TuxMonkey/bf_original_balance_chassis
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增加了遥控器按键功能并修改所有函数和类型定义为标准格式

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This commit is contained in:
NeoZng
2022-12-05 21:01:26 +08:00
parent 3947c48230
commit 9c9ea14bde
40 changed files with 352 additions and 251 deletions
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6
modules/motor/HT04.c
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@@ -17,7 +17,7 @@ static float uint_to_float(int x_int, float x_min, float x_max, int bits)
return ((float)x_int) * span / ((float)((1 << bits) - 1)) + offset;
}
static void DecodeJoint(can_instance *motor_instance)
static void DecodeJoint(CANInstance *motor_instance)
{
uint16_t tmp;
for (size_t i = 0; i < HT_MOTOR_CNT; i++)
@@ -36,11 +36,11 @@ static void DecodeJoint(can_instance *motor_instance)
}
}
joint_instance *HTMotorInit(can_instance_config_s config)
joint_instance *HTMotorInit(CAN_Init_Config_s config)
{
static uint8_t idx;
joint_motor_info[idx] = (joint_instance *)malloc(sizeof(joint_instance));
joint_motor_info[idx]->motor_can_instace =CANRegister(&config);
joint_motor_info[idx]->motor_can_instace = CANRegister(&config);
return joint_motor_info[idx++];
}