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增加了BSP PWM的支持,修改了bsp和module层的初始化提高可读性,新年快乐

This commit is contained in:
NeoZng 2023-01-01 12:45:07 +08:00
parent 08440ce116
commit 7e36f6a0cf
21 changed files with 469 additions and 424 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
Makefile
View File

@ -40,7 +40,6 @@ C_SOURCES = \
HAL_N_Middlewares/Src/main.c \
HAL_N_Middlewares/Src/gpio.c \
HAL_N_Middlewares/Src/i2c.c \
HAL_N_Middlewares/Src/i2c.c \
HAL_N_Middlewares/Src/adc.c \
HAL_N_Middlewares/Src/can.c \
HAL_N_Middlewares/Src/dma.c \
@ -68,8 +67,6 @@ HAL_N_Middlewares/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c
HAL_N_Middlewares/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c \
HAL_N_Middlewares/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c_ex.c \
HAL_N_Middlewares/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c.c \
HAL_N_Middlewares/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c_ex.c \
HAL_N_Middlewares/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c.c \
HAL_N_Middlewares/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c \
HAL_N_Middlewares/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c \
HAL_N_Middlewares/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c \

285
basic_framework.ioc
View File

@ -9,9 +9,6 @@ ADC1.master=1
CAD.formats=
CAD.pinconfig=
CAD.provider=
CAD.formats=
CAD.pinconfig=
CAD.provider=
CAN1.BS1=CAN_BS1_10TQ
CAN1.BS2=CAN_BS2_3TQ
CAN1.CalculateBaudRate=1000000
@ -24,87 +21,55 @@ CAN2.CalculateBaudRate=1000000
CAN2.CalculateTimeQuantum=71.42857142857143
CAN2.IPParameters=CalculateTimeQuantum,BS1,BS2,Prescaler,CalculateBaudRate
CAN2.Prescaler=3
Dma.MEMTOMEM.5.Direction=DMA_MEMORY_TO_MEMORY
Dma.MEMTOMEM.5.FIFOMode=DMA_FIFOMODE_ENABLE
Dma.MEMTOMEM.5.FIFOThreshold=DMA_FIFO_THRESHOLD_FULL
Dma.MEMTOMEM.5.Instance=DMA2_Stream3
Dma.MEMTOMEM.5.MemBurst=DMA_MBURST_SINGLE
Dma.MEMTOMEM.5.MemDataAlignment=DMA_MDATAALIGN_BYTE
Dma.MEMTOMEM.5.MemInc=DMA_MINC_ENABLE
Dma.MEMTOMEM.5.Mode=DMA_NORMAL
Dma.MEMTOMEM.5.PeriphBurst=DMA_PBURST_SINGLE
Dma.MEMTOMEM.5.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
Dma.MEMTOMEM.5.PeriphInc=DMA_PINC_ENABLE
Dma.MEMTOMEM.5.Priority=DMA_PRIORITY_HIGH
Dma.MEMTOMEM.5.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,FIFOThreshold,MemBurst,PeriphBurst
Dma.ADC1.12.Direction=DMA_PERIPH_TO_MEMORY
Dma.ADC1.12.FIFOMode=DMA_FIFOMODE_DISABLE
Dma.ADC1.12.Instance=DMA2_Stream4
Dma.ADC1.12.MemDataAlignment=DMA_MDATAALIGN_HALFWORD
Dma.ADC1.12.MemInc=DMA_MINC_ENABLE
Dma.ADC1.12.Mode=DMA_NORMAL
Dma.ADC1.12.PeriphDataAlignment=DMA_PDATAALIGN_HALFWORD
Dma.ADC1.12.PeriphInc=DMA_PINC_DISABLE
Dma.ADC1.12.Priority=DMA_PRIORITY_LOW
Dma.ADC1.12.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
Dma.I2C2_RX.8.Direction=DMA_PERIPH_TO_MEMORY
Dma.I2C2_RX.8.FIFOMode=DMA_FIFOMODE_DISABLE
Dma.I2C2_RX.8.Instance=DMA1_Stream2
Dma.I2C2_RX.8.MemDataAlignment=DMA_MDATAALIGN_BYTE
Dma.I2C2_RX.8.MemInc=DMA_MINC_ENABLE
Dma.I2C2_RX.8.Mode=DMA_NORMAL
Dma.I2C2_RX.8.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
Dma.I2C2_RX.8.PeriphInc=DMA_PINC_DISABLE
Dma.I2C2_RX.8.Priority=DMA_PRIORITY_LOW
Dma.I2C2_RX.8.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
Dma.I2C2_TX.9.Direction=DMA_MEMORY_TO_PERIPH
Dma.I2C2_TX.9.FIFOMode=DMA_FIFOMODE_DISABLE
Dma.I2C2_TX.9.Instance=DMA1_Stream7
Dma.I2C2_TX.9.MemDataAlignment=DMA_MDATAALIGN_BYTE
Dma.I2C2_TX.9.MemInc=DMA_MINC_ENABLE
Dma.I2C2_TX.9.Mode=DMA_NORMAL
Dma.I2C2_TX.9.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
Dma.I2C2_TX.9.PeriphInc=DMA_PINC_DISABLE
Dma.I2C2_TX.9.Priority=DMA_PRIORITY_LOW
Dma.I2C2_TX.9.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
Dma.MEMTOMEM.11.Direction=DMA_MEMORY_TO_MEMORY
Dma.MEMTOMEM.11.FIFOMode=DMA_FIFOMODE_ENABLE
Dma.MEMTOMEM.11.FIFOThreshold=DMA_FIFO_THRESHOLD_FULL
Dma.MEMTOMEM.11.Instance=DMA2_Stream5
Dma.MEMTOMEM.11.MemBurst=DMA_MBURST_SINGLE
Dma.MEMTOMEM.11.MemDataAlignment=DMA_MDATAALIGN_BYTE
Dma.MEMTOMEM.11.MemInc=DMA_MINC_ENABLE
Dma.MEMTOMEM.11.Mode=DMA_NORMAL
Dma.MEMTOMEM.11.PeriphBurst=DMA_PBURST_SINGLE
Dma.MEMTOMEM.11.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
Dma.MEMTOMEM.11.PeriphInc=DMA_PINC_ENABLE
Dma.MEMTOMEM.11.Priority=DMA_PRIORITY_LOW
Dma.MEMTOMEM.11.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,FIFOThreshold,MemBurst,PeriphBurst
Dma.ADC1.8.Direction=DMA_PERIPH_TO_MEMORY
Dma.ADC1.8.FIFOMode=DMA_FIFOMODE_DISABLE
Dma.ADC1.8.Instance=DMA2_Stream4
Dma.ADC1.8.MemDataAlignment=DMA_MDATAALIGN_HALFWORD
Dma.ADC1.8.MemInc=DMA_MINC_ENABLE
Dma.ADC1.8.Mode=DMA_NORMAL
Dma.ADC1.8.PeriphDataAlignment=DMA_PDATAALIGN_HALFWORD
Dma.ADC1.8.PeriphInc=DMA_PINC_DISABLE
Dma.ADC1.8.Priority=DMA_PRIORITY_LOW
Dma.ADC1.8.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
Dma.I2C2_RX.9.Direction=DMA_PERIPH_TO_MEMORY
Dma.I2C2_RX.9.FIFOMode=DMA_FIFOMODE_DISABLE
Dma.I2C2_RX.9.Instance=DMA1_Stream2
Dma.I2C2_RX.9.MemDataAlignment=DMA_MDATAALIGN_BYTE
Dma.I2C2_RX.9.MemInc=DMA_MINC_ENABLE
Dma.I2C2_RX.9.Mode=DMA_NORMAL
Dma.I2C2_RX.9.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
Dma.I2C2_RX.9.PeriphInc=DMA_PINC_DISABLE
Dma.I2C2_RX.9.Priority=DMA_PRIORITY_LOW
Dma.I2C2_RX.9.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
Dma.I2C2_TX.10.Direction=DMA_MEMORY_TO_PERIPH
Dma.I2C2_TX.10.FIFOMode=DMA_FIFOMODE_DISABLE
Dma.I2C2_TX.10.Instance=DMA1_Stream7
Dma.I2C2_TX.10.MemDataAlignment=DMA_MDATAALIGN_BYTE
Dma.I2C2_TX.10.MemInc=DMA_MINC_ENABLE
Dma.I2C2_TX.10.Mode=DMA_NORMAL
Dma.I2C2_TX.10.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
Dma.I2C2_TX.10.PeriphInc=DMA_PINC_DISABLE
Dma.I2C2_TX.10.Priority=DMA_PRIORITY_LOW
Dma.I2C2_TX.10.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
Dma.Request0=USART6_RX
