97 lines
3.1 KiB
C
97 lines
3.1 KiB
C
/*
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CAN总线数据处理
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仅发送模式，创建结构体存储发送数据及调试信息。
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*/
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/* Includes ----------------------------------------------------------------- */
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#include "can.h"
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#include "task\user_task.h"
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#include "bsp\led.h"
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/* Private typedef ---------------------------------------------------------- */
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typedef struct {
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uint8_t TxData[8]; // 要发送的数据
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uint16_t TxID; // 发送的CAN ID
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uint8_t TxStatus; // 发送状态，0: 成功，1: 失败
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uint32_t DebugCounter; // 调试计数器
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} can_t;
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/* Private define ----------------------------------------------------------- */
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/* Private variables -------------------------------------------------------- */
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can_t can_debug = {
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.TxData = {0},
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.TxID = 0x023,
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.TxStatus = 0,
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.DebugCounter = 0
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};
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/* Exported functions ------------------------------------------------------- */
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void CAN_Init(CAN_HandleTypeDef *hcan_Cur)
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{
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// 仅初始化CAN，不配置接收过滤器
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HAL_CAN_Start(hcan_Cur); // 开启CAN
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}
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/* CAN发送函数 */
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uint8_t CAN_SendData(CAN_HandleTypeDef *hcan_Cur, uint8_t *pData, uint16_t ID)
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{
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HAL_StatusTypeDef HAL_RetVal = HAL_ERROR;
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uint8_t FreeTxNum = 0;
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CAN_TxHeaderTypeDef TxMessage;
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TxMessage.StdId = ID;
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TxMessage.DLC = 8; /* 默认一帧传输长度为8 */
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TxMessage.IDE = CAN_ID_STD;
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TxMessage.RTR = CAN_RTR_DATA;
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FreeTxNum = HAL_CAN_GetTxMailboxesFreeLevel(hcan_Cur);
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while (FreeTxNum == 0) // 等待空邮箱，可能会卡死在这里（小BUG）
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{
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FreeTxNum = HAL_CAN_GetTxMailboxesFreeLevel(hcan_Cur);
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}
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HAL_RetVal = HAL_CAN_AddTxMessage(hcan_Cur, &TxMessage, pData, (uint32_t *)CAN_TX_MAILBOX1);
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if (HAL_RetVal != HAL_OK)
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{
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return 1; // 发送失败
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}
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return 0; // 发送成功
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}
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void Task_Can(void *argument) {
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(void)argument; // 消除未使用参数的警告
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const uint32_t delay_tick = osKernelGetTickFreq() / 100; // 50Hz
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uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
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CAN_Init(&hcan); // 初始化CAN模块
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uint16_t adc_data = 0; // 用于存储从消息队列读取的 ADC 数据
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// 初始化调试结构体数据
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for (int i = 0; i < 8; i++) {
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can_debug.TxData[i] = 0; // 填充测试数据
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}
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while (1) {
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tick += delay_tick; /* 计算下一个唤醒时刻 */
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// 周期性发送数据
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if (osMessageQueueGet(adcQueueHandle, &adc_data, NULL, osWaitForever) == osOK) {
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// 将 ADC 数据填充到 CAN 数据帧
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can_debug.TxData[0] = (adc_data >> 8) & 0xFF; // 高字节
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can_debug.TxData[1] = adc_data & 0xFF; // 低字节
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// 发送 CAN 数据
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can_debug.TxStatus = CAN_SendData(&hcan, can_debug.TxData, can_debug.TxID);
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can_debug.DebugCounter++; // 调试计数器递增
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}
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//每发送10条数据切换一次LED状态
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if (can_debug.DebugCounter % 10 == 0) {
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BSP_LED_SET(BSP_LED2, BSP_LED_TAGGLE); // 切换 LED 状态
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}
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osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
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}
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} |