/* USER CODE BEGIN Header */
|
/**
|
******************************************************************************
|
* @file can.c
|
* @brief This file provides code for the configuration
|
* of the CAN instances.
|
******************************************************************************
|
* @attention
|
*
|
* Copyright (c) 2023 STMicroelectronics.
|
* All rights reserved.
|
*
|
* This software is licensed under terms that can be found in the LICENSE file
|
* in the root directory of this software component.
|
* If no LICENSE file comes with this software, it is provided AS-IS.
|
*
|
******************************************************************************
|
*/
|
/* USER CODE END Header */
|
/* Includes ------------------------------------------------------------------*/
|
#include "can.h"
|
|
/* USER CODE BEGIN 0 */
|
#include "comport.h"
|
|
//#define CONFIG_CAN_DEBUG
|
#ifdef CONFIG_CAN_DEBUG
|
#define can_print(format,args...) printf(format, ##args)
|
#else
|
#define can_print(format,args...) do{} while(0)
|
#endif
|
/* USER CODE END 0 */
|
|
CAN_HandleTypeDef hcan1;
|
|
/* CAN1 init function */
|
void MX_CAN1_Init(void)
|
{
|
|
/* USER CODE BEGIN CAN1_Init 0 */
|
CAN_FilterTypeDef can1FilterConfig;
|
/* USER CODE END CAN1_Init 0 */
|
|
/* USER CODE BEGIN CAN1_Init 1 */
|
|
/* USER CODE END CAN1_Init 1 */
|
hcan1.Instance = CAN1;
|
hcan1.Init.Prescaler = 10;
|
hcan1.Init.Mode = CAN_MODE_NORMAL;
|
hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ;
|
hcan1.Init.TimeSeg1 = CAN_BS1_9TQ;
|
hcan1.Init.TimeSeg2 = CAN_BS2_6TQ;
|
hcan1.Init.TimeTriggeredMode = DISABLE;
|
hcan1.Init.AutoBusOff = DISABLE;
|
hcan1.Init.AutoWakeUp = DISABLE;
|
hcan1.Init.AutoRetransmission = DISABLE;
|
hcan1.Init.ReceiveFifoLocked = DISABLE;
|
hcan1.Init.TransmitFifoPriority = DISABLE;
|
if (HAL_CAN_Init(&hcan1) != HAL_OK)
|
{
|
Error_Handler();
|
}
|
/* USER CODE BEGIN CAN1_Init 2 */
|
can1FilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
|
can1FilterConfig.FilterIdHigh = 0x0000;
|
can1FilterConfig.FilterIdLow = 0x0000;
|
can1FilterConfig.FilterMaskIdHigh = 0x0000;
|
can1FilterConfig.FilterMaskIdLow = 0x0000;
|
can1FilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
|
can1FilterConfig.FilterFIFOAssignment = CAN_FILTER_FIFO0;
|
can1FilterConfig.FilterBank = 0;
|
can1FilterConfig.SlaveStartFilterBank = 13;
|
can1FilterConfig.FilterActivation = CAN_FILTER_ENABLE; //使è½è¿æ»¤ï¿????
