diff --git a/.vscode/settings.json b/.vscode/settings.json
index 3751aa6..4eddfcd 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -1,5 +1,6 @@
{
"files.associations": {
- "ads8864.h": "c"
+ "ads8864.h": "c",
+ "can.h": "c"
}
}
\ No newline at end of file
diff --git a/MDK-ARM/sick.uvguix.lvzucheng b/MDK-ARM/sick.uvguix.lvzucheng
index 89525a3..feaef9c 100644
--- a/MDK-ARM/sick.uvguix.lvzucheng
+++ b/MDK-ARM/sick.uvguix.lvzucheng
@@ -25,7 +25,7 @@
204
Performance Analyzer
- 350 116 116 150
+ -95 116 116 595
@@ -101,17 +101,17 @@
-1
- 91
+ 74
235
1204
- 921
+ 904
0
859
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@@ -150,7 +150,7 @@
0
16
- 0300000066000000FF000000A7000000
+ 0300000066000000FF000000A5010000
16
@@ -170,7 +170,7 @@
0
16
- 0300000066000000FF000000A7000000
+ 0300000066000000FF000000A5010000
16
@@ -450,7 +450,7 @@
0
16
- 0300000066000000FF000000A7000000
+ 0300000066000000FF000000A5010000
16
@@ -470,7 +470,7 @@
0
16
- 0300000066000000FF000000A7000000
+ 0300000066000000FF000000A5010000
16
@@ -490,7 +490,7 @@
0
16
- 00000000C4000000E805000057030000
+ 00000000C2010000E805000057030000
16
@@ -1150,7 +1150,7 @@
0
16
- 0300000066000000FF0000009C010000
+ 0300000066000000FF000000A5010000
16
@@ -1799,7 +1799,7 @@
3359
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59392
@@ -3579,7 +3579,7 @@
Debug
2362
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898
@@ -3624,9 +3624,9 @@
..\User\task\can.c
- 6
- 22
- 24
+ 2
+ 7
+ 26
1
0
@@ -3643,7 +3643,7 @@
..\User\task\init.c
52
- 14
+ 1
31
1
@@ -3679,7 +3679,7 @@
..\User\task\pc.c
2
- 5
+ 1
22
1
diff --git a/User/device/can.c b/User/device/can.c
index a1656a8..a2b100f 100644
--- a/User/device/can.c
+++ b/User/device/can.c
@@ -2,16 +2,11 @@
#include "device/can.h"
#include "stm32f3xx_hal.h"
// CAN 调试结构体实例
-can_t can_debug = {
- .TxData = {0},
- .TxID = 0x023,
- .TxStatus = 0,
- .DebugCounter = 0
-};
// 初始化 CAN
void CAN_Init(CAN_HandleTypeDef *hcan_Cur)
-{
+{ //重置CAN
+ HAL_CAN_Init(hcan_Cur); // 初始化CAN
// 仅初始化CAN，不配置接收过滤器
HAL_CAN_Start(hcan_Cur); // 开启CAN
}
diff --git a/User/task/can.c b/User/task/can.c
index 981a66a..5e080db 100644
--- a/User/task/can.c
+++ b/User/task/can.c
@@ -13,6 +13,12 @@
/* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
+can_t can_debug = {
+ .TxData = {0},
+ .TxID = 0x023,
+ .TxStatus = 0,
+ .DebugCounter = 0
+};
/* Private variables -------------------------------------------------------- */
diff --git a/User/task/mointor.c b/User/task/mointor.c
index 622a851..3467c2b 100644
--- a/User/task/mointor.c
+++ b/User/task/mointor.c
@@ -1,20 +1,36 @@
/* Includes ----------------------------------------------------------------- */
-#include "device\can.h"
-
+#include "device\can.h" // 确保包含 CAN_Debug_t 的定义
#include "task\user_task.h"
#include "bsp\led.h"
+#include "cmsis_os.h" // 用于线程操作
+
/* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
-
+extern can_t can_debug; // 引用 CAN 调试结构体
/* Private function --------------------------------------------------------- */
/* Exported functions ------------------------------------------------------- */
void Task_Monitor(void *argument) {
(void)argument; // 消除未使用参数的警告
+ const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_MONITOR; // 100Hz
+ uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
+
+ uint32_t last_debug_counter = 0; // 上一次的 DebugCounter 值
+
while (1) {
+ tick += delay_tick; /* 计算下一个唤醒时刻 */
BSP_LED_SET(BSP_LED1, BSP_LED_TAGGLE); // 切换 LED 状态
- HAL_Delay(1000); // 延时 1 秒
+ // 检查 DebugCounter 是否增加
+ if (can_debug.DebugCounter == last_debug_counter) {
+ // 如果 DebugCounter 没有增加，说明 Task_Can 可能卡住
+ osThreadTerminate(task_runtime.thread.can); // 终止 Task_Can 线程
+ task_runtime.thread.can = osThreadNew(Task_Can, NULL, NULL); // 重启 Task_Can 线程
+ } else {
+ // 如果 DebugCounter 增加，更新 last_debug_counter
+ last_debug_counter = can_debug.DebugCounter;
+ }
+ osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
}
-}
+}
\ No newline at end of file