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357 lines
9.2 KiB
357 lines
9.2 KiB
2 days ago
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/*
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* bsp_FDCAN.c
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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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#include "bsp_FDCAN.h"
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#include "main.h"
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#include <stdlib.h>
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#include "bsp_Error.pb.h"
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#include "msp_TI5MOTOR.h"
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FDCANHandler FD_CAN_1_Handler; //自定义结构体
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FDCANHandler FD_CAN_2_Handler;
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FDCAN_RxHeaderTypeDef CAN_RX_HDR;
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uint8_t CAN_Buf[8];
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uint8_t CAN_Buf_2[8];
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int32_t CAN_ID;
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int32_t CAN_ID_2;
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uint8_t GF_BSP_FDCAN_Init(void)
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{
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if (HAL_FDCAN_ActivateNotification(&hfdcan1, FDCAN_IT_RX_FIFO0_NEW_MESSAGE,
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0) != HAL_OK)
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{
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Error_Handler();
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}
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if (HAL_FDCAN_ActivateNotification(&hfdcan1, FDCAN_IT_BUS_OFF, 0) != HAL_OK)
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{
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Error_Handler();
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}
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HAL_FDCAN_Start(&hfdcan1);
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if (HAL_FDCAN_ActivateNotification(&hfdcan2, FDCAN_IT_RX_FIFO0_NEW_MESSAGE,
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0) != HAL_OK)
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{
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Error_Handler();
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}
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if (HAL_FDCAN_ActivateNotification(&hfdcan2, FDCAN_IT_BUS_OFF, 0) != HAL_OK)
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{
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Error_Handler();
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}
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HAL_FDCAN_Start(&hfdcan2);
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return 1;
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}
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void HAL_FDCAN_ErrorStatusCallback(FDCAN_HandleTypeDef *hfdcan,
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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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if (hfdcan->Instance == FDCAN2)
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{
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MX_FDCAN2_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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if (HAL_FDCAN_GetRxMessage(hfdcan, FDCAN_RX_FIFO0, &CAN_RX_HDR, CAN_Buf)
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== HAL_OK)
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{
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CAN_ID = FD_CAN_1_Handler.ReceivedFrameID =
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(uint32_t) CAN_RX_HDR.Identifier;
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#if NewCANSendVersion
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FD_CAN_1_Handler.ReceivedLength = (uint32_t) CAN_RX_HDR.DataLength;
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#else
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FD_CAN_1_Handler.ReceivedLength = (uint32_t) CAN_RX_HDR.DataLength>>16;
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#endif
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if (FD_CAN_1_Handler.CAN_Decode != NULL )
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{
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FD_CAN_1_Handler.CAN_Decode(FD_CAN_1_Handler.ReceivedFrameID,
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CAN_Buf, FD_CAN_1_Handler.ReceivedLength);
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}
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GF_BSP_Interrupt_Run_CallBack(DF_BSP_InterCall_FDCAN1_RxFifo0Callback);
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}
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} else if (hfdcan->Instance == FDCAN2)
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{
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if (HAL_FDCAN_GetRxMessage(hfdcan, FDCAN_RX_FIFO0, &CAN_RX_HDR,
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CAN_Buf_2) == HAL_OK)
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{
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CAN_ID_2 = FD_CAN_2_Handler.ReceivedFrameID =
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(uint32_t) CAN_RX_HDR.Identifier;
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#if NewCANSendVersion
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FD_CAN_2_Handler.ReceivedLength = (uint32_t) CAN_RX_HDR.DataLength;
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#else
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FD_CAN_2_Handler.ReceivedLength = (uint32_t) CAN_RX_HDR.DataLength>>16;
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#endif
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if (FD_CAN_2_Handler.CAN_Decode != NULL)
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{
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FD_CAN_2_Handler.CAN_Decode(FD_CAN_2_Handler.ReceivedFrameID,
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CAN_Buf_2, FD_CAN_2_Handler.ReceivedLength);
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}
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GF_BSP_Interrupt_Run_CallBack(DF_BSP_InterCall_FDCAN2_RxFifo0Callback);
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}
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}
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}
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FDCAN_TxHeaderTypeDef TXHeader1;
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FDCAN_TxHeaderTypeDef TXHeader2;
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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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{
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if (DataLength > 8)
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{
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return;
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}
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if (FDCAN_CH == 1)
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{
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TXHeader1.BitRateSwitch = FDCAN_BRS_OFF;
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#if NewCANSendVersion
