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修改为PID控制前后轮速以及更换新电机方向

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This commit is contained in:
liumin
2025-11-07 09:44:35 +08:00
parent bb13f0c06d
commit 894c4fae89
9 changed files with 169 additions and 32 deletions
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141
boards/e3_176_ref/app_demo/eth-xip/sf/app/app_differential_drive.c
View File

@@ -19,6 +19,9 @@ DiffData diff_data;
PID_t speed_pid; PID_t speed_pid;
PID_t yaw_rate_pid; PID_t yaw_rate_pid;
PID_t Acc_front_speed_pid;
PID_t Dec_front_speed_pid;
// 设置电机输出 // 设置电机输出
void setMotorOutput(float *out_torq, float max_torque, uint16_t feed_power, uint16_t discharge_power) void setMotorOutput(float *out_torq, float max_torque, uint16_t feed_power, uint16_t discharge_power)
{ {
@@ -36,7 +39,7 @@ void setMotorOutput(float *out_torq, float max_torque, uint16_t feed_power, uint
// 设置左右电机期望转速 // 设置左右电机期望转速
un_motor_output1.bit_data.MotCon_1Signal3 = (uint16_t)(-abs_right_front_speed);//20250502方向原因，需要把1号电机控制器的左右电机反相 un_motor_output1.bit_data.MotCon_1Signal3 = (uint16_t)(-abs_right_front_speed);//20250502方向原因，需要把1号电机控制器的左右电机反相
un_motor_output2.bit_data.MotCon_1Signal4 = (uint16_t)abs_right_rear_speed; un_motor_output2.bit_data.MotCon_1Signal4 = (uint16_t)(-abs_right_rear_speed);
un_motor_output1.bit_data.MotCon_1Signal4 = (uint16_t)(-abs_left_front_speed); un_motor_output1.bit_data.MotCon_1Signal4 = (uint16_t)(-abs_left_front_speed);
un_motor_output2.bit_data.MotCon_1Signal3 = (uint16_t)abs_left_rear_speed; un_motor_output2.bit_data.MotCon_1Signal3 = (uint16_t)abs_left_rear_speed;
@@ -312,8 +315,8 @@ void computeInverseKinematics(float linear_velocity_x, float yaw_rate, float max
motor_speed[1] = right_speed_mps; motor_speed[1] = right_speed_mps;
motor_speed[3] = right_speed_mps; motor_speed[3] = right_speed_mps;
adjust_torque_by_speed_diff( diff_data.left_front_motor_speed,diff_data.left_rear_motor_speed, &motor_speed[0], &motor_speed[2],20, 5); // adjust_torque_by_speed_diff( diff_data.left_front_motor_speed,diff_data.left_rear_motor_speed, &motor_speed[0], &motor_speed[2],100, 5);
adjust_torque_by_speed_diff( diff_data.right_front_motor_speed,diff_data.right_rear_motor_speed, &motor_speed[1], &motor_speed[3],20, 5); // adjust_torque_by_speed_diff( diff_data.right_front_motor_speed,diff_data.right_rear_motor_speed, &motor_speed[1], &motor_speed[3],100, 5);
// //
// printf("speed: FL=%.1f FR=%.1f RL=%.1f RR=%.1f\n", diff_data.left_front_motor_speed, diff_data.right_front_motor_speed, diff_data.left_rear_motor_speed, diff_data.right_rear_motor_speed); // printf("speed: FL=%.1f FR=%.1f RL=%.1f RR=%.1f\n", diff_data.left_front_motor_speed, diff_data.right_front_motor_speed, diff_data.left_rear_motor_speed, diff_data.right_rear_motor_speed);
@@ -484,10 +487,66 @@ static void diffProcess(void *signal_id)
// } // }
// } // }
float out_torque[4] = {0,0,0,0};
// 使用差速车辆动力学模型计算左右电机的期望速度 // 使用差速车辆动力学模型计算左右电机的期望速度
