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修改can

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This commit is contained in:
Robofish 2025-09-20 00:32:32 +08:00
parent 60154cafd5
commit d5d580f384
59 changed files with 910 additions and 126 deletions
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74
app/code_page/bsp_interface.py
View File

@ -86,8 +86,15 @@ class BspSimplePeripheral(QWidget):
return self.generate_checkbox.isChecked()
def _generate_bsp_code_internal(self):
# 检查是否需要生成
if not self.is_need_generate():
return False
# 如果未勾选，检查文件是否已存在，如果存在则跳过
for filename in self.template_names.values():
output_path = os.path.join(self.project_path, f"User/bsp/{filename}")
if os.path.exists(output_path):
return "skipped" # 返回特殊值表示跳过
return "not_needed" # 返回特殊值表示不需要生成
template_dir = CodeGenerator.get_template_dir()
for key, filename in self.template_names.items():
template_path = os.path.join(template_dir, filename)
@ -309,8 +316,16 @@ class BspPeripheralBase(QWidget):
sel_widget.setCurrentText(instance)
def _generate_bsp_code_internal(self):
# 检查是否需要生成
if not self.is_need_generate():
return False
# 如果未勾选，检查文件是否已存在，如果存在则跳过
header_file = f"{self.yaml_key}.h"
source_file = f"{self.yaml_key}.c"
header_path = os.path.join(self.project_path, f"User/bsp/{header_file}")
source_path = os.path.join(self.project_path, f"User/bsp/{source_file}")
if os.path.exists(header_path) or os.path.exists(source_path):
return "skipped" # 返回特殊值表示跳过
return "not_needed" # 返回特殊值表示不需要生成
configs = self._collect_configs()
if not configs:
return False
@ -487,8 +502,7 @@ class bsp_can(BspPeripheralBase):
f" BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_RX_FIFO0_MSG_PENDING_CB, BSP_CAN_RxFifo0Callback);",
"",
f" // 激活{instance}中断",
f" HAL_CAN_ActivateNotification(&hcan{can_num}, CAN_IT_RX_FIFO0_MSG_PENDING | ",
f" CAN_IT_TX_MAILBOX_EMPTY); // 激活发送邮箱空中断",
f" HAL_CAN_ActivateNotification(&hcan{can_num}, CAN_IT_RX_FIFO0_MSG_PENDING);",
""
])
@ -538,8 +552,7 @@ class bsp_can(BspPeripheralBase):
f" BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_RX_FIFO1_MSG_PENDING_CB, BSP_CAN_RxFifo1Callback);",
"",
f" // 激活CAN2中断",
f" HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO1_MSG_PENDING | ",
f" CAN_IT_TX_MAILBOX_EMPTY); // 激活发送邮箱空中断",
f" HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO1_MSG_PENDING);",
""
])
@ -572,8 +585,7 @@ class bsp_can(BspPeripheralBase):
f" BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_RX_FIFO0_MSG_PENDING_CB, BSP_CAN_RxFifo0Callback);",
"",
f" // 激活CAN1中断",
f" HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING | ",
f" CAN_IT_TX_MAILBOX_EMPTY); // 激活发送邮箱空中断",
f" HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING);",
""
])
@ -591,8 +603,7 @@ class bsp_can(BspPeripheralBase):
f" BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_RX_FIFO0_MSG_PENDING_CB, BSP_CAN_RxFifo0Callback);",
"",
f" // 激活CAN2中断",
f" HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO0_MSG_PENDING | ",
f" CAN_IT_TX_MAILBOX_EMPTY); // 激活发送邮箱空中断",
f" HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO0_MSG_PENDING);",
""
])
@ -612,8 +623,7 @@ class bsp_can(BspPeripheralBase):
f" BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_RX_FIFO1_MSG_PENDING_CB, BSP_CAN_RxFifo1Callback);",
"",
f" // 激活{instance}中断",
f" HAL_CAN_ActivateNotification(&hcan{can_num}, CAN_IT_RX_FIFO1_MSG_PENDING | ",
f" CAN_IT_TX_MAILBOX_EMPTY); // 激活发送邮箱空中断",
f" HAL_CAN_ActivateNotification(&hcan{can_num}, CAN_IT_RX_FIFO1_MSG_PENDING);",
""
])
filter_bank += 1 # 为下一个CAN分配不同的过滤器组
@ -822,8 +832,14 @@ class bsp_gpio(QWidget):
return configs
def _generate_bsp_code_internal(self):
# 检查是否需要生成
if not self.is_need_generate():
return False
# 如果未勾选，检查文件是否已存在，如果存在则跳过
gpio_h_path = os.path.join(self.project_path, "User/bsp/gpio.h")
gpio_c_path = os.path.join(self.project_path, "User/bsp/gpio.c")
if os.path.exists(gpio_h_path) or os.path.exists(gpio_c_path):
return "skipped" # 返回特殊值表示跳过
return "not_needed" # 返回特殊值表示不需要生成
configs = self._collect_configs()
if not configs:
@ -1073,8 +1089,14 @@ class bsp_pwm(QWidget):
return configs
def _generate_bsp_code_internal(self):
# 检查是否需要生成
if not self.is_need_generate():
return False
# 如果未勾选，检查文件是否已存在，如果存在则跳过
pwm_h_path = os.path.join(self.project_path, "User/bsp/pwm.h")
pwm_c_path = os.path.join(self.project_path, "User/bsp/pwm.c")
if os.path.exists(pwm_h_path) or os.path.exists(pwm_c_path):
return "skipped" # 返回特殊值表示跳过
return "not_needed" # 返回特殊值表示不需要生成
configs = self._collect_configs()
if not configs:
@ -1201,16 +1223,32 @@ class bsp(QWidget):
total = 0
success_count = 0
fail_count = 0
skipped_count = 0
fail_list = []
skipped_list = []
for page in pages:
# 只处理BSP页面：有 is_need_generate 方法但没有 component_name 属性的页面
if hasattr(page, 'is_need_generate') and not hasattr(page, 'component_name'):
if page.is_need_generate():
# 先检查是否有文件存在但未勾选的情况
if not page.is_need_generate():
try:
result = page._generate_bsp_code_internal()
if result == "skipped":
total += 1
skipped_count += 1
skipped_list.append(page.__class__.__name__)
except Exception:
pass # 忽略未勾选页面的错误
else:
# 勾选的页面，正常处理
total += 1
try:
result = page._generate_bsp_code_internal()
if result:
if result == "skipped":
skipped_count += 1
skipped_list.append(page.__class__.__name__)
elif result:
success_count += 1
else:
fail_count += 1
@ -1219,7 +1257,9 @@ class bsp(QWidget):
fail_count += 1
fail_list.append(f"{page.__class__.__name__} (异常: {e})")
msg = f"总共尝试生成 {total} 项，成功 {success_count} 项，失败 {fail_count} 项。"
msg = f"总共处理 {total} 项，成功生成 {success_count} 项，跳过 {skipped_count} 项，失败 {fail_count} 项。"
if skipped_list:
msg += f"\n跳过项（文件已存在且未勾选）：\n" + "\n".join(skipped_list)
if fail_list:
msg += "\n失败项：\n" + "\n".join(fail_list)

