4310pitch driver bug solved

modules/master_machine/master_process.c

@@ -5,7 +5,7 @@
  * @version beta
  * @date 2022-11-03
  * @todo 增加对串口调试助手协议的支持,包括vofa和serial debug
- * @copyright Copyright (c) 2023
+ * @copyright Copyright (c) 2022
  *
  */
 #include "master_process.h"

modules/motor/DJImotor/dji_motor.c

@@ -24,10 +24,12 @@ 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}},
 };
-
+static CANInstance DM_sender_assignment[1] = {
+    [0] = {.can_handle = &hcan2, .txconf.StdId = 0x3FE, .txconf.IDE = CAN_ID_STD, .txconf.RTR = CAN_RTR_DATA, .txconf.DLC = 0x08, .tx_buff = {0}}
+};
 /**
  * @brief 6个用于确认是否有电机注册到sender_assignment中的标志位,防止发送空帧,此变量将在DJIMotorControl()使用
  *        flag的初始化在 MotorSenderGrouping()中进行
@@ -326,10 +328,10 @@ void DJIMotorControl()
         group = motor->sender_group;
         num = motor->message_num;
 
-        if (i == 1)
+        if (i == 1)//pitch轴电机对应i值为1,需要特殊处理,因为它的发送顺序和其他电机不同,在同一帧中与其他电机的高八位和低八位相反
         {
-            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
+            DM_sender_assignment[0].tx_buff[6] = (uint8_t)(set & 0x00ff); // 高八位
+            DM_sender_assignment[0].tx_buff[7] = (uint8_t)(set >> 8); // 低八位
         }
         else
         {
@@ -348,6 +350,7 @@ void DJIMotorControl()
         if (sender_enable_flag[i])
         {
             CANTransmit(&sender_assignment[i], 1);
+            CANTransmit(&DM_sender_assignment[0], 1);//达妙电机单独一帧发送
         }
     }
 }