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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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