mirror of
https://github.com/goldenfishs/MRobot.git
synced 2025-11-02 04:23:10 +08:00
改can
This commit is contained in:
parent
7275e5e6e1
commit
3fb6348116
@ -500,9 +500,12 @@ class bsp_can(BspPeripheralBase):
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"",
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f" // 自动注册{instance}接收回调函数",
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f" BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_RX_FIFO0_MSG_PENDING_CB, BSP_CAN_RxFifo0Callback);",
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f" BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX0_CPLT_CB, BSP_CAN_TxCompleteCallback);",
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f" BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX1_CPLT_CB, BSP_CAN_TxCompleteCallback);",
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f" BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX2_CPLT_CB, BSP_CAN_TxCompleteCallback);",
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"",
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f" // 激活{instance}中断",
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f" HAL_CAN_ActivateNotification(&hcan{can_num}, CAN_IT_RX_FIFO0_MSG_PENDING);",
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f" HAL_CAN_ActivateNotification(&hcan{can_num}, CAN_IT_RX_FIFO0_MSG_PENDING | CAN_IT_TX_MAILBOX_EMPTY);",
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""
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])
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@ -532,6 +535,9 @@ class bsp_can(BspPeripheralBase):
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"",
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f" // 自动注册CAN1接收回调函数",
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f" BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_RX_FIFO0_MSG_PENDING_CB, BSP_CAN_RxFifo0Callback);",
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f" BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX0_CPLT_CB, BSP_CAN_TxCompleteCallback);",
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f" BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX1_CPLT_CB, BSP_CAN_TxCompleteCallback);",
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f" BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX2_CPLT_CB, BSP_CAN_TxCompleteCallback);",
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"",
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f" // 激活CAN1中断",
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f" HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING | ",
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@ -550,9 +556,13 @@ class bsp_can(BspPeripheralBase):
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"",
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f" // 自动注册CAN2接收回调函数",
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f" BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_RX_FIFO1_MSG_PENDING_CB, BSP_CAN_RxFifo1Callback);",
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f" BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX0_CPLT_CB, BSP_CAN_TxCompleteCallback);",
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f" BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX1_CPLT_CB, BSP_CAN_TxCompleteCallback);",
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f" BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX2_CPLT_CB, BSP_CAN_TxCompleteCallback);",
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"",
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f" // 激活CAN2中断",
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f" HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO1_MSG_PENDING);",
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f" HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO1_MSG_PENDING | ",
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f" CAN_IT_TX_MAILBOX_EMPTY); // 激活发送邮箱空中断",
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""
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])
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@ -583,9 +593,13 @@ class bsp_can(BspPeripheralBase):
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"",
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f" // 自动注册CAN1接收回调函数",
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f" BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_RX_FIFO0_MSG_PENDING_CB, BSP_CAN_RxFifo0Callback);",
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f" BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX0_CPLT_CB, BSP_CAN_TxCompleteCallback);",
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f" BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX1_CPLT_CB, BSP_CAN_TxCompleteCallback);",
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f" BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX2_CPLT_CB, BSP_CAN_TxCompleteCallback);",
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"",
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f" // 激活CAN1中断",
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f" HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING);",
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f" HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING | ",
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f" CAN_IT_TX_MAILBOX_EMPTY); // 激活发送邮箱空中断",
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""
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])
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@ -599,11 +613,15 @@ class bsp_can(BspPeripheralBase):