22
app/code_page/component_interface.py
View File

@ -157,8 +157,15 @@ class ComponentSimple(QWidget):
return self.dependencies.get(self.component_name.lower(), [])
def _generate_component_code_internal(self):
# 检查是否需要生成
if not self.is_need_generate():
return False
# 如果未勾选，检查文件是否已存在，如果存在则跳过
for filename in self.template_names.values():
output_path = os.path.join(self.project_path, f"User/component/{filename}")
if os.path.exists(output_path):
return "skipped" # 返回特殊值表示跳过
return "not_needed" # 返回特殊值表示不需要生成
template_dir = self._get_component_template_dir()
for key, filename in self.template_names.items():
template_path = os.path.join(template_dir, filename)
@ -377,6 +384,9 @@ class component(QWidget):
print(f"复制依赖失败: {dep_path}, 错误: {e}")
# 生成组件代码
skipped_count = 0
skipped_list = []
for comp_name in components_to_generate:
if comp_name in component_pages:
page = component_pages[comp_name]
@ -384,7 +394,11 @@ class component(QWidget):
# 确保调用正确的方法名
if hasattr(page, '_generate_component_code_internal'):
result = page._generate_component_code_internal()
if result:
if result == "skipped":
skipped_count += 1
skipped_list.append(comp_name)
print(f"跳过组件生成: {comp_name}")
elif result:
success_count += 1
print(f"成功生成组件: {comp_name}")
else:
@ -401,7 +415,9 @@ class component(QWidget):
print(f"生成组件异常: {comp_name}, 错误: {e}")
total_items = len(all_deps) + len(components_to_generate)
msg = f"组件代码生成完成：总共尝试生成 {total_items} 项，成功 {success_count} 项，失败 {fail_count} 项。"
msg = f"组件代码生成完成：总共处理 {total_items} 项，成功生成 {success_count} 项，跳过 {skipped_count} 项，失败 {fail_count} 项。"
if skipped_list:
msg += f"\n跳过项（文件已存在且未勾选）：\n" + "\n".join(skipped_list)
if fail_list:
msg += "\n失败项：\n" + "\n".join(fail_list)

36
app/code_page/device_interface.py
View File

@ -230,8 +230,15 @@ class DeviceSimple(QWidget):
def _generate_device_code_internal(self):
"""生成设备代码"""
# 检查是否需要生成
if not self.is_need_generate():
return False
# 如果未勾选，检查文件是否已存在，如果存在则跳过
files = self.device_config.get('files', {})
for filename in files.values():
output_path = os.path.join(self.project_path, f"User/device/{filename}")
if os.path.exists(output_path):
return "skipped" # 返回特殊值表示跳过
return "not_needed" # 返回特殊值表示不需要生成
# 获取BSP配置
bsp_config = self.get_bsp_config()
@ -349,18 +356,33 @@ class device(QWidget):
"""生成所有设备代码"""
success_count = 0
fail_count = 0
skipped_count = 0
fail_list = []
skipped_list = []
enabled_devices = []
# 生成设备代码
for page in pages:
if hasattr(page, "device_name") and hasattr(page, "is_need_generate"):
if page.is_need_generate():
enabled_devices.append(page.device_name)
# 先检查是否有文件存在但未勾选的情况
if not page.is_need_generate():
try:
result = page._generate_device_code_internal()
if result:
if result == "skipped":
skipped_count += 1
skipped_list.append(page.device_name)
except Exception:
pass # 忽略未勾选页面的错误
else:
# 勾选的页面，正常处理
try:
result = page._generate_device_code_internal()
if result == "skipped":
skipped_count += 1
skipped_list.append(page.device_name)
elif result:
success_count += 1
enabled_devices.append(page.device_name)
else:
fail_count += 1
fail_list.append(page.device_name)
@ -384,8 +406,10 @@ class device(QWidget):
except Exception as e:
print(f"刷新页面 {getattr(page, 'device_name', 'Unknown')} 的BSP选项失败: {e}")
total_items = success_count + fail_count
msg = f"设备代码生成完成：总共尝试生成 {total_items} 项，成功 {success_count} 项，失败 {fail_count} 项。"
total_items = success_count + fail_count + skipped_count
msg = f"设备代码生成完成：总共处理 {total_items} 项，成功生成 {success_count} 项，跳过 {skipped_count} 项，失败 {fail_count} 项。"
if skipped_list:
msg += f"\n跳过项（文件已存在且未勾选）：\n" + "\n".join(skipped_list)
if fail_list:
msg += "\n失败项：\n" + "\n".join(fail_list)

12
assets/User_code/bsp/bsp.h
View File

@ -4,6 +4,14 @@
extern "C" {
#endif
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
#define BSP_OK (0)
#define BSP_ERR (-1)
#define BSP_ERR_NULL (-2)
@ -11,6 +19,10 @@ extern "C" {
#define BSP_ERR_NO_DEV (-4)
#define BSP_ERR_TIMEOUT (-5)
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
#ifdef __cplusplus
}
#endif

