更新

bsp/can.c

@@ -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]();
     }

bsp/uart.h

@@ -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));
 

device/config.yaml

@@ -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"

device/motor.c

@@ -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) {

device/vofa.c

@@ -5,14 +5,14 @@
 #include "bsp/uart.h"
 /* Private define ----------------------------------------------------------- */
 
-#define MAX_CHANNEL  64u   		// 根据实际最大通道数调整
+#define MAX_CHANNEL  64u   		// 根据实际最大通道数调整
 
 #define JUSTFLOAT_TAIL 0x7F800000
 /* Private macro ------------------------------------------------------------ */
 /* Private typedef ---------------------------------------------------------- */
 /* 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
+static VOFA_Protocol_t current_protocol = VOFA_PROTOCOL_FIREWATER;  // 默认协议
 
 /* Private function  -------------------------------------------------------- */
 

device/vofa.h

@@ -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 ----------------------------------------------------------- */