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f" HAL_CAN_ConfigFilter(&hcan2, &can1_filter); // 通过 CAN1 配置",
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f" HAL_CAN_Start(&hcan2);",
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"",
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f" // 自动注册CAN2接收回调函数",
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f" // 自动注册CAN1接收回调函数",
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f" BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_RX_FIFO0_MSG_PENDING_CB, BSP_CAN_RxFifo0Callback);",
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f" BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX0_CPLT_CB, BSP_CAN_TxCompleteCallback);",
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f" BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX1_CPLT_CB, BSP_CAN_TxCompleteCallback);",
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f" BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX2_CPLT_CB, BSP_CAN_TxCompleteCallback);",
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"",
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f" // 激活CAN2中断",
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f" HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO0_MSG_PENDING);",
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f" // 激活CAN1中断",
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f" HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING | ",
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f" CAN_IT_TX_MAILBOX_EMPTY); // 激活发送邮箱空中断",
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""
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])
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@ -619,11 +637,15 @@ class bsp_can(BspPeripheralBase):
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f" HAL_CAN_ConfigFilter(&hcan1, &can1_filter); // 通过 CAN1 配置",
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f" HAL_CAN_Start(&hcan{can_num});",
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"",
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f" // 自动注册{instance}接收回调函数",
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f" // 自动注册CAN2接收回调函数",
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f" BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_RX_FIFO1_MSG_PENDING_CB, BSP_CAN_RxFifo1Callback);",
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f" BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX0_CPLT_CB, BSP_CAN_TxCompleteCallback);",
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f" BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX1_CPLT_CB, BSP_CAN_TxCompleteCallback);",
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f" BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX2_CPLT_CB, BSP_CAN_TxCompleteCallback);",
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"",
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f" // 激活{instance}中断",
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f" HAL_CAN_ActivateNotification(&hcan{can_num}, CAN_IT_RX_FIFO1_MSG_PENDING);",
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f" // 激活CAN2中断",
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f" HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO1_MSG_PENDING | ",
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f" CAN_IT_TX_MAILBOX_EMPTY); // 激活发送邮箱空中断",
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""
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])
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filter_bank += 1 # 为下一个CAN分配不同的过滤器组
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@ -37,16 +37,21 @@ static osMutexId_t queue_mutex = NULL;
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static void (*CAN_Callback[BSP_CAN_NUM][BSP_CAN_CB_NUM])(void);
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static bool inited = false;
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static BSP_CAN_IdParser_t id_parser = NULL; /* ID解析器 */
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static BSP_CAN_TxQueue_t tx_queues[BSP_CAN_NUM]; /* 每个CAN的发送队列 */
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/* Private function prototypes ---------------------------------------------- */
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static BSP_CAN_t CAN_Get(CAN_HandleTypeDef *hcan);
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static osMessageQueueId_t BSP_CAN_FindQueue(BSP_CAN_t can, uint32_t can_id);
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static int8_t BSP_CAN_CreateIdQueue(BSP_CAN_t can, uint32_t can_id, uint8_t queue_size);
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static int8_t BSP_CAN_DeleteIdQueue(BSP_CAN_t can, uint32_t can_id);
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static void BSP_CAN_RxFifo0Callback(void);
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static void BSP_CAN_RxFifo1Callback(void);
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static void BSP_CAN_TxCompleteCallback(void);
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static BSP_CAN_FrameType_t BSP_CAN_GetFrameType(CAN_RxHeaderTypeDef *header);
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static uint32_t BSP_CAN_DefaultIdParser(uint32_t original_id, BSP_CAN_FrameType_t frame_type);
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static void BSP_CAN_TxQueueInit(BSP_CAN_t can);
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static bool BSP_CAN_TxQueuePush(BSP_CAN_t can, BSP_CAN_TxMessage_t *msg);
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static bool BSP_CAN_TxQueuePop(BSP_CAN_t can, BSP_CAN_TxMessage_t *msg);
