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123 lines
3.3 KiB
C
123 lines
3.3 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 <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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/* 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,
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} BSP_CAN_t;
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typedef enum {
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HAL_CAN_TX_MAILBOX0_CPLT_CB,
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HAL_CAN_TX_MAILBOX1_CPLT_CB,
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HAL_CAN_TX_MAILBOX2_CPLT_CB,
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HAL_CAN_TX_MAILBOX0_ABORT_CB,
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HAL_CAN_TX_MAILBOX1_ABORT_CB,
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HAL_CAN_TX_MAILBOX2_ABORT_CB,
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HAL_CAN_RX_FIFO0_MSG_PENDING_CB,
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HAL_CAN_RX_FIFO0_FULL_CB,
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HAL_CAN_RX_FIFO1_MSG_PENDING_CB,
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HAL_CAN_RX_FIFO1_FULL_CB,
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HAL_CAN_SLEEP_CB,
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HAL_CAN_WAKEUP_FROM_RX_MSG_CB,
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HAL_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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CAN_FORMAT_STD_DATA, /* 标准数据帧 */
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CAN_FORMAT_EXT_DATA, /* 扩展数据帧 */
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CAN_FORMAT_STD_REMOTE, /* 标准远程帧 */
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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[8];
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} CAN_Message_t;
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/* Exported functions prototypes -------------------------------------------- */
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/**
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* @brief 获取 CAN 句柄
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* @param can CAN 枚举类型
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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
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* @param can CAN 枚举类型
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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，BSP_ERR_NULL/BSP_ERR_INVALID_PARAM 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 枚举类型
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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，BSP_ERR/BSP_ERR_NULL/BSP_ERR_INVALID_PARAM 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 初始化 CAN
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* @return BSP_OK 成功，BSP_ERR/BSP_ERR_NULL/BSP_ERR_INITED 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 获取 CAN 消息
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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）
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* @return BSP_OK 成功，BSP_ERR/BSP_ERR_NULL/BSP_ERR_NO_DEV 失败
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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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/**
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* @brief 注册 CAN ID
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* @param can_id CAN ID
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* @param queue_size 队列大小
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* @return 无
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*/
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void BSP_CAN_RegisterId(uint32_t can_id, uint8_t queue_size);
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/**
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* @brief 创建指定 CAN ID 的队列
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* @param can_id CAN ID
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* @param queue_size 队列大小
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* @return BSP_OK 成功，BSP_ERR/BSP_ERR_NULL/BSP_ERR_INVALID_PARAM 失败
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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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/**
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* @brief 删除指定 CAN ID 的队列
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* @param can_id CAN ID
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* @return BSP_OK 成功，BSP_ERR/BSP_ERR_INVALID_PARAM 失败
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*/
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int8_t BSP_CAN_DeleteIdQueue(uint32_t can_id);
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/* USER CAN FUNCTIONS BEGIN */
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/* USER CAN FUNCTIONS END */ |