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转速模式增加馈电PID

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liumin
2025-07-23 11:46:22 +08:00
parent cdc62d856d
commit 9a98344f85
4 changed files with 232 additions and 343 deletions
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16
interface_can.c
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@@ -407,7 +407,7 @@ void flexcan_Receive_callback_2(flexcan_handle_t *handle,
un_motor_input4.arr[i] = buf->dataBuffer[i];
}
//<2F><><EFBFBD><EFBFBD><EFBFBD>ź<EFBFBD>
publishMessage(&un_motor_input4, 1);
// publishMessage(&un_motor_input4, 1);
}
else if( RIGHT_REAR_MOTOR_INPUT2 == (buf->id) )
{
@@ -1176,7 +1176,7 @@ static void processUnGatherOutput(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>
CAN_Send_Msg(&can_handle_0, 0x15000002, FLEXCAN_EXTEND_FRAME, FLEXCAN_FrameTypeData, (uint8_t *)&un_gather_output, 8, 18);//<2F>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD>
}
// un_gather_output.bit_data.vehicle_mode = power_data.current_state;
static void processUltrasonicOutput(void *signal_id)
@@ -1237,7 +1237,7 @@ void canSendAll(void *signal_id)
motor_power_cnt ++;
if(motor_power_cnt >= 1000)//1s<31><73><EFBFBD><EFBFBD>һ<EFBFBD><D2BB>
if(motor_power_cnt >= 10)//1s<31><73><EFBFBD><EFBFBD>һ<EFBFBD><D2BB>
{
motor_power_cnt = 0;
processMotorOutput3(CanData);
@@ -1393,6 +1393,10 @@ void canInterfaceInit(void)
subscribe(&un_motor_output1, processMotorOutput1);
subscribe(&un_motor_output2, processMotorOutput2);
// subscribe(&un_motor_output3, processMotorOutput3);
// subscribe(&un_motor_output4, processMotorOutput4);
subscribe(&un_inf_can_kgf_output1, processKgfOutput1);
subscribe(&un_inf_can_kgf_output2, processKgfOutput2);
@@ -1403,12 +1407,6 @@ void canInterfaceInit(void)
subscribe(&un_ultrasonic_output1, processUltrasonicOutput); // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// subscribe(&un_h_bridge_output2, processHBridgeOutput2);
// subscribe(&un_lifter_output, processLifterOutput);