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static bool BSP_CAN_TxQueueIsEmpty(BSP_CAN_t can);
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/* Private functions -------------------------------------------------------- */
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/* USER FUNCTION BEGIN */
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@ -118,29 +123,7 @@ static int8_t BSP_CAN_CreateIdQueue(BSP_CAN_t can, uint32_t can_id, uint8_t queu
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return BSP_OK;
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}
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/**
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* @brief 删除指定CAN ID的消息队列
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* @note 内部函数，已包含互斥锁保护
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*/
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static int8_t BSP_CAN_DeleteIdQueue(BSP_CAN_t can, uint32_t can_id) {
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if (osMutexAcquire(queue_mutex, CAN_QUEUE_MUTEX_TIMEOUT) != osOK) {
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return BSP_ERR_TIMEOUT;
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}
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BSP_CAN_QueueNode_t **current = &queue_list;
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while (*current != NULL) {
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if ((*current)->can == can && (*current)->can_id == can_id) {
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BSP_CAN_QueueNode_t *to_delete = *current;
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*current = (*current)->next;
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osMessageQueueDelete(to_delete->queue);
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BSP_Free(to_delete);
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osMutexRelease(queue_mutex);
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return BSP_OK;
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}
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current = &(*current)->next;
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}
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osMutexRelease(queue_mutex);
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return BSP_ERR; // 未找到
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}
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/**
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* @brief 获取帧类型
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*/
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@ -160,6 +143,106 @@ static uint32_t BSP_CAN_DefaultIdParser(uint32_t original_id, BSP_CAN_FrameType_
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return original_id;
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}
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/**
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* @brief 初始化发送队列
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*/
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static void BSP_CAN_TxQueueInit(BSP_CAN_t can) {
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if (can >= BSP_CAN_NUM) return;
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tx_queues[can].head = 0;
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tx_queues[can].tail = 0;
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}
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/**
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* @brief 向发送队列添加消息（无锁）
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*/
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static bool BSP_CAN_TxQueuePush(BSP_CAN_t can, BSP_CAN_TxMessage_t *msg) {
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if (can >= BSP_CAN_NUM || msg == NULL) return false;
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BSP_CAN_TxQueue_t *queue = &tx_queues[can];
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uint32_t next_head = (queue->head + 1) % BSP_CAN_TX_QUEUE_SIZE;
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// 队列满
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if (next_head == queue->tail) {
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return false;
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}
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// 复制消息
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queue->buffer[queue->head] = *msg;
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// 更新头指针（原子操作）
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queue->head = next_head;
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return true;
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}
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/**
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* @brief 从发送队列取出消息（无锁）
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*/
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static bool BSP_CAN_TxQueuePop(BSP_CAN_t can, BSP_CAN_TxMessage_t *msg) {
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if (can >= BSP_CAN_NUM || msg == NULL) return false;
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BSP_CAN_TxQueue_t *queue = &tx_queues[can];
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// 队列空
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if (queue->head == queue->tail) {
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return false;
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}
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// 复制消息
