TuxMonkey/bf_original_balance_chassis
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update some motor defs

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This commit is contained in:
NeoZng
2022-10-30 22:19:13 +08:00
parent 5f59ebb916
commit 6441982964
11 changed files with 224 additions and 53 deletions
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25
bsp/bsp_can.h
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@@ -9,21 +9,35 @@
#define MX_CAN_FILTER_CNT (4 * 14) // temporarily useless
#define DEVICE_CAN_CNT 2 // CAN1,CAN2
/* can instance typedef, every module registered to CAN should have this variable */
typedef struct tmp
typedef struct _
{
CAN_HandleTypeDef* can_handle;
CAN_TxHeaderTypeDef txconf;
uint32_t tx_id;
uint32_t tx_mailbox;
uint8_t tx_buff[8];
uint8_t rx_buff[8];
uint32_t rx_id;
void (*can_module_callback)(struct tmp*); // 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
{
CAN_HandleTypeDef* can_handle;
uint32_t tx_id;
uint32_t rx_id;
void (*can_module_callback)(can_instance*);
} can_instance_config;
/* module callback,which resolve protocol when new mesg arrives*/
typedef void (*can_callback)(can_instance*);
/**
* @brief transmit mesg through CAN device
*
@@ -31,13 +45,14 @@ typedef void (*can_callback)(can_instance*);
*/
void CANTransmit(can_instance* _instance);
/**
* @brief Register a module to CAN service,remember to call this before using a CAN device
*
* @param _instance can instance owned by a specific device, remember to initialize it!
*
* @param config init config
* @return can_instance* can instance owned by module
*/
can_instance* CANRegister(uint8_t tx_id,uint8_t rx_id,CAN_HandleTypeDef* can_handle,can_callback module_callback);
can_instance* CANRegister(can_instance_config config);
#endif