vesc的bug消除了

User/device/detect.c

@@ -24,7 +24,7 @@ void detect_init(void)
 {
 
     BSP_GPIO_RegisterCallback(KEY_Pin, detect_exit);
-    BSP_GPIO_RegisterCallback(ext_up_Pin, detect_led);
+    //BSP_GPIO_RegisterCallback(ext_up_Pin, detect_led);
     // 注册按键中断回调函数
     if (BSP_GPIO_RegisterCallback(KEY_Pin, detect_exit) != BSP_OK) {
         // 错误处理

User/device/djiMotor.c

@@ -53,28 +53,18 @@
 				(ptr)->offset_ecd = (ptr)->ecd;																	\
 		}
 		
- void VescMotor_Decode(CAN_MotorFeedback_t *feedback, CAN_RxHeaderTypeDef *rx_header, const uint8_t *rx_data)
+ static void VescMotor_Decode(CAN_MotorFeedback_t *feedback, CAN_RxHeaderTypeDef *rx_header, const uint8_t *rx_data)
  {
           // 检查接收到的ID是否匹配我们期望的VESC状态消息ID
-      if (rx_header->ExtId == CAN_VESC5065_M1_MSG1)  // 电机 1 的消息 ID
-      {
           // 提取数据字段
           feedback->rotor_speed = ((int32_t)(rx_data[0]) << 24) | ((int32_t)(rx_data[1]) << 16) | ((int32_t)(rx_data[2]) << 8) | ((int32_t)(rx_data[3]));
           feedback->torque_current = ((int16_t)(rx_data[5]) << 8) | (int16_t)(rx_data[4]);
           feedback->torque_current /= 1000;  // 将单位从 0.1A 转换为实际电流值
           feedback->duty_cycle = ((int16_t)(rx_data[7]) << 8) | (int16_t)(rx_data[6]);
           feedback->duty_cycle /= 1000.0f;  // 将单位从千分之一转换为实际的占空比值 (-1.0 到 1.0)
+
   }
-      else if (rx_header->ExtId == CAN_VESC5065_M1_MSG1)  // 电机 2 的消息 ID
+
-      {
-          // 提取数据字段
-          feedback->rotor_speed = ((int32_t)(rx_data[0]) << 24) | ((int32_t)(rx_data[1]) << 16) | ((int32_t)(rx_data[2]) << 8) | ((int32_t)(rx_data[3]));
-          feedback->torque_current = ((int16_t)(rx_data[5]) << 8) | (int16_t)(rx_data[4]);
-          feedback->torque_current /= 1000;  // 将单位从 0.1A 转换为实际电流值
-          feedback->duty_cycle = ((int16_t)(rx_data[7]) << 8) | (int16_t)(rx_data[6]);
-          feedback->duty_cycle /= 1000.0f;  // 将单位从千分之一转换为实际的占空比值 (-1.0 到 1.0)
-      }
-  }
 #if DEBUG == 1
 
 //电机回传数据结构体
@@ -98,6 +88,8 @@ uint8_t rx_data[8];
 
 static CAN_TxHeaderTypeDef vesc_tx_message;
 static uint8_t  vesc_send_data[4];
+
+CAN_RawTx_t raw_tx;
 /**
  * @brief           数据处理函数
  * @param[in]       none
@@ -298,6 +290,48 @@ void CAN_cmd_2FF(int16_t motor1, int16_t motor2, int16_t motor3, CAN_HandleTypeD
      return &motor_chassis[i];
  }
 
+ int8_t CAN_VESC_Control(int id,int speed ,CAN_HandleTypeDef*hcan)
+ {
+  
+   uint32_t send_mail_box;
+   int Byte[4];
+   Vesc_ByteGet raw[4];
+
+     //将期望的四个电机输出值分别对应到四个联合体 为了下面的拆分字节
+    raw[0].as_array = speed;
+    raw[1].as_array = speed;
+
+   for(int i=0 ; i < 2 ; i ++)
+   {			 
+
+     //将单个电机的期望输出值通过联合体拆分
+    Byte[0] = raw[i].byte.byte1;
+    Byte[1] = raw[i].byte.byte2;
+    Byte[2] = raw[i].byte.byte3;
+    Byte[3] = raw[i].byte.byte4;
+     
+    raw_tx.tx_header.ExtId = id+i+CAN_VESC_CTRL_ID_BASE;
+    raw_tx.tx_header.IDE = CAN_ID_EXT;
+    raw_tx.tx_header.RTR = CAN_RTR_DATA;
+    raw_tx.tx_header.DLC = CAN_MOTOR_TX_BUF_SIZE;
+
+    raw_tx.tx_data[0] = Byte[3];
+    raw_tx.tx_data[1] = Byte[2];
+    raw_tx.tx_data[2] = Byte[1];
+    raw_tx.tx_data[3] = Byte[0];
+    raw_tx.tx_data[4] = 0;
+    raw_tx.tx_data[5] = 0;
+    raw_tx.tx_data[6] = 0;
+    raw_tx.tx_data[7] = 0;
+
+    HAL_CAN_AddTxMessage(hcan, &raw_tx.tx_header, raw_tx.tx_data, &send_mail_box);
+   }
+
+return DEVICE_OK;
+
+}
+
+
  /**
     * @brief          限制vesc电机转速
     * @param[in/out]  rpm:  vesce电机转速

