TuxMonkey/bf_original_balance_chassis
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完成了HTMotor和LKMotor模块,并为motor_def增加了前馈指令

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NeoZng
2022-12-14 13:33:19 +08:00
parent 67fbf9064d
commit 4637cb8297
16 changed files with 160 additions and 34 deletions
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28
modules/can_comm/can_comm.c
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@@ -3,10 +3,6 @@
#include "stdlib.h"
#include "crc8.h"
/* can_comm用于保存每个实例的指针数组,用于回调函数区分实例 */
static CANCommInstance *can_comm_instance[MX_CAN_COMM_COUNT] = {NULL};
static uint8_t idx; // 配合can_comm_instance的初始化使用,标识当前初始化的是哪一个实例
/**
* @brief 重置CAN comm的接收状态和buffer
*
@@ -77,20 +73,20 @@ static void CANCommRxCallback(CANInstance *_instance)
CANCommInstance *CANCommInit(CANComm_Init_Config_s *comm_config)
{
can_comm_instance[idx] = (CANCommInstance *)malloc(sizeof(CANCommInstance));
memset(can_comm_instance[idx], 0, sizeof(CANCommInstance));
can_comm_instance[idx]->recv_data_len = comm_config->recv_data_len;
can_comm_instance[idx]->recv_buf_len = comm_config->recv_data_len + CAN_COMM_OFFSET_BYTES;
can_comm_instance[idx]->send_data_len = comm_config->send_data_len;
can_comm_instance[idx]->send_buf_len = comm_config->send_data_len + CAN_COMM_OFFSET_BYTES;
can_comm_instance[idx]->raw_sendbuf[0] = CAN_COMM_HEADER;
can_comm_instance[idx]->raw_sendbuf[1] = comm_config->send_data_len;
can_comm_instance[idx]->raw_sendbuf[comm_config->send_data_len + CAN_COMM_OFFSET_BYTES - 1] = CAN_COMM_TAIL;
CANCommInstance* ins = (CANCommInstance *)malloc(sizeof(CANCommInstance));
memset(ins, 0, sizeof(CANCommInstance));
ins->recv_data_len = comm_config->recv_data_len;
ins->recv_buf_len = comm_config->recv_data_len + CAN_COMM_OFFSET_BYTES;
ins->send_data_len = comm_config->send_data_len;
ins->send_buf_len = comm_config->send_data_len + CAN_COMM_OFFSET_BYTES;
ins->raw_sendbuf[0] = CAN_COMM_HEADER;
ins->raw_sendbuf[1] = comm_config->send_data_len;
ins->raw_sendbuf[comm_config->send_data_len + CAN_COMM_OFFSET_BYTES - 1] = CAN_COMM_TAIL;
comm_config->can_config.id = can_comm_instance[idx];
comm_config->can_config.id = ins;
comm_config->can_config.can_module_callback = CANCommRxCallback;
can_comm_instance[idx]->can_ins = CANRegister(&comm_config->can_config);
return can_comm_instance[idx++];
ins->can_ins = CANRegister(&comm_config->can_config);
return ins;
}
void CANCommSend(CANCommInstance *instance, uint8_t *data)