From f50817a2182dbf5f1b2742f6d6113ab48e7ceb6c Mon Sep 17 00:00:00 2001
From: ws <1621320660@qq.com>
Date: Sat, 15 Mar 2025 16:42:56 +0800
Subject: [PATCH] =?UTF-8?q?DJI=E8=A7=A3=E6=9E=90?=
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---
 User/device/djiMotor.c | 17 ++++++++++++++---
 User/device/djiMotor.h |  3 ++-
 User/task/dji_task.c   |  2 +-
 User/task/shoot_task.c |  4 ++--
 4 files changed, 19 insertions(+), 7 deletions(-)

diff --git a/User/device/djiMotor.c b/User/device/djiMotor.c
index 8bfc6cb..cbb5947 100644
--- a/User/device/djiMotor.c
+++ b/User/device/djiMotor.c
@@ -37,7 +37,7 @@
         (ptr)->temperate = (data)[6]; 																	\
 				(ptr)->ecd - (ptr)->last_ecd > 4096 ? ((ptr)->round_cnt--) : ((ptr)->round_cnt=(ptr)->round_cnt);																	\
 				(ptr)->ecd - (ptr)->last_ecd < -4096 ? ((ptr)->round_cnt++) : ((ptr)->round_cnt=(ptr)->round_cnt);																\
-				(ptr)->total_angle = (fp64)((ptr)->round_cnt * 8192 + (ptr)->ecd - (ptr)->offset_ecd ) * MOTOR_ECD_TO_ANGLE;														\
+				(ptr)->total_angle = (fp64)((ptr)->round_cnt * 8192 + (ptr)->ecd - (ptr)->offset_ecd ) * MOTOR_ECD_TO_ANGLE_3508;														\
     }//ptr指向电机测量数据结构体的指针，data包含电机测量数据的数组.
 /*(ptr)->real_angle = (ptr)->real_angle % 360;	*/
 #define get_motor_offset(ptr, data)														\
@@ -55,7 +55,18 @@
 				(ptr)->ecd - (ptr)->last_ecd > 4096 ? ((ptr)->round_cnt--) : ((ptr)->round_cnt=(ptr)->round_cnt);																	\
 				(ptr)->ecd - (ptr)->last_ecd < -4096 ? ((ptr)->round_cnt++) : ((ptr)->round_cnt=(ptr)->round_cnt);																\
 				(ptr)->total_angle = (fp64)((ptr)->round_cnt * 8192 + (ptr)->ecd - (ptr)->offset_ecd ) * MOTOR_ECD_TO_ANGLE_6020;														\
-    } 
+    }                       
+#define get_2006_motor_measure(ptr, data)                     								\
+    {                                                                 	\
+        (ptr)->last_ecd = (ptr)->ecd;                              			\
+        (ptr)->ecd = (uint16_t)((data)[0] << 8 | (data)[1]);            \
+        (ptr)->speed_rpm = (uint16_t)((data)[2] << 8 | (data)[3]);      \
+        (ptr)->given_current = (uint16_t)((data)[4] << 8 | (data)[5]);  \
+        (ptr)->temperate = (data)[6]; 																	\
+				(ptr)->ecd - (ptr)->last_ecd > 4096 ? ((ptr)->round_cnt--) : ((ptr)->round_cnt=(ptr)->round_cnt);																	\
+				(ptr)->ecd - (ptr)->last_ecd < -4096 ? ((ptr)->round_cnt++) : ((ptr)->round_cnt=(ptr)->round_cnt);																\
+				(ptr)->total_angle = (fp64)((ptr)->round_cnt * 8192 + (ptr)->ecd - (ptr)->offset_ecd ) * MOTOR_ECD_TO_ANGLE_2006;														\
+    }     
 		//		解析出初始编码器值			
 // #define get_5065motor_measure(ptr, data)                                    \
 // 		{                                                                   \
@@ -132,7 +143,7 @@ void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
     
 }
 #else
-static osEventFlagsId_t eventReceive;
+static osEventFlagsId_t eventReceive;//事件标志
 /**
   * @brief          自定义大疆电机回调函数
   * @param[in]      none
diff --git a/User/device/djiMotor.h b/User/device/djiMotor.h
index 4ebbdad..c07c14d 100644
--- a/User/device/djiMotor.h
+++ b/User/device/djiMotor.h
@@ -47,7 +47,8 @@ typedef struct
 
 //motor calc ecd to angle 
 
-#define MOTOR_ECD_TO_ANGLE  (360.0 / 8191.0 / (3591.0/187.0))
+#define MOTOR_ECD_TO_ANGLE_3508  (360.0 / 8191.0 / (3591.0/187.0))
+#define MOTOR_ECD_TO_ANGLE_2006 (360.0 / 8191.0 / 36)
 #define MOTOR_ECD_TO_RAD 0.000766990394f
 #define MOTOR_ECD_TO_ANGLE_6020  (360.0 / 8191.0 )
 
diff --git a/User/task/dji_task.c b/User/task/dji_task.c
index 1ffb213..1846b45 100644
--- a/User/task/dji_task.c
+++ b/User/task/dji_task.c
@@ -48,7 +48,7 @@ void Task_Motor(void *argument)
       //当最高点时进入离合
       if(encoder.round_cnt>=8)
       {
-        trigger_angle_o=-1;
+        trigger_angle_o=2;
         trigger_pos(m);
       }
 
diff --git a/User/task/shoot_task.c b/User/task/shoot_task.c
index b01558a..26911cc 100644
--- a/User/task/shoot_task.c
+++ b/User/task/shoot_task.c
@@ -19,8 +19,8 @@ extern int mode;
 
 //odrive发射
 #define SHOOT3 12
-#define TOP 8
-#define MIDDLE 4
+#define TOP 6
+#define MIDDLE 3
 #define BOTTOM 0
 
 void Task_Shoot(void *argument)