User/device/djiMotor.h

@@ -7,6 +7,7 @@ extern "C"{
 #define FREERTOS_DJI 1
 
 #include "struct_typedef.h"
+#include "device.h"
 #include "can.h"
 #include <math.h>
 
@@ -17,6 +18,21 @@ typedef enum{
   M2006 = 2
 }motor_type_e;
 
+typedef union{
+  int as_array;
+  struct{
+  int8_t byte1;
+  int8_t byte2;
+  int8_t byte3;
+  int8_t byte4;
+  }byte;
+}Vesc_ByteGet;
+
+typedef struct {
+  CAN_TxHeaderTypeDef tx_header;
+  uint8_t tx_data[8];
+} CAN_RawTx_t;
+
 enum{
   M3508_1 = 0x201,
   M3508_2 = 0x202,
@@ -60,6 +76,9 @@ typedef struct {
 #define wtrcfg_VESC_COMMAND_ERPM_MAX 55000 //限速
 #define CAN_VESC_CTRL_ID_BASE (0x300)
 
+#define CAN_MOTOR_TX_BUF_SIZE (8)
+#define CAN_MOTOR_RX_BUF_SIZE (8)
+
 //rm motor data
 typedef struct
 {
@@ -146,6 +165,8 @@ void  CAN_VESC_RPM(uint8_t controller_id, float RPM);
 
 void  CAN_VESC_HEAD(uint8_t controller_id);
 
+int8_t CAN_VESC_Control(int id,int speed ,CAN_HandleTypeDef*hcan);
+
 #ifdef __cplusplus
 }
 #endif

User/module/shoot.cpp

@@ -15,6 +15,8 @@ ShootState_t currentState = SHOOT_IDLE;
 
 Shoot::Shoot()
 {
+    // motor_5065[0] = get_5065_motor_point(0);//获取电机数据指针
+    // motor_5065[1] = get_5065_motor_point(1);//获取电机数据指针
     CAN_VESC_RPM(1, STOP); 
     CAN_VESC_RPM(2, STOP); 
 	
@@ -25,15 +27,28 @@ void Shoot::shootThree()
     if((rc_ctrl.sw[1]>500))
     {
         speed_5065 = map((float)rc_ctrl.sw[1],500,1694,30000,45000);
-        CAN_VESC_RPM(1, speed_5065); 
+        
-        CAN_VESC_RPM(2, speed_5065); 
+        // CAN_VESC_RPM(1, speed_5065); 
+        // CAN_VESC_RPM(2, speed_5065); 
     }
     else
     {
-        CAN_VESC_RPM(1, STOP); 
+        speed_5065=STOP;
-        CAN_VESC_RPM(2, STOP); 
+       // CAN_VESC_Control(1,STOP,&hcan2);
+        // CAN_VESC_RPM(1, STOP); 
+        // CAN_VESC_RPM(2, STOP); 
     }
+    if(rc_ctrl.sw[5]==1694)
+    {
+        speed_5065=SHOOT_SPEED_BACK;
+        // CAN_VESC_Control(1,SHOOT_SPEED_BACK,&hcan2);
+        // CAN_VESC_RPM(1, SHOOT_SPEED_BACK); 
+        // CAN_VESC_RPM(2, SHOOT_SPEED_BACK);
         
+    }
+    //CAN_VESC_Control(1,speed_5065,&hcan2);
+    CAN_VESC_RPM(1, speed_5065); 
+    CAN_VESC_RPM(2, speed_5065); 
 }
 
 void Shoot::shootBack()
@@ -42,7 +57,7 @@ void Shoot::shootBack()
     {
         
         CAN_VESC_RPM(1, SHOOT_SPEED_BACK); 
-        CAN_VESC_RPM(2, -5000);
+        CAN_VESC_RPM(2, SHOOT_SPEED_BACK);
     }
 
 }

User/module/shoot.hpp

@@ -26,12 +26,7 @@ public:
     float speed_5065;
 private:
 
-    
+   CAN_MotorFeedback_t *motor_5065[2];
-    float accelLeft;
-    float accelRight;
-    float accelZero;
-    uint8_t flagRightShoot;
-    uint8_t flagLeftShoot;
 };
 
 

User/task/shootTask.cpp

@@ -26,7 +26,7 @@ while(1)
 #endif
 
 	shoot.shootThree();
-	shoot.shootBack();
+	//shoot.shootBack();
 
 	osDelay(2);