TuxMonkey/bf_original_balance_chassis
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增加了大量注释

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This commit is contained in:
NeoZng
2023-01-01 17:32:22 +08:00
parent c2f8b5c8c3
commit c05513587c
56 changed files with 773 additions and 598 deletions
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78
bsp/spi/bsp_spi.c
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@@ -6,44 +6,14 @@
static SPIInstance *spi_instance[SPI_DEVICE_CNT] = {NULL};
static uint8_t idx = 0; // 配合中断以及初始化
/**
* @brief 当SPI接收完成,将会调用此回调函数,可以进行协议解析或其他必须的数据处理等
*
* @param hspi spi handle
*/
void HAL_SPI_RxCpltCallback(SPI_HandleTypeDef *hspi)
{
for (size_t i = 0; i < idx; i++)
{
// 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 &&
HAL_GPIO_ReadPin(spi_instance[i]->GPIO_cs, spi_instance[i]->cs_pin) == GPIO_PIN_RESET)
{
if (spi_instance[i]->callback) // 回调函数不为空, 则调用回调函数
{
// 先拉高片选,结束传输
HAL_GPIO_WritePin(spi_instance[i]->GPIO_cs, spi_instance[i]->cs_pin, GPIO_PIN_SET);
spi_instance[i]->callback(spi_instance[i]);
}
return;
}
}
}
/**
* @brief 和RxCpltCallback共用解析即可,这里只是形式上封装一下,不用重复写
*
* @param hspi spi handle
*/
void HAL_SPI_TxRxCpltCallback(SPI_HandleTypeDef *hspi)
{
HAL_SPI_RxCpltCallback(hspi);
}
SPIInstance *SPIRegister(SPI_Init_Config_s *conf)
{
if (idx >= MX_SPI_BUS_SLAVE_CNT) // 超过最大实例数
while (1)
;
SPIInstance *instance = (SPIInstance *)malloc(sizeof(SPIInstance));
memset(instance, 0, sizeof(SPIInstance));
instance->spi_handle = conf->spi_handle;
instance->GPIO_cs = conf->GPIO_cs;
instance->cs_pin = conf->cs_pin;
@@ -57,7 +27,7 @@ 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
// 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);
switch (spi_ins->spi_work_mode)
{
@@ -68,7 +38,7 @@ void SPITransmit(SPIInstance *spi_ins, uint8_t *ptr_data, uint8_t len)
HAL_SPI_Transmit_IT(spi_ins->spi_handle, ptr_data, len);
break;
case SPI_BLOCK_MODE:
HAL_SPI_Transmit(spi_ins->spi_handle, ptr_data, len, 10);
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);
break;
@@ -122,7 +92,7 @@ void SPITransRecv(SPIInstance *spi_ins, uint8_t *ptr_data_rx, uint8_t *ptr_data_
HAL_SPI_TransmitReceive_IT(spi_ins->spi_handle, ptr_data_tx, ptr_data_rx, len);
break;
case SPI_BLOCK_MODE:
HAL_SPI_TransmitReceive(spi_ins->spi_handle, ptr_data_tx, ptr_data_rx, len, 10);
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);
break;
@@ -144,3 +114,37 @@ void SPISetMode(SPIInstance *spi_ins, SPI_TXRX_MODE_e spi_mode)
spi_ins->spi_work_mode = spi_mode;
}
}
/**
* @brief 当SPI接收完成,将会调用此回调函数,可以进行协议解析或其他必须的数据处理等
*
* @param hspi spi handle
*/
void HAL_SPI_RxCpltCallback(SPI_HandleTypeDef *hspi)
{
for (size_t i = 0; i < idx; i++)
{
// 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)
{
if (spi_instance[i]->callback != NULL) // 回调函数不为空, 则调用回调函数
{
// 先拉高片选,结束传输
HAL_GPIO_WritePin(spi_instance[i]->GPIO_cs, spi_instance[i]->cs_pin, GPIO_PIN_SET);
spi_instance[i]->callback(spi_instance[i]);
}
return;
}
}
}
/**
* @brief 和RxCpltCallback共用解析即可,这里只是形式上封装一下,不用重复写
* 这是对HAL库的__weak函数的重写,传输使用IT或DMA模式,在传输完成时会调用此函数
* @param hspi spi handle
*/
void HAL_SPI_TxRxCpltCallback(SPI_HandleTypeDef *hspi)
{
HAL_SPI_RxCpltCallback(hspi); // 直接调用接收完成的回调函数
}