【遗留问题】当前电机初始化后会导致CAN中断不触发，正在定位中

project/paint_robot_new/paint_robot_new.c

@@ -67,6 +67,29 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
 
     switch (pstMsg->m_uiMsgID)
     {
+    	case MOTOR_CMD_GET_FAULT_CODE:
+		{
+			uint32_t uiFailtCode[2] = {0};
+			if (pstMsg->m_uiDataLen >= sizeof(uiFailtCode))
+			{
+				RD_MEMCPY(uiFailtCode, pstMsg->m_aucData, sizeof(uiFailtCode));
+			}
+			break;
+		}
+    	case MOTOR_CMD_GET_SPEED:
+		{
+			int32_t iCurrentSpeed[2] = {0};
+			if (pstMsg->m_uiDataLen >= sizeof(iCurrentSpeed))
+			{
+				RD_MEMCPY(iCurrentSpeed, pstMsg->m_aucData, sizeof(iCurrentSpeed));
+				if (1 == iCurrentSpeed[0])
+				{
+					g_stIV.CurrentSpeed = iCurrentSpeed[1];
+					log_i("g_stIV.CurrentSpeed = %d", g_stIV.CurrentSpeed);
+				}
+			}
+			break;
+		}
     	case CUSTOM_GET_TL720D_ROLL:
     	{
     		if (pstMsg->m_uiDataLen >= sizeof(int32_t))

project/paint_robot_new/paint_robot_new_motors.c

@@ -81,34 +81,6 @@ static void Motor_ModuleHandler(const Msg_t *pstMsg)
             memset(g_aiMotorSpeed, 0, sizeof(g_aiMotorSpeed));
             break;
         }
-        case MOTOR_CMD_SET_HOME:
-        {
-            log_i("Not Support [%d]", pstMsg->m_uiMsgID);
-            break;
-        }
-        case MOTOR_CMD_GET_STATUS:
-        {
-            // 回复状态给请求者
-            Motor_StatusData_t stStatus;
-            for (int i = 0; i < 2; i++)
-            {
-                if (g_apstMotors[i] != NULL)
-                {
-                    const Motor_Data_t *pstData = MotorMgr_GetData(g_apstMotors[i]);
-                    if (pstData != NULL)
-                    {
-                        stStatus.m_ucMotorIndex = i;
-                        stStatus.m_iPosition = pstData->m_iRealPosition;
-                        stStatus.m_iVelocity = pstData->m_iRealVelocity;
-                        stStatus.m_uiFaultCode = pstData->m_uiFaultCode;
-
-                        // 回复给请求者
-                        MsgCenter_SendTo(MODULE_NAME_RBCORE, 0x10, &stStatus, sizeof(stStatus));
-                    }
-                }
-            }
-            break;
-        }
         default:
             break;
     }
@@ -118,21 +90,12 @@ static void Motor_ModuleHandler(const Msg_t *pstMsg)
 // 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)
+	TCANUserData *ptCANUserData = (TCANUserData *)g_ptCAN1->m_pUserData;
-    {
+	uint32_t iCANId = (uint32_t)ptCANUserData->m_canrx->Identifier;
-        return 0;
-    }
 
-    // 从buffer中提取CAN ID（前4字节）
+    if (iCANId >= 0x581 && iCANId <= 0x5FF)
-    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 _iSize;
     }
 
     return 0;
@@ -141,22 +104,14 @@ static int check_LeiSaiMotor(char *_pBuffer, uint32_t _iSize)
 // 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
+	TCANUserData *ptCANUserData = (TCANUserData *)g_ptCAN1->m_pUserData;
-    {
+	uint32_t iCANId = (uint32_t)ptCANUserData->m_canrx->Identifier;
-        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);
+    uint8_t ucMotorID = (uint8_t)(iCANId - 0x580);
 
     // 调用电机管理模块解析响应
-    MotorMgr_ParseResponse(ucMotorID, (const uint8_t *)&_pBuffer[4], 8);
+    MotorMgr_ParseResponse(ucMotorID, (const uint8_t *)_pBuffer, _iSize);
 }
 
 void MotorTask(void *argument)
@@ -224,7 +179,5 @@ void MotorTask(void *argument)
                 MotorMgr_SetTargetSpeed(g_apstMotors[i], g_aiMotorSpeed[i]);
             }
         }
-
-        Rd_Delay(2); // 2ms周期
     }
 }