增加debug标志位和传感器方向标志位存入flash

Core/Src/main.c

@@ -132,6 +132,10 @@ int main(void)
   init_cmd();
   flashConfig = Flash_ReadConfig();
   _dbg_printf("Current CAN ID: 0x%02X\r\n", flashConfig->can_id);
+  _dbg_printf("Current Direction: 0x%02X\r\n", flashConfig->sensorDir);
+  _dbg_printf("Current Debug Level: 0x%02X\r\n", flashConfig->debugFlag);
+  g_direction = flashConfig->sensorDir;
+  g_debugLevel = flashConfig->debugFlag;
   status = -1;
   /* USER CODE END 2 */
 
@@ -161,7 +165,7 @@ int main(void)
         HAL_GPIO_WritePin(LED_R_GPIO_Port, LED_R_Pin, GPIO_PIN_SET);
         prev_tick_ms = HAL_GetTick();
         angle = AS5600_GetAngle();
-        HAL_Delay(5); // 10ms采样周期
+        HAL_Delay(10); // 10ms采样周期
         uint32_t now_ms = HAL_GetTick();
         uint32_t dt_ms = now_ms - prev_tick_ms;
         if (dt_ms > 0U)
@@ -203,7 +207,6 @@ int main(void)
         transmitResult = can_node_transmit(flashConfig->can_id, canData);
         if (transmitResult != 0)
         {
-            status = -1; // 发送失败，回到初始化状态
             status = 2; // 直接进入错误状态，持续闪烁蓝灯
         }
         else

MDK-ARM/arm_joint_sensor.uvguix.66437

@@ -15,17 +15,17 @@
     <View>
       <WinId>38003</WinId>
       <ViewName>Registers</ViewName>
-      <TableColWidths>150 100</TableColWidths>
+      <TableColWidths>150 80</TableColWidths>
     </View>
     <View>
       <WinId>346</WinId>
       <ViewName>Code Coverage</ViewName>
-      <TableColWidths>1010 656</TableColWidths>
+      <TableColWidths>1010 160</TableColWidths>
     </View>
     <View>
       <WinId>204</WinId>
       <ViewName>Performance Analyzer</ViewName>
-      <TableColWidths>1170 175 175 496</TableColWidths>
+      <TableColWidths>1170</TableColWidths>
     </View>
   </SECTreeCtrl>
 
