TuxMonkey/bf_original_balance_chassis
1
0
Fork 0
mirror of https://gitee.com/dlmu-cone/bf_original_balance_chassis synced 2026-07-24 11:37:45 +08:00
Code Issues Packages Projects Releases Wiki Activity

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。

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

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