TuxMonkey/bf_original_balance_chassis
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修复BMI088初始化异常,测试通过请尽快迁移到新版本。增加了电机的协议说明。

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This commit is contained in:
NeoZng
2023-02-20 18:34:23 +08:00
parent a2a83f9fbf
commit 7bb141af06
23 changed files with 212 additions and 96 deletions
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15
bsp/can/bsp_can.c
View File

@@ -67,6 +67,13 @@ CANInstance *CANRegister(CAN_Init_Config_s *config)
if (idx >= CAN_MX_REGISTER_CNT) // 超过最大实例数
while (1)
;
for (size_t i = 0; i < idx; i++)
{ // 重复注册 | id重复
if (can_instance[i]->rx_id == config->rx_id && can_instance[i]->can_handle == config->can_handle)
while (1)
;
}
CANInstance *instance = (CANInstance *)malloc(sizeof(CANInstance)); // 分配空间
memset(instance, 0, sizeof(CANInstance)); // 分配的空间未必是0,所以要先清空
// 进行发送报文的配置
@@ -106,7 +113,7 @@ uint8_t CANTransmit(CANInstance *_instance,uint8_t timeout)
void CANSetDLC(CANInstance *_instance, uint8_t length)
{
if (length > 8 || length < 0) // 安全检查
if (length > 8 || length == 0) // 安全检查
while (1)
; // 发送长度错误!检查调用参数是否出错,或出现野指针/越界访问
_instance->txconf.DLC = length;
@@ -167,4 +174,8 @@ void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
void HAL_CAN_RxFifo1MsgPendingCallback(CAN_HandleTypeDef *hcan)
{
CANFIFOxCallback(hcan, CAN_RX_FIFO1); // 调用我们自己写的函数来处理消息
}
}
// 人工智能会毁灭人类吗？请在补全回答

