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修can

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Robofish 2025-10-03 15:40:36 +08:00
parent d2eea18ecc
commit 7275e5e6e1
5 changed files with 2 additions and 11 deletions
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1
assets/User_code/device/dm_imu.c
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@ -166,7 +166,6 @@ int8_t DM_IMU_Request(DM_IMU_t *imu, DM_IMU_RID_t rid) {
.dlc = 4, .dlc = 4,
}; };
memcpy(frame.data, tx_data, 4); memcpy(frame.data, tx_data, 4);
BSP_CAN_WaitTxMailboxEmpty(imu->param.can, 1); // 等待发送邮箱空闲
int8_t result = BSP_CAN_TransmitStdDataFrame(imu->param.can, &frame); int8_t result = BSP_CAN_TransmitStdDataFrame(imu->param.can, &frame);
return (result == BSP_OK) ? DEVICE_OK : DEVICE_ERR; return (result == BSP_OK) ? DEVICE_OK : DEVICE_ERR;
} }

6
assets/User_code/device/motor_dm.c
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@ -133,7 +133,7 @@ static int8_t MOTOR_DM_SendMITCmd(MOTOR_DM_t *motor, MOTOR_MIT_Output_t *output)
frame.dlc = 8; frame.dlc = 8;
memcpy(frame.data, data, 8); memcpy(frame.data, data, 8);
BSP_CAN_WaitTxMailboxEmpty(motor->param.can, 1);
return BSP_CAN_TransmitStdDataFrame(motor->param.can, &frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR; return BSP_CAN_TransmitStdDataFrame(motor->param.can, &frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
} }
@ -163,7 +163,6 @@ static int8_t MOTOR_DM_SendPosVelCmd(MOTOR_DM_t *motor, float pos, float vel) {
frame.dlc = 8; frame.dlc = 8;
memcpy(frame.data, data, 8); memcpy(frame.data, data, 8);
BSP_CAN_WaitTxMailboxEmpty(motor->param.can, 1);
return BSP_CAN_TransmitStdDataFrame(motor->param.can, &frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR; return BSP_CAN_TransmitStdDataFrame(motor->param.can, &frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
} }
@ -190,7 +189,6 @@ static int8_t MOTOR_DM_SendVelCmd(MOTOR_DM_t *motor, float vel) {
frame.dlc = 4; frame.dlc = 4;
memcpy(frame.data, data, 4); memcpy(frame.data, data, 4);
BSP_CAN_WaitTxMailboxEmpty(motor->param.can, 1);
return BSP_CAN_TransmitStdDataFrame(motor->param.can, &frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR; return BSP_CAN_TransmitStdDataFrame(motor->param.can, &frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
} }
@ -460,7 +458,7 @@ int8_t MOTOR_DM_Enable(MOTOR_DM_Param_t *param){
frame.data[5] = 0xFF; frame.data[5] = 0xFF;
frame.data[6] = 0xFF; frame.data[6] = 0xFF;
frame.data[7] = 0xFC; frame.data[7] = 0xFC;
BSP_CAN_WaitTxMailboxEmpty(motor->param.can, 1);
return BSP_CAN_TransmitStdDataFrame(motor->param.can, &frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR; return BSP_CAN_TransmitStdDataFrame(motor->param.can, &frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
} }

3
assets/User_code/device/motor_lk.c
View File

@ -253,7 +253,6 @@ int8_t MOTOR_LK_SetOutput(MOTOR_LK_Param_t *param, float value) {
tx_frame.data[5] = (uint8_t)((torque_control >> 8) & 0xFF); tx_frame.data[5] = (uint8_t)((torque_control >> 8) & 0xFF);
tx_frame.data[6] = 0x00; tx_frame.data[6] = 0x00;
tx_frame.data[7] = 0x00; tx_frame.data[7] = 0x00;
BSP_CAN_WaitTxMailboxEmpty(param->can, 1); // 等待发送邮箱空闲
return BSP_CAN_TransmitStdDataFrame(param->can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR; return BSP_CAN_TransmitStdDataFrame(param->can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
} }
@ -279,7 +278,6 @@ int8_t MOTOR_LK_MotorOn(MOTOR_LK_Param_t *param) {
tx_frame.data[5] = 0x00; tx_frame.data[5] = 0x00;
tx_frame.data[6] = 0x00; tx_frame.data[6] = 0x00;
tx_frame.data[7] = 0x00; tx_frame.data[7] = 0x00;
BSP_CAN_WaitTxMailboxEmpty(param->can, 1); // 等待发送邮箱空闲
return BSP_CAN_TransmitStdDataFrame(param->can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR; return BSP_CAN_TransmitStdDataFrame(param->can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
} }
@ -299,7 +297,6 @@ int8_t MOTOR_LK_MotorOff(MOTOR_LK_Param_t *param) {
tx_frame.data[5] = 0x00; tx_frame.data[5] = 0x00;
tx_frame.data[6] = 0x00; tx_frame.data[6] = 0x00;
tx_frame.data[7] = 0x00; tx_frame.data[7] = 0x00;
BSP_CAN_WaitTxMailboxEmpty(param->can, 1); // 等待发送邮箱空闲
return BSP_CAN_TransmitStdDataFrame(param->can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR; return BSP_CAN_TransmitStdDataFrame(param->can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
} }

2
assets/User_code/device/motor_lz.c
View File

@ -134,7 +134,6 @@ static int8_t MOTOR_LZ_SendExtFrame(BSP_CAN_t can, uint32_t ext_id, uint8_t *dat
} else { } else {
memset(tx_frame.data, 0, dlc); memset(tx_frame.data, 0, dlc);
} }
BSP_CAN_WaitTxMailboxEmpty(can, 1); // 等待发送邮箱空闲
return BSP_CAN_TransmitExtDataFrame(can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR; return BSP_CAN_TransmitExtDataFrame(can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
} }
@ -369,7 +368,6 @@ int8_t MOTOR_LZ_MotionControl(MOTOR_LZ_Param_t *param, MOTOR_LZ_MotionParam_t *m
uint16_t raw_kd = MOTOR_LZ_FloatToRawPositive(send_param.kd, LZ_KD_MAX); uint16_t raw_kd = MOTOR_LZ_FloatToRawPositive(send_param.kd, LZ_KD_MAX);
data[6] = (raw_kd >> 8) & 0xFF; data[6] = (raw_kd >> 8) & 0xFF;
data[7] = raw_kd & 0xFF; data[7] = raw_kd & 0xFF;
BSP_CAN_WaitTxMailboxEmpty(param->can, 1); // 等待发送邮箱空闲
return MOTOR_LZ_SendExtFrame(param->can, ext_id, data, 8); return MOTOR_LZ_SendExtFrame(param->can, ext_id, data, 8);
} }

1
assets/User_code/device/motor_rm.c
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@ -291,7 +291,6 @@ int8_t MOTOR_RM_Ctrl(MOTOR_RM_Param_t *param) {
default: default:
return DEVICE_ERR; return DEVICE_ERR;
} }
BSP_CAN_WaitTxMailboxEmpty(param->can, 1); // 等待发送邮箱空闲
return BSP_CAN_TransmitStdDataFrame(param->can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR; return BSP_CAN_TransmitStdDataFrame(param->can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
} }