TuxMonkey/bf_original_balance_chassis
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更新了todo列表

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NeoZng
2023-01-08 21:02:02 +08:00
parent 3db2a20a0e
commit 7b5512fb92
7 changed files with 61 additions and 79 deletions
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2
modules/motor/DJImotor/dji_motor.c
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@@ -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;

2
modules/motor/DJImotor/dji_motor.h
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@@ -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