TuxMonkey/bf_original_balance_chassis
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增加了文档,修改通信协议,更新了平衡底盘的VMC映射和五连杆解算,修复了双板通信数据结构步对齐的错误

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NeoZng
2023-04-14 18:17:46 +08:00
parent 681dce3c90
commit 9e364cbaaa
14 changed files with 225 additions and 97 deletions
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2
modules/master_machine/master_process.c
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@@ -82,7 +82,7 @@ void VisionSend(Vision_Send_s *send)
uint8_t send_buff[VISION_SEND_SIZE];
uint16_t tx_len;
// TODO: code to set flag_register
flag_register = 30<<8|0b00000001;
flag_register = 30<<8|0b00000001;
// 将数据转化为seasky协议的数据包
get_protocol_send_data(0x02, flag_register, &send->yaw, 3, send_buff, &tx_len);
USARTSend(vision_usart_instance, send_buff, tx_len, USART_TRANSFER_DMA); // 和视觉通信使用IT,防止和接收使用的DMA冲突