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85 lines
2.5 KiB
85 lines
2.5 KiB
2 days ago
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/*
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* bsp_FDCAN.h
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*
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* Created on: Oct 26, 2023
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* Author: shiya
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*/
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#ifndef INC_BSP_FDCAN_H_
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#define INC_BSP_FDCAN_H_
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#include "bsp_Error.pb.h"
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#include "../../BASE/Inc/BSP/bsp_com_helper.h"
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uint8_t GF_BSP_FDCAN_Init(void);
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void GF_BSP_FDCAN_Senddata(uint8_t FDCAN_CH, uint32_t FrameID,
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uint8_t DataLength, uint8_t *Txdata);
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extern uint8_t CAN_Buf[8];
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extern uint8_t CAN_Buf[8];
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extern uint8_t CAN_Buf_2[8];
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typedef struct _CANSendHandler
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{
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uint32_t CAN_ID;
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uint32_t SendListTimePeriod;
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uint8_t SendLength;
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uint8_t Tx_Buf[8];
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void (*CAN_Decode)(uint32_t, uint8_t*, uint32_t);
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struct _CANSendHandler *pNext;
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} CANSendHandler;
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typedef struct _FDCANHandler
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{
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FDCAN_HandleTypeDef *canfd; //UART to use
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struct _DispacherController *dispacherController;
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uint8_t timeSpan;
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uint8_t SendListExists;
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uint32_t SendList_Period; //时间ms
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uint32_t SendList_time_Count;
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CANSendHandler *pCurrentCANSendHadler; //
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void (*AddCANSendList)(struct _FDCANHandler*, uint32_t, uint8_t, uint8_t*,uint32_t,//这里是修改等待时间
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void (*CAN_Decode)(uint32_t, uint8_t*, uint32_t));
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void (*CAN_Decode)(uint32_t, uint8_t*, uint32_t); // decode can frame, received from other devices
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void (*CAN_Send)(struct _FDCANHandler*, uint32_t, uint8_t, uint8_t*);
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void (*CAN_Send_Data)(struct _FDCANHandler*);
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//(uint8_t FDCAN_CH, uint32_t FrameID,uint8_t DataLength, uint8_t *Txdata)
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uint8_t Rx_Buf[128]; // 接收缓存,最大256字节
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uint8_t Tx_Buf[128]; //发送缓存 157,864
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uint32_t ReceivedLength;
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uint32_t SendLength;
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uint32_t ReceivedFrameID;
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uint32_t SendFrameID;
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} FDCANHandler;
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extern FDCANHandler FD_CAN_1_Handler;
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extern FDCANHandler FD_CAN_2_Handler;
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void GF_BSP_CAN_Timer();
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void CAN_Send_t(struct _FDCANHandler *fd, uint32_t FrameID, uint8_t DataLength,
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uint8_t *Txdata);
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void CAN_Send_Data_t(struct _FDCANHandler *fd);
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void GF_CAN_Send_List_Send(FDCANHandler *handler);
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void CANHandlerAddTxList(FDCANHandler *handler, uint32_t CAN_ID,
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uint8_t SendLength, uint8_t *Tx_Buf,uint32_t sendListTimePeriod,
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void (*CAN_Decode)(uint32_t, uint8_t*, uint32_t));
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void GF_BSP_CANHandler_Init(int can1_sendListPeriod, int can1_DispacherPeriod,
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int can2_sendListPeriod, int can2_DispacherPeriod);
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void GF_BSP_CANHandler_Init_CAN(FDCANHandler *handler,
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FDCAN_HandleTypeDef *canfd, int sendListPeriod, int DispacherPeriod);
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void DecodeMotorCAN(uint32_t canID, uint8_t *buffer, uint32_t length);
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extern FDCANHandler FD_CAN_1_Handler;
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extern FDCANHandler FD_CAN_2_Handler;
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extern int32_t CAN_ID;
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extern int32_t CAN_ID_2;
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#endif /* INC_BSP_FDCAN_H_ */
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