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修改WDT以及增加转台

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liumin
2025-10-21 19:13:44 +08:00
parent 8242f618d1
commit 8cc4755d15
13 changed files with 988 additions and 329 deletions
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111
interface_can.c
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@@ -9,7 +9,7 @@
#include "app/app_differential_drive.h"
#include "app/app_param_manage.h"
#include "app/app_ultrasonic.h"
#include "app/app_turntable.h"
uint32_t OTA_CANTxID = 0x02;//Ĭ<>Ϸ<EFBFBD><CFB7><EFBFBD>IDΪ0x02
@@ -533,6 +533,8 @@ void flexcan_Receive_callback_5(flexcan_handle_t *handle,
flexcan_status_e status, uint32_t result,
void *userData)
{
flexcan_frame_t *buf = (flexcan_frame_t *)userData;
uint8_t i = 0;
//--------------------------------------------------------------
switch (status)
{
@@ -540,7 +542,33 @@ void flexcan_Receive_callback_5(flexcan_handle_t *handle,
break;
case FLEXCAN_RX_FIFO_IDLE:
if( PITCH_MOTOR_RxCANID == ( (buf->id) & MOTOR_RxCAN_Mask) )
{
un_pitch_intput.rx_can_id.raw = (buf->id);
for(i = 0; i < (buf->length); i++)
{
un_pitch_intput.rx_can_data.arr[i] = buf->dataBuffer[i];
}
}
else if( RIGHT_MOTOR_RxCANID == ( (buf->id) & MOTOR_RxCAN_Mask) )
{
un_right_intput.rx_can_id.raw = (buf->id);
for(i = 0; i < (buf->length); i++)
{
un_right_intput.rx_can_data.arr[i] = buf->dataBuffer[i];
}
}
else if( TURN_MOTOR_RxCANID == ( (buf->id) & MOTOR_RxCAN_Mask) )
{
un_turn_intput.rx_can_id.raw = (buf->id);
for(i = 0; i < (buf->length); i++)
{
un_turn_intput.rx_can_data.arr[i] = buf->dataBuffer[i];
}
}
else{}
break;
case FLEXCAN_TX_IDLE:
@@ -584,6 +612,7 @@ void flexcan_Receive_callback_6(flexcan_handle_t *handle,
break;
case FLEXCAN_RX_FIFO_IDLE:
if(OTA_CANRxID == (buf->id))//IDΪ1<CEAA><31> boot<6F><74><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
{
boot_can_flag = true;
@@ -605,7 +634,8 @@ void flexcan_Receive_callback_6(flexcan_handle_t *handle,
}
publishMessage(&un_ultrasonic_input1, 1);
}
else{}
else{}
break;
case FLEXCAN_TX_IDLE:
@@ -664,6 +694,13 @@ void flexcan_Receive_callback_7(flexcan_handle_t *handle,
// printf("ori_remote_stop: %d\n", un_remote_control_input.bit_data.switch_b);
}
else if(REMOTE_ID_1 == (buf->id))
{
for(i = 0; i < (buf->length); i++)
{
un_remote_control_input.arr[i+8] = buf->dataBuffer[i];
}
}
else
{
}
@@ -1014,24 +1051,35 @@ void canTimerProcess(void *signal_id)
}
//static void processSdoOutput1(void *signal_id)
//{
// (void)signal_id; // <20><><EFBFBD>DZ<EFBFBD><C7B1><EFBFBD>Ϊ<EFBFBD><CEAA>ʹ<EFBFBD>ã<EFBFBD><C3A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// CAN_Send_Msg(&can_handle_3, 0x601, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, (uint8_t *)&un_sdo_output1, 8, 15);//
//}
//
//static void processSdoOutput2(void *signal_id)
//{
// (void)signal_id; // <20><><EFBFBD>DZ<EFBFBD><C7B1><EFBFBD>Ϊ<EFBFBD><CEAA>ʹ<EFBFBD>ã<EFBFBD><C3A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// CAN_Send_Msg(&can_handle_3, 0x601, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, (uint8_t *)&un_sdo_output2, 8, 16);
//}
//
//static void processSdoOutput3(void *signal_id)
//{
// (void)signal_id; // <20><><EFBFBD>DZ<EFBFBD><C7B1><EFBFBD>Ϊ<EFBFBD><CEAA>ʹ<EFBFBD>ã<EFBFBD><C3A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// CAN_Send_Msg(&can_handle_3, 0x601, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, (uint8_t *)&un_sdo_output3, 8, 17);
//}
//
static void processSdoOutput1(void *signal_id)
{
(void)signal_id; // <20><><EFBFBD>DZ<EFBFBD><C7B1><EFBFBD>Ϊ<EFBFBD><CEAA>ʹ<EFBFBD>ã<EFBFBD><C3A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// CAN_Send_Msg(&can_handle_5, un_sdo_output1.tx_can_id.raw, FLEXCAN_EXTEND_FRAME, FLEXCAN_FrameTypeData, (uint8_t *)&un_sdo_output1.tx_can_data.arr[0], 8, 15);//
}
static void processSdoOutput2(void *signal_id)
{
(void)signal_id; // <20><><EFBFBD>DZ<EFBFBD><C7B1><EFBFBD>Ϊ<EFBFBD><CEAA>ʹ<EFBFBD>ã<EFBFBD><C3A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
CAN_Send_Msg(&can_handle_6, un_sdo_output2.tx_can_id.raw, FLEXCAN_EXTEND_FRAME, FLEXCAN_FrameTypeData, (uint8_t *)&un_sdo_output2.tx_can_data.arr[0], 8, 16);
