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写入了发弹检测模块，并为电流环控制

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lyf
2026-10-12 20:19:45 +08:00
parent 67eea77789
commit 4427157df7
14 changed files with 760 additions and 83 deletions
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云台/modules/motor/dji_motor.h
+9 -2
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@@ -39,10 +39,17 @@ extern void dji_motor_init(dji_motor_t * motor, hcan_t * hcan, uint16_t rx_id, d
/* ---- 控制帧发送 ----
* M3508/M2006 ID1~4:0x200 电流帧(±16384 对应 ±20A/±10A)
* M3508/M2006 ID5~8:0x1FF 电流帧;GM6020 ID1~4:0x1FF 电压帧(±25000)
* GM6020 ID5~7:0x2FF 电压帧 */
* M3508/M2006 ID5~8:0x1FF 电流帧(±16384 对应 ±20A/±10A)
* GM6020 电流控制模式(±16384 对应 ±3A):
* GM6020 ID1~4:0x1FE 电流帧
* GM6020 ID5~7:0x2FE 电流帧
* GM6020 旧电压控制模式(±25000 对应 ±24V):
* GM6020 ID1~4:0x1FF 电压帧
* GM6020 ID5~7:0x2FF 电压帧 */
extern void dji_motor_send_current_low(hcan_t * hcan, int16_t i1, int16_t i2, int16_t i3, int16_t i4);
extern void dji_motor_send_current_high(hcan_t * hcan, int16_t i5, int16_t i6, int16_t i7, int16_t i8);
extern void dji_motor_send_gm6020_current_low(hcan_t * hcan, int16_t i1, int16_t i2, int16_t i3, int16_t i4);
extern void dji_motor_send_gm6020_current_high(hcan_t * hcan, int16_t i5, int16_t i6, int16_t i7);
extern void dji_motor_send_voltage_high(hcan_t * hcan, int16_t v5, int16_t v6, int16_t v7);
/* 通用 int16x4 发送(板间通讯等复用) */