修复调试指示灯的BUG

transmit_disinfection_micro Debug.launch

@@ -78,6 +78,6 @@
     <listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_TYPES">
         <listEntry value="4"/>
     </listAttribute>
-    <stringAttribute key="org.eclipse.dsf.launch.MEMORY_BLOCKS" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&lt;memoryBlockExpressionList context=&quot;reserved-for-future-use&quot;/&gt;"/>
+    <stringAttribute key="org.eclipse.dsf.launch.MEMORY_BLOCKS" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&lt;memoryBlockExpressionList context=&quot;reserved-for-future-use&quot;&gt;&lt;gdbmemoryBlockExpression address=&quot;536939692&quot; label=&quot;&amp;amp;(((((((((this)-&amp;gt;tmcPowerGroup)).m_motor)[0]).m_mutex)).recursiveMutex))&quot;/&gt;&lt;gdbmemoryBlockExpression address=&quot;536883284&quot; label=&quot;&amp;amp;(((((((DEVICE)-&amp;gt;m_motor)[0]).m_mutex)).recursiveMutex))&quot;/&gt;&lt;gdbmemoryBlockExpression address=&quot;536939616&quot; label=&quot;&amp;amp;(((this)-&amp;gt;tmcPowerGroup))&quot;/&gt;&lt;/memoryBlockExpressionList&gt;"/>
     <stringAttribute key="process_factory_id" value="com.st.stm32cube.ide.mcu.debug.launch.HardwareDebugProcessFactory"/>
 </launchConfiguration>

usrc/app_main.cpp

@@ -91,6 +91,8 @@ void umain() {
   ZLOGI(TAG, "boardId     : %d", PublicBoard::ins()->getBoardId());
   ZLOGI(TAG, "=");
 
+  zcanbus_init(PublicBoard::ins()->getBoardId());
+
   ProtocolProcesserMgr::ins()->initialize();
   PublicCmdProcesser::ins()->initialize();
 
@@ -127,7 +129,8 @@ void umain() {
   SysMgr::ins()->dumpSysInfo();
   ZLOGI(TAG, "=");
   while (true) {
-    osDelay(1);
+    osDelay(30);
     debug_light_ctrl();
+    // ZLOGW(TAG, "main loop");
   }
 }

usrc/base/protocol_processer_mgr.cpp

@@ -28,7 +28,6 @@ static void zcanbus_on_connected(bool connected) {
 void ProtocolProcesserMgr::initialize() {}
 void ProtocolProcesserMgr::startSchedule(int deviceId) {
 
-  zcanbus_init(deviceId);
   zcanbus_reglistener(zcanbus_on_rx);
   zcanbus_reg_on_connected_listener(zcanbus_on_connected);
 

usrc/board/public_board.cpp

@@ -101,8 +101,9 @@ void PublicBoard::initialize() {
   debugUartInit();
   canInit();
   if (getDeviceIdFromFlash() == kH2O2SensorBoard) {
-  } else {
     m_debugled.initAsOutput(H2O2_SENSOR_BOARD_DEBUG_LIGHT_GPIO, kxs_gpio_nopull, false, false);
+  } else {
+    m_debugled.initAsOutput(DEBUG_LIGHT_GPIO, kxs_gpio_nopull, false, false);
   }
 }
 

usrc/board_base/app_share/tmc_motor_group.cpp

@@ -5,9 +5,10 @@ using namespace iflytop;
 /***********************************************************************************************************************
  *                                                    电机异常监控                                                     *
  ***********************************************************************************************************************/
-static osTimerId MotorMonitorTimerId;      // 压力传感器数值上报
-static bool      motorErrorFlagCache[10];  // 电机异常状态上报标志位
-static zmutex    motorErrorFlagCacheLock;
+static osTimerId      MotorMonitorTimerId;      // 压力传感器数值上报
+static bool           motorErrorFlagCache[10];  // 电机异常状态上报标志位
+static zmutex         motorErrorFlagCacheLock;
+static TmcMotorGroup* tmcgroup_p;
 
 static bool motorErrorFlag_get(int subindex) {
   bool ret;
@@ -26,12 +27,15 @@ static void motorErrorFlag_set(int subindex, bool val) {
 }
 
 static void onMotorMonitorTimer(void const* argument) {
-  return;
-  // 电机异常检查
-  TmcMotorGroup*           DEVICE = (TmcMotorGroup*)argument;
+  // ZLOGI(TAG, "x MotorMonitorTimerId: %p", argument);
+  // return;
+
+  // return;
+  //  电机异常检查
+  TmcMotorGroup*           DEVICE = (TmcMotorGroup*)tmcgroup_p;
   report_exeception_data_t data;
   for (size_t i = 0; i < DEVICE->motorNum(); i++) {
-    ZLOGI(TAG, "check motor %d", i);
+    // ZLOGI(TAG, "check motor %d", i);
     bool estate = motorErrorFlag_get(i);
 
     if (!DEVICE->motor(i)->ping()) {
@@ -100,8 +104,10 @@ void TmcMotorGroup::initialize(Pin_t tmcPowerPin, TMC51X0Cfg cfg0, TMC51X0Cfg cf
   ZLOGI(TAG, "motor1: reset:%d  drv_err:%d uv_cp:%d", gstate1.reset, gstate1.drv_err, gstate1.uv_cp);
 
   motorErrorFlagCacheLock.init();
+  tmcgroup_p = this;
   osTimerDef(MotorMonitorTimer, onMotorMonitorTimer);
   MotorMonitorTimerId = osTimerCreate(osTimer(MotorMonitorTimer), osTimerPeriodic, this);
+  ZLOGI(TAG, "MotorMonitorTimerId: %p", this);
   osTimerStart(MotorMonitorTimerId, 1000);
   m_isInitialized = true;
 }
@@ -208,4 +214,4 @@ void TmcMotorGroup::fn_pump_ping(ProcessContext* cxt) {
   CHECK_PARAM_LEN(PRAAM_LEN(), 1);
   MOTOR_CHECK();
   zcanbus_send_ack(cxt->packet, NULL, 0);
-}
+}