修改can

assets/User_code/device/config.yaml

@@ -213,6 +213,10 @@ devices:
     dependencies:
       bsp: ["uart"]
       component: []
+    bsp_requirements:
+      - type: "uart"
+        var_name: "BSP_UART_VOFA"  # 需要替换的变量名
+        description: "用于VOFA数据传输"
     thread_signals: []
     files:
       header: "vofa.h"

assets/User_code/device/motor.c

@@ -18,7 +18,7 @@
 /* Exported functions ------------------------------------------------------- */
 float MOTOR_GetRotorAbsAngle(const MOTOR_t *motor) {
   if (motor == NULL) return DEVICE_ERR_NULL;
-  motor->feedback.rotor_abs_angle;
+  return motor->feedback.rotor_abs_angle;
 }
 
 float MOTOR_GetRotorSpeed(const MOTOR_t *motor) {

assets/User_code/device/vofa.h

@@ -6,7 +6,7 @@ extern "C" {
 
 /* Includes ----------------------------------------------------------------- */
 #include "bsp/uart.h"
-#include ”device/device.h“
+#include "device/device.h"
 /* Exported constants ------------------------------------------------------- */
 /* Exported macro ----------------------------------------------------------- */
 /* Exported types ----------------------------------------------------------- */