mirror of
https://github.com/goldenfishs/MRobot.git
synced 2026-02-04 18:00:19 +08:00
138 lines
4.0 KiB
C
138 lines
4.0 KiB
C
#pragma once
|
||
|
||
#ifdef __cplusplus
|
||
extern "C" {
|
||
#endif
|
||
|
||
/* Includes ----------------------------------------------------------------- */
|
||
#include <stdint.h>
|
||
#include <stdbool.h>
|
||
#include "bsp/bsp.h"
|
||
#include "bsp/mm.h"
|
||
#include <cmsis_os.h>
|
||
|
||
/* USER INCLUDE BEGIN */
|
||
#include <fdcan.h>
|
||
/* USER INCLUDE END */
|
||
|
||
/* Exported constants ------------------------------------------------------- */
|
||
#define BSP_FDCAN_MAX_DLC 64
|
||
#define BSP_FDCAN_DEFAULT_QUEUE_SIZE 10
|
||
#define BSP_FDCAN_TIMEOUT_IMMEDIATE 0
|
||
#define BSP_FDCAN_TIMEOUT_FOREVER osWaitForever
|
||
#define BSP_FDCAN_TX_QUEUE_SIZE 32
|
||
/* Exported macro ----------------------------------------------------------- */
|
||
//FDCANX实例使能
|
||
/* AUTO GENERATED FDCAN_EN BEGIN */
|
||
#define FDCAN1_EN
|
||
#define FDCAN2_EN
|
||
#define FDCAN3_EN
|
||
/* AUTO GENERATED FDCAN_EN END */
|
||
|
||
// FDCANX接收FIFO选择（0=FIFO0, 1=FIFO1）
|
||
/* AUTO GENERATED FDCAN_RX_FIFO BEGIN */
|
||
#ifdef FDCAN1_EN
|
||
#define FDCAN1_RX_FIFO 0
|
||
#endif
|
||
#ifdef FDCAN2_EN
|
||
#define FDCAN2_RX_FIFO 1
|
||
#endif
|
||
#ifdef FDCAN3_EN
|
||
#define FDCAN3_RX_FIFO 1
|
||
#endif
|
||
/* AUTO GENERATED FDCAN_RX_FIFO END */
|
||
/* Exported types ----------------------------------------------------------- */
|
||
typedef enum {
|
||
/* AUTO GENERATED BSP_FDCAN_NAME BEGIN */
|
||
BSP_FDCAN_1,
|
||
BSP_FDCAN_2,
|
||
BSP_FDCAN_3,
|
||
/* AUTO GENERATED BSP_FDCAN_NAME END */
|
||
BSP_FDCAN_NUM,
|
||
BSP_FDCAN_ERR,
|
||
} BSP_FDCAN_t;
|
||
|
||
typedef enum {
|
||
HAL_FDCAN_TX_EVENT_FIFO_CB,
|
||
HAL_FDCAN_TX_BUFFER_COMPLETE_CB,
|
||
HAL_FDCAN_TX_BUFFER_ABORT_CB,
|
||
HAL_FDCAN_RX_FIFO0_MSG_PENDING_CB,
|
||
HAL_FDCAN_RX_FIFO0_FULL_CB,
|
||
HAL_FDCAN_RX_FIFO1_MSG_PENDING_CB,
|
||
HAL_FDCAN_RX_FIFO1_FULL_CB,
|
||
HAL_FDCAN_ERROR_CB,
|
||
HAL_FDCAN_CB_NUM,
|
||
} BSP_FDCAN_Callback_t;
|
||
|
||
typedef enum {
|
||
BSP_FDCAN_FORMAT_STD_DATA,
|
||
BSP_FDCAN_FORMAT_EXT_DATA,
|
||
BSP_FDCAN_FORMAT_STD_REMOTE,
|
||
BSP_FDCAN_FORMAT_EXT_REMOTE,
|
||
} BSP_FDCAN_Format_t;
|
||
|
||
typedef enum {
|
||
BSP_FDCAN_FRAME_STD_DATA,
|
||
BSP_FDCAN_FRAME_EXT_DATA,
|
||
BSP_FDCAN_FRAME_STD_REMOTE,
|
||
BSP_FDCAN_FRAME_EXT_REMOTE,
|
||
} BSP_FDCAN_FrameType_t;
|
||
|
||
typedef struct {
|
||
BSP_FDCAN_FrameType_t frame_type;
|
||
uint32_t original_id;
|
||
uint32_t parsed_id;
|
||
uint8_t dlc;
|
||
uint8_t data[BSP_FDCAN_MAX_DLC];
|
||
uint32_t timestamp;
|
||
} BSP_FDCAN_Message_t;
|
||
|
||
typedef struct {
|
||
uint32_t id;
|
||
uint8_t dlc;
|
||
uint8_t data[BSP_FDCAN_MAX_DLC];
|
||
} BSP_FDCAN_StdDataFrame_t;
|
||
|
||
typedef struct {
|
||
uint32_t id;
|
||
uint8_t dlc;
|
||
uint8_t data[BSP_FDCAN_MAX_DLC];
|
||
} BSP_FDCAN_ExtDataFrame_t;
|
||
|
||
typedef struct {
|
||
uint32_t id;
|
||
uint8_t dlc;
|
||
bool is_extended;
|
||
} BSP_FDCAN_RemoteFrame_t;
|
||
|
||
typedef uint32_t (*BSP_FDCAN_IdParser_t)(uint32_t original_id, BSP_FDCAN_FrameType_t frame_type);
|
||
|
||
typedef struct {
|
||
FDCAN_TxHeaderTypeDef header; /* HAL FDCAN header type */
|
||
uint8_t data[BSP_FDCAN_MAX_DLC];
|
||
} BSP_FDCAN_TxMessage_t;
|
||
|
||
typedef struct {
|
||
BSP_FDCAN_TxMessage_t buffer[BSP_FDCAN_TX_QUEUE_SIZE];
|
||
volatile uint32_t head;
|
||
volatile uint32_t tail;
|
||
} BSP_FDCAN_TxQueue_t;
|
||
|
||
/* Exported functions prototypes -------------------------------------------- */
|
||
int8_t BSP_FDCAN_Init(void);
|
||
FDCAN_HandleTypeDef *BSP_FDCAN_GetHandle(BSP_FDCAN_t can);
|
||
int8_t BSP_FDCAN_RegisterCallback(BSP_FDCAN_t can, BSP_FDCAN_Callback_t type, void (*callback)(void));
|
||
int8_t BSP_FDCAN_Transmit(BSP_FDCAN_t can, BSP_FDCAN_Format_t format, uint32_t id, uint8_t *data, uint8_t dlc);
|
||
int8_t BSP_FDCAN_TransmitStdDataFrame(BSP_FDCAN_t can, BSP_FDCAN_StdDataFrame_t *frame);
|
||
int8_t BSP_FDCAN_TransmitExtDataFrame(BSP_FDCAN_t can, BSP_FDCAN_ExtDataFrame_t *frame);
|
||
int8_t BSP_FDCAN_TransmitRemoteFrame(BSP_FDCAN_t can, BSP_FDCAN_RemoteFrame_t *frame);
|
||
int8_t BSP_FDCAN_RegisterId(BSP_FDCAN_t can, uint32_t can_id, uint8_t queue_size);
|
||
int8_t BSP_FDCAN_GetMessage(BSP_FDCAN_t can, uint32_t can_id, BSP_FDCAN_Message_t *msg, uint32_t timeout);
|
||
int32_t BSP_FDCAN_GetQueueCount(BSP_FDCAN_t can, uint32_t can_id);
|
||
int8_t BSP_FDCAN_FlushQueue(BSP_FDCAN_t can, uint32_t can_id);
|
||
int8_t BSP_FDCAN_RegisterIdParser(BSP_FDCAN_IdParser_t parser);
|
||
uint32_t BSP_FDCAN_ParseId(uint32_t original_id, BSP_FDCAN_FrameType_t frame_type);
|
||
#ifdef __cplusplus
|
||
}
|
||
#endif
|