Dma.Request1=USART6_TX
Dma.Request10=USART3_RX
Dma.Request11=MEMTOMEM
Dma.Request12=ADC1
Dma.Request10=I2C2_TX
Dma.Request11=SPI1_TX
Dma.Request2=USART1_TX
Dma.Request3=USART1_RX
Dma.Request4=SPI1_RX
Dma.Request5=SPI1_TX
Dma.Request6=SPI2_RX
Dma.Request7=SPI2_TX
Dma.Request8=I2C2_RX
Dma.Request9=I2C2_TX
Dma.RequestsNb=13
Dma.Request5=SPI2_RX
Dma.Request6=SPI2_TX
Dma.Request7=USART3_RX
Dma.Request8=ADC1
Dma.Request9=I2C2_RX
Dma.RequestsNb=12
Dma.SPI1_RX.4.Direction=DMA_PERIPH_TO_MEMORY
Dma.SPI1_RX.4.FIFOMode=DMA_FIFOMODE_ENABLE
Dma.SPI1_RX.4.FIFOThreshold=DMA_FIFO_THRESHOLD_FULL
Dma.SPI1_RX.4.Instance=DMA2_Stream0
Dma.SPI1_RX.4.MemBurst=DMA_MBURST_SINGLE
Dma.SPI1_RX.4.MemDataAlignment=DMA_MDATAALIGN_BYTE
Dma.Request5=MEMTOMEM
Dma.Request6=SPI1_RX
Dma.Request7=SPI1_TX
Dma.Request8=SPI2_RX
Dma.Request9=SPI2_TX
Dma.SPI1_RX.4.MemInc=DMA_MINC_ENABLE
Dma.SPI1_RX.4.Mode=DMA_NORMAL
Dma.SPI1_RX.4.PeriphBurst=DMA_PBURST_SINGLE
@ -112,100 +77,45 @@ Dma.SPI1_RX.4.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
Dma.SPI1_RX.4.PeriphInc=DMA_PINC_DISABLE
Dma.SPI1_RX.4.Priority=DMA_PRIORITY_LOW
Dma.SPI1_RX.4.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,FIFOThreshold,MemBurst,PeriphBurst
Dma.SPI1_TX.5.Direction=DMA_MEMORY_TO_PERIPH
Dma.SPI1_TX.5.FIFOMode=DMA_FIFOMODE_ENABLE
Dma.SPI1_TX.5.FIFOThreshold=10
Dma.SPI1_RX.6.Direction=DMA_PERIPH_TO_MEMORY
Dma.SPI1_RX.6.FIFOMode=DMA_FIFOMODE_ENABLE
Dma.SPI1_RX.6.FIFOThreshold=DMA_FIFO_THRESHOLD_FULL
Dma.SPI1_RX.6.Instance=DMA2_Stream0
Dma.SPI1_RX.6.MemBurst=DMA_MBURST_SINGLE
Dma.SPI1_RX.6.MemDataAlignment=DMA_MDATAALIGN_BYTE
Dma.SPI1_RX.6.MemInc=DMA_MINC_ENABLE
Dma.SPI1_RX.6.Mode=DMA_NORMAL
Dma.SPI1_RX.6.PeriphBurst=DMA_PBURST_SINGLE
Dma.SPI1_RX.6.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
Dma.SPI1_RX.6.PeriphInc=DMA_PINC_DISABLE
Dma.SPI1_RX.6.Priority=DMA_PRIORITY_LOW
Dma.SPI1_RX.6.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,FIFOThreshold,MemBurst,PeriphBurst
Dma.SPI1_TX.7.Direction=DMA_MEMORY_TO_PERIPH
Dma.SPI1_TX.7.FIFOMode=DMA_FIFOMODE_ENABLE
Dma.SPI1_TX.7.FIFOThreshold=DMA_FIFO_THRESHOLD_FULL
Dma.SPI1_TX.7.Instance=DMA2_StreamDMA_FIFO_THRESHOLD_FULL
Dma.SPI1_TX.5.Instance=DMA2_Stream3
Dma.SPI1_TX.7.MemBurst=DMA_MBURST_SINGLE
Dma.SPI1_TX.7.MemDataAlignment=DMA_MDATAALIGN_BYTE
Dma.SPI1_TX.7.MemInc=DMA_MINC_ENABLE
Dma.SPI1_TX.7.Mode=DMA_NORMAL
Dma.SPI1_TX.7.PeriphBurst=DMA_PBURST_SINGLE
Dma.SPI1_TX.7.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
Dma.SPI1_TX.7.PeriphInc=DMA_PINC_DISABLE
Dma.SPI1_TX.7.Priority=DMA_PRIORITY_LOW
Dma.SPI1_TX.7.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,FIFOThreshold,MemBurst,PeriphBurst
Dma.SPI2_RX.8.Direction=DMA_PERIPH_TO_MEMORY
Dma.SPI2_RX.8.FIFOMode=DMA_FIFOMODE_ENABLE
Dma.SPI2_RX.8.FIFOThreshold=DMA_FIFO_THRESHOLD_FULL
Dma.SPI2_RX.8.Instance=DMA1_Stream3
Dma.SPI2_RX.8.MemBurst=DMA_MBURST_SINGLE
Dma.SPI2_RX.8.MemDataAlignment=DMA_MDATAALIGN_BYTE
Dma.SPI2_RX.8.MemInc=DMA_MINC_ENABLE
Dma.SPI2_RX.8.Mode=DMA_NORMAL
Dma.SPI2_RX.8.PeriphBurst=DMA_PBURST_SINGLE
Dma.SPI2_RX.8.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
Dma.SPI2_RX.8.PeriphInc=DMA_PINC_DISABLE
Dma.SPI2_RX.8.Priority=DMA_PRIORITY_LOW
Dma.SPI2_RX.8.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,FIFOThreshold,MemBurst,PeriphBurst
Dma.SPI2_TX.9.Direction=DMA_MEMORY_TO_PERIPH
Dma.SPI2_TX.9.FIFOMode=DMA_FIFOMODE_ENABLE
Dma.SPI2_TX.9.FIFOThreshold=DMA_FIFO_THRESHOLD_FULL
Dma.SPI2_TX.9.Instance=DMA1_Stream4
Dma.SPI2_TX.9.MemBurst=DMA_MBURST_SINGLE
Dma.SPI2_TX.9.MemDataAlignment=DMA_MDATAALIGN_BYTE
Dma.SPI2_TX.9.MemInc=DMA_MINC_ENABLE
Dma.SPI2_TX.9.Mode=DMA_NORMAL
Dma.SPI2_TX.9.PeriphBurst=DMA_PBURST_SINGLE
Dma.SPI2_TX.9.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
Dma.SPI2_TX.9.PeriphInc=DMA_PINC_DISABLE
Dma.SPI2_TX.9.Priority=DMA_PRIORITY_LOW
Dma.SPI2_TX.9.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,FIFOThreshold,MemBurst,PeriphBurst
Dma.SPI1_TX.5.MemBurst=DMA_MBURST_SINGLE
Dma.SPI1_TX.5.MemDataAlignment=DMA_MDATAALIGN_BYTE
Dma.SPI1_TX.5.MemInc=DMA_MINC_ENABLE
Dma.SPI1_TX.5.Mode=DMA_NORMAL
Dma.SPI1_TX.5.PeriphBurst=DMA_PBURST_SINGLE
Dma.SPI1_TX.5.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
Dma.SPI1_TX.5.PeriphInc=DMA_PINC_DISABLE
Dma.SPI1_TX.5.Priority=DMA_PRIORITY_LOW
Dma.SPI1_TX.5.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,FIFOThreshold,MemBurst,PeriphBurst
Dma.SPI2_RX.6.Direction=DMA_PERIPH_TO_MEMORY
Dma.SPI2_RX.6.FIFOMode=DMA_FIFOMODE_ENABLE
Dma.SPI2_RX.6.FIFOThreshold=DMA_FIFO_THRESHOLD_FULL
Dma.SPI2_RX.6.Instance=DMA1_Stream3
Dma.SPI2_RX.6.MemBurst=DMA_MBURST_SINGLE
Dma.SPI2_RX.6.MemDataAlignment=DMA_MDATAALIGN_BYTE
Dma.SPI2_RX.6.MemInc=DMA_MINC_ENABLE
Dma.SPI2_RX.6.Mode=DMA_NORMAL
Dma.SPI2_RX.6.PeriphBurst=DMA_PBURST_SINGLE
Dma.SPI2_RX.6.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
Dma.SPI2_RX.6.PeriphInc=DMA_PINC_DISABLE
Dma.SPI2_RX.6.Priority=DMA_PRIORITY_LOW
Dma.SPI2_RX.6.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,FIFOThreshold,MemBurst,PeriphBurst
Dma.SPI2_TX.7.Direction=DMA_MEMORY_TO_PERIPH
Dma.SPI2_TX.7.FIFOMode=DMA_FIFOMODE_ENABLE
Dma.SPI2_TX.7.FIFOThreshold=DMA_FIFO_THRESHOLD_FULL
Dma.SPI2_TX.7.Instance=DMA1_Stream4
Dma.SPI2_TX.7.MemBurst=DMA_MBURST_SINGLE
Dma.SPI2_TX.7.MemDataAlignment=DMA_MDATAALIGN_BYTE
Dma.SPI2_TX.7.MemInc=DMA_MINC_ENABLE
Dma.SPI2_TX.7.Mode=DMA_NORMAL
Dma.SPI2_TX.7.PeriphBurst=DMA_PBURST_SINGLE
Dma.SPI2_TX.7.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
Dma.SPI2_TX.7.PeriphInc=DMA_PINC_DISABLE
Dma.SPI2_TX.7.Priority=DMA_PRIORITY_LOW
Dma.SPI2_TX.7.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,FIFOThreshold,MemBurst,PeriphBurst
Dma.SPI1_TX.11.Direction=DMA_MEMORY_TO_PERIPH
Dma.SPI1_TX.11.FIFOMode=DMA_FIFOMODE_DISABLE
