TuxMonkey/half-steering-basic-framework
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6020pitch driver

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Zorua
2026-03-17 19:44:51 +08:00
parent 4ac9cba1d7
commit caec6bb497
6 changed files with 32 additions and 34 deletions
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18
modules/motor/DJImotor/dji_motor.c
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@@ -24,7 +24,7 @@ static CANInstance sender_assignment[6] = {
[1] = {.can_handle = &hcan1, .txconf.StdId = 0x200, .txconf.IDE = CAN_ID_STD, .txconf.RTR = CAN_RTR_DATA, .txconf.DLC = 0x08, .tx_buff = {0}},
[2] = {.can_handle = &hcan1, .txconf.StdId = 0x2ff, .txconf.IDE = CAN_ID_STD, .txconf.RTR = CAN_RTR_DATA, .txconf.DLC = 0x08, .tx_buff = {0}},
[3] = {.can_handle = &hcan2, .txconf.StdId = 0x1ff, .txconf.IDE = CAN_ID_STD, .txconf.RTR = CAN_RTR_DATA, .txconf.DLC = 0x08, .tx_buff = {0}},
[4] = {.can_handle = &hcan2, .txconf.StdId = 0x3FE, .txconf.IDE = CAN_ID_STD, .txconf.RTR = CAN_RTR_DATA, .txconf.DLC = 0x08, .tx_buff = {0}},
[4] = {.can_handle = &hcan2, .txconf.StdId = 0x200, .txconf.IDE = CAN_ID_STD, .txconf.RTR = CAN_RTR_DATA, .txconf.DLC = 0x08, .tx_buff = {0}},
[5] = {.can_handle = &hcan2, .txconf.StdId = 0x2ff, .txconf.IDE = CAN_ID_STD, .txconf.RTR = CAN_RTR_DATA, .txconf.DLC = 0x08, .tx_buff = {0}},
};
@@ -321,25 +321,15 @@ void DJIMotorControl()
// 获取最终输出
set = (int16_t)pid_ref;
// 分组填入发送数据
group = motor->sender_group;
num = motor->message_num;
if (i == 1)
{
sender_assignment[4].tx_buff[6] = (uint8_t)(set & 0x00ff); // 高八位
sender_assignment[4].tx_buff[7] = (uint8_t)(set >> 8); // 低八位
}
else
{
sender_assignment[group].tx_buff[2 * num] = (uint8_t)(set >> 8); // 低八位
sender_assignment[group].tx_buff[2 * num + 1] = (uint8_t)(set & 0x00ff); // 高八位
}
sender_assignment[group].tx_buff[2 * num] = (uint8_t)(set >> 8); // 低八位
sender_assignment[group].tx_buff[2 * num + 1] = (uint8_t)(set & 0x00ff); // 高八位
// 若该电机处于停止状态,直接将buff置零
if (motor->stop_flag == MOTOR_STOP)
memset(sender_assignment[group].tx_buff + 2 * num, 0, 2u);
memset(sender_assignment[group].tx_buff + 2 * num, 0, sizeof(uint16_t));
}
// 遍历flag,检查是否要发送这一帧报文