TuxMonkey/bf_original_balance_chassis
1
0
Fork 0
mirror of https://gitee.com/dlmu-cone/bf_original_balance_chassis synced 2026-07-24 03:27:45 +08:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

10
modules/can_comm/can_comm.c
View File

@@ -24,7 +24,7 @@ static void CANCommResetRx(CANCommInstance *ins)
*
* @param _instance
*/
static void CANCommRxCallback(can_instance *_instance)
static void CANCommRxCallback(CANInstance *_instance)
{
for (size_t i = 0; i < idx; i++)
{
@@ -65,7 +65,7 @@ static void CANCommRxCallback(can_instance *_instance)
if (can_comm_instance[i]->raw_recvbuf[can_comm_instance[i]->recv_buf_len - 2] ==
crc_8(can_comm_instance[i]->raw_recvbuf + 2, can_comm_instance[i]->recv_data_len))
{ // 通过校验,复制数据到unpack_data中
memcpy(can_comm_instance[i]->unpacked_recv_data,can_comm_instance[i]->raw_recvbuf + 2, can_comm_instance[i]->recv_data_len);
memcpy(can_comm_instance[i]->unpacked_recv_data, can_comm_instance[i]->raw_recvbuf + 2, can_comm_instance[i]->recv_data_len);
can_comm_instance[i]->update_flag = 1; // 数据更新flag置为1
}
CANCommResetRx(can_comm_instance[i]);
@@ -91,7 +91,7 @@ CANCommInstance *CANCommInit(CANComm_Init_Config_s *comm_config)
can_comm_instance[idx]->raw_sendbuf[comm_config->send_data_len + CAN_COMM_OFFSET_BYTES - 1] = CAN_COMM_TAIL;
comm_config->can_config.can_module_callback = CANCommRxCallback;
can_comm_instance[idx]->can_ins=CANRegister(&comm_config->can_config);
can_comm_instance[idx]->can_ins = CANRegister(&comm_config->can_config);
return can_comm_instance[idx++];
}
@@ -104,10 +104,10 @@ void CANCommSend(CANCommInstance *instance, uint8_t *data)
instance->raw_sendbuf[2 + instance->send_data_len] = crc8;
for (size_t i = 0; i < instance->send_buf_len; i += 8)
{ // 如果是最后一包,send len将会小于8,要修改CAN的txconf中的DLC位,调用bsp_can提供的接口即可
{ // 如果是最后一包,send len将会小于8,要修改CAN的txconf中的DLC位,调用bsp_can提供的接口即可
send_len = instance->send_buf_len - i >= 8 ? 8 : instance->send_buf_len - i;
CANSetDLC(instance->can_ins, send_len);
memcpy(instance->can_ins->tx_buff, instance->raw_sendbuf+i, send_len);
memcpy(instance->can_ins->tx_buff, instance->raw_sendbuf + i, send_len);
CANTransmit(instance->can_ins);
}
}