}
static void processSdoOutput3(void *signal_id)
{
(void)signal_id; // <20><><EFBFBD>DZ<EFBFBD><C7B1><EFBFBD>Ϊ<EFBFBD><CEAA>ʹ<EFBFBD>ã<EFBFBD><C3A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// CAN_Send_Msg(&can_handle_5, un_sdo_output3.tx_can_id.raw, FLEXCAN_EXTEND_FRAME, FLEXCAN_FrameTypeData, (uint8_t *)&un_sdo_output3.tx_can_data.arr[0], 8, 17);
}
static void processSdoOutput4(void *signal_id)
{
(void)signal_id; // <20><><EFBFBD>DZ<EFBFBD><C7B1><EFBFBD>Ϊ<EFBFBD><CEAA>ʹ<EFBFBD>ã<EFBFBD><C3A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// CAN_Send_Msg(&can_handle_5, un_sdo_output4.tx_can_id.raw, FLEXCAN_EXTEND_FRAME, FLEXCAN_FrameTypeData, (uint8_t *)&un_sdo_output4.tx_can_data.arr[0], 8, 18);
}
static void processSdoOutput5(void *signal_id)
{
(void)signal_id; // <20><><EFBFBD>DZ<EFBFBD><C7B1><EFBFBD>Ϊ<EFBFBD><CEAA>ʹ<EFBFBD>ã<EFBFBD><C3A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// CAN_Send_Msg(&can_handle_5, un_sdo_output5.tx_can_id.raw, FLEXCAN_EXTEND_FRAME, FLEXCAN_FrameTypeData, (uint8_t *)&un_sdo_output5.tx_can_data.arr[0], 8, 19);
}
//static void processSdoOutput4(void *signal_id)
//{
// (void)signal_id; // <20><><EFBFBD>DZ<EFBFBD><C7B1><EFBFBD>Ϊ<EFBFBD><CEAA>ʹ<EFBFBD>ã<EFBFBD><C3A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
@@ -1147,7 +1195,7 @@ static void processUnGatherOutput(void *signal_id)
static void processUltrasonicOutput(void *signal_id)
{
(void)signal_id; // <20><><EFBFBD>DZ<EFBFBD><C7B1><EFBFBD>Ϊ<EFBFBD><CEAA>ʹ<EFBFBD>ã<EFBFBD><C3A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
CAN_Send_Msg(&can_handle_6, ULTRASONIC_ID_1, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, (uint8_t *)&un_ultrasonic_output1, 8, 15);//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
CAN_Send_Msg(&can_handle_6, ULTRASONIC_ID_1, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, (uint8_t *)&un_ultrasonic_output1, 8, 18);//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
}
//static void processHBridgeOutput2(void *signal_id)
@@ -1254,7 +1302,7 @@ void canSendAll(void *signal_id)
// CAN_Send_Msg(&can_handle_3, 0x123, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, CanData, 8, 16);//BMS<4D><53><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// CAN_Send_Msg(&can_handle_4, 0x124, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, CanData, 8, 16);//BMS<4D><53><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// CAN_Send_Msg(&can_handle_5, 0x125, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, CanData, 8, 16);//BMS<4D><53><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
CAN_Send_Msg(&can_handle_6, 0x126, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, &un_can_debug_output.arr[0], 8, 16);//BMS<4D><53><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// CAN_Send_Msg(&can_handle_6, 0x126, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, &un_can_debug_output.arr[0], 8, 19);//BMS<4D><53><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// CAN_Send_Msg(&can_handle_7, 0x127, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, CanData, 8, 16);//BMS<4D><53><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
}
//
@@ -1373,20 +1421,17 @@ void canInterfaceInit(void)
subscribe(&un_sw_sample, canInterfaceInput); // <20><>ͣ<EFBFBD><CDA3><EFBFBD>ء<EFBFBD><D8A1><EFBFBD>ѹ<EFBFBD><D1B9><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>ѱ<EFBFBD>־
subscribe(&un_ultrasonic_output1, processUltrasonicOutput); // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// subscribe(&un_h_bridge_output2, processHBridgeOutput2);
// subscribe(&un_lifter_output, processLifterOutput);
// subscribe(&un_sdo_output1, processSdoOutput1);
// subscribe(&un_sdo_output2, processSdoOutput2);
// subscribe(&un_sdo_output3, processSdoOutput3);
// subscribe(&un_sdo_output4, processSdoOutput4);
subscribe(&un_sdo_output1, processSdoOutput1);
subscribe(&un_sdo_output2, processSdoOutput2);
subscribe(&un_sdo_output3, processSdoOutput3);
subscribe(&un_sdo_output4, processSdoOutput4);
subscribe(&un_sdo_output5, processSdoOutput5);
// subscribe(&un_sdo_output5, processSdoOutput5);
// subscribe(&un_sdo_output7, processSdoOutput7);