MIT SPIne 测试7

今天添加了freertos，并且进行了event触发的测试，led灯的状态表明事件触发有效，同时上位机通过usb2can成功接收每次的can数据，测试基本成功。

void Can1TaskFunc(void *argument)
{
  /* USER CODE BEGIN Can1TaskFunc */
  EventBits_t r_event = pdPASS;
  /* Infinite loop */
  for(;;)
  {
    r_event = osEventFlagsWait(SPI_EventHandle, EVENT1, osFlagsWaitAny, portMAX_DELAY);
    HAL_GPIO_TogglePin(LED_GPIO_Port, LED_Pin);
    CANx_SendStdData(&hcan1, 0x01, tx_data, 8);
    delay_us(20);
    CANx_SendStdData(&hcan1, 0x02, tx_data, 8);
    delay_us(20);
    CANx_SendStdData(&hcan1, 0x03, tx_data, 8);
    delay_us(20);
    osEventFlagsSet(CAN1_EventHandle, EVENT1);
  }
  /* USER CODE END Can1TaskFunc */
}

void Can2TaskFunc(void *argument)
{
  /* USER CODE BEGIN Can2TaskFunc */
  EventBits_t r_event = pdPASS;
  /* Infinite loop */
  for(;;)
  {
    r_event = osEventFlagsWait(SPI_EventHandle, EVENT2, osFlagsWaitAny, portMAX_DELAY);
    CANx_SendStdData(&hcan2, 0x01, tx_data, 8);
    delay_us(20);
    CANx_SendStdData(&hcan2, 0x02, tx_data, 8);
    delay_us(20);
    CANx_SendStdData(&hcan2, 0x03, tx_data, 8);
    delay_us(20);
    osEventFlagsSet(CAN2_EventHandle, EVENT1);
  }
  /* USER CODE END Can2TaskFunc */
}

void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
{
  if(GPIO_Pin == SPI_CS_Pin)
  {
    //HAL_GPIO_TogglePin(LED_GPIO_Port, LED_Pin);
    HAL_SPI_TransmitReceive(&hspi1, spi_tx, spi_rx, 132, 100);

    hspi1.Instance->DR = 0x00;

    // decode rx
    memcpy(&g_cmd, spi_rx, sizeof(spine_cmd_t));
    uint32_t crc = calculate((uint8_t*)&g_cmd, sizeof(spine_cmd_t) - 4);
    if(crc != g_cmd.crc)
    {
      HAL_UART_Transmit(&huart2, "crc error", 10, 10000);
      //HAL_UART_Transmit(&huart2, (uint8_t*) &g_cmd, sizeof(spine_cmd_t), 10000);
    }

    // trigger event to main task
    osEventFlagsSet(SPI_EventHandle, EVENT1);
    osEventFlagsSet(SPI_EventHandle, EVENT2);

    // copy data to tx
    g_state.state[0].state[0].p = 1;
    g_state.state[0].state[0].v = 2;
    g_state.state[0].state[0].t = 3;
    g_state.crc = calculate((uint8_t*)&g_state, sizeof(spine_state_t) - 4);
    memcpy(spi_tx, &g_state, sizeof(spine_state_t));

    //HAL_UART_Transmit(&huart2, tx, sizeof(spine_state_t), 10000);
  }
}