TuxMonkey/bf_original_balance_chassis
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更新了一些文档

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This commit is contained in:
NeoZng
2022-12-02 23:10:36 +08:00
parent 648de9f370
commit b024d56bca
7 changed files with 124 additions and 53 deletions
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54
bsp/bsp_can.h
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@@ -9,24 +9,24 @@
#define MX_CAN_FILTER_CNT (2 * 14) // temporarily useless
#define DEVICE_CAN_CNT 2 // CAN1,CAN2
/* can instance typedef, every module registered to CAN should have this variable */
#pragma pack(1)
typedef struct _
{
CAN_HandleTypeDef *can_handle;
CAN_TxHeaderTypeDef txconf;
uint32_t tx_id;
uint32_t tx_mailbox;
uint8_t tx_buff[8];
uint8_t rx_buff[8];
uint32_t rx_id;
uint8_t rx_len;
CAN_HandleTypeDef *can_handle; // can句柄
CAN_TxHeaderTypeDef txconf; // CAN报文发送配置
uint32_t tx_id; // 发送id
uint32_t tx_mailbox; // CAN消息填入的邮箱号
uint8_t tx_buff[8]; // 发送缓存,最大为8
uint8_t rx_buff[8]; // 接收缓存
uint32_t rx_id; // 接收id
uint8_t rx_len; // 接收长度,可能为0-8
// 接收的回调函数,用于解析接收到的数据
void (*can_module_callback)(struct _ *); // callback needs an instance to tell among registered ones
} can_instance;
#pragma pack()
/* this structure is used as initialization*/
/* this structure is used for initialization */
typedef struct
{
CAN_HandleTypeDef *can_handle;
@@ -35,24 +35,6 @@ typedef struct
void (*can_module_callback)(can_instance *);
} can_instance_config_s;
/* module callback,which resolve protocol when new mesg arrives */
typedef void (*can_callback)(can_instance*);
/**
* @brief transmit mesg through CAN device
*
* @param _instance can instance owned by module
*/
void CANTransmit(can_instance *_instance);
/**
* @brief Register a module to CAN service,remember to call this before using a CAN device
*
* @param config init config
* @return can_instance* can instance owned by module
*/
can_instance* CANRegister(can_instance_config_s *config);
/**
* @brief 修改CAN发送报文的数据帧长度;注意最大长度为8,在没有进行修改的时候,默认长度为8
*
@@ -61,4 +43,20 @@ can_instance* CANRegister(can_instance_config_s *config);
*/
void CANSetDLC(can_instance *_instance, uint8_t length);
/**
* @brief transmit mesg through CAN device,通过can实例发送消息
* 发送前需要向CAN实例的tx_buff写入发送数据
*
* @param _instance* can instance owned by module
*/
void CANTransmit(can_instance *_instance);
/**
* @brief Register a module to CAN service,remember to call this before using a CAN device
* 注册(初始化)一个can实例,需要传入初始化配置的指针.
* @param config init config
* @return can_instance* can instance owned by module
*/
can_instance *CANRegister(can_instance_config_s *config);
#endif