TuxMonkey/bf_original_balance_chassis
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增加了BSP PWM的支持,修改了bsp和module层的初始化提高可读性,新年快乐

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NeoZng
2023-01-01 12:45:07 +08:00
parent 08440ce116
commit 7e36f6a0cf
21 changed files with 469 additions and 424 deletions
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45
bsp/can/bsp_can.c
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@@ -5,7 +5,7 @@
/* can instance ptrs storage, used for recv callback */
// 在CAN产生接收中断会遍历数组,选出hcan和rxid与发生中断的实例相同的那个,调用其回调函数
static CANInstance *instance[MX_REGISTER_DEVICE_CNT] = {NULL};
static CANInstance *can_instance[MX_REGISTER_DEVICE_CNT] = {NULL};
static uint8_t idx; // 全局CAN实例索引,每次有新的模块注册会自增
/* ----------------two static function called by CANRegister()-------------------- */
@@ -67,22 +67,24 @@ CANInstance *CANRegister(CAN_Init_Config_s *config)
{
CANServiceInit(); // 第一次注册,先进行硬件初始化
}
instance[idx] = (CANInstance *)malloc(sizeof(CANInstance)); // 分配空间
memset(instance[idx], 0, sizeof(CANInstance));
CANInstance *instance = (CANInstance *)malloc(sizeof(CANInstance)); // 分配空间
memset(instance, 0, sizeof(CANInstance));
// 进行发送报文的配置
instance[idx]->txconf.StdId = config->tx_id;
instance[idx]->txconf.IDE = CAN_ID_STD;
instance[idx]->txconf.RTR = CAN_RTR_DATA;
instance[idx]->txconf.DLC = 0x08; // 默认发送长度为8
instance->txconf.StdId = config->tx_id;
instance->txconf.IDE = CAN_ID_STD;
instance->txconf.RTR = CAN_RTR_DATA;
instance->txconf.DLC = 0x08; // 默认发送长度为8
// 设置回调函数和接收发送id
instance[idx]->can_handle = config->can_handle;
instance[idx]->tx_id = config->tx_id; // 好像没用,可以删掉
instance[idx]->rx_id = config->rx_id;
instance[idx]->can_module_callback = config->can_module_callback;
instance[idx]->id = config->id;
instance->can_handle = config->can_handle;
instance->tx_id = config->tx_id; // 好像没用,可以删掉
instance->rx_id = config->rx_id;
instance->can_module_callback = config->can_module_callback;
instance->id = config->id;
CANAddFilter(instance[idx]); // 添加CAN过滤器规则
return instance[idx++]; // 返回指针
CANAddFilter(instance); // 添加CAN过滤器规则
can_instance[idx++] = instance; // 将实例保存到can_instance中
return instance; // 返回can实例指针
}
/* TODO:目前似乎封装过度,应该添加一个指向tx_buff的指针,tx_buff不应该由CAN instance保存 */
@@ -117,17 +119,16 @@ static void CANFIFOxCallback(CAN_HandleTypeDef *_hcan, uint32_t fifox)
static CAN_RxHeaderTypeDef rxconf;
HAL_CAN_GetRxMessage(_hcan, fifox, &rxconf, can_rx_buff);
for (size_t i = 0; i < idx; ++i)
{
// 两者相等说明这是要找的实例
if (_hcan == instance[i]->can_handle && rxconf.StdId == instance[i]->rx_id)
{ // 两者相等说明这是要找的实例
if (_hcan == can_instance[i]->can_handle && rxconf.StdId == can_instance[i]->rx_id)
{
instance[i]->rx_len = rxconf.DLC;
memcpy(instance[i]->rx_buff, can_rx_buff, rxconf.DLC); // 消息拷贝到对应实例
if (instance[i]->can_module_callback != NULL)
if (can_instance[i]->can_module_callback != NULL)
{
instance[i]->can_module_callback(instance[i]); // 触发回调进行数据解析和处理
can_instance[i]->rx_len = rxconf.DLC; // 保存接收到的数据长度
memcpy(can_instance[i]->rx_buff, can_rx_buff, rxconf.DLC); // 消息拷贝到对应实例
can_instance[i]->can_module_callback(can_instance[i]); // 触发回调进行数据解析和处理
}
break;
return;
}
}
}