修复灵足bug

assets/User_code/device/dm_imu.c

@@ -117,21 +117,26 @@ static int8_t DM_IMU_ParseQuaternionData(DM_IMU_t *imu, uint8_t *data, uint8_t l
 /**
  * @brief 初始化DM IMU设备
  */
-int8_t DM_IMU_Init(DM_IMU_t *imu, BSP_CAN_t can) {
+int8_t DM_IMU_Init(DM_IMU_t *imu, DM_IMU_Param_t *param) {
-    if (imu == NULL) {
+    if (imu == NULL || param == NULL) {
         return DEVICE_ERR_NULL;
     }
     
     // 初始化设备头部
     imu->header.online = false;
     imu->header.last_online_time = 0;
-    imu->can = can;
+    
+    // 配置参数
+    imu->param.can = param->can;
+    imu->param.can_id = param->can_id;
+    imu->param.device_id = param->device_id;
+    imu->param.master_id = param->master_id;
     
     // 清零数据
     memset(&imu->data, 0, sizeof(DM_IMU_Data_t));
     
     // 注册CAN接收队列，用于接收回复报文
-    int8_t result = BSP_CAN_RegisterId(imu->can, DM_IMU_MST_ID, 10);
+    int8_t result = BSP_CAN_RegisterId(imu->param.can, imu->param.master_id, 10);
     if (result != BSP_OK) {
         return DEVICE_ERR;
     }
@@ -149,20 +154,20 @@ int8_t DM_IMU_Request(DM_IMU_t *imu, DM_IMU_RID_t rid) {
     
     // 构造发送数据：id_L, id_H(DM_IMU_ID), RID, 0xcc
     uint8_t tx_data[4] = {
-        DM_IMU_ID & 0xFF,        // id_L
+        imu->param.device_id & 0xFF,        // id_L
-        (DM_IMU_ID >> 8) & 0xFF, // id_H
+        (imu->param.device_id >> 8) & 0xFF, // id_H
-        (uint8_t)rid,            // RID
+        (uint8_t)rid,                       // RID
-        0xCC                     // 固定值
+        0xCC                                // 固定值
     };
     
     // 发送标准数据帧
     BSP_CAN_StdDataFrame_t frame = {
-        .id = DM_IMU_CAN_ID,
+        .id = imu->param.can_id,
         .dlc = 4,
     };
     memcpy(frame.data, tx_data, 4);
     
-    int8_t result = BSP_CAN_TransmitStdDataFrame(imu->can, &frame);
+    int8_t result = BSP_CAN_TransmitStdDataFrame(imu->param.can, &frame);
     return (result == BSP_OK) ? DEVICE_OK : DEVICE_ERR;
 }
 
@@ -179,7 +184,7 @@ int8_t DM_IMU_Update(DM_IMU_t *imu) {
     bool data_received = false;
     
     // 持续接收所有可用消息
-    while ((result = BSP_CAN_GetMessage(imu->can, DM_IMU_MST_ID, &msg, BSP_CAN_TIMEOUT_IMMEDIATE)) == BSP_OK) {
+    while ((result = BSP_CAN_GetMessage(imu->param.can, imu->param.master_id, &msg, BSP_CAN_TIMEOUT_IMMEDIATE)) == BSP_OK) {
         // 验证回复数据格式（至少检查数据长度）
         if (msg.dlc < 3) {
             continue; // 跳过无效消息

assets/User_code/device/dm_imu.h

@@ -10,12 +10,19 @@ extern "C" {
 #include "bsp/can.h"
 /* Exported constants ------------------------------------------------------- */
 
-#define DM_IMU_CAN_ID 0x6FF
+#define DM_IMU_CAN_ID_DEFAULT 0x6FF
-#define DM_IMU_ID 0x42
+#define DM_IMU_ID_DEFAULT 0x42
-#define DM_IMU_MST_ID 0x43
+#define DM_IMU_MST_ID_DEFAULT 0x43
 
 /* Exported macro ----------------------------------------------------------- */
 /* Exported types ----------------------------------------------------------- */
+
+typedef struct {
+  BSP_CAN_t can;       // CAN总线句柄
+  uint16_t can_id;     // CAN通信ID
+  uint8_t device_id;   // 设备ID
+  uint8_t master_id;   // 主机ID
+} DM_IMU_Param_t;
 typedef enum {
   RID_ACCL = 0x01, // 加速度计
   RID_GYRO = 0x02, // 陀螺仪
@@ -33,7 +40,7 @@ typedef struct {
 
 typedef struct {
   DEVICE_Header_t header;
-  BSP_CAN_t can;
+  DM_IMU_Param_t param; // IMU参数配置
   DM_IMU_Data_t data; // IMU数据
 } DM_IMU_t;
 
