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修改can

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This commit is contained in:
Robofish
2025-09-07 13:54:28 +08:00
parent bc898da6c2
commit 889f34ae12
7 changed files with 42 additions and 76 deletions
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18
assets/User_code/bsp/can.c
View File

@@ -243,6 +243,9 @@ static void BSP_CAN_TxAbortCallback(CAN_HandleTypeDef *hcan) {
void HAL_CAN_TxMailbox0CompleteCallback(CAN_HandleTypeDef *hcan) {
BSP_CAN_t bsp_can = CAN_Get(hcan);
if (bsp_can != BSP_CAN_ERR) {
// 自动释放发送信号量
BSP_CAN_TxCompleteCallback(hcan);
// 调用用户回调
if (CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX0_CPLT_CB])
CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX0_CPLT_CB]();
}
@@ -251,6 +254,9 @@ void HAL_CAN_TxMailbox0CompleteCallback(CAN_HandleTypeDef *hcan) {
void HAL_CAN_TxMailbox1CompleteCallback(CAN_HandleTypeDef *hcan) {
BSP_CAN_t bsp_can = CAN_Get(hcan);
if (bsp_can != BSP_CAN_ERR) {
// 自动释放发送信号量
BSP_CAN_TxCompleteCallback(hcan);
// 调用用户回调
if (CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX1_CPLT_CB])
CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX1_CPLT_CB]();
}
@@ -259,6 +265,9 @@ void HAL_CAN_TxMailbox1CompleteCallback(CAN_HandleTypeDef *hcan) {
void HAL_CAN_TxMailbox2CompleteCallback(CAN_HandleTypeDef *hcan) {
BSP_CAN_t bsp_can = CAN_Get(hcan);
if (bsp_can != BSP_CAN_ERR) {
// 自动释放发送信号量
BSP_CAN_TxCompleteCallback(hcan);
// 调用用户回调
if (CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX2_CPLT_CB])
CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX2_CPLT_CB]();
}
@@ -267,6 +276,9 @@ void HAL_CAN_TxMailbox2CompleteCallback(CAN_HandleTypeDef *hcan) {
void HAL_CAN_TxMailbox0AbortCallback(CAN_HandleTypeDef *hcan) {
BSP_CAN_t bsp_can = CAN_Get(hcan);
if (bsp_can != BSP_CAN_ERR) {
// 自动释放发送信号量
BSP_CAN_TxAbortCallback(hcan);
// 调用用户回调
if (CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX0_ABORT_CB])
CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX0_ABORT_CB]();
}
@@ -275,6 +287,9 @@ void HAL_CAN_TxMailbox0AbortCallback(CAN_HandleTypeDef *hcan) {
void HAL_CAN_TxMailbox1AbortCallback(CAN_HandleTypeDef *hcan) {
BSP_CAN_t bsp_can = CAN_Get(hcan);
if (bsp_can != BSP_CAN_ERR) {
// 自动释放发送信号量
BSP_CAN_TxAbortCallback(hcan);
// 调用用户回调
if (CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX1_ABORT_CB])
CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX1_ABORT_CB]();
}
@@ -283,6 +298,9 @@ void HAL_CAN_TxMailbox1AbortCallback(CAN_HandleTypeDef *hcan) {
void HAL_CAN_TxMailbox2AbortCallback(CAN_HandleTypeDef *hcan) {
BSP_CAN_t bsp_can = CAN_Get(hcan);
if (bsp_can != BSP_CAN_ERR) {
// 自动释放发送信号量
BSP_CAN_TxAbortCallback(hcan);
// 调用用户回调
if (CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX2_ABORT_CB])
CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX2_ABORT_CB]();
}

3
assets/User_code/bsp/uart.h
View File

@@ -42,6 +42,9 @@ typedef enum {
/* Exported functions prototypes -------------------------------------------- */
UART_HandleTypeDef *BSP_UART_GetHandle(BSP_UART_t uart);
void BSP_UART_IRQHandler(UART_HandleTypeDef *huart);
int8_t BSP_UART_RegisterCallback(BSP_UART_t uart, BSP_UART_Callback_t type,
void (*callback)(void));

4
assets/User_code/device/config.yaml
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@@ -213,6 +213,10 @@ devices:
dependencies:
bsp: ["uart"]
component: []
bsp_requirements:
- type: "uart"
var_name: "BSP_UART_VOFA" # 需要替换的变量名
description: "用于VOFA数据传输"
thread_signals: []
files:
header: "vofa.h"

2
assets/User_code/device/motor.c
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@@ -18,7 +18,7 @@
/* Exported functions ------------------------------------------------------- */
float MOTOR_GetRotorAbsAngle(const MOTOR_t *motor) {
if (motor == NULL) return DEVICE_ERR_NULL;
motor->feedback.rotor_abs_angle;
return motor->feedback.rotor_abs_angle;
}
float MOTOR_GetRotorSpeed(const MOTOR_t *motor) {

2
assets/User_code/device/vofa.h
View File

@@ -6,7 +6,7 @@ extern "C" {
/* Includes ----------------------------------------------------------------- */
#include "bsp/uart.h"
#include ”device/device.h“
#include "device/device.h"
/* Exported constants ------------------------------------------------------- */
/* Exported macro ----------------------------------------------------------- */
/* Exported types ----------------------------------------------------------- */