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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25
modules/led/led.c
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@@ -1,44 +1,39 @@
#include "led.h"
#include "stdlib.h"
#include "string.h"
#include "memory.h"
#include "user_lib.h"
static uint8_t idx;
static LEDInstance* bsp_led_ins[LED_MAX_NUM] = {NULL};
static LEDInstance *bsp_led_ins[LED_MAX_NUM] = {NULL};
LEDInstance *LEDRegister(LED_Init_Config_s *led_config)
{
LEDInstance *led_ins = (LEDInstance *)zero_malloc(sizeof(LEDInstance));
// 剩下的值暂时都被置零
led_ins->led_pwm=GPIORegister(&led_config->pwm_config);
led_ins->led_switch=led_config->init_swtich;
led_ins->led_pwm = GPIORegister(&led_config->pwm_config);
led_ins->led_switch = led_config->init_swtich;
bsp_led_ins[idx++] = led_ins;
return led_ins;
}
void LEDSet(LEDInstance *_led,uint8_t alpha,uint8_t color_value,uint8_t brightness)
void LEDSet(LEDInstance *_led, uint8_t alpha, uint8_t color_value, uint8_t brightness)
{
}
void LEDSwitch(LEDInstance *_led,uint8_t led_switch)
void LEDSwitch(LEDInstance *_led, uint8_t led_switch)
{
if(led_switch==1)
if (led_switch == 1)
{
_led->led_switch=1;
_led->led_switch = 1;
}
else
{
_led->led_switch=0;
_led->led_switch = 0;
// PWMSetPeriod(_led,0);
}
}
void LEDShow()
{
}