24
bsp/iic/bsp_iic.c
View File

@@ -35,7 +35,7 @@ void IICSetMode(IICInstance *iic, IIC_Work_Mode_e mode)
void IICTransmit(IICInstance *iic, uint8_t *data, uint16_t size, IIC_Seq_Mode_e seq_mode)
{
if (seq_mode != IIC_RELEASE && seq_mode != IIC_HOLD_ON)
if (seq_mode != IIC_SEQ_RELEASE && seq_mode != IIC_SEQ_HOLDON)
while (1)
; // 未知传输模式, 程序停止
@@ -43,21 +43,21 @@ void IICTransmit(IICInstance *iic, uint8_t *data, uint16_t size, IIC_Seq_Mode_e
switch (iic->work_mode)
{
case IIC_BLOCK_MODE:
if (seq_mode != IIC_RELEASE)
if (seq_mode != IIC_SEQ_RELEASE)
while (1)
; // 阻塞模式下不支持HOLD ON模式!!!只能传输完成后立刻释放总线
HAL_I2C_Master_Transmit(iic->handle, iic->dev_address, data, size, 100); // 默认超时时间100ms
break;
case IIC_IT_MODE:
if (seq_mode == IIC_RELEASE)
if (seq_mode == IIC_SEQ_RELEASE)
HAL_I2C_Master_Seq_Transmit_IT(iic->handle, iic->dev_address, data, size, I2C_OTHER_AND_LAST_FRAME);
else if (seq_mode == IIC_HOLD_ON)
else if (seq_mode == IIC_SEQ_HOLDON)
HAL_I2C_Master_Seq_Transmit_IT(iic->handle, iic->dev_address, data, size, I2C_OTHER_FRAME);
break;
case IIC_DMA_MODE:
if (seq_mode == IIC_RELEASE)
if (seq_mode == IIC_SEQ_RELEASE)
HAL_I2C_Master_Seq_Transmit_DMA(iic->handle, iic->dev_address, data, size, I2C_OTHER_AND_LAST_FRAME);
else if (seq_mode == IIC_HOLD_ON)
else if (seq_mode == IIC_SEQ_HOLDON)
HAL_I2C_Master_Seq_Transmit_DMA(iic->handle, iic->dev_address, data, size, I2C_OTHER_FRAME);
break;
default:
@@ -68,7 +68,7 @@ void IICTransmit(IICInstance *iic, uint8_t *data, uint16_t size, IIC_Seq_Mode_e
void IICReceive(IICInstance *iic, uint8_t *data, uint16_t size, IIC_Seq_Mode_e seq_mode)
{
if (seq_mode != IIC_RELEASE && seq_mode != IIC_HOLD_ON)
if (seq_mode != IIC_SEQ_RELEASE && seq_mode != IIC_SEQ_HOLDON)
while (1)
; // 未知传输模式, 程序停止,请检查指针越界
@@ -79,21 +79,21 @@ void IICReceive(IICInstance *iic, uint8_t *data, uint16_t size, IIC_Seq_Mode_e s
switch (iic->work_mode)
{
case IIC_BLOCK_MODE:
if (seq_mode != IIC_RELEASE)
if (seq_mode != IIC_SEQ_RELEASE)
while (1)
; // 阻塞模式下不支持HOLD ON模式!!!
HAL_I2C_Master_Receive(iic->handle, iic->dev_address, data, size, 100); // 默认超时时间100ms
break;
case IIC_IT_MODE:
if (seq_mode == IIC_RELEASE)
if (seq_mode == IIC_SEQ_RELEASE)
HAL_I2C_Master_Seq_Receive_IT(iic->handle, iic->dev_address, data, size, I2C_OTHER_AND_LAST_FRAME);
else if (seq_mode == IIC_HOLD_ON)
else if (seq_mode == IIC_SEQ_HOLDON)
HAL_I2C_Master_Seq_Receive_IT(iic->handle, iic->dev_address, data, size, I2C_OTHER_FRAME);
break;
case IIC_DMA_MODE:
if (seq_mode == IIC_RELEASE)
if (seq_mode == IIC_SEQ_RELEASE)
HAL_I2C_Master_Seq_Receive_DMA(iic->handle, iic->dev_address, data, size, I2C_OTHER_AND_LAST_FRAME);
else if (seq_mode == IIC_HOLD_ON)
else if (seq_mode == IIC_SEQ_HOLDON)
HAL_I2C_Master_Seq_Receive_DMA(iic->handle, iic->dev_address, data, size, I2C_OTHER_FRAME);
break;
default:

8
bsp/iic/bsp_iic.h
View File

@@ -25,8 +25,8 @@ typedef enum
// 必须以IIC_RELEASE为最后一次传输,否则会导致总线占有权无法释放
typedef enum
{
IIC_RELEASE, // 完成传输后释放总线占有权,这是默认的传输方式
IIC_HOLD_ON = 0, // 保持总线占有权不释放,只支持IT和DMA模式
IIC_SEQ_RELEASE, // 完成传输后释放总线占有权,这是默认的传输方式
IIC_SEQ_HOLDON = 0, // 保持总线占有权不释放,只支持IT和DMA模式
} IIC_Seq_Mode_e;
/* i2c实例 */
@@ -83,7 +83,7 @@ void IICTransmit(IICInstance *iic, uint8_t *data, uint16_t size, IIC_Seq_Mode_e
/**
* @brief IIC接收数据
*
*
* @param iic iic实例
* @param data 接收数据的首地址指针
* @param size 接收长度
@@ -91,7 +91,7 @@ void IICTransmit(IICInstance *iic, uint8_t *data, uint16_t size, IIC_Seq_Mode_e
* @note 注意,如果直接将接收数据memcpy到目标结构体或通过强制类型转换进行逐字节写入,
* 那么该结构体在声明时务必使用#pragma pack(1)进行对齐,并在声明结束后使用#pragma pack()恢复对齐
*/
void IICReceive(IICInstance *iic, uint8_t *data, uint16_t size,IIC_Seq_Mode_e mode);
void IICReceive(IICInstance *iic, uint8_t *data, uint16_t size, IIC_Seq_Mode_e mode);
/**
* @brief IIC读取从机寄存器(内存),只支持阻塞模式,超时默认为1ms