computeInverseKinematics(output_speed, output_yaw_rate, diff_data.max_speed, &diff_data.out_torq[0]); computeInverseKinematics(output_speed, output_yaw_rate, diff_data.max_speed, &out_torque[0]);
if( fabs(diff_data.left_front_motor_speed - diff_data.left_rear_motor_speed) >= diff_data.diff_dead_zone )//如果超过系数
{
diff_data.left_speed_diff = diff_data.left_front_motor_speed - diff_data.left_rear_motor_speed;
diff_data.left_diff_touue = calculatePidOutput(&Acc_front_speed_pid, 0.0f, diff_data.left_speed_diff, 0.0f, dt); //左侧转速差PID
}
else
{
diff_data.left_speed_diff = 0;
Acc_front_speed_pid.integral = 0;
diff_data.left_diff_touue = 0;
}
if( fabs(diff_data.right_front_motor_speed - diff_data.right_rear_motor_speed) >= diff_data.diff_dead_zone )//如果超过系数
{
diff_data.right_speed_diff = diff_data.right_front_motor_speed - diff_data.right_rear_motor_speed;
diff_data.right_diff_touue = calculatePidOutput(&Dec_front_speed_pid, 0.0f, diff_data.right_speed_diff, 0.0f, dt); //左侧转速差PID
}
else
{
diff_data.right_speed_diff = 0;
Dec_front_speed_pid.integral = 0;
diff_data.right_diff_touue = 0;
}
if(out_torque[0] > 0)//根据大小来限定值为分配扭矩。最小就是0扭矩。
{
diff_data.left_diff_touue = constrain(diff_data.left_diff_touue, -out_torque[0], out_torque[0]);
}
else
{
diff_data.left_diff_touue = constrain(diff_data.left_diff_touue, out_torque[0], -out_torque[0]);
}
if(out_torque[1] > 0)
{
diff_data.right_diff_touue = constrain(diff_data.right_diff_touue, -out_torque[1], out_torque[1]);
}
else
{
diff_data.right_diff_touue = constrain(diff_data.right_diff_touue, out_torque[1], -out_torque[1]);
}
diff_data.out_torq[0] = (out_torque[0] + diff_data.left_diff_touue);//因为每一个电机都是相同的扭矩，所以扭矩和为2倍。
diff_data.out_torq[2] = (out_torque[0] - diff_data.left_diff_touue);
diff_data.out_torq[1] = (out_torque[1] + diff_data.right_diff_touue);
diff_data.out_torq[3] = (out_torque[1] - diff_data.right_diff_touue);
out_torque[0] = constrain(out_torque[0], -diff_data.max_Torq, diff_data.max_Torq); //限定最大扭矩
out_torque[1] = constrain(out_torque[1], -diff_data.max_Torq, diff_data.max_Torq);
out_torque[2] = constrain(out_torque[2], -diff_data.max_Torq, diff_data.max_Torq);
out_torque[3] = constrain(out_torque[3], -diff_data.max_Torq, diff_data.max_Torq);
@@ -596,8 +655,8 @@ static void diffInput(void *signal_id)
diff_data.desired_speed = diff_data.desired_speed * 0.01f; diff_data.desired_speed = diff_data.desired_speed * 0.01f;
diff_data.desired_curvature = diff_data.desired_curvature * 0.0001f; diff_data.desired_curvature = diff_data.desired_curvature * 0.0001f;
// 遥控器速度映射，参数含义为：输入速度，死区，最大输入，最大输出，低速输入，低速输出 // 遥控器速度映射，参数含义为：输入速度，死区，最大输入，最大输出，低速输入，低速输出
diff_data.desired_speed = mapRemoteControlSpeed(diff_data.desired_speed, 0.2, 2, 10, 1, 5);//20250320 修改死区为0.2解决停不住的问题 diff_data.desired_speed = mapRemoteControlSpeed(diff_data.desired_speed, 0, 5, 10, 2.5, 5);
diff_data.desired_curvature = mapRemoteControlSpeed(diff_data.desired_curvature, 0, 2, 2, 1, 1); // diff_data.desired_curvature = mapRemoteControlSpeed(diff_data.desired_curvature, 0, 2, 2, 1, 1);
