TuxMonkey/bf_original_balance_chassis
1
1
Fork 0
mirror of https://gitee.com/dlmu-cone/bf_original_balance_chassis synced 2026-07-25 03:47:47 +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

27
modules/motor/LK9025.c
View File

@@ -11,7 +11,7 @@ static void LKMotorDecode(CANInstance *_instance)
static LKMotor_Measure_t *measure;
static uint8_t *rx_buff;
rx_buff = _instance->rx_buff;
measure = &((LKMotorInstance *)_instance)->measure;
measure = &((LKMotorInstance *)_instance)->measure; // 通过caninstance保存的id获取对应的motorinstance
measure->last_ecd = measure->ecd;
measure->ecd = (uint16_t)((rx_buff[7] << 8) | rx_buff[6]);
@@ -36,26 +36,27 @@ static void LKMotorDecode(CANInstance *_instance)
LKMotorInstance *LKMotroInit(Motor_Init_Config_s *config)
{
lkmotor_instance[idx] = (LKMotorInstance *)malloc(sizeof(LKMotorInstance));
memset(lkmotor_instance[idx], 0, sizeof(LKMotorInstance));
LKMotorInstance *motor = (LKMotorInstance *)malloc(sizeof(LKMotorInstance));
motor = (LKMotorInstance *)malloc(sizeof(LKMotorInstance));
memset(motor, 0, sizeof(LKMotorInstance));
lkmotor_instance[idx]->motor_settings = config->controller_setting_init_config;
PID_Init(&lkmotor_instance[idx]->current_PID, &config->controller_param_init_config.current_PID);
PID_Init(&lkmotor_instance[idx]->speed_PID, &config->controller_param_init_config.speed_PID);
PID_Init(&lkmotor_instance[idx]->angle_PID, &config->controller_param_init_config.angle_PID);
lkmotor_instance[idx]->other_angle_feedback_ptr = config->controller_param_init_config.other_angle_feedback_ptr;
lkmotor_instance[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.id = lkmotor_instance[idx];
config->can_init_config.id = motor;
config->can_init_config.can_module_callback = LKMotorDecode;
config->can_init_config.rx_id = 0x140 + config->can_init_config.tx_id;
config->can_init_config.tx_id = config->can_init_config.tx_id + 0x280;
lkmotor_instance[idx]->motor_can_ins = CANRegister(&config->can_init_config);
motor->motor_can_ins = CANRegister(&config->can_init_config);
if (idx == 0)
sender_instance = lkmotor_instance[idx]->motor_can_ins;
sender_instance = motor->motor_can_ins;
LKMotorEnable(lkmotor_instance[idx]);
LKMotorEnable(motor);
return lkmotor_instance[idx++];
}