142
assets/User_code/bsp/can.c
View File

@ -5,11 +5,18 @@
#include <cmsis_os2.h>
#include <string.h>
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* Private define ----------------------------------------------------------- */
#define CAN_QUEUE_MUTEX_TIMEOUT 100 /* 队列互斥锁超时时间(ms) */
#define CAN_TX_SEMAPHORE_TIMEOUT 1000 /* 发送信号量超时时间(ms) */
#define CAN_TX_MAILBOX_NUM 3 /* CAN发送邮箱数量 */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* Private macro ------------------------------------------------------------ */
/* Private typedef ---------------------------------------------------------- */
typedef struct BSP_CAN_QueueNode {
@ -20,10 +27,13 @@ typedef struct BSP_CAN_QueueNode {
struct BSP_CAN_QueueNode *next; /* 指向下一个节点的指针 */
} BSP_CAN_QueueNode_t;
/* USER STRUCT BEGIN */
/* USER STRUCT END */
/* Private variables -------------------------------------------------------- */
static BSP_CAN_QueueNode_t *queue_list = NULL;
static osMutexId_t queue_mutex = NULL;
static osSemaphoreId_t tx_semaphore[BSP_CAN_NUM] = {NULL}; /* 发送信号量，用于控制发送邮箱访问 */
static void (*CAN_Callback[BSP_CAN_NUM][BSP_CAN_CB_NUM])(void);
static bool inited = false;
static BSP_CAN_IdParser_t id_parser = NULL; /* ID解析器 */
@ -35,12 +45,13 @@ static int8_t BSP_CAN_CreateIdQueue(BSP_CAN_t can, uint32_t can_id, uint8_t queu
static int8_t BSP_CAN_DeleteIdQueue(BSP_CAN_t can, uint32_t can_id);
static void BSP_CAN_RxFifo0Callback(void);
static void BSP_CAN_RxFifo1Callback(void);
static void BSP_CAN_TxCompleteCallback(CAN_HandleTypeDef *hcan);
static void BSP_CAN_TxAbortCallback(CAN_HandleTypeDef *hcan);
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);
/* Private functions -------------------------------------------------------- */
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
/**
* @brief 根据CAN句柄获取BSP_CAN实例
@ -213,38 +224,10 @@ static void BSP_CAN_RxFifo1Callback(void) {
}
}
/**
* @brief 发送完成回调统一处理函数
*/
static void BSP_CAN_TxCompleteCallback(CAN_HandleTypeDef *hcan) {
BSP_CAN_t bsp_can = CAN_Get(hcan);
if (bsp_can != BSP_CAN_ERR) {
// 释放发送信号量
if (tx_semaphore[bsp_can] != NULL) {
osSemaphoreRelease(tx_semaphore[bsp_can]);
}
}
}
/**
* @brief 发送中止回调统一处理函数
*/
static void BSP_CAN_TxAbortCallback(CAN_HandleTypeDef *hcan) {
BSP_CAN_t bsp_can = CAN_Get(hcan);
if (bsp_can != BSP_CAN_ERR) {
// 释放发送信号量（发送中止也要释放）
if (tx_semaphore[bsp_can] != NULL) {
osSemaphoreRelease(tx_semaphore[bsp_can]);
}
}
}
/* HAL Callback Functions --------------------------------------------------- */
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]();
@ -254,8 +237,6 @@ 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]();
@ -265,8 +246,6 @@ 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]();
@ -276,8 +255,6 @@ 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]();
@ -287,8 +264,6 @@ 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]();
@ -298,8 +273,6 @@ 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]();
@ -381,25 +354,6 @@ int8_t BSP_CAN_Init(void) {
return BSP_ERR;
}
// 创建发送信号量，每个CAN通道有3个发送邮箱
for (int i = 0; i < BSP_CAN_NUM; i++) {
tx_semaphore[i] = osSemaphoreNew(CAN_TX_MAILBOX_NUM, CAN_TX_MAILBOX_NUM, NULL);
if (tx_semaphore[i] == NULL) {
// 清理已创建的信号量
for (int j = 0; j < i; j++) {
if (tx_semaphore[j] != NULL) {
osSemaphoreDelete(tx_semaphore[j]);
tx_semaphore[j] = NULL;
}
}
if (queue_mutex != NULL) {
osMutexDelete(queue_mutex);
queue_mutex = NULL;
}
return BSP_ERR;
}
}
/* AUTO GENERATED CAN_INIT */
inited = true;
@ -424,14 +378,6 @@ int8_t BSP_CAN_DeInit(void) {
osMutexRelease(queue_mutex);
}
// 删除发送信号量
for (int i = 0; i < BSP_CAN_NUM; i++) {
if (tx_semaphore[i] != NULL) {
osSemaphoreDelete(tx_semaphore[i]);
tx_semaphore[i] = NULL;
}
}
// 删除互斥锁
if (queue_mutex != NULL) {
osMutexDelete(queue_mutex);
@ -494,20 +440,8 @@ int8_t BSP_CAN_Transmit(BSP_CAN_t can, BSP_CAN_Format_t format,
return BSP_ERR;
}
// 获取发送信号量，确保有可用的发送邮箱
if (tx_semaphore[can] == NULL) {
return BSP_ERR;
}
osStatus_t sem_status = osSemaphoreAcquire(tx_semaphore[can], CAN_TX_SEMAPHORE_TIMEOUT);
if (sem_status != osOK) {
return BSP_ERR_TIMEOUT; // 获取信号量超时，表示发送邮箱已满
}
CAN_HandleTypeDef *hcan = BSP_CAN_GetHandle(can);
if (hcan == NULL) {
// 如果获取句柄失败，需要释放信号量
osSemaphoreRelease(tx_semaphore[can]);
return BSP_ERR_NULL;
}
@ -536,8 +470,6 @@ int8_t BSP_CAN_Transmit(BSP_CAN_t can, BSP_CAN_Format_t format,
header.RTR = CAN_RTR_REMOTE;
break;
default:
// 如果格式错误，需要释放信号量
osSemaphoreRelease(tx_semaphore[can]);
return BSP_ERR;
}
@ -547,12 +479,9 @@ int8_t BSP_CAN_Transmit(BSP_CAN_t can, BSP_CAN_Format_t format,
HAL_StatusTypeDef result = HAL_CAN_AddTxMessage(hcan, &header, data, &mailbox);
if (result != HAL_OK) {
// 如果发送失败，需要释放信号量
osSemaphoreRelease(tx_semaphore[can]);
return BSP_ERR;
}
// 发送成功，信号量将在发送完成回调中释放
return BSP_OK;
}
@ -672,3 +601,44 @@ uint32_t BSP_CAN_ParseId(uint32_t original_id, BSP_CAN_FrameType_t frame_type) {
}
return BSP_CAN_DefaultIdParser(original_id, frame_type);
}
int8_t BSP_CAN_WaitTxMailboxEmpty(BSP_CAN_t can, uint32_t timeout) {
if (!inited) {
return BSP_ERR_INITED;
}
if (can >= BSP_CAN_NUM) {
return BSP_ERR;
}
CAN_HandleTypeDef *hcan = BSP_CAN_GetHandle(can);
if (hcan == NULL) {
return BSP_ERR_NULL;
}
uint32_t start_time = HAL_GetTick();
// 如果超时时间为0，立即检查并返回
if (timeout == 0) {
uint32_t free_level = HAL_CAN_GetTxMailboxesFreeLevel(hcan);
return (free_level > 0) ? BSP_OK : BSP_ERR_TIMEOUT;
}
// 等待至少有一个邮箱空闲
while (true) {
uint32_t free_level = HAL_CAN_GetTxMailboxesFreeLevel(hcan);
if (free_level > 0) {
return BSP_OK;
}
// 检查超时
if (timeout != BSP_CAN_TIMEOUT_FOREVER) {
uint32_t elapsed = HAL_GetTick() - start_time;
if (elapsed >= timeout) {
return BSP_ERR_TIMEOUT;
}
}
// 短暂延时，避免占用过多CPU
osDelay(1);
}
}

26
assets/User_code/bsp/can.h
View File

@ -12,12 +12,19 @@ extern "C" {
#include <stdbool.h>
#include <cmsis_os.h>
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* Exported constants ------------------------------------------------------- */
#define BSP_CAN_MAX_DLC 8
#define BSP_CAN_DEFAULT_QUEUE_SIZE 10
#define BSP_CAN_TIMEOUT_IMMEDIATE 0
#define BSP_CAN_TIMEOUT_FOREVER osWaitForever
#define CAN_TX_SEMAPHORE_TIMEOUT 1000 /* 发送信号量超时时间(ms) */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* Exported macro ----------------------------------------------------------- */
/* Exported types ----------------------------------------------------------- */
@ -94,6 +101,10 @@ typedef struct {
/* ID解析回调函数类型 */
typedef uint32_t (*BSP_CAN_IdParser_t)(uint32_t original_id, BSP_CAN_FrameType_t frame_type);
/* USER STRUCT BEGIN */
/* USER STRUCT END */
/* Exported functions prototypes -------------------------------------------- */
/**
@ -161,6 +172,14 @@ int8_t BSP_CAN_TransmitExtDataFrame(BSP_CAN_t can, BSP_CAN_ExtDataFrame_t *frame
*/
int8_t BSP_CAN_TransmitRemoteFrame(BSP_CAN_t can, BSP_CAN_RemoteFrame_t *frame);
/**
* @brief 等待CAN发送邮箱空闲
* @param can CAN 枚举
* @param timeout 超时时间（毫秒），0为立即返回，osWaitForever为永久等待
* @return BSP_OK 成功，其他值失败
*/
int8_t BSP_CAN_WaitTxMailboxEmpty(BSP_CAN_t can, uint32_t timeout);
/**
* @brief 注册 CAN ID 接收队列
* @param can CAN 枚举
@ -225,6 +244,11 @@ int8_t BSP_CAN_UnregisterIdParser(void);
*/
uint32_t BSP_CAN_ParseId(uint32_t original_id, BSP_CAN_FrameType_t frame_type);
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
#ifdef __cplusplus
}
#endif

16
assets/User_code/bsp/dwt.c
View File

@ -12,6 +12,18 @@
*/
#include "bsp/dwt.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* USER STRUCT BEGIN */
/* USER STRUCT END */
DWT_Time_t SysTime;
static uint32_t CPU_FREQ_Hz, CPU_FREQ_Hz_ms, CPU_FREQ_Hz_us;
static uint32_t CYCCNT_RountCount;
@ -19,6 +31,10 @@ static uint32_t CYCCNT_LAST;
uint64_t CYCCNT64;
static void DWT_CNT_Update(void);
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
void DWT_Init(uint32_t CPU_Freq_mHz)
{
/* 使能DWT外设 */

