TuxMonkey/bf_original_balance_chassis
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重构bsp层，bsp层将和HAL的配置一致，修改CubeMX之后不需要修改bsp。重构bmi088。

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NeoZng
2022-12-30 23:39:04 +08:00
parent ab1a9726b1
commit a3631a5ca5
39 changed files with 842 additions and 256 deletions
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145
bsp/iic/bsp_iic.c Normal file
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#include "bsp_iic.h"
#include "memory.h"
#include "stdlib.h"
static uint8_t idx = 0; // 配合中断以及初始化
static IICInstance *iic_instance[IIC_DEVICE_CNT] = {NULL};
/**
* @brief 接收完成回调函数
*
* @param hi2c handle
*/
void HAL_I2C_MasterRxCpltCallback(I2C_HandleTypeDef *hi2c)
{
// 如果是当前i2c硬件发出的complete,且dev_address和之前发起接收的地址相同,同时回到函数不为空, 则调用回调函数
for (uint8_t i = 0; i < idx; i++)
{
if (iic_instance[i]->handle == hi2c && hi2c->Devaddress == iic_instance[i]->dev_address)
{
if (iic_instance[i]->callback != NULL)
iic_instance[i]->callback(iic_instance[i]);
return;
}
}
}
/**
* @brief 仅做形式上的封装,仍然使用HAL_I2C_MasterRxCpltCallback
*
* @param hi2c handle
*/
void HAL_I2C_MemRxCpltCallback(I2C_HandleTypeDef *hi2c)
{
HAL_I2C_MasterRxCpltCallback(hi2c);
}
IICInstance *IICRegister(IIC_Init_Config_s *conf)
{
// 申请到的空间未必是0, 所以需要手动初始化
iic_instance[idx] = (IICInstance *)malloc(sizeof(IICInstance));
memset(iic_instance[idx], 0, sizeof(IICInstance));
iic_instance[idx]->dev_address = conf->dev_address;
iic_instance[idx]->callback = conf->callback;
iic_instance[idx]->work_mode = conf->work_mode;
iic_instance[idx]->handle = conf->handle;
iic_instance[idx]->id = conf->id;
return iic_instance[idx++];
}
void IICSetMode(IICInstance *iic, IIC_Work_Mode_e mode)
{ // HAL自带重入保护,不需要手动终止或等待传输完成
if (iic->work_mode != mode) // 如果不同才需要修改
{
iic->work_mode = mode;
}
}
void IICTransmit(IICInstance *iic, uint8_t *data, uint16_t size, IIC_Seq_Mode_e seq_mode)
{
if (seq_mode != IIC_RELEASE && seq_mode != IIC_HOLD_ON)
while (1)
; // 未知传输模式, 程序停止
switch (iic->work_mode)
{
case IIC_BLOCK_MODE:
if (seq_mode != IIC_RELEASE)
while (1)
; // 阻塞模式下不支持HOLD ON模式!!!
HAL_I2C_Master_Transmit(iic->handle, iic->dev_address, data, size, 100);
break;
case IIC_IT_MODE:
if (seq_mode == IIC_RELEASE)
HAL_I2C_Master_Seq_Transmit_IT(iic->handle, iic->dev_address, data, size, I2C_OTHER_AND_LAST_FRAME);
else if (seq_mode == IIC_HOLD_ON)
HAL_I2C_Master_Seq_Transmit_IT(iic->handle, iic->dev_address, data, size, I2C_OTHER_FRAME);
break;
case IIC_DMA_MODE:
if (seq_mode == IIC_RELEASE)
HAL_I2C_Master_Seq_Transmit_DMA(iic->handle, iic->dev_address, data, size, I2C_OTHER_AND_LAST_FRAME);
else if (seq_mode == IIC_HOLD_ON)
HAL_I2C_Master_Seq_Transmit_DMA(iic->handle, iic->dev_address, data, size, I2C_OTHER_FRAME);
break;
default:
while (1)
; // 未知传输模式, 程序停止
break;
}
}
void IICReceive(IICInstance *iic, uint8_t *data, uint16_t size, IIC_Seq_Mode_e seq_mode)
{
if (seq_mode != IIC_RELEASE && seq_mode != IIC_HOLD_ON)
while (1)
; // 未知传输模式, 程序停止
// 初始化接收缓冲区地址以及接受长度, 用于中断回调函数
iic->rx_buffer = data;
iic->rx_len = size;
switch (iic->work_mode)
{
case IIC_BLOCK_MODE:
if (seq_mode != IIC_RELEASE)
while (1)
; // 阻塞模式下不支持HOLD ON模式!!!
HAL_I2C_Master_Receive(iic->handle, iic->dev_address, data, size, 100);
break;
case IIC_IT_MODE:
if (seq_mode == IIC_RELEASE)
HAL_I2C_Master_Seq_Receive_IT(iic->handle, iic->dev_address, data, size, I2C_OTHER_AND_LAST_FRAME);
else if (seq_mode == IIC_HOLD_ON)
HAL_I2C_Master_Seq_Receive_IT(iic->handle, iic->dev_address, data, size, I2C_OTHER_FRAME);
break;
case IIC_DMA_MODE:
if (seq_mode == IIC_RELEASE)
HAL_I2C_Master_Seq_Receive_DMA(iic->handle, iic->dev_address, data, size, I2C_OTHER_AND_LAST_FRAME);
else if (seq_mode == IIC_HOLD_ON)
HAL_I2C_Master_Seq_Receive_DMA(iic->handle, iic->dev_address, data, size, I2C_OTHER_FRAME);
break;
default:
while (1)
; // 未知传输模式, 程序停止
break;
}
}
void IICAcessMem(IICInstance *iic, uint8_t mem_addr, uint8_t *data, uint16_t size, IIC_Mem_Mode_e mem_mode)
{
if (mem_mode == IIC_WRITE_MEM)
{
HAL_I2C_Mem_Write(iic->handle, iic->dev_address, mem_addr, I2C_MEMADD_SIZE_8BIT, data, size, 1000);
}
else if (mem_mode == IIC_READ_MEM)
{
HAL_I2C_Mem_Read(iic->handle, iic->dev_address, mem_addr, I2C_MEMADD_SIZE_8BIT, data, size, 1000);
}
else
{
while (1)
; // 未知模式, 程序停止
}
}