TuxMonkey/bf_original_balance_chassis
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修复LK电机id计算错误，构建平衡底盘框架，增加通用通信模块，增加平衡底盘条件编译兼容，删除lqr

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This commit is contained in:
NeoZng
2023-02-16 15:46:04 +08:00
parent b9a7d87dfd
commit a2a83f9fbf
35 changed files with 554 additions and 242 deletions
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2
bsp/can/bsp_can.c
View File

@@ -92,7 +92,7 @@ CANInstance *CANRegister(CAN_Init_Config_s *config)
uint8_t CANTransmit(CANInstance *_instance,uint8_t timeout)
{
float dwt_start = DWT_GetTimeline_ms();
while (HAL_CAN_GetTxMailboxesFreeLevel(_instance->can_handle) == 0);// 等待邮箱空闲
while (HAL_CAN_GetTxMailboxesFreeLevel(_instance->can_handle) == 0) // 等待邮箱空闲
{
if (DWT_GetTimeline_ms() - dwt_start > timeout) // 超时
{

37
bsp/gpio/bsp_gpio.c
View File

@@ -3,11 +3,11 @@
#include "stdlib.h"
static uint8_t idx;
static GPIOInstance* gpio_instance[GPIO_MX_DEVICE_NUM] = {NULL};
static GPIOInstance *gpio_instance[GPIO_MX_DEVICE_NUM] = {NULL};
/**
* @brief EXTI中断回调函数,根据GPIO_Pin找到对应的GPIOInstance,并调用模块回调函数(如果有)
* @note 如何判断具体是哪一个GPIO的引脚连接到这个EXTI中断线上?
* @note 如何判断具体是哪一个GPIO的引脚连接到这个EXTI中断线上?
* 一个EXTI中断线只能连接一个GPIO引脚,因此可以通过GPIO_Pin来判断,PinX对应EXTIX
* 一个Pin号只会对应一个EXTI,详情见gpio.md
* @param GPIO_Pin 发生中断的GPIO_Pin
@@ -18,8 +18,8 @@ void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
static GPIOInstance *gpio;
for (size_t i = 0; i < idx; i++)
{
gpio=gpio_instance[i];
if(gpio->GPIO_Pin==GPIO_Pin && gpio->gpio_model_callback!=NULL)
gpio = gpio_instance[i];
if (gpio->GPIO_Pin == GPIO_Pin && gpio->gpio_model_callback != NULL)
{
gpio->gpio_model_callback(gpio);
return;
@@ -29,16 +29,16 @@ void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
GPIOInstance *GPIORegister(GPIO_Init_Config_s *GPIO_config)
{
GPIOInstance *ins=(GPIOInstance*)malloc(sizeof(GPIOInstance));
memset(ins,0,sizeof(GPIOInstance));
ins->GPIOx=GPIO_config->GPIOx;
ins->GPIO_Pin=GPIO_config->GPIO_Pin;
ins->pin_state=GPIO_config->pin_state;
ins->exti_mode=GPIO_config->exti_mode;
ins->id=GPIO_config->id;
ins->gpio_model_callback=GPIO_config->gpio_model_callback;
gpio_instance[idx++]=ins;
GPIOInstance *ins = (GPIOInstance *)malloc(sizeof(GPIOInstance));
memset(ins, 0, sizeof(GPIOInstance));
ins->GPIOx = GPIO_config->GPIOx;
ins->GPIO_Pin = GPIO_config->GPIO_Pin;
ins->pin_state = GPIO_config->pin_state;
ins->exti_mode = GPIO_config->exti_mode;
ins->id = GPIO_config->id;
ins->gpio_model_callback = GPIO_config->gpio_model_callback;
gpio_instance[idx++] = ins;
return ins;
}
@@ -47,21 +47,20 @@ GPIOInstance *GPIORegister(GPIO_Init_Config_s *GPIO_config)
void GPIOToggel(GPIOInstance *_instance)
{
HAL_GPIO_TogglePin(_instance->GPIOx,_instance->GPIO_Pin);
HAL_GPIO_TogglePin(_instance->GPIOx, _instance->GPIO_Pin);
}
void GPIOSet(GPIOInstance *_instance)
{
HAL_GPIO_WritePin(_instance->GPIOx,_instance->GPIO_Pin,GPIO_PIN_SET);
HAL_GPIO_WritePin(_instance->GPIOx, _instance->GPIO_Pin, GPIO_PIN_SET);
}
void GPIOReset(GPIOInstance *_instance)
{
HAL_GPIO_WritePin(_instance->GPIOx,_instance->GPIO_Pin,GPIO_PIN_RESET);
HAL_GPIO_WritePin(_instance->GPIOx, _instance->GPIO_Pin, GPIO_PIN_RESET);
}
GPIO_PinState GPIORead(GPIOInstance *_instance)
{
return HAL_GPIO_ReadPin(_instance->GPIOx,_instance->GPIO_Pin);
return HAL_GPIO_ReadPin(_instance->GPIOx, _instance->GPIO_Pin);
}