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TXHeader1.DataLength = (uint32_t) DataLength;
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#else
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TXHeader1.DataLength = (uint32_t) DataLength << 16;
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#endif
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// FDCAN_DLC_BYTES_8//数据长度大于8的话会有错误
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// FDCAN_DLC_BYTES_8//数据长度大于8的话会有错误
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TXHeader1.FDFormat = FDCAN_CLASSIC_CAN;
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TXHeader1.IdType = FDCAN_STANDARD_ID;
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TXHeader1.Identifier = FrameID;
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TXHeader1.TxFrameType = FDCAN_DATA_FRAME;
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HAL_FDCAN_AddMessageToTxFifoQ(&hfdcan1, &TXHeader1, Txdata);
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} else if (FDCAN_CH == 2)
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{
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TXHeader2.BitRateSwitch = FDCAN_BRS_OFF;
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#if NewCANSendVersion
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TXHeader2.DataLength = (uint32_t) DataLength;
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#else
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TXHeader2.DataLength = (uint32_t) DataLength << 16;
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#endif
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//TXHeader2.DataLength = (uint32_t) DataLength << 16; //数据长度大于8的话会有错误
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TXHeader2.FDFormat = FDCAN_CLASSIC_CAN;
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TXHeader2.IdType = FDCAN_STANDARD_ID;
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TXHeader2.Identifier = FrameID;
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TXHeader2.TxFrameType = FDCAN_DATA_FRAME;
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HAL_FDCAN_AddMessageToTxFifoQ(&hfdcan2, &TXHeader2, Txdata);
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}
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}
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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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{
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GF_BSP_CANHandler_Init_CAN(&FD_CAN_1_Handler, &hfdcan1, can1_sendListPeriod,
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can1_DispacherPeriod);
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GF_BSP_CANHandler_Init_CAN(&FD_CAN_2_Handler, &hfdcan2, can2_sendListPeriod,
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can2_DispacherPeriod);
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GF_BSP_Interrupt_Add_CallBack(
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DF_BSP_InterCall_TIM8_2ms_PeriodElapsedCallback, GF_BSP_CAN_Timer);
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}
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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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{
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handler->canfd = canfd;
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handler->dispacherController = (DispacherController*) malloc(
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sizeof(DispacherController));
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handler->dispacherController->pHead = NULL;
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handler->dispacherController->pTail = NULL;
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handler->dispacherController->Dispacher_Enable = 1;
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handler->dispacherController->DispacherCallTime = DispacherPeriod ; // call the function every 50 ms
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handler->dispacherController->Dispacher_Counter = 0;
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handler->dispacherController->DispacherNumber = 0;
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handler->dispacherController->Add_Dispatcher_List = Dispatcher_List_Add_t;
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handler->dispacherController->Dispatcher_Run = Dispatch_t;
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handler->timeSpan = 2;
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handler->SendList_time_Count = 0;
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handler->AddCANSendList = CANHandlerAddTxList;
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handler->SendList_Period = sendListPeriod;
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handler->CAN_Send = CAN_Send_t;
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handler->CAN_Send_Data = CAN_Send_Data_t;
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}
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DispacherController *can_dispacherController;
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HardWareController *can_HardWareController;
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void GF_BSP_CAN_Timer() //2ms一次
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{
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can_dispacherController = FD_CAN_1_Handler.dispacherController;
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if (FD_CAN_1_Handler.pCurrentCANSendHadler != NULL)
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{
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GF_CAN_Send_List_Send(&FD_CAN_1_Handler);
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} else
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{
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can_dispacherController = FD_CAN_1_Handler.dispacherController;
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can_dispacherController->Dispatcher_Run(can_dispacherController);
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}
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if (FD_CAN_2_Handler.pCurrentCANSendHadler != NULL)
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{
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GF_CAN_Send_List_Send(&FD_CAN_2_Handler);
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} else
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{
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can_dispacherController = FD_CAN_2_Handler.dispacherController;
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can_dispacherController->Dispatcher_Run(can_dispacherController);
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}
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}
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void GF_CAN_Send_List_Send(FDCANHandler *handler)
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{
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handler->SendList_time_Count++;
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if (handler->timeSpan * handler->SendList_time_Count
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>= handler->SendList_Period)
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{
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handler->SendList_time_Count = 0;
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handler->SendListExists = 1;
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if (handler->pCurrentCANSendHadler != NULL)
