIMIT_MIN_MAX(current, T_MIN, T_MAX);
tmp = float_to_uint(current, T_MIN, T_MAX, 12);
_instance->motor_can_instace->rx_buff[6] = tmp>>8;
_instance->motor_can_instace->rx_buff[7] = tmp&0xff;
CANTransmit(&_instance->motor_can_instace);
}
void SetJointMode(joint_mode cmd,joint_instance* _instance)
{
static uint8_t buf[8] = {0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x00};
buf[7]=(uint8_t)cmd;
memcpy(_instance->motor_can_instace->rx_buff,buf,8*sizeof(uint8_t));
CANTransmit(&_instance->motor_can_instace);
}

5
modules/motor/HT04.h
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@ -22,7 +22,7 @@ typedef struct //HT04
float given_current; float given_current;
PID_t pid; PID_t pid;
can_instance motor_can_instace; can_instance* motor_can_instace;
} joint_instance; } joint_instance;
typedef enum typedef enum
@ -32,11 +32,10 @@ typedef enum
CMD_ZERO_POSITION = 0xfe CMD_ZERO_POSITION = 0xfe
} joint_mode; } joint_mode;
void HTMotorInit(joint_instance* _instance,CAN_HandleTypeDef* _hcan,uint8_t tx_id,uint8_t rx_id); joint_instance* HTMotorInit(CAN_HandleTypeDef* _hcan,uint8_t tx_id,uint8_t rx_id);
void JointControl(joint_instance* _instance,float current); void JointControl(joint_instance* _instance,float current);
void SetJointMode(joint_mode cmd,joint_instance* _instance); void SetJointMode(joint_mode cmd,joint_instance* _instance);
void DecodeJoint(can_instance* motor_instance);
#endif // !HT04_H#define HT04_H #endif // !HT04_H#define HT04_H

18
modules/motor/LK9025.c
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@ -18,25 +18,21 @@ static void DecodeDriven(can_instance* _instance)
} }
} }
void LKMotroInit(driven_instance* instance,CAN_HandleTypeDef* _hcan,uint8_t tx_id,uint8_t rx_id) driven_instance* LKMotroInit(CAN_HandleTypeDef* _hcan,uint8_t tx_id,uint8_t rx_id)
{ {
static uint8_t idx; static uint8_t idx;
instance->motor_can_instance.can_module_callback=DecodeDriven; driven_motor_info[idx]=(driven_instance*)malloc(sizeof(driven_instance));
instance->motor_can_instance.can_handle=_hcan; driven_motor_info[idx++]->motor_can_instance=CANRegister(tx_id,rx_id,_hcan,DecodeDriven);
instance->motor_can_instance.tx_id=tx_id;
instance->motor_can_instance.rx_id=rx_id;
CANRegister(&instance->motor_can_instance);
driven_motor_info[idx++]=instance;
} }
void DrivenControl(int16_t motor1_current,int16_t motor2_current) void DrivenControl(int16_t motor1_current,int16_t motor2_current)
{ {
LIMIT_MIN_MAX(motor1_current, I_MIN, I_MAX); LIMIT_MIN_MAX(motor1_current, I_MIN, I_MAX);
LIMIT_MIN_MAX(motor2_current, I_MIN, I_MAX); LIMIT_MIN_MAX(motor2_current, I_MIN, I_MAX);
driven_motor_info[0]->motor_can_instance.tx_buff[0] = motor1_current; driven_motor_info[0]->motor_can_instance->tx_buff[0] = motor1_current;
driven_motor_info[0]->motor_can_instance.tx_buff[1] = motor1_current>>8; driven_motor_info[0]->motor_can_instance->tx_buff[1] = motor1_current>>8;
driven_motor_info[0]->motor_can_instance.tx_buff[2] = motor2_current; driven_motor_info[0]->motor_can_instance->tx_buff[2] = motor2_current;
driven_motor_info[0]->motor_can_instance.tx_buff[3] = motor2_current>>8; driven_motor_info[0]->motor_can_instance->tx_buff[3] = motor2_current>>8;
CANTransmit(&driven_motor_info[0]->motor_can_instance); CANTransmit(&driven_motor_info[0]->motor_can_instance);
} }

