TuxMonkey/bf_original_balance_chassis
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1.初版can comm已经实现; 2.修改了电机\bsp_can\usart的初始化实现

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This commit is contained in:
NeoZeng
2022-11-28 16:17:30 +08:00
parent cb3f5d92d1
commit 8332422eac
17 changed files with 615 additions and 552 deletions
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12
bsp/bsp_can.c
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@@ -57,7 +57,7 @@ static void CANServiceInit()
/* -----------------------two extern callable function -----------------------*/
void CANRegister(can_instance *ins, can_instance_config_s config)
void CANRegister(can_instance *ins, can_instance_config_s* config)
{
static uint8_t idx;
if (!idx)
@@ -66,15 +66,15 @@ void CANRegister(can_instance *ins, can_instance_config_s config)
}
instance[idx] = ins;
instance[idx]->txconf.StdId = config.tx_id;
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;
instance[idx]->can_handle = config.can_handle;
instance[idx]->tx_id = config.tx_id;
instance[idx]->rx_id = config.rx_id;
instance[idx]->can_module_callback = config.can_module_callback;
instance[idx]->can_handle = config->can_handle;
instance[idx]->tx_id = config->tx_id;
instance[idx]->rx_id = config->rx_id;
instance[idx]->can_module_callback = config->can_module_callback;
CANAddFilter(instance[idx++]);
}

13
bsp/bsp_can.h
View File

@@ -9,7 +9,9 @@
#define MX_CAN_FILTER_CNT (2 * 14) // temporarily useless
#define DEVICE_CAN_CNT 2 // CAN1,CAN2
/* can instance typedef, every module registered to CAN should have this variable */
#pragma pack(1)
typedef struct _
{
CAN_HandleTypeDef *can_handle;
@@ -22,6 +24,7 @@ typedef struct _
uint8_t rx_len;
void (*can_module_callback)(struct _ *); // callback needs an instance to tell among registered ones
} can_instance;
#pragma pack()
/* this structure is used as initialization*/
typedef struct
@@ -32,8 +35,8 @@ typedef struct
void (*can_module_callback)(can_instance *);
} can_instance_config_s;
/* module callback,which resolve protocol when new mesg arrives*/
typedef void (*can_callback)(can_instance *);
/* module callback,which resolve protocol when new mesg arrives */
typedef void (*can_callback)(can_instance*);
/**
* @brief transmit mesg through CAN device
@@ -48,14 +51,14 @@ void CANTransmit(can_instance *_instance);
* @param config init config
* @return can_instance* can instance owned by module
*/
void CANRegister(can_instance *instance, can_instance_config_s config);
void CANRegister(can_instance *instance, can_instance_config_s *config);
/**
* @brief 修改CAN发送报文的数据帧长度;注意最大长度为8,在没有进行修改的时候,默认长度为8
*
*
* @param _instance 要修改长度的can实例
* @param length 设定长度
*/
void CANSetDLC(can_instance *_instance,uint8_t length);
void CANSetDLC(can_instance *_instance, uint8_t length);
#endif