From 63c1d05a612c415b0b757abded4ab628252d405b Mon Sep 17 00:00:00 2001 From: Feelyx Date: Sun, 11 Jan 2026 20:32:39 +0800 Subject: [PATCH] 0waring --- .clangd | 13 ++ .vscode/c_cpp_properties.json | 21 ++ .vscode/settings.json | 7 +- CMakeLists.txt | 1 - User/bsp/can.c | 58 +++--- User/component/freertos_cli.c | 352 ---------------------------------- User/component/freertos_cli.h | 108 ----------- User/device/motor_dm.c | 1 - 8 files changed, 69 insertions(+), 492 deletions(-) create mode 100644 .clangd create mode 100644 .vscode/c_cpp_properties.json delete mode 100644 User/component/freertos_cli.c delete mode 100644 User/component/freertos_cli.h diff --git a/.clangd b/.clangd new file mode 100644 index 0000000..b583756 --- /dev/null +++ b/.clangd @@ -0,0 +1,13 @@ +CompileFlags: + Add: + - '-ferror-limit=0' + - '-Wno-implicit-int' + CompilationDatabase: build/Debug + Remove: + - "--multi-lib-config=*" +Diagnostics: + Suppress: + - unused-includes + - unknown_typename + - unknown_typename_suggest + - typename_requires_specqual diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json new file mode 100644 index 0000000..80ca81f --- /dev/null +++ b/.vscode/c_cpp_properties.json @@ -0,0 +1,21 @@ +{ + "configurations": [ + { + "name": "STM32", + "includePath": [ + "${workspaceFolder}/**", + "Core/Inc", + "Drivers/STM32H7xx_HAL_Driver/Inc", + "Drivers/STM32H7xx_HAL_Driver/Inc/Legacy", + "Drivers/CMSIS/Device/ST/STM32H7xx/Include", + "Drivers/CMSIS/Include", + "User" + ], + "compileCommands": "${workspaceFolder}/build/Debug/compile_commands.json", + "intelliSenseMode": "linux-gcc-x64", + "cStandard": "c17", + "cppStandard": "c++17" + } + ], + "version": 4 +} \ No newline at end of file diff --git a/.vscode/settings.json b/.vscode/settings.json index b9667b1..f7fd8ea 100644 --- a/.vscode/settings.json +++ b/.vscode/settings.json @@ -6,5 +6,10 @@ "cmake.preferredGenerators": [ "Ninja" ], - "stm32cube-ide-clangd.path": "cube" + "stm32cube-ide-clangd.path": "cube", + "stm32cube-ide-clangd.arguments": [ + "starm-clangd", + "--query-driver=${env:CUBE_BUNDLE_PATH}/st-arm-clang/19.1.6+st.10/bin/starm-clang", + "--query-driver=${env:CUBE_BUNDLE_PATH}/st-arm-clang/19.1.6+st.10/bin/starm-clang++" + ] } \ No newline at end of file diff --git a/CMakeLists.txt b/CMakeLists.txt index 6e339db..8964a62 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -61,7 +61,6 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE User/component/crc8.c User/component/error_detect.c User/component/filter.c - User/component/freertos_cli.c User/component/limiter.c User/component/mixer.c User/component/pid.c diff --git a/User/bsp/can.c b/User/bsp/can.c index f848653..1613b73 100644 --- a/User/bsp/can.c +++ b/User/bsp/can.c @@ -44,7 +44,7 @@ static BSP_CAN_t CAN_Get(CAN_HandleTypeDef *hcan); static osMessageQueueId_t BSP_CAN_FindQueue(BSP_CAN_t can, uint32_t can_id); static int8_t BSP_CAN_CreateIdQueue(BSP_CAN_t can, uint32_t can_id, uint8_t queue_size); static void BSP_CAN_RxFifo0Callback(void); -static void BSP_CAN_RxFifo1Callback(void); +// static void BSP_CAN_RxFifo1Callback(void); static void BSP_CAN_TxCompleteCallback(void); static BSP_CAN_FrameType_t BSP_CAN_GetFrameType(CAN_RxHeaderTypeDef *header); static uint32_t BSP_CAN_DefaultIdParser(uint32_t original_id, BSP_CAN_FrameType_t frame_type); @@ -281,34 +281,34 @@ static void BSP_CAN_RxFifo0Callback(void) { /** * @brief FIFO1接收处理函数 */ -static void BSP_CAN_RxFifo1Callback(void) { - CAN_RxHeaderTypeDef rx_header; - uint8_t rx_data[BSP_CAN_MAX_DLC]; - for (int can_idx = 0; can_idx < BSP_CAN_NUM; can_idx++) { - CAN_HandleTypeDef *hcan = BSP_CAN_GetHandle((BSP_CAN_t)can_idx); - if (hcan == NULL) continue; - while (HAL_CAN_GetRxFifoFillLevel(hcan, CAN_RX_FIFO1) > 