6
modules/motor/LK9025.h
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@ -19,8 +19,8 @@ typedef struct //9025
int16_t given_current; int16_t given_current;
uint8_t temperate; uint8_t temperate;
PID_t pid; PID_t* pid;
can_instance motor_can_instance; can_instance* motor_can_instance;
} driven_instance; } driven_instance;
@ -29,7 +29,7 @@ typedef enum
unused = 0, unused = 0,
} driven_mode; } driven_mode;
void LKMotroInit(driven_instance* instance,CAN_HandleTypeDef* _hcan,uint8_t tx_id,uint8_t rx_id); driven_instance* LKMotroInit(CAN_HandleTypeDef* _hcan,uint8_t tx_id,uint8_t rx_id);
void DrivenControl(int16_t motor1_current,int16_t motor2_current); void DrivenControl(int16_t motor1_current,int16_t motor2_current);

12
modules/motor/dji_motor.c
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@ -7,7 +7,7 @@ static void DecodeDJIMotor(can_instance* _instance)
{ {
for (size_t i = 0; i < DJI_MOTOR_CNT; i++) for (size_t i = 0; i < DJI_MOTOR_CNT; i++)
{ {
if(&dji_motor_info[i]->motor_can_instance==_instance) if(dji_motor_info[i]->motor_can_instance==_instance)
{ {
dji_motor_info[i]->last_ecd = dji_motor_info[i]->ecd; dji_motor_info[i]->last_ecd = dji_motor_info[i]->ecd;
dji_motor_info[i]->ecd = (uint16_t)(_instance->rx_buff[0] << 8 | _instance->rx_buff[1]); dji_motor_info[i]->ecd = (uint16_t)(_instance->rx_buff[0] << 8 | _instance->rx_buff[1]);
@ -19,15 +19,11 @@ static void DecodeDJIMotor(can_instance* _instance)
} }
} }
void DJIMotorInit(dji_motor_instance* motor_instance,CAN_HandleTypeDef* _hcan,uint16_t tx_id,uint16_t rx_id) dji_motor_instance* DJIMotorInit(CAN_HandleTypeDef* _hcan,uint16_t tx_id,uint16_t rx_id)
{ {
static uint8_t idx; static uint8_t idx;
motor_instance->motor_can_instance.can_handle=_hcan; dji_motor_info[idx]=(dji_motor_instance*)malloc(sizeof(dji_motor_instance));
motor_instance->motor_can_instance.tx_id=tx_id; dji_motor_info[idx++]->motor_can_instance=CANRegister(tx_id,rx_id,_hcan,DecodeDJIMotor);
motor_instance->motor_can_instance.rx_id=rx_id;
motor_instance->motor_can_instance.can_module_callback=DecodeDJIMotor;
CANRegister(&motor_instance->motor_can_instance);
dji_motor_info[idx++]=motor_instance;
} }
void DJIMotorControl() void DJIMotorControl()

4
modules/motor/dji_motor.h
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@ -15,11 +15,11 @@ typedef struct
int16_t last_ecd; int16_t last_ecd;
PID_t motor_pid; PID_t motor_pid;
can_instance motor_can_instance; can_instance *motor_can_instance;
} dji_motor_instance; } dji_motor_instance;
void DJIMotorInit(dji_motor_instance* motor_instace,CAN_HandleTypeDef* _hcan,uint16_t tx_id,uint16_t rx_id); dji_motor_instance* DJIMotorInit(CAN_HandleTypeDef* _hcan,uint16_t tx_id,uint16_t rx_id);
void DJIMotorControl(); void DJIMotorControl();