TuxMonkey/bf_original_balance_chassis
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将底层的封装统一为相同的格式

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This commit is contained in:
NeoZeng
2022-11-28 17:54:07 +08:00
parent 8332422eac
commit f1301ab7de
17 changed files with 75 additions and 63 deletions
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2
modules/motor/HT04.c
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@@ -40,7 +40,7 @@ joint_instance *HTMotorInit(can_instance_config_s config)
{
static uint8_t idx;
joint_motor_info[idx] = (joint_instance *)malloc(sizeof(joint_instance));
CANRegister(joint_motor_info[idx++]->motor_can_instace, &config);
joint_motor_info[idx]->motor_can_instace =CANRegister(&config);
return joint_motor_info[idx++];
}

2
modules/motor/LK9025.c
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@@ -23,7 +23,7 @@ driven_instance *LKMotroInit(can_instance_config_s config)
static uint8_t idx;
driven_motor_info[idx] = (driven_instance *)malloc(sizeof(driven_instance));
config.can_module_callback = DecodeDriven;
CANRegister(driven_motor_info[idx]->motor_can_instance, &config);
driven_motor_info[idx]->motor_can_instance=CANRegister(&config);
return driven_motor_info[idx++];
}

8
modules/motor/dji_motor.c
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@@ -78,7 +78,7 @@ static void MotorSenderGrouping(can_instance_config_s *config)
// 检查是否发生id冲突
for (size_t i = 0; i < idx; i++)
{
if (dji_motor_info[i]->motor_can_instance.can_handle == config->can_handle && dji_motor_info[i]->motor_can_instance.rx_id == config->rx_id)
if (dji_motor_info[i]->motor_can_instance->can_handle == config->can_handle && dji_motor_info[i]->motor_can_instance->rx_id == config->rx_id)
IDcrash_Handler(i, idx);
}
break;
@@ -102,7 +102,7 @@ static void MotorSenderGrouping(can_instance_config_s *config)
for (size_t i = 0; i < idx; i++)
{
if (dji_motor_info[i]->motor_can_instance.can_handle == config->can_handle && dji_motor_info[i]->motor_can_instance.rx_id == config->rx_id)
if (dji_motor_info[i]->motor_can_instance->can_handle == config->can_handle && dji_motor_info[i]->motor_can_instance->rx_id == config->rx_id)
IDcrash_Handler(i, idx);
}
break;
@@ -126,7 +126,7 @@ static void DecodeDJIMotor(can_instance *_instance)
for (size_t i = 0; i < DJI_MOTOR_CNT; i++)
{
if (&dji_motor_info[i]->motor_can_instance == _instance)
if (dji_motor_info[i]->motor_can_instance == _instance)
{
rxbuff = _instance->rx_buff;
measure = &dji_motor_info[i]->motor_measure;
@@ -168,7 +168,7 @@ dji_motor_instance *DJIMotorInit(Motor_Init_Config_s *config)
MotorSenderGrouping(&config->can_init_config);
// register motor to CAN bus
config->can_init_config.can_module_callback = DecodeDJIMotor; // set callback
CANRegister(&dji_motor_info[idx]->motor_can_instance, &config->can_init_config);
dji_motor_info[idx]->motor_can_instance=CANRegister(&config->can_init_config);
return dji_motor_info[idx++];
}

2
modules/motor/dji_motor.h
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@@ -53,7 +53,7 @@ typedef struct
Motor_Controller_s motor_controller;
/* the CAN instance own by motor instance*/
can_instance motor_can_instance;
can_instance* motor_can_instance;
/* sender assigment*/
uint8_t sender_group;