添加注释

sfxfs · Oct 16, 2023 · 8b177b1 · 8b177b1
1 parent 31e4036
commit 8b177b1
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Showing 4 changed files with 55 additions and 11 deletions.
diff --git a/drivers/jy901.c b/drivers/jy901.c
@@ -374,6 +374,11 @@ int32_t WitReadReg(jy901_handle_t *handle, uint32_t uiReg, uint32_t uiReadNum)
     return WIT_HAL_OK;
 }
 
+/**
+ * @brief 初始化函数执行
+ * @param handle jy901_handle_t结构体参数
+ * @return WIT_HAL_OK：成功（0）    WIT_HAL_ERROR：失败（-3）
+ */
 int32_t WitInit(jy901_handle_t *handle)
 {
     if (handle->SerialInit() != 0)

diff --git a/user/control/control.c b/user/control/control.c
@@ -10,6 +10,11 @@
 
 #include "control.h"
 
+/**
+ * @brief RPC服务端线程（推进器控制线程）
+ * @param arg 输入推进器控制信息，输入类型为void * （rov_info_t *）
+ * @return NULL
+ */
 void *control_thread(void *arg)
 {
     rov_info_t *info = (rov_info_t *)arg;
@@ -31,6 +36,11 @@ void *control_thread(void *arg)
     return NULL;
 }
 
+/**
+ * @brief 启动推进器控制线程
+ * @param info rov_info结构体参数
+ * @return 0 ：成功  -1：失败
+ */
 int rov_control_run(struct rov_info* info)
 {
     if (pthread_mutex_init(&info->thread.mutex.cal_rocket_output, NULL) != 0)
@@ -48,11 +58,17 @@ int rov_control_run(struct rov_info* info)
     return 0;
 }
 
+/**
+ * @brief 取消推进器控制线程
+ * @param info rov_info结构体参数
+ * @return 0:成功 -1：失败
+ */
 int rov_control_stop(struct rov_info* info)
 {
     if (pthread_cancel(info->thread.tid.control) != 0)
     {
         log_e("cancel thread failed");
+        return -1;
     }
     if (pthread_mutex_destroy(&info->thread.mutex.cal_rocket_output) != 0)
     {

diff --git a/user/device/application/motion_sensor.c b/user/device/application/motion_sensor.c
@@ -7,6 +7,10 @@
 
 static jy901_handle_t jy901_handle = {0};
 
+/**
+ * @brief  jy901串口初始化
+ * @return 0：成功 -1：失败
+ */
 int motion_sensor_init ()
 {
     jy901_handle.SerialInit = jy901_interface_uart_init;
@@ -20,12 +24,22 @@ int motion_sensor_init ()
     return 0;
 }
 
+/**
+ * @brief 按照协议，处理接收数据
+ * @param byte 接收数据
+ * @return 0：成功
+ */
 int motion_sensor_uart_data_in (uint8_t byte)
 {
     WitSerialDataIn(&jy901_handle, byte);
     return 0;
 }
 
+/**
+ * @brief 获取jy901处理后的坐标参数
+ * @param data sensor_t结构体参数
+ * @return 0：成功
+ */
 int motion_sensor_get_data (sensor_t *data)
 {
     data->yaw = jy901_handle.fAngle[2];     //z

diff --git a/user/device/device.c b/user/device/device.c
@@ -23,6 +23,10 @@
     function(back_left) \
     function(back_right)
 
+/**
+ * @brief 推进器控制数据写入
+ * @param param propeller_t 结构体参数
+ */
 static void write_to_propeller(propeller_t *param)
 {
     #define PWM_COTROLLER_WRITE(propeller) \
@@ -34,6 +38,11 @@ static void write_to_propeller(propeller_t *param)
     #undef PWM_COTROLLER_WRITE
 }
 
+/**
+ * @brief 推进器线程
+ * @param arg 控制参数信息，void * (rov_info_t)
+ * @return NULL
+ */
 void *propeller_thread(void *arg)
 {
     rov_info_t *info = (rov_info_t *)arg;
@@ -52,17 +61,11 @@ void *propeller_thread(void *arg)
     return NULL;
 }
 
-// void *device_thread(void *arg)
-// {
-//     rov_info_t *info = (rov_info_t *)arg;
-
-//     for (;;)
-//     {
-//     }
-
-//     return NULL;
-// }
-
+/**
+ * @brief 推进器启动
+ * @param info rov_info结构体参数
+ * @return 0:成功 -1：失败
+ */
 int rov_device_run(struct rov_info* info)
 {
     log_i("starting pwm controller");
@@ -94,6 +97,11 @@ int rov_device_run(struct rov_info* info)
     return 0;
 }
 
+/**
+ * @brief 取消推进器控制
+ * @param info rov_info结构体参数
+ * @return 0：成功 -1：失败
+ */
 int rov_device_stop(struct rov_info* info)
 {
     if (pwm_controller_deinit() < -1)
@@ -104,6 +112,7 @@ int rov_device_stop(struct rov_info* info)
     if (pthread_mutex_destroy(&info->thread.mutex.write_propeller) != 0)
     {
         log_e("propeller mutex destroy failed");
+        return -1;
     }
     return 0;
 }