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修复

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Robofish
2025-08-19 01:50:17 +08:00
parent d5871097a9
commit 89b6af6138
8 changed files with 364 additions and 15 deletions
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7
assets/User_code/bsp/can.c
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@@ -30,7 +30,8 @@ static BSP_CAN_t CAN_Get(CAN_HandleTypeDef *hcan);
static osMessageQueueId_t BSP_CAN_FindQueue(BSP_CAN_t can, uint32_t can_id);
static int8_t BSP_CAN_CreateIdQueue(BSP_CAN_t can, uint32_t can_id, uint8_t queue_size);
static int8_t BSP_CAN_DeleteIdQueue(BSP_CAN_t can, uint32_t can_id);
static void BSP_CAN_RxFifoCallback(void);
static void BSP_CAN_RxFifo0Callback(void);
static void BSP_CAN_RxFifo1Callback(void);
static BSP_CAN_FrameType_t BSP_CAN_GetFrameType(CAN_RxHeaderTypeDef *header);
static uint32_t BSP_CAN_DefaultIdParser(uint32_t original_id, BSP_CAN_FrameType_t frame_type);
@@ -144,9 +145,9 @@ static uint32_t BSP_CAN_DefaultIdParser(uint32_t original_id, BSP_CAN_FrameType_
}
/**
* @brief FIFO接收处理函数
* @brief FIFO0接收处理函数
*/
static void BSP_CAN_RxFifoCallback(void) {
static void BSP_CAN_RxFifo0Callback(void) {
CAN_RxHeaderTypeDef rx_header;
uint8_t rx_data[BSP_CAN_MAX_DLC];
for (int can_idx = 0; can_idx < BSP_CAN_NUM; can_idx++) {

4
assets/User_code/bsp/i2c.c
View File

@@ -111,7 +111,7 @@ int8_t BSP_I2C_Transmit(BSP_I2C_t i2c, uint16_t devAddr, uint8_t *data,
if (dma) {
return HAL_I2C_Master_Transmit_DMA(hi2c, devAddr, data, size);
} else {
return HAL_I2C_Master_Transmit(hi2c, devAddr, data, size);
return HAL_I2C_Master_Transmit(hi2c, devAddr, data, size, 10);
}
}
@@ -124,7 +124,7 @@ int8_t BSP_I2C_Receive(BSP_I2C_t i2c, uint16_t devAddr, uint8_t *data,
if (dma) {
return HAL_I2C_Master_Receive_DMA(hi2c, devAddr, data, size);
} else {
return HAL_I2C_Master_Receive(hi2c, devAddr, data, size);
return HAL_I2C_Master_Receive(hi2c, devAddr, data, size, 10);
}
}