16
assets/User_code/bsp/dwt.h
View File

@ -16,6 +16,14 @@
#include "main.h"
#include "stdint.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
typedef struct
{
uint32_t s;
@ -23,6 +31,10 @@ typedef struct
uint16_t us;
} DWT_Time_t;
/* USER STRUCT BEGIN */
/* USER STRUCT END */
void DWT_Init(uint32_t CPU_Freq_mHz);
float DWT_GetDeltaT(uint32_t *cnt_last);
double DWT_GetDeltaT64(uint32_t *cnt_last);
@ -34,4 +46,8 @@ void DWT_SysTimeUpdate(void);
extern DWT_Time_t SysTime;
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
#endif /* DWT_H_ */

16
assets/User_code/bsp/gpio.c
View File

@ -4,7 +4,15 @@
#include <gpio.h>
#include <main.h>
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* Private define ----------------------------------------------------------- */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* Private macro ------------------------------------------------------------ */
/* Private typedef ---------------------------------------------------------- */
typedef struct {
@ -12,6 +20,10 @@ typedef struct {
GPIO_TypeDef *gpio;
} BSP_GPIO_MAP_t;
/* USER STRUCT BEGIN */
/* USER STRUCT END */
/* Private variables -------------------------------------------------------- */
static const BSP_GPIO_MAP_t GPIO_Map[BSP_GPIO_NUM] = {
/* AUTO GENERATED BSP_GPIO_MAP */
@ -20,6 +32,10 @@ static const BSP_GPIO_MAP_t GPIO_Map[BSP_GPIO_NUM] = {
static void (*GPIO_Callback[16])(void);
/* Private function -------------------------------------------------------- */
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin) {
for (uint8_t i = 0; i < 16; i++) {
if (GPIO_Pin & (1 << i)) {

12
assets/User_code/bsp/gpio.h
View File

@ -10,8 +10,16 @@ extern "C" {
#include "bsp/bsp.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* Exported constants ------------------------------------------------------- */
/* Exported macro ----------------------------------------------------------- */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* Exported types ----------------------------------------------------------- */
typedef enum {
/* AUTO GENERATED BSP_GPIO_ENUM */
@ -30,6 +38,10 @@ int8_t BSP_GPIO_TogglePin(BSP_GPIO_t gpio);
bool BSP_GPIO_ReadPin(BSP_GPIO_t gpio);
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
#ifdef __cplusplus
}
#endif

12
assets/User_code/bsp/i2c.c
View File

@ -1,9 +1,21 @@
/* Includes ----------------------------------------------------------------- */
#include "bsp\i2c.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* Private define ----------------------------------------------------------- */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* Private macro ------------------------------------------------------------ */
/* Private typedef ---------------------------------------------------------- */
/* USER STRUCT BEGIN */
/* USER STRUCT END */
/* Private variables -------------------------------------------------------- */
static void (*I2C_Callback[BSP_I2C_NUM][BSP_I2C_CB_NUM])(void);

11
assets/User_code/bsp/i2c.h
View File

@ -11,8 +11,16 @@ extern "C" {
#include "bsp/bsp.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* Exported constants ------------------------------------------------------- */
/* Exported macro ----------------------------------------------------------- */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* Exported types ----------------------------------------------------------- */
/* 要添加使用I2C的新设备，需要先在此添加对应的枚举值 */
@ -61,6 +69,9 @@ int8_t BSP_I2C_MemRead(BSP_I2C_t i2c, uint16_t devAddr, uint16_t memAddr,
int8_t BSP_I2C_MemWrite(BSP_I2C_t i2c, uint16_t devAddr, uint16_t memAddr,
uint8_t *data, uint16_t size, bool dma);
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
#ifdef __cplusplus
}

18
assets/User_code/bsp/mm.c
View File

@ -1,14 +1,30 @@
/* Includes ----------------------------------------------------------------- */
#include "bsp\mm.h"
#include "bsp/mm.h"
#include "FreeRTOS.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* Private define ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */
/* Private typedef ---------------------------------------------------------- */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* Private variables -------------------------------------------------------- */
/* USER STRUCT BEGIN */
/* USER STRUCT END */
/* Private function -------------------------------------------------------- */
/* Exported functions ------------------------------------------------------- */
inline void *BSP_Malloc(size_t size) { return pvPortMalloc(size); }
inline void BSP_Free(void *pv) { vPortFree(pv); }
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */

12
assets/User_code/bsp/mm.h
View File

@ -8,13 +8,25 @@ extern "C" {
#include <stddef.h>
#include <stdint.h>
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* Exported constants ------------------------------------------------------- */
/* Exported macro ----------------------------------------------------------- */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* Exported types ----------------------------------------------------------- */
/* Exported functions prototypes -------------------------------------------- */
void *BSP_Malloc(size_t size);
void BSP_Free(void *pv);
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
#ifdef __cplusplus
}
#endif

12
assets/User_code/bsp/pwm.c
View File

@ -3,7 +3,15 @@
#include "bsp/pwm.h"
#include "bsp.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* Private define ----------------------------------------------------------- */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* Private macro ------------------------------------------------------------ */
/* Private typedef ---------------------------------------------------------- */
typedef struct {
@ -11,6 +19,10 @@ typedef struct {
uint16_t channel;
} BSP_PWM_Config_t;
/* USER STRUCT BEGIN */
/* USER STRUCT END */
/* Private variables -------------------------------------------------------- */
static const BSP_PWM_Config_t PWM_Map[BSP_PWM_NUM] = {
/* AUTO GENERATED BSP_PWM_MAP */

12
assets/User_code/bsp/pwm.h
View File

@ -9,9 +9,17 @@ extern "C" {
#include "tim.h"
#include "bsp.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* Exported constants ------------------------------------------------------- */
/* Exported macro ----------------------------------------------------------- */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* Exported types ----------------------------------------------------------- */
/* PWM通道 */
typedef enum {
@ -31,6 +39,10 @@ TIM_HandleTypeDef* BSP_PWM_GetHandle(BSP_PWM_Channel_t ch);
int8_t BSP_PWM_Start_DMA(BSP_PWM_Channel_t ch, uint32_t *pData, uint16_t Length);
int8_t BSP_PWM_Stop_DMA(BSP_PWM_Channel_t ch);
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
#ifdef __cplusplus
}
#endif

16
assets/User_code/bsp/spi.c
View File

@ -2,9 +2,21 @@
#include <spi.h>
#include "bsp/spi.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* Private define ----------------------------------------------------------- */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* Private macro ------------------------------------------------------------ */
/* Private typedef ---------------------------------------------------------- */
/* USER STRUCT BEGIN */
/* USER STRUCT END */
/* Private variables -------------------------------------------------------- */
static void (*SPI_Callback[BSP_SPI_NUM][BSP_SPI_CB_NUM])(void);
@ -163,3 +175,7 @@ int8_t BSP_SPI_MemWrite(BSP_SPI_t spi, uint8_t reg, uint8_t *data, uint16_t size
BSP_SPI_Transmit(spi, &reg, 1u, true);
return BSP_SPI_Transmit(spi, data, size, true);
}
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */

12
assets/User_code/bsp/spi.h
View File

@ -11,8 +11,16 @@ extern "C" {
#include "bsp/bsp.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* Exported constants ------------------------------------------------------- */
/* Exported macro ----------------------------------------------------------- */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* Exported types ----------------------------------------------------------- */
/* 要添加使用SPI的新设备，需要先在此添加对应的枚举值 */
@ -53,6 +61,10 @@ int8_t BSP_SPI_MemWriteByte(BSP_SPI_t spi, uint8_t reg, uint8_t data);
int8_t BSP_SPI_MemRead(BSP_SPI_t spi, uint8_t reg, uint8_t *data, uint16_t size);
int8_t BSP_SPI_MemWrite(BSP_SPI_t spi, uint8_t reg, uint8_t *data, uint16_t size);
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
#ifdef __cplusplus
}
#endif

