fix bugs

.vscode/settings.json

@@ -42,6 +42,7 @@
         "usb_device.h": "c",
         "vofa_protocol.h": "c",
         "master_process.h": "c",
-        "stdint-gcc.h": "c"
+        "stdint-gcc.h": "c",
+        "string.h": "c"
     }
 }

bsp/bsp_can.c

@@ -76,9 +76,7 @@ void CANRegister(can_instance* ins,can_instance_config config)
     instance[idx]->rx_id = config.rx_id;
     instance[idx]->can_module_callback = config.can_module_callback;
 
-    CANAddFilter(instance[idx]);
+    CANAddFilter(instance[idx++]);
-
-    return instance[idx++];
 }
 
 void CANTransmit(can_instance *_instance)

bsp/bsp_usart.c

@@ -30,7 +30,7 @@ static void USARTServiceInit(usart_instance *_instance)
 
 void USARTRegister(usart_instance *_instance)
 {
-    static instance_idx;
+    static uint8_t instance_idx;
     USARTServiceInit(_instance);
     instance[instance_idx++] = _instance;
 }

modules/algorithm/user_lib.h

@@ -96,7 +96,7 @@ typedef struct
     float frame_period; //ʱ<><CAB1><EFBFBD><EFBFBD>
 } ramp_function_source_t;
 
-typedef __packed struct
+typedef struct
 {
     uint16_t Order;
     uint32_t Count;

modules/imu/ins_task.c

@@ -15,6 +15,7 @@
 #include "QuaternionEKF.h"
 #include "bsp_temperature.h"
 #include "spi.h"
+#include "user_lib.h"
 
 static INS_t INS;
 IMU_Param_t IMU_Param;

modules/master_machine/master_process.h

@@ -8,14 +8,6 @@
 #define VISION_RECV_SIZE 36u
 #define VISION_SEND_SIZE 36u
 
-
-typedef struct
-{
-    
-};
-
-
-
 /**
  * @brief 调用此函数初始化和视觉的串口通信
  *
@@ -30,5 +22,4 @@ Vision_Recv_s* VisionInit(UART_HandleTypeDef* handle);
  */
 void VisionSend(Vision_Send_s *send);
 
-
 #endif // !MASTER_PROCESS_H

modules/master_machine/seasky_protocol.c

@@ -139,4 +139,5 @@ uint16_t get_protocol_info(uint8_t *rx_buf,          //接收到的原始数据
             return pro.cmd_id;
         }
     }
+    return 0;
 }

modules/motor/HT04.c

@@ -22,7 +22,7 @@ static void DecodeJoint(can_instance* motor_instance)
     uint16_t tmp;
     for (size_t i = 0; i < HT_MOTOR_CNT; i++)
     {
-        if(&joint_motor_info[i]->motor_can_instace==motor_instance)
+        if(joint_motor_info[i]->motor_can_instace==motor_instance)
         {
             tmp = (motor_instance->rx_buff[1] << 8) | motor_instance->rx_buff[2];
             joint_motor_info[i]->last_ecd=joint_motor_info[i]->ecd;
@@ -40,7 +40,8 @@ joint_instance* HTMotorInit(can_instance_config config)
 {
     static uint8_t idx;
     joint_motor_info[idx]=(joint_instance*)malloc(sizeof(joint_instance));
-    CANRegister(&joint_motor_info[idx++]->motor_can_instace,config);
+    CANRegister(joint_motor_info[idx++]->motor_can_instace,config);
+    return joint_motor_info[idx++];
 }
 
 void JointControl(joint_instance* _instance,float current)

modules/motor/LK9025.c

@@ -6,7 +6,7 @@ static void DecodeDriven(can_instance* _instance)
 {
     for (size_t i = 0; i < LK_MOTOR_CNT; i++)
     {
-        if(&driven_motor_info[i]->motor_can_instance==_instance)
+        if (driven_motor_info[i]->motor_can_instance == _instance)
         {
             driven_motor_info[i]->last_ecd = driven_motor_info[i]->ecd;
             driven_motor_info[i]->ecd = (uint16_t)((_instance->rx_buff[7] << 8) | _instance->rx_buff[6]);
@@ -23,7 +23,8 @@ driven_instance* LKMotroInit(can_instance_config config)
     static uint8_t idx;
     driven_motor_info[idx] = (driven_instance *)malloc(sizeof(driven_instance));
     config.can_module_callback = DecodeDriven;
-    CANRegister(driven_motor_info[idx++]->motor_can_instance,config);
+    CANRegister(driven_motor_info[idx]->motor_can_instance, config);
+    return driven_motor_info[idx++];
 }
 
 void DrivenControl(int16_t motor1_current, int16_t motor2_current)
@@ -44,4 +45,3 @@ void SetDrivenMode(driven_mode cmd,uint16_t motor_id)
 
     // CANTransmit(driven_mode)
 }
-

modules/motor/motor_def.h

@@ -12,6 +12,8 @@
 #ifndef MOTOR_DEF_H
 #define MOTOR_DEF_H
 
+#include "controller.h"
+
 /**
  * @brief 闭环类型,如果需要多个闭环,则使用或运算
  *        例如需要速度环和电流环: CURRENT_LOOP|SPEED_LOOP