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修复了一个can的bug

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This commit is contained in:
ws 2025-07-04 17:52:36 +08:00
parent 1cb37c4dac
commit 13bb73b72f
4 changed files with 8 additions and 14 deletions
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3
User/bsp/TopDefine.h
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@ -28,7 +28,8 @@
//================任务通知,时间组================// //================任务通知,时间组================//
//事件组 //事件组
#define EVENT_RC (1<<1) #define EVENT_RC (1<<1)
#define EVENT_CAN (1<<2) #define EVENT_CAN1 (1<<2)
#define EVENT_CAN2 (1<<3)
//================任务通知================// //================任务通知================//
//运球 //运球

15
User/device/djiMotor.c
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@ -215,15 +215,13 @@ static osThreadId_t thread_alert;
void Dji_Motor_CB() void Dji_Motor_CB()
{ {
HAL_CAN_GetRxMessage(&hcan1, CAN_RX_FIFO0, &dji_rx_header, dji_rx_data); HAL_CAN_GetRxMessage(&hcan1, CAN_RX_FIFO0, &dji_rx_header, dji_rx_data);
osThreadFlagsSet(thread_alert, EVENT_CAN1);
osThreadFlagsSet(thread_alert, EVENT_CAN);
// osEventFlagsSet(eventReceive, EVENT_CAN);
} }
void can2_Motor_CB(void) void can2_Motor_CB(void)
{ {
HAL_CAN_GetRxMessage(&hcan2, CAN_RX_FIFO1, &rx_header, rx_data); HAL_CAN_GetRxMessage(&hcan2, CAN_RX_FIFO1, &rx_header, rx_data);
osThreadFlagsSet(thread_alert, EVENT_CAN2);
//osThreadFlagsSet(thread_alert, EVENT_CAN);
} }
/** /**
@ -234,9 +232,6 @@ void can2_Motor_CB(void)
void djiInit(void) void djiInit(void)
{ {
thread_alert = osThreadGetId(); thread_alert = osThreadGetId();
BSP_CAN_RegisterCallback(BSP_CAN_1, HAL_CAN_RX_FIFO0_MSG_PENDING_CB, BSP_CAN_RegisterCallback(BSP_CAN_1, HAL_CAN_RX_FIFO0_MSG_PENDING_CB,
Dji_Motor_CB); Dji_Motor_CB);
BSP_CAN_RegisterCallback(BSP_CAN_2, HAL_CAN_RX_FIFO1_MSG_PENDING_CB, BSP_CAN_RegisterCallback(BSP_CAN_2, HAL_CAN_RX_FIFO1_MSG_PENDING_CB,
@ -250,11 +245,9 @@ void djiInit(void)
*/ */
uint32_t waitNewDji() uint32_t waitNewDji()
{ {
// return osEventFlagsWait( // 等待CAN1或CAN2任意一个事件
// eventReceive, EVENT_CAN,osFlagsWaitAny, osWaitForever);
return osThreadFlagsWait( return osThreadFlagsWait(
EVENT_CAN, osFlagsWaitAll, osWaitForever); EVENT_CAN1 | EVENT_CAN2, osFlagsWaitAny, osWaitForever);
} }
#endif #endif

2
User/task/encodeCan.cpp
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@ -26,7 +26,7 @@ void FunctionCan(void *argument)
task_struct.stack_water_mark.can = osThreadGetStackSpace(osThreadGetId()); task_struct.stack_water_mark.can = osThreadGetStackSpace(osThreadGetId());
#endif #endif
waitNewDji(); //waitNewDji();
djiMotorEncode(); djiMotorEncode();
can2MotorEncode(); can2MotorEncode();

2
User/task/userTask.h
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@ -14,7 +14,7 @@ extern "C" {
/* 所有任务都要define一个“任务运行频率”和“初始化延时” */ /* 所有任务都要define一个“任务运行频率”和“初始化延时” */
#define TASK_FREQ_SHOOT (500u) #define TASK_FREQ_SHOOT (500u)
#define TASK_FREQ_CAN (1500u) #define TASK_FREQ_CAN (500u)
#define TASK_FREQ_AI (500u) #define TASK_FREQ_AI (500u)
#define TASK_FREQ_BALL (500u) #define TASK_FREQ_BALL (500u)