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增加轮速输出

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liumin
2025-11-07 10:31:57 +08:00
parent 84221794b6
commit 2f580d0d3a
11 changed files with 121 additions and 98 deletions
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16
ETH/UdpServer/User/interface_can.c
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@@ -63,10 +63,10 @@ void CAN1_Mode_Init( u8 tsjw, u8 tbs2, u8 tbs1, u16 brp, u8 mode )
CAN_FilterInitSturcture.CAN_FilterNumber = 0;
CAN_FilterInitSturcture.CAN_FilterMode = CAN_FilterMode_IdMask;
CAN_FilterInitSturcture.CAN_FilterScale = CAN_FilterScale_32bit;
CAN_FilterInitSturcture.CAN_FilterIdHigh = (uint16_t)((((DF_CanIDbattery|DF_CanIDRCH_3)<<DF_ExtIDShift)|0x04)>>16);//(uint16_t)(((0x10000001<<3)|0x04)>>16);//Ӧ<><D3A6><EFBFBD><EFBFBD>
CAN_FilterInitSturcture.CAN_FilterIdLow = (uint16_t)(((DF_CanIDbattery|DF_CanIDRCH_3)<<DF_ExtIDShift)|0x04);//(uint16_t)(((0x10000001<<3)|0x04));//
CAN_FilterInitSturcture.CAN_FilterMaskIdHigh = (uint16_t)((((~(DF_CanIDbattery^DF_CanIDRCH_3))<<DF_ExtIDShift)|0x0E) >> 16);
CAN_FilterInitSturcture.CAN_FilterMaskIdLow = (uint16_t)(((~(DF_CanIDbattery^DF_CanIDRCH_3))<<DF_ExtIDShift)|0x0E);
CAN_FilterInitSturcture.CAN_FilterIdHigh = (uint16_t)((((DF_CanIDMotor1|DF_CanIDMotor2)<<DF_ExtIDShift)|0x04)>>16);//(uint16_t)(((0x10000001<<3)|0x04)>>16);//Ӧ<><D3A6><EFBFBD><EFBFBD>
CAN_FilterInitSturcture.CAN_FilterIdLow = (uint16_t)(((DF_CanIDMotor1|DF_CanIDMotor2)<<DF_ExtIDShift)|0x04);//(uint16_t)(((0x10000001<<3)|0x04));//
CAN_FilterInitSturcture.CAN_FilterMaskIdHigh = (uint16_t)((((~(DF_CanIDMotor1^DF_CanIDMotor2))<<DF_ExtIDShift)|0x0E) >> 16);
CAN_FilterInitSturcture.CAN_FilterMaskIdLow = (uint16_t)(((~(DF_CanIDMotor1^DF_CanIDMotor2))<<DF_ExtIDShift)|0x0E);
CAN_FilterInitSturcture.CAN_FilterFIFOAssignment = CAN_Filter_FIFO0;
CAN_FilterInitSturcture.CAN_FilterActivation = ENABLE;
CAN_FilterInit( &CAN_FilterInitSturcture );
@@ -151,10 +151,10 @@ void CAN2_Mode_Init( u8 tsjw, u8 tbs2, u8 tbs1, u16 brp, u8 mode )
CAN_FilterInitSturcture.CAN_FilterMode = CAN_FilterMode_IdMask;
CAN_FilterInitSturcture.CAN_FilterScale = CAN_FilterScale_32bit;
CAN_FilterInitSturcture.CAN_FilterIdHigh = (uint16_t)((((DF_CanIDMotor1|DF_CanIDMotor2)<<DF_StaIDShift))>>16);//(uint16_t)(((0x10000001<<3)|0x04)>>16);//Ӧ<><D3A6><EFBFBD><EFBFBD>
CAN_FilterInitSturcture.CAN_FilterIdLow = (uint16_t)(((DF_CanIDMotor1|DF_CanIDMotor2)<<DF_StaIDShift));//(uint16_t)(((0x10000001<<3)|0x04));//
CAN_FilterInitSturcture.CAN_FilterMaskIdHigh = (uint16_t)((((~(DF_CanIDMotor1^DF_CanIDMotor2))<<DF_StaIDShift)|0x0E) >> 16);
CAN_FilterInitSturcture.CAN_FilterMaskIdLow = (uint16_t)(((~(DF_CanIDMotor1^DF_CanIDMotor2))<<DF_StaIDShift)|0x0E);
CAN_FilterInitSturcture.CAN_FilterIdHigh = (uint16_t)((((DF_CanIDMotor1|DF_CanIDMotor2)<<DF_ExtIDShift)|0x04)>>16);//(uint16_t)(((0x10000001<<3)|0x04)>>16);//Ӧ<><D3A6><EFBFBD><EFBFBD>
CAN_FilterInitSturcture.CAN_FilterIdLow = (uint16_t)(((DF_CanIDMotor1|DF_CanIDMotor2)<<DF_ExtIDShift)|0x04);//(uint16_t)(((0x10000001<<3)|0x04));//
CAN_FilterInitSturcture.CAN_FilterMaskIdHigh = (uint16_t)((((~(DF_CanIDMotor1^DF_CanIDMotor2))<<DF_ExtIDShift)|0x0E) >> 16);
CAN_FilterInitSturcture.CAN_FilterMaskIdLow = (uint16_t)(((~(DF_CanIDMotor1^DF_CanIDMotor2))<<DF_ExtIDShift)|0x0E);
CAN_FilterInitSturcture.CAN_FilterFIFOAssignment = CAN_Filter_FIFO1;
CAN_FilterInitSturcture.CAN_FilterActivation = ENABLE;