cbb/Motor_v2
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DRV8313兼容版

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refactor(algorithm): 移除冗余头文件
移除不必要的stdint.h头文件引用，统一使用<cstdint>

refactor(sys): 清理系统级头文件依赖
移除未使用的头文件引用，统一整型类型定义，优化初始
化过程中的GPIO配置
This commit is contained in:
cbb
2026-01-24 01:50:39 +08:00
parent 3f24292ac1
commit 1596b2beb0
24 changed files with 76 additions and 64 deletions
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Robot_V2/device/Can.cpp
+5 -5
View File
@@ -17,9 +17,6 @@
#include <cstdlib>
#include <cstring>
#include <random>
#include <stdint.h>
#include <stdio.h>
#include <stdlib.h>
constexpr u16 CANX = CAN0;
@@ -55,8 +52,10 @@ u8 can_gpio_init() {
gpio_init(GPIOB, GPIO_MODE_AF_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_9); // tx
gpio_pin_remap_config(GPIO_CAN0_PARTIAL_REMAP, ENABLE);
/* enable the EN GPIO clock */
gpio_init(GPIOB, GPIO_MODE_OUT_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_13);
gpio_init(GPIOB, GPIO_MODE_OUT_PP, GPIO_OSPEED_50MHZ,
GPIO_PIN_13 | GPIO_PIN_14);
gpio_bit_reset(GPIOB, GPIO_PIN_13);
gpio_bit_reset(GPIOB, GPIO_PIN_14);
return 0;
}
@@ -604,7 +603,8 @@ void CAN_transmiter::communication_check() {
P_config = unpack_bytes_to_u16(receive_message.rx_data, 19);
FOC.angle_loop.set_P_percent(angle_loop_p * P_config / voltage);
P_config = unpack_bytes_to_u16(receive_message.rx_data, 21);
FOC.vel_inVelAngloop.set_P_percent(vel_angloop_p * P_config / voltage);
FOC.vel_inVelAngloop.set_P_percent(vel_angloop_p * P_config /
voltage);
} else if (receive_message.rx_efid == CANFD_RESET_ID) {
u8 first_byte = receive_message.rx_data[0];
u8 eigth_byte = receive_message.rx_data[7];