mirror of
https://github.com/goldenfishs/MRobot.git
synced 2025-09-14 21:04:32 +08:00
594 lines
17 KiB
C
594 lines
17 KiB
C
/* Includes ----------------------------------------------------------------- */
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#include "bsp/can.h"
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#include "bsp/bsp.h"
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#include <can.h>
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#include <cmsis_os.h>
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#include <string.h>
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/* Private define ----------------------------------------------------------- */
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#define CAN_QUEUE_MUTEX_TIMEOUT 100 /* 队列互斥锁超时时间(ms) */
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/* Private macro ------------------------------------------------------------ */
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/* Private typedef ---------------------------------------------------------- */
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typedef struct BSP_CAN_QueueNode {
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uint32_t can_id; /* 解析后的CAN ID */
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osMessageQueueId_t queue; /* 消息队列ID */
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uint8_t queue_size; /* 队列大小 */
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struct BSP_CAN_QueueNode *next; /* 指向下一个节点的指针 */
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} BSP_CAN_QueueNode_t;
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/* Private variables -------------------------------------------------------- */
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static BSP_CAN_QueueNode_t *queue_list = NULL;
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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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/* 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(uint32_t can_id);
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static int8_t BSP_CAN_CreateIdQueue(uint32_t can_id, uint8_t queue_size);
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static int8_t BSP_CAN_DeleteIdQueue(uint32_t can_id);
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static void BSP_CAN_RxFifoCallback(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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/* Private functions -------------------------------------------------------- */
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/**
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* @brief 根据CAN句柄获取BSP_CAN实例
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*/
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static BSP_CAN_t CAN_Get(CAN_HandleTypeDef *hcan) {
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if (hcan == NULL) return BSP_CAN_ERR;
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/* AUTO GENERATED CAN_GET */
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else
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return BSP_CAN_ERR;
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}
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/**
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* @brief 查找指定CAN ID的消息队列
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* @note 调用前需要获取互斥锁
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*/
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static osMessageQueueId_t BSP_CAN_FindQueue(uint32_t can_id) {
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BSP_CAN_QueueNode_t *node = queue_list;
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while (node != NULL) {
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if (node->can_id == can_id) {
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return node->queue;
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}
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node = node->next;
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}
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return NULL;
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}
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/**
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* @brief 创建指定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_CreateIdQueue(uint32_t can_id, uint8_t queue_size) {
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if (queue_size == 0) {
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queue_size = BSP_CAN_DEFAULT_QUEUE_SIZE;
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}
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// 获取互斥锁
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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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// 检查是否已存在
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BSP_CAN_QueueNode_t *node = queue_list;
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while (node != NULL) {
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if (node->can_id == can_id) {
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osMutexRelease(queue_mutex);
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return BSP_ERR; // 已存在
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}
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node = node->next;
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}
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// 创建新节点
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BSP_CAN_QueueNode_t *new_node = (BSP_CAN_QueueNode_t *)BSP_Malloc(sizeof(BSP_CAN_QueueNode_t));
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if (new_node == NULL) {
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osMutexRelease(queue_mutex);
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return BSP_ERR_NULL;
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}
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// 创建消息队列
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new_node->queue = osMessageQueueNew(queue_size, sizeof(BSP_CAN_Message_t), NULL);
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if (new_node->queue == NULL) {
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BSP_Free(new_node);
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osMutexRelease(queue_mutex);
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return BSP_ERR;
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}
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// 初始化节点
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new_node->can_id = can_id;
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new_node->queue_size = queue_size;
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new_node->next = queue_list;
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queue_list = new_node;
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osMutexRelease(queue_mutex);
