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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10
modules/can_comm/can_comm.h
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@@ -26,16 +26,16 @@ typedef struct
{
CANInstance *can_ins;
/* 发送部分 */
uint8_t send_data_len;
uint8_t send_buf_len;
uint8_t send_data_len; // 发送数据长度
uint8_t send_buf_len; // 发送缓冲区长度,为发送数据长度+帧头单包数据长度帧尾以及校验和(4)
uint8_t raw_sendbuf[CAN_COMM_MAX_BUFFSIZE + CAN_COMM_OFFSET_BYTES]; // 额外4个bytes保存帧头帧尾和校验和
/* 接收部分 */
uint8_t recv_data_len;
uint8_t recv_buf_len;
uint8_t recv_data_len; // 接收数据长度
uint8_t recv_buf_len; // 接收缓冲区长度,为接收数据长度+帧头单包数据长度帧尾以及校验和(4)
uint8_t raw_recvbuf[CAN_COMM_MAX_BUFFSIZE + CAN_COMM_OFFSET_BYTES]; // 额外4个bytes保存帧头帧尾和校验和
uint8_t unpacked_recv_data[CAN_COMM_MAX_BUFFSIZE]; // 解包后的数据,调用CANCommGet()后cast成对应的类型通过指针读取即可
/* 接收和更新标志位*/
uint8_t recv_state;
uint8_t recv_state; // 接收状态,
uint8_t cur_recv_len;
uint8_t update_flag;
} CANCommInstance;