132 lines
3.8 KiB
C
132 lines
3.8 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 <stdint.h>
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#include <stdbool.h>
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#include "bsp/bsp.h"
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#include "bsp/mm.h"
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#include <cmsis_os.h>
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/* USER INCLUDE BEGIN */
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#include <fdcan.h>
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/* USER INCLUDE END */
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/* Exported constants ------------------------------------------------------- */
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#define BSP_FDCAN_MAX_DLC 64
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#define BSP_FDCAN_DEFAULT_QUEUE_SIZE 10
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#define BSP_FDCAN_TIMEOUT_IMMEDIATE 0
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#define BSP_FDCAN_TIMEOUT_FOREVER osWaitForever
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#define BSP_FDCAN_TX_QUEUE_SIZE 32
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/* Exported macro ----------------------------------------------------------- */
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//FDCANX实例使能
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#define FDCAN1_EN
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#define FDCAN2_EN
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#define FDCAN3_EN
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// FDCANX接收FIFO选择（0=FIFO0, 1=FIFO1）
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#ifdef FDCAN1_EN
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#define FDCAN1_RX_FIFO 0
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#endif
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#ifdef FDCAN2_EN
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#define FDCAN2_RX_FIFO 1
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#endif
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#ifdef FDCAN3_EN
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#define FDCAN3_RX_FIFO 1
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#endif
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/* Exported types ----------------------------------------------------------- */
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typedef enum {
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BSP_FDCAN_1,
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BSP_FDCAN_2,
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BSP_FDCAN_3,
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BSP_FDCAN_NUM,
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BSP_FDCAN_ERR,
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} BSP_FDCAN_t;
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typedef enum {
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HAL_FDCAN_TX_EVENT_FIFO_CB,
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HAL_FDCAN_TX_BUFFER_COMPLETE_CB,
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HAL_FDCAN_TX_BUFFER_ABORT_CB,
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HAL_FDCAN_RX_FIFO0_MSG_PENDING_CB,
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HAL_FDCAN_RX_FIFO0_FULL_CB,
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HAL_FDCAN_RX_FIFO1_MSG_PENDING_CB,
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HAL_FDCAN_RX_FIFO1_FULL_CB,
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HAL_FDCAN_ERROR_CB,
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HAL_FDCAN_CB_NUM,
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} BSP_FDCAN_Callback_t;
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typedef enum {
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BSP_FDCAN_FORMAT_STD_DATA,
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BSP_FDCAN_FORMAT_EXT_DATA,
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BSP_FDCAN_FORMAT_STD_REMOTE,
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BSP_FDCAN_FORMAT_EXT_REMOTE,
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} BSP_FDCAN_Format_t;
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typedef enum {
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BSP_FDCAN_FRAME_STD_DATA,
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BSP_FDCAN_FRAME_EXT_DATA,
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BSP_FDCAN_FRAME_STD_REMOTE,
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BSP_FDCAN_FRAME_EXT_REMOTE,
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} BSP_FDCAN_FrameType_t;
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typedef struct {
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BSP_FDCAN_FrameType_t frame_type;
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uint32_t original_id;
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uint32_t parsed_id;
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uint8_t dlc;
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uint8_t data[BSP_FDCAN_MAX_DLC];
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uint32_t timestamp;
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} BSP_FDCAN_Message_t;
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typedef struct {
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uint32_t id;
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uint8_t dlc;
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uint8_t data[BSP_FDCAN_MAX_DLC];
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} BSP_FDCAN_StdDataFrame_t;
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typedef struct {
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uint32_t id;
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uint8_t dlc;
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uint8_t data[BSP_FDCAN_MAX_DLC];
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} BSP_FDCAN_ExtDataFrame_t;
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typedef struct {
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uint32_t id;
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uint8_t dlc;
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bool is_extended;
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} BSP_FDCAN_RemoteFrame_t;
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typedef uint32_t (*BSP_FDCAN_IdParser_t)(uint32_t original_id, BSP_FDCAN_FrameType_t frame_type);
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typedef struct {
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FDCAN_TxHeaderTypeDef header; /* HAL FDCAN header type */
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uint8_t data[BSP_FDCAN_MAX_DLC];
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} BSP_FDCAN_TxMessage_t;
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typedef struct {
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BSP_FDCAN_TxMessage_t buffer[BSP_FDCAN_TX_QUEUE_SIZE];
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volatile uint32_t head;
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volatile uint32_t tail;
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} BSP_FDCAN_TxQueue_t;
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/* Exported functions prototypes -------------------------------------------- */
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int8_t BSP_FDCAN_Init(void);
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FDCAN_HandleTypeDef *BSP_FDCAN_GetHandle(BSP_FDCAN_t can);
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int8_t BSP_FDCAN_RegisterCallback(BSP_FDCAN_t can, BSP_FDCAN_Callback_t type, void (*callback)(void));
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int8_t BSP_FDCAN_Transmit(BSP_FDCAN_t can, BSP_FDCAN_Format_t format, uint32_t id, uint8_t *data, uint8_t dlc);
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int8_t BSP_FDCAN_TransmitStdDataFrame(BSP_FDCAN_t can, BSP_FDCAN_StdDataFrame_t *frame);
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int8_t BSP_FDCAN_TransmitExtDataFrame(BSP_FDCAN_t can, BSP_FDCAN_ExtDataFrame_t *frame);
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int8_t BSP_FDCAN_TransmitRemoteFrame(BSP_FDCAN_t can, BSP_FDCAN_RemoteFrame_t *frame);
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int8_t BSP_FDCAN_RegisterId(BSP_FDCAN_t can, uint32_t can_id, uint8_t queue_size);
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int8_t BSP_FDCAN_GetMessage(BSP_FDCAN_t can, uint32_t can_id, BSP_FDCAN_Message_t *msg, uint32_t timeout);
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int32_t BSP_FDCAN_GetQueueCount(BSP_FDCAN_t can, uint32_t can_id);
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int8_t BSP_FDCAN_FlushQueue(BSP_FDCAN_t can, uint32_t can_id);
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int8_t BSP_FDCAN_RegisterIdParser(BSP_FDCAN_IdParser_t parser);
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uint32_t BSP_FDCAN_ParseId(uint32_t original_id, BSP_FDCAN_FrameType_t frame_type);
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#ifdef __cplusplus
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}
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#endif
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