} }
else if ( (signal_id == &un_auto_computer_input) && (diff_data.mode == MODE_AUTO) ) else if ( (signal_id == &un_auto_computer_input) && (diff_data.mode == MODE_AUTO) )
{ {
@@ -608,13 +667,13 @@ static void diffInput(void *signal_id)
diff_data.desired_curvature = diff_data.desired_curvature * 0.0001f;// diff_data.desired_curvature = diff_data.desired_curvature * 0.0001f;//
// 遥控器速度映射，参数含义为：输入速度，死区，最大输入，最大输出，低速输入，低速输出 // 遥控器速度映射，参数含义为：输入速度，死区，最大输入，最大输出，低速输入，低速输出
diff_data.desired_speed = mapRemoteControlSpeed(diff_data.desired_speed, 0, 5, 10, 2.5, 5); diff_data.desired_speed = mapRemoteControlSpeed(diff_data.desired_speed, 0, 5, 10, 2.5, 5);
diff_data.desired_curvature = mapRemoteControlSpeed(diff_data.desired_curvature, 0, 2, 2, 1, 1); // diff_data.desired_curvature = mapRemoteControlSpeed(diff_data.desired_curvature, 0, 2, 2, 1, 1);
} }
else if (signal_id == &un_motor_input1)// 处理第一个电机速度信号（左电机） else if (signal_id == &un_motor_input1)// 处理第一个电机速度信号（左电机）
{ {
diff_data.right_front_motor_speed = -(float)( (int16_t)(un_motor_input1.bit_data.MotCon_1Signal3) ) / 6.0; // 20250502 1号控制器增加反相 diff_data.right_front_motor_speed = -(float)( (int16_t)(un_motor_input1.bit_data.MotCon_1Signal3) ) / 6.0; // 20250502 1号控制器增加反相
diff_data.right_rear_motor_speed = (float)( (int16_t)(un_motor_input2.bit_data.MotCon_1Signal4) ) /6.0; diff_data.right_rear_motor_speed = -(float)( (int16_t)(un_motor_input2.bit_data.MotCon_1Signal4) ) /6.0;
// motor_speed_temp = (motor_speed_temp + (int16_t)un_motor_input2.bit_data.MotCon_1Signal4)/2/6; // motor_speed_temp = (motor_speed_temp + (int16_t)un_motor_input2.bit_data.MotCon_1Signal4)/2/6;
if(fabs(diff_data.right_rear_motor_speed) > fabs(diff_data.right_front_motor_speed))//取速度较小的轮速 if(fabs(diff_data.right_rear_motor_speed) > fabs(diff_data.right_front_motor_speed))//取速度较小的轮速
@@ -759,11 +818,41 @@ void diffParametersInit(void *signal_id)
getParam("crv_ol") getParam("crv_ol")
); );
} }
// 设置曲率 PID 控制器的参数
setPidParameters(&Dec_front_speed_pid,
getParam("mot_kp"),
getParam("mot_ki"),
getParam("mot_kd"),
getParam("mot_il"),
getParam("mot_ol")
);
// 设置曲率 PID 控制器的参数
setPidParameters(&Acc_front_speed_pid,
Dec_front_speed_pid.kp,
Dec_front_speed_pid.ki,
Dec_front_speed_pid.kd,
Dec_front_speed_pid.integral_limit,
Dec_front_speed_pid.output_limit
);
if(0 == (float)getParam("diff_sp"))//20250711 防止参数为0，影响计算。
{
diff_data.diff_dead_zone = 2;
}
else
{
diff_data.diff_dead_zone = (float)getParam("diff_sp");//参数读取设定最大扭矩
}
diff_data.min_Torq = (uint16_t)getParam("minTorq");//参数读取设定最大扭矩 diff_data.min_Torq = (uint16_t)getParam("minTorq");//参数读取设定最大扭矩
printf("desired_speed: %f, desired_yaw_rate: %f\n", diff_data.desired_speed, diff_data.desired_yaw_rate); printf("desired_speed: %f, desired_yaw_rate: %f\n", diff_data.desired_speed, diff_data.desired_yaw_rate);
// printf("speed: %f, yaw_rate: %f\n", diff_data.speed, diff_data.yaw_rate);
