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tutrobo · Oct 29, 2024 · 3908195 · 3908195
1 parent 8b25825
commit 3908195
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Showing 6 changed files with 15 additions and 14 deletions.
diff --git a/include/tutrc_harurobo_lib/bno055.hpp b/include/tutrc_harurobo_lib/bno055.hpp
@@ -11,6 +11,7 @@ namespace tutrc_harurobo_lib {
 
 class BNO055 {
 public:
+  // TODO: timeout引数
   bool init(UART *uart) {
     uart_ = uart;
     uint32_t start = osKernelGetTickCount();

diff --git a/include/tutrc_harurobo_lib/can.hpp b/include/tutrc_harurobo_lib/can.hpp
@@ -14,7 +14,7 @@ namespace tutrc_harurobo_lib {
 
 class CAN : public CANBase {
 public:
-  CAN(CAN_HandleTypeDef *hcan, size_t rx_queue_size = 64);
+  bool init(CAN_HandleTypeDef *hcan, size_t rx_queue_size = 64);
   bool transmit(const CANMessage *msg) override;
   bool receive(CANMessage *msg, uint32_t timeout) override;
   size_t available() override;

diff --git a/include/tutrc_harurobo_lib/pwm.hpp b/include/tutrc_harurobo_lib/pwm.hpp
@@ -8,7 +8,7 @@ namespace tutrc_harurobo_lib {
 
 class PWM {
 public:
-  PWM(TIM_HandleTypeDef *htim, uint32_t channel);
+  bool init(TIM_HandleTypeDef *htim, uint32_t channel);
   uint32_t get_compare();
   void set_compare(uint32_t compare);
 

diff --git a/src/can.cpp b/src/can.cpp
@@ -11,12 +11,13 @@ namespace tutrc_harurobo_lib {
 
 std::unordered_map<CAN_HandleTypeDef *, CAN *> CAN::instances_;
 
-CAN::CAN(CAN_HandleTypeDef *hcan, size_t rx_queue_size) : hcan_(hcan) {
+bool CAN::init(CAN_HandleTypeDef *hcan, size_t rx_queue_size) {
+  hcan_ = hcan;
   instances_[hcan_] = this;
   rx_queue_ = osMessageQueueNew(rx_queue_size, sizeof(CANMessage), nullptr);
 
   if (hcan_->State != HAL_CAN_STATE_READY) {
-    Error_Handler();
+    return false;
   }
 
   CAN_FilterTypeDef filter = {};
@@ -37,17 +38,15 @@ CAN::CAN(CAN_HandleTypeDef *hcan, size_t rx_queue_size) : hcan_(hcan) {
   filter.SlaveStartFilterBank = 14;
 
   if (HAL_CAN_ConfigFilter(hcan_, &filter) != HAL_OK) {
-    Error_Handler();
+    return false;
   }
 
   if (HAL_CAN_ActivateNotification(hcan_, CAN_IT_RX_FIFO0_MSG_PENDING) !=
       HAL_OK) {
-    Error_Handler();
+    return false;
   }
 
-  if (HAL_CAN_Start(hcan_) != HAL_OK) {
-    Error_Handler();
-  }
+  return HAL_CAN_Start(hcan_) == HAL_OK;
 }
 
 bool CAN::transmit(const CANMessage *msg) {

diff --git a/src/encoder.cpp b/src/encoder.cpp
@@ -10,6 +10,7 @@ bool Encoder::init(TIM_HandleTypeDef *htim, uint16_t ppr, float period) {
   htim_ = htim;
   ppr_ = ppr;
   period_ = period;
+
   return HAL_TIM_Encoder_Start(htim_, TIM_CHANNEL_ALL) == HAL_OK;
 }
 

diff --git a/src/pwm.cpp b/src/pwm.cpp
@@ -6,11 +6,11 @@
 
 namespace tutrc_harurobo_lib {
 
-PWM::PWM(TIM_HandleTypeDef *htim, uint32_t channel)
-    : htim_(htim), channel_(channel) {
-  if (HAL_TIM_PWM_Start(htim_, channel_) != HAL_OK) {
-    Error_Handler();
-  }
+bool PWM::init(TIM_HandleTypeDef *htim, uint32_t channel) {
+  htim_ = htim;
+  channel_ = channel;
+
+  return HAL_TIM_PWM_Start(htim_, channel_) == HAL_OK;
 }
 
 uint32_t PWM::get_compare() { return __HAL_TIM_GET_COMPARE(htim_, channel_); }