0) { - if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO1, &rx_header, rx_data) == HAL_OK) { - uint32_t original_id = (rx_header.IDE == CAN_ID_STD) ? rx_header.StdId : rx_header.ExtId; - BSP_CAN_FrameType_t frame_type = BSP_CAN_GetFrameType(&rx_header); - uint32_t parsed_id = BSP_CAN_ParseId(original_id, frame_type); - osMessageQueueId_t queue = BSP_CAN_FindQueue((BSP_CAN_t)can_idx, parsed_id); - if (queue != NULL) { - BSP_CAN_Message_t msg = {0}; - msg.frame_type = frame_type; - msg.original_id = original_id; - msg.parsed_id = parsed_id; - msg.dlc = rx_header.DLC; - if (rx_header.RTR == CAN_RTR_DATA) { - memcpy(msg.data, rx_data, rx_header.DLC); - } - msg.timestamp = HAL_GetTick(); - osMessageQueuePut(queue, &msg, 0, BSP_CAN_TIMEOUT_IMMEDIATE); - } - } - } - } -} +// static void BSP_CAN_RxFifo1Callback(void) { +// CAN_RxHeaderTypeDef rx_header; +// uint8_t rx_data[BSP_CAN_MAX_DLC]; +// for (int can_idx = 0; can_idx < BSP_CAN_NUM; can_idx++) { +// CAN_HandleTypeDef *hcan = BSP_CAN_GetHandle((BSP_CAN_t)can_idx); +// if (hcan == NULL) continue; +// while (HAL_CAN_GetRxFifoFillLevel(hcan, CAN_RX_FIFO1) > 0) { +// if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO1, &rx_header, rx_data) == HAL_OK) { +// uint32_t original_id = (rx_header.IDE == CAN_ID_STD) ? rx_header.StdId : rx_header.ExtId; +// BSP_CAN_FrameType_t frame_type = BSP_CAN_GetFrameType(&rx_header); +// uint32_t parsed_id = BSP_CAN_ParseId(original_id, frame_type); +// osMessageQueueId_t queue = BSP_CAN_FindQueue((BSP_CAN_t)can_idx, parsed_id); +// if (queue != NULL) { +// BSP_CAN_Message_t msg = {0}; +// msg.frame_type = frame_type; +// msg.original_id = original_id; +// msg.parsed_id = parsed_id; +// msg.dlc = rx_header.DLC; +// if (rx_header.RTR == CAN_RTR_DATA) { +// memcpy(msg.data, rx_data, rx_header.DLC); +// } +// msg.timestamp = HAL_GetTick(); +// osMessageQueuePut(queue, &msg, 0, BSP_CAN_TIMEOUT_IMMEDIATE); +// } +// } +// } +// } +// } /* HAL Callback Functions --------------------------------------------------- */ void HAL_CAN_TxMailbox0CompleteCallback(CAN_HandleTypeDef *hcan) { diff --git a/User/component/freertos_cli.c b/User/component/freertos_cli.c deleted file mode 100644 index 32421de..0000000 --- a/User/component/freertos_cli.c +++ /dev/null @@ -1,352 +0,0 @@ -/* - * FreeRTOS+CLI V1.0.4 - * Copyright (C) 2017 Amazon.com, Inc. or its affiliates. All Rights Reserved. - * - * Permission is hereby granted, free of charge, to any person obtaining a copy of - * this software and associated documentation files (the "Software"), to deal in - * the Software without restriction, including without limitation the rights to - * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of - * the Software, and to permit persons to whom the Software is furnished to do so, - * subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in all - * copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS - * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR - * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER - * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN - * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. - * - * http://www.FreeRTOS.org - * http://aws.amazon.com/freertos - * - * 1 tab == 4 spaces! - */ - -/* Standard includes. */ -#include -#include - -/* FreeRTOS includes. */ -#include "FreeRTOS.h" -#include "task.h" - -/* Utils includes. */ -#include "FreeRTOS_CLI.h" - -/* If the application writer needs to place the buffer used by the CLI at a -fixed address then set configAPPLICATION_PROVIDES_cOutputBuffer to 1 in -FreeRTOSConfig.h, then declare an array with the following name and size in -one of the application files: - char cOutputBuffer[ configCOMMAND_INT_MAX_OUTPUT_SIZE ]; -*/ -#ifndef configAPPLICATION_PROVIDES_cOutputBuffer - #define configAPPLICATION_PROVIDES_cOutputBuffer 0 -#endif - -typedef struct xCOMMAND_INPUT_LIST -{ - const CLI_Command_Definition_t *pxCommandLineDefinition; - struct xCOMMAND_INPUT_LIST *pxNext; -} CLI_Definition_List_Item_t; - -/* - * The callback function that is executed when "help" is entered. This is the - * only default command that is always present. - */ -static BaseType_t prvHelpCommand( char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString ); - -/* - * Return the number of parameters that follow the command name. - */ -static int8_t prvGetNumberOfParameters( const char *pcCommandString ); - -/* The definition of the "help" command. This command is always at the front -of the list of registered commands. */ -static const CLI_Command_Definition_t xHelpCommand = -{ - "help", - "\r\nhelp:\r\n Lists all the registered commands\r\n\r\n", - prvHelpCommand, - 0 -}; - -/* The definition of the list of commands. Commands that are registered are -added to this list. */ -static CLI_Definition_List_Item_t xRegisteredCommands = -{ - &xHelpCommand, /* The first command in the list is always the help command, defined in this file. */ - NULL /* The next pointer is initialised to NULL, as there are no other registered commands yet. */ -}; - -/* A buffer into which command outputs can be written is declared here, rather -than in the command console implementation, to allow multiple command consoles -to share the same buffer. For example, an application may allow access to the -command interpreter by UART and by Ethernet. Sharing a buffer is done purely -to save RAM. Note, however, that the command console itself is not re-entrant, -so only one command interpreter interface can be used at any one time. For that -reason, no attempt at providing mutual exclusion to the cOutputBuffer array is -attempted. - -configAPPLICATION_PROVIDES_cOutputBuffer is provided to allow the application -writer to provide their own cOutputBuffer declaration in cases where the -buffer needs to be placed at a fixed address (rather than by the linker). */ - -#if( configAPPLICATION_PROVIDES_cOutputBuffer == 0 ) - static char cOutputBuffer[ configCOMMAND_INT_MAX_OUTPUT_SIZE ]; -#else - extern char cOutputBuffer[ configCOMMAND_INT_MAX_OUTPUT_SIZE ]; -#endif - - -/*---------------------------------------------------------- */ - -BaseType_t FreeRTOS_CLIRegisterCommand( const CLI_Command_Definition_t * const pxCommandToRegister ) -{ -static CLI_Definition_List_Item_t *pxLastCommandInList = &xRegisteredCommands; -CLI_Definition_List_Item_t *pxNewListItem; -BaseType_t xReturn = pdFAIL; - - /* Check the parameter is not NULL. */ - configASSERT( pxCommandToRegister ); - - /* Create a new list item that will reference the command being registered. */ - pxNewListItem = ( CLI_Definition_List_Item_t * ) pvPortMalloc( sizeof( CLI_Definition_List_Item_t ) ); - configASSERT( pxNewListItem ); - - if( pxNewListItem != NULL ) - { - taskENTER_CRITICAL(); - { - /* Reference the command being registered from the newly created - list item. */ - pxNewListItem->pxCommandLineDefinition = pxCommandToRegister; - - /* The new list item will get added to the end of the list, so - pxNext has nowhere to point. */ - pxNewListItem->pxNext = NULL; - - /* Add the newly created list item to the end of the already existing - list. */ - pxLastCommandInList->pxNext = pxNewListItem; - - /* Set the end of list marker to the new list item. */ - pxLastCommandInList = pxNewListItem; - } - taskEXIT_CRITICAL(); - - xReturn = pdPASS; - } - - return xReturn; -} -/*---------------------------------------------------------- */ - -BaseType_t