增加can发送失败处理，增加debug命令和设置方向命令

Core/Src/can.c

@@ -44,9 +44,9 @@ void MX_CAN1_Init(void)
   hcan1.Init.TimeSeg1 = CAN_BS1_2TQ;
   hcan1.Init.TimeSeg2 = CAN_BS2_1TQ;
   hcan1.Init.TimeTriggeredMode = DISABLE;
-  hcan1.Init.AutoBusOff = DISABLE;
+  hcan1.Init.AutoBusOff = ENABLE;
   hcan1.Init.AutoWakeUp = DISABLE;
-  hcan1.Init.AutoRetransmission = DISABLE;
+  hcan1.Init.AutoRetransmission = ENABLE;
   hcan1.Init.ReceiveFifoLocked = DISABLE;
   hcan1.Init.TransmitFifoPriority = DISABLE;
   if (HAL_CAN_Init(&hcan1) != HAL_OK)

Core/Src/main.c

@@ -52,7 +52,8 @@
 /* Private variables ---------------------------------------------------------*/
 
 /* USER CODE BEGIN PV */
-
+extern uint8_t g_debugLevel;
+extern uint8_t g_direction;
 /* USER CODE END PV */
 
 /* Private function prototypes -----------------------------------------------*/
@@ -170,8 +171,16 @@ int main(void)
 
         prev_angle = angle;
         prev_tick_ms = now_ms;
-
+        if(g_direction > 0)
+        {
+          // 反转方向
+          velocity_deg_s = -velocity_deg_s;
+          angle = -angle;
+        }
+        if(g_debugLevel > 0)
+        {
           _dbg_printf("Angle: %u, Vel: %.2f dt: %u ms\r\n", angle, velocity_deg_s, dt_ms);
+        }
         HAL_GPIO_TogglePin(LED_G_GPIO_Port, LED_G_Pin);
         status = 1;
       }
@@ -180,6 +189,7 @@ int main(void)
       {
         uint8_t canData[8] = {0};
         int16_t vel_cdeg_s = (int16_t)(velocity_deg_s * 100.0f); // 0.01 deg/s
+        int transmitResult = 0;
 
         canData[0] = 0xAA; // 头
         canData[1] = (angle >> 8) & 0xFF;
@@ -190,11 +200,23 @@ int main(void)
         canData[6] = 0x00; // 保留
         canData[7] = can_checksum_calculate(canData, 7);
 
-        can_node_transmit(flashConfig->can_id, canData);
+        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
+        {
             status = 0;
+            HAL_GPIO_WritePin(LED_B_GPIO_Port, LED_B_Pin, GPIO_PIN_SET);  //关闭蓝灯
+        }
       }
       break;
-
+    case 2:
+      HAL_GPIO_TogglePin(LED_B_GPIO_Port, LED_B_Pin);
+      // HAL_Delay(100);
+      break;
     default:
       break;
     }

MDK-ARM/arm_joint_sensor.uvoptx

@@ -135,7 +135,7 @@
         <SetRegEntry>
           <Number>0</Number>
           <Key>DLGUARM</Key>
-          <Name></Name>
+          <Name>(105=-1,-1,-1,-1,0)</Name>
         </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
@@ -150,7 +150,7 @@
         <SetRegEntry>
           <Number>0</Number>
           <Key>ST-LINKIII-KEIL_SWO</Key>
-          <Name>-U-O142 -O2254 -S0 -C0 -TO18 -TC10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC1000 -FN1 -FF0STM32L4xx_256.FLM -FS08000000 -FL040000 -FP0($$Device:STM32L431CCUx$CMSIS\Flash\STM32L4xx_256.FLM)</Name>
+          <Name>-U16004A002933353739303541 -O2254 -SF10000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP (ARM Core") -D00(2BA01477) -L00(0) -TO131090 -TC10000000 -TT10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC1000 -FN1 -FF0STM32L4xx_256.FLM -FS08000000 -FL040000 -FP0($$Device:STM32L431CCUx$CMSIS\Flash\STM32L4xx_256.FLM) -WA0 -WE0 -WVCE4 -WS2710 -WM0 -WP2 -WK0-R0</Name>
         </SetRegEntry>
       </TargetDriverDllRegistry>
       <Breakpoint/>

