btl143/BC2D-POS-firmware
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feat: 增加速度环

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bmy
2024-04-26 16:13:07 +08:00
parent 05cab94699
commit 6bac98da0a
12 changed files with 303 additions and 136 deletions
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19
app/by_can.c
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@@ -2,8 +2,11 @@
#include <string.h>
#include <assert.h>
#include "dwt_delay.h"
#include "by_utils.h"
#include "by_debug.h"
uint8_t by_can_send_stdd(uint32_t id, const uint8_t *data, uint8_t len)
by_error_status by_can_send_stdd(uint32_t id, const uint8_t *data, uint8_t len, uint16_t timeout)
{
assert(id < 0x7FF);
@@ -23,9 +26,15 @@ uint8_t by_can_send_stdd(uint32_t id, const uint8_t *data, uint8_t len)
transmit_mailbox = can_message_transmit(CAN1, &tx_message_struct); /* 将以上待发送报文写入发送邮箱并请求发送 */
/* 等待该邮箱发送成功—对应邮箱发送成功标志置起 */
while (can_transmit_status_get(CAN1, (can_tx_mailbox_num_type)transmit_mailbox) !=
CAN_TX_STATUS_SUCCESSFUL)
;
while (can_transmit_status_get(CAN1, (can_tx_mailbox_num_type)transmit_mailbox) != CAN_TX_STATUS_SUCCESSFUL) {
// LOGD("CAN#SEND: timeout=%d", timeout);
if (0 == timeout--) {
LOGW("CAN#TIMEOUT: ID=0x%x", id);
return 0;
return BY_ERROR;
}
DWT_Delay(10);
}
return BY_SUCCESS;
}