TuxMonkey/bf_original_balance_chassis
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修复了HT电机PID计算的bug

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This commit is contained in:
NeoZng
2023-02-14 17:36:02 +08:00
parent cff796dbff
commit 53bdf1707c
18 changed files with 83 additions and 53 deletions
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6
bsp/can/bsp_can.c
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@@ -92,9 +92,13 @@ CANInstance *CANRegister(CAN_Init_Config_s *config)
uint8_t CANTransmit(CANInstance *_instance,uint8_t timeout)
{
float dwt_start = DWT_GetTimeline_ms();
while (HAL_CAN_GetTxMailboxesFreeLevel(_instance->can_handle) == 0) // 等待邮箱空闲
while (HAL_CAN_GetTxMailboxesFreeLevel(_instance->can_handle) == 0);// 等待邮箱空闲
{
if (DWT_GetTimeline_ms() - dwt_start > timeout) // 超时
{
return 0;
}
}
// tx_mailbox会保存实际填入了这一帧消息的邮箱,但是知道是哪个邮箱发的似乎也没啥用
HAL_CAN_AddTxMessage(_instance->can_handle, &_instance->txconf, _instance->tx_buff, &_instance->tx_mailbox);
return 1; // 发送成功