@@ -1822,7 +1822,7 @@
         <Name>Build</Name>
         <Buttons>
           <Len>992</Len>
-          <Data>00200000010000001000FFFF01001100434D4643546F6F6C426172427574746F6ECF7F0000000000001C0000000000000000000000000000000001000000010000000180D07F0000000002001D000000000000000000000000000000000100000001000000018030800000000000001E000000000000000000000000000000000100000001000000FFFF01001500434D4643546F6F6C4261724D656E75427574746F6EC7040000000000006A0000000C4261746368204275696C2664000000000000000000000000010000000100000000000000000000000100000004000580C7040000000000006A0000000C4261746368204275696C266400000000000000000000000001000000010000000000000000000000010000000000058046070000000000006B0000000D42617463682052656275696C640000000000000000000000000100000001000000000000000000000001000000000005804707000000000000FFFFFFFF0B426174636820436C65616E0000000000000000010000000000000001000000000000000000000001000000000005809E8A0000000000001F0000000F4261746326682053657475702E2E2E000000000000000000000000010000000100000000000000000000000100000000000180D17F0000000004002000000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF00000000000000000000000000010000000100000001804C8A0000000000002100000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF000000000000000000000000000100000001000000FFFF01001900434D4643546F6F6C426172436F6D626F426F78427574746F6EBA00000000000000000000000000000000000000000000000001000000010000009600000003002050000000001061726D5F6A6F696E745F73656E736F72960000000000000001001061726D5F6A6F696E745F73656E736F72000000000180EB880000000000002200000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF0000000000000000000000000001000000010000000180C07F000000000000230000000000000000000000000000000001000000010000000180B08A000000000400240000000000000000000000000000000001000000010000000180A8010000000000004E00000000000000000000000000000000010000000100000001807202000000000000530000000000000000000000000000000001000000010000000180BE010000000000005000000000000000000000000000000000010000000100000000000000054275696C64DC010000</Data>
+          <Data>00200000010000001000FFFF01001100434D4643546F6F6C426172427574746F6ECF7F0000000000001C0000000000000000000000000000000001000000010000000180D07F0000000000001D000000000000000000000000000000000100000001000000018030800000000002001E000000000000000000000000000000000100000001000000FFFF01001500434D4643546F6F6C4261724D656E75427574746F6EC7040000000000006A0000000C4261746368204275696C2664000000000000000000000000010000000100000000000000000000000100000004000580C7040000000000006A0000000C4261746368204275696C266400000000000000000000000001000000010000000000000000000000010000000000058046070000000000006B0000000D42617463682052656275696C640000000000000000000000000100000001000000000000000000000001000000000005804707000000000000FFFFFFFF0B426174636820436C65616E0100000000000000000000000100000001000000000000000000000001000000000005809E8A0000000000001F0000000F4261746326682053657475702E2E2E000000000000000000000000010000000100000000000000000000000100000000000180D17F0000000004002000000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF00000000000000000000000000010000000100000001804C8A0000000000002100000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF000000000000000000000000000100000001000000FFFF01001900434D4643546F6F6C426172436F6D626F426F78427574746F6EBA00000000000000000000000000000000000000000000000001000000010000009600000003002050000000001061726D5F6A6F696E745F73656E736F72960000000000000001001061726D5F6A6F696E745F73656E736F72000000000180EB880000000000002200000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF0000000000000000000000000001000000010000000180C07F000000000000230000000000000000000000000000000001000000010000000180B08A000000000400240000000000000000000000000000000001000000010000000180A8010000000000004E00000000000000000000000000000000010000000100000001807202000000000000530000000000000000000000000000000001000000010000000180BE010000000000005000000000000000000000000000000000010000000100000000000000054275696C64DC010000</Data>
         </Buttons>
         <OriginalItems>
           <Len>583</Len>
@@ -3687,9 +3687,9 @@
       </Doc>
       <Doc>
         <Name>../Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_can.c</Name>
-        <ColumnNumber>43</ColumnNumber>
+        <ColumnNumber>52</ColumnNumber>
-        <TopLine>1381</TopLine>
+        <TopLine>1405</TopLine>
-        <CurrentLine>1418</CurrentLine>
+        <CurrentLine>1426</CurrentLine>
         <Folding>1</Folding>
         <ContractedFolders></ContractedFolders>
         <PaneID>0</PaneID>

devices/can_node.c

@@ -64,11 +64,12 @@ int can_node_transmit(uint32_t canID, uint8_t *TxData)
         canTransmitErrorCount ++;
         if(canTransmitErrorCount > 1000)
         {
-            _dbg_printf("CAN transmit timeout\r\n");
+            // _dbg_printf("CAN transmit timeout\r\n");
             canTransmitErrorCount = 0;
             return -1;
         }
     };
+    canTransmitErrorCount = 0;
     HAL_CAN_AddTxMessage(&hcan1, &txHeader, TxData, &txMailbox);
     return 0;
 }

devices/cmd.c

@@ -33,7 +33,6 @@ void UART_CommandHandler(char *data, uint16_t len)
             {
                 _dbg_printf("Current ID: 0x%02X, New ID: 0x%02X\n", currentConfig->can_id, id);
                 currentConfig->can_id = id;
-                currentConfig->crc = id ^ 0xFF; // 简单校验
                 Flash_WriteConfig(currentConfig);
             }
             else
@@ -50,6 +49,16 @@ void UART_CommandHandler(char *data, uint16_t len)
         {
             g_debugLevel = debug;
             _dbg_printf("Set debug level: 0x%02X\n", g_debugLevel);
+            currentConfig = Flash_ReadConfig();
+            if(currentConfig->debugFlag != g_debugLevel)
+            {
+                currentConfig->debugFlag = g_debugLevel;
+                Flash_WriteConfig(currentConfig);
+            }
+            else
+            {
+                _dbg_printf("Debug level unchanged: 0x%02X\n", g_debugLevel);
+            }
         }
     }
     else if(strncmp(data, "SETDIR", 6) == 0)
@@ -59,6 +68,16 @@ void UART_CommandHandler(char *data, uint16_t len)
         {
             g_direction = dir;
             _dbg_printf("Set direction: 0x%02X\n", g_direction);
+            currentConfig = Flash_ReadConfig();
+            if(currentConfig->sensorDir != g_direction)
+            {
+                currentConfig->sensorDir = g_direction;
+                Flash_WriteConfig(currentConfig);
+            }
+            else
+            {
+                _dbg_printf("Direction unchanged: 0x%02X\n", g_direction);
+            }
         }
     }
     else

devices/flash.c

@@ -1,24 +1,78 @@
 #include "flash.h"
 #include "main.h"
 #include <stdint.h>
-#include <string.h>
-#include <stdio.h>
 
