将底层的封装统一为相同的格式

bsp/bsp_can.c

@@ -55,28 +55,30 @@ static void CANServiceInit()
     HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO1_MSG_PENDING);
 }
 
-/* -----------------------two extern callable function -----------------------*/
+/* ----------------------- two extern callable function -----------------------*/
 
-void CANRegister(can_instance *ins, can_instance_config_s* config)
+can_instance* CANRegister(can_instance_config_s* config)
 {
     static uint8_t idx;
     if (!idx)
     {
         CANServiceInit();
     }
-    instance[idx] = ins;
+    instance[idx] = (can_instance*)malloc(sizeof(can_instance));
+    memset(instance[idx],0,sizeof(can_instance));
 
     instance[idx]->txconf.StdId = config->tx_id;
     instance[idx]->txconf.IDE = CAN_ID_STD;
     instance[idx]->txconf.RTR = CAN_RTR_DATA;
-    instance[idx]->txconf.DLC = 0x08;
+    instance[idx]->txconf.DLC = 0x08; // 默认发送长度为8
 
     instance[idx]->can_handle = config->can_handle;
     instance[idx]->tx_id = config->tx_id;
     instance[idx]->rx_id = config->rx_id;
     instance[idx]->can_module_callback = config->can_module_callback;
 
-    CANAddFilter(instance[idx++]);
+    CANAddFilter(instance[idx]);
+    return instance[idx++];
 }
 
 void CANTransmit(can_instance *_instance)

bsp/bsp_can.h

@@ -51,7 +51,7 @@ void CANTransmit(can_instance *_instance);
  * @param config init config
  * @return can_instance* can instance owned by module
  */
-void CANRegister(can_instance *instance, can_instance_config_s *config);
+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

bsp/bsp_usart.c

@@ -31,11 +31,19 @@ static void USARTServiceInit(usart_instance *_instance)
     __HAL_DMA_DISABLE_IT(_instance->usart_handle->hdmarx, DMA_IT_HT);
 }
 
-void USARTRegister(usart_instance *_instance)
+usart_instance* USARTRegister(USART_Init_Config_s *init_config)
 {
-    static uint8_t instance_idx;
-    USARTServiceInit(_instance);
-    instance[instance_idx++] = _instance;
+    static uint8_t idx;
+
+    instance[idx]=(usart_instance*)malloc(sizeof(usart_instance));
+    memset(instance[idx],0,sizeof(usart_instance));
+
+    instance[idx]->module_callback=init_config->module_callback;
+    instance[idx]->recv_buff_size=init_config->recv_buff_size;
+    instance[idx]->usart_handle=init_config->usart_handle;
+    USARTServiceInit(instance[idx]);
+
+    return instance[idx++];
 }
 
 /* @todo 当前仅进行了形式上的封装,后续要进一步考虑是否将module的行为与bsp完全分离 */

bsp/bsp_usart.h

@@ -20,12 +20,20 @@ typedef struct
     usart_module_callback module_callback; // 解析收到的数据的回调函数
 } usart_instance;
 
+/* usart 初始化配置结构体 */
+typedef struct
+{
+    uint8_t recv_buff_size;                // 模块接收一包数据的大小
+    UART_HandleTypeDef *usart_handle;      // 实例对应的usart_handle
+    usart_module_callback module_callback; // 解析收到的数据的回调函数
+} USART_Init_Config_s;
+
 /**
  * @brief 注册一个串口实例.
  *
- * @param _instance 传入一个由module拥有的串口实例,注意在传入前进行基本信息的配置,详见usart_instance的struct定义
+ * @param init_config 传入串口初始化结构体
  */
-void USARTRegister(usart_instance *_instance);
+usart_instance* USARTRegister(USART_Init_Config_s *init_config);
 
 /**
  * @todo 是否需要进一步封装发送buff和size,并创建一个串口任务以一定频率自动发送?