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144 lines
3.8 KiB
C
144 lines
3.8 KiB
C
#pragma once
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#ifdef __cplusplus
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extern "C" {
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#endif
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/* Includes ----------------------------------------------------------------- */
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#include <can.h>
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#include "bsp/bsp.h"
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#include "bsp/mm.h"
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#include <stdint.h>
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#include <stdbool.h>
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#include <cmsis_os.h>
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/* Exported constants ------------------------------------------------------- */
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#define BSP_CAN_MAX_DLC 8
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#define BSP_CAN_DEFAULT_QUEUE_SIZE 10
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#define BSP_CAN_TIMEOUT_IMMEDIATE 0
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#define BSP_CAN_TIMEOUT_FOREVER osWaitForever
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/* Exported macro ----------------------------------------------------------- */
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/* Exported types ----------------------------------------------------------- */
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typedef enum {
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/* AUTO GENERATED BSP_CAN_NAME */
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BSP_CAN_NUM,
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BSP_CAN_ERR = 0xFF,
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} BSP_CAN_t;
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typedef enum {
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BSP_CAN_TX_MAILBOX0_CPLT_CB,
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BSP_CAN_TX_MAILBOX1_CPLT_CB,
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BSP_CAN_TX_MAILBOX2_CPLT_CB,
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BSP_CAN_TX_MAILBOX0_ABORT_CB,
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BSP_CAN_TX_MAILBOX1_ABORT_CB,
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BSP_CAN_TX_MAILBOX2_ABORT_CB,
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BSP_CAN_RX_FIFO0_MSG_PENDING_CB,
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BSP_CAN_RX_FIFO0_FULL_CB,
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BSP_CAN_RX_FIFO1_MSG_PENDING_CB,
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BSP_CAN_RX_FIFO1_FULL_CB,
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BSP_CAN_SLEEP_CB,
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BSP_CAN_WAKEUP_FROM_RX_MSG_CB,
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BSP_CAN_ERROR_CB,
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BSP_CAN_CB_NUM
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} BSP_CAN_Callback_t;
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typedef enum {
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BSP_CAN_FORMAT_STD_DATA, /* 标准数据帧 */
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BSP_CAN_FORMAT_EXT_DATA, /* 扩展数据帧 */
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BSP_CAN_FORMAT_STD_REMOTE, /* 标准远程帧 */
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BSP_CAN_FORMAT_EXT_REMOTE, /* 扩展远程帧 */
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} BSP_CAN_Format_t;
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typedef struct {
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CAN_RxHeaderTypeDef header;
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uint8_t data[BSP_CAN_MAX_DLC];
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} BSP_CAN_Message_t;
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/* Exported functions prototypes -------------------------------------------- */
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/**
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* @brief 初始化 CAN 模块
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* @return BSP_OK 成功，其他值失败
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*/
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int8_t BSP_CAN_Init(void);
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/**
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* @brief 反初始化 CAN 模块
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* @return BSP_OK 成功，其他值失败
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*/
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int8_t BSP_CAN_DeInit(void);
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/**
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* @brief 获取 CAN 句柄
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* @param can CAN 枚举
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* @return CAN_HandleTypeDef 指针，失败返回 NULL
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*/
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CAN_HandleTypeDef *BSP_CAN_GetHandle(BSP_CAN_t can);
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/**
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* @brief 注册 CAN 回调函数
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* @param can CAN 枚举
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* @param type 回调类型
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* @param callback 回调函数指针
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* @return BSP_OK 成功，其他值失败
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*/
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int8_t BSP_CAN_RegisterCallback(BSP_CAN_t can, BSP_CAN_Callback_t type,
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void (*callback)(void));
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/**
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* @brief 发送 CAN 消息
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* @param can CAN 枚举
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* @param format 消息格式
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* @param id CAN ID
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* @param data 数据指针
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* @param dlc 数据长度
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* @return BSP_OK 成功，其他值失败
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*/
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int8_t BSP_CAN_Transmit(BSP_CAN_t can, BSP_CAN_Format_t format,
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uint32_t id, uint8_t *data, uint8_t dlc);
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/**
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* @brief 注册 CAN ID 接收队列
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* @param can_id CAN ID
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* @param queue_size 队列大小，0使用默认值
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* @return BSP_OK 成功，其他值失败
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*/
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int8_t BSP_CAN_RegisterId(uint32_t can_id, uint8_t queue_size);
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/**
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* @brief 注销 CAN ID 接收队列
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* @param can_id CAN ID
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* @return BSP_OK 成功，其他值失败
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*/
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int8_t BSP_CAN_UnregisterIdQueue(uint32_t can_id);
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/**
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* @brief 获取 CAN 消息（阻塞方式）
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* @param can_id CAN ID
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* @param msg 存储消息的结构体指针
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* @param timeout 超时时间（毫秒），0为立即返回，osWaitForever为永久等待
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* @return BSP_OK 成功，其他值失败
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*/
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int8_t BSP_CAN_GetMessage(uint32_t can_id, BSP_CAN_Message_t *msg, uint32_t timeout);
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/**
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* @brief 获取指定ID队列中的消息数量
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* @param can_id CAN ID
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* @return 消息数量，-1表示队列不存在
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*/
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int32_t BSP_CAN_GetQueueCount(uint32_t can_id);
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/**
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* @brief 清空指定ID队列中的所有消息
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* @param can_id CAN ID
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* @return BSP_OK 成功，其他值失败
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*/
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int8_t BSP_CAN_FlushQueue(uint32_t can_id);
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/* USER CAN FUNCTIONS BEGIN */
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/* USER CAN FUNCTIONS END */
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#ifdef __cplusplus
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}
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#endif |