修复init模版错误

app/code_page/bsp_interface.py

@@ -433,26 +433,6 @@ class bsp_can(BspPeripheralBase):
         
         # 生成CAN初始化代码
         init_lines = []
-        # 初始化发送信号量
-        init_lines.append("    // 创建发送信号量，每个CAN通道有3个发送邮箱")
-        init_lines.append("    for (int i = 0; i < BSP_CAN_NUM; i++) {")
-        init_lines.append("        tx_semaphore[i] = osSemaphoreNew(CAN_TX_MAILBOX_NUM, CAN_TX_MAILBOX_NUM, NULL);")
-        init_lines.append("        if (tx_semaphore[i] == NULL) {")
-        init_lines.append("            // 清理已创建的信号量")
-        init_lines.append("            for (int j = 0; j < i; j++) {")
-        init_lines.append("                if (tx_semaphore[j] != NULL) {")
-        init_lines.append("                    osSemaphoreDelete(tx_semaphore[j]);")
-        init_lines.append("                    tx_semaphore[j] = NULL;")
-        init_lines.append("                }")
-        init_lines.append("            }")
-        init_lines.append("            if (queue_mutex != NULL) {")
-        init_lines.append("                osMutexDelete(queue_mutex);")
-        init_lines.append("                queue_mutex = NULL;")
-        init_lines.append("            }")
-        init_lines.append("            return BSP_ERR;")
-        init_lines.append("        }")
-        init_lines.append("    }")
-        init_lines.append("")
         