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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(uint32_t can_id) {
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// 获取互斥锁
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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_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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// 删除队列和节点
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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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static BSP_CAN_FrameType_t BSP_CAN_GetFrameType(CAN_RxHeaderTypeDef *header) {
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if (header->RTR == CAN_RTR_REMOTE) {
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return (header->IDE == CAN_ID_EXT) ? BSP_CAN_FRAME_EXT_REMOTE : BSP_CAN_FRAME_STD_REMOTE;
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} else {
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return (header->IDE == CAN_ID_EXT) ? BSP_CAN_FRAME_EXT_DATA : BSP_CAN_FRAME_STD_DATA;
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}
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}
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/**
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* @brief 默认ID解析器（直接返回原始ID）
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*/
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static uint32_t BSP_CAN_DefaultIdParser(uint32_t original_id, BSP_CAN_FrameType_t frame_type) {
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(void)frame_type; // 避免未使用参数警告
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return original_id;
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}
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/**
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* @brief FIFO接收处理函数
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*/
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static void BSP_CAN_RxFifoCallback(void) {
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CAN_RxHeaderTypeDef rx_header;
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uint8_t rx_data[BSP_CAN_MAX_DLC];
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// 遍历所有CAN接口处理FIFO0
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for (int can_idx = 0; can_idx < BSP_CAN_NUM; can_idx++) {
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CAN_HandleTypeDef *hcan = BSP_CAN_GetHandle((BSP_CAN_t)can_idx);
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if (hcan == NULL) continue;
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while (HAL_CAN_GetRxFifoFillLevel(hcan, CAN_RX_FIFO0) > 0) {
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if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &rx_header, rx_data) == HAL_OK) {
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// 获取原始ID
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uint32_t original_id = (rx_header.IDE == CAN_ID_STD) ? rx_header.StdId : rx_header.ExtId;
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// 获取帧类型
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BSP_CAN_FrameType_t frame_type = BSP_CAN_GetFrameType(&rx_header);
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// 解析ID
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uint32_t parsed_id = BSP_CAN_ParseId(original_id, frame_type);
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// 直接查找队列，不使用互斥锁（中断中快速执行）
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osMessageQueueId_t queue = BSP_CAN_FindQueue(parsed_id);
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if (queue != NULL) {
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BSP_CAN_Message_t msg = {0};
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msg.frame_type = frame_type;
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msg.original_id = original_id;
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msg.parsed_id = parsed_id;
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msg.dlc = rx_header.DLC;
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if (rx_header.RTR == CAN_RTR_DATA) {
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memcpy(msg.data, rx_data, rx_header.DLC);
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}
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msg.timestamp = HAL_GetTick(); // 添加时间戳
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// 非阻塞发送，如果队列满了就丢弃
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osMessageQueuePut(queue, &msg, 0, BSP_CAN_TIMEOUT_IMMEDIATE);
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}
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}
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}
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}
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}
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/* HAL Callback Functions --------------------------------------------------- */
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void HAL_CAN_TxMailbox0CompleteCallback(CAN_HandleTypeDef *hcan) {
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BSP_CAN_t bsp_can = CAN_Get(hcan);
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if (bsp_can != BSP_CAN_ERR) {
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if (CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX0_CPLT_CB])
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CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX0_CPLT_CB]();
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}
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}
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void HAL_CAN_TxMailbox1CompleteCallback(CAN_HandleTypeDef *hcan) {
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BSP_CAN_t bsp_can = CAN_Get(hcan);
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if (bsp_can != BSP_CAN_ERR) {
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if (CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX1_CPLT_CB])
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CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX1_CPLT_CB]();
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}
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}
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void HAL_CAN_TxMailbox2CompleteCallback(CAN_HandleTypeDef *hcan) {
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BSP_CAN_t bsp_can = CAN_Get(hcan);
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if (bsp_can != BSP_CAN_ERR) {
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if (CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX2_CPLT_CB])
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CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX2_CPLT_CB]();
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}
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}
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void HAL_CAN_TxMailbox0AbortCallback(CAN_HandleTypeDef *hcan) {
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BSP_CAN_t bsp_can = CAN_Get(hcan);
