12 changed files with 310 additions and 38 deletions
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/*
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* bsp_devic_moniter.h |
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* |
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* Created on: 2026年6月1日 |
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* Author: bm673 |
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*/ |
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#ifndef BASE_INC_BSP_BSP_DEVIC_MONITER_H_ |
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#define BASE_INC_BSP_BSP_DEVIC_MONITER_H_ |
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#include <stdint.h> |
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#include "stm32h7xx_hal.h" |
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#ifdef __cplusplus |
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extern "C" { |
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#endif |
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/*==========================
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* 设备ID |
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*==========================*/ |
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typedef enum { |
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//DEV_GYRO = 0,
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//DEV_SBUS,
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DEV_LEFT_MOTOR=0, |
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//DEV_RIGHT_MOTOR,
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DEV_COUNT // 总设备数
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} DeviceId; |
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/*==========================
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* 错误码，每位对应一个设备 |
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*==========================*/ |
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extern uint32_t g_error_code; |
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/*==========================
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* 接口函数 |
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*==========================*/ |
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/* 初始化链表及错误码 */ |
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void DevMon_Init(); |
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/* 心跳上报 */ |
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void DevMon_Feed(DeviceId id); |
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/* 轮询检测超时，更新错误码 */ |
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void DevMon_Task(); |
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/* 判断设备是否在线 */ |
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uint8_t DevMon_IsOnline(DeviceId id); |
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#ifdef __cplusplus |
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} |
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#endif |
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#endif /* BASE_INC_BSP_BSP_DEVIC_MONITER_H_ */ |
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/*
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* Devic_moniter.c |
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* |
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* Created on: 2026年6月1日 |
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* Author: bm673 |
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*/ |
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/*
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* bsp_devic_monitor.c |
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* 静态链表版设备心跳监测 |
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*/ |
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#include "bsp_devic_moniter.h" |
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#include <string.h> |
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#include "BSP/bsp_include.h" |
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/* 注册设备到链表 */ |
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void DevMon_Register(DeviceId id,uint32_t timeout_ms, uint32_t first_delay_ms); |
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/*==========================
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* 节点结构 |
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*==========================*/ |
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typedef struct { |
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DeviceId id; // 设备ID
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uint32_t timeout_ms; // 正常心跳超时
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uint32_t first_delay_ms; // 首次上报允许延迟
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uint32_t last_tick; // 上次心跳时间
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uint8_t first_reported; // 是否收到首次心跳
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int next; // 链表索引
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} DevNode_t; |
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/*==========================
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* 静态链表池 |
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*==========================*/ |
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static DevNode_t s_node[DEV_COUNT]; |
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static int s_head = -1; // 链表头
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/* 全局错误码 */ |
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uint32_t g_error_code = 0; |
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/*==========================
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* 初始化 |
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*==========================*/ |
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void DevMon_Init() |
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{ |
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uint32_t tick=HAL_GetTick(); |
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memset(s_node, 0, sizeof(s_node));//将节点数组都置位
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s_head = -1; //设置链表为空
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g_error_code = 0; //设置错误为空
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for (int i = 0; i < DEV_COUNT; i++) { |
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s_node[i].last_tick = tick; //更新系统失控
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s_node[i].next = -1; //这为啥都置位-1我是不理解的
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s_node[i].id = (DeviceId)i; // 初始化ID
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} |
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//DevMon_Register(DEV_GYRO, 1000, 1000);
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//DevMon_Register(DEV_SBUS, 1000, 3000);
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DevMon_Register(DEV_LEFT_MOTOR, 1000, 30000); |
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//DevMon_Register(DEV_RIGHT_MOTOR, 200, 4000);
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GF_BSP_Interrupt_Add_CallBack(DF_BSP_InterCall_TIM8_2ms_PeriodElapsedCallback, DevMon_Task); |
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} |
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/*==========================
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* 注册设备 |
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*==========================*/ |
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void DevMon_Register(DeviceId id, |
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uint32_t timeout_ms, |
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uint32_t first_delay_ms) |
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{ |
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if (id >= DEV_COUNT) return; |
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s_node[id].timeout_ms = timeout_ms; |
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s_node[id].first_delay_ms = first_delay_ms; |
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s_node[id].first_reported = 0; |
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s_node[id].next = s_head; |
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s_head = id; |
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g_error_code &= ~(1U << id); // 清除错误位
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} |
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/*==========================
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* 心跳上报 |
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*==========================*/ |
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void DevMon_Feed(DeviceId id) |
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{ |
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uint32_t tick=HAL_GetTick(); |
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if (id >= DEV_COUNT) return; //
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s_node[id].last_tick = tick; |
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s_node[id].first_reported = 1; |
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g_error_code &= ~(1U << id); //把第id位清0，其他不变
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} |
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/*==========================
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* 周期检测 |
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*==========================*/ |
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uint32_t elapsed; |
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uint32_t timeout; |
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uint32_t last_time; |
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uint32_t now_time; |
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void DevMon_Task() |
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{ |
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uint32_t tick=HAL_GetTick(); |
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int curr = s_head; |
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while (curr != -1) |
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{ |
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DevNode_t *node = &s_node[curr]; //这句话，我不太理解
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elapsed = tick - node->last_tick; //这句话我理解，就是在判断是否超时
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last_time=node->last_tick; |
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now_time=tick; |
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timeout = node->first_reported ? node->timeout_ms : node->first_delay_ms; |
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if (elapsed > timeout) |
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g_error_code |= (1U << node->id); //把第id位置1，其他不变
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else |
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g_error_code &= ~(1U << node->id); //把第id位清0，其他不变
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curr = node->next; |
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} |
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// 也可以用for替代
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} |
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/*==========================
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* 判断在线 |
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*==========================*/ |
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uint8_t DevMon_IsOnline(DeviceId id) |
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{ |
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if (id >= DEV_COUNT) return 0; |
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return (g_error_code & (1U << id)) ? 0 : 1; |
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} |
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