printf("speed: %f, yaw_rate: %f\n", diff_data.speed, diff_data.yaw_rate); printf("speed: %f, yaw_rate: %f\n", diff_data.speed, diff_data.yaw_rate);
printf("left_motor_speed = %f\n",diff_data.left_motor_speed); printf("left_motor_speed = %f\n",diff_data.left_motor_speed);
@@ -780,6 +869,16 @@ void diffParametersInit(void *signal_id)
printf("remote speed = %f, remote curvature = %f\n", deffspeed, deffcurvature); printf("remote speed = %f, remote curvature = %f\n", deffspeed, deffcurvature);
deffspeed = (float)((int16_t)(un_manual_computer_input.bit_data.set_speed));
deffcurvature = (float)((int16_t)(un_manual_computer_input.bit_data.set_curvature));
// 单位转换
deffspeed = deffspeed * 0.01f;
deffcurvature = deffcurvature * 0.0001f;
printf("manual speed = %f, manual curvature = %f\n", deffspeed, deffcurvature);
timerStart(&diff_app_timer,1000,1);//1s调用一次 timerStart(&diff_app_timer,1000,1);//1s调用一次
} }
@@ -823,6 +922,28 @@ void diffAppInit(void)
getParam("crv_ol") getParam("crv_ol")
); );
// 初始化减速 PID 控制器
initializePid(&Dec_front_speed_pid, PID_MODE_DERIVATIVE_CALC, 0.0001f);
// 设置 PID 控制器的参数
setPidParameters(&Dec_front_speed_pid,
getParam("mot_kp"),
getParam("mot_ki"),
getParam("mot_kd"),
getParam("mot_il"),
getParam("mot_ol")
);
// 初始化加速 PID 控制器
initializePid(&Acc_front_speed_pid, PID_MODE_DERIVATIVE_CALC, 0.0001f);
// 设置 PID 控制器的参数
setPidParameters(&Acc_front_speed_pid,
Dec_front_speed_pid.kp,
Dec_front_speed_pid.ki,
Dec_front_speed_pid.kd,
Dec_front_speed_pid.integral_limit,
Dec_front_speed_pid.output_limit
);
subscribe(&diff_app_timer, diffParametersInit); subscribe(&diff_app_timer, diffParametersInit);
timerStart(&diff_app_timer,1000,1);//1s调用一次 timerStart(&diff_app_timer,1000,1);//1s调用一次

8
boards/e3_176_ref/app_demo/eth-xip/sf/app/app_differential_drive.h
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@@ -56,6 +56,14 @@ typedef struct DiffData
float out_torq[4]; //4个电机扭矩 float out_torq[4]; //4个电机扭矩
float max_Torq; // 最大扭矩限制 float max_Torq; // 最大扭矩限制
float min_Torq; // 最小扭矩限制 float min_Torq; // 最小扭矩限制
float left_speed_diff; // 左侧转速差
float right_speed_diff; // 右侧转速差
float left_diff_touue; // 左侧扭矩差
float right_diff_touue; // 右侧扭矩差
float diff_dead_zone; // 差速速度死区
} DiffData; } DiffData;

4
boards/e3_176_ref/app_demo/eth-xip/sf/app/app_param_manage.c
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@@ -265,9 +265,9 @@ void processWriteRequestFrame(UnParamRequest *paramRequest, uint32_t sender_ip,
for (int i = 0; i < 256; ++i) { for (int i = 0; i < 256; ++i) {
if (strlen((char *)paramRequest->bit_data.param_name[i]) > 0) { if (strlen((char *)paramRequest->bit_data.param_name[i]) > 0) {
writeParameter(paramRequest->bit_data.param_name[i], paramRequest->bit_data.data[i]); writeParameter(paramRequest->bit_data.param_name[i], paramRequest->bit_data.data[i]);
printf("paramRequest->bit_data.param_name[i]:%s \n",paramRequest->bit_data.param_name[i]); //printf("paramRequest->bit_data.param_name[i]:%s \n",paramRequest->bit_data.param_name[i]);