Dma.SPI1_TX.11.Instance=DMA2_Stream3
Dma.SPI1_TX.11.MemDataAlignment=DMA_MDATAALIGN_BYTE
Dma.SPI1_TX.11.MemInc=DMA_MINC_ENABLE
Dma.SPI1_TX.11.Mode=DMA_NORMAL
Dma.SPI1_TX.11.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
Dma.SPI1_TX.11.PeriphInc=DMA_PINC_DISABLE
Dma.SPI1_TX.11.Priority=DMA_PRIORITY_LOW
Dma.SPI1_TX.11.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
Dma.SPI2_RX.5.Direction=DMA_PERIPH_TO_MEMORY
Dma.SPI2_RX.5.FIFOMode=DMA_FIFOMODE_ENABLE
Dma.SPI2_RX.5.FIFOThreshold=DMA_FIFO_THRESHOLD_FULL
Dma.SPI2_RX.5.Instance=DMA1_Stream3
Dma.SPI2_RX.5.MemBurst=DMA_MBURST_SINGLE
Dma.SPI2_RX.5.MemDataAlignment=DMA_MDATAALIGN_BYTE
Dma.SPI2_RX.5.MemInc=DMA_MINC_ENABLE
Dma.SPI2_RX.5.Mode=DMA_NORMAL
Dma.SPI2_RX.5.PeriphBurst=DMA_PBURST_SINGLE
Dma.SPI2_RX.5.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
Dma.SPI2_RX.5.PeriphInc=DMA_PINC_DISABLE
Dma.SPI2_RX.5.Priority=DMA_PRIORITY_LOW
Dma.SPI2_RX.5.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,FIFOThreshold,MemBurst,PeriphBurst
Dma.SPI2_TX.6.Direction=DMA_MEMORY_TO_PERIPH
Dma.SPI2_TX.6.FIFOMode=DMA_FIFOMODE_ENABLE
Dma.SPI2_TX.6.FIFOThreshold=DMA_FIFO_THRESHOLD_FULL
Dma.SPI2_TX.6.Instance=DMA1_Stream4
Dma.SPI2_TX.6.MemBurst=DMA_MBURST_SINGLE
Dma.SPI2_TX.6.MemDataAlignment=DMA_MDATAALIGN_BYTE
Dma.SPI2_TX.6.MemInc=DMA_MINC_ENABLE
Dma.SPI2_TX.6.Mode=DMA_NORMAL
Dma.SPI2_TX.6.PeriphBurst=DMA_PBURST_SINGLE
Dma.SPI2_TX.6.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
Dma.SPI2_TX.6.PeriphInc=DMA_PINC_DISABLE
Dma.SPI2_TX.6.Priority=DMA_PRIORITY_LOW
Dma.SPI2_TX.6.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,FIFOThreshold,MemBurst,PeriphBurst
Dma.USART1_RX.3.Direction=DMA_PERIPH_TO_MEMORY
Dma.USART1_RX.3.FIFOMode=DMA_FIFOMODE_DISABLE
Dma.USART1_RX.3.Instance=DMA2_Stream2
Dma.USART1_RX.3.Instance=DMA2_Stream5
Dma.USART1_RX.3.MemDataAlignment=DMA_MDATAALIGN_BYTE
Dma.USART1_RX.3.MemInc=DMA_MINC_ENABLE
Dma.USART1_RX.3.Mode=DMA_NORMAL
@ -223,19 +133,19 @@ Dma.USART1_TX.2.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
Dma.USART1_TX.2.PeriphInc=DMA_PINC_DISABLE
Dma.USART1_TX.2.Priority=DMA_PRIORITY_VERY_HIGH
Dma.USART1_TX.2.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
Dma.USART3_RX.10.Direction=DMA_PERIPH_TO_MEMORY
Dma.USART3_RX.10.FIFOMode=DMA_FIFOMODE_DISABLE
Dma.USART3_RX.10.Instance=DMA1_Stream1
Dma.USART3_RX.10.MemDataAlignment=DMA_MDATAALIGN_BYTE
Dma.USART3_RX.10.MemInc=DMA_MINC_ENABLE
Dma.USART3_RX.10.Mode=DMA_NORMAL
Dma.USART3_RX.10.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
Dma.USART3_RX.10.PeriphInc=DMA_PINC_DISABLE
Dma.USART3_RX.10.Priority=DMA_PRIORITY_LOW
Dma.USART3_RX.10.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
Dma.USART3_RX.7.Direction=DMA_PERIPH_TO_MEMORY
Dma.USART3_RX.7.FIFOMode=DMA_FIFOMODE_DISABLE
Dma.USART3_RX.7.Instance=DMA1_Stream1
Dma.USART3_RX.7.MemDataAlignment=DMA_MDATAALIGN_BYTE
Dma.USART3_RX.7.MemInc=DMA_MINC_ENABLE
Dma.USART3_RX.7.Mode=DMA_NORMAL
Dma.USART3_RX.7.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
Dma.USART3_RX.7.PeriphInc=DMA_PINC_DISABLE
Dma.USART3_RX.7.Priority=DMA_PRIORITY_LOW
Dma.USART3_RX.7.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
Dma.USART6_RX.0.Direction=DMA_PERIPH_TO_MEMORY
Dma.USART6_RX.0.FIFOMode=DMA_FIFOMODE_DISABLE
Dma.USART6_RX.0.Instance=DMA2_Stream1
Dma.USART6_RX.0.Instance=DMA2_Stream2
Dma.USART6_RX.0.MemDataAlignment=DMA_MDATAALIGN_BYTE
Dma.USART6_RX.0.MemInc=DMA_MINC_ENABLE
Dma.USART6_RX.0.Mode=DMA_NORMAL
@ -265,10 +175,6 @@ I2C2.I2C_Mode=I2C_Fast
I2C2.IPParameters=I2C_Mode
I2C3.I2C_Mode=I2C_Fast
I2C3.IPParameters=I2C_Mode
I2C2.I2C_Mode=I2C_Fast
I2C2.IPParameters=I2C_Mode
I2C3.I2C_Mode=I2C_Fast
I2C3.IPParameters=I2C_Mode
KeepUserPlacement=false
Mcu.CPN=STM32F407IGH6
Mcu.Family=STM32F4
@ -313,8 +219,6 @@ Mcu.Pin16=PD1
Mcu.Pin17=PA11
Mcu.Pin18=PF0
Mcu.Pin19=PA9
Mcu.Pin18=PF0
Mcu.Pin19=PA9
Mcu.Pin2=PG14
Mcu.Pin20=PC9
Mcu.Pin21=PA8
@ -326,16 +230,6 @@ Mcu.Pin26=PG6
Mcu.Pin27=PH12
Mcu.Pin28=PG3
Mcu.Pin29=PH11
Mcu.Pin20=PC9
Mcu.Pin21=PA8
Mcu.Pin22=PH0-OSC_IN
Mcu.Pin23=PH1-OSC_OUT
Mcu.Pin24=PF1
Mcu.Pin25=PC6
Mcu.Pin26=PG6
Mcu.Pin27=PH12
Mcu.Pin28=PG3
Mcu.Pin29=PH11
Mcu.Pin3=PB4
Mcu.Pin30=PH10
Mcu.Pin31=PD14
@ -391,11 +285,10 @@ NVIC.DMA1_Stream3_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
NVIC.DMA1_Stream4_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
NVIC.DMA1_Stream7_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
NVIC.DMA2_Stream0_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
NVIC.DMA2_Stream1_IRQn=true\:5\:0\:false\:false\:true\:false\:false\:true\:true
NVIC.DMA2_Stream2_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
NVIC.DMA2_Stream3_IRQn=true\:5\:0\:false\:false\:true\:false\:false\:true\:true
NVIC.DMA2_Stream3_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
NVIC.DMA2_Stream4_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
NVIC.DMA2_Stream5_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
NVIC.DMA2_Stream5_IRQn=true\:5\:0\:false\:false\:true\:false\:false\:true\:true
NVIC.DMA2_Stream6_IRQn=true\:5\:0\:true\:false\:true\:true\:false\:true\:true
NVIC.DMA2_Stream7_IRQn=true\:5\:0\:true\:false\:true\:true\:false\:true\:true
NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
@ -412,8 +305,6 @@ NVIC.PendSV_IRQn=true\:15\:0\:false\:false\:false\:true\:false\:false\:false
NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4
NVIC.SPI1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.SPI2_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.SPI1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.SPI2_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:false\:false\:false\:false\:false
NVIC.SavedPendsvIrqHandlerGenerated=true
NVIC.SavedSvcallIrqHandlerGenerated=true

