TuxMonkey/bf_original_balance_chassis
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添加了can的发送超时控制,添加了所有application层的文档和注释

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NeoZng
2023-01-03 22:53:49 +08:00
parent f37d813bcd
commit 48370d4411
16 changed files with 160 additions and 40 deletions
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4
modules/motor/HTmotor/HT04.c
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@@ -16,7 +16,7 @@ static void HTMotorSetMode(HTMotor_Mode_t cmd, HTMotorInstance *motor)
static uint8_t buf[8] = {0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x00};
buf[7] = (uint8_t)cmd;
memcpy(motor->motor_can_instace->tx_buff, buf, sizeof(buf));
CANTransmit(motor->motor_can_instace);
CANTransmit(motor->motor_can_instace,1);
}
/* 两个用于将uint值和float值进行映射的函数,在设定发送值和解析反馈值时使用 */
@@ -144,7 +144,7 @@ void HTMotorControl()
{ // 若该电机处于停止状态,直接将发送buff置零
memset(motor_can->tx_buff + 6, 0, sizeof(uint16_t));
}
CANTransmit(motor_can);
CANTransmit(motor_can,1);
}
}