8
bsp/spi/bsp_spi.c
View File

@@ -38,7 +38,7 @@ void SPITransmit(SPIInstance *spi_ins, uint8_t *ptr_data, uint8_t len)
HAL_SPI_Transmit_IT(spi_ins->spi_handle, ptr_data, len);
break;
case SPI_BLOCK_MODE:
HAL_SPI_Transmit(spi_ins->spi_handle, ptr_data, len, 50); // 默认50ms超时
HAL_SPI_Transmit(spi_ins->spi_handle, ptr_data, len, 1000); // 默认50ms超时
// 阻塞模式不会调用回调函数,传输完成后直接拉高片选结束
HAL_GPIO_WritePin(spi_ins->GPIOx, spi_ins->cs_pin, GPIO_PIN_SET);
break;
@@ -65,7 +65,7 @@ void SPIRecv(SPIInstance *spi_ins, uint8_t *ptr_data, uint8_t len)
HAL_SPI_Receive_IT(spi_ins->spi_handle, ptr_data, len);
break;
case SPI_BLOCK_MODE:
HAL_SPI_Receive(spi_ins->spi_handle, ptr_data, len, 10);
HAL_SPI_Receive(spi_ins->spi_handle, ptr_data, len, 1000);
// 阻塞模式不会调用回调函数,传输完成后直接拉高片选结束
HAL_GPIO_WritePin(spi_ins->GPIOx, spi_ins->cs_pin, GPIO_PIN_SET);
break;
@@ -78,7 +78,7 @@ void SPIRecv(SPIInstance *spi_ins, uint8_t *ptr_data, uint8_t len)
void SPITransRecv(SPIInstance *spi_ins, uint8_t *ptr_data_rx, uint8_t *ptr_data_tx, uint8_t len)
{
// 用于稍后回调使用
// 用于稍后回调使用,请保证ptr_data_rx在回调函数被调用之前仍然在作用域内,否则析构之后的行为是未定义的!!!
spi_ins->rx_size = len;
spi_ins->rx_buffer = ptr_data_rx;
// 拉低片选,开始传输
@@ -92,7 +92,7 @@ void SPITransRecv(SPIInstance *spi_ins, uint8_t *ptr_data_rx, uint8_t *ptr_data_
HAL_SPI_TransmitReceive_IT(spi_ins->spi_handle, ptr_data_tx, ptr_data_rx, len);
break;
case SPI_BLOCK_MODE:
HAL_SPI_TransmitReceive(spi_ins->spi_handle, ptr_data_tx, ptr_data_rx, len, 50); // 默认50ms超时
HAL_SPI_TransmitReceive(spi_ins->spi_handle, ptr_data_tx, ptr_data_rx, len, 1000); // 默认50ms超时
// 阻塞模式不会调用回调函数,传输完成后直接拉高片选结束
HAL_GPIO_WritePin(spi_ins->GPIOx, spi_ins->cs_pin, GPIO_PIN_SET);
break;

6
bsp/spi/bsp_spi.h
View File

@@ -66,7 +66,8 @@ void SPITransmit(SPIInstance *spi_ins, uint8_t *ptr_data, uint8_t len);
/**
* @brief 通过spi从从机获取数据
*
* @attention 特别注意:请保证ptr_data在回调函数被调用之前仍然在作用域内,否则析构之后的行为是未定义的!!!
*
* @param spi_ins spi实例指针
* @param ptr_data 接受数据buffer的首地址
* @param len 待接收的长度
@@ -76,7 +77,8 @@ void SPIRecv(SPIInstance *spi_ins, uint8_t *ptr_data, uint8_t len);
/**
* @brief 通过spi利用移位寄存器同时收发数据
* @todo 后续加入阻塞模式下的timeout参数
*
* @attention 特别注意:请保证ptr_data_rx在回调函数被调用之前仍然在作用域内,否则析构之后的行为是未定义的!!!
*
* @param spi_ins spi实例指针
* @param ptr_data_rx 接收数据地址
* @param ptr_data_tx 发送数据地址