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if (bsp_can != BSP_CAN_ERR) {
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if (CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX0_ABORT_CB])
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CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX0_ABORT_CB]();
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}
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}
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void HAL_CAN_TxMailbox1AbortCallback(CAN_HandleTypeDef *hcan) {
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BSP_CAN_t bsp_can = CAN_Get(hcan);
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if (bsp_can != BSP_CAN_ERR) {
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if (CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX1_ABORT_CB])
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CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX1_ABORT_CB]();
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}
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}
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void HAL_CAN_TxMailbox2AbortCallback(CAN_HandleTypeDef *hcan) {
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BSP_CAN_t bsp_can = CAN_Get(hcan);
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if (bsp_can != BSP_CAN_ERR) {
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if (CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX2_ABORT_CB])
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CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX2_ABORT_CB]();
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}
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}
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void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan) {
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BSP_CAN_t bsp_can = CAN_Get(hcan);
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if (bsp_can != BSP_CAN_ERR) {
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if (CAN_Callback[bsp_can][HAL_CAN_RX_FIFO0_MSG_PENDING_CB])
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CAN_Callback[bsp_can][HAL_CAN_RX_FIFO0_MSG_PENDING_CB]();
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}
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}
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void HAL_CAN_RxFifo0FullCallback(CAN_HandleTypeDef *hcan) {
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BSP_CAN_t bsp_can = CAN_Get(hcan);
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if (bsp_can != BSP_CAN_ERR) {
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if (CAN_Callback[bsp_can][HAL_CAN_RX_FIFO0_FULL_CB])
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CAN_Callback[bsp_can][HAL_CAN_RX_FIFO0_FULL_CB]();
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}
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}
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void HAL_CAN_RxFifo1MsgPendingCallback(CAN_HandleTypeDef *hcan) {
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BSP_CAN_t bsp_can = CAN_Get(hcan);
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if (bsp_can != BSP_CAN_ERR) {
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if (CAN_Callback[bsp_can][HAL_CAN_RX_FIFO1_MSG_PENDING_CB])
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CAN_Callback[bsp_can][HAL_CAN_RX_FIFO1_MSG_PENDING_CB]();
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}
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}
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void HAL_CAN_RxFifo1FullCallback(CAN_HandleTypeDef *hcan) {
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BSP_CAN_t bsp_can = CAN_Get(hcan);
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if (bsp_can != BSP_CAN_ERR) {
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if (CAN_Callback[bsp_can][HAL_CAN_RX_FIFO1_FULL_CB])
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CAN_Callback[bsp_can][HAL_CAN_RX_FIFO1_FULL_CB]();
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}
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}
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void HAL_CAN_SleepCallback(CAN_HandleTypeDef *hcan) {
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BSP_CAN_t bsp_can = CAN_Get(hcan);
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if (bsp_can != BSP_CAN_ERR) {
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if (CAN_Callback[bsp_can][HAL_CAN_SLEEP_CB])
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CAN_Callback[bsp_can][HAL_CAN_SLEEP_CB]();
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}
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}
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void HAL_CAN_WakeUpFromRxMsgCallback(CAN_HandleTypeDef *hcan) {
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BSP_CAN_t bsp_can = CAN_Get(hcan);
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if (bsp_can != BSP_CAN_ERR) {
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if (CAN_Callback[bsp_can][HAL_CAN_WAKEUP_FROM_RX_MSG_CB])
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CAN_Callback[bsp_can][HAL_CAN_WAKEUP_FROM_RX_MSG_CB]();
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}
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}
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void HAL_CAN_ErrorCallback(CAN_HandleTypeDef *hcan) {
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BSP_CAN_t bsp_can = CAN_Get(hcan);
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if (bsp_can != BSP_CAN_ERR) {
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if (CAN_Callback[bsp_can][HAL_CAN_ERROR_CB])
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CAN_Callback[bsp_can][HAL_CAN_ERROR_CB]();
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}
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}
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/* Exported functions ------------------------------------------------------- */
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int8_t BSP_CAN_Init(void) {
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if (inited) {
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return BSP_ERR_INITED;
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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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// 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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// 创建互斥锁
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queue_mutex = osMutexNew(NULL);
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if (queue_mutex == NULL) {
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return BSP_ERR;
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}
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/* AUTO GENERATED CAN_INIT */
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inited = true;
