147 lines
5.0 KiB
C
147 lines
5.0 KiB
C
/*
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CAN总线上的设
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将所有CAN总线上挂载的设抽象成一设进行配和控制
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*/
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/* Includes ----------------------------------------------------------------- */
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#include "can.h"
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#include <stdbool.h>
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#include <string.h>
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#include "bsp\can.h"
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#include "bsp\buzzer.h"
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#include "component\user_math.h"
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/* Private define ----------------------------------------------------------- */
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#define CAN_Mini_Croe (0x110)
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/* Private macro ------------------------------------------------------------ */
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/* Private typedef ---------------------------------------------------------- */
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/* Private variables -------------------------------------------------------- */
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static CAN_RawRx_t raw_rx1;
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static CAN_RawRx_t raw_rx2;
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static CAN_RawTx_t raw_tx;
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static osThreadId_t thread_alert;
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static CAN_t *gcan;
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static bool inited = false;
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// /* Private function -------------------------------------------------------- */
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static void CAN_CAN1RxFifoMsgPendingCallback(void) {
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HAL_CAN_GetRxMessage(BSP_CAN_GetHandle(BSP_CAN_1), CAN_RX_FIFO0,
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&raw_rx1.rx_header, raw_rx1.rx_data);
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osMessageQueuePut(gcan->msgq_raw, &raw_rx1, 0, 0);
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}
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/**
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* @brief CAN2接收FIFO1消息挂起回调函数
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* @param None
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*/
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static void CAN_CAN2RxFifoMsgPendingCallback(void) {
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HAL_CAN_GetRxMessage(BSP_CAN_GetHandle(BSP_CAN_2), CAN_RX_FIFO1,
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&raw_rx2.rx_header, raw_rx2.rx_data);
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osMessageQueuePut(gcan->msgq_raw, &raw_rx2, 0, 0);
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}
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static void CAN_Sick_Decode(CAN_Sick_Feedback_t *feedback, uint16_t *sick, const uint8_t *raw) {
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feedback->distance = (uint16_t)((raw[0] << 8) | raw[1]); // 转换为米
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feedback->save0 = (uint16_t)((raw[2] << 8) | raw[3]); // 转换为米
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feedback->save1 = (uint16_t)((raw[4] << 8) | raw[5]); // 转换为米
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feedback->save2 = (uint16_t)((raw[6] << 8) | raw[7]); // 转换为米
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*sick = feedback->distance; // 直接赋值给sick
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}
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// /* Exported functions ------------------------------------------------------- */
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int8_t CAN_Init(CAN_t *can, const CAN_Params_t *param) {
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if (can == NULL) return DEVICE_ERR_NULL;
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if (inited) return DEVICE_ERR_INITED;
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if ((thread_alert = osThreadGetId()) == NULL) return DEVICE_ERR_NULL;
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can->msgq_raw = osMessageQueueNew(32, sizeof(CAN_RawRx_t), NULL);
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can->param = param;
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CAN_FilterTypeDef can_filter = {0};
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can_filter.FilterBank = 0;
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can_filter.FilterIdHigh = 0;
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can_filter.FilterIdLow = 0;
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can_filter.FilterMode = CAN_FILTERMODE_IDMASK;
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can_filter.FilterScale = CAN_FILTERSCALE_32BIT;
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can_filter.FilterMaskIdHigh = 0;
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can_filter.FilterMaskIdLow = 0;
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can_filter.FilterActivation = ENABLE;
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can_filter.SlaveStartFilterBank = 14;
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can_filter.FilterFIFOAssignment = CAN_RX_FIFO0;
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HAL_CAN_ConfigFilter(BSP_CAN_GetHandle(BSP_CAN_1), &can_filter);
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HAL_CAN_Start(BSP_CAN_GetHandle(BSP_CAN_1));
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BSP_CAN_RegisterCallback(BSP_CAN_1, HAL_CAN_RX_FIFO0_MSG_PENDING_CB,
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CAN_CAN1RxFifoMsgPendingCallback);
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HAL_CAN_ActivateNotification(BSP_CAN_GetHandle(BSP_CAN_1),
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CAN_IT_RX_FIFO0_MSG_PENDING);
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can_filter.FilterBank = 14;
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can_filter.FilterFIFOAssignment = CAN_RX_FIFO1;
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HAL_CAN_ConfigFilter(BSP_CAN_GetHandle(BSP_CAN_2), &can_filter);
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HAL_CAN_Start(BSP_CAN_GetHandle(BSP_CAN_2));
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BSP_CAN_RegisterCallback(BSP_CAN_2, HAL_CAN_RX_FIFO1_MSG_PENDING_CB,
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CAN_CAN2RxFifoMsgPendingCallback);
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HAL_CAN_ActivateNotification(BSP_CAN_GetHandle(BSP_CAN_2),
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CAN_IT_RX_FIFO1_MSG_PENDING);
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gcan = can;
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inited = true;
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return DEVICE_OK;
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}
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int8_t CAN_StoreMsg(CAN_t *can, CAN_RawRx_t *can_rx) {
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if (can == NULL) return DEVICE_ERR_NULL;
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if (can_rx == NULL) return DEVICE_ERR_NULL;
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uint32_t index;
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switch (can_rx->rx_header.StdId) {
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case CAN_SICK1_ID:
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case CAN_SICK2_ID:
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case CAN_SICK3_ID:
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case CAN_SICK4_ID:
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index = can_rx->rx_header.StdId - CAN_SICK1_ID;
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CAN_Sick_Decode(&(can->sick.as_array[index]), &(can->sick.named.sick[index]), can_rx->rx_data);
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can->recive_flag |= 1 << index;
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break;
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default:
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break;
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}
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return DEVICE_OK;
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}
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int8_t CAN_Sick_Send(CAN_t *can) {
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uint16_t sick1, sick2, sick3, sick4;
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sick1 = can->sick.named.sick[0];
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sick2 = can->sick.named.sick[1];
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sick3 = can->sick.named.sick[2];
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sick4 = can->sick.named.sick[3];
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raw_tx.tx_header.StdId = CAN_Mini_Croe;
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raw_tx.tx_header.IDE = CAN_ID_STD;
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raw_tx.tx_header.RTR = CAN_RTR_DATA;
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raw_tx.tx_header.DLC = CAN_TX_SICK_BUF_SIZE;
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raw_tx.tx_data[0] = (uint8_t)(sick1 >> 8);
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raw_tx.tx_data[1] = (uint8_t)(sick1 & 0xFF);
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raw_tx.tx_data[2] = (uint8_t)(sick2 >> 8);
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raw_tx.tx_data[3] = (uint8_t)(sick2 & 0xFF);
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raw_tx.tx_data[4] = (uint8_t)(sick3 >> 8);
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raw_tx.tx_data[5] = (uint8_t)(sick3 & 0xFF);
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raw_tx.tx_data[6] = (uint8_t)(sick4 >> 8);
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raw_tx.tx_data[7] = (uint8_t)(sick4 & 0xFF);
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HAL_CAN_AddTxMessage(BSP_CAN_GetHandle(can->param->c_board), &raw_tx.tx_header,
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raw_tx.tx_data, &can->mailbox.sick);
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return DEVICE_OK;
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} |