TuxMonkey/bf_original_balance_chassis
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fix can rx fifo bug

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This commit is contained in:
NeoZeng
2022-11-23 22:10:44 +08:00
parent 62b1783b59
commit 490b957045
11 changed files with 123 additions and 73 deletions
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13
HAL_N_Middlewares/Src/main.c
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@@ -77,8 +77,7 @@ void MX_FREERTOS_Init(void);
* @brief The application entry point.
* @retval int
*/
int main(void)
{
int main(void){
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
@@ -119,12 +118,12 @@ int main(void)
RC_init(&huart3);
DWT_Init(168);
Motor_Init_Config_s config = {
.motor_type = M2006,
.motor_type = M3508,
.can_init_config = {
.can_handle = &hcan1,
.tx_id = 1},
.controller_setting_init_config = {.angle_feedback_source = MOTOR_FEED, .close_loop_type = SPEED_LOOP | CURRENT_LOOP, .speed_feedback_source = MOTOR_FEED, .reverse_flag = MOTOR_DIRECTION_NORMAL},
.controller_param_init_config = {.current_PID = {.Improve = 0, .Kp = 1, .Ki = 0, .Kd = 0, .DeadBand = 0, .MaxOut = 4000}, .speed_PID = {.Improve = 0, .Kp = 1, .Ki = 0, .Kd = 0, .DeadBand = 0, .MaxOut = 4000}}};
.tx_id = 2},
.controller_setting_init_config = {.angle_feedback_source = MOTOR_FEED, .close_loop_type = SPEED_LOOP | ANGLE_LOOP, .speed_feedback_source = MOTOR_FEED, .reverse_flag = MOTOR_DIRECTION_NORMAL},
.controller_param_init_config = {.angle_PID = {.Improve = 0, .Kp = 1, .Ki = 0, .Kd = 0, .DeadBand = 0, .MaxOut = 4000}, .speed_PID = {.Improve = 0, .Kp = 1, .Ki = 0, .Kd = 0, .DeadBand = 0, .MaxOut = 4000}}};
dji_motor_instance *djimotor = DJIMotorInit(config);
RefereeInit(&huart6);
@@ -143,7 +142,7 @@ int main(void)
{
/* USER CODE END WHILE */
DJIMotorSetRef(djimotor, get_remote_control_point()->rc.ch[0]);
DJIMotorSetRef(djimotor, 10);
MotorControlTask();
HAL_Delay(100);
/* USER CODE BEGIN 3 */