         # 先设置初始化标志
         init_lines.append("    // 先设置初始化标志，以便后续回调注册能通过检查")
@@ -503,17 +483,10 @@ class bsp_can(BspPeripheralBase):
             f"    HAL_CAN_ConfigFilter(&hcan{can_num}, &can{can_num}_filter);",
             f"    HAL_CAN_Start(&hcan{can_num});",
             "",
-            f"    // 注册{instance}发送完成回调（用于释放信号量）",
-            f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX0_CPLT_CB, BSP_CAN_TxCompleteCallback);",
-            f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX1_CPLT_CB, BSP_CAN_TxCompleteCallback);",
-            f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX2_CPLT_CB, BSP_CAN_TxCompleteCallback);",
-            f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX0_ABORT_CB, BSP_CAN_TxAbortCallback);",
-            f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX1_ABORT_CB, BSP_CAN_TxAbortCallback);",
-            f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX2_ABORT_CB, BSP_CAN_TxAbortCallback);",
-            "",
-            f"    // 注册{instance}接收回调函数",
+            f"    // 自动注册{instance}接收回调函数",
             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",
             ""
@@ -543,17 +516,10 @@ class bsp_can(BspPeripheralBase):
                 f"    HAL_CAN_ConfigFilter(&hcan1, &can1_filter);",
                 f"    HAL_CAN_Start(&hcan1);",
                 "",
-                f"    // 注册CAN1发送完成回调（用于释放信号量）",
-                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX0_CPLT_CB, BSP_CAN_TxCompleteCallback);",
-                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX1_CPLT_CB, BSP_CAN_TxCompleteCallback);",
-                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX2_CPLT_CB, BSP_CAN_TxCompleteCallback);",
-                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX0_ABORT_CB, BSP_CAN_TxAbortCallback);",
-                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX1_ABORT_CB, BSP_CAN_TxAbortCallback);",
-                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX2_ABORT_CB, BSP_CAN_TxAbortCallback);",
-                "",
-                f"    // 注册CAN1接收回调函数",
+                f"    // 自动注册CAN1接收回调函数",
                 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",
                 ""
@@ -568,16 +534,10 @@ class bsp_can(BspPeripheralBase):
                 f"    HAL_CAN_ConfigFilter(&hcan2, &can1_filter);  // 通过 CAN1 配置",
                 f"    HAL_CAN_Start(&hcan2);",
                 "",
-                f"    // 注册CAN2发送完成回调（用于释放信号量）",
-                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX0_CPLT_CB, BSP_CAN_TxCompleteCallback);",
-                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX1_CPLT_CB, BSP_CAN_TxCompleteCallback);",
-                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX2_CPLT_CB, BSP_CAN_TxCompleteCallback);",
-                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX0_ABORT_CB, BSP_CAN_TxAbortCallback);",
-                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX1_ABORT_CB, BSP_CAN_TxAbortCallback);",
-                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX2_ABORT_CB, BSP_CAN_TxAbortCallback);",
-                "",
-                f"    // 注册CAN2接收回调函数",
+                f"    // 自动注册CAN2接收回调函数",
                 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",
                 ""
@@ -608,17 +568,10 @@ class bsp_can(BspPeripheralBase):
                 f"    HAL_CAN_ConfigFilter(&hcan1, &can1_filter);",
                 f"    HAL_CAN_Start(&hcan1);",
                 "",
-                f"    // 注册CAN1发送完成回调（用于释放信号量）",
-                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX0_CPLT_CB, BSP_CAN_TxCompleteCallback);",
-                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX1_CPLT_CB, BSP_CAN_TxCompleteCallback);",
-                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX2_CPLT_CB, BSP_CAN_TxCompleteCallback);",
-                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX0_ABORT_CB, BSP_CAN_TxAbortCallback);",
-                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX1_ABORT_CB, BSP_CAN_TxAbortCallback);",
-                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX2_ABORT_CB, BSP_CAN_TxAbortCallback);",
-                "",
-                f"    // 注册CAN1接收回调函数",
+                f"    // 自动注册CAN1接收回调函数",
                 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",
                 ""
@@ -634,16 +587,10 @@ class bsp_can(BspPeripheralBase):
                 f"    HAL_CAN_ConfigFilter(&hcan2, &can1_filter);  // 通过 CAN1 配置",
                 f"    HAL_CAN_Start(&hcan2);",
                 "",
-                f"    // 注册CAN2发送完成回调（用于释放信号量）",
-                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX0_CPLT_CB, BSP_CAN_TxCompleteCallback);",
-                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX1_CPLT_CB, BSP_CAN_TxCompleteCallback);",
-                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX2_CPLT_CB, BSP_CAN_TxCompleteCallback);",
-                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX0_ABORT_CB, BSP_CAN_TxAbortCallback);",
-                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX1_ABORT_CB, BSP_CAN_TxAbortCallback);",
-                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX2_ABORT_CB, BSP_CAN_TxAbortCallback);",
-                "",
-                f"    // 注册CAN2接收回调函数",
+                f"    // 自动注册CAN2接收回调函数",
                 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",
                 ""
@@ -661,16 +608,10 @@ class bsp_can(BspPeripheralBase):
                 f"    HAL_CAN_ConfigFilter(&hcan1, &can1_filter);  // 通过 CAN1 配置",
                 f"    HAL_CAN_Start(&hcan{can_num});",
                 "",
-                f"    // 注册{instance}发送完成回调（用于释放信号量）",
-                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX0_CPLT_CB, BSP_CAN_TxCompleteCallback);",
-                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX1_CPLT_CB, BSP_CAN_TxCompleteCallback);",
-                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX2_CPLT_CB, BSP_CAN_TxCompleteCallback);",
-                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX0_ABORT_CB, BSP_CAN_TxAbortCallback);",
-                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX1_ABORT_CB, BSP_CAN_TxAbortCallback);",
-                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX2_ABORT_CB, BSP_CAN_TxAbortCallback);",
-                "",
-                f"    // 注册{instance}接收回调函数",
+                f"    // 自动注册{instance}接收回调函数",
                 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",
                 ""

assets/User_code/bsp/can.c

@@ -2,7 +2,7 @@
 #include "bsp/can.h"
 #include "bsp/bsp.h"
 #include <can.h>
-#include <cmsis_os.h>
+#include <cmsis_os2.h>
 #include <string.h>
 
