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更新dji_motor初始化的配置,优化参数传递

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NeoZng
2022-11-12 12:39:36 +08:00
parent 55e12955b7
commit 0fb67070b8
12 changed files with 234 additions and 174 deletions
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2
bsp/bsp_can.c
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@@ -57,7 +57,7 @@ static void CANServiceInit()
/* -----------------------two extern callable function -----------------------*/
void CANRegister(can_instance *ins, can_instance_config config)
void CANRegister(can_instance *ins, can_instance_config_s config)
{
static uint8_t idx;
if (!idx)

30
bsp/bsp_can.h
View File

@@ -9,50 +9,44 @@
#define MX_CAN_FILTER_CNT (2 * 14) // temporarily useless
#define DEVICE_CAN_CNT 2 // CAN1,CAN2
/* can instance typedef, every module registered to CAN should have this variable */
typedef struct _
{
CAN_HandleTypeDef* can_handle;
CAN_HandleTypeDef *can_handle;
CAN_TxHeaderTypeDef txconf;
uint32_t tx_id;
uint32_t tx_mailbox;
uint8_t tx_buff[8];
uint8_t tx_buff[8];
uint8_t rx_buff[8];
uint32_t rx_id;
void (*can_module_callback)(struct _*); // callback needs an instance to tell among registered ones
void (*can_module_callback)(struct _ *); // callback needs an instance to tell among registered ones
} can_instance;
/* this structure is used as initialization*/
typedef struct
typedef struct
{
CAN_HandleTypeDef* can_handle;
CAN_HandleTypeDef *can_handle;
uint32_t tx_id;
uint32_t rx_id;
void (*can_module_callback)(can_instance*);
} can_instance_config;
void (*can_module_callback)(can_instance *);
} can_instance_config_s;
/* module callback,which resolve protocol when new mesg arrives*/
typedef void (*can_callback)(can_instance*);
typedef void (*can_callback)(can_instance *);
/**
* @brief transmit mesg through CAN device
*
*
* @param _instance can instance owned by module
*/
void CANTransmit(can_instance* _instance);
void CANTransmit(can_instance *_instance);
/**
* @brief Register a module to CAN service,remember to call this before using a CAN device
*
*
* @param config init config
* @return can_instance* can instance owned by module
*/
void CANRegister(can_instance* instance, can_instance_config config);
void CANRegister(can_instance *instance, can_instance_config_s config);
#endif