arm_joint_sensor.ioc

@@ -2,11 +2,13 @@
 CAD.formats=
 CAD.pinconfig=
 CAD.provider=
+CAN1.ABOM=ENABLE
 CAN1.BS1=CAN_BS1_2TQ
 CAN1.CalculateBaudRate=1000000
 CAN1.CalculateTimeBit=1000
 CAN1.CalculateTimeQuantum=250.0
-CAN1.IPParameters=CalculateTimeQuantum,CalculateTimeBit,CalculateBaudRate,Prescaler,BS1
+CAN1.IPParameters=CalculateTimeQuantum,CalculateTimeBit,CalculateBaudRate,Prescaler,BS1,ABOM,NART
+CAN1.NART=ENABLE
 CAN1.Prescaler=20
 Dma.Request0=USART1_RX
 Dma.RequestsNb=1

devices/can_node.c

@@ -8,6 +8,7 @@
 
 CAN_RxHeaderTypeDef can1RxHeader; // FDCAN1 接收头
 uint8_t can1RxData[8];            // FDCAN1 接收数据
+int canTransmitErrorCount = 0;
 
 void can_node_init(void)
 {
@@ -45,7 +46,7 @@ void can_node_init(void)
     _dbg_printf("CAN1 initialized successfully\r\n");
 }
 
-void can_node_transmit(uint32_t canID, uint8_t *TxData)
+int can_node_transmit(uint32_t canID, uint8_t *TxData)
 {
     CAN_TxHeaderTypeDef txHeader;
     uint32_t txMailbox;
@@ -60,8 +61,16 @@ void can_node_transmit(uint32_t canID, uint8_t *TxData)
     // 等待邮箱空闲
     while (HAL_CAN_GetTxMailboxesFreeLevel(&hcan1) == 0)
     {
+        canTransmitErrorCount ++;
+        if(canTransmitErrorCount > 1000)
+        {
+            _dbg_printf("CAN transmit timeout\r\n");
+            canTransmitErrorCount = 0;
+            return -1;
+        }
     };
     HAL_CAN_AddTxMessage(&hcan1, &txHeader, TxData, &txMailbox);
+    return 0;
 }
 
 void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)

devices/can_node.h

@@ -5,6 +5,6 @@
 
 void can_node_init(void);
 
-void can_node_transmit(uint32_t canID, uint8_t *TxData);
+int can_node_transmit(uint32_t canID, uint8_t *TxData);
 
 #endif /* _CAN_NODE_H_ */

devices/cmd.c

@@ -11,6 +11,8 @@
 
 uint8_t cmdData[32];
 uint8_t uart1len = 0;
+uint8_t g_debugLevel = 0;
+uint8_t g_direction = 0;
 extern DMA_HandleTypeDef hdma_usart1_rx;
 
 FlashConfig_t *currentConfig;
@@ -41,6 +43,28 @@ void UART_CommandHandler(char *data, uint16_t len)
             
         }
     }
+    else if(strncmp(data, "SETDEBUG", 8) == 0)
+    {
+        uint8_t debug;
+        if (sscanf(data + 8, "%x", &debug) == 1)
+        {
+            g_debugLevel = debug;
+            _dbg_printf("Set debug level: 0x%02X\n", g_debugLevel);
+        }
+    }
+    else if(strncmp(data, "SETDIR", 6) == 0)
+    {
+        uint8_t dir;
+        if (sscanf(data + 6, "%x", &dir) == 1)
+        {
+            g_direction = dir;
+            _dbg_printf("Set direction: 0x%02X\n", g_direction);
+        }
+    }
+    else
+    {
+        _dbg_printf("Unknown command: %s\n", data);
+    }
 }