20
bsp/spi/bsp_spi.c
View File

@@ -15,7 +15,7 @@ SPIInstance *SPIRegister(SPI_Init_Config_s *conf)
memset(instance, 0, sizeof(SPIInstance));
instance->spi_handle = conf->spi_handle;
instance->GPIO_cs = conf->GPIO_cs;
instance->GPIOx = conf->GPIOx;
instance->cs_pin = conf->cs_pin;
instance->spi_work_mode = conf->spi_work_mode;
instance->callback = conf->callback;
@@ -28,7 +28,7 @@ SPIInstance *SPIRegister(SPI_Init_Config_s *conf)
void SPITransmit(SPIInstance *spi_ins, uint8_t *ptr_data, uint8_t len)
{
// 拉低片选,开始传输(选中从机)
HAL_GPIO_WritePin(spi_ins->GPIO_cs, spi_ins->cs_pin, GPIO_PIN_RESET);
HAL_GPIO_WritePin(spi_ins->GPIOx, spi_ins->cs_pin, GPIO_PIN_RESET);
switch (spi_ins->spi_work_mode)
{
case SPI_DMA_MODE:
@@ -40,7 +40,7 @@ void SPITransmit(SPIInstance *spi_ins, uint8_t *ptr_data, uint8_t len)
case SPI_BLOCK_MODE:
HAL_SPI_Transmit(spi_ins->spi_handle, ptr_data, len, 50); // 默认50ms超时
// 阻塞模式不会调用回调函数,传输完成后直接拉高片选结束
HAL_GPIO_WritePin(spi_ins->GPIO_cs, spi_ins->cs_pin, GPIO_PIN_SET);
HAL_GPIO_WritePin(spi_ins->GPIOx, spi_ins->cs_pin, GPIO_PIN_SET);
break;
default:
while (1)
@@ -55,7 +55,7 @@ void SPIRecv(SPIInstance *spi_ins, uint8_t *ptr_data, uint8_t len)
spi_ins->rx_size = len;
spi_ins->rx_buffer = ptr_data;
// 拉低片选,开始传输
HAL_GPIO_WritePin(spi_ins->GPIO_cs, spi_ins->cs_pin, GPIO_PIN_RESET);
HAL_GPIO_WritePin(spi_ins->GPIOx, spi_ins->cs_pin, GPIO_PIN_RESET);
switch (spi_ins->spi_work_mode)
{
case SPI_DMA_MODE:
@@ -67,7 +67,7 @@ void SPIRecv(SPIInstance *spi_ins, uint8_t *ptr_data, uint8_t len)
case SPI_BLOCK_MODE:
HAL_SPI_Receive(spi_ins->spi_handle, ptr_data, len, 10);
// 阻塞模式不会调用回调函数,传输完成后直接拉高片选结束
HAL_GPIO_WritePin(spi_ins->GPIO_cs, spi_ins->cs_pin, GPIO_PIN_SET);
HAL_GPIO_WritePin(spi_ins->GPIOx, spi_ins->cs_pin, GPIO_PIN_SET);
break;
default:
while (1)
@@ -82,7 +82,7 @@ void SPITransRecv(SPIInstance *spi_ins, uint8_t *ptr_data_rx, uint8_t *ptr_data_
spi_ins->rx_size = len;
spi_ins->rx_buffer = ptr_data_rx;
// 拉低片选,开始传输
HAL_GPIO_WritePin(spi_ins->GPIO_cs, spi_ins->cs_pin, GPIO_PIN_RESET);
HAL_GPIO_WritePin(spi_ins->GPIOx, spi_ins->cs_pin, GPIO_PIN_RESET);
switch (spi_ins->spi_work_mode)
{
case SPI_DMA_MODE:
@@ -94,7 +94,7 @@ void SPITransRecv(SPIInstance *spi_ins, uint8_t *ptr_data_rx, uint8_t *ptr_data_
case SPI_BLOCK_MODE:
HAL_SPI_TransmitReceive(spi_ins->spi_handle, ptr_data_tx, ptr_data_rx, len, 50); // 默认50ms超时
// 阻塞模式不会调用回调函数,传输完成后直接拉高片选结束
HAL_GPIO_WritePin(spi_ins->GPIO_cs, spi_ins->cs_pin, GPIO_PIN_SET);
HAL_GPIO_WritePin(spi_ins->GPIOx, spi_ins->cs_pin, GPIO_PIN_SET);
break;
default:
while (1)
@@ -126,13 +126,13 @@ void HAL_SPI_RxCpltCallback(SPI_HandleTypeDef *hspi)
{
// 如果是当前spi硬件发出的complete,且cs_pin为低电平(说明正在传输),则尝试调用回调函数
if (spi_instance[i]->spi_handle == hspi && // 显然同一时间一条总线只能有一个从机在接收数据
HAL_GPIO_ReadPin(spi_instance[i]->GPIO_cs, spi_instance[i]->cs_pin) == GPIO_PIN_RESET)
HAL_GPIO_ReadPin(spi_instance[i]->GPIOx, spi_instance[i]->cs_pin) == GPIO_PIN_RESET)
{
// 先拉高片选,结束传输,在判断是否有回调函数,如果有则调用回调函数
HAL_GPIO_WritePin(spi_instance[i]->GPIO_cs, spi_instance[i]->cs_pin, GPIO_PIN_SET);
HAL_GPIO_WritePin(spi_instance[i]->GPIOx, spi_instance[i]->cs_pin, GPIO_PIN_SET);
if (spi_instance[i]->callback != NULL) // 回调函数不为空, 则调用回调函数
{
spi_instance[i]->callback(spi_instance[i]);
}
return;