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*msg = queue->buffer[queue->tail];
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// 更新尾指针（原子操作）
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queue->tail = (queue->tail + 1) % BSP_CAN_TX_QUEUE_SIZE;
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return true;
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}
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/**
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* @brief 检查发送队列是否为空
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*/
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static bool BSP_CAN_TxQueueIsEmpty(BSP_CAN_t can) {
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if (can >= BSP_CAN_NUM) return true;
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return tx_queues[can].head == tx_queues[can].tail;
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}
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/**
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* @brief 处理所有CAN实例的发送队列
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*/
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static void BSP_CAN_TxCompleteCallback(void) {
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// 处理所有CAN实例的发送队列
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for (int i = 0; i < BSP_CAN_NUM; i++) {
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BSP_CAN_t can = (BSP_CAN_t)i;
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CAN_HandleTypeDef *hcan = BSP_CAN_GetHandle(can);
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if (hcan == NULL) continue;
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BSP_CAN_TxMessage_t msg;
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uint32_t mailbox;
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// 尝试发送队列中的消息
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while (!BSP_CAN_TxQueueIsEmpty(can)) {
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// 检查是否有空闲邮箱
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if (HAL_CAN_GetTxMailboxesFreeLevel(hcan) == 0) {
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break; // 没有空闲邮箱，等待下次中断
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}
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// 从队列中取出消息
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if (!BSP_CAN_TxQueuePop(can, &msg)) {
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break;
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}
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// 发送消息
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if (HAL_CAN_AddTxMessage(hcan, &msg.header, msg.data, &mailbox) != HAL_OK) {
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// 发送失败，消息已经从队列中移除，直接丢弃
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break;
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}
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}
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}
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}
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/**
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* @brief FIFO0接收处理函数
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*/
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@ -345,6 +428,11 @@ int8_t BSP_CAN_Init(void) {
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// 清零回调函数数组
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memset(CAN_Callback, 0, sizeof(CAN_Callback));
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// 初始化发送队列
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for (int i = 0; i < BSP_CAN_NUM; i++) {
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BSP_CAN_TxQueueInit((BSP_CAN_t)i);
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}
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// 初始化ID解析器为默认解析器
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id_parser = BSP_CAN_DefaultIdParser;
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@ -360,39 +448,6 @@ int8_t BSP_CAN_Init(void) {
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return BSP_OK;
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}
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int8_t BSP_CAN_DeInit(void) {
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if (!inited) {
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return BSP_ERR;
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}
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// 删除所有队列
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if (osMutexAcquire(queue_mutex, CAN_QUEUE_MUTEX_TIMEOUT) == osOK) {
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BSP_CAN_QueueNode_t *current = queue_list;
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while (current != NULL) {
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BSP_CAN_QueueNode_t *next = current->next;
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osMessageQueueDelete(current->queue);
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BSP_Free(current);
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current = next;
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}
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queue_list = NULL;
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osMutexRelease(queue_mutex);
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}
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// 删除互斥锁
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if (queue_mutex != NULL) {
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osMutexDelete(queue_mutex);
