TuxMonkey/bf_original_balance_chassis
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1.初版can comm已经实现; 2.修改了电机\bsp_can\usart的初始化实现

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This commit is contained in:
NeoZeng
2022-11-28 16:17:30 +08:00
parent cb3f5d92d1
commit 8332422eac
17 changed files with 615 additions and 552 deletions
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12
bsp/bsp_can.c
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@@ -57,7 +57,7 @@ static void CANServiceInit()
/* -----------------------two extern callable function -----------------------*/
void CANRegister(can_instance *ins, can_instance_config_s config)
void CANRegister(can_instance *ins, can_instance_config_s* config)
{
static uint8_t idx;
if (!idx)
@@ -66,15 +66,15 @@ void CANRegister(can_instance *ins, can_instance_config_s config)
}
instance[idx] = ins;
instance[idx]->txconf.StdId = config.tx_id;
instance[idx]->txconf.StdId = config->tx_id;
instance[idx]->txconf.IDE = CAN_ID_STD;
instance[idx]->txconf.RTR = CAN_RTR_DATA;
instance[idx]->txconf.DLC = 0x08;
instance[idx]->can_handle = config.can_handle;
instance[idx]->tx_id = config.tx_id;
instance[idx]->rx_id = config.rx_id;
instance[idx]->can_module_callback = config.can_module_callback;
instance[idx]->can_handle = config->can_handle;
instance[idx]->tx_id = config->tx_id;
instance[idx]->rx_id = config->rx_id;
instance[idx]->can_module_callback = config->can_module_callback;
CANAddFilter(instance[idx++]);
}