memcpy(&value, paramRequest->bit_data.data[i], sizeof(float)); memcpy(&value, paramRequest->bit_data.data[i], sizeof(float));
printf("paramRequest->bit_data.data[i]:%f \n", value); //printf("paramRequest->bit_data.data[i]:%f \n", value);
} }
} }

7
boards/e3_176_ref/app_demo/eth-xip/sf/app/app_param_manage.h
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@@ -54,6 +54,13 @@ extern "C"
X(minTorq) \ X(minTorq) \
X(minYpos) \ X(minYpos) \
X(maxYpos) \ X(maxYpos) \
X(mot_kp) \
X(mot_ki) \
X(mot_kd) \
X(mot_il) \
X(mot_ol) \
X(diff_sp) \
X(turn_sp) \
X(test) X(test)
// 定义一个包含所有参数名称的结构体 // 定义一个包含所有参数名称的结构体

16
boards/e3_176_ref/app_demo/eth-xip/sf/app/app_turntable.c
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@@ -265,7 +265,7 @@ static void turnableProcess(void *signal_id)
switch(turnable_data.turnable_state)//先发送切换模式以及电机失能，后面直接使能 最后发送数据 switch(turnable_data.turnable_state)//先发送切换模式以及电机失能，后面直接使能 最后发送数据
{ {
case 0: case 0:
timerStart(&turnable_data.turnable_timer, 1000, 1); // 启动定时器，1s timerStart(&turnable_data.turnable_timer, 3000, 1); // 启动定时器，1s
turnable_data.turnable_state = 1; turnable_data.turnable_state = 1;
break; break;
@@ -376,10 +376,10 @@ void turnableParametersInit(void *signal_id)
turnable_data.min_pitch_postion = getParam("minYpos"); //俯仰位置最小限制值 turnable_data.min_pitch_postion = getParam("minYpos"); //俯仰位置最小限制值
turnable_data.max_pitch_postion = getParam("maxYpos"); //俯仰位置最大限制值 turnable_data.max_pitch_postion = getParam("maxYpos"); //俯仰位置最大限制值
// printf( "turnable left A %f\n",turnable_data.out_left_motor_ampere); printf( "turnable left %f\n",turnable_data.out_left_motor_ampere);
// printf( "turnable right A %f\n",turnable_data.out_right_motor_ampere); printf( "turnable right %f\n",turnable_data.out_right_motor_ampere);
// printf( "turnable pitch A %f\n",turnable_data.out_pitch_motor_ampere); printf( "turnable pitch %f\n",turnable_data.out_pitch_motor_ampere);
// printf( "desired speed %f\n",turnable_data.desired_speed); printf( "turnable x_axis %d\n",un_remote_control_input.bit_data.x_axis);
// printf( "speed %f\n",turnable_data.speed); // printf( "speed %f\n",turnable_data.speed);
// printf( "turnable state %d\n",turnable_data.turnable_state); // printf( "turnable state %d\n",turnable_data.turnable_state);
@@ -416,7 +416,7 @@ static void turnableInput(void *signal_id)
float x_axis_temp = (float)(un_remote_control_input.bit_data.x_axis) - REMOTE_ZERO; float x_axis_temp = (float)(un_remote_control_input.bit_data.x_axis) - REMOTE_ZERO;
if( ( x_axis_temp > 50 ) || ( x_axis_temp < -50 ) ) if( ( x_axis_temp > 50 ) || ( x_axis_temp < -50 ) )
{ {
turnable_data.out_left_motor_ampere = 0.02*(x_axis_temp);//计算电流 turnable_data.out_left_motor_ampere = 0.01*(x_axis_temp);//计算电流
turnable_data.out_right_motor_ampere = turnable_data.out_left_motor_ampere; turnable_data.out_right_motor_ampere = turnable_data.out_left_motor_ampere;
} }
else else
@@ -428,12 +428,12 @@ static void turnableInput(void *signal_id)