FreeRTOS_CLIProcessCommand( const char * const pcCommandInput, char * pcWriteBuffer, size_t xWriteBufferLen ) -{ -static const CLI_Definition_List_Item_t *pxCommand = NULL; -BaseType_t xReturn = pdTRUE; -const char *pcRegisteredCommandString; -size_t xCommandStringLength; - - /* Note: This function is not re-entrant. It must not be called from more - thank one task. */ - - if( pxCommand == NULL ) - { - /* Search for the command string in the list of registered commands. */ - for( pxCommand = &xRegisteredCommands; pxCommand != NULL; pxCommand = pxCommand->pxNext ) - { - pcRegisteredCommandString = pxCommand->pxCommandLineDefinition->pcCommand; - xCommandStringLength = strlen( pcRegisteredCommandString ); - - /* To ensure the string lengths match exactly, so as not to pick up - a sub-string of a longer command, check the byte after the expected - end of the string is either the end of the string or a space before - a parameter. */ - if( ( pcCommandInput[ xCommandStringLength ] == ' ' ) || ( pcCommandInput[ xCommandStringLength ] == 0x00 ) ) - { - if( strncmp( pcCommandInput, pcRegisteredCommandString, xCommandStringLength ) == 0 ) - { - /* The command has been found. Check it has the expected - number of parameters. If cExpectedNumberOfParameters is -1, - then there could be a variable number of parameters and no - check is made. */ - if( pxCommand->pxCommandLineDefinition->cExpectedNumberOfParameters >= 0 ) - { - if( prvGetNumberOfParameters( pcCommandInput ) != pxCommand->pxCommandLineDefinition->cExpectedNumberOfParameters ) - { - xReturn = pdFALSE; - } - } - - break; - } - } - } - } - - if( ( pxCommand != NULL ) && ( xReturn == pdFALSE ) ) - { - /* The command was found, but the number of parameters with the command - was incorrect. */ - strncpy( pcWriteBuffer, "Incorrect command parameter(s). Enter \"help\" to view a list of available commands.\r\n\r\n", xWriteBufferLen ); - pxCommand = NULL; - } - else if( pxCommand != NULL ) - { - /* Call the callback function that is registered to this command. */ - xReturn = pxCommand->pxCommandLineDefinition->pxCommandInterpreter( pcWriteBuffer, xWriteBufferLen, pcCommandInput ); - - /* If xReturn is pdFALSE, then no further strings will be returned - after this one, and pxCommand can be reset to NULL ready to search - for the next entered command. */ - if( xReturn == pdFALSE ) - { - pxCommand = NULL; - } - } - else - { - /* pxCommand was NULL, the command was not found. */ - strncpy( pcWriteBuffer, "Command not recognised. Enter 'help' to view a list of available commands.\r\n\r\n", xWriteBufferLen ); - xReturn = pdFALSE; - } - - return xReturn; -} -/*---------------------------------------------------------- */ - -char *FreeRTOS_CLIGetOutputBuffer( void ) -{ - return cOutputBuffer; -} -/*---------------------------------------------------------- */ - -const char *FreeRTOS_CLIGetParameter( const char *pcCommandString, UBaseType_t uxWantedParameter, BaseType_t *pxParameterStringLength ) -{ -UBaseType_t uxParametersFound = 0; -const char *pcReturn = NULL; - - *pxParameterStringLength = 0; - - while( uxParametersFound < uxWantedParameter ) - { - /* Index the character pointer past the current word. If this is the start - of the command string then the first word is the command itself. */ - while( ( ( *pcCommandString ) != 0x00 ) && ( ( *pcCommandString ) != ' ' ) ) - { - pcCommandString++; - } - - /* Find the start of the next string. */ - while( ( ( *pcCommandString ) != 0x00 ) && ( ( *pcCommandString ) == ' ' ) ) - { - pcCommandString++; - } - - /* Was a string found? */ - if( *pcCommandString != 0x00 ) - { - /* Is this the start of the required parameter? */ - uxParametersFound++; - - if( uxParametersFound == uxWantedParameter ) - { - /* How long is the parameter? */ - pcReturn = pcCommandString; - while( ( ( *pcCommandString ) != 0x00 ) && ( ( *pcCommandString ) != ' ' ) ) - { - ( *pxParameterStringLength )++; - pcCommandString++; - } - - if( *pxParameterStringLength == 0 ) - { - pcReturn = NULL; - } - - break; - } - } - else - { - break; - } - } - - return pcReturn; -} -/*---------------------------------------------------------- */ - -static BaseType_t prvHelpCommand( char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString ) -{ -static const CLI_Definition_List_Item_t * pxCommand = NULL; -BaseType_t xReturn; - - ( void ) pcCommandString; - - if( pxCommand == NULL ) - { - /* Reset the pxCommand pointer back to the start of the list. */ - pxCommand = &xRegisteredCommands; - } - - /* Return the next command help string, before moving the pointer on to - the next command in the list. */ - strncpy( pcWriteBuffer, pxCommand->pxCommandLineDefinition->pcHelpString, xWriteBufferLen ); - pxCommand = pxCommand->pxNext; - - if( pxCommand == NULL ) - { - /* There are no more commands in the list, so there will be no more - strings to return after this one and pdFALSE should be returned. */ - xReturn = pdFALSE; - } - else - { - xReturn = pdTRUE; - } - - return xReturn; -} -/*---------------------------------------------------------- */ - -static int8_t prvGetNumberOfParameters( const char *pcCommandString ) -{ -int8_t cParameters = 0; -BaseType_t xLastCharacterWasSpace = pdFALSE; - - /* Count the number of space delimited words in pcCommandString. */ - while( *pcCommandString != 0x00 ) - { - if( ( *pcCommandString ) == ' ' ) - { - if( xLastCharacterWasSpace != pdTRUE ) - { - cParameters++; - xLastCharacterWasSpace = pdTRUE; - } - } - else - { - xLastCharacterWasSpace = pdFALSE; - } - - pcCommandString++; - } - - /* If the command string ended with spaces, then there will have been too - many parameters counted. */ - if( xLastCharacterWasSpace == pdTRUE ) - { - cParameters--; - } - - /* The value returned is one less than the number of space delimited words, - as the first word should be the command itself. */ - return cParameters; -} - diff --git a/User/component/freertos_cli.h b/User/component/freertos_cli.h deleted file mode 100644 index e6d8266..0000000 --- a/User/component/freertos_cli.h +++ /dev/null @@ -1,108 +0,0 @@ -/* - * FreeRTOS+CLI V1.0.4 - * Copyright (C) 2017 Amazon.com, Inc. or its affiliates. All Rights Reserved. - * - * Permission is hereby granted, free of charge, to any person obtaining a copy of - * this software and associated documentation files (the "Software"), to deal in - * the Software without restriction, including without limitation the rights to - * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of - * the Software, and to permit persons to whom the Software is furnished to do so, - * subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in all - * copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS - * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR - * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER - * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN - * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. - * - * http://www.FreeRTOS.org - * http://aws.amazon.com/freertos - * - * 1 tab == 4 spaces! - */ - -#ifndef COMMAND_INTERPRETER_H -#define COMMAND_INTERPRETER_H - -/* This config should be defined in FreeRTOSConfig.h. But due to the limition of CubeMX I put it here. */ -#define configCOMMAND_INT_MAX_OUTPUT_SIZE 512 - -/* The prototype to which callback functions used to process command line -commands must comply. pcWriteBuffer is a buffer into which the output from -executing the command can be written, xWriteBufferLen is the length, in bytes of -the pcWriteBuffer buffer, and pcCommandString is the entire string as input by -the user (from which parameters can be extracted).