|
if(HAL_CAN_ConfigFilter(&hcan1, &can1FilterConfig) != HAL_OK)
|
{
|
Error_Handler();
|
}
|
if(HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING) != HAL_OK)
|
{
|
Error_Handler();
|
}
|
can_init(&hcan1);
|
/* USER CODE END CAN1_Init 2 */
|
|
}
|
|
void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle)
|
{
|
|
GPIO_InitTypeDef GPIO_InitStruct = {0};
|
if(canHandle->Instance==CAN1)
|
{
|
/* USER CODE BEGIN CAN1_MspInit 0 */
|
|
/* USER CODE END CAN1_MspInit 0 */
|
/* CAN1 clock enable */
|
__HAL_RCC_CAN1_CLK_ENABLE();
|
|
__HAL_RCC_GPIOB_CLK_ENABLE();
|
/**CAN1 GPIO Configuration
|
PB8 ------> CAN1_RX
|
PB9 ------> CAN1_TX
|
*/
|
GPIO_InitStruct.Pin = GPIO_PIN_8|GPIO_PIN_9;
|
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
|
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
|
GPIO_InitStruct.Alternate = GPIO_AF9_CAN1;
|
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
|
|
/* CAN1 interrupt Init */
|
HAL_NVIC_SetPriority(CAN1_RX0_IRQn, 1, 0);
|
HAL_NVIC_EnableIRQ(CAN1_RX0_IRQn);
|
/* USER CODE BEGIN CAN1_MspInit 1 */
|
|
/* USER CODE END CAN1_MspInit 1 */
|
}
|
}
|
|
void HAL_CAN_MspDeInit(CAN_HandleTypeDef* canHandle)
|
{
|
|
if(canHandle->Instance==CAN1)
|
{
|
/* USER CODE BEGIN CAN1_MspDeInit 0 */
|
|
/* USER CODE END CAN1_MspDeInit 0 */
|
/* Peripheral clock disable */
|
__HAL_RCC_CAN1_CLK_DISABLE();
|
|
/**CAN1 GPIO Configuration
|
PB8 ------> CAN1_RX
|
PB9 ------> CAN1_TX
|
*/
|
HAL_GPIO_DeInit(GPIOB, GPIO_PIN_8|GPIO_PIN_9);
|
|
/* CAN1 interrupt Deinit */
|
HAL_NVIC_DisableIRQ(CAN1_RX0_IRQn);
|
/* USER CODE BEGIN CAN1_MspDeInit 1 */
|
|
/* USER CODE END CAN1_MspDeInit 1 */
|
}
|
}
|
|
/* USER CODE BEGIN 1 */
|
can_t can={-1, NULL};
|
uint8_t aRxData[COMM_RXBUFSIZE];//ä¸è½å¤ªå°
|
|
CAN_RxHeaderTypeDef hCAN1_RxHeader; //æ¥æ¶æ¥æå®ä¹ç»æï¿???
|
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
|
{
|
can_t *cans = &can;
|
uint8_t i;
|
|
/* Check can receive ringbuffer */
|
if( cans->fd<0 || !cans->xRxBuffer.buffer || !rb_free_size(&cans->xRxBuffer) )
|
{
|
return;
|
}
|
|
/* Put the receive byte data into Ringbuffer */
|
if(HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &hCAN1_RxHeader, aRxData) == HAL_OK)
|
{
|
can_print("\r\nGet Rx Message Success!!\r\n");
|
can_print("[ID]:0x%lX [DLC]:%ld [Data]:", hCAN1_RxHeader.StdId, hCAN1_RxHeader.DLC);
|
|
for(i=0; i<hCAN1_RxHeader.DLC; i++)
|
can_print("%X ", aRxData[i]);
|
can_print("\r\n");
|
}
|
else
|
{
|
can_print("\r\nGet Rx Message error!!\r\n");
|
return;
|
}
|
rb_write(&cans->xRxBuffer, aRxData, 8);
|
}
|
|
can_t *can_init(CAN_HandleTypeDef *hcan)
|
{
|
can_t *cans = &can;
|
rb_init(&can.xRxBuffer, aRxData, sizeof(aRxData));
|
// 触åå¤éçåèæ°ï¼æµç¼å²åºä¸å¿
é¡»åå¨ä¸å°è¯¥åèæ°çæ°æ®æè½å¤éçå¾
æ°æ®çä»»å¡
|
//ï¼è®¾ç½®ä¸º0æ¶ï¼å°æç
§å¦1çæ¹å¼å¤çï¼è®¾ç½®çæ°æ¯buffer_sizeè¿å¤§æ¶ï¼å建æ æï¿???
|
|
if( !cans )
|
{
|
return NULL;
|
}
|
|
can.fd = 3;
|
|
if (HAL_CAN_Start(&hcan1) != HAL_OK) //å¼?å¯CAN
|
{
|
can_print("start can Error_Handler ....\r\n");
|
Error_Handler();
|
}
|
|
return cans;
|
}
|
|
void can_term(can_t *pcan)
|
{
|
if( !pcan )
|
return;
|
|
pcan->fd = -1;
|
|
if( pcan->xRxBuffer.buffer )
|
{
|
rb_clear(&pcan->xRxBuffer);
|
}
|
|
return;
|
}
|
/*
|
* @brief: CAN Send Message.
