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修复led和rm的reserv

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This commit is contained in:
Robofish 2025-09-22 10:24:05 +08:00
parent a29e097978
commit d16427f7d4
3 changed files with 49 additions and 12 deletions
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9
assets/User_code/device/led.c
View File

@ -3,17 +3,13 @@
*/
/*Includes -----------------------------------------*/
#include "device/led.h"
#include "bsp/gpio.h"
#include "bsp/pwm.h"
#include "device.h"
/* Private define ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */
/* Private typedef ---------------------------------------------------------- */
#ifdef LED_PWM
int8_t DEVICE_LED_PWM_Set(BSP_PWM_Channel_t channel, float duty_cycle)
{
if (duty_cycle < 0.0f || duty_cycle > 1.0f) {
@ -24,7 +20,9 @@ int8_t DEVICE_LED_PWM_Set(BSP_PWM_Channel_t channel, float duty_cycle)
BSP_PWM_SetComp(channel, pulse);
return DEVICE_OK;
}
#endif
#ifdef LED_GPIO
int8_t DEVICE_LED_GPIO_Set(BSP_GPIO_t gpio, bool value)
{
if (value) {
@ -34,5 +32,6 @@ int8_t DEVICE_LED_GPIO_Set(BSP_GPIO_t gpio, bool value)
}
return DEVICE_OK;
}
#endif

43
assets/User_code/device/led.h
View File

@ -5,27 +5,58 @@ extern "C" {
#endif
/* Includes ----------------------------------------------------------------- */
#include <stdint.h>
#include "bsp/gpio.h"
#include "bsp/pwm.h"
#include "bsp/bsp.h"
/* USER DEFIN BEGIN */
/* USER DEFIN END */
#include <stdint.h>
#ifdef LED_GPIO
#include "bsp/gpio.h"
#endif
#ifdef LED_PWM
#include "bsp/pwm.h"
#endif
#include "bsp/bsp.h"
/* Exported constants ------------------------------------------------------- */
/* Exported macro ----------------------------------------------------------- */
/* Exported types ----------------------------------------------------------- */
typedef struct {
#ifdef LED_GPIO
BSP_GPIO_t gpio;
#endif
#ifdef LED_PWM
BSP_PWM_Channel_t channel;
#endif
} DEVICE_LED_t;
extern DEVICE_LED_t LED_Map;
/* Exported functions prototypes -------------------------------------------- */
#ifdef LED_PWM
int8_t DEVICE_LED_PWM_Set(BSP_PWM_Channel_t channel, float duty_cycle)
{
if (duty_cycle < 0.0f || duty_cycle > 1.0f) {
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(channel);
BSP_PWM_SetComp(channel, pulse);
return DEVICE_OK;
}
#endif
int8_t BSP_LED_Set(char sign,DEVICE_LED_t ch,bool value,float duty_cycle);
#ifdef LED_GPIO
int8_t DEVICE_LED_GPIO_Set(BSP_GPIO_t gpio, bool value)
{
if (value) {
BSP_GPIO_WritePin(gpio, true);
} else {
BSP_GPIO_WritePin(gpio, false);
}
return DEVICE_OK;
}
#endif
#ifdef __cplusplus
}

9
assets/User_code/device/motor_rm.c
View File

@ -139,12 +139,16 @@ static void Motor_RM_Decode(MOTOR_RM_t *motor, BSP_CAN_Message_t *msg) {
motor->feedback.rotor_speed = rotor_speed;
motor->feedback.torque_current = torque_current;
}
if (motor->motor.reverse) {
motor->feedback.rotor_abs_angle = M_2_PI - motor->feedback.rotor_abs_angle;
motor->feedback.rotor_speed = -motor->feedback.rotor_speed;
motor->feedback.torque_current = -motor->feedback.torque_current;
}
motor->feedback.temp = msg->data[6];
}
/* Exported functions ------------------------------------------------------- */
int8_t MOTOR_RM_Register(MOTOR_RM_Param_t *param) {
if (param == NULL) return DEVICE_ERR_NULL;
if (MOTOR_RM_CreateCANManager(param->can) != DEVICE_OK) return DEVICE_ERR;
@ -222,6 +226,9 @@ int8_t MOTOR_RM_SetOutput(MOTOR_RM_Param_t *param, float value) {
if (manager == NULL) return DEVICE_ERR_NO_DEV;
if (value > 1.0f) value = 1.0f;
if (value < -1.0f) value = -1.0f;
if (param->reverse){
value = -value;
}
MOTOR_RM_t *motor = MOTOR_RM_GetMotor(param);
if (motor == NULL) return DEVICE_ERR_NO_DEV;
int8_t logical_index = MOTOR_RM_GetLogicalIndex(param->id, param->module);