45
bsp/can/bsp_can.c
View File

@ -5,7 +5,7 @@
/* can instance ptrs storage, used for recv callback */
// 在CAN产生接收中断会遍历数组,选出hcan和rxid与发生中断的实例相同的那个,调用其回调函数
static CANInstance *instance[MX_REGISTER_DEVICE_CNT] = {NULL};
static CANInstance *can_instance[MX_REGISTER_DEVICE_CNT] = {NULL};
static uint8_t idx; // 全局CAN实例索引,每次有新的模块注册会自增
/* ----------------two static function called by CANRegister()-------------------- */
@ -67,22 +67,24 @@ CANInstance *CANRegister(CAN_Init_Config_s *config)
{
CANServiceInit(); // 第一次注册,先进行硬件初始化
}
instance[idx] = (CANInstance *)malloc(sizeof(CANInstance)); // 分配空间
memset(instance[idx], 0, sizeof(CANInstance));
CANInstance *instance = (CANInstance *)malloc(sizeof(CANInstance)); // 分配空间
memset(instance, 0, sizeof(CANInstance));
// 进行发送报文的配置
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; // 默认发送长度为8
instance->txconf.StdId = config->tx_id;
instance->txconf.IDE = CAN_ID_STD;
instance->txconf.RTR = CAN_RTR_DATA;
instance->txconf.DLC = 0x08; // 默认发送长度为8
// 设置回调函数和接收发送id
instance[idx]->can_handle = config->can_handle;
instance[idx]->tx_id = config->tx_id; // 好像没用,可以删掉
instance[idx]->rx_id = config->rx_id;
instance[idx]->can_module_callback = config->can_module_callback;
instance[idx]->id = config->id;
instance->can_handle = config->can_handle;
instance->tx_id = config->tx_id; // 好像没用,可以删掉
instance->rx_id = config->rx_id;
instance->can_module_callback = config->can_module_callback;
instance->id = config->id;
CANAddFilter(instance[idx]); // 添加CAN过滤器规则
return instance[idx++]; // 返回指针
CANAddFilter(instance); // 添加CAN过滤器规则
can_instance[idx++] = instance; // 将实例保存到can_instance中
return instance; // 返回can实例指针
}
/* TODO:目前似乎封装过度,应该添加一个指向tx_buff的指针,tx_buff不应该由CAN instance保存 */
@ -117,17 +119,16 @@ static void CANFIFOxCallback(CAN_HandleTypeDef *_hcan, uint32_t fifox)
static CAN_RxHeaderTypeDef rxconf;
HAL_CAN_GetRxMessage(_hcan, fifox, &rxconf, can_rx_buff);
for (size_t i = 0; i < idx; ++i)
{
// 两者相等说明这是要找的实例
if (_hcan == instance[i]->can_handle && rxconf.StdId == instance[i]->rx_id)
{ // 两者相等说明这是要找的实例
if (_hcan == can_instance[i]->can_handle && rxconf.StdId == can_instance[i]->rx_id)
{
instance[i]->rx_len = rxconf.DLC;
memcpy(instance[i]->rx_buff, can_rx_buff, rxconf.DLC); // 消息拷贝到对应实例
if (instance[i]->can_module_callback != NULL)
if (can_instance[i]->can_module_callback != NULL)
{
instance[i]->can_module_callback(instance[i]); // 触发回调进行数据解析和处理
can_instance[i]->rx_len = rxconf.DLC; // 保存接收到的数据长度
memcpy(can_instance[i]->rx_buff, can_rx_buff, rxconf.DLC); // 消息拷贝到对应实例
can_instance[i]->can_module_callback(can_instance[i]); // 触发回调进行数据解析和处理
}
break;
return;
}
}
}

0
bsp/dac/bsp_dac.h
View File

0
bsp/dac/bsp_dac.md
View File

18
bsp/iic/bsp_iic.c
View File

@ -37,16 +37,18 @@ void HAL_I2C_MemRxCpltCallback(I2C_HandleTypeDef *hi2c)
IICInstance *IICRegister(IIC_Init_Config_s *conf)
{
// 申请到的空间未必是0, 所以需要手动初始化
iic_instance[idx] = (IICInstance *)malloc(sizeof(IICInstance));
memset(iic_instance[idx], 0, sizeof(IICInstance));
IICInstance *instance = (IICInstance *)malloc(sizeof(IICInstance));
instance = (IICInstance *)malloc(sizeof(IICInstance));
memset(instance, 0, sizeof(IICInstance));
iic_instance[idx]->dev_address = conf->dev_address;
iic_instance[idx]->callback = conf->callback;
iic_instance[idx]->work_mode = conf->work_mode;
iic_instance[idx]->handle = conf->handle;
iic_instance[idx]->id = conf->id;
instance->dev_address = conf->dev_address;
instance->callback = conf->callback;
instance->work_mode = conf->work_mode;
instance->handle = conf->handle;
instance->id = conf->id;
return iic_instance[idx++];
iic_instance[idx++] = instance;
return instance;
}
void IICSetMode(IICInstance *iic, IIC_Work_Mode_e mode)

67
bsp/pwm/bsp_pwm.c
View File

@ -0,0 +1,67 @@
#include "bsp_pwm.h"
#include "stdlib.h"
#include "memory.h"
// 配合中断以及初始化
static uint8_t idx;
static PWMInstance *pwm_instance[PWM_DEVICE_CNT] = {NULL}; // 所有的pwm instance保存于此,用于callback时判断中断来源
void HAL_TIM_PWM_PulseFinishedCallback(TIM_HandleTypeDef *htim)
{
for (uint8_t i = 0; i < idx; i++)
{ // 来自同一个定时器的中断且通道相同
if (pwm_instance[i]->htim == htim && htim->Channel == pwm_instance[i]->channel)
{
if (pwm_instance[i]->callback) // 如果有回调函数
{
pwm_instance[i]->callback(pwm_instance[i]);
}
return; // 一次只能有一个通道的中断,所以直接返回
}
}
}
PWMInstance *PWMRegister(PWM_Init_Config_s *config)
{
PWMInstance *pwm = (PWMInstance *)malloc(sizeof(PWMInstance));
memset(pwm, 0, sizeof(PWMInstance));
pwm->htim = config->htim;
pwm->channel = config->channel;
pwm->period = config->period;
pwm->pulse = config->pulse;
pwm->callback = config->callback;
pwm->id = config->id;
HAL_TIM_PWM_Start(pwm->htim, pwm->channel);
__HAL_TIM_SetCompare(pwm->htim, pwm->channel, pwm->pulse);
pwm_instance[idx++] = pwm;
return pwm;
}
/* 只是对HAL的函数进行了形式上的封装 */
void PWMStart(PWMInstance *pwm)
{
HAL_TIM_PWM_Start(pwm->htim, pwm->channel);
__HAL_TIM_SetCompare(pwm->htim, pwm->channel, pwm->pulse);
}
/* 只是对HAL的函数进行了形式上的封装 */
void PWMStop(PWMInstance *pwm)
{
HAL_TIM_PWM_Stop(pwm->htim, pwm->channel);
}
/* 只是对HAL的函数进行了形式上的封装 */
void PWMSetPulse(PWMInstance *pwm, uint32_t pulse)
{
pwm->pulse = pulse;
__HAL_TIM_SetCompare(pwm->htim, pwm->channel, pwm->pulse);
}
/* 只是对HAL的函数进行了形式上的封装 */
void PWMStartDMA(PWMInstance *pwm, uint32_t *pData, uint32_t Size)
{
HAL_TIM_PWM_Start_DMA(pwm->htim, pwm->channel, pData, Size);
}

71
bsp/pwm/bsp_pwm.h
View File

@ -0,0 +1,71 @@
#ifndef BSP_PWM_H
#define BSP_PWM_H
#include "tim.h"
#include "stdint.h"
#define PWM_DEVICE_CNT 16 // PWM实例数量
/* pwm实例结构体 */
typedef struct pwm_ins_temp
{
TIM_HandleTypeDef *htim; // TIM句柄
uint32_t channel; // 通道
uint32_t period; // 周期
uint32_t pulse; // 脉宽
void (*callback)(struct pwm_ins_temp *); // DMA传输完成回调函数
void *id; // 实例ID
} PWMInstance;
typedef struct
{
TIM_HandleTypeDef *htim; // TIM句柄
uint32_t channel; // 通道
uint32_t period; // 周期
uint32_t pulse; // 脉宽
void (*callback)(struct pwm_ins_temp *); // DMA传输完成回调函数
void *id; // 实例ID
} PWM_Init_Config_s;
/**
* @brief 注册一个pwm实例
*
* @param config 初始化配置
* @return PWMInstance*
*/
PWMInstance *PWMRegister(PWM_Init_Config_s *config);
/**
* @brief 启动pwm
*
* @param pwm pwm实例
*/
void PWMStart(PWMInstance *pwm);
/**
* @brief 停止pwm
*
* @param pwm pwm实例
*/
void PWMStop(PWMInstance *pwm);
/**
* @brief 设置pwm脉宽
*
* @param pwm pwm实例
* @param pulse 脉宽
*/
void PWMSetPulse(PWMInstance *pwm, uint32_t pulse);
/**
* @brief 启动pwm dma传输
*
* @param pwm pwm实例
* @param pData 数据首地址指针,注意数据的位数必须和CubeMX配置的DMA传输位数(字长)一致
* @param Size 数据长度
* @note 如果使用此函数,则需要在CubeMX中配置DMA传输位数为对应位数
* 例如:使用16位数据,则需要配置DMA传输位数为16位(half word),配置错误会导致指针越界或数据错误
*/
void PWMStartDMA(PWMInstance *pwm, uint32_t *pData, uint32_t Size);
#endif // BSP_PWM_H

