电机异常上报更加详细

app_protocols/transmit_disfection_protocol

@@ -1 +1 @@
-Subproject commit bd6d6b04af6fbcb7d9dced79f8ecacb636492a17
+Subproject commit 330c5b6d619b65ba9043e632b5833a9efd58bf59

usrc/module/tmc_motor_group.cpp

@@ -36,7 +36,7 @@ static void onMotorMonitorTimer(void const* argument) {
   // return;
   //  电机异常检查
   TmcMotorGroup*           DEVICE = (TmcMotorGroup*)tmcgroup_p;
-  report_exeception_data_t data;
+  report_exeception_data_t data   = {0};
   for (size_t i = 0; i < DEVICE->motorNum(); i++) {
     // ZLOGI(TAG, "check motor %d", i);
     bool estate = motorErrorFlag_get(i);
@@ -50,6 +50,7 @@ static void onMotorMonitorTimer(void const* argument) {
         ZLOGE(TAG, "motor %d offline error", i);
         zcanbus_send_emergency_report(kreport_exception_error, (uint8_t*)&data, sizeof(data), 100);
       }
+
     } else {
       auto gstate  = DEVICE->motor(i)->getGState();
       auto gstatus = DEVICE->motor(i)->getDevStatus();
@@ -78,12 +79,29 @@ static void onMotorMonitorTimer(void const* argument) {
           data.ecode = kerr_motor_reset_error;
         } else if (gstate.uv_cp) {
           data.ecode = kerr_motor_undervoltage_error;
-        } else if (gstate.drv_err) {
-          data.ecode = kerr_motor_driver_error;
         } else {
-          data.ecode = kerr_motor_unkown_error;
+          if (gstate.drv_err) data.ecode = kerr_motor_driver_error;
+          //
+          if (gstatus.ot)
+            data.ecode = kerr_motor_overtemperature_flag;
+          else if (gstatus.s2ga)
+            data.ecode = kerr_motor_short_to_ground_indicator_phase_A;
+          else if (gstatus.s2gb)
+            data.ecode = kerr_motor_open_load_indicator_phase_B;
+          else if (gstatus.ola)
+            data.ecode = kerr_motor_open_load_indicator_phase_A;
+          else if (gstatus.olb)
+            data.ecode = kerr_motor_open_load_indicator_phase_B;
+          else if (gstatus.stst)
+            data.ecode = kerr_motor_standstill_indicator;
+          else if (gstatus.otpw)
+            data.ecode = kerr_motor_overtemperature_pre_warning_flag;
         }
+
         data.subid = i;
+        data.detailinfo;
+        static_assert(sizeof(gstatus) == 4);
+        memcpy(&data.detailinfo, &gstatus, sizeof(gstatus));
         motorErrorFlag_set(i, true);
         zcanbus_send_emergency_report(kreport_exception_error, (uint8_t*)&data, sizeof(data), 100);
       }

zsdk

@@ -1 +1 @@
-Subproject commit 8bf4171e2ef60e8d4cd40e8467e19ae7805e9f26
+Subproject commit 5b9a561c0eaa7e37492e2539cfb2dc6007fb8a26