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);
}