x_axis_temp = (float)(un_remote_control_input.bit_data.y_axis) - REMOTE_ZERO; x_axis_temp = (float)(un_remote_control_input.bit_data.y_axis) - REMOTE_ZERO;
if(x_axis_temp > 50) //根据Y轴数据来定义 if(x_axis_temp > 50) //根据Y轴数据来定义
{ {
turnable_data.out_pitch_motor_ampere = 0.01*fabs(x_axis_temp); turnable_data.out_pitch_motor_ampere = 0.02*fabs(x_axis_temp);
turnable_data.desired_pitch_position = turnable_data.max_pitch_postion; turnable_data.desired_pitch_position = turnable_data.max_pitch_postion;
} }
else if(x_axis_temp < -50) else if(x_axis_temp < -50)
{ {
turnable_data.out_pitch_motor_ampere = 0.01*fabs(x_axis_temp); turnable_data.out_pitch_motor_ampere = 0.02*fabs(x_axis_temp);
turnable_data.desired_pitch_position = turnable_data.min_pitch_postion; turnable_data.desired_pitch_position = turnable_data.min_pitch_postion;
} }
else else

2
boards/e3_176_ref/app_demo/eth-xip/sf/app/app_turntable.h
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@@ -58,7 +58,7 @@ extern "C" {
#define ZERO_VAULE 0x0080 // 32768,<2C><>Ҫ<EFBFBD><D2AA>λ<EFBFBD><CEBB>ǰ #define ZERO_VAULE 0x0080 // 32768,<2C><>Ҫ<EFBFBD><D2AA>λ<EFBFBD><CEBB>ǰ
#define REMOTE_ZERO 1022 #define REMOTE_ZERO 980
#define SWAP_ENDIAN_16(x) ((((x) & 0xFF) << 8) | (((x) >> 8) & 0xFF)) #define SWAP_ENDIAN_16(x) ((((x) & 0xFF) << 8) | (((x) >> 8) & 0xFF))

2
boards/e3_176_ref/app_demo/eth-xip/sf/interface.h
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@@ -191,7 +191,7 @@ typedef struct _StrManualComputerInput
typedef union _UnManualComputerInput typedef union _UnManualComputerInput
{ {
StrManualComputerInput bit_data; // 使用定义的结构体变量名 StrManualComputerInput bit_data; // 使用定义的结构体变量名
unsigned int arr[sizeof(StrManualComputerInput) / sizeof(unsigned int)]; // 通过结构体类型确定大小 uint8_t arr[sizeof(StrManualComputerInput)]; // 通过结构体类型确定大小
} UnManualComputerInput; } UnManualComputerInput;

8
boards/e3_176_ref/app_demo/eth-xip/sf/interface_can.c
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@@ -1054,7 +1054,7 @@ void canTimerProcess(void *signal_id)
static void processSdoOutput1(void *signal_id) static void processSdoOutput1(void *signal_id)
{ {
(void)signal_id; // <20><><EFBFBD>DZ<EFBFBD><C7B1><EFBFBD>Ϊ<EFBFBD><CEAA>ʹ<EFBFBD>ã<EFBFBD><C3A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> (void)signal_id; // <20><><EFBFBD>DZ<EFBFBD><C7B1><EFBFBD>Ϊ<EFBFBD><CEAA>ʹ<EFBFBD>ã<EFBFBD><C3A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// CAN_Send_Msg(&can_handle_5, un_sdo_output1.tx_can_id.raw, FLEXCAN_EXTEND_FRAME, FLEXCAN_FrameTypeData, (uint8_t *)&un_sdo_output1.tx_can_data.arr[0], 8, 15);// CAN_Send_Msg(&can_handle_4, un_sdo_output1.tx_can_id.raw, FLEXCAN_EXTEND_FRAME, FLEXCAN_FrameTypeData, (uint8_t *)&un_sdo_output1.tx_can_data.arr[0], 8, 15);//
} }
static void processSdoOutput2(void *signal_id) static void processSdoOutput2(void *signal_id)
@@ -1066,19 +1066,19 @@ static void processSdoOutput2(void *signal_id)
static void processSdoOutput3(void *signal_id) static void processSdoOutput3(void *signal_id)
