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259 lines
7.2 KiB
C
259 lines
7.2 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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/* USER INCLUDE BEGIN */
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/* USER INCLUDE END */
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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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#define BSP_CAN_TX_QUEUE_SIZE 32 /* 发送队列大小 */
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/* USER DEFINE BEGIN */
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/* USER DEFINE END */
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/* Exported macro ----------------------------------------------------------- */
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/* Exported types ----------------------------------------------------------- */
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typedef enum {
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BSP_CAN_1,
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BSP_CAN_2,
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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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/* CAN消息格式枚举 - 用于发送和接收消息时指定格式 */
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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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/* CAN帧类型枚举 - 用于区分不同类型的CAN帧 */
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typedef enum {
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BSP_CAN_FRAME_STD_DATA, /* 标准数据帧 */
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BSP_CAN_FRAME_EXT_DATA, /* 扩展数据帧 */
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BSP_CAN_FRAME_STD_REMOTE, /* 标准远程帧 */
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BSP_CAN_FRAME_EXT_REMOTE, /* 扩展远程帧 */
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} BSP_CAN_FrameType_t;
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/* CAN消息结构体 - 支持不同类型帧 */
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typedef struct {
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BSP_CAN_FrameType_t frame_type; /* 帧类型 */
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uint32_t original_id; /* 原始ID（未解析） */
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uint32_t parsed_id; /* 解析后的实际ID */
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uint8_t dlc; /* 数据长度 */
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uint8_t data[BSP_CAN_MAX_DLC]; /* 数据 */
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uint32_t timestamp; /* 时间戳（可选） */
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} BSP_CAN_Message_t;
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/* 标准数据帧结构 */
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typedef struct {
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uint32_t id; /* CAN ID */
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uint8_t dlc; /* 数据长度 */
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uint8_t data[BSP_CAN_MAX_DLC]; /* 数据 */
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} BSP_CAN_StdDataFrame_t;
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/* 扩展数据帧结构 */
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typedef struct {
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uint32_t id; /* 扩展CAN ID */
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uint8_t dlc; /* 数据长度 */
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uint8_t data[BSP_CAN_MAX_DLC]; /* 数据 */
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} BSP_CAN_ExtDataFrame_t;
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/* 远程帧结构 */
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typedef struct {
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uint32_t id; /* CAN ID */
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uint8_t dlc; /* 请求的数据长度 */
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bool is_extended; /* 是否为扩展帧 */
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} BSP_CAN_RemoteFrame_t;
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/* ID解析回调函数类型 */
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typedef uint32_t (*BSP_CAN_IdParser_t)(uint32_t original_id, BSP_CAN_FrameType_t frame_type);
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/* CAN发送消息结构体 */
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typedef struct {
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CAN_TxHeaderTypeDef header; /* 发送头 */
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uint8_t data[BSP_CAN_MAX_DLC]; /* 数据 */
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} BSP_CAN_TxMessage_t;
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/* 无锁环形队列结构体 */
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typedef struct {
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BSP_CAN_TxMessage_t buffer[BSP_CAN_TX_QUEUE_SIZE]; /* 缓冲区 */
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volatile uint32_t head; /* 队列头 */
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volatile uint32_t tail; /* 队列尾 */
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} BSP_CAN_TxQueue_t;
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/* USER STRUCT BEGIN */
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/* USER STRUCT END */
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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 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 发送标准数据帧
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* @param can CAN 枚举
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* @param frame 标准数据帧指针
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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_TransmitStdDataFrame(BSP_CAN_t can, BSP_CAN_StdDataFrame_t *frame);
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/**
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* @brief 发送扩展数据帧
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* @param can CAN 枚举
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* @param frame 扩展数据帧指针
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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_TransmitExtDataFrame(BSP_CAN_t can, BSP_CAN_ExtDataFrame_t *frame);
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/**
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* @brief 发送远程帧
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* @param can CAN 枚举
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* @param frame 远程帧指针
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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_TransmitRemoteFrame(BSP_CAN_t can, BSP_CAN_RemoteFrame_t *frame);
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/**
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* @brief 获取发送队列中待发送消息数量
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* @param can CAN 枚举
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* @return 队列中消息数量，-1表示错误
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*/
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int32_t BSP_CAN_GetTxQueueCount(BSP_CAN_t can);
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/**
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* @brief 清空发送队列
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* @param can CAN 枚举
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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_FlushTxQueue(BSP_CAN_t can);
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/**
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* @brief 注册 CAN ID 接收队列
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* @param can CAN 枚举
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* @param can_id 解析后的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(BSP_CAN_t can, uint32_t can_id, uint8_t queue_size);
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/**
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* @brief 获取 CAN 消息
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* @param can CAN 枚举
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* @param can_id 解析后的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(BSP_CAN_t can, 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 CAN 枚举
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* @param can_id 解析后的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(BSP_CAN_t can, 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 CAN 枚举
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* @param can_id 解析后的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(BSP_CAN_t can, uint32_t can_id);
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/**
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* @brief 注册ID解析器
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* @param parser ID解析回调函数
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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_RegisterIdParser(BSP_CAN_IdParser_t parser);
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/**
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* @brief 解析CAN ID
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* @param original_id 原始ID
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* @param frame_type 帧类型
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* @return 解析后的ID
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*/
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uint32_t BSP_CAN_ParseId(uint32_t original_id, BSP_CAN_FrameType_t frame_type);
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/* USER FUNCTION BEGIN */
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/* USER FUNCTION END */
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#ifdef __cplusplus
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}
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#endif |