 /* Private define ----------------------------------------------------------- */
@@ -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]();
     }

assets/User_code/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));
 

assets/User_code/config.csv

@@ -1,4 +1,4 @@
 bsp,can,dwt,gpio,i2c,mm,spi,uart,pwm,time
 component,ahrs,capacity,cmd,crc8,crc16,error_detect,filter,FreeRTOS_CLI,limiter,mixer,pid,ui,user_math
-device,dr16,bmi088,ist8310,motor,motor_rm,motor_vesc,motor_lk,motor_lz,motor_odrive,dm_imu,servo,buzzer,led,ws2812
+device,dr16,bmi088,ist8310,motor,motor_rm,motor_vesc,motor_lk,motor_lz,motor_odrive,dm_imu,servo,buzzer,led,ws2812,vofa,ops9
 module,

assets/User_code/device/config.yaml

@@ -15,6 +15,22 @@ devices:
       header: "dr16.h"
       source: "dr16.c"
   
+  ops9:
+    name: "OPS9"
+    description: "ACTION OPS9 码盘"
+    dependencies:
+      bsp: ["uart"]
+      component: ["user_math"]
+    bsp_requirements:
+      - type: "uart"
+        var_name: "BSP_UART_OPS9"  # 需要替换的变量名
+        description: "用于接收码盘"
+    thread_signals:
+      - name: "SIGNAL_OPS9_RAW_REDY"
+    files:
+      header: "ops9.h"
+      source: "ops9.c"
+
   bmi088:
     name: "BMI088"
     description: "BMI088 陀螺仪+加速度计传感器"
@@ -81,8 +97,6 @@ devices:
     dependencies:
       bsp: ["can", "time", "mm"]
       component: ["user_math"]
-    thread_signals:
-      - name: "SIGNAL_VESC_DATA_REDY"
     files:
       header: "motor_vesc.h"
       source: "motor_vesc.c"
@@ -93,8 +107,6 @@ devices:
     dependencies:
       bsp: ["can", "time", "mm"]
       component: ["user_math"]
-    thread_signals:
-      - name: "SIGNAL_ODRIVE_DATA_REDY"
     files:
       header: "motor_odrive.h"
       source: "motor_odrive.c"
@@ -105,8 +117,6 @@ devices:
     dependencies:
       bsp: ["can", "time", "mm"]
       component: ["user_math"]
-    thread_signals:
-      - name: "SIGNAL_RM_MOTOR_DATA_REDY"
     files:
       header: "motor_rm.h"
       source: "motor_rm.c"
@@ -155,8 +165,6 @@ devices:
     dependencies:
       bsp: ["can", "time"]
       component: ["user_math"]
-    thread_signals:
-      - name: "SIGNAL_DM_IMU_DATA_REDY"
     files:
       header: "dm_imu.h"
       source: "dm_imu.c"
@@ -178,8 +186,6 @@ devices:
     dependencies:
       bsp: ["can", "time", "mm"]
       component: ["user_math"]
-    thread_signals:
-      - name: "SIGNAL_LK_MOTOR_DATA_REDY"
     files:
       header: "motor_lk.h"
       source: "motor_lk.c"
@@ -190,8 +196,6 @@ devices:
     dependencies:
       bsp: ["can", "time", "mm"]
       component: ["user_math"]
-    thread_signals:
-      - name: "SIGNAL_LZ_MOTOR_DATA_REDY"
     files:
       header: "motor_lz.h"
       source: "motor_lz.c"
@@ -213,6 +217,10 @@ 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"

