TuxMonkey/half-steering-basic-framework
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TuxMonkey:master TuxMonkey:codex/chassis-power-control TuxMonkey:devSJTUhead TuxMonkey:devSJTUheadPWRC TuxMonkey:dev TuxMonkey:dev-visionandreferee
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TuxMonkey:codex/chassis-power-control TuxMonkey:master TuxMonkey:devSJTUhead TuxMonkey:devSJTUheadPWRC TuxMonkey:dev TuxMonkey:dev-visionandreferee
TuxMonkey:v1.0

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Author SHA1 Message Date
TuxMonkey
a6d9bfc2b0 vision init 2026-03-19 01:34:58 +08:00
2 changed files with 6 additions and 9 deletions
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2
modules/master_machine/master_process.c
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@@ -5,7 +5,7 @@
* @version beta * @version beta
* @date 2022-11-03 * @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 * @todo 增加对串口调试助手协议的支持,包括vofa和serial debug
* @copyright Copyright (c) 2022 * @copyright Copyright (c) 2023
* *
*/ */
#include "master_process.h" #include "master_process.h"

13
modules/motor/DJImotor/dji_motor.c
View File

@@ -24,12 +24,10 @@ 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}}, [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}}, [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}}, [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 = 0x200, .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}},
[5] = {.can_handle = &hcan2, .txconf.StdId = 0x2ff, .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 * @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 * flag的初始化在 MotorSenderGrouping()中进行
@@ -328,10 +326,10 @@ void DJIMotorControl()
group = motor->sender_group; group = motor->sender_group;
num = motor->message_num; num = motor->message_num;
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 if (i == 1)
{ {
DM_sender_assignment[0].tx_buff[6] = (uint8_t)(set & 0x00ff); // 高八位 sender_assignment[4].tx_buff[6] = (uint8_t)(set & 0x00ff); // 高八位
DM_sender_assignment[0].tx_buff[7] = (uint8_t)(set >> 8); // 低八位 sender_assignment[4].tx_buff[7] = (uint8_t)(set >> 8); // 低八位
} }
else else
{ {
@@ -350,7 +348,6 @@ void DJIMotorControl()
if (sender_enable_flag[i]) if (sender_enable_flag[i])
{ {
CANTransmit(&sender_assignment[i], 1); CANTransmit(&sender_assignment[i], 1);
CANTransmit(&DM_sender_assignment[0], 1);//达妙电机单独一帧发送
} }
} }
} }