TuxMonkey/bf_original_balance_chassis
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change all memory management to heap instead of stack

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This commit is contained in:
NeoZng
2022-10-20 21:38:48 +08:00
parent a3a95768e6
commit f46a463449
9 changed files with 64 additions and 74 deletions
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59
modules/motor/HT04.c
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@@ -3,18 +3,6 @@
joint_instance* joint_motor_info[HT_MOTOR_CNT];
void HTMotorInit(joint_instance* _instance,CAN_HandleTypeDef* _hcan,uint8_t tx_id,uint8_t rx_id)
{
static uint8_t idx;
_instance->motor_can_instace.can_handle=_hcan;
_instance->motor_can_instace.tx_id=tx_id;
_instance->motor_can_instace.rx_id=rx_id;
_instance->motor_can_instace.can_module_callback=DecodeJoint;
CANRegister(&_instance->motor_can_instace);
joint_motor_info[idx++]=_instance;
}
static uint16_t float_to_uint(float x, float x_min, float x_max, uint8_t bits)
{
float span = x_max - x_min;
@@ -29,25 +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;
}
void JointControl(joint_instance* _instance,float current)
{
uint16_t tmp;
LIMIT_MIN_MAX(current, T_MIN, T_MAX);
tmp = float_to_uint(current, T_MIN, T_MAX, 12);
_instance->motor_can_instace.rx_buff[6] = tmp>>8;
_instance->motor_can_instace.rx_buff[7] = tmp&0xff;
CANTransmit(&_instance->motor_can_instace);
}
void SetJointMode(joint_mode cmd,joint_instance* _instance)
{
static uint8_t buf[8] = {0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x00};
buf[7]=(uint8_t)cmd;
memcpy(_instance->motor_can_instace.rx_buff,buf,8*sizeof(uint8_t));
CANTransmit(&_instance->motor_can_instace);
}
void DecodeJoint(can_instance* motor_instance)
static void DecodeJoint(can_instance* motor_instance)
{
uint16_t tmp;
for (size_t i = 0; i < HT_MOTOR_CNT; i++)
@@ -64,4 +34,29 @@ void DecodeJoint(can_instance* motor_instance)
break;
}
}
}
}
joint_instance* HTMotorInit(CAN_HandleTypeDef* _hcan,uint8_t tx_id,uint8_t rx_id)
{
static uint8_t idx;
joint_motor_info[idx]=(joint_instance*)malloc(sizeof(joint_instance));
joint_motor_info[idx++]->motor_can_instace=CANRegister(tx_id,rx_id,_hcan,DecodeJoint);
}
void JointControl(joint_instance* _instance,float current)
{
uint16_t tmp;
LIMIT_MIN_MAX(current, T_MIN, T_MAX);
tmp = float_to_uint(current, T_MIN, T_MAX, 12);
_instance->motor_can_instace->rx_buff[6] = tmp>>8;
_instance->motor_can_instace->rx_buff[7] = tmp&0xff;
CANTransmit(&_instance->motor_can_instace);
}
void SetJointMode(joint_mode cmd,joint_instance* _instance)
{
static uint8_t buf[8] = {0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x00};
buf[7]=(uint8_t)cmd;
memcpy(_instance->motor_can_instace->rx_buff,buf,8*sizeof(uint8_t));
CANTransmit(&_instance->motor_can_instace);
}

5
modules/motor/HT04.h
View File

@@ -22,7 +22,7 @@ typedef struct //HT04
float given_current;
PID_t pid;
can_instance motor_can_instace;
can_instance* motor_can_instace;
} joint_instance;
typedef enum
@@ -32,11 +32,10 @@ typedef enum
CMD_ZERO_POSITION = 0xfe
} joint_mode;
void HTMotorInit(joint_instance* _instance,CAN_HandleTypeDef* _hcan,uint8_t tx_id,uint8_t rx_id);
joint_instance* HTMotorInit(CAN_HandleTypeDef* _hcan,uint8_t tx_id,uint8_t rx_id);
void JointControl(joint_instance* _instance,float current);
void SetJointMode(joint_mode cmd,joint_instance* _instance);
void DecodeJoint(can_instance* motor_instance);
#endif // !HT04_H#define HT04_H