18
assets/User_code/bsp/time.c
View File

@ -6,9 +6,21 @@
#include "FreeRTOS.h"
#include "main.h"
#include "task.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* Private define ----------------------------------------------------------- */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* Private macro ------------------------------------------------------------ */
/* Private typedef ---------------------------------------------------------- */
/* USER STRUCT BEGIN */
/* USER STRUCT END */
/* Private variables -------------------------------------------------------- */
/* Private function -------------------------------------------------------- */
/* Exported functions ------------------------------------------------------- */
@ -62,4 +74,8 @@ int8_t BSP_TIME_Delay_us(uint32_t us) {
return BSP_OK;
}
int8_t BSP_TIME_Delay(uint32_t ms) __attribute__((alias("BSP_TIME_Delay_ms")));
int8_t BSP_TIME_Delay(uint32_t ms) __attribute__((alias("BSP_TIME_Delay_ms")));
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */

12
assets/User_code/bsp/time.h
View File

@ -9,8 +9,16 @@ extern "C" {
#include "bsp/bsp.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* Exported constants ------------------------------------------------------- */
/* Exported macro ----------------------------------------------------------- */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* Exported types ----------------------------------------------------------- */
/* Exported functions prototypes -------------------------------------------- */
uint32_t BSP_TIME_Get_ms();
@ -26,6 +34,10 @@ int8_t BSP_TIME_Delay_us(uint32_t us);
int8_t BSP_TIME_Delay(uint32_t ms);
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
#ifdef __cplusplus
}
#endif

18
assets/User_code/bsp/uart.c
View File

@ -3,9 +3,21 @@
#include "bsp/uart.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* Private define ----------------------------------------------------------- */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* Private macro ------------------------------------------------------------ */
/* Private typedef ---------------------------------------------------------- */
/* USER STRUCT BEGIN */
/* USER STRUCT END */
/* Private variables -------------------------------------------------------- */
static void (*UART_Callback[BSP_UART_NUM][BSP_UART_CB_NUM])(void);
@ -134,4 +146,8 @@ int8_t BSP_UART_Receive(BSP_UART_t uart, uint8_t *data, uint16_t size, bool dma)
} else {
return HAL_UART_Receive_IT(BSP_UART_GetHandle(uart), data, size);
}
}
}
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */

12
assets/User_code/bsp/uart.h
View File

@ -11,8 +11,16 @@ extern "C" {
#include "bsp/bsp.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* Exported constants ------------------------------------------------------- */
/* Exported macro ----------------------------------------------------------- */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* Exported types ----------------------------------------------------------- */
/* 要添加使用UART的新设备，需要先在此添加对应的枚举值 */
@ -51,6 +59,10 @@ int8_t BSP_UART_RegisterCallback(BSP_UART_t uart, BSP_UART_Callback_t type,
int8_t BSP_UART_Transmit(BSP_UART_t uart, uint8_t *data, uint16_t size, bool dma);
int8_t BSP_UART_Receive(BSP_UART_t uart, uint8_t *data, uint16_t size, bool dma);
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
#ifdef __cplusplus
}
#endif

12
assets/User_code/component/ahrs.c
View File

@ -9,9 +9,17 @@
#include "user_math.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
#define BETA_IMU (0.033f)
#define BETA_AHRS (0.041f)
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* 2 * proportional gain (Kp) */
static float beta = BETA_IMU;
@ -403,3 +411,7 @@ int8_t AHRS_GetEulr(AHRS_Eulr_t *eulr, const AHRS_t *ahrs) {
* \param eulr 被操作的数据
*/
void AHRS_ResetEulr(AHRS_Eulr_t *eulr) { memset(eulr, 0, sizeof(*eulr)); }
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */

16
assets/User_code/component/ahrs.h
View File

@ -11,6 +11,14 @@ extern "C" {
#include "user_math.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* 欧拉角（Euler angle） */
typedef struct {
float yaw; /* 偏航角（Yaw angle） */
@ -55,6 +63,10 @@ typedef struct {
float inv_sample_freq; /* 采样频率的的倒数 */
} AHRS_t;
/* USER STRUCT BEGIN */
/* USER STRUCT END */
/**
* @brief 初始化姿态解算
*
@ -93,6 +105,10 @@ int8_t AHRS_GetEulr(AHRS_Eulr_t *eulr, const AHRS_t *ahrs);
*/
void AHRS_ResetEulr(AHRS_Eulr_t *eulr);
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
#ifdef __cplusplus
}
#endif

12
assets/User_code/component/capacity.c
View File

@ -5,6 +5,14 @@
#include "capacity.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/**
* @brief 通过电压计算电池剩余电量
*
@ -56,3 +64,7 @@ float Capacity_GetCapacitorRemain(float vcap, float vbat, float v_cutoff) {
return percentage;
}
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */

12
assets/User_code/component/capacity.h
View File

@ -12,6 +12,14 @@ extern "C" {
#include "user_math.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/**
* @brief 通过电压计算电池剩余电量
*
@ -30,6 +38,10 @@ float Capacity_GetBatteryRemain(float volt);
*/
float Capacity_GetCapacitorRemain(float vcap, float vbat, float v_cutoff);
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
#ifdef __cplusplus
}
#endif

12
assets/User_code/component/cmd.c
View File

@ -6,6 +6,14 @@
#include <string.h>
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/**
* @brief 行为转换为对应按键
*
@ -373,3 +381,7 @@ int8_t CMD_RefereeAdd(CMD_RefereeCmd_t *ref, CMD_UI_t cmd) {
ref->counter++;
return 0;
}
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */

14
assets/User_code/component/cmd.h
View File

@ -13,7 +13,15 @@ extern "C" {
#include "component/ahrs.h"
#define CMD_REFEREE_MAX_NUM (3) /* 发送命令限定的最大数量 */
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
#define CMD_REFEREE_MAX_NUM (3) /* Lines 16 omitted */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* 机器人型号 */
typedef enum {
@ -301,6 +309,10 @@ int8_t CMD_ParseHost(const CMD_Host_t *host, CMD_t *cmd, float dt_sec);
*/
int8_t CMD_RefereeAdd(CMD_RefereeCmd_t *ref, CMD_UI_t cmd);
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
#ifdef __cplusplus
}
#endif

12
assets/User_code/component/crc16.c
View File

@ -1,5 +1,13 @@
#include "crc16.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
static const uint16_t crc16_tab[256] = {
0x0000, 0x1189, 0x2312, 0x329b, 0x4624, 0x57ad, 0x6536, 0x74bf, 0x8c48,
0x9dc1, 0xaf5a, 0xbed3, 0xca6c, 0xdbe5, 0xe97e, 0xf8f7, 0x1081, 0x0108,
@ -48,3 +56,7 @@ bool CRC16_Verify(const uint8_t *buf, size_t len) {
((const uint16_t *)((const uint8_t *)buf +
(len % 2)))[len / sizeof(uint16_t) - 1];
}
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */

12
assets/User_code/component/crc16.h
View File

@ -8,11 +8,23 @@ extern "C" {
#include "user_math.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
#define CRC16_INIT 0XFFFF
uint16_t CRC16_Calc(const uint8_t *buf, size_t len, uint16_t crc);
bool CRC16_Verify(const uint8_t *buf, size_t len);
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
#ifdef __cplusplus
}
#endif

12
assets/User_code/component/crc8.c
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@ -1,5 +1,13 @@
#include "crc8.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
static const uint8_t crc8_tab[256] = {
0x00, 0x5e, 0xbc, 0xe2, 0x61, 0x3f, 0xdd, 0x83, 0xc2, 0x9c, 0x7e, 0x20,
0xa3, 0xfd, 0x1f, 0x41, 0x9d, 0xc3, 0x21, 0x7f, 0xfc, 0xa2, 0x40, 0x1e,
@ -38,3 +46,7 @@ bool CRC8_Verify(const uint8_t *buf, size_t len) {
uint8_t expected = CRC8_Calc(buf, len - sizeof(uint8_t), CRC8_INIT);
return expected == buf[len - sizeof(uint8_t)];
}
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */

