电机的CAN线初始化挪到模块内部

RBcore/BHBF.c

@@ -57,22 +57,22 @@ static void RBcore_ModuleHandler(const Msg_t *pstMsg)
 
     switch (pstMsg->m_uiMsgID)
     {
-        case MOTOR_CMD_SET_SPEED:
+        case RBCORE_CMD_MANUAL_FORWARD:
         {
 
             break;
         }
-        case MOTOR_CMD_STOP:
+        case RBCORE_CMD_MANUAL_BACKWARD:
         {
 
             break;
         }
-        case MOTOR_CMD_SET_HOME:
+        case RBCORE_CMD_MANUAL_TURNLEFT:
 		{
 
 			break;
 		}
-        case MOTOR_CMD_GET_STATUS:
+        case RBCORE_CMD_MANUAL_TURNRIGHT:
 		{
 
 			break;
@@ -82,7 +82,6 @@ static void RBcore_ModuleHandler(const Msg_t *pstMsg)
     }
 }
 
-
 void RBcore_Task(void *argument)
 {
     while(1)

RBcore/drv_interface.c

@@ -226,75 +226,17 @@ void Read_RS485_1(void *argument)
 }
 
 extern void MotorInit(void);
-extern void MotorMgr_ParseResponse(uint8_t ucMotorID, const uint8_t *pucData, uint32_t uiLen);
-
-// 雷赛电机CAN响应检查函数
-// 雷赛响应ID范围：0x581 - 0x5FF (0x580 + MotorID)
-static int check_LeiSaiMotor(char *_pBuffer, uint32_t _iSize)
-{
-    if (NULL == _pBuffer || _iSize < 4)
-    {
-        return 0;
-    }
-
-    // 从buffer中提取CAN ID（前4字节）
-    uint32_t uiFrameID = (uint32_t)(_pBuffer[0] & 0xFF) 
-                        | ((_pBuffer[1] & 0xFF) << 8) 
-                        | ((_pBuffer[2] & 0xFF) << 16) 
-                        | ((_pBuffer[3] & 0xFF) << 24);
-
-    // 雷赛响应ID范围：0x581 - 0x5FF
-    if (uiFrameID >= 0x581 && uiFrameID <= 0x5FF)
-    {
-        return 8 + 4; // 数据长度8 + CAN ID长度4
-    }
-
-    return 0;
-}
-
-// 雷赛电机CAN响应解码函数
-static void decode_LeiSaiMotor(const char *_pBuffer, uint32_t _iSize)
-{
-    if (NULL == _pBuffer || _iSize < 12) // 4字节CAN ID + 8字节数据
-    {
-        return;
-    }
-
-    // 从buffer中提取CAN ID
-    uint32_t uiFrameID = (uint32_t)(_pBuffer[0] & 0xFF) 
-                        | ((_pBuffer[1] & 0xFF) << 8) 
-                        | ((_pBuffer[2] & 0xFF) << 16) 
-                        | ((_pBuffer[3] & 0xFF) << 24);
-
-    // 提取电机ID (0x580 + MotorID)
-    uint8_t ucMotorID = (uint8_t)(uiFrameID - 0x580);
-
-    // 调用电机管理模块解析响应
-    MotorMgr_ParseResponse(ucMotorID, (const uint8_t *)&_pBuffer[4], 8);
-}
 
 void Drv_InterfaceInit(void)
 {
+	MsgCenter_Init();
+	MotorInit();
+	RBcore_Init();
+
     const osThreadAttr_t Read_RS485_1_attributes = {
         .name = "RS485_1",
         .stack_size = 512,
         .priority = (osPriority_t) osPriorityHigh6,
     };
     (void)osThreadNew(Read_RS485_1, NULL, &Read_RS485_1_attributes);
-
-    const osThreadAttr_t send_task_attributes = {
-        .name = "send_task",
-        .stack_size = 512,
-        .priority = (osPriority_t) osPriorityHigh7,
-    };
-    (void)osThreadNew(SendAll_Task, NULL, &send_task_attributes);
-
-    MsgCenter_Init();
-
-    // 初始化FDCAN1，使用雷赛电机的回调
-    TCANUserData *ptCANUserData = CAN_userdata_init(&hfdcan1, 8, 0);
-    g_ptFDCAN1 = rd_ComCreate(check_LeiSaiMotor, decode_LeiSaiMotor, FDCAN1_Send, CONFIG_UART_BUFFER_SIZE, ptCANUserData);
-    CAN_IT_init(g_ptFDCAN1);
-
-    MotorInit();
 }