 #define FLASH_BASE_ADDR     0x08000000UL
 // #define FLASH_PAGE_SIZE     0x800       // 2KB
 #define FLASH_PAGE_NUM      128
 #define FLASH_USER_PAGE     (FLASH_PAGE_NUM - 1)
 #define FLASH_USER_ADDR     (FLASH_BASE_ADDR + FLASH_USER_PAGE * FLASH_PAGE_SIZE)
+#define FLASH_EMPTY_DWORD   0xFFFFFFFFFFFFFFFFULL
+
+static uint16_t Flash_CalcCrc(const FlashConfig_t *cfg)
+{
+    uint16_t crc = 0xA55A;
+    crc ^= cfg->can_id;
+    crc ^= ((uint16_t)cfg->sensorDir << 8) | cfg->debugFlag;
+    return crc;
+}
+
+static void Flash_LoadDefaultConfig(FlashConfig_t *cfg)
+{
+    cfg->can_id = 0x01;
+    cfg->sensorDir = 0;
+    cfg->debugFlag = 0;
+    cfg->crc = Flash_CalcCrc(cfg);
+}
+
+static uint64_t Flash_PackConfig(const FlashConfig_t *cfg)
+{
+    uint64_t data = 0;
+
+    data |= (uint64_t)(cfg->can_id & 0xFFFFU);
+    data |= ((uint64_t)cfg->sensorDir << 16);
+    data |= ((uint64_t)cfg->debugFlag << 24);
+    data |= ((uint64_t)cfg->crc << 32);
+
+    return data;
+}
+
+static void Flash_UnpackConfig(uint64_t data, FlashConfig_t *cfg)
+{
+    cfg->can_id = (uint16_t)(data & 0xFFFFU);
+    cfg->sensorDir = (uint8_t)((data >> 16) & 0xFFU);
+    cfg->debugFlag = (uint8_t)((data >> 24) & 0xFFU);
+    cfg->crc = (uint16_t)((data >> 32) & 0xFFFFU);
+}
 
 FlashConfig_t currentCfg;
 FlashConfig_t *Flash_ReadConfig(void)
 {
-    memcpy(&currentCfg, (void *)FLASH_USER_ADDR, sizeof(currentCfg));
+    uint64_t rawData = *(volatile uint64_t *)FLASH_USER_ADDR;
+
+    if (rawData == FLASH_EMPTY_DWORD)
+    {
+        Flash_LoadDefaultConfig(&currentCfg);
+        return &currentCfg;
+    }
+
+    Flash_UnpackConfig(rawData, &currentCfg);
+
+    if ((currentCfg.can_id > 0x7FFU) || (currentCfg.crc != Flash_CalcCrc(&currentCfg)))
+    {
+        Flash_LoadDefaultConfig(&currentCfg);
+    }
+
     return &currentCfg;
 }
 
 void Flash_WriteConfig(FlashConfig_t *cfg)
 {
+    uint64_t data;
+
+    cfg->crc = Flash_CalcCrc(cfg);
+    data = Flash_PackConfig(cfg);
+
     HAL_FLASH_Unlock();
 
     FLASH_EraseInitTypeDef erase;
@@ -31,8 +85,6 @@ void Flash_WriteConfig(FlashConfig_t *cfg)
     HAL_FLASHEx_Erase(&erase, &page_error);
 
     uint32_t addr = FLASH_USER_ADDR;
-    uint64_t data = ((uint64_t)cfg->crc << 16) | cfg->can_id;
-
     HAL_FLASH_Program(FLASH_TYPEPROGRAM_DOUBLEWORD, addr, data);
 
     HAL_FLASH_Lock();

devices/flash.h

@@ -5,6 +5,8 @@
 typedef struct
 {
     uint16_t can_id;
+    uint8_t sensorDir; // 0: 正常，1: 反转
+    uint8_t debugFlag; // 0: 无调试信息，1: 输出调试信息
     uint16_t crc;   // 可选，简单校验
 } FlashConfig_t;