{ {
(void)signal_id; // <20><><EFBFBD>DZ<EFBFBD><C7B1><EFBFBD>Ϊ<EFBFBD><CEAA>ʹ<EFBFBD>ã<EFBFBD><C3A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> (void)signal_id; // <20><><EFBFBD>DZ<EFBFBD><C7B1><EFBFBD>Ϊ<EFBFBD><CEAA>ʹ<EFBFBD>ã<EFBFBD><C3A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// CAN_Send_Msg(&can_handle_4, un_sdo_output3.tx_can_id.raw, FLEXCAN_EXTEND_FRAME, FLEXCAN_FrameTypeData, (uint8_t *)&un_sdo_output3.tx_can_data.arr[0], 8, 17); CAN_Send_Msg(&can_handle_4, un_sdo_output3.tx_can_id.raw, FLEXCAN_EXTEND_FRAME, FLEXCAN_FrameTypeData, (uint8_t *)&un_sdo_output3.tx_can_data.arr[0], 8, 17);
} }
static void processSdoOutput4(void *signal_id) static void processSdoOutput4(void *signal_id)
{ {
(void)signal_id; // <20><><EFBFBD>DZ<EFBFBD><C7B1><EFBFBD>Ϊ<EFBFBD><CEAA>ʹ<EFBFBD>ã<EFBFBD><C3A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> (void)signal_id; // <20><><EFBFBD>DZ<EFBFBD><C7B1><EFBFBD>Ϊ<EFBFBD><CEAA>ʹ<EFBFBD>ã<EFBFBD><C3A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// CAN_Send_Msg(&can_handle_4, un_sdo_output4.tx_can_id.raw, FLEXCAN_EXTEND_FRAME, FLEXCAN_FrameTypeData, (uint8_t *)&un_sdo_output4.tx_can_data.arr[0], 8, 18); CAN_Send_Msg(&can_handle_4, un_sdo_output4.tx_can_id.raw, FLEXCAN_EXTEND_FRAME, FLEXCAN_FrameTypeData, (uint8_t *)&un_sdo_output4.tx_can_data.arr[0], 8, 18);
} }
static void processSdoOutput5(void *signal_id) static void processSdoOutput5(void *signal_id)
{ {
(void)signal_id; // <20><><EFBFBD>DZ<EFBFBD><C7B1><EFBFBD>Ϊ<EFBFBD><CEAA>ʹ<EFBFBD>ã<EFBFBD><C3A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> (void)signal_id; // <20><><EFBFBD>DZ<EFBFBD><C7B1><EFBFBD>Ϊ<EFBFBD><CEAA>ʹ<EFBFBD>ã<EFBFBD><C3A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// CAN_Send_Msg(&can_handle_4, un_sdo_output5.tx_can_id.raw, FLEXCAN_EXTEND_FRAME, FLEXCAN_FrameTypeData, (uint8_t *)&un_sdo_output5.tx_can_data.arr[0], 8, 19); CAN_Send_Msg(&can_handle_4, un_sdo_output5.tx_can_id.raw, FLEXCAN_EXTEND_FRAME, FLEXCAN_FrameTypeData, (uint8_t *)&un_sdo_output5.tx_can_data.arr[0], 8, 19);
} }
//static void processSdoOutput4(void *signal_id) //static void processSdoOutput4(void *signal_id)
//{ //{

3
boards/e3_176_ref/app_demo/eth-xip/sf/interface_ethernet.c
View File

@@ -245,7 +245,8 @@ void udp_Callback_1(void *arg, struct udp_pcb *upcb, struct pbuf *p, const ip_ad
publishMessage(&un_manual_computer_input, 1); publishMessage(&un_manual_computer_input, 1);
// p->len = len; // p->len = len;
// printf("Manualrecive len:%d\n",len); // printf("Manualrecive len:%d, speed: %d , cur: %d\n",len,un_manual_computer_input.bit_data.set_speed,un_manual_computer_input.bit_data.set_curvature);
// udp_sendto(upcb, p, addr, port); // udp_sendto(upcb, p, addr, port);
} }
else if( (0xFF == buf[0] ) && (0xCC == buf[1] ) )//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20>Զ<EFBFBD> else if( (0xFF == buf[0] ) && (0xCC == buf[1] ) )//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20>Զ<EFBFBD>