*/ -typedef BaseType_t (*pdCOMMAND_LINE_CALLBACK)( char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString ); - -/* The structure that defines command line commands. A command line command -should be defined by declaring a const structure of this type. */ -typedef struct xCOMMAND_LINE_INPUT -{ - const char * const pcCommand; /* The command that causes pxCommandInterpreter to be executed. For example "help". Must be all lower case. */ - const char * const pcHelpString; /* String that describes how to use the command. Should start with the command itself, and end with "\r\n". For example "help: Returns a list of all the commands\r\n". */ - const pdCOMMAND_LINE_CALLBACK pxCommandInterpreter; /* A pointer to the callback function that will return the output generated by the command. */ - int8_t cExpectedNumberOfParameters; /* Commands expect a fixed number of parameters, which may be zero. */ -} CLI_Command_Definition_t; - -/* For backward compatibility. */ -#define xCommandLineInput CLI_Command_Definition_t - -/* - * Register the command passed in using the pxCommandToRegister parameter. - * Registering a command adds the command to the list of commands that are - * handled by the command interpreter. Once a command has been registered it - * can be executed from the command line. - */ -BaseType_t FreeRTOS_CLIRegisterCommand( const CLI_Command_Definition_t * const pxCommandToRegister ); - -/* - * Runs the command interpreter for the command string "pcCommandInput". Any - * output generated by running the command will be placed into pcWriteBuffer. - * xWriteBufferLen must indicate the size, in bytes, of the buffer pointed to - * by pcWriteBuffer. - * - * FreeRTOS_CLIProcessCommand should be called repeatedly until it returns pdFALSE. - * - * pcCmdIntProcessCommand is not reentrant. It must not be called from more - * than one task - or at least - by more than one task at a time. - */ -BaseType_t FreeRTOS_CLIProcessCommand( const char * const pcCommandInput, char * pcWriteBuffer, size_t xWriteBufferLen ); - -/*---------------------------------------------------------- */ - -/* - * A buffer into which command outputs can be written is declared in the - * main command interpreter, rather than in the command console implementation, - * to allow application that provide access to the command console via multiple - * interfaces to share a buffer, and therefore save RAM. Note, however, that - * the command interpreter itself is not re-entrant, so only one command - * console interface can be used at any one time. For that reason, no attempt - * is made to provide any mutual exclusion mechanism on the output buffer. - * - * FreeRTOS_CLIGetOutputBuffer() returns the address of the output buffer. - */ -char *FreeRTOS_CLIGetOutputBuffer( void ); - -/* - * Return a pointer to the xParameterNumber'th word in pcCommandString. - */ -const char *FreeRTOS_CLIGetParameter( const char *pcCommandString, UBaseType_t uxWantedParameter, BaseType_t *pxParameterStringLength ); - -#endif /* COMMAND_INTERPRETER_H */ - - - - - - - - - - - - - diff --git a/User/device/motor_dm.c b/User/device/motor_dm.c index a77656f..ca3a814 100644 --- a/User/device/motor_dm.c +++ b/User/device/motor_dm.c @@ -109,7 +109,6 @@ static int8_t MOTOR_DM_SendMITCmd(MOTOR_DM_t *motor, MOTOR_MIT_Output_t *output) uint8_t data[8]; uint16_t pos_tmp,vel_tmp,kp_tmp,kd_tmp,tor_tmp; - uint16_t id = motor->param.can_id; pos_tmp = float_to_uint(output->angle, DM_P_MIN , DM_P_MAX, 16); vel_tmp = float_to_uint(output->velocity, DM_V_MIN , DM_V_MAX, 12);