12
assets/User_code/component/crc8.h
View File

@ -8,11 +8,23 @@ extern "C" {
#include <stddef.h>
#include <stdint.h>
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
#define CRC8_INIT 0xFF
uint8_t CRC8_Calc(const uint8_t *buf, size_t len, uint8_t crc);
bool CRC8_Verify(const uint8_t *buf, size_t len);
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
#ifdef __cplusplus
}
#endif

16
assets/User_code/component/error_detect.h
View File

@ -11,6 +11,14 @@ extern "C" {
#include <stdbool.h>
#include <stdint.h>
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
typedef enum {
/* Low priority */
ERROR_DETECT_UNIT_NO_DEV = 0,
@ -53,6 +61,10 @@ typedef struct {
ErrorDetect_Error_t error[ERROR_DETECT_UNIT_NUM];
} ErrorDetect_t;
/* USER STRUCT BEGIN */
/* USER STRUCT END */
int8_t ErrorDetect_Init(void);
void ErrorDetect_Processing(uint32_t sys_time);
bool ErrorDetect_ErrorExist(ErrorDetect_Unit_t unit);
@ -61,6 +73,10 @@ const ErrorDetect_Error_t *ErrorDetect_GetDetail(ErrorDetect_Unit_t unit);
void ErrorDetect_Update(ErrorDetect_Unit_t unit, uint32_t time_current);
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
#ifdef __cplusplus
}
#endif

16
assets/User_code/component/filter.h
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@ -10,6 +10,14 @@ extern "C" {
#include "user_math.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* 二阶低通滤波器 */
typedef struct {
float cutoff_freq; /* 截止频率 */
@ -42,6 +50,10 @@ typedef struct {
} NotchFilter_t;
/* USER STRUCT BEGIN */
/* USER STRUCT END */
/**
* @brief 初始化滤波器
*
@ -99,6 +111,10 @@ float NotchFilter_Apply(NotchFilter_t *f, float sample);
*/
float NotchFilter_Reset(NotchFilter_t *f, float sample);
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
#ifdef __cplusplus
}
#endif

8
assets/User_code/component/limiter.h
View File

@ -11,6 +11,14 @@ extern "C" {
#include <stdbool.h>
#include <stdint.h>
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/**
* @brief 限制底盘功率不超过power_limit
*

16
assets/User_code/component/mixer.h
View File

@ -10,6 +10,14 @@ extern "C" {
#include "user_math.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/** 四轮布局 */
/* 前 */
/* 2 1 */
@ -33,6 +41,10 @@ typedef struct {
Mixer_Mode_t mode;
} Mixer_t; /* 混合器主结构体 */
/* USER STRUCT BEGIN */
/* USER STRUCT END */
/**
* @brief 初始化混合器
*
@ -55,6 +67,10 @@ int8_t Mixer_Init(Mixer_t *mixer, Mixer_Mode_t mode);
int8_t Mixer_Apply(Mixer_t *mixer, MoveVector_t *move_vec, float *out,
int8_t len, float scale);
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
#ifdef __cplusplus
}
#endif

12
assets/User_code/component/pid.h
View File

@ -14,6 +14,14 @@ extern "C" {
#include "filter.h"
#include "user_math.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* PID模式 */
typedef enum {
KPID_MODE_NO_D = 0, /* 不使用微分项，PI控制器 */
@ -90,6 +98,10 @@ int8_t PID_ResetIntegral(KPID_t *pid);
*/
int8_t PID_Reset(KPID_t *pid);
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
#ifdef __cplusplus
}
#endif

8
assets/User_code/component/ui.h
View File

@ -13,6 +13,10 @@ extern "C" {
#include "component/user_math.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
#define UI_DEL_OPERATION_NOTHING (0)
#define UI_DEL_OPERATION_DEL (1)
#define UI_DEL_OPERATION_DEL_ALL (2)
@ -31,6 +35,10 @@ extern "C" {
#define UI_GRAPIC_LAYER_CMD (6)
#define UI_DEFAULT_WIDTH (0x01)
/* USER DEFINE BEGIN */
/* USER DEFINE END */
#define UI_CHAR_DEFAULT_WIDTH (0x02)
typedef enum {

8
assets/User_code/component/user_math.c
View File

@ -3,8 +3,10 @@
*/
#include "user_math.h"
#include <string.h>
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
inline float InvSqrt(float x) {
//#if 0
@ -130,3 +132,7 @@ inline float CalculateRpm(float bullet_speed, float fric_radius, bool is17mm) {
// __NOP();
// }
// }
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */

18
assets/User_code/component/user_math.h
View File

@ -14,6 +14,10 @@ extern "C" {
#include <stdint.h>
#include <stddef.h>
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
#define M_DEG2RAD_MULT (0.01745329251f)
#define M_RAD2DEG_MULT (57.2957795131f)
@ -43,6 +47,12 @@ extern "C" {
_a < _b ? _a : _b; \
})
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* 移动向量 */
typedef struct {
float vx; /* 前后平移 */
@ -50,6 +60,10 @@ typedef struct {
float wz; /* 转动 */
} MoveVector_t;
/* USER STRUCT BEGIN */
/* USER STRUCT END */
float InvSqrt(float x);
float AbsClip(float in, float limit);
@ -159,3 +173,7 @@ float CalculateRpm(float bullet_speed, float fric_radius, bool is17mm);
// * @param line 行号
// */
// void VerifyFailed(const char *file, uint32_t line);
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */

13
assets/User_code/device/bmi088.c
View File

@ -15,6 +15,11 @@
#include "bsp/spi.h"
#include "component/user_math.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* Private define ----------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
#define BMI088_REG_ACCL_CHIP_ID (0x00)
#define BMI088_REG_ACCL_ERR (0x02)
@ -79,6 +84,10 @@ typedef enum {
BMI_GYRO,
} BMI_Device_t;
/* USER STRUCT BEGIN */
/* USER STRUCT END */
/* Private variables -------------------------------------------------------- */
static uint8_t buffer[2];
static uint8_t bmi088_rxbuf[BMI088_LEN_RX_BUFF];
@ -87,6 +96,10 @@ static osThreadId_t thread_alert;
static bool inited = false;
/* Private function -------------------------------------------------------- */
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
static void BMI_WriteSingle(BMI_Device_t dv, uint8_t reg, uint8_t data) {
buffer[0] = (reg & 0x7f);
buffer[1] = data;

16
assets/User_code/device/bmi088.h
View File

@ -11,6 +11,14 @@ extern "C" {
#include "component/ahrs.h"
#include "device/device.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* Exported constants ------------------------------------------------------- */
/* Exported macro ----------------------------------------------------------- */
/* Exported types ----------------------------------------------------------- */
@ -32,6 +40,10 @@ typedef struct {
const BMI088_Cali_t *cali;
} BMI088_t;
/* USER STRUCT BEGIN */
/* USER STRUCT END */
/* Exported functions prototypes -------------------------------------------- */
int8_t BMI088_Init(BMI088_t *bmi088, const BMI088_Cali_t *cali);
int8_t BMI088_Restart(void);
@ -60,6 +72,10 @@ int8_t BMI088_ParseAccl(BMI088_t *bmi088);
int8_t BMI088_ParseGyro(BMI088_t *bmi088);
float BMI088_GetUpdateFreq(BMI088_t *bmi088);
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
#ifdef __cplusplus
}
#endif

