fix: set txconf.Identifier from tx_id before CANTransmit, enable motor task

- DM motor send functions now fill txconf.Identifier from tx_id before CANTransmit (MIT=tid, PosVel=tid+0x100, Velocity=tid+0x200, SetMode=tid) - Enable motor task with stack size 1024 1000Hz - Increase FDCAN1 StdFiltersNbr from 1 to 14 - Comment out INS temperature log, DM error handling and PID for testing - Remove test_robot_cmd.c
2026-05-31 00:58:45 +08:00
parent 5e662f8458
commit 77a3aeb25c
7 changed files with 18 additions and 159 deletions
@@ -179,7 +179,8 @@ void INS_Task(void)
    if ((count % 1000) == 0)
    {
        // 1Hz 可以加入monitor函数,检查IMU是否正常运行/离线
-        LOGINFO("[IMU] Temperature: %d C, PWM: %d", (int)(BMI088.Temperature * 100), (int)TempCtrl.Output);
+        //LOGINFO("[IMU] Temperature: %d C, PWM: %d", (int)(BMI088.Temperature * 100), (int)TempCtrl.Output);
+        //LOGINFO("[IMU] Yaw: %d, Pitch: %d, Roll: %d", (int)(INS.Yaw*100), (int)(INS.Pitch*100), (int)(INS.Roll*100));
    }

    count++;