添加了北醒激光单点测距模块，修复了遥控器离线检测命名错误，增加了i2c寄存器读写的16位地址模式

bsp/iic/bsp_iic.c

@@ -103,15 +103,16 @@ void IICReceive(IICInstance *iic, uint8_t *data, uint16_t size, IIC_Seq_Mode_e s
     }
 }
 
-void IICAccessMem(IICInstance *iic, uint8_t mem_addr, uint8_t *data, uint16_t size, IIC_Mem_Mode_e mem_mode)
+void IICAccessMem(IICInstance *iic, uint16_t mem_addr, uint8_t *data, uint16_t size, IIC_Mem_Mode_e mem_mode, uint8_t mem8bit_flag)
 {
+    uint16_t bit_flag = mem8bit_flag ? I2C_MEMADD_SIZE_8BIT : I2C_MEMADD_SIZE_16BIT;
     if (mem_mode == IIC_WRITE_MEM)
     {
-        HAL_I2C_Mem_Write(iic->handle, iic->dev_address, mem_addr, I2C_MEMADD_SIZE_8BIT, data, size, 100);
+        HAL_I2C_Mem_Write(iic->handle, iic->dev_address, mem_addr, bit_flag, data, size, 100);
     }
     else if (mem_mode == IIC_READ_MEM)
     {
-        HAL_I2C_Mem_Read(iic->handle, iic->dev_address, mem_addr, I2C_MEMADD_SIZE_8BIT, data, size, 100);
+        HAL_I2C_Mem_Read(iic->handle, iic->dev_address, mem_addr, bit_flag, data, size, 100);
     }
     else
     {

bsp/iic/bsp_iic.h

@@ -101,5 +101,6 @@ void IICReceive(IICInstance *iic, uint8_t *data, uint16_t size, IIC_Seq_Mode_e m
  * @param data 要读取或写入的数据首地址指针
  * @param size 要读取或写入的数据长度
  * @param mode 写入或读取模式: IIC_READ_MEM or IIC_WRITE_MEM
+ * @param mem8bit_flag 从机内存地址是否为8位
  */
-void IICAccessMem(IICInstance *iic, uint8_t mem_addr, uint8_t *data, uint16_t size, IIC_Mem_Mode_e mode);
+void IICAccessMem(IICInstance *iic, uint16_t mem_addr, uint8_t *data, uint16_t size, IIC_Mem_Mode_e mode, uint8_t mem8bit_flag);

modules/TFminiPlus/tfminiplus.c

@@ -0,0 +1,30 @@
+#include "tfminiplus.h"
+#include "stdlib.h"
+#include "bsp_dwt.h"
+
+static TFMiniInstance *tfmini;
+
+TFMiniInstance *TFMiniRegister(I2C_HandleTypeDef *hi2c)
+{
+	tfmini = (TFMiniInstance *)malloc(sizeof(TFMiniInstance));
+	IIC_Init_Config_s conf = {
+		.handle = hi2c,
+		.dev_address = 0x10,
+		.id = tfmini,
+		.work_mode = IIC_BLOCK_MODE,
+	};
+	tfmini->iic = IICRegister(&conf);
+	DWT_Delay(0.5);
+	return tfmini;
+}
+
+float GetDistance(TFMiniInstance *tfmini)
+{
+	uint8_t cmd_buf[5] = {0x5A, 0x05, 0x00, 0x06, 0x65}; 
+	IICTransmit(tfmini->iic, cmd_buf, 5, IIC_SEQ_RELEASE);
+	IICReceive(tfmini->iic, tfmini->buf, 11, IIC_SEQ_RELEASE);
+	tfmini->Mode = tfmini->buf[6];
+	tfmini->Dist = (uint16_t)tfmini->buf[2] + (((uint16_t)tfmini->buf[3]) << 8);
+	tfmini->Strength = tfmini->buf[4] | (tfmini->buf[5] << 8);
+	return tfmini->Dist;
+}

