更新了todo列表

modules/motor/DJImotor/dji_motor.c

@@ -126,7 +126,7 @@ static void DecodeDJIMotor(CANInstance *_instance)
     static DJI_Motor_Measure_s *measure;
     rxbuff = _instance->rx_buff;
     // 这里对can instance的id进行了强制转换,从而获得电机的instance实例地址
-    measure = &((DJIMotorInstance *)_instance->id)->motor_measure; // measure要多次使用,保存指针减小访存开销
+    measure = &(((DJIMotorInstance *)_instance->id)->motor_measure); // measure要多次使用,保存指针减小访存开销
 
     // 解析数据并对电流和速度进行滤波,电机的反馈报文具体格式见电机说明手册
     measure->last_ecd = measure->ecd;

modules/motor/DJImotor/dji_motor.h

@@ -33,7 +33,7 @@ typedef struct
     uint16_t last_ecd;        // 上一次读取的编码器值
     uint16_t ecd;             // 0-8191,刻度总共有8192格
     float angle_single_round; // 单圈角度
-    float speed_aps;          // 角速度,单位为:度/秒 rounds per minute
+    float speed_aps;          // 角速度,单位为:度/秒 rpm:rounds per minute
     int16_t real_current;     // 实际电流
     uint8_t temperate;        // 温度 Celsius
 

modules/motor/HTmotor/HT04.c

@@ -6,7 +6,7 @@ static uint8_t idx;
 HTMotorInstance *ht_motor_instance[HT_MOTOR_CNT];
 
 /**
- * @brief
+ * @brief 
  *
  * @param cmd
  * @param motor
@@ -111,24 +111,28 @@ void HTMotorControl()
                 pid_measure = *motor->other_angle_feedback_ptr;
             else
                 pid_measure = measure->real_current;
+
             pid_ref = PID_Calculate(&motor->angle_PID, pid_measure, pid_ref);
-            if (setting->feedforward_flag & SPEED_FEEDFORWARD)
-                pid_ref += *motor->speed_feedforward_ptr;
         }
 
         if ((setting->close_loop_type & SPEED_LOOP) && setting->outer_loop_type & (ANGLE_LOOP | SPEED_LOOP))
         {
+            if (setting->feedforward_flag & SPEED_FEEDFORWARD)
+                pid_ref += *motor->speed_feedforward_ptr;
+
             if (setting->angle_feedback_source == OTHER_FEED)
                 pid_measure = *motor->other_speed_feedback_ptr;
             else
                 pid_measure = measure->speed_aps;
+                
             pid_ref = PID_Calculate(&motor->angle_PID, pid_measure, pid_ref);
-            if (setting->feedforward_flag & CURRENT_FEEDFORWARD)
-                pid_ref += *motor->current_feedforward_ptr;
         }
 
         if (setting->close_loop_type & CURRENT_LOOP)
         {
+            if (setting->feedforward_flag & CURRENT_FEEDFORWARD)
+                pid_ref += *motor->current_feedforward_ptr;
+
             pid_ref = PID_Calculate(&motor->current_PID, measure->real_current, pid_ref);
         }
 

modules/motor/LKmotor/LK_motor.md

@@ -0,0 +1,5 @@
+LK motor
+
+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。
+
+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仅支持接收ID为0x280.

modules/motor/motor_def.h

@@ -31,7 +31,7 @@ typedef enum
     // only for checking
     SPEED_AND_CURRENT_LOOP = 0b0011,
     ANGLE_AND_SPEED_LOOP = 0b0110,
-    ALL_THREE_LOOP = 0b0111
+    ALL_THREE_LOOP = 0b0111,
 } Closeloop_Type_e;
 
 typedef enum