TuxMonkey/bf_original_balance_chassis
1
1
Fork 0
mirror of https://gitee.com/dlmu-cone/bf_original_balance_chassis synced 2026-07-24 19:47:44 +08:00
Code Issues Packages Projects Releases Wiki Activity

增加了BSP PWM的支持,修改了bsp和module层的初始化提高可读性,新年快乐

Browse Source
This commit is contained in:
NeoZng
2023-01-01 12:45:07 +08:00
parent 08440ce116
commit 7e36f6a0cf
21 changed files with 469 additions and 424 deletions
Download Patch File Download Diff File Expand all files Collapse all files

32
modules/motor/HT04.c
View File

@@ -3,7 +3,7 @@
#include "general_def.h"
static uint8_t idx;
HTMotorInstance *ht_motor_info[HT_MOTOR_CNT];
HTMotorInstance *ht_motor_instance[HT_MOTOR_CNT];
/**
* @brief
@@ -45,7 +45,7 @@ static void HTMotorDecode(CANInstance *motor_can)
static uint8_t *rxbuff;
rxbuff = motor_can->rx_buff;
measure = &((HTMotorInstance *)motor_can->id)->motor_measure;
measure = &((HTMotorInstance *)motor_can->id)->motor_measure; // 将can实例中保存的id转换成电机实例的指针
measure->last_angle = measure->total_angle;
@@ -63,23 +63,23 @@ static void HTMotorDecode(CANInstance *motor_can)
HTMotorInstance *HTMotorInit(Motor_Init_Config_s *config)
{
HTMotorInstance *motor = (HTMotorInstance *)malloc(sizeof(HTMotorInstance));
memset(motor, 0, sizeof(HTMotorInstance));
ht_motor_info[idx] = (HTMotorInstance *)malloc(sizeof(HTMotorInstance));
memset(ht_motor_info[idx], 0, sizeof(HTMotorInstance));
ht_motor_info[idx]->motor_settings = config->controller_setting_init_config;
PID_Init(&ht_motor_info[idx]->current_PID, &config->controller_param_init_config.current_PID);
PID_Init(&ht_motor_info[idx]->speed_PID, &config->controller_param_init_config.speed_PID);
PID_Init(&ht_motor_info[idx]->angle_PID, &config->controller_param_init_config.angle_PID);
ht_motor_info[idx]->other_angle_feedback_ptr = config->controller_param_init_config.other_angle_feedback_ptr;
ht_motor_info[idx]->other_speed_feedback_ptr = config->controller_param_init_config.other_speed_feedback_ptr;
motor->motor_settings = config->controller_setting_init_config;
PID_Init(&motor->current_PID, &config->controller_param_init_config.current_PID);
PID_Init(&motor->speed_PID, &config->controller_param_init_config.speed_PID);
PID_Init(&motor->angle_PID, &config->controller_param_init_config.angle_PID);
motor->other_angle_feedback_ptr = config->controller_param_init_config.other_angle_feedback_ptr;
motor->other_speed_feedback_ptr = config->controller_param_init_config.other_speed_feedback_ptr;
config->can_init_config.can_module_callback = HTMotorDecode;
config->can_init_config.id = ht_motor_info[idx];
ht_motor_info[idx]->motor_can_instace = CANRegister(&config->can_init_config);
config->can_init_config.id = motor;
motor->motor_can_instace = CANRegister(&config->can_init_config);
HTMotorEnable(ht_motor_info[idx]);
return ht_motor_info[idx++];
HTMotorEnable(motor);
ht_motor_instance[idx++] = motor;
return motor;
}
void HTMotorSetRef(HTMotorInstance *motor, float ref)
@@ -99,7 +99,7 @@ void HTMotorControl()
// 遍历所有电机实例,计算PID
for (size_t i = 0; i < idx; i++)
{ // 先获取地址避免反复寻址
motor = ht_motor_info[i];
motor = ht_motor_instance[i];
measure = &motor->motor_measure;
setting = &motor->motor_settings;
motor_can = motor_can;