@@ -42,9 +49,10 @@ typedef struct {
 /**
  * @brief 初始化DM IMU设备
  * @param imu DM IMU设备结构体指针
+ * @param param IMU参数配置指针
  * @return DEVICE_OK 成功，其他值失败
  */
-int8_t DM_IMU_Init(DM_IMU_t *imu, BSP_CAN_t can);
+int8_t DM_IMU_Init(DM_IMU_t *imu, DM_IMU_Param_t *param);
 
 /**
  * @brief 请求IMU数据

assets/User_code/device/led.c

@@ -1,5 +1,5 @@
 /*
-   led控制
+   led控制
 */
 /*Includes   -----------------------------------------*/
 #include "device/led.h"
@@ -23,7 +23,7 @@ int8_t BSP_LED_Set(char sign,DEVICE_LED_t ch,bool value,float duty_cycle)
 		case 'p':
 		case 'P':
 			    if (duty_cycle < 0.0f || duty_cycle > 1.0f) {
-                return DEVICE_ERR_NULL; // 错误：占空比超出范围
+                return DEVICE_ERR_NULL; // 错误：占空比超出范围
             }
 				uint16_t pulse = (uint16_t)(duty_cycle * (float)UINT16_MAX);
 		BSP_PWM_Start(LED_Map.channel);
@@ -35,7 +35,7 @@ int8_t BSP_LED_Set(char sign,DEVICE_LED_t ch,bool value,float duty_cycle)
 		BSP_GPIO_WritePin(LED_Map.gpio,value);
 		break;
 	default:
-            return DEVICE_ERR_INITED; // 错误：无效的控制方式
+            return DEVICE_ERR_INITED; // 错误：无效的控制方式
 	}
 	return DEVICE_OK;
 }

assets/User_code/device/motor_lk.c

@@ -44,8 +44,8 @@ static MOTOR_LK_CANManager_t *can_managers[BSP_CAN_NUM] = {NULL};
 /* Private functions -------------------------------------------------------- */
 static float MOTOR_LK_GetCurrentLSB(MOTOR_LK_Module_t module) {
     switch (module) {
-        case MOTOR_MF9025:
+        case MOTOR_LK_MF9025:
-        case MOTOR_MF9035:
+        case MOTOR_LK_MF9035:
             return LK_CURR_LSB_MF;
         default:
             return LK_CURR_LSB_MG;  // 默认使用MG的分辨率
@@ -89,8 +89,8 @@ static void MOTOR_LK_Decode(MOTOR_LK_t *motor, BSP_CAN_Message_t *msg) {
     
     // 根据电机类型解析电流或功率
     switch (motor->param.module) {
-        case MOTOR_MF9025:
+        case MOTOR_LK_MF9025:
-        case MOTOR_MF9035:
+        case MOTOR_LK_MF9035:
             // MF/MG电机：转矩电流值
             motor->motor.feedback.torque_current = raw_current_or_power * MOTOR_LK_GetCurrentLSB(motor->param.module);
             break;

assets/User_code/device/motor_lk.h

@@ -15,8 +15,8 @@ extern "C" {
 /* Exported macro ----------------------------------------------------------- */
 /* Exported types ----------------------------------------------------------- */
 typedef enum {
-    MOTOR_MF9025,
+    MOTOR_LK_MF9025,
-    MOTOR_MF9035,
+    MOTOR_LK_MF9035,
 } MOTOR_LK_Module_t;
 
 

assets/User_code/device/motor_lz.c

@@ -187,20 +187,20 @@ static void MOTOR_LZ_Decode(MOTOR_LZ_t *motor, BSP_CAN_Message_t *msg) {
     motor->lz_feedback.state = (MOTOR_LZ_State_t)mode_state;
     
     // 解析数据区
-    // Byte0~1: 当前角度
+    // Byte0~1: 当前角度 (高字节在前，低字节在后)
-    uint16_t raw_angle = (uint16_t)((msg->data[1] << 8) | msg->data[0]);
+    uint16_t raw_angle = (uint16_t)((msg->data[0] << 8) | msg->data[1]);
     motor->lz_feedback.current_angle = MOTOR_LZ_RawToFloat(raw_angle, LZ_ANGLE_RANGE_RAD);
     