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{
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//拷贝数据到相关的代码中，然后发送
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handler->SendFrameID=handler->pCurrentCANSendHadler->CAN_ID;
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//handler->CAN_Decode = handler->pCurrentCANSendHadler->CAN_Decode; //
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memcpy(handler->Tx_Buf, handler->pCurrentCANSendHadler->Tx_Buf,
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handler->pCurrentCANSendHadler->SendLength);
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handler->SendList_Period=handler->pCurrentCANSendHadler->SendListTimePeriod;
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handler->SendLength = handler->pCurrentCANSendHadler->SendLength;
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handler->CAN_Send_Data(handler);
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if (handler->pCurrentCANSendHadler->pNext != NULL)
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{
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CANSendHandler *temp = handler->pCurrentCANSendHadler->pNext;
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free(handler->pCurrentCANSendHadler); //清除内存
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handler->pCurrentCANSendHadler = temp;
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} else
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{
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free(handler->pCurrentCANSendHadler); //清除内存
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handler->pCurrentCANSendHadler = NULL;
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}
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} else
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{
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handler->SendListExists = 0;
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}
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}
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}
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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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{
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Function_code=Txdata[0];
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if (DataLength > 8)
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{
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return;
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}
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if (fd->canfd == &hfdcan1)
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{
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TXHeader1.BitRateSwitch = FDCAN_BRS_OFF;
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#if NewCANSendVersion
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TXHeader1.DataLength = (uint32_t) DataLength ;
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#else
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TXHeader1.DataLength = (uint32_t) DataLength << 16; //数据长度大于8的话会有错误
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#endif
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TXHeader1.FDFormat = FDCAN_CLASSIC_CAN;
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TXHeader1.IdType = FDCAN_STANDARD_ID;
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TXHeader1.Identifier = FrameID;
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TXHeader1.TxFrameType = FDCAN_DATA_FRAME;
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HAL_FDCAN_AddMessageToTxFifoQ(&hfdcan1, &TXHeader1, Txdata);
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} else if (fd->canfd == &hfdcan2)
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{
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TXHeader2.BitRateSwitch = FDCAN_BRS_OFF;
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#if NewCANSendVersion
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TXHeader2.DataLength = (uint32_t) DataLength ;
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#else
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TXHeader2.DataLength = (uint32_t) DataLength << 16; //数据长度大于8的话会有错误
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#endif
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//TXHeader2.DataLength = (uint32_t) DataLength << 16; //数据长度大于8的话会有错误
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TXHeader2.FDFormat = FDCAN_CLASSIC_CAN;
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TXHeader2.IdType = FDCAN_STANDARD_ID;
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TXHeader2.Identifier = FrameID;
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TXHeader2.TxFrameType = FDCAN_DATA_FRAME;
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HAL_FDCAN_AddMessageToTxFifoQ(&hfdcan2, &TXHeader2, Txdata);
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}
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}
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void CAN_Send_Data_t(struct _FDCANHandler *fd)
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{
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CAN_Send_t(fd, fd->SendFrameID, fd->SendLength, fd->Tx_Buf);
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}
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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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{
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CANSendHandler *pTmp = NULL; //临时指针
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//临时指针2用于逐个申请内存
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pTmp = (CANSendHandler*) malloc(sizeof(CANSendHandler));
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memcpy(pTmp->Tx_Buf, Tx_Buf, SendLength);
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pTmp->pNext = NULL;
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pTmp->CAN_ID=CAN_ID;
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pTmp->SendLength = SendLength;
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//pTmp->CAN_Decode = CAN_Decode;
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pTmp->SendListTimePeriod=sendListTimePeriod;
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//if NULL, call intialize one
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if (handler->pCurrentCANSendHadler == NULL)
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{
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handler->pCurrentCANSendHadler = pTmp; //空链表
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} else
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{
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char i = 0;
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//插到尾部
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CANSendHandler *phead = NULL;
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phead = handler->pCurrentCANSendHadler;
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while (phead->pNext != NULL)
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{
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i++;
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phead = phead->pNext;
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}
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phead->pNext = pTmp;
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}
|
||
|
|
|
||
|
|
}
|
||
|
|
|