150 lines
4.7 KiB
C
150 lines
4.7 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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/* 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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BSP_Buzzer_Start();
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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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BSP_Buzzer_Start();
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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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// /* 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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// bool CAN_CheckFlag(CAN_t *can, uint32_t flag) {
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// if (can == NULL) return false;
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// return (can->recive_flag & flag) == flag;
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// }
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// int8_t CAN_ClearFlag(CAN_t *can, uint32_t flag) {
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// if (can == NULL) return DEVICE_ERR_NULL;
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// can->recive_flag &= ~flag;
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// return DEVICE_OK;
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// }
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// #include "device\can.h"
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// #include "bsp\buzzer.h"
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// #include <stdio.h>
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// 定义测试用的 CAN 消息
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#define TEST_CAN_ID 0x123
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#define TEST_CAN_DATA {0x11, 0x22, 0x33, 0x44, 0x55, 0x66, 0x77, 0x88}
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void CAN_Test(void) {
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CAN_t can;
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CAN_Params_t can_param = {
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.sick = BSP_CAN_1,
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};
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// 初始化 CAN
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if (CAN_Init(&can, &can_param) != DEVICE_OK) {
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printf("CAN 初始化失败！\n");
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return;
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}
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// 配置发送消息
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CAN_RawTx_t tx_msg;
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tx_msg.tx_header.StdId = TEST_CAN_ID;
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tx_msg.tx_header.RTR = CAN_RTR_DATA;
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tx_msg.tx_header.IDE = CAN_ID_STD;
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tx_msg.tx_header.DLC = 8;
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uint8_t test_data[8] = TEST_CAN_DATA;
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memcpy(tx_msg.tx_data, test_data, sizeof(test_data));
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// 发送消息
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if (HAL_CAN_AddTxMessage(BSP_CAN_GetHandle(BSP_CAN_1), &tx_msg.tx_header, tx_msg.tx_data, &can.mailbox.sick) != HAL_OK) {
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return;
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}
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// 等待接收消息
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CAN_RawRx_t rx_msg;
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while (osMessageQueueGet(can.msgq_raw, &rx_msg, NULL, osWaitForever) == osOK) {
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for (int i = 0; i < rx_msg.rx_header.DLC; i++) {
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}
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// 验证接收数据是否正确
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if (rx_msg.rx_header.StdId == TEST_CAN_ID && memcmp(rx_msg.rx_data, test_data, sizeof(test_data)) == 0) {
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} else {
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}
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break;
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}
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} |