mirror of
https://github.com/goldenfishs/MRobot.git
synced 2026-02-04 18:00:19 +08:00
Robofish
eeb02a2de3
主要更改： - 将所有BSP外设文件移动到独立子文件夹（can/, fdcan/, uart/等） - 将所有Component文件移动到独立子文件夹（pid/, filter/, cmd/等） - 将所有Device文件移动到独立子文件夹（dr16/, bmi088/等） - 更新代码生成器以支持新的文件夹结构 - 保持向后兼容性，支持从子文件夹或根目录加载模板 - 添加STRUCTURE.md文档说明新的目录结构 优势： ✅ 更好的代码组织和管理 ✅ 便于添加、删除、修改模板 ✅ 清晰的模块划分 ✅ 向后兼容现有结构
98 lines
2.4 KiB
C
98 lines
2.4 KiB
C
/* Includes ----------------------------------------------------------------- */
|
|
#include "bsp/gpio.h"
|
|
|
|
#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 {
|
|
uint16_t pin;
|
|
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 */
|
|
};
|
|
|
|
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)) {
|
|
if (GPIO_Callback[i]) {
|
|
GPIO_Callback[i]();
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
/* Exported functions ------------------------------------------------------- */
|
|
int8_t BSP_GPIO_RegisterCallback(BSP_GPIO_t gpio, void (*callback)(void)) {
|
|
if (callback == NULL) return BSP_ERR_NULL;
|
|
if (gpio >= BSP_GPIO_NUM) return BSP_ERR;
|
|
|
|
// 从GPIO映射中获取对应的pin值
|
|
uint16_t pin = GPIO_Map[gpio].pin;
|
|
|
|
for (uint8_t i = 0; i < 16; i++) {
|
|
if (pin & (1 << i)) {
|
|
GPIO_Callback[i] = callback;
|
|
break;
|
|
}
|
|
}
|
|
return BSP_OK;
|
|
}
|
|
|
|
int8_t BSP_GPIO_EnableIRQ(BSP_GPIO_t gpio) {
|
|
switch (gpio) {
|
|
/* AUTO GENERATED BSP_GPIO_ENABLE_IRQ */
|
|
default:
|
|
return BSP_ERR;
|
|
}
|
|
return BSP_OK;
|
|
}
|
|
|
|
int8_t BSP_GPIO_DisableIRQ(BSP_GPIO_t gpio) {
|
|
switch (gpio) {
|
|
/* AUTO GENERATED BSP_GPIO_DISABLE_IRQ */
|
|
default:
|
|
return BSP_ERR;
|
|
}
|
|
return BSP_OK;
|
|
}
|
|
int8_t BSP_GPIO_WritePin(BSP_GPIO_t gpio, bool value){
|
|
if (gpio >= BSP_GPIO_NUM) return BSP_ERR;
|
|
HAL_GPIO_WritePin(GPIO_Map[gpio].gpio, GPIO_Map[gpio].pin, value);
|
|
return BSP_OK;
|
|
}
|
|
|
|
int8_t BSP_GPIO_TogglePin(BSP_GPIO_t gpio){
|
|
if (gpio >= BSP_GPIO_NUM) return BSP_ERR;
|
|
HAL_GPIO_TogglePin(GPIO_Map[gpio].gpio, GPIO_Map[gpio].pin);
|
|
return BSP_OK;
|
|
}
|
|
|
|
bool BSP_GPIO_ReadPin(BSP_GPIO_t gpio){
|
|
if (gpio >= BSP_GPIO_NUM) return false;
|
|
return HAL_GPIO_ReadPin(GPIO_Map[gpio].gpio, GPIO_Map[gpio].pin) == GPIO_PIN_SET;
|
|
} |