118 lines
4.4 KiB
C
118 lines
4.4 KiB
C
#include "can_bsp.h"
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/**
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************************************************************************
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* @brief: can_bsp_init(void)
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* @param: void
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* @retval: void
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* @details: CAN使能
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************************************************************************
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**/
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void can_bsp_init(void)
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{
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can_filter_init();
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HAL_FDCAN_Start(&hfdcan1); //开启FDCAN
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HAL_FDCAN_ActivateNotification(&hfdcan1, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0);
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}
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/**
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************************************************************************
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* @brief: can_filter_init(void)
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* @param: void
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* @retval: void
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* @details: CAN滤波器初始化
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************************************************************************
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**/
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void can_filter_init(void)
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{
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FDCAN_FilterTypeDef fdcan_filter;
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fdcan_filter.IdType = FDCAN_STANDARD_ID; //标准ID
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fdcan_filter.FilterIndex = 0; //滤波器索引
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fdcan_filter.FilterType = FDCAN_FILTER_RANGE; //滤波器类型
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fdcan_filter.FilterConfig = FDCAN_FILTER_TO_RXFIFO0; //过滤器0关联到FIFO0
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fdcan_filter.FilterID1 = 0x0000; //32位ID
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fdcan_filter.FilterID2 = 0x0000; //如果FDCAN配置为传统模式的话，这是32位掩码
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if(HAL_FDCAN_ConfigFilter(&hfdcan1,&fdcan_filter)!=HAL_OK) //滤波器初始化
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{
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Error_Handler();
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}
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HAL_FDCAN_ConfigFifoWatermark(&hfdcan1, FDCAN_CFG_RX_FIFO0, 1);
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}
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/**
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************************************************************************
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* @brief: fdcanx_send_data(FDCAN_HandleTypeDef *hfdcan, uint16_t id, uint8_t *data, uint32_t len)
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* @param: hfdcan：FDCAN句柄
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* @param: id：CAN设备ID
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* @param: data：发送的数据
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* @param: len：发送的数据长度
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* @retval: void
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* @details: 发送数据
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************************************************************************
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**/
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uint8_t fdcanx_send_data(FDCAN_HandleTypeDef *hfdcan, uint16_t id, uint8_t *data, uint32_t len)
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{
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FDCAN_TxHeaderTypeDef TxHeader;
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TxHeader.Identifier = id;
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TxHeader.IdType = FDCAN_STANDARD_ID; // 标准ID
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TxHeader.TxFrameType = FDCAN_DATA_FRAME; // 数据帧
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TxHeader.DataLength = len << 16; // 发送数据长度
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TxHeader.ErrorStateIndicator = FDCAN_ESI_ACTIVE; // 设置错误状态指示
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TxHeader.BitRateSwitch = FDCAN_BRS_OFF; //不开启可变波特率
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TxHeader.FDFormat = FDCAN_CLASSIC_CAN; //普通CAN格式
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TxHeader.TxEventFifoControl = FDCAN_NO_TX_EVENTS; // 用于发送事件FIFO控制, 不存储
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TxHeader.MessageMarker = 0x00; // 用于复制到TX EVENT FIFO的消息Maker来识别消息状态，范围0到0xFF
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if(HAL_FDCAN_AddMessageToTxFifoQ(hfdcan, &TxHeader, data)!=HAL_OK)
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return 1;//发送
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return 0;
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}
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/**
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************************************************************************
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* @brief: fdcanx_receive(FDCAN_HandleTypeDef *hfdcan, uint8_t *buf)
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* @param: hfdcan：FDCAN句柄
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* @param: buf：接收数据缓存
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* @retval: 接收的数据长度
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* @details: 接收数据
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************************************************************************
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**/
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uint8_t fdcanx_receive(FDCAN_HandleTypeDef *hfdcan, uint8_t *buf)
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{
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FDCAN_RxHeaderTypeDef fdcan_RxHeader;
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if(HAL_FDCAN_GetRxMessage(hfdcan,FDCAN_RX_FIFO0, &fdcan_RxHeader, buf)!=HAL_OK)
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return 0;//接收数据
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return fdcan_RxHeader.DataLength>>16;
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}
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/**
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************************************************************************
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* @brief: HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs)
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* @param: hfdcan；FDCAN句柄
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* @param: RxFifo0ITs：中断标志位
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* @retval: void
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* @details: HAL库的FDCAN中断回调函数
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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((RxFifo0ITs & FDCAN_IT_RX_FIFO0_NEW_MESSAGE) != RESET)
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{
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if(hfdcan == &hfdcan1)
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{
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fdcan1_rx_callback();
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}
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}
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}
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/**
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************************************************************************
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* @brief: fdcan_rx_callback(void)
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* @param: void
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* @retval: void
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* @details: 供用户调用的接收弱函数
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************************************************************************
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**/
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uint8_t rx_data1[8] = {0};
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void fdcan1_rx_callback(void)
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{
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fdcanx_receive(&hfdcan1, rx_data1);
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}
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