TuxMonkey/bf_original_balance_chassis
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增加了遥控器按键功能并修改所有函数和类型定义为标准格式

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This commit is contained in:
NeoZng
2022-12-05 21:01:26 +08:00
parent 3947c48230
commit 9c9ea14bde
40 changed files with 352 additions and 251 deletions
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14
bsp/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 can_instance *instance[MX_REGISTER_DEVICE_CNT] = {NULL};
static CANInstance *instance[MX_REGISTER_DEVICE_CNT] = {NULL};
/* ----------------two static function called by CANRegister()-------------------- */
@@ -24,7 +24,7 @@ static can_instance *instance[MX_REGISTER_DEVICE_CNT] = {NULL};
*
* @param _instance can instance owned by specific module
*/
static void CANAddFilter(can_instance *_instance)
static void CANAddFilter(CANInstance *_instance)
{
CAN_FilterTypeDef can_filter_conf;
static uint8_t can1_filter_idx = 0, can2_filter_idx = 14;
@@ -60,15 +60,15 @@ static void CANServiceInit()
/* ----------------------- two extern callable function -----------------------*/
can_instance *CANRegister(can_instance_config_s *config)
CANInstance *CANRegister(CAN_Init_Config_s *config)
{
static uint8_t idx; // 全局CAN实例索引,每次有新的模块注册会自增
if (!idx)
{
CANServiceInit(); // 第一次注册,先进行硬件初始化
}
instance[idx] = (can_instance *)malloc(sizeof(can_instance)); // 分配空间
memset(instance[idx], 0, sizeof(can_instance));
instance[idx] = (CANInstance *)malloc(sizeof(CANInstance)); // 分配空间
memset(instance[idx], 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;
@@ -85,7 +85,7 @@ can_instance *CANRegister(can_instance_config_s *config)
}
/* 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 */
void CANTransmit(can_instance *_instance)
void CANTransmit(CANInstance *_instance)
{
while (HAL_CAN_GetTxMailboxesFreeLevel(_instance->can_handle) == 0)
;
@@ -93,7 +93,7 @@ void CANTransmit(can_instance *_instance)
HAL_CAN_AddTxMessage(_instance->can_handle, &_instance->txconf, _instance->tx_buff, &_instance->tx_mailbox);
}
void CANSetDLC(can_instance *_instance, uint8_t length)
void CANSetDLC(CANInstance *_instance, uint8_t length)
{
if (length > 8) // 安全检查
while (1)