8
bsp/spi/bsp_spi.h
View File

@@ -18,7 +18,7 @@ typedef enum
typedef struct spi_ins_temp
{
SPI_HandleTypeDef *spi_handle; // SPI外设handle
GPIO_TypeDef *GPIO_cs; // 片选信号对应的GPIO,如GPIOA,GPIOB等等
GPIO_TypeDef *GPIOx; // 片选信号对应的GPIO,如GPIOA,GPIOB等等
uint16_t cs_pin; // 片选信号对应的引脚号,GPIO_PIN_1,GPIO_PIN_2等等
SPI_TXRX_MODE_e spi_work_mode; // 传输工作模式
@@ -32,12 +32,12 @@ typedef struct spi_ins_temp
/* 接收回调函数定义,包含SPI的module按照此格式构建回调函数 */
typedef void (*spi_rx_callback)(SPIInstance *);
// @todo: 这里可以将GPIO_TypeDef *GPIO_cs; uint16_t cs_pin合并为bsp_gpio以简化代码实现
// @todo: 这里可以将GPIO_TypeDef *GPIOx; uint16_t cs_pin合并为bsp_gpio以简化代码实现
/* SPI初始化配置,其实基本和SPIIstance一模一样,为了代码风格统一因此再次定义 */
typedef struct
{
SPI_HandleTypeDef *spi_handle; // SPI外设handle
GPIO_TypeDef *GPIO_cs; // 片选信号对应的GPIO,如GPIOA,GPIOB等等
GPIO_TypeDef *GPIOx; // 片选信号对应的GPIO,如GPIOA,GPIOB等等
uint16_t cs_pin; // 片选信号对应的引脚号,GPIO_PIN_1,GPIO_PIN_2等等
SPI_TXRX_MODE_e spi_work_mode; // 传输工作模式
@@ -76,7 +76,7 @@ void SPIRecv(SPIInstance *spi_ins, uint8_t *ptr_data, uint8_t len);
/**
* @brief 通过spi利用移位寄存器同时收发数据
* @todo 后续加入阻塞模式下的timeout参数
*
*
* @param spi_ins spi实例指针
* @param ptr_data_rx 接收数据地址
* @param ptr_data_tx 发送数据地址