同一套标识符?大哥能不能说明白点!
原先给电流的函数我改了
void Set_Gimbal_Current(CAN_HandleTypeDef* hcan, int16_t gimbal_yaw_iq, int16_t gimbal_pitch_iq, int16_t gimbal_pluck_iq1, int16_t gimbal_pluck_iq2)
{
hcan->pTxMsg->StdId = 0x1FF;
hcan->pTxMsg->IDE = CAN_ID_STD;
hcan->pTxMsg->RTR = CAN_RTR_DATA;
hcan->pTxMsg->DLC = 0x08;
hcan->pTxMsg->Data[0] = (gimbal_yaw_iq >> 8);
hcan->pTxMsg->Data[1] = gimbal_yaw_iq;
hcan->pTxMsg->Data[2] = (gimbal_pitch_iq >> 8);
hcan->pTxMsg->Data[3] = gimbal_pitch_iq;
hcan->pTxMsg->Data[4] = (gimbal_pluck_iq1 >> 8);
hcan->pTxMsg->Data[5] = gimbal_pluck_iq1;
hcan->pTxMsg->Data[6] = (gimbal_pluck_iq2 >> 8);
hcan->pTxMsg->Data[7] = gimbal_pluck_iq2;
HAL_CAN_Transmit(hcan, 100);
} |