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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24
bsp/iic/bsp_iic.c
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@@ -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: