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157 lines
3.5 KiB
157 lines
3.5 KiB
#include "bsp_config.h"
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#ifdef USE_LUA_ST_CAN
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#include "lua_base.h"
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#include "fdcan.h"
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#include "bsp_can.h"
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typedef struct
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{
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TComCtrl *m_ptComCtrl;
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} stm32_can_t;
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TComCtrl *g_ptCAN1;
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int CAN1_Send(char *_pBuffer, uint32_t _iSize)
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{
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return CAN_TX_FIFOQ(g_ptCAN1, _pBuffer[0], &_pBuffer[4], _iSize);
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}
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void HAL_FDCAN_ErrorStatusCallback(FDCAN_HandleTypeDef *hfdcan, uint32_t ErrorStatusITs)
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{
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if (hfdcan->Instance == FDCAN1)
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{
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MX_FDCAN1_Init();
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}
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}
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void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs)
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{
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if (hfdcan->Instance == FDCAN1)
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{
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CAN_RX_IRQHandler(g_ptCAN1);
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}
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}
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// 构造函数: st.CAN(st.OUT)
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static int l_can_new(lua_State *L)
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{
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int iIsLoop = luaL_optinteger(L, 1, 1);// 默认使用回环模式
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// 创建 userdata
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stm32_can_t *u = (stm32_can_t*)lua_newuserdata(L, sizeof(stm32_can_t));
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TCANUserData *ptCANUserData = CAN_userdata_init(&hfdcan1, 8, iIsLoop);
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g_ptCAN1 = rd_ComCreate(NULL, NULL, CAN1_Send, CONFIG_CAN_BUFFER_SIZE, ptCANUserData);
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CAN_IT_init(g_ptCAN1);
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u->m_ptComCtrl = g_ptCAN1;
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// 设置 Metatable
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luaL_getmetatable(L, "stm32.CANMT");
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lua_setmetatable(L, -2);
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return 1;
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}
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// 方法: CAN:write(FrameID, str)
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static int l_can_write(lua_State *L)
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{
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stm32_can_t *u = (stm32_can_t*)luaL_checkudata(L, 1, "stm32.CANMT");
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int iFrameID = luaL_optinteger(L, 2, 0xffff);// 默认FrameID为 0xffff
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size_t len;
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const char *str = luaL_checklstring(L, 3, &len); // 支持二进制数据
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char *buf = (char*)RD_MALLOC(len + 4);
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RD_MEMCPY(buf, &iFrameID, 4);
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RD_MEMCPY(buf + 4, str, len);
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rd_ComSend(u->m_ptComCtrl, (char *)buf, len);
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lua_pushinteger(L, len); // 返回发送的字节数
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RD_FREE(buf);
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return 1;
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}
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// 方法: CAN:read(mode)
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static int l_can_read(lua_State *L)
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{
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int iRet = 1;
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char ch = 0;
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stm32_can_t *u = (stm32_can_t*)luaL_checkudata(L, 1, "stm32.CANMT");
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int mode = luaL_optinteger(L, 2, 0); // 默认不使用16进制
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char *buf = (char*)RD_MALLOC(CONFIG_CAN_BUFFER_SIZE);
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int iLen = 0;
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if (!buf) return luaL_error(L, "Memory alloc failed");
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while(iRet)
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{
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__disable_irq();
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iRet = rd_ComRead(u->m_ptComCtrl, &ch, 1);
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__enable_irq();
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if (iRet > 0)
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{
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if (3 == mode)
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{
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lua_print("%02X ", ch);
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}
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else
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{
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lua_print("%c", ch);
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}
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if (iLen >= CONFIG_CAN_BUFFER_SIZE) break;
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buf[iLen++] = ch;
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}
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}
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if (iLen > 0)
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{
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lua_pushlstring(L, buf, iLen);
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}
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else
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{
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lua_pushstring(L, "");
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}
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RD_FREE(buf);
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return 1;
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}
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// 模块注册
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int luaopen_stm32_can(lua_State *L)
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{
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// 1. 注册 Metatable
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if (luaL_newmetatable(L, "stm32.CANMT"))
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{
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lua_pushvalue(L, -1);
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lua_setfield(L, -2, "__index");
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const luaL_Reg uart_methods[] =
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{
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{"write", l_can_write},
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{"read", l_can_read},
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{NULL, NULL}
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};
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const luaL_Reg *l;
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for (l = uart_methods; l->name != NULL; l++)
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{
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lua_pushcfunction(L, l->func);
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lua_setfield(L, -2, l->name);
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}
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}
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lua_pop(L, 1);
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// 2. 创建模块表
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lua_newtable(L);
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// 3. 注册构造函数
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lua_pushcfunction(L, l_can_new);
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lua_setfield(L, -2, "new");
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return 1;
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}
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#endif
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