0
bsp/dac/bsp_dac.c → bsp/pwm/bsp_pwm.md
View File

21
bsp/spi/bsp_spi.c
View File

@ -25,7 +25,7 @@ void HAL_SPI_RxCpltCallback(SPI_HandleTypeDef *hspi)
HAL_GPIO_WritePin(spi_instance[i]->GPIO_cs, spi_instance[i]->cs_pin, GPIO_PIN_SET);
spi_instance[i]->callback(spi_instance[i]);
}
break;
return;
}
}
}
@ -42,14 +42,17 @@ void HAL_SPI_TxRxCpltCallback(SPI_HandleTypeDef *hspi)
SPIInstance *SPIRegister(SPI_Init_Config_s *conf)
{
spi_instance[idx] = (SPIInstance *)malloc(sizeof(SPIInstance));
spi_instance[idx]->callback = conf->callback;
spi_instance[idx]->spi_work_mode = conf->spi_work_mode;
spi_instance[idx]->spi_handle = conf->spi_handle;
spi_instance[idx]->GPIO_cs = conf->GPIO_cs;
spi_instance[idx]->cs_pin = conf->cs_pin;
spi_instance[idx]->id = conf->id;
return spi_instance[idx++];
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;
instance->spi_work_mode = conf->spi_work_mode;
instance->callback = conf->callback;
instance->id = conf->id;
spi_instance[idx++] = instance;
return instance;
}
void SPITransmit(SPIInstance *spi_ins, uint8_t *ptr_data, uint8_t len)

52
bsp/usart/bsp_usart.c
View File

@ -14,7 +14,8 @@
/* usart service instance, modules' info would be recoreded here using USARTRegister() */
/* usart服务实例,所有注册了usart的模块信息会被保存在这里 */
static USARTInstance *instance[DEVICE_USART_CNT] = {NULL};
static uint8_t idx;
static USARTInstance *usart_instance[DEVICE_USART_CNT] = {NULL};
/**
* @brief usart service will start automatically, after each module registered
@ -27,23 +28,21 @@ static void USARTServiceInit(USARTInstance *_instance)
HAL_UARTEx_ReceiveToIdle_DMA(_instance->usart_handle, _instance->recv_buff, _instance->recv_buff_size);
// 关闭dma half transfer中断防止两次进入HAL_UARTEx_RxEventCallback()
// 这是HAL库的一个设计失误,发生DMA传输完成/半完成以及串口IDLE中断都会触发HAL_UARTEx_RxEventCallback()
// 我们只希望处理，因此直接关闭DMA半传输中断第一种和第三种情况
// 我们只希望处理第一种和第三种情况,因此直接关闭DMA半传输中断
__HAL_DMA_DISABLE_IT(_instance->usart_handle->hdmarx, DMA_IT_HT);
}
USARTInstance *USARTRegister(USART_Init_Config_s *init_config)
{
static uint8_t idx;
USARTInstance *instance = (USARTInstance *)malloc(sizeof(USARTInstance));
memset(instance, 0, sizeof(USARTInstance));
instance[idx] = (USARTInstance *)malloc(sizeof(USARTInstance));
memset(instance[idx], 0, sizeof(USARTInstance));
instance->usart_handle = init_config->usart_handle;
instance->recv_buff_size = init_config->recv_buff_size;
instance->module_callback = init_config->module_callback;
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++];
usart_instance[idx++] = instance;
return instance;
}
/* @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 */
@ -70,15 +69,18 @@ void USARTSend(USARTInstance *_instance, uint8_t *send_buf, uint16_t send_size)
*/
void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)
{
for (uint8_t i = 0; i < 3; ++i)
{
if (huart == instance[i]->usart_handle)
{
instance[i]->module_callback();
memset(instance[i]->recv_buff, 0, Size); // 接收结束后清空buffer,对于变长数据是必要的
HAL_UARTEx_ReceiveToIdle_DMA(instance[i]->usart_handle, instance[i]->recv_buff, instance[i]->recv_buff_size);
__HAL_DMA_DISABLE_IT(instance[i]->usart_handle->hdmarx, DMA_IT_HT);
break;
for (uint8_t i = 0; i < idx; ++i)
{ // find the instance which is being handled
if (huart == usart_instance[i]->usart_handle)
{ // call the callback function if it is not NULL
if (usart_instance[i]->module_callback != NULL)
{
usart_instance[i]->module_callback();
memset(usart_instance[i]->recv_buff, 0, Size); // 接收结束后清空buffer,对于变长数据是必要的
}
HAL_UARTEx_ReceiveToIdle_DMA(usart_instance[i]->usart_handle, usart_instance[i]->recv_buff, usart_instance[i]->recv_buff_size);
__HAL_DMA_DISABLE_IT(usart_instance[i]->usart_handle->hdmarx, DMA_IT_HT);
return; // break the loop
}
}
}
@ -93,13 +95,13 @@ void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)
*/
void HAL_UART_ErrorCallback(UART_HandleTypeDef *huart)
{
for (uint8_t i = 0; i < 3; ++i)
for (uint8_t i = 0; i < idx; ++i)
{
if (huart == instance[i]->usart_handle)
if (huart == usart_instance[i]->usart_handle)
{
HAL_UARTEx_ReceiveToIdle_DMA(instance[i]->usart_handle, instance[i]->recv_buff, instance[i]->recv_buff_size);
__HAL_DMA_DISABLE_IT(instance[i]->usart_handle->hdmarx, DMA_IT_HT);
break;
HAL_UARTEx_ReceiveToIdle_DMA(usart_instance[i]->usart_handle, usart_instance[i]->recv_buff, usart_instance[i]->recv_buff_size);
__HAL_DMA_DISABLE_IT(usart_instance[i]->usart_handle->hdmarx, DMA_IT_HT);
return;
}
}
}

4
modules/can_comm/can_comm.c
View File

@ -16,7 +16,7 @@ static void CANCommResetRx(CANCommInstance *ins)
}
/**
* @brief
* @brief cancomm的接收回调函数
*
* @param _instance
*/
@ -66,7 +66,7 @@ static void CANCommRxCallback(CANInstance *_instance)
CANCommResetRx(comm);
return; // 重置状态然后返回
}
return; // 访问完一个can comm直接退出,一次中断只会也只可能会处理一个实例的回调
return; // 访问完一个can comm直接退出,一次中断只处理一个实例的回调
}
}
}

10
modules/can_comm/can_comm.h
View File

@ -26,16 +26,16 @@ typedef struct
{
CANInstance *can_ins;
/* 发送部分 */
uint8_t send_data_len;
uint8_t send_buf_len;
uint8_t send_data_len; // 发送数据长度
uint8_t send_buf_len; // 发送缓冲区长度,为发送数据长度+帧头单包数据长度帧尾以及校验和(4)
uint8_t raw_sendbuf[CAN_COMM_MAX_BUFFSIZE + CAN_COMM_OFFSET_BYTES]; // 额外4个bytes保存帧头帧尾和校验和
/* 接收部分 */
uint8_t recv_data_len;
uint8_t recv_buf_len;
uint8_t recv_data_len; // 接收数据长度
uint8_t recv_buf_len; // 接收缓冲区长度,为接收数据长度+帧头单包数据长度帧尾以及校验和(4)
uint8_t raw_recvbuf[CAN_COMM_MAX_BUFFSIZE + CAN_COMM_OFFSET_BYTES]; // 额外4个bytes保存帧头帧尾和校验和
uint8_t unpacked_recv_data[CAN_COMM_MAX_BUFFSIZE]; // 解包后的数据,调用CANCommGet()后cast成对应的类型通过指针读取即可
/* 接收和更新标志位*/
uint8_t recv_state;
uint8_t recv_state; // 接收状态,
uint8_t cur_recv_len;
uint8_t update_flag;
} CANCommInstance;

