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