TuxMonkey/bf_original_balance_chassis
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修复LK电机id计算错误，构建平衡底盘框架，增加通用通信模块，增加平衡底盘条件编译兼容，删除lqr

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This commit is contained in:
NeoZng
2023-02-16 15:46:04 +08:00
parent b9a7d87dfd
commit a2a83f9fbf
35 changed files with 554 additions and 242 deletions
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2
bsp/can/bsp_can.c
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@@ -92,7 +92,7 @@ CANInstance *CANRegister(CAN_Init_Config_s *config)
uint8_t CANTransmit(CANInstance *_instance,uint8_t timeout)
{
float dwt_start = DWT_GetTimeline_ms();
while (HAL_CAN_GetTxMailboxesFreeLevel(_instance->can_handle) == 0);// 等待邮箱空闲
while (HAL_CAN_GetTxMailboxesFreeLevel(_instance->can_handle) == 0) // 等待邮箱空闲
{
if (DWT_GetTimeline_ms() - dwt_start > timeout) // 超时
{