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

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- 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
This commit is contained in:
李傲琦
2026-05-31 00:58:45 +08:00
parent 5e662f8458
commit 77a3aeb25c
7 changed files with 18 additions and 159 deletions
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modules/motor/DMmotor/dmmotor.c
+6 -8
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@@ -46,6 +46,7 @@ void DMMotorSendMIT(CANInstance *can, float pos, float vel, float kp, float kd,
buf[6] = (uint8_t)(((kd_uint & 0xF) << 4) | (torq_uint >> 8));
buf[7] = (uint8_t)(torq_uint);
can->txconf.Identifier = can->tx_id;
CANTransmit(can, 1);
}
@@ -65,11 +66,8 @@ void DMMotorSendPosVel(CANInstance *can, float pos, float vel)
buf[6] = vel_bytes[2];
buf[7] = vel_bytes[3];
/* Temporarily change tx_id to motor_id + 0x100 for this transmission */
uint32_t saved_id = can->tx_id;
can->tx_id = saved_id + 0x100;
can->txconf.Identifier = can->tx_id + 0x100;
CANTransmit(can, 1);
can->tx_id = saved_id;
}
/* Velocity mode: CAN ID = motor_id + 0x200 */
@@ -87,10 +85,8 @@ void DMMotorSendVelocity(CANInstance *can, float vel)
buf[6] = 0;
buf[7] = 0;
uint32_t saved_id = can->tx_id;
can->tx_id = saved_id + 0x200;
can->txconf.Identifier = can->tx_id + 0x200;
CANTransmit(can, 1);
can->tx_id = saved_id;
}
/* ---- Motor commands (enable/disable/zero/clear error) ---- */
@@ -99,6 +95,7 @@ void DMMotorSetMode(DMMotor_Mode_e cmd, DMMotorInstance *motor)
{
memset(motor->motor_can_instance->tx_buff, 0xFF, 7);
motor->motor_can_instance->tx_buff[7] = (uint8_t)cmd;
motor->motor_can_instance->txconf.Identifier = motor->motor_can_instance->tx_id;
CANTransmit(motor->motor_can_instance, 1);
}
@@ -228,9 +225,10 @@ void DMMotorControl(void)
switch (motor->ctrl_mode)
{
case DM_MODE_VELOCITY:
case DM_MODE_VELOCITY:{
DMMotorSendVelocity(can, vel_cmd);
break;
}
case DM_MODE_MIT: {
float pos_cmd = pid_ref * DEGREE_2_RAD;
LIMIT_MIN_MAX(pos_cmd, DM_P_MIN, DM_P_MAX);