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

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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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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);
}