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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20
bsp/bsp_usart.c
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@@ -14,7 +14,7 @@
/* 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 usart_instance *instance[DEVICE_USART_CNT] = {NULL};
static USARTInstance *instance[DEVICE_USART_CNT] = {NULL};
/**
* @brief usart service will start automatically, after each module registered
@@ -22,7 +22,7 @@ static usart_instance *instance[DEVICE_USART_CNT] = {NULL};
*
* @param _instance instance owned by module,模块拥有的串口实例
*/
static void USARTServiceInit(usart_instance *_instance)
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()
@@ -31,23 +31,23 @@ static void USARTServiceInit(usart_instance *_instance)
__HAL_DMA_DISABLE_IT(_instance->usart_handle->hdmarx, DMA_IT_HT);
}
usart_instance* USARTRegister(USART_Init_Config_s *init_config)
USARTInstance *USARTRegister(USART_Init_Config_s *init_config)
{
static uint8_t idx;
instance[idx]=(usart_instance*)malloc(sizeof(usart_instance));
memset(instance[idx],0,sizeof(usart_instance));
instance[idx] = (USARTInstance *)malloc(sizeof(USARTInstance));
memset(instance[idx], 0, sizeof(USARTInstance));
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;
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++];
}
/* @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 */
void USARTSend(usart_instance *_instance, uint8_t *send_buf, uint16_t send_size)
void USARTSend(USARTInstance *_instance, uint8_t *send_buf, uint16_t send_size)
{
HAL_UART_Transmit_DMA(_instance->usart_handle, send_buf, send_size);
}
@@ -75,7 +75,7 @@ void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)
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
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;