|
* @param: "TxData[]" stored the message of ready to send, which length must between 0 and 8.
|
* @param: "length" stored the number of the data (one data is 8 bit) of ready to send.
|
* @retval: Tx_Error: send error; other: the mailbox which has been used, this parameter can be a CAN_TX_MAILBOX0,
|
* CAN_TX_MAILBOX1,
|
* CAN_TX_MAILBOX2.
|
*/
|
|
CAN_TxHeaderTypeDef Tx_pHeader; //å�?�æ¥æå®ä¹ç»æä½
|
int can_send(can_t *pcan, char *data, int bytes)
|
{
|
if( !pcan || !data || bytes<=0 )
|
{
|
return -1;
|
}
|
|
//å�?�å½æ°çæ¹å
|
uint32_t TxMailboxNumber = 0x00000000U; // åå¨æ¬æ¬¡å�?�æ使ç¨é®ç®±çé®ç®±å·
|
|
Tx_pHeader.StdId = 0x122; /*!æ åIDãåæ°ï¿½?�åªè½æ¯ 0 ï¿??? 0x7FF(äºè¿å¶ç11ï¿???1) */
|
Tx_pHeader.ExtId = 0x0000; /*!æ©å±IDãåæ°ï¿½?�åªè½æ¯ 0 ï¿??? 0x1FFFFFFF(äºè¿å¶ç29ï¿???1)*/
|
Tx_pHeader.IDE = CAN_ID_STD; /*!IDEãHALåºç¼ç¨æ¶ï¼æ å帧填åCAN_ID_STDï¼æ©å±å¸§å¡«åCAN_ID_EXT */
|
Tx_pHeader.RTR = CAN_RTR_DATA; /*!RTRãHALåºç¼ç¨æ¶ï¼æ°æ®å¸§å¡«åCAN_RTR_DATAï¼é¥æ§å¸§å¡«åCAN_RTR_REMOTE */
|
Tx_pHeader.DLC = bytes; /*!DLCãæ°æ®é¿åº¦ï¼åæ°å¼åªè½æ¯ 0 ï¿??? 8 */
|
Tx_pHeader.TransmitGlobalTime = DISABLE;
|
|
//ï¿??? Tx é®ç®±ä¸å¢å ä¸ä¸ªæ¶ï¿???,并ä¸ï¿???活对åºçä¼ è¾è¯·æ±
|
if(HAL_CAN_AddTxMessage(&hcan1, &Tx_pHeader, (uint8_t *)data, &TxMailboxNumber) != HAL_OK)
|
{
|
return -1;
|
}
|
return 0;
|
}
|
|
int can_recv(can_t *pcan, char *buf, int size, uint32_t timeout)
|
{
|
uint32_t tickstart = 0;
|
size_t bytes = 0;
|
|
if( !pcan || !buf || size<=0 )
|
return -1;
|
|
if( !pcan->xRxBuffer.buffer )
|
return -2;
|
|
tickstart = HAL_GetTick();
|
|
// bytes = rb_data_size(&can->xRxBuffer);
|
can_print("bytes is %d\r\n", bytes);
|
|
while((HAL_GetTick() - tickstart) < timeout)
|
{
|
bytes = rb_data_size(&pcan->xRxBuffer);
|
HAL_Delay(10);
|
|
/* can received data before but not receive in 10ms now, maybe data receive over */
|
if( bytes>0 && rb_data_size(&pcan->xRxBuffer)==bytes )
|
{
|
break;
|
}
|
}
|
|
bytes = rb_data_size( &pcan->xRxBuffer );
|
if( !bytes )
|
{
|
return 0;
|
}
|
bytes = bytes>size ? size : bytes;
|
|
can_print("bytes=%d size=%d\r\n", bytes, size);
|
|
rb_read(&pcan->xRxBuffer, (uint8_t *)buf, bytes);
|
|
return bytes;
|
}
|
|
/* USER CODE END 1 */
|