-    // Byte2~3: 当前角速度
+    // Byte2~3: 当前角速度 (高字节在前，低字节在后)
-    uint16_t raw_velocity = (uint16_t)((msg->data[3] << 8) | msg->data[2]);
+    uint16_t raw_velocity = (uint16_t)((msg->data[2] << 8) | msg->data[3]);
     motor->lz_feedback.current_velocity = MOTOR_LZ_RawToFloat(raw_velocity, LZ_VELOCITY_RANGE_RAD_S);
     
-    // Byte4~5: 当前力矩
+    // Byte4~5: 当前力矩 (高字节在前，低字节在后)
-    uint16_t raw_torque = (uint16_t)((msg->data[5] << 8) | msg->data[4]);
+    uint16_t raw_torque = (uint16_t)((msg->data[4] << 8) | msg->data[5]);
     motor->lz_feedback.current_torque = MOTOR_LZ_RawToFloat(raw_torque, LZ_TORQUE_RANGE_NM);
     
-    // Byte6~7: 当前温度 (温度*10)
+    // Byte6~7: 当前温度 (温度*10) (高字节在前，低字节在后)
-    uint16_t raw_temp = (uint16_t)((msg->data[7] << 8) | msg->data[6]);
+    uint16_t raw_temp = (uint16_t)((msg->data[6] << 8) | msg->data[7]);
     motor->lz_feedback.temperature = (float)raw_temp / LZ_TEMP_SCALE;
     
     // 更新通用电机反馈信息
@@ -334,25 +334,25 @@ int8_t MOTOR_LZ_MotionControl(MOTOR_LZ_Param_t *param, MOTOR_LZ_MotionParam_t *m
     // 准备数据
     uint8_t data[8];
     
-    // Byte0~1: 目标角度
+    // Byte0~1: 目标角度 (高字节在前，低字节在后)
     uint16_t raw_angle = MOTOR_LZ_FloatToRaw(motion_param->target_angle, LZ_ANGLE_RANGE_RAD);
-    data[0] = raw_angle & 0xFF;
+    data[0] = (raw_angle >> 8) & 0xFF;  // 高字节
-    data[1] = (raw_angle >> 8) & 0xFF;
+    data[1] = raw_angle & 0xFF;         // 低字节
     
-    // Byte2~3: 目标角速度  
+    // Byte2~3: 目标角速度 (高字节在前，低字节在后)
     uint16_t raw_velocity = MOTOR_LZ_FloatToRaw(motion_param->target_velocity, LZ_VELOCITY_RANGE_RAD_S);
-    data[2] = raw_velocity & 0xFF;
+    data[2] = (raw_velocity >> 8) & 0xFF;  // 高字节
-    data[3] = (raw_velocity >> 8) & 0xFF;
+    data[3] = raw_velocity & 0xFF;         // 低字节
     
-    // Byte4~5: Kp
+    // Byte4~5: Kp (高字节在前，低字节在后)
     uint16_t raw_kp = MOTOR_LZ_FloatToRaw(motion_param->kp, LZ_KP_MAX);
-    data[4] = raw_kp & 0xFF;
+    data[4] = (raw_kp >> 8) & 0xFF;     // 高字节
-    data[5] = (raw_kp >> 8) & 0xFF;
+    data[5] = raw_kp & 0xFF;            // 低字节
     
-    // Byte6~7: Kd
+    // Byte6~7: Kd (高字节在前，低字节在后)
     uint16_t raw_kd = MOTOR_LZ_FloatToRaw(motion_param->kd, LZ_KD_MAX);
-    data[6] = raw_kd & 0xFF;
+    data[6] = (raw_kd >> 8) & 0xFF;     // 高字节
-    data[7] = (raw_kd >> 8) & 0xFF;
+    data[7] = raw_kd & 0xFF;            // 低字节
     
     return MOTOR_LZ_SendExtFrame(param->can, ext_id, data, 8);
 }
@@ -422,4 +422,12 @@ int8_t MOTOR_LZ_Offline(MOTOR_LZ_Param_t *param) {
         return DEVICE_OK;
     }
     return DEVICE_ERR_NO_DEV;
+}
+
+MOTOR_LZ_Feedback_t* MOTOR_LZ_GetFeedback(MOTOR_LZ_Param_t *param) {
+    MOTOR_LZ_t *motor = MOTOR_LZ_GetMotor(param);
+    if (motor && motor->motor.header.online) {
+        return &motor->lz_feedback;
+    }
+    return NULL;
 }