34
modules/daemon/daemon.c
View File

@ -1,21 +1,23 @@
#include "daemon.h"
#include "bsp_dwt.h" // 后续通过定时器来计时?
#include "stdlib.h"
#include "memory.h"
// 用于保存所有的daemon instance
static DaemonInstance *daemon_instances[DAEMON_MX_CNT] = {NULL};
static uint8_t idx;
static uint8_t idx; // 用于记录当前的daemon instance数量,配合回调使用
DaemonInstance *DaemonRegister(Daemon_Init_Config_s *config)
{
daemon_instances[idx] = (DaemonInstance *)malloc(sizeof(DaemonInstance));
DaemonInstance *instance = (DaemonInstance *)malloc(sizeof(DaemonInstance));
memset(instance, 0, sizeof(DaemonInstance));
daemon_instances[idx]->reload_count = config->reload_count;
daemon_instances[idx]->callback = config->callback;
daemon_instances[idx]->owner_id = config->id;
daemon_instances[idx]->temp_count = config->reload_count;
instance->owner_id = config->owner_id;
instance->reload_count = config->reload_count;
instance->callback = config->callback;
return daemon_instances[idx++];
daemon_instances[idx++] = instance;
return instance;
}
void DaemonReload(DaemonInstance *instance)
@ -25,20 +27,20 @@ void DaemonReload(DaemonInstance *instance)
uint8_t DaemonIsOnline(DaemonInstance *instance)
{
return instance->temp_count>0;
return instance->temp_count > 0;
}
void DaemonTask()
{
static DaemonInstance* pins; //提高可读性同时降低访存开销
static DaemonInstance *dins; // 提高可读性同时降低访存开销
for (size_t i = 0; i < idx; ++i)
{
pins=daemon_instances[i];
if(pins->temp_count>0)
pins->temp_count--;
else if(pins->callback)
{ // 每个module根据自身的offline callback进行调用
pins->callback(pins->owner_id); // module将owner_id强制类型转换成自身类型
dins = daemon_instances[i];
if (dins->temp_count > 0)
dins->temp_count--;
else if (dins->callback) // 如果有callback
{
dins->callback(dins->owner_id); // module内可以将owner_id强制类型转换成自身类型从而调用自身的offline callback
}
}
}

18
modules/daemon/daemon.h
View File

@ -11,11 +11,11 @@ typedef void (*offline_callback)(void *);
/* daemon结构体定义 */
typedef struct daemon_ins
{
uint16_t reload_count; // 重载值
uint16_t reload_count; // 重载值
offline_callback callback; // 异常处理函数,当模块发生异常时会被调用
uint16_t temp_count; //当前值,减为零说明模块离线或异常
void *owner_id; // daemon实例的地址,初始化的时候填入
uint16_t temp_count; // 当前值,减为零说明模块离线或异常
void *owner_id; // daemon实例的地址,初始化的时候填入
} DaemonInstance;
@ -23,13 +23,13 @@ typedef struct daemon_ins
typedef struct
{
uint16_t reload_count; // 实际上这是app唯一需要设置的值?
offline_callback callback;
void *id; // id取拥有daemon的实例的地址,如DJIMotorInstance*,cast成void*类型
offline_callback callback;
void *owner_id; // id取拥有daemon的实例的地址,如DJIMotorInstance*,cast成void*类型
} Daemon_Init_Config_s;
/**
* @brief 注册一个daemon实例
*
*
* @param config 初始化配置
* @return DaemonInstance* 返回实例指针
*/
@ -37,14 +37,14 @@ DaemonInstance *DaemonRegister(Daemon_Init_Config_s *config);
/**
* @brief 当模块收到新的数据或进行其他动作时,调用该函数重载temp_count,相当于"喂狗"
*
*
* @param instance daemon实例指针
*/
void DaemonReload(DaemonInstance *instance);
/**
* @brief 确认模块是否离线
*
*
* @param instance daemon实例指针
* @return uint8_t 若在线且工作正常,返回1;否则返回零. 后续根据异常类型和离线状态等进行优化.
*/
@ -53,7 +53,7 @@ uint8_t DaemonIsOnline(DaemonInstance *instance);
/**
* @brief 放入rtos中,会给每个daemon实例的temp_count按频率进行递减操作.
* 模块成功接受数据或成功操作则会重载temp_count的值为reload_count.
*
*
*/
void DaemonTask();

32
modules/motor/HT04.c
View File

@ -3,7 +3,7 @@
#include "general_def.h"
static uint8_t idx;
HTMotorInstance *ht_motor_info[HT_MOTOR_CNT];
HTMotorInstance *ht_motor_instance[HT_MOTOR_CNT];
/**
* @brief
@ -45,7 +45,7 @@ static void HTMotorDecode(CANInstance *motor_can)
static uint8_t *rxbuff;
rxbuff = motor_can->rx_buff;
measure = &((HTMotorInstance *)motor_can->id)->motor_measure;
measure = &((HTMotorInstance *)motor_can->id)->motor_measure; // 将can实例中保存的id转换成电机实例的指针
measure->last_angle = measure->total_angle;
@ -63,23 +63,23 @@ static void HTMotorDecode(CANInstance *motor_can)
HTMotorInstance *HTMotorInit(Motor_Init_Config_s *config)
{
HTMotorInstance *motor = (HTMotorInstance *)malloc(sizeof(HTMotorInstance));
memset(motor, 0, sizeof(HTMotorInstance));
ht_motor_info[idx] = (HTMotorInstance *)malloc(sizeof(HTMotorInstance));
memset(ht_motor_info[idx], 0, sizeof(HTMotorInstance));
ht_motor_info[idx]->motor_settings = config->controller_setting_init_config;
PID_Init(&ht_motor_info[idx]->current_PID, &config->controller_param_init_config.current_PID);
PID_Init(&ht_motor_info[idx]->speed_PID, &config->controller_param_init_config.speed_PID);
PID_Init(&ht_motor_info[idx]->angle_PID, &config->controller_param_init_config.angle_PID);
ht_motor_info[idx]->other_angle_feedback_ptr = config->controller_param_init_config.other_angle_feedback_ptr;
ht_motor_info[idx]->other_speed_feedback_ptr = config->controller_param_init_config.other_speed_feedback_ptr;
motor->motor_settings = config->controller_setting_init_config;
PID_Init(&motor->current_PID, &config->controller_param_init_config.current_PID);
PID_Init(&motor->speed_PID, &config->controller_param_init_config.speed_PID);
PID_Init(&motor->angle_PID, &config->controller_param_init_config.angle_PID);
motor->other_angle_feedback_ptr = config->controller_param_init_config.other_angle_feedback_ptr;
motor->other_speed_feedback_ptr = config->controller_param_init_config.other_speed_feedback_ptr;
config->can_init_config.can_module_callback = HTMotorDecode;
config->can_init_config.id = ht_motor_info[idx];
ht_motor_info[idx]->motor_can_instace = CANRegister(&config->can_init_config);
config->can_init_config.id = motor;
motor->motor_can_instace = CANRegister(&config->can_init_config);
HTMotorEnable(ht_motor_info[idx]);
return ht_motor_info[idx++];
HTMotorEnable(motor);
ht_motor_instance[idx++] = motor;
return motor;
}
void HTMotorSetRef(HTMotorInstance *motor, float ref)
@ -99,7 +99,7 @@ void HTMotorControl()
// 遍历所有电机实例,计算PID
for (size_t i = 0; i < idx; i++)
{ // 先获取地址避免反复寻址
motor = ht_motor_info[i];
motor = ht_motor_instance[i];
measure = &motor->motor_measure;
setting = &motor->motor_settings;
motor_can = motor_can;

27
modules/motor/LK9025.c
View File

@ -11,7 +11,7 @@ static void LKMotorDecode(CANInstance *_instance)
static LKMotor_Measure_t *measure;
static uint8_t *rx_buff;
rx_buff = _instance->rx_buff;
measure = &((LKMotorInstance *)_instance)->measure;
measure = &((LKMotorInstance *)_instance)->measure; // 通过caninstance保存的id获取对应的motorinstance
measure->last_ecd = measure->ecd;
measure->ecd = (uint16_t)((rx_buff[7] << 8) | rx_buff[6]);
@ -36,26 +36,27 @@ static void LKMotorDecode(CANInstance *_instance)
LKMotorInstance *LKMotroInit(Motor_Init_Config_s *config)
{
lkmotor_instance[idx] = (LKMotorInstance *)malloc(sizeof(LKMotorInstance));
memset(lkmotor_instance[idx], 0, sizeof(LKMotorInstance));
LKMotorInstance *motor = (LKMotorInstance *)malloc(sizeof(LKMotorInstance));
motor = (LKMotorInstance *)malloc(sizeof(LKMotorInstance));
memset(motor, 0, sizeof(LKMotorInstance));
lkmotor_instance[idx]->motor_settings = config->controller_setting_init_config;
PID_Init(&lkmotor_instance[idx]->current_PID, &config->controller_param_init_config.current_PID);
PID_Init(&lkmotor_instance[idx]->speed_PID, &config->controller_param_init_config.speed_PID);
PID_Init(&lkmotor_instance[idx]->angle_PID, &config->controller_param_init_config.angle_PID);
lkmotor_instance[idx]->other_angle_feedback_ptr = config->controller_param_init_config.other_angle_feedback_ptr;
lkmotor_instance[idx]->other_speed_feedback_ptr = config->controller_param_init_config.other_speed_feedback_ptr;
motor->motor_settings = config->controller_setting_init_config;
PID_Init(&motor->current_PID, &config->controller_param_init_config.current_PID);
PID_Init(&motor->speed_PID, &config->controller_param_init_config.speed_PID);
PID_Init(&motor->angle_PID, &config->controller_param_init_config.angle_PID);
motor->other_angle_feedback_ptr = config->controller_param_init_config.other_angle_feedback_ptr;
motor->other_speed_feedback_ptr = config->controller_param_init_config.other_speed_feedback_ptr;
config->can_init_config.id = lkmotor_instance[idx];
config->can_init_config.id = motor;
config->can_init_config.can_module_callback = LKMotorDecode;
config->can_init_config.rx_id = 0x140 + config->can_init_config.tx_id;
config->can_init_config.tx_id = config->can_init_config.tx_id + 0x280;
lkmotor_instance[idx]->motor_can_ins = CANRegister(&config->can_init_config);
motor->motor_can_ins = CANRegister(&config->can_init_config);
if (idx == 0)
sender_instance = lkmotor_instance[idx]->motor_can_ins;
sender_instance = motor->motor_can_ins;
LKMotorEnable(lkmotor_instance[idx]);
LKMotorEnable(motor);
return lkmotor_instance[idx++];
}

