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修复LK电机反馈异常和总线拥塞的问题

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NeoZng
2023-02-23 10:39:03 +08:00
parent 3cf1831237
commit 48326bbd5c
6 changed files with 35 additions and 5 deletions
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5
modules/motor/LKmotor/LK9025.c
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@@ -16,7 +16,7 @@ static void LKMotorDecode(CANInstance *_instance)
static LKMotor_Measure_t *measure;
static uint8_t *rx_buff;
rx_buff = _instance->rx_buff;
measure = &((LKMotorInstance *)_instance)->measure; // 通过caninstance保存的id获取对应的motorinstance
measure = &(((LKMotorInstance *)_instance->id)->measure); // 通过caninstance保存的id获取对应的motorinstance
measure->last_ecd = measure->ecd;
measure->ecd = (uint16_t)((rx_buff[7] << 8) | rx_buff[6]);
@@ -59,7 +59,10 @@ LKMotorInstance *LKMotorInit(Motor_Init_Config_s *config)
motor->motor_can_ins = CANRegister(&config->can_init_config);
if (idx == 0) // 用第一个电机的can instance发送数据
{
sender_instance = motor->motor_can_ins;
sender_instance->tx_id = 0x280; // 修改tx_id为0x280,用于多电机发送,不用管其他LKMotorInstance的tx_id,它们仅作初始化用
}
LKMotorEnable(motor);
lkmotor_instance[idx++] = motor;

4
modules/motor/LKmotor/LK_motor.md
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@@ -2,4 +2,6 @@
这是瓴控电机的模块封装说明文档。关于LK电机的控制报文和反馈报文值，详见LK电机的说明文档，由于电机实例已经自带三环PID计算，一般来说**我们能用到的只有单电机的力矩指令和多电机指令。**
注意LK电机在使用多电机发送的时候，只支持一条总线上至多4个电机，多电机模式下LK仅支持发送id 0x280为接收ID为0x140+id.
注意LK电机在使用多电机发送的时候，只支持一条总线上至多4个电机，多电机模式下LK仅支持发送id 0x280为接收ID为0x140+id.
要设置为多电机模式，请通过串口连接电机，并使用该文件夹下的LK motor tool.exe进行配置。