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queue_mutex = NULL;
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}
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// 清零回调函数数组
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memset(CAN_Callback, 0, sizeof(CAN_Callback));
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// 重置ID解析器
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id_parser = NULL;
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inited = false;
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return BSP_OK;
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}
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CAN_HandleTypeDef *BSP_CAN_GetHandle(BSP_CAN_t can) {
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if (can >= BSP_CAN_NUM) {
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@ -445,44 +500,58 @@ int8_t BSP_CAN_Transmit(BSP_CAN_t can, BSP_CAN_Format_t format,
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return BSP_ERR_NULL;
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}
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CAN_TxHeaderTypeDef header = {0};
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uint32_t mailbox;
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// 准备发送消息
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BSP_CAN_TxMessage_t tx_msg = {0};
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switch (format) {
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case BSP_CAN_FORMAT_STD_DATA:
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header.StdId = id;
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header.IDE = CAN_ID_STD;
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header.RTR = CAN_RTR_DATA;
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tx_msg.header.StdId = id;
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tx_msg.header.IDE = CAN_ID_STD;
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tx_msg.header.RTR = CAN_RTR_DATA;
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break;
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case BSP_CAN_FORMAT_EXT_DATA:
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header.ExtId = id;
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header.IDE = CAN_ID_EXT;
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header.RTR = CAN_RTR_DATA;
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tx_msg.header.ExtId = id;
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tx_msg.header.IDE = CAN_ID_EXT;
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tx_msg.header.RTR = CAN_RTR_DATA;
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break;
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case BSP_CAN_FORMAT_STD_REMOTE:
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header.StdId = id;
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header.IDE = CAN_ID_STD;
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header.RTR = CAN_RTR_REMOTE;
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tx_msg.header.StdId = id;
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tx_msg.header.IDE = CAN_ID_STD;
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tx_msg.header.RTR = CAN_RTR_REMOTE;
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break;
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case BSP_CAN_FORMAT_EXT_REMOTE:
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header.ExtId = id;
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header.IDE = CAN_ID_EXT;
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header.RTR = CAN_RTR_REMOTE;
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tx_msg.header.ExtId = id;
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tx_msg.header.IDE = CAN_ID_EXT;
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tx_msg.header.RTR = CAN_RTR_REMOTE;
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break;
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default:
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return BSP_ERR;
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}
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header.DLC = dlc;
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header.TransmitGlobalTime = DISABLE;
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tx_msg.header.DLC = dlc;
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tx_msg.header.TransmitGlobalTime = DISABLE;
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HAL_StatusTypeDef result = HAL_CAN_AddTxMessage(hcan, &header, data, &mailbox);
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if (result != HAL_OK) {
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return BSP_ERR;
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// 复制数据
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if (data != NULL && dlc > 0) {
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memcpy(tx_msg.data, data, dlc);
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}
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return BSP_OK;
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// 尝试直接发送到邮箱
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uint32_t mailbox;
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if (HAL_CAN_GetTxMailboxesFreeLevel(hcan) > 0) {
|
||||
HAL_StatusTypeDef result = HAL_CAN_AddTxMessage(hcan, &tx_msg.header, tx_msg.data, &mailbox);
|
||||
if (result == HAL_OK) {
|
||||
return BSP_OK; // 发送成功
|
||||
}
|
||||
}
|
||||
|
||||
// 邮箱满，尝试放入队列
|
||||
if (BSP_CAN_TxQueuePush(can, &tx_msg)) {
|
||||
return BSP_OK; // 成功放入队列
|
||||
}
|
||||
|
||||
// 队列也满，丢弃数据