modules/TFminiPlus/tfminiplus.h

@@ -0,0 +1,20 @@
+#ifndef __TFMINIPLUS_H__
+#define __TFMINIPLUS_H__
+
+#include "stdint.h"
+#include "bsp_iic.h"
+
+typedef struct
+{
+	IICInstance *iic;
+	uint8_t Mode;	   //= buf[6];
+	uint16_t Dist;	   //= buf[2] | (buf[3] << 8);
+	uint32_t Strength; //= buf[4] | (buf[5] << 8);
+	uint8_t buf[9];	
+} TFMiniInstance;
+
+TFMiniInstance *TFMiniRegister(I2C_HandleTypeDef *hi2c);
+
+float GetDistance(TFMiniInstance *tfmini);
+
+#endif

modules/ist8310/ist8310.c

@@ -30,7 +30,7 @@ static uint8_t ist8310_write_reg_data_error[IST8310_WRITE_REG_NUM][3] = {
 static void IST8310Decode(IICInstance *iic)
 {
     int16_t temp[3];                                     // 用于存储解码后的数据
-    IST8310Instance *ist= (IST8310Instance *)(iic->id); // iic的id保存了IST8310实例的指针(父指针)
+    IST8310Instance *ist = (IST8310Instance *)(iic->id); // iic的id保存了IST8310实例的指针(父指针)
 
     memcpy(temp, ist->iic_buffer, 6 * sizeof(uint8_t)); // 不要强制转换,直接cpy
     for (uint8_t i = 0; i < 3; i++)
@@ -48,7 +48,7 @@ static void IST8310StartTransfer(GPIOInstance *gpio)
     // 先获取IST8310实例的指针(通过gpio实例的父指针id)
     IST8310Instance *ist_for_transfer = (IST8310Instance *)gpio->id;
     // 中断说明ist已经准备好读取数据寄存器;6个字节,读取后会进入IST8310Decode函数
-    IICAccessMem(ist_for_transfer->iic, IST8310_DATA_REG, ist_for_transfer->iic_buffer, 6, IIC_READ_MEM);
+    IICAccessMem(ist_for_transfer->iic, IST8310_DATA_REG, ist_for_transfer->iic_buffer, 6, IIC_READ_MEM, 1);
     // 传输完成后会进入IST8310Decode函数进行数据解析
     IST8310Decode(ist_for_transfer->iic);
 }
@@ -80,15 +80,15 @@ IST8310Instance *IST8310Init(IST8310_Init_Config_s *config)
     HAL_Delay(sleepTime);
 
     // 读取IST8310的ID,如果不是0x10(whoami macro的值),则返回错误
-    IICAccessMem(ist->iic, IST8310_WHO_AM_I, &check_who_i_am, 1, IIC_READ_MEM);
+    IICAccessMem(ist->iic, IST8310_WHO_AM_I, &check_who_i_am, 1, IIC_READ_MEM, 1);
     if (check_who_i_am != IST8310_WHO_AM_I_VALUE)
         return NULL; // while(1)
 
     // 进行初始化配置写入并检查是否写入成功,这里用循环把最上面初始化数组的东西都写进去
     for (uint8_t i = 0; i < IST8310_WRITE_REG_NUM; i++)
     { // 写入配置,写一句就读一下看看ist8310是否仍然在线
-        IICAccessMem(ist->iic, ist8310_write_reg_data_error[i][0], &ist8310_write_reg_data_error[i][1], 1, IIC_WRITE_MEM);
+        IICAccessMem(ist->iic, ist8310_write_reg_data_error[i][0], &ist8310_write_reg_data_error[i][1], 1, IIC_WRITE_MEM, 1);
-        IICAccessMem(ist->iic, ist8310_write_reg_data_error[i][0], &check_who_i_am, 1, IIC_READ_MEM); // 读回自身id
+        IICAccessMem(ist->iic, ist8310_write_reg_data_error[i][0], &check_who_i_am, 1, IIC_READ_MEM, 1); // 读回自身id
         if (check_who_i_am != ist8310_write_reg_data_error[i][1])
             while (1)
                 ist8310_write_reg_data_error[i][2]; // 掉线/写入失败/未知错误,会返回对应的错误码

modules/remote/remote_control.c

@@ -142,7 +142,7 @@ RC_ctrl_t *RemoteControlInit(UART_HandleTypeDef *rc_usart_handle)
     return (RC_ctrl_t *)&rc_ctrl;
 }
 
-uint8_t RemotecontrolIsOnline()
+uint8_t RemoteControlIsOnline()
 {
     if (rc_init_flag)
         return DaemonIsOnline(rc_daemon_instance);