TuxMonkey/bf_original_balance_chassis
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将底层的封装统一为相同的格式

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This commit is contained in:
NeoZeng
2022-11-28 17:54:07 +08:00
parent 8332422eac
commit f1301ab7de
17 changed files with 75 additions and 63 deletions
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12
bsp/bsp_can.c
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@@ -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)