TuxMonkey/bf_original_balance_chassis
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修复CAN中断优先级导致函数重入访问static变量的问题，提升了bsp和部分module的性能。

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This commit is contained in:
NeoZng
2023-03-23 18:22:24 +08:00
parent eefc0883ed
commit 41d033e3f8
16 changed files with 76 additions and 65 deletions
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21
modules/motor/HTmotor/HT04.c
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@@ -40,12 +40,9 @@ static float uint_to_float(int x_int, float x_min, float x_max, int bits)
*/
static void HTMotorDecode(CANInstance *motor_can)
{
static uint16_t tmp; // 用于暂存解析值,稍后转换成float数据,避免多次创建临时变量
static HTMotor_Measure_t *measure;
static uint8_t *rxbuff;
rxbuff = motor_can->rx_buff;
measure = &((HTMotorInstance *)motor_can->id)->motor_measure; // 将can实例中保存的id转换成电机实例的指针
uint16_t tmp; // 用于暂存解析值,稍后转换成float数据,避免多次创建临时变量
uint8_t *rxbuff = motor_can->rx_buff;
HTMotor_Measure_t *measure = &((HTMotorInstance *)motor_can->id)->motor_measure; // 将can实例中保存的id转换成电机实例的指针
measure->last_angle = measure->total_angle;
@@ -89,12 +86,12 @@ void HTMotorSetRef(HTMotorInstance *motor, float ref)
void HTMotorControl()
{
static float set, pid_measure, pid_ref;
static uint16_t tmp;
static HTMotorInstance *motor;
static HTMotor_Measure_t *measure;
static Motor_Control_Setting_s *setting;
static CANInstance *motor_can;
float set, pid_measure, pid_ref;
uint16_t tmp;
HTMotorInstance *motor;
HTMotor_Measure_t *measure;
Motor_Control_Setting_s *setting;
CANInstance *motor_can;
// 遍历所有电机实例,计算PID
for (size_t i = 0; i < idx; i++)