From 9fe37c6b89ded4ae21fbba824770ba31c09db33a Mon Sep 17 00:00:00 2001 From: ZHAISHUI04 <3150778793@qq.com> Date: Thu, 29 May 2025 19:37:09 +0800 Subject: [PATCH] =?UTF-8?q?oid=E7=BC=96=E7=A0=81=E5=99=A8=E6=9B=B4?= =?UTF-8?q?=E6=8D=A2=EF=BC=8C=E6=9B=B4=E6=94=B9can=5Fuse=E5=A4=84?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- MDK-ARM/R2.uvoptx | 6 +++--- MDK-ARM/R2/R2.axf | Bin 2847984 -> 2847980 bytes User/device/can_use.c | 5 +++-- 3 files changed, 6 insertions(+), 5 deletions(-) diff --git a/MDK-ARM/R2.uvoptx b/MDK-ARM/R2.uvoptx index 54c15c6..28b9eeb 100644 --- a/MDK-ARM/R2.uvoptx +++ b/MDK-ARM/R2.uvoptx @@ -103,7 +103,7 @@ 1 0 0 - 6 + 3 @@ -114,7 +114,7 @@ - STLink\ST-LINKIII-KEIL_SWO.dll + BIN\CMSIS_AGDI.dll @@ -140,7 +140,7 @@ 0 DLGUARM - (105=-1,-1,-1,-1,0) + 0 diff --git a/MDK-ARM/R2/R2.axf b/MDK-ARM/R2/R2.axf index acddb4c8a80753a4c84b923a26de1e6489b96676..653d2007c5ccb44dd44e763c733270097add8760 100644 GIT binary patch delta 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@@ -93,7 +93,8 @@ void CAN_Encoder_Decode(CAN_EncoderFeedback_t *feedback, { case 0x01: feedback->ecd =raw[3]|raw[4]<<8|raw[5]<<16|raw[6]<<24; - feedback->angle=(fp32)feedback->ecd*360/CAN_ENCODER_RESOLUTION-151.0f; + feedback->angle=(fp32)(4089-(fp32)feedback->ecd)/(4089-3861)*(70.0f-50.0f)+50.0f; + break; } }