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feat: 增加can总线和步进电机指令绑定

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bmy
2024-05-01 12:16:55 +08:00
parent 7ef6f87c84
commit fd047b601c
15 changed files with 190 additions and 345 deletions
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14
app/by_can.c
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@@ -26,14 +26,16 @@ by_error_status 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) {
// LOGD("CAN#SEND: timeout=%d", timeout);
if (0 == timeout--) {
LOGW("CAN#TIMEOUT: ID=0x%x", id);
if (timeout) {
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 BY_ERROR;
return BY_ERROR;
}
DWT_Delay(10);
}
DWT_Delay(10);
}
return BY_SUCCESS;