12
assets/User_code/device/buzzer.c
View File

@ -1,5 +1,13 @@
#include "device/buzzer.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
int8_t BUZZER_Init(BUZZER_t *buzzer, BSP_PWM_Channel_t channel) {
if (buzzer == NULL) return DEVICE_ERR;
@ -42,3 +50,7 @@ int8_t BUZZER_Set(BUZZER_t *buzzer, float freq, float duty_cycle) {
return result;
}
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */

16
assets/User_code/device/buzzer.h
View File

@ -9,14 +9,26 @@ extern "C" {
#include "bsp/pwm.h"
#include <stddef.h>
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* Exported constants ------------------------------------------------------- */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* Exported types ----------------------------------------------------------- */
typedef struct {
DEVICE_Header_t header;
BSP_PWM_Channel_t channel;
} BUZZER_t;
/* USER STRUCT BEGIN */
/* USER STRUCT END */
/* Exported functions prototypes -------------------------------------------- */
int8_t BUZZER_Init(BUZZER_t *buzzer, BSP_PWM_Channel_t channel);
@ -30,6 +42,10 @@ int8_t BUZZER_Stop(BUZZER_t *buzzer);
int8_t BUZZER_Set(BUZZER_t *buzzer, float freq, float duty_cycle);
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
#ifdef __cplusplus
}
#endif

16
assets/User_code/device/device.h
View File

@ -7,6 +7,14 @@ extern "C" {
#include <stdbool.h>
#include <stdint.h>
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
#define DEVICE_OK (0)
#define DEVICE_ERR (-1)
#define DEVICE_ERR_NULL (-2)
@ -26,6 +34,14 @@ typedef struct {
uint64_t last_online_time;
} DEVICE_Header_t;
/* USER STRUCT BEGIN */
/* USER STRUCT END */
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
#ifdef __cplusplus
}
#endif

2
assets/User_code/device/dm_imu.c
View File

@ -166,7 +166,7 @@ int8_t DM_IMU_Request(DM_IMU_t *imu, DM_IMU_RID_t rid) {
.dlc = 4,
};
memcpy(frame.data, tx_data, 4);
BSP_CAN_WaitTxMailboxEmpty(imu->param.can, 1); // 等待发送邮箱空闲
int8_t result = BSP_CAN_TransmitStdDataFrame(imu->param.can, &frame);
return (result == BSP_OK) ? DEVICE_OK : DEVICE_ERR;
}

12
assets/User_code/device/dr16.c
View File

@ -9,11 +9,19 @@
#include "bsp/uart.h"
#include "bsp/time.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* Private define ----------------------------------------------------------- */
#define DR16_CH_VALUE_MIN (364u)
#define DR16_CH_VALUE_MID (1024u)
#define DR16_CH_VALUE_MAX (1684u)
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* Private macro ------------------------------------------------------------ */
/* Private typedef ---------------------------------------------------------- */
/* Private variables -------------------------------------------------------- */
@ -83,3 +91,7 @@ bool DR16_WaitDmaCplt(uint32_t timeout) {
return (osThreadFlagsWait(SIGNAL_DR16_RAW_REDY, osFlagsWaitAll, timeout) ==
SIGNAL_DR16_RAW_REDY);
}
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */

11
assets/User_code/device/dr16.h
View File

@ -10,6 +10,14 @@ extern "C" {
#include "component/user_math.h"
#include "device/device.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* Exported constants ------------------------------------------------------- */
/* Exported macro ----------------------------------------------------------- */
/* Exported types ----------------------------------------------------------- */
@ -41,6 +49,9 @@ int8_t DR16_Restart(void);
int8_t DR16_StartDmaRecv(DR16_t *dr16);
bool DR16_WaitDmaCplt(uint32_t timeout);
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
#ifdef __cplusplus
}

17
assets/User_code/device/ist8310.c
View File

@ -13,6 +13,10 @@
#include "bsp/gpio.h"
#include "bsp/i2c.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* Private define ----------------------------------------------------------- */
#define IST8310_WAI (0x00)
#define IST8310_STAT1 (0x02)
@ -31,6 +35,11 @@
#define IST8310_IIC_ADDRESS (0x0E << 1)
#define IST8310_LEN_RX_BUFF (6)
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* Private macro ------------------------------------------------------------ */
#define IST8310_SET() \
BSP_GPIO_WritePin(CMPS_RST_Pin, GPIO_PIN_SET)
@ -38,6 +47,10 @@
BSP_GPIO_WritePin(CMPS_RST_Pin, GPIO_PIN_RESET)
/* Private typedef ---------------------------------------------------------- */
/* USER STRUCT BEGIN */
/* USER STRUCT END */
/* Private variables -------------------------------------------------------- */
uint8_t ist8310_rxbuf[IST8310_LEN_RX_BUFF];
@ -45,6 +58,10 @@ static osThreadId_t thread_alert;
static bool inited = false;
/* Private function -------------------------------------------------------- */
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
static void IST8310_WriteSingle(uint8_t reg, uint8_t data) {
BSP_I2C_MemWriteByte(BSP_I2C_COMP, IST8310_IIC_ADDRESS, reg, data);
}

17
assets/User_code/device/led.c
View File

@ -6,9 +6,26 @@
#include "bsp/gpio.h"
#include "bsp/pwm.h"
#include "device.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* Private define ----------------------------------------------------------- */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* Private macro ------------------------------------------------------------ */
/* Private typedef ---------------------------------------------------------- */
/* USER STRUCT BEGIN */
/* USER STRUCT END */
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
int8_t LED_PWMSet(BSP_PWM_Channel_t channel,float duty_cycle)
{

15
assets/User_code/device/motor.c
View File

@ -7,13 +7,28 @@
#include <string.h>
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* Private define ----------------------------------------------------------- */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* Private macro ------------------------------------------------------------ */
/* Private typedef ---------------------------------------------------------- */
/* USER STRUCT BEGIN */
/* USER STRUCT END */
/* Private variables -------------------------------------------------------- */
/* Private function -------------------------------------------------------- */
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
/* Exported functions ------------------------------------------------------- */
float MOTOR_GetRotorAbsAngle(const MOTOR_t *motor) {

16
assets/User_code/device/motor.h
View File

@ -7,6 +7,14 @@ extern "C" {
/* Includes ----------------------------------------------------------------- */
#include "device/device.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* Exported constants ------------------------------------------------------- */
/* Exported macro ----------------------------------------------------------- */
/* Exported types ----------------------------------------------------------- */
@ -41,12 +49,20 @@ typedef struct {
MOTOR_Feedback_t feedback;
} MOTOR_t;
/* USER STRUCT BEGIN */
/* USER STRUCT END */
/* Exported functions prototypes -------------------------------------------- */
float MOTOR_GetRotorAbsAngle(const MOTOR_t *motor);
float MOTOR_GetRotorSpeed(const MOTOR_t *motor);
float MOTOR_GetTorqueCurrent(const MOTOR_t *motor);
float MOTOR_GetTemp(const MOTOR_t *motor);
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
#ifdef __cplusplus
}
#endif

