HFUT_Firmament_EC
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sentry_chassis_hzz
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fix bugs

This commit is contained in:
NeoZng 2022-11-09 19:53:23 +08:00
parent 4d27bd9b0f
commit 4d32450e3d
4 changed files with 10 additions and 5 deletions
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1
HAL_N_Middlewares/Src/main.c
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@ -36,7 +36,6 @@
#include "bsp_usart.h" #include "bsp_usart.h"
#include "bsp_can.h" #include "bsp_can.h"
#include "can.h" #include "can.h"
#include "LK9025.h"
#include "dji_motor.h" #include "dji_motor.h"
#include "motor_task.h" #include "motor_task.h"
/* USER CODE END Includes */ /* USER CODE END Includes */

2
modules/motor/LK9025.c
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@ -34,7 +34,7 @@ void DrivenControl(int16_t motor1_current,int16_t motor2_current)
driven_motor_info[0]->motor_can_instance->tx_buff[1] = motor1_current>>8; driven_motor_info[0]->motor_can_instance->tx_buff[1] = motor1_current>>8;
driven_motor_info[0]->motor_can_instance->tx_buff[2] = motor2_current; driven_motor_info[0]->motor_can_instance->tx_buff[2] = motor2_current;
driven_motor_info[0]->motor_can_instance->tx_buff[3] = motor2_current>>8; driven_motor_info[0]->motor_can_instance->tx_buff[3] = motor2_current>>8;
CANTransmit(&driven_motor_info[0]->motor_can_instance); CANTransmit(driven_motor_info[0]->motor_can_instance);
} }
void SetDrivenMode(driven_mode cmd,uint16_t motor_id) void SetDrivenMode(driven_mode cmd,uint16_t motor_id)

6
modules/remote/remote_control.c
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@ -55,7 +55,7 @@ static void ReceiveCallback()
sbus_to_rc(rc_usart_instance.recv_buff, &rc_ctrl); sbus_to_rc(rc_usart_instance.recv_buff, &rc_ctrl);
} }
RC_ctrl_t* RC_init(UART_HandleTypeDef *rc_usart_handle) RC_ctrl_t *RC_init(UART_HandleTypeDef *rc_usart_handle)
{ {
rc_usart_instance.module_callback = ReceiveCallback; rc_usart_instance.module_callback = ReceiveCallback;
rc_usart_instance.usart_handle = rc_usart_handle; rc_usart_instance.usart_handle = rc_usart_handle;
@ -64,7 +64,7 @@ RC_ctrl_t* RC_init(UART_HandleTypeDef *rc_usart_handle)
return &rc_ctrl; return &rc_ctrl;
} }
const *get_remote_control_point(void) const RC_ctrl_t *get_remote_control_point(void)
{ {
return &rc_ctrl;
} }

6
modules/remote/remote_control.h
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@ -75,4 +75,10 @@ typedef struct
*/ */
RC_ctrl_t *RC_init(UART_HandleTypeDef *rc_usart_handle); RC_ctrl_t *RC_init(UART_HandleTypeDef *rc_usart_handle);
/**
* @brief Get the remote control point object
*
* @return const RC_ctrl_t*
*/
const RC_ctrl_t *get_remote_control_point(void);
#endif #endif