18
modules/motor/LK9025.c
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@@ -18,25 +18,21 @@ static void DecodeDriven(can_instance* _instance)
}
}
void LKMotroInit(driven_instance* instance,CAN_HandleTypeDef* _hcan,uint8_t tx_id,uint8_t rx_id)
driven_instance* LKMotroInit(CAN_HandleTypeDef* _hcan,uint8_t tx_id,uint8_t rx_id)
{
static uint8_t idx;
instance->motor_can_instance.can_module_callback=DecodeDriven;
instance->motor_can_instance.can_handle=_hcan;
instance->motor_can_instance.tx_id=tx_id;
instance->motor_can_instance.rx_id=rx_id;
CANRegister(&instance->motor_can_instance);
driven_motor_info[idx++]=instance;
driven_motor_info[idx]=(driven_instance*)malloc(sizeof(driven_instance));
driven_motor_info[idx++]->motor_can_instance=CANRegister(tx_id,rx_id,_hcan,DecodeDriven);
}
void DrivenControl(int16_t motor1_current,int16_t motor2_current)
{
LIMIT_MIN_MAX(motor1_current, I_MIN, I_MAX);
LIMIT_MIN_MAX(motor2_current, I_MIN, I_MAX);
driven_motor_info[0]->motor_can_instance.tx_buff[0] = motor1_current;
driven_motor_info[0]->motor_can_instance.tx_buff[1] = motor1_current>>8;
driven_motor_info[0]->motor_can_instance.tx_buff[2] = motor2_current;
driven_motor_info[0]->motor_can_instance.tx_buff[3] = motor2_current>>8;
driven_motor_info[0]->motor_can_instance->tx_buff[0] = motor1_current;
driven_motor_info[0]->motor_can_instance->tx_buff[1] = motor1_current>>8;
driven_motor_info[0]->motor_can_instance->tx_buff[2] = motor2_current;
driven_motor_info[0]->motor_can_instance->tx_buff[3] = motor2_current>>8;
CANTransmit(&driven_motor_info[0]->motor_can_instance);
}

6
modules/motor/LK9025.h
View File

@@ -19,8 +19,8 @@ typedef struct //9025
int16_t given_current;
uint8_t temperate;
PID_t pid;
can_instance motor_can_instance;
PID_t* pid;
can_instance* motor_can_instance;
} driven_instance;
@@ -29,7 +29,7 @@ typedef enum
unused = 0,
} driven_mode;
void LKMotroInit(driven_instance* instance,CAN_HandleTypeDef* _hcan,uint8_t tx_id,uint8_t rx_id);
driven_instance* LKMotroInit(CAN_HandleTypeDef* _hcan,uint8_t tx_id,uint8_t rx_id);
void DrivenControl(int16_t motor1_current,int16_t motor2_current);

12
modules/motor/dji_motor.c
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@@ -7,7 +7,7 @@ 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)
{
dji_motor_info[i]->last_ecd = dji_motor_info[i]->ecd;
dji_motor_info[i]->ecd = (uint16_t)(_instance->rx_buff[0] << 8 | _instance->rx_buff[1]);
@@ -19,15 +19,11 @@ static void DecodeDJIMotor(can_instance* _instance)
}
}
void DJIMotorInit(dji_motor_instance* motor_instance,CAN_HandleTypeDef* _hcan,uint16_t tx_id,uint16_t rx_id)
dji_motor_instance* DJIMotorInit(CAN_HandleTypeDef* _hcan,uint16_t tx_id,uint16_t rx_id)
{
static uint8_t idx;
motor_instance->motor_can_instance.can_handle=_hcan;
motor_instance->motor_can_instance.tx_id=tx_id;
motor_instance->motor_can_instance.rx_id=rx_id;
motor_instance->motor_can_instance.can_module_callback=DecodeDJIMotor;
CANRegister(&motor_instance->motor_can_instance);
dji_motor_info[idx++]=motor_instance;
dji_motor_info[idx]=(dji_motor_instance*)malloc(sizeof(dji_motor_instance));
dji_motor_info[idx++]->motor_can_instance=CANRegister(tx_id,rx_id,_hcan,DecodeDJIMotor);
}
void DJIMotorControl()

4
modules/motor/dji_motor.h
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@@ -15,11 +15,11 @@ typedef struct
int16_t last_ecd;
PID_t motor_pid;
can_instance motor_can_instance;
can_instance *motor_can_instance;
} dji_motor_instance;
void DJIMotorInit(dji_motor_instance* motor_instace,CAN_HandleTypeDef* _hcan,uint16_t tx_id,uint16_t rx_id);
dji_motor_instance* DJIMotorInit(CAN_HandleTypeDef* _hcan,uint16_t tx_id,uint16_t rx_id);
void DJIMotorControl();