172
modules/motor/dji_motor.c
View File

@ -4,7 +4,7 @@
static uint8_t idx = 0; // register idx,是该文件的全局电机索引,在注册时使用
/* DJI电机的实例,此处仅保存指针,内存的分配将通过电机实例初始化时通过malloc()进行 */
static DJIMotorInstance *dji_motor_info[DJI_MOTOR_CNT] = {NULL};
static DJIMotorInstance *dji_motor_instance[DJI_MOTOR_CNT] = {NULL};
/**
* @brief 由于DJI电机发送以四个一组的形式进行,故对其进行特殊处理,用6个(2can*3group)can_instance专门负责发送
@ -54,7 +54,7 @@ static void MotorSenderGrouping(CAN_Init_Config_s *config)
uint8_t motor_send_num;
uint8_t motor_grouping;
switch (dji_motor_info[idx]->motor_type)
switch (dji_motor_instance[idx]->motor_type)
{
case M2006:
case M3508:
@ -72,13 +72,13 @@ static void MotorSenderGrouping(CAN_Init_Config_s *config)
// 计算接收id并设置分组发送id
config->rx_id = 0x200 + motor_id + 1;
sender_enable_flag[motor_grouping] = 1;
dji_motor_info[idx]->message_num = motor_send_num;
dji_motor_info[idx]->sender_group = motor_grouping;
dji_motor_instance[idx]->message_num = motor_send_num;
dji_motor_instance[idx]->sender_group = motor_grouping;
// 检查是否发生id冲突
for (size_t i = 0; i < idx; ++i)
{
if (dji_motor_info[i]->motor_can_instance->can_handle == config->can_handle && dji_motor_info[i]->motor_can_instance->rx_id == config->rx_id)
if (dji_motor_instance[i]->motor_can_instance->can_handle == config->can_handle && dji_motor_instance[i]->motor_can_instance->rx_id == config->rx_id)
IDcrash_Handler(i, idx);
}
break;
@ -97,12 +97,12 @@ static void MotorSenderGrouping(CAN_Init_Config_s *config)
config->rx_id = 0x204 + motor_id + 1;
sender_enable_flag[motor_grouping] = 1;
dji_motor_info[idx]->message_num = motor_send_num;
dji_motor_info[idx]->sender_group = motor_grouping;
dji_motor_instance[idx]->message_num = motor_send_num;
dji_motor_instance[idx]->sender_group = motor_grouping;
for (size_t i = 0; i < idx; ++i)
{
if (dji_motor_info[i]->motor_can_instance->can_handle == config->can_handle && dji_motor_info[i]->motor_can_instance->rx_id == config->rx_id)
if (dji_motor_instance[i]->motor_can_instance->can_handle == config->can_handle && dji_motor_instance[i]->motor_can_instance->rx_id == config->rx_id)
IDcrash_Handler(i, idx);
}
break;
@ -130,8 +130,8 @@ static void DecodeDJIMotor(CANInstance *_instance)
measure->last_ecd = measure->ecd;
measure->ecd = ((uint16_t)rxbuff[0]) << 8 | rxbuff[1];
measure->angle_single_round = ECD_ANGLE_COEF_DJI * (float)measure->ecd;
measure->speed_aps = (1.0f - SPEED_SMOOTH_COEF) * measure->speed_aps +
RPM_2_ANGLE_PER_SEC * SPEED_SMOOTH_COEF * (float)((int16_t)(rxbuff[2] << 8 | rxbuff[3]));
measure->speed_aps = (1.0f - SPEED_SMOOTH_COEF) * measure->speed_aps +
RPM_2_ANGLE_PER_SEC * SPEED_SMOOTH_COEF * (float)((int16_t)(rxbuff[2] << 8 | rxbuff[3]));
measure->real_current = (1.0f - CURRENT_SMOOTH_COEF) * measure->real_current +
CURRENT_SMOOTH_COEF * (float)((int16_t)(rxbuff[4] << 8 | rxbuff[5]));
measure->temperate = rxbuff[6];
@ -147,42 +147,49 @@ static void DecodeDJIMotor(CANInstance *_instance)
// 电机初始化,返回一个电机实例
DJIMotorInstance *DJIMotorInit(Motor_Init_Config_s *config)
{
dji_motor_info[idx] = (DJIMotorInstance *)malloc(sizeof(DJIMotorInstance));
memset(dji_motor_info[idx], 0, sizeof(DJIMotorInstance));
DJIMotorInstance *instance = (DJIMotorInstance *)malloc(sizeof(DJIMotorInstance));
memset(instance, 0, sizeof(DJIMotorInstance));
// motor basic setting
dji_motor_info[idx]->motor_type = config->motor_type;
dji_motor_info[idx]->motor_settings = config->controller_setting_init_config;
instance->motor_type = config->motor_type;
instance->motor_settings = config->controller_setting_init_config;
// motor controller init
PID_Init(&dji_motor_info[idx]->motor_controller.current_PID, &config->controller_param_init_config.current_PID);
PID_Init(&dji_motor_info[idx]->motor_controller.speed_PID, &config->controller_param_init_config.speed_PID);
PID_Init(&dji_motor_info[idx]->motor_controller.angle_PID, &config->controller_param_init_config.angle_PID);
dji_motor_info[idx]->motor_controller.other_angle_feedback_ptr = config->controller_param_init_config.other_angle_feedback_ptr;
dji_motor_info[idx]->motor_controller.other_speed_feedback_ptr = config->controller_param_init_config.other_speed_feedback_ptr;
PID_Init(&instance->motor_controller.current_PID, &config->controller_param_init_config.current_PID);
PID_Init(&instance->motor_controller.speed_PID, &config->controller_param_init_config.speed_PID);
PID_Init(&instance->motor_controller.angle_PID, &config->controller_param_init_config.angle_PID);
instance->motor_controller.other_angle_feedback_ptr = config->controller_param_init_config.other_angle_feedback_ptr;
instance->motor_controller.other_speed_feedback_ptr = config->controller_param_init_config.other_speed_feedback_ptr;
// group motors, because 4 motors share the same CAN control message
MotorSenderGrouping(&config->can_init_config);
// register motor to CAN bus
config->can_init_config.can_module_callback = DecodeDJIMotor; // set callback
config->can_init_config.id = dji_motor_info[idx]; // set id,eq to address(it is identity)
dji_motor_info[idx]->motor_can_instance = CANRegister(&config->can_init_config);
config->can_init_config.id = instance; // set id,eq to address(it is identity)
instance->motor_can_instance = CANRegister(&config->can_init_config);
DJIMotorEnable(dji_motor_info[idx]);
return dji_motor_info[idx++];
DJIMotorEnable(instance);
dji_motor_instance[idx++] = instance;
return instance;
}
/* 电流只能通过电机自带传感器监测,后续考虑加入力矩传感器应变片等 */
void DJIMotorChangeFeed(DJIMotorInstance *motor, Closeloop_Type_e loop, Feedback_Source_e type)
{
if (loop == ANGLE_LOOP)
{
motor->motor_settings.angle_feedback_source = type;
}
if (loop == SPEED_LOOP)
else if (loop == SPEED_LOOP)
{
motor->motor_settings.speed_feedback_source = type;
}
else
{
while (1)
; // LOOP TYPE ERROR!!!检查是否传入了正确的LOOP类型,或发生了指针越界
}
}
void DJIMotorStop(DJIMotorInstance *motor)
@ -195,6 +202,7 @@ void DJIMotorEnable(DJIMotorInstance *motor)
motor->stop_flag = MOTOR_ENALBED;
}
/* 修改电机的实际闭环对象 */
void DJIMotorOuterLoop(DJIMotorInstance *motor, Closeloop_Type_e outer_loop)
{
motor->motor_settings.outer_loop_type = outer_loop;
@ -211,70 +219,68 @@ void DJIMotorControl()
{
// 预先通过静态变量定义避免反复释放分配栈空间,直接保存一次指针引用从而减小访存的开销
// 同样可以提高可读性
static uint8_t group, num;
static int16_t set;
static uint8_t group, num; // 电机组号和组内编号
static int16_t set; // 电机控制CAN发送设定值
static DJIMotorInstance *motor;
static Motor_Control_Setting_s *motor_setting;
static Motor_Controller_s *motor_controller;
static DJI_Motor_Measure_s *motor_measure;
static float pid_measure, pid_ref;
static Motor_Control_Setting_s *motor_setting; // 电机控制参数
static Motor_Controller_s *motor_controller; // 电机控制器
static DJI_Motor_Measure_s *motor_measure; // 电机测量值
static float pid_measure, pid_ref; // 电机PID测量值和设定值
// 遍历所有电机实例,进行串级PID的计算并设置发送报文的值
for (size_t i = 0; i < idx; ++i)
{
if (dji_motor_info[i])
{ // 减小访存开销,先保存指针引用
motor = dji_motor_instance[i];
motor_setting = &motor->motor_settings;
motor_controller = &motor->motor_controller;
motor_measure = &motor->motor_measure;
pid_ref = motor_controller->pid_ref; // 保存设定值,防止motor_controller->pid_ref在计算过程中被修改
// pid_ref会顺次通过被启用的闭环充当数据的载体
// 计算位置环,只有启用位置环且外层闭环为位置时会计算速度环输出
if ((motor_setting->close_loop_type & ANGLE_LOOP) && motor_setting->outer_loop_type == ANGLE_LOOP)
{
motor = dji_motor_info[i];
motor_setting = &motor->motor_settings;
motor_controller = &motor->motor_controller;
motor_measure = &motor->motor_measure;
pid_ref = motor_controller->pid_ref; // 保存设定值,防止motor_controller->pid_ref在计算过程中被修改
// pid_ref会顺次通过被启用的闭环充当数据的载体
// 计算位置环,只有启用位置环且外层闭环为位置时会计算速度环输出
if ((motor_setting->close_loop_type & ANGLE_LOOP) && motor_setting->outer_loop_type == ANGLE_LOOP)
{
if (motor_setting->angle_feedback_source == OTHER_FEED)
pid_measure = *motor_controller->other_angle_feedback_ptr;
else // MOTOR_FEED
pid_measure = motor_measure->total_angle; // 对total angle闭环,防止在边界处出现突跃
// 更新pid_ref进入下一个环
pid_ref = PID_Calculate(&motor_controller->angle_PID, pid_measure, pid_ref);
}
// 计算速度环,(外层闭环为速度或位置)且(启用速度环)时会计算速度环
if ((motor_setting->close_loop_type & SPEED_LOOP) && (motor_setting->outer_loop_type & (ANGLE_LOOP | SPEED_LOOP)))
{
if (motor_setting->speed_feedback_source == OTHER_FEED)
pid_measure = *motor_controller->other_speed_feedback_ptr;
else // MOTOR_FEED
pid_measure = motor_measure->speed_aps;
// 更新pid_ref进入下一个环
pid_ref = PID_Calculate(&motor_controller->speed_PID, pid_measure, pid_ref);
}
// 计算电流环,只要启用了电流环就计算,不管外层闭环是什么,并且电流只有电机自身传感器的反馈
if (motor_setting->close_loop_type & CURRENT_LOOP)
{
pid_ref = PID_Calculate(&motor_controller->current_PID, motor_measure->real_current, pid_ref);
}
// 获取最终输出
set = (int16_t)pid_ref;
if (motor_setting->reverse_flag == MOTOR_DIRECTION_REVERSE)
set *= -1; // 设置反转
// 分组填入发送数据
group = motor->sender_group;
num = motor->message_num;
sender_assignment[group].tx_buff[2 * num] = (uint8_t)(set >> 8);
sender_assignment[group].tx_buff[2 * num + 1] = (uint8_t)(set & 0x00ff);
// 电机是否停止运行
if (motor->stop_flag == MOTOR_STOP)
{ // 若该电机处于停止状态,直接将buff置零
memset(sender_assignment[group].tx_buff + 2 * num, 0, 16u);
}
if (motor_setting->angle_feedback_source == OTHER_FEED)
pid_measure = *motor_controller->other_angle_feedback_ptr;
else
pid_measure = motor_measure->total_angle; // MOTOR_FEED,对total angle闭环,防止在边界处出现突跃
// 更新pid_ref进入下一个环
pid_ref = PID_Calculate(&motor_controller->angle_PID, pid_measure, pid_ref);
}
// 计算速度环,(外层闭环为速度或位置)且(启用速度环)时会计算速度环
if ((motor_setting->close_loop_type & SPEED_LOOP) && (motor_setting->outer_loop_type & (ANGLE_LOOP | SPEED_LOOP)))
{
if (motor_setting->speed_feedback_source == OTHER_FEED)
pid_measure = *motor_controller->other_speed_feedback_ptr;
else // MOTOR_FEED
pid_measure = motor_measure->speed_aps;
// 更新pid_ref进入下一个环
pid_ref = PID_Calculate(&motor_controller->speed_PID, pid_measure, pid_ref);
}
// 计算电流环,目前只要启用了电流环就计算,不管外层闭环是什么,并且电流只有电机自身传感器的反馈
if (motor_setting->close_loop_type & CURRENT_LOOP)
{
pid_ref = PID_Calculate(&motor_controller->current_PID, motor_measure->real_current, pid_ref);
}
// 获取最终输出
set = (int16_t)pid_ref;
if (motor_setting->reverse_flag == MOTOR_DIRECTION_REVERSE)
set *= -1; // 设置反转
// 分组填入发送数据
group = motor->sender_group;
num = motor->message_num;
sender_assignment[group].tx_buff[2 * num] = (uint8_t)(set >> 8);
sender_assignment[group].tx_buff[2 * num + 1] = (uint8_t)(set & 0x00ff);
// 电机是否停止运行
if (motor->stop_flag == MOTOR_STOP)
{ // 若该电机处于停止状态,直接将buff置零
memset(sender_assignment[group].tx_buff + 2 * num, 0, 16u);
}
}
// 遍历flag,检查是否要发送这一帧报文