22
assets/User_code/device/motor_lk.c
View File

@ -10,6 +10,10 @@
#include "bsp/time.h"
#include "component/user_math.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* Private define ----------------------------------------------------------- */
#define LK_CTRL_ID_BASE (0x140)
#define LK_FB_ID_BASE (0x240)
@ -36,12 +40,24 @@
#define LK_ENC_15BIT_MAX (32767) // 15位编码器最大值
#define LK_ENC_16BIT_MAX (65535) // 16位编码器最大值
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* Private macro ------------------------------------------------------------ */
/* Private typedef ---------------------------------------------------------- */
/* USER STRUCT BEGIN */
/* USER STRUCT END */
/* Private variables -------------------------------------------------------- */
static MOTOR_LK_CANManager_t *can_managers[BSP_CAN_NUM] = {NULL};
/* Private functions -------------------------------------------------------- */
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
static float MOTOR_LK_GetCurrentLSB(MOTOR_LK_Module_t module) {
switch (module) {
case MOTOR_LK_MF9025:
@ -239,7 +255,7 @@ int8_t MOTOR_LK_SetOutput(MOTOR_LK_Param_t *param, float value) {
tx_frame.data[5] = (uint8_t)((torque_control >> 8) & 0xFF); // 转矩电流控制值高字节
tx_frame.data[6] = 0x00; // NULL
tx_frame.data[7] = 0x00; // NULL
BSP_CAN_WaitTxMailboxEmpty(param->can, 1); // 等待发送邮箱空闲
return BSP_CAN_TransmitStdDataFrame(param->can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
}
@ -265,7 +281,7 @@ int8_t MOTOR_LK_MotorOn(MOTOR_LK_Param_t *param) {
tx_frame.data[5] = 0x00;
tx_frame.data[6] = 0x00;
tx_frame.data[7] = 0x00;
BSP_CAN_WaitTxMailboxEmpty(param->can, 1); // 等待发送邮箱空闲
return BSP_CAN_TransmitStdDataFrame(param->can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
}
@ -285,7 +301,7 @@ int8_t MOTOR_LK_MotorOff(MOTOR_LK_Param_t *param) {
tx_frame.data[5] = 0x00;
tx_frame.data[6] = 0x00;
tx_frame.data[7] = 0x00;
BSP_CAN_WaitTxMailboxEmpty(param->can, 1); // 等待发送邮箱空闲
return BSP_CAN_TransmitStdDataFrame(param->can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
}

3
assets/User_code/device/motor_lz.c
View File

@ -129,7 +129,8 @@ static int8_t MOTOR_LZ_SendExtFrame(BSP_CAN_t can, uint32_t ext_id, uint8_t *dat
} else {
memset(tx_frame.data, 0, dlc);
}
BSP_CAN_WaitTxMailboxEmpty(can, 1); // 等待发送邮箱空闲
return BSP_CAN_TransmitExtDataFrame(can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
}

18
assets/User_code/device/motor_rm.c
View File

@ -10,6 +10,10 @@
#include "bsp/time.h"
#include "component/user_math.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* Private define ----------------------------------------------------------- */
#define GM6020_FB_ID_BASE (0x205)
#define GM6020_CTRL_ID_BASE (0x1ff)
@ -30,11 +34,24 @@
#define MOTOR_ENC_RES (8192) /* 电机编码器分辨率 */
#define MOTOR_CUR_RES (16384) /* 电机转矩电流分辨率 */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* Private macro ------------------------------------------------------------ */
/* Private typedef ---------------------------------------------------------- */
/* USER STRUCT BEGIN */
/* USER STRUCT END */
/* Private variables -------------------------------------------------------- */
static MOTOR_RM_CANManager_t *can_managers[BSP_CAN_NUM] = {NULL};
/* Private function -------------------------------------------------------- */
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
static int8_t MOTOR_RM_GetLogicalIndex(uint16_t can_id, MOTOR_RM_Module_t module) {
switch (module) {
case MOTOR_M2006:
@ -223,6 +240,7 @@ int8_t MOTOR_RM_Ctrl(MOTOR_RM_Param_t *param) {
default:
return DEVICE_ERR;
}
BSP_CAN_WaitTxMailboxEmpty(param->can, 1); // 等待发送邮箱空闲
return BSP_CAN_TransmitStdDataFrame(param->can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
}

14
assets/User_code/device/servo.c
View File

@ -1,5 +1,5 @@
/*
pwm控制舵机
pwm<EFBFBD><EFBFBD><EFBFBD>ƶ<EFBFBD><EFBFBD>
*/
/*Includes -----------------------------------------*/
@ -7,9 +7,17 @@
#include "bsp/pwm.h"
#include "servo.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
#define SERVO_MIN_DUTY 0.025f
#define SERVO_MAX_DUTY 0.125f
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/**
* @brief
* @param
@ -24,10 +32,10 @@ int8_t SERVO_Init(SERVO_t *servo) {
int8_t SERVO_SetAngle(SERVO_t *servo, float angle) {
if (servo == NULL) return BSP_ERR;
/*限制角度范围*/
/*<EFBFBD><EFBFBD><EFBFBD>ƽǶȷ<EFBFBD>Χ*/
if (angle < 0.0f) angle = 0.0f;
if (angle > 180.0f) angle = 180.0f;
/*角度映射到占空比*/
/*<EFBFBD>Ƕ<EFBFBD>ӳ<EFBFBD>䵽ռ<EFBFBD>ձ<EFBFBD>*/
float duty = servo->min_duty + (angle / 180.0f) * (servo->max_duty - servo->min_duty);
return BSP_PWM_Set(servo->pwm_ch, duty);

16
assets/User_code/device/servo.h
View File

@ -8,6 +8,14 @@ extern "C" {
#include <cmsis_os2.h>
#include "bsp/pwm.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* Exported constants ------------------------------------------------------- */
/* Exported macro ----------------------------------------------------------- */
@ -22,6 +30,10 @@ typedef struct {
float max_duty;
} SERVO_t;
/* USER STRUCT BEGIN */
/* USER STRUCT END */
/**
* @brief
* @param servo
@ -46,6 +58,10 @@ int8_t SERVO_SetAngle(SERVO_t *servo, float angle);
int8_t SERVO_Stop(SERVO_t *servo);
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
#ifdef __cplusplus
}

17
assets/User_code/device/vofa.c
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@ -3,18 +3,35 @@
#include <string.h>
#include "device/vofa.h"
#include "bsp/uart.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* Private define ----------------------------------------------------------- */
#define MAX_CHANNEL 64u // 根据实际最大通道数调整
#define JUSTFLOAT_TAIL 0x7F800000
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* Private macro ------------------------------------------------------------ */
/* Private typedef ---------------------------------------------------------- */
/* USER STRUCT BEGIN */
/* USER STRUCT END */
/* Private variables -------------------------------------------------------- */
static uint8_t vofa_tx_buf[sizeof(float) * MAX_CHANNEL + sizeof(uint32_t)];
static VOFA_Protocol_t current_protocol = VOFA_PROTOCOL_FIREWATER; // 默认协议
/* Private function -------------------------------------------------------- */
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
/************************ RawData *************************/
void VOFA_RawData_Send(const char* data, bool dma) {

18
assets/User_code/device/ws2812.c
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@ -4,18 +4,36 @@
#include "bsp/pwm.h"
#include <stdlib.h>
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* Private define ----------------------------------------------------------- */
#define DEVICE_WS2812_T1H (uint16_t)(BSP_PWM_GetAutoReloadPreload(BSP_PWM_WS2812) * 0.56) // High-level width of logic-1 pulse
#define DEVICE_WS2812_T0H (BSP_PWM_GetAutoReloadPreload(BSP_PWM_WS2812) * 0.29) // High-level width of logic-0 pulse
#define DEVICE_WS2812_WS_REST 40 // Number of reset pulses (low level) after data stream
#define DEVICE_WS2812_DATA_LEN 24 // WS2812 data length: 24 bits (GRB) per LED
#define DEVICE_WS2812_RST_NUM 50 // Extra reset pulses reserved at the end of the buffer
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* Private macro ------------------------------------------------------------ */
/* Private typedef ---------------------------------------------------------- */
/* USER STRUCT BEGIN */
/* USER STRUCT END */
/* Private variables -------------------------------------------------------- */
static uint16_t DEVICE_WS2812_LED_NUM; // Total number of LEDs
static uint16_t *DEVICE_WS2812_RGB_Buff = NULL;// PWM duty buffer for DMA
/* Private function -------------------------------------------------------- */
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
/* Exported functions ------------------------------------------------------- */
/**
* Set color of a single WS2812 LED