assets/User_code/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) {

assets/User_code/device/ops9.c

@@ -0,0 +1,58 @@
+/*
+    ACTION全场定位码盘ops9
+*/
+
+/* Includes ----------------------------------------------------------------- */
+#include "device/ops9.h"
+
+#include <string.h>
+
+#include "bsp/uart.h"
+#include "bsp/time.h"
+/* Private define ----------------------------------------------------------- */
+
+
+/* Private macro ------------------------------------------------------------ */
+/* Private typedef ---------------------------------------------------------- */
+/* Private variables -------------------------------------------------------- */
+static osThreadId_t thread_alert;
+static bool inited = false;
+
+/* Private function  -------------------------------------------------------- */
+static void OPS9_RxCpltCallback(void) {
+  osThreadFlagsSet(thread_alert, SIGNAL_OPS9_RAW_REDY);
+
+}
+
+/* Exported functions ------------------------------------------------------- */
+int8_t OPS9_init(OPS9_t *ops9) {
+  if (ops9 == NULL) return DEVICE_ERR_NULL;
+  if (inited) return DEVICE_ERR_INITED;
+  if ((thread_alert = osThreadGetId()) == NULL) return DEVICE_ERR_NULL;
+
+  BSP_UART_RegisterCallback(BSP_UART_OPS9, BSP_UART_RX_CPLT_CB,
+                            OPS9_RxCpltCallback);
+
+  inited = true;
+  return DEVICE_OK;
+}
+
+int8_t OPS9_Restart(void) {
+  __HAL_UART_DISABLE(BSP_UART_GetHandle(BSP_UART_OPS9));
+  __HAL_UART_ENABLE(BSP_UART_GetHandle(BSP_UART_OPS9));
+  return DEVICE_OK;
+}
+
+int8_t OPS9_StartDmaRecv(OPS9_t *ops9) {
+  if (HAL_UART_Receive_DMA(BSP_UART_GetHandle(BSP_UART_OPS9),
+                           (uint8_t *)&(ops9->data),
+                           sizeof(ops9->data)) == HAL_OK)
+    return DEVICE_OK;
+  return DEVICE_ERR;
+}
+
+bool OPS9_WaitDmaCplt(uint32_t timeout) {
+  return (osThreadFlagsWait(SIGNAL_OPS9_RAW_REDY, osFlagsWaitAll, timeout) ==
+          SIGNAL_OPS9_RAW_REDY);
+}
+

assets/User_code/device/ops9.h

@@ -0,0 +1,42 @@
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ----------------------------------------------------------------- */
+#include <cmsis_os2.h>
+#include <stdint.h>
+
+#include "component/user_math.h"
+#include "device/device.h"
+/* Exported constants ------------------------------------------------------- */
+
+#define OPS9_HEADER 0x0D0A
+#define OPS9_TAIL   0x0A0D
+
+/* Exported macro ----------------------------------------------------------- */
+/* Exported types ----------------------------------------------------------- */
+
+// 数据包结构体
+typedef struct __packed {
+    uint16_t header; // 2字节
+    float yaw;                // 4字节
+    float pitch;              // 4字节
+    float roll;               // 4字节
+    float x;                  // 4字节
+    float y;                  // 4字节
+    float angular_velocity;   // 4字节
+    uint16_t tail;     // 2字节
+} OPS9_Data_t; // 共28字节
+
+typedef struct {
+    DEVICE_Header_t header; // 设备头
+    OPS9_Data_t data;          // 存储接收到的数据
+} OPS9_t;
+
+/* Exported functions prototypes -------------------------------------------- */
+
+#ifdef __cplusplus
+}
+#endif

assets/User_code/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  -------------------------------------------------------- */
 

assets/User_code/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 ----------------------------------------------------------- */

assets/User_code/task/init.c.template

@@ -8,7 +8,7 @@
 
 /* USER INCLUDE BEGIN */
 
-/* USER INCLUDE BEGIN */
+/* USER INCLUDE END */
 
 /* Private typedef ---------------------------------------------------------- */
 /* Private define ----------------------------------------------------------- */