65 lines
2.1 KiB
C
65 lines
2.1 KiB
C
#ifndef BSP_CAN_H
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#define BSP_CAN_H
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#include <stdint.h>
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#include "can.h"
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#define MX_REGISTER_DEVICE_CNT 12 // maximum number of device can be registered to CAN service
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// this number depends on the load of CAN bus.
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#define MX_CAN_FILTER_CNT (2 * 14) // temporarily useless
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#define DEVICE_CAN_CNT 2 // CAN1,CAN2
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/* can instance typedef, every module registered to CAN should have this variable */
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#pragma pack(1)
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typedef struct _
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{
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CAN_HandleTypeDef *can_handle; // can句柄
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CAN_TxHeaderTypeDef txconf; // CAN报文发送配置
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uint32_t tx_id; // 发送id
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uint32_t tx_mailbox; // CAN消息填入的邮箱号
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uint8_t tx_buff[8]; // 发送缓存,最大为8
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uint8_t rx_buff[8]; // 接收缓存
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uint32_t rx_id; // 接收id
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uint8_t rx_len; // 接收长度,可能为0-8
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// 接收的回调函数,用于解析接收到的数据
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void (*can_module_callback)(struct _ *); // callback needs an instance to tell among registered ones
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void* id;
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} CANInstance;
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#pragma pack()
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/* this structure is used for initialization */
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typedef struct
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{
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CAN_HandleTypeDef *can_handle;
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uint32_t tx_id;
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uint32_t rx_id;
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void (*can_module_callback)(CANInstance *);
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void* id;
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} CAN_Init_Config_s;
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/**
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* @brief 修改CAN发送报文的数据帧长度;注意最大长度为8,在没有进行修改的时候,默认长度为8
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*
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* @param _instance 要修改长度的can实例
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* @param length 设定长度
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*/
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void CANSetDLC(CANInstance *_instance, uint8_t length);
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/**
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* @brief transmit mesg through CAN device,通过can实例发送消息
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* 发送前需要向CAN实例的tx_buff写入发送数据
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*
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* @param _instance* can instance owned by module
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*/
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void CANTransmit(CANInstance *_instance);
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/**
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* @brief Register a module to CAN service,remember to call this before using a CAN device
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* 注册(初始化)一个can实例,需要传入初始化配置的指针.
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* @param config init config
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* @return CANInstance* can instance owned by module
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*/
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CANInstance *CANRegister(CAN_Init_Config_s *config);
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#endif
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