LSMushui
a4da5ad17c
- 云台(ROBOT_TYPE_GIMBAL)与底盘(ROBOT_TYPE_CHASSIS)完整固件源码 - 新增根级 .gitignore,排除 Keil MDK-ARM 构建产物(.o/.d/.crf/.axf/.lnp/.map/.htm/.sct/.dep/.iex/.lst 等) 与 *.uvguix.* / DebugConfig/(与机器绑定的 UI 布局) - core.autocrlf=false,避免固件源码在检出时被改动换行符
83 lines
3.3 KiB
C
83 lines
3.3 KiB
C
/* =============================================================================
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* debug_task.c - USB 虚拟串口(CDC)诊断输出(仅诊断用,稳定后可整组移除)
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* 每 500ms 一行状态:各芯片实测 ID/DR16 帧计数/USART 空闲中断计数/任务循环
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* 计数等;板子插电脑出现虚拟 COM 口,串口助手打开即可(波特率随意)。
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* 字段含义见重构说明与编译指南.md 的诊断章节
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* ========================================================================== */
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#include "debug_task.h"
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#include "app_tasks.h"
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#include "cmsis_os.h"
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#include "FreeRTOS.h"
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#include "task.h"
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#include "usb_device.h"
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#include "usbd_cdc_if.h"
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#include "usart.h"
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#include "bsp_can.h"
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#include "bsp_usart.h"
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#include <stdio.h>
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#include "dr16.h"
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#include "referee.h"
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#include "c_comm.h"
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#if defined(ROBOT_TYPE_GIMBAL)
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#include "bmi088.h"
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#include "ist8310.h"
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#include "ins.h"
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#include "attitude.h"
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#include "gimbal.h"
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#elif defined(ROBOT_TYPE_CHASSIS)
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#include "chassis.h"
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#include "bmi088.h"
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#include "ins.h"
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#include "robot_typedef.h"
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#endif
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/* debug_task:USB 虚拟串口(CDC)诊断输出,每 500ms 一行
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* 板子插上电脑会出现虚拟 COM 口,用串口助手打开即可看到(波特率随意)
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* 输出为纯整数,用于远程定位传感器/通讯初始化问题 */
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/* 各模块导出的诊断变量(定义在 imu_task.c / can_task.c) */
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extern volatile uint32_t dbg_imu_loop;
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extern volatile uint32_t dbg_can_loop;
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void debug_task(void const * argument)
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{
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char line[128];
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for (;;)
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{
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int len = 0;
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#if defined(ROBOT_TYPE_GIMBAL)
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len = snprintf(line, sizeof(line),
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"app=%u can=%u imu=%u acc=%02X gyro=%02X bmi=%u ist=%u who=%02X "
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"cvg=%u ys=%d yaw=%.1f u3g=%02X i3=%u l3=%u d16=%u ref=%u/%u mot=%u\r\n",
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app_ready, dbg_can_loop, dbg_imu_loop,
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bmi088_last_acc_id, bmi088_last_gyro_id, bmi088_online,
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ist8310_online, ist8310_last_who,
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INS.ConvergeFlag,
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(int)gimbal_yaw_sign(), att_deg_yaw,
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(unsigned)(huart3.gState), dbg_usart3_idle, dbg_usart3_last_len,
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dr16_frame_count,
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referee.link_status, (unsigned)(HAL_GetTick() - referee.last_update_tick),
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gimbal_motor_offline());
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#elif defined(ROBOT_TYPE_CHASSIS)
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len = snprintf(line, sizeof(line),
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"app=%u can=%u imu=%u acc=%02X gyro=%02X cvg=%u "
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"ctoc=%u/%u att=%u/%d mot=%u md=%u err=%.1f fw=%d spin=%u lim=%u\r\n",
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app_ready, dbg_can_loop, dbg_imu_loop,
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bmi088_last_acc_id, bmi088_last_gyro_id,
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INS.ConvergeFlag,
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ctoc_remote.status,
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(unsigned)(ctoc_remote.last_tick ? HAL_GetTick() - ctoc_remote.last_tick : 0),
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ctoc_att_fresh(), (int)ctoc_gimbal_yaw,
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chassis_motor_offline(),
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cmd_robot.chassis_mode,
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dbg_follow_err_deg, (int)dbg_follow_out,
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ctoc_remote.spin_flag, referee.chassis_power_limit);
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#endif
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if (len > 0)
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CDC_Transmit_FS((uint8_t *)line, (uint16_t)len);
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osDelay(500);
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}
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}
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