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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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return NULL;
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}
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switch (can) {
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/* AUTO GENERATED BSP_CAN_GET_HANDLE */
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default:
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return NULL;
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}
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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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if (!inited) {
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return BSP_ERR_INITED;
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}
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if (callback == NULL) {
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return BSP_ERR_NULL;
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}
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if (can >= BSP_CAN_NUM) {
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return BSP_ERR;
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}
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if (type >= BSP_CAN_CB_NUM) {
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return BSP_ERR;
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}
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CAN_Callback[can][type] = callback;
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return BSP_OK;
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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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if (!inited) {
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return BSP_ERR_INITED;
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}
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if (can >= BSP_CAN_NUM) {
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return BSP_ERR;
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}
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if (data == NULL && format != BSP_CAN_FORMAT_STD_REMOTE && format != BSP_CAN_FORMAT_EXT_REMOTE) {
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return BSP_ERR_NULL;
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}
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if (dlc > BSP_CAN_MAX_DLC) {
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return BSP_ERR;
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}
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CAN_HandleTypeDef *hcan = BSP_CAN_GetHandle(can);
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if (hcan == NULL) {
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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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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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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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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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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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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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HAL_StatusTypeDef result = HAL_CAN_AddTxMessage(hcan, &header, data, &mailbox);
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return (result == HAL_OK) ? BSP_OK : BSP_ERR;
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}
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int8_t BSP_CAN_TransmitStdDataFrame(BSP_CAN_t can, BSP_CAN_StdDataFrame_t *frame) {
|
||
if (frame == NULL) {
|
||
return BSP_ERR_NULL;
|
||
}
|
||
return BSP_CAN_Transmit(can, BSP_CAN_FORMAT_STD_DATA, frame->id, frame->data, frame->dlc);
|
||
}
|
||
|
||
int8_t BSP_CAN_TransmitExtDataFrame(BSP_CAN_t can, BSP_CAN_ExtDataFrame_t *frame) {
|
||
if (frame == NULL) {
|
||
return BSP_ERR_NULL;
|
||
}
|
||
return BSP_CAN_Transmit(can, BSP_CAN_FORMAT_EXT_DATA, frame->id, frame->data, frame->dlc);
|
||
}
|
||
|
||
int8_t BSP_CAN_TransmitRemoteFrame(BSP_CAN_t can, BSP_CAN_RemoteFrame_t *frame) {
|
||
if (frame == NULL) {
|
||
return BSP_ERR_NULL;
|
||
}
|
||
BSP_CAN_Format_t format = frame->is_extended ? BSP_CAN_FORMAT_EXT_REMOTE : BSP_CAN_FORMAT_STD_REMOTE;
|
||
return BSP_CAN_Transmit(can, format, frame->id, NULL, frame->dlc);
|
||
}
|
||
|
||
int8_t BSP_CAN_RegisterId(uint32_t can_id, uint8_t queue_size) {
|
||
if (!inited) {
|
||
return BSP_ERR_INITED;
|
||
}
|
||
|
||
return BSP_CAN_CreateIdQueue(can_id, queue_size);
|
||
}
|
||
|
||
int8_t BSP_CAN_UnregisterIdQueue(uint32_t can_id) {
|
||
if (!inited) {
|
||
return BSP_ERR_INITED;
|
||
}
|
||
|
||
return BSP_CAN_DeleteIdQueue(can_id);
|
||
}
|
||
|
||
int8_t BSP_CAN_GetMessage(uint32_t can_id, BSP_CAN_Message_t *msg, uint32_t timeout) {
|
||
if (!inited) {
|
||
return BSP_ERR_INITED;
|
||
}
|
||
if (msg == NULL) {
|
||
return BSP_ERR_NULL;
|
||
}
|
||
|
||
// 线程安全地查找队列
|
||
if (osMutexAcquire(queue_mutex, CAN_QUEUE_MUTEX_TIMEOUT) != osOK) {
|
||
return BSP_ERR_TIMEOUT;
|
||
}
|
||
|
||
osMessageQueueId_t queue = BSP_CAN_FindQueue(can_id);
|
||
osMutexRelease(queue_mutex);
|
||
|
||
if (queue == NULL) {
|
||
return BSP_ERR_NO_DEV; // 队列不存在
|
||
}
|
||
|
||
osStatus_t result = osMessageQueueGet(queue, msg, NULL, timeout);
|
||
return (result == osOK) ? BSP_OK : BSP_ERR;
|
||
}
|
||
|
||
int32_t BSP_CAN_GetQueueCount(uint32_t can_id) {
|
||
if (!inited) {
|
||
return -1;
|
||
}
|
||
|
||
// 线程安全地查找队列
|
||
if (osMutexAcquire(queue_mutex, CAN_QUEUE_MUTEX_TIMEOUT) != osOK) {
|
||
return -1;
|
||
}
|
||
|
||
osMessageQueueId_t queue = BSP_CAN_FindQueue(can_id);
|
||
osMutexRelease(queue_mutex);
|
||
|
||
if (queue == NULL) {
|
||
return -1; // 队列不存在
|
||
}
|
||
|
||
return (int32_t)osMessageQueueGetCount(queue);
|
||
}
|
||
|
||
int8_t BSP_CAN_FlushQueue(uint32_t can_id) {
|
||
if (!inited) {
|
||
return BSP_ERR_INITED;
|
||
}
|
||
|
||
// 线程安全地查找队列
|
||
if (osMutexAcquire(queue_mutex, CAN_QUEUE_MUTEX_TIMEOUT) != osOK) {
|
||
return BSP_ERR_TIMEOUT;
|
||
}
|
||
|
||
osMessageQueueId_t queue = BSP_CAN_FindQueue(can_id);
|
||
osMutexRelease(queue_mutex);
|
||
|
||
if (queue == NULL) {
|
||
return BSP_ERR_NO_DEV; // 队列不存在
|
||
}
|
||
|
||
// 清空队列中的所有消息
|
||
BSP_CAN_Message_t temp_msg;
|
||
while (osMessageQueueGet(queue, &temp_msg, NULL, BSP_CAN_TIMEOUT_IMMEDIATE) == osOK) {
|
||
// 继续取出消息直到队列为空
|
||
}
|
||
|
||
return BSP_OK;
|
||
}
|
||
|
||
int8_t BSP_CAN_RegisterIdParser(BSP_CAN_IdParser_t parser) {
|
||
if (!inited) {
|
||
return BSP_ERR_INITED;
|
||
}
|
||
if (parser == NULL) {
|
||
return BSP_ERR_NULL;
|
||
}
|
||
|
||
id_parser = 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);
|
||
}
|
||
return BSP_CAN_DefaultIdParser(original_id, frame_type);
|
||
}
|
||
|
||
/* USER CAN FUNCTIONS BEGIN */
|
||
/* USER CAN FUNCTIONS END */ |