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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34
modules/daemon/daemon.c
View File

@@ -1,21 +1,23 @@
#include "daemon.h"
#include "bsp_dwt.h" // 后续通过定时器来计时?
#include "stdlib.h"
#include "memory.h"
// 用于保存所有的daemon instance
static DaemonInstance *daemon_instances[DAEMON_MX_CNT] = {NULL};
static uint8_t idx;
static uint8_t idx; // 用于记录当前的daemon instance数量,配合回调使用
DaemonInstance *DaemonRegister(Daemon_Init_Config_s *config)
{
daemon_instances[idx] = (DaemonInstance *)malloc(sizeof(DaemonInstance));
DaemonInstance *instance = (DaemonInstance *)malloc(sizeof(DaemonInstance));
memset(instance, 0, sizeof(DaemonInstance));
daemon_instances[idx]->reload_count = config->reload_count;
daemon_instances[idx]->callback = config->callback;
daemon_instances[idx]->owner_id = config->id;
daemon_instances[idx]->temp_count = config->reload_count;
instance->owner_id = config->owner_id;
instance->reload_count = config->reload_count;
instance->callback = config->callback;
return daemon_instances[idx++];
daemon_instances[idx++] = instance;
return instance;
}
void DaemonReload(DaemonInstance *instance)
@@ -25,20 +27,20 @@ void DaemonReload(DaemonInstance *instance)
uint8_t DaemonIsOnline(DaemonInstance *instance)
{
return instance->temp_count>0;
return instance->temp_count > 0;
}
void DaemonTask()
{
static DaemonInstance* pins; //提高可读性同时降低访存开销
static DaemonInstance *dins; // 提高可读性同时降低访存开销
for (size_t i = 0; i < idx; ++i)
{
pins=daemon_instances[i];
if(pins->temp_count>0)
pins->temp_count--;
else if(pins->callback)
{ // 每个module根据自身的offline callback进行调用
pins->callback(pins->owner_id); // module将owner_id强制类型转换成自身类型
dins = daemon_instances[i];
if (dins->temp_count > 0)
dins->temp_count--;
else if (dins->callback) // 如果有callback
{
dins->callback(dins->owner_id); // module内可以将owner_id强制类型转换成自身类型从而调用自身的offline callback
}
}
}

18
modules/daemon/daemon.h
View File

@@ -11,11 +11,11 @@ typedef void (*offline_callback)(void *);
/* daemon结构体定义 */
typedef struct daemon_ins
{
uint16_t reload_count; // 重载值
uint16_t reload_count; // 重载值
offline_callback callback; // 异常处理函数,当模块发生异常时会被调用
uint16_t temp_count; //当前值,减为零说明模块离线或异常
void *owner_id; // daemon实例的地址,初始化的时候填入
uint16_t temp_count; // 当前值,减为零说明模块离线或异常
void *owner_id; // daemon实例的地址,初始化的时候填入
} DaemonInstance;
@@ -23,13 +23,13 @@ typedef struct daemon_ins
typedef struct
{
uint16_t reload_count; // 实际上这是app唯一需要设置的值?
offline_callback callback;
void *id; // id取拥有daemon的实例的地址,如DJIMotorInstance*,cast成void*类型
offline_callback callback;
void *owner_id; // id取拥有daemon的实例的地址,如DJIMotorInstance*,cast成void*类型
} Daemon_Init_Config_s;
/**
* @brief 注册一个daemon实例
*
*
* @param config 初始化配置
* @return DaemonInstance* 返回实例指针
*/
@@ -37,14 +37,14 @@ DaemonInstance *DaemonRegister(Daemon_Init_Config_s *config);
/**
* @brief 当模块收到新的数据或进行其他动作时,调用该函数重载temp_count,相当于"喂狗"
*
*
* @param instance daemon实例指针
*/
void DaemonReload(DaemonInstance *instance);
/**
* @brief 确认模块是否离线
*
*
* @param instance daemon实例指针
* @return uint8_t 若在线且工作正常,返回1;否则返回零. 后续根据异常类型和离线状态等进行优化.
*/
@@ -53,7 +53,7 @@ uint8_t DaemonIsOnline(DaemonInstance *instance);
/**
* @brief 放入rtos中,会给每个daemon实例的temp_count按频率进行递减操作.
* 模块成功接受数据或成功操作则会重载temp_count的值为reload_count.
*
*
*/
void DaemonTask();