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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10
modules/can_comm/can_comm.c
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@@ -28,7 +28,7 @@ static void CANCommRxCallback(can_instance *_instance)
{
for (size_t i = 0; i < idx; i++)
{
if (&can_comm_instance[i]->can_ins == _instance) // 遍历,找到对应的接收CAN COMM实例
if (can_comm_instance[i]->can_ins == _instance) // 遍历,找到对应的接收CAN COMM实例
{
/* 接收状态判断 */
if (_instance->rx_buff[0] == CAN_COMM_HEADER && can_comm_instance[i]->recv_state == 0) // 尚未开始接收且新的一包里有帧头
@@ -91,7 +91,7 @@ CANCommInstance *CANCommInit(CANComm_Init_Config_s *comm_config)
can_comm_instance[idx]->raw_sendbuf[comm_config->send_data_len + CAN_COMM_OFFSET_BYTES - 1] = CAN_COMM_TAIL;
comm_config->can_config.can_module_callback = CANCommRxCallback;
CANRegister(&can_comm_instance[idx]->can_ins, &comm_config->can_config);
can_comm_instance[idx]->can_ins=CANRegister(&comm_config->can_config);
return can_comm_instance[idx++];
}
@@ -106,9 +106,9 @@ void CANCommSend(CANCommInstance *instance, uint8_t *data)
for (size_t i = 0; i < instance->send_buf_len; i += 8)
{ // 如果是最后一包,send len将会小于8,要修改CAN的txconf中的DLC位,调用bsp_can提供的接口即可
send_len = instance->send_buf_len - i >= 8 ? 8 : instance->send_buf_len - i;
CANSetDLC(&instance->can_ins, send_len);
memcpy(instance->can_ins.tx_buff, instance->raw_sendbuf+i, send_len);
CANTransmit(&instance->can_ins);
CANSetDLC(instance->can_ins, send_len);
memcpy(instance->can_ins->tx_buff, instance->raw_sendbuf+i, send_len);
CANTransmit(instance->can_ins);
}
}

2
modules/can_comm/can_comm.h
View File

@@ -24,7 +24,7 @@
/* CAN comm 结构体, 拥有CAN comm的app应该包含一个CAN comm指针 */
typedef struct
{
can_instance can_ins;
can_instance* can_ins;
/* 发送部分 */
uint8_t send_data_len;
uint8_t send_buf_len;