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修改增加电机请求数据以及增加所有文件

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liumin
2025-12-16 20:37:25 +08:00
parent 846bd3bbda
commit 444c7c9151
2107 changed files with 1452939 additions and 27 deletions
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23
boards/e3_176_ref/app_demo/eth-xip/sf/app/app_request.c
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@@ -280,21 +280,18 @@ static void requestInput(void *signal_id)
}
else if(signal_id == &un_motor_input1)
{
// un_motor_status_output.bit_data.left_wheel_speed = SWAP_ENDIAN_16( (uint16_t)((int16_t)(un_motor_input1.bit_data.MotCon_1Signal4) + 30000) );
// un_motor_status_output.bit_data.left_torque = ((un_motor_input1.bit_data.torque << 8) | (un_motor_input1.bit_data.torque >> 8));//左侧扭矩
// un_motor_status_output.bit_data.left_voltage = ((un_motor_input1.bit_data.bus_voltage << 8) | (un_motor_input1.bit_data.bus_voltage >> 8));//左侧电压
// un_motor_status_output.bit_data.left_fault_code = un_motor_input1.bit_data.fault_code;//左侧故障码
}
un_motor_status_output.bit_data.left_wheel_speed = SWAP_ENDIAN_16(un_motor_input1.bit_data.speed); // 左侧轮速
un_motor_status_output.bit_data.left_torque = SWAP_ENDIAN_16(un_motor_input1.bit_data.torque); // 左侧扭矩
un_motor_status_output.bit_data.left_voltage = SWAP_ENDIAN_16(un_motor_input1.bit_data.bus_voltage); // 左侧电压
un_motor_status_output.bit_data.left_fault_code = un_motor_input1.bit_data.fault_code; // 左侧故障码
}
else if(signal_id == &un_motor_input2)
{
// un_motor_status_output.bit_data.right_wheel_speed = SWAP_ENDIAN_16 ( (uint16_t)((int16_t)(un_motor_input1.bit_data.MotCon_1Signal3) + 30000) );//左侧轮速
// un_motor_status_output.bit_data.right_torque = ((un_motor_input2.bit_data.torque << 8) | (un_motor_input2.bit_data.torque >> 8));//右侧扭矩
// un_motor_status_output.bit_data.right_fault_code = un_motor_input2.bit_data.fault_code;//右侧故障码
// un_motor_status_output.bit_data.right_voltage = ((un_motor_input2.bit_data.bus_voltage << 8) | (un_motor_input2.bit_data.bus_voltage >> 8));//右侧电压
}
un_motor_status_output.bit_data.right_wheel_speed = SWAP_ENDIAN_16(un_motor_input2.bit_data.speed); // 右侧轮速
un_motor_status_output.bit_data.right_torque = SWAP_ENDIAN_16(un_motor_input2.bit_data.torque); // 右侧扭矩
un_motor_status_output.bit_data.right_fault_code = un_motor_input2.bit_data.fault_code; // 右侧故障码
un_motor_status_output.bit_data.right_voltage = SWAP_ENDIAN_16(un_motor_input2.bit_data.bus_voltage); // 右侧电压
}
else if(signal_id == &un_remote_control_input)
{
//RCH_3