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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14
modules/motor/LKmotor/LK9025.c
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@@ -13,8 +13,8 @@ static CANInstance *sender_instance; // 多电机发送时使用的caninstance(
*/
static void LKMotorDecode(CANInstance *_instance)
{
static LKMotor_Measure_t *measure;
static uint8_t *rx_buff;
LKMotor_Measure_t *measure;
uint8_t *rx_buff;
rx_buff = _instance->rx_buff;
measure = &(((LKMotorInstance *)_instance->id)->measure); // 通过caninstance保存的id获取对应的motorinstance
@@ -72,11 +72,11 @@ LKMotorInstance *LKMotorInit(Motor_Init_Config_s *config)
/* 第一个电机的can instance用于发送数据,向其tx_buff填充数据 */
void LKMotorControl()
{
static float pid_measure, pid_ref;
static int16_t set;
static LKMotorInstance *motor;
static LKMotor_Measure_t *measure;
static Motor_Control_Setting_s *setting;
float pid_measure, pid_ref;
int16_t set;
LKMotorInstance *motor;
LKMotor_Measure_t *measure;
Motor_Control_Setting_s *setting;
for (size_t i = 0; i < idx; ++i)
{