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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This commit is contained in:
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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52
bsp/usart/bsp_usart.c
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@@ -14,7 +14,8 @@
/* usart service instance, modules' info would be recoreded here using USARTRegister() */
/* usart服务实例,所有注册了usart的模块信息会被保存在这里 */
static USARTInstance *instance[DEVICE_USART_CNT] = {NULL};
static uint8_t idx;
static USARTInstance *usart_instance[DEVICE_USART_CNT] = {NULL};
/**
* @brief usart service will start automatically, after each module registered
@@ -27,23 +28,21 @@ static void USARTServiceInit(USARTInstance *_instance)
HAL_UARTEx_ReceiveToIdle_DMA(_instance->usart_handle, _instance->recv_buff, _instance->recv_buff_size);
// 关闭dma half transfer中断防止两次进入HAL_UARTEx_RxEventCallback()
// 这是HAL库的一个设计失误,发生DMA传输完成/半完成以及串口IDLE中断都会触发HAL_UARTEx_RxEventCallback()
// 我们只希望处理，因此直接关闭DMA半传输中断第一种和第三种情况
// 我们只希望处理第一种和第三种情况,因此直接关闭DMA半传输中断
__HAL_DMA_DISABLE_IT(_instance->usart_handle->hdmarx, DMA_IT_HT);
}
USARTInstance *USARTRegister(USART_Init_Config_s *init_config)
{
static uint8_t idx;
USARTInstance *instance = (USARTInstance *)malloc(sizeof(USARTInstance));
memset(instance, 0, sizeof(USARTInstance));
instance[idx] = (USARTInstance *)malloc(sizeof(USARTInstance));
memset(instance[idx], 0, sizeof(USARTInstance));
instance->usart_handle = init_config->usart_handle;
instance->recv_buff_size = init_config->recv_buff_size;
instance->module_callback = init_config->module_callback;
instance[idx]->module_callback = init_config->module_callback;
instance[idx]->recv_buff_size = init_config->recv_buff_size;
instance[idx]->usart_handle = init_config->usart_handle;
USARTServiceInit(instance[idx]);
return instance[idx++];
usart_instance[idx++] = instance;
return instance;
}
/* @todo 当前仅进行了形式上的封装,后续要进一步考虑是否将module的行为与bsp完全分离 */
@@ -70,15 +69,18 @@ void USARTSend(USARTInstance *_instance, uint8_t *send_buf, uint16_t send_size)
*/
void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)
{
for (uint8_t i = 0; i < 3; ++i)
{
if (huart == instance[i]->usart_handle)
{
instance[i]->module_callback();
memset(instance[i]->recv_buff, 0, Size); // 接收结束后清空buffer,对于变长数据是必要的
HAL_UARTEx_ReceiveToIdle_DMA(instance[i]->usart_handle, instance[i]->recv_buff, instance[i]->recv_buff_size);
__HAL_DMA_DISABLE_IT(instance[i]->usart_handle->hdmarx, DMA_IT_HT);
break;
for (uint8_t i = 0; i < idx; ++i)
{ // find the instance which is being handled
if (huart == usart_instance[i]->usart_handle)
{ // call the callback function if it is not NULL
if (usart_instance[i]->module_callback != NULL)
{
usart_instance[i]->module_callback();
memset(usart_instance[i]->recv_buff, 0, Size); // 接收结束后清空buffer,对于变长数据是必要的
}
HAL_UARTEx_ReceiveToIdle_DMA(usart_instance[i]->usart_handle, usart_instance[i]->recv_buff, usart_instance[i]->recv_buff_size);
__HAL_DMA_DISABLE_IT(usart_instance[i]->usart_handle->hdmarx, DMA_IT_HT);
return; // break the loop
}
}
}
@@ -93,13 +95,13 @@ void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)
*/
void HAL_UART_ErrorCallback(UART_HandleTypeDef *huart)
{
for (uint8_t i = 0; i < 3; ++i)
for (uint8_t i = 0; i < idx; ++i)
{
if (huart == instance[i]->usart_handle)
if (huart == usart_instance[i]->usart_handle)
{
HAL_UARTEx_ReceiveToIdle_DMA(instance[i]->usart_handle, instance[i]->recv_buff, instance[i]->recv_buff_size);
__HAL_DMA_DISABLE_IT(instance[i]->usart_handle->hdmarx, DMA_IT_HT);
break;
HAL_UARTEx_ReceiveToIdle_DMA(usart_instance[i]->usart_handle, usart_instance[i]->recv_buff, usart_instance[i]->recv_buff_size);
__HAL_DMA_DISABLE_IT(usart_instance[i]->usart_handle->hdmarx, DMA_IT_HT);
return;
}
}
}