RBcore/include/BHBF.h

@@ -79,10 +79,12 @@ typedef enum {
     MOTOR_CMD_SET_HOME,          // 设置零点
     MOTOR_CMD_SPEED_MODE,        // 速度模式
     MOTOR_CMD_POSITION_MODE,     // 位置模式
-
     MOTOR_CMD_END = 0x0100,
-    RBCORE_CMD_MANUAL_FORWARD,
+
-    RBCORE_CMD_MANUAL_BACKWARD,
+    RBCORE_CMD_MANUAL_FORWARD,   // 机器人手动前进
+    RBCORE_CMD_MANUAL_BACKWARD,  // 机器人手动后退
+	RBCORE_CMD_MANUAL_TURNLEFT,  // 机器人手动左转
+	RBCORE_CMD_MANUAL_TURNRIGHT, // 机器人手动右转
 } Motor_Cmd_e;
     
 // 电机命令数据结构
@@ -117,7 +119,7 @@ typedef struct _GV_struct_define
 /*==============================================*
  *      project-wide global variables           *
  *----------------------------------------------*/
-
+void RBcore_Init(void);
 
 
 /*==============================================*

motor/motor_example.c

@@ -298,8 +298,58 @@ static void Motor_ModuleHandler(const Msg_t *pstMsg)
     }
 }
 
+// 雷赛电机CAN响应检查函数
+// 雷赛响应ID范围：0x581 - 0x5FF (0x580 + MotorID)
+static int check_LeiSaiMotor(char *_pBuffer, uint32_t _iSize)
+{
+    if (NULL == _pBuffer || _iSize < 4)
+    {
+        return 0;
+    }
+
+    // 从buffer中提取CAN ID（前4字节）
+    uint32_t uiFrameID = (uint32_t)(_pBuffer[0] & 0xFF)
+                        | ((_pBuffer[1] & 0xFF) << 8)
+                        | ((_pBuffer[2] & 0xFF) << 16)
+                        | ((_pBuffer[3] & 0xFF) << 24);
+
+    // 雷赛响应ID范围：0x581 - 0x5FF
+    if (uiFrameID >= 0x581 && uiFrameID <= 0x5FF)
+    {
+        return 8 + 4; // 数据长度8 + CAN ID长度4
+    }
+
+    return 0;
+}
+
+// 雷赛电机CAN响应解码函数
+static void decode_LeiSaiMotor(const char *_pBuffer, uint32_t _iSize)
+{
+    if (NULL == _pBuffer || _iSize < 12) // 4字节CAN ID + 8字节数据
+    {
+        return;
+    }
+
+    // 从buffer中提取CAN ID
+    uint32_t uiFrameID = (uint32_t)(_pBuffer[0] & 0xFF)
+                        | ((_pBuffer[1] & 0xFF) << 8)
+                        | ((_pBuffer[2] & 0xFF) << 16)
+                        | ((_pBuffer[3] & 0xFF) << 24);
+
+    // 提取电机ID (0x580 + MotorID)
+    uint8_t ucMotorID = (uint8_t)(uiFrameID - 0x580);
+
+    // 调用电机管理模块解析响应
+    MotorMgr_ParseResponse(ucMotorID, (const uint8_t *)&_pBuffer[4], 8);
+}
+
 void MotorInit(void)
 {
+	// 初始化FDCAN1，使用雷赛电机的回调
+	TCANUserData *ptCANUserData = CAN_userdata_init(&hfdcan1, 8, 0);
+	g_ptFDCAN1 = rd_ComCreate(check_LeiSaiMotor, decode_LeiSaiMotor, FDCAN1_Send, CONFIG_UART_BUFFER_SIZE, ptCANUserData);
+	CAN_IT_init(g_ptFDCAN1);
+
     // 初始化电机管理模块
     MotorMgr_Init();