31
modules/motor/servo_motor.c
View File

@ -1,22 +1,26 @@
#include "servo_motor.h"
#include "stdlib.h"
#include "memory.h"
extern TIM_HandleTypeDef htim1;
/*第二版*/
static ServoInstance *servo_motor[SERVO_MOTOR_CNT] = {NULL};
static int16_t compare_value[SERVO_MOTOR_CNT]={0};
static ServoInstance *servo_motor_instance[SERVO_MOTOR_CNT] = {NULL};
static int16_t compare_value[SERVO_MOTOR_CNT] = {0};
static uint8_t servo_idx = 0; // register servo_idx,是该文件的全局舵机索引,在注册时使用
// 通过此函数注册一个舵机
ServoInstance *ServoInit(Servo_Init_Config_s *Servo_Init_Config)
{
servo_motor[servo_idx] = (ServoInstance *)malloc(sizeof(ServoInstance));
memset(servo_motor[servo_idx], 0, sizeof(ServoInstance));
servo_motor[servo_idx]->Servo_type = Servo_Init_Config->Servo_type;
servo_motor[servo_idx]->htim = Servo_Init_Config->htim;
servo_motor[servo_idx]->Channel = Servo_Init_Config->Channel;
HAL_TIM_Base_Start(Servo_Init_Config->htim);
ServoInstance *servo = (ServoInstance *)malloc(sizeof(ServoInstance));
memset(servo, 0, sizeof(ServoInstance));
servo->Servo_type = Servo_Init_Config->Servo_type;
servo->htim = Servo_Init_Config->htim;
servo->Channel = Servo_Init_Config->Channel;
HAL_TIM_PWM_Start(Servo_Init_Config->htim, Servo_Init_Config->Channel);
return servo_motor[servo_idx++];
servo_motor_instance[servo_idx++] = servo;
return servo;
}
/**
@ -63,16 +67,15 @@ void Servo_Motor_StartSTOP_Angle_Set(ServoInstance *Servo_Motor, int16_t Start_a
}
/**
* @brief 舵机模式选择
*
*
* @param Servo_Motor 注册的舵机实例
* @param mode 需要选择的模式
*/
void Servo_Motor_Type_Select(ServoInstance *Servo_Motor,int16_t mode)
void Servo_Motor_Type_Select(ServoInstance *Servo_Motor, int16_t mode)
{
Servo_Motor->Servo_Angle_Type = mode;
}
/**
* @brief 舵机输出控制
*
@ -84,9 +87,9 @@ void Servo_Motor_Control()
for (size_t i = 0; i < servo_idx; i++)
{
if (servo_motor[i])
if (servo_motor_instance[i])
{
Servo_Motor = servo_motor[i];
Servo_Motor = servo_motor_instance[i];
Servo_type = Servo_Motor->Servo_type;
switch (Servo_type)

1
modules/super_cap/super_cap.c
View File

@ -26,6 +26,7 @@ SuperCapInstance *SuperCapInit(SuperCap_Init_Config_s *supercap_config)
{
super_cap_instance = (SuperCapInstance *)malloc(sizeof(SuperCapInstance));
memset(super_cap_instance, 0, sizeof(SuperCapInstance));
supercap_config->can_config.can_module_callback = SuperCapRxCallback;
super_cap_instance->can_ins = CANRegister(&supercap_config->can_config);
return super_cap_instance;

2
modules/super_cap/super_cap.h
View File

@ -28,8 +28,6 @@ typedef struct
typedef struct
{
CAN_Init_Config_s can_config;
uint8_t send_data_len;
uint8_t recv_data_len;
} SuperCap_Init_Config_s;
SuperCapInstance *SuperCapInit(SuperCap_Init_Config_s *supercap_config);