|
||||
return BSP_ERR; // 数据丢弃
|
||||
}
|
||||
|
||||
int8_t BSP_CAN_TransmitStdDataFrame(BSP_CAN_t can, BSP_CAN_StdDataFrame_t *frame) {
|
||||
@ -514,12 +583,6 @@ int8_t BSP_CAN_RegisterId(BSP_CAN_t can, uint32_t can_id, uint8_t queue_size) {
|
||||
return BSP_CAN_CreateIdQueue(can, can_id, queue_size);
|
||||
}
|
||||
|
||||
int8_t BSP_CAN_UnregisterIdQueue(BSP_CAN_t can, uint32_t can_id) {
|
||||
if (!inited) {
|
||||
return BSP_ERR_INITED;
|
||||
}
|
||||
return BSP_CAN_DeleteIdQueue(can, can_id);
|
||||
}
|
||||
|
||||
int8_t BSP_CAN_GetMessage(BSP_CAN_t can, uint32_t can_id, BSP_CAN_Message_t *msg, uint32_t timeout) {
|
||||
if (!inited) {
|
||||
@ -586,15 +649,6 @@ int8_t BSP_CAN_RegisterIdParser(BSP_CAN_IdParser_t parser) {
|
||||
return BSP_OK;
|
||||
}
|
||||
|
||||
int8_t BSP_CAN_UnregisterIdParser(void) {
|
||||
if (!inited) {
|
||||
return BSP_ERR_INITED;
|
||||
}
|
||||
|
||||
id_parser = BSP_CAN_DefaultIdParser;
|
||||
return BSP_OK;
|
||||
}
|
||||
|
||||
uint32_t BSP_CAN_ParseId(uint32_t original_id, BSP_CAN_FrameType_t frame_type) {
|
||||
if (id_parser != NULL) {
|
||||
return id_parser(original_id, frame_type);
|
||||
@ -602,43 +656,4 @@ uint32_t BSP_CAN_ParseId(uint32_t original_id, BSP_CAN_FrameType_t frame_type) {
|
||||
return BSP_CAN_DefaultIdParser(original_id, frame_type);
|
||||
}
|
||||
|
||||
int8_t BSP_CAN_WaitTxMailboxEmpty(BSP_CAN_t can, uint32_t timeout) {
|
||||
if (!inited) {
|
||||
return BSP_ERR_INITED;
|
||||
}
|
||||
if (can >= BSP_CAN_NUM) {
|
||||
return BSP_ERR;
|
||||
}
|
||||
|
||||
CAN_HandleTypeDef *hcan = BSP_CAN_GetHandle(can);
|
||||
if (hcan == NULL) {
|
||||
return BSP_ERR_NULL;
|
||||
}
|
||||
|
||||
uint32_t start_time = HAL_GetTick();
|
||||
|
||||
// 如果超时时间为0，立即检查并返回
|
||||
if (timeout == 0) {
|
||||
uint32_t free_level = HAL_CAN_GetTxMailboxesFreeLevel(hcan);
|
||||
return (free_level > 0) ? BSP_OK : BSP_ERR_TIMEOUT;
|
||||
}
|
||||
|
||||
// 等待至少有一个邮箱空闲
|
||||
while (true) {
|
||||
uint32_t free_level = HAL_CAN_GetTxMailboxesFreeLevel(hcan);
|
||||
if (free_level > 0) {
|
||||
return BSP_OK;
|
||||
}
|
||||
|
||||
// 检查超时
|
||||
if (timeout != BSP_CAN_TIMEOUT_FOREVER) {
|
||||
uint32_t elapsed = HAL_GetTick() - start_time;
|
||||
if (elapsed >= timeout) {
|
||||
return BSP_ERR_TIMEOUT;
|
||||
}
|
||||
}
|
||||
|
||||
// 短暂延时，避免占用过多CPU
|
||||
osDelay(1);
|
||||
}
|
||||
}
|
||||
|
||||
@ -21,6 +21,7 @@ extern "C" {
|
||||
#define BSP_CAN_DEFAULT_QUEUE_SIZE 10
|
||||
#define BSP_CAN_TIMEOUT_IMMEDIATE 0
|
||||
#define BSP_CAN_TIMEOUT_FOREVER osWaitForever
|
||||
#define BSP_CAN_TX_QUEUE_SIZE 32 /* 发送队列大小 */
|
||||
|
||||
/* USER DEFINE BEGIN */
|
||||
|
||||
@ -29,7 +30,8 @@ extern "C" {
|
||||
/* Exported macro ----------------------------------------------------------- */
|
||||
/* Exported types ----------------------------------------------------------- */
|
||||
typedef enum {
|
||||
/* AUTO GENERATED BSP_CAN_NAME */
|
||||
BSP_CAN_1,
|
||||
BSP_CAN_2,
|
||||
BSP_CAN_NUM,
|
||||
BSP_CAN_ERR,
|
||||
} BSP_CAN_t;
|
||||
@ -101,6 +103,19 @@ typedef struct {
|
||||
/* ID解析回调函数类型 */
|
||||
typedef uint32_t (*BSP_CAN_IdParser_t)(uint32_t original_id, BSP_CAN_FrameType_t frame_type);
|
||||
|
||||
/* CAN发送消息结构体 */
|
||||
typedef struct {
|
||||
CAN_TxHeaderTypeDef header; /* 发送头 */
|
||||
uint8_t data[BSP_CAN_MAX_DLC]; /* 数据 */
|
||||
} BSP_CAN_TxMessage_t;
|
||||
|
||||
/* 无锁环形队列结构体 */
|
||||
typedef struct {
|
||||
BSP_CAN_TxMessage_t buffer[BSP_CAN_TX_QUEUE_SIZE]; /* 缓冲区 */
|
||||
volatile uint32_t head; /* 队列头 */
|
||||
volatile uint32_t tail; /* 队列尾 */
|
||||
} BSP_CAN_TxQueue_t;
|
||||
|
||||
/* USER STRUCT BEGIN */
|
||||
|
||||
/* USER STRUCT END */
|
||||
@ -113,12 +128,6 @@ typedef uint32_t (*BSP_CAN_IdParser_t)(uint32_t original_id, BSP_CAN_FrameType_t
|
||||
*/
|
||||
int8_t BSP_CAN_Init(void);
|
||||
|
||||
/**
|
||||
* @brief 反初始化 CAN 模块
|
||||
* @return BSP_OK 成功，其他值失败
|
||||
*/
|
||||
int8_t BSP_CAN_DeInit(void);
|
||||
|
||||
/**
|
||||
* @brief 获取 CAN 句柄
|
||||
* @param can CAN 枚举
|
||||
@ -172,13 +181,20 @@ int8_t BSP_CAN_TransmitExtDataFrame(BSP_CAN_t can, BSP_CAN_ExtDataFrame_t *frame
|
||||
*/
|
||||
int8_t BSP_CAN_TransmitRemoteFrame(BSP_CAN_t can, BSP_CAN_RemoteFrame_t *frame);
|
||||
|
||||
|
||||
/**
|
||||
* @brief 等待CAN发送邮箱空闲
|
||||
* @brief 获取发送队列中待发送消息数量
|
||||
* @param can CAN 枚举
|
||||
* @return 队列中消息数量，-1表示错误
|
||||
*/
|
||||
int32_t BSP_CAN_GetTxQueueCount(BSP_CAN_t can);
|
||||
|
||||
/**
|
||||
* @brief 清空发送队列
|
||||
* @param can CAN 枚举
|
||||
* @param timeout 超时时间（毫秒），0为立即返回，osWaitForever为永久等待
|
||||
* @return BSP_OK 成功，其他值失败
|
||||
*/
|
||||
int8_t BSP_CAN_WaitTxMailboxEmpty(BSP_CAN_t can, uint32_t timeout);
|
||||
int8_t BSP_CAN_FlushTxQueue(BSP_CAN_t can);
|
||||
|
||||
/**
|
||||
* @brief 注册 CAN ID 接收队列
|
||||
@ -189,13 +205,7 @@ int8_t BSP_CAN_WaitTxMailboxEmpty(BSP_CAN_t can, uint32_t timeout);
|
||||
*/
|
||||
int8_t BSP_CAN_RegisterId(BSP_CAN_t can, uint32_t can_id, uint8_t queue_size);
|
||||
|
||||
/**
|
||||
* @brief 注销 CAN ID 接收队列
|
||||
* @param can CAN 枚举
|
||||
* @param can_id 解析后的CAN ID
|
||||
* @return BSP_OK 成功，其他值失败
|
||||
*/
|
||||
int8_t BSP_CAN_UnregisterIdQueue(BSP_CAN_t can, uint32_t can_id);
|
||||
|
||||
|
||||
/**
|
||||
* @brief 获取 CAN 消息
|
||||
@ -230,11 +240,6 @@ int8_t BSP_CAN_FlushQueue(BSP_CAN_t can, uint32_t can_id);
|
||||
*/
|
||||
int8_t BSP_CAN_RegisterIdParser(BSP_CAN_IdParser_t parser);
|
||||
|
||||
/**
|
||||
* @brief 注销ID解析器
|
||||
* @return BSP_OK 成功，其他值失败
|
||||
*/
|
||||
int8_t BSP_CAN_UnregisterIdParser(void);
|
||||
|
||||
/**
|
||||
* @brief 解析CAN ID
|
||||
|
||||
Loading…
Reference in New Issue
Block a user