mirror of
https://github.com/goldenfishs/MRobot.git
synced 2025-09-14 12:54:33 +08:00
349 lines
11 KiB
C
349 lines
11 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 <stdlib.h>
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#include <string.h>
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/* Private define ----------------------------------------------------------- */
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/* Private macro ------------------------------------------------------------ */
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/* Private typedef ---------------------------------------------------------- */
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typedef struct CAN_QueueNode {
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uint32_t can_id;
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osMessageQueueId_t queue;
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uint8_t queue_size;
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struct CAN_QueueNode *next;
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} CAN_QueueNode_t;
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/* Private variables -------------------------------------------------------- */
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static CAN_QueueNode_t *can_queue_list = NULL;
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static void (*CAN_Callback[BSP_CAN_NUM][BSP_CAN_CB_NUM])(void);
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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 find_queue(uint32_t can_id);
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static void can_rx_fifo0_handler(void);
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static void can_rx_fifo1_handler(void);
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/* AUTO GENERATED CAN_RX_CALLBACKS */
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/* Private function -------------------------------------------------------- */
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/* 查找指定CAN ID的队列 */
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static osMessageQueueId_t find_queue(uint32_t can_id) {
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CAN_QueueNode_t *node = can_queue_list;
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while (node) {
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if (node->can_id == can_id) return node->queue;
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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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/* FIFO0接收处理函数 */
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static void can_rx_fifo0_handler(void) {
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CAN_RxHeaderTypeDef rx_header;
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uint8_t rx_data[8];
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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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uint32_t can_id = (rx_header.IDE == CAN_ID_STD) ? rx_header.StdId : rx_header.ExtId;
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osMessageQueueId_t queue = find_queue(can_id);
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if (queue) {
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CAN_Message_t msg;
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msg.header = rx_header;
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memcpy(msg.data, rx_data, 8);
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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, 0);
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}
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// 如果没有找到对应的队列，消息被直接丢弃
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}
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}
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}
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}
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/* FIFO1接收处理函数 */
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static void can_rx_fifo1_handler(void) {
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CAN_RxHeaderTypeDef rx_header;
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uint8_t rx_data[8];
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// 遍历所有CAN接口处理FIFO1
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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_FIFO1) > 0) {
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if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO1, &rx_header, rx_data) == HAL_OK) {
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uint32_t can_id = (rx_header.IDE == CAN_ID_STD) ? rx_header.StdId : rx_header.ExtId;
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osMessageQueueId_t queue = find_queue(can_id);
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if (queue) {
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CAN_Message_t msg;
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msg.header = rx_header;
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memcpy(msg.data, rx_data, 8);
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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, 0);
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}
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// 如果没有找到对应的队列，消息被直接丢弃
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}
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}
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}
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}
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static BSP_CAN_t CAN_Get(CAN_HandleTypeDef *hcan) {
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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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/* 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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CAN_HandleTypeDef *BSP_CAN_GetHandle(BSP_CAN_t can) {
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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 (callback == NULL) return BSP_ERR_NULL;
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if (can >= BSP_CAN_NUM) return BSP_ERR_INITED;
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if (type >= BSP_CAN_CB_NUM) return BSP_ERR;
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CAN_Callback[can][type] = callback;
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return BSP_OK;
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}
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int BSP_CAN_GetMessage(uint32_t can_id, CAN_Message_t *msg, uint32_t timeout) {
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if (msg == NULL) return BSP_ERR_NULL;
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osMessageQueueId_t queue = find_queue(can_id);
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if (!queue) return BSP_ERR_NO_DEV; // 没有该队列
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if (osMessageQueueGet(queue, msg, NULL, timeout) == osOK) {
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return BSP_OK; // 成功
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}
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return BSP_ERR; // 超时或队列为空
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}
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int8_t BSP_CAN_CreateIdQueue(uint32_t can_id, uint8_t queue_size) {
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// 检查是否已存在
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CAN_QueueNode_t *node = can_queue_list;
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while (node) {
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if (node->can_id == can_id) {
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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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CAN_QueueNode_t *new_node = malloc(sizeof(CAN_QueueNode_t));
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if (new_node == NULL) return BSP_ERR_NULL;
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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->queue = osMessageQueueNew(queue_size, sizeof(CAN_Message_t), NULL);
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if (new_node->queue == NULL) {
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free(new_node);
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return BSP_ERR;
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}
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new_node->next = can_queue_list;
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can_queue_list = new_node;
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return BSP_OK;
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}
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int8_t BSP_CAN_DeleteIdQueue(uint32_t can_id) {
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CAN_QueueNode_t **current = &can_queue_list;
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while (*current) {
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if ((*current)->can_id == can_id) {
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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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free(to_delete);
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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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return BSP_ERR; // 未找到
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}
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void BSP_CAN_RegisterId(uint32_t can_id, uint8_t queue_size) {
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BSP_CAN_CreateIdQueue(can_id, queue_size);
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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 (can >= BSP_CAN_NUM) return BSP_ERR;
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if (data == NULL) return BSP_ERR_NULL;
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if (dlc > 8) return BSP_ERR;
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CAN_HandleTypeDef *hcan = BSP_CAN_GetHandle(can);
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if (hcan == NULL) return BSP_ERR_NULL;
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CAN_TxHeaderTypeDef header;
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uint32_t mailbox;
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switch (format) {
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case 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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header.TransmitGlobalTime = DISABLE;
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header.DLC = dlc;
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break;
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case 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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header.TransmitGlobalTime = DISABLE;
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header.DLC = dlc;
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break;
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case 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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header.TransmitGlobalTime = DISABLE;
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header.DLC = dlc;
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break;
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case 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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header.TransmitGlobalTime = DISABLE;
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header.DLC = dlc;
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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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HAL_StatusTypeDef res = HAL_CAN_AddTxMessage(hcan, &header, data, &mailbox);
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if (res == HAL_OK) {
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return BSP_OK;
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} else {
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return BSP_ERR;
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}
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}
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int8_t BSP_CAN_Init(void) {
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/* AUTO GENERATED CAN_INIT */
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// 注册接收中断处理函数
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for (int can_idx = 0; can_idx < BSP_CAN_NUM; can_idx++) {
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BSP_CAN_RegisterCallback((BSP_CAN_t)can_idx, HAL_CAN_RX_FIFO0_MSG_PENDING_CB, can_rx_fifo0_handler);
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BSP_CAN_RegisterCallback((BSP_CAN_t)can_idx, HAL_CAN_RX_FIFO1_MSG_PENDING_CB, can_rx_fifo1_handler);
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}
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return BSP_OK;
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}
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