2022-11-27 20:58:49 +08:00
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/**
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* @file can_comm.h
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* @author Neo neozng1@hnu.edu.cn
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* @brief 用于多机CAN通信的收发模块
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* @version 0.1
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* @date 2022-11-27
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*
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* @copyright Copyright (c) 2022 HNUYueLu EC all rights reserved
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*
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*/
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#ifndef CAN_COMM_H
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#define CAN_COMM_H
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#include "bsp_can.h"
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#define MX_CAN_COMM_COUNT 4 //注意均衡负载,一条总线上不要挂载过多的外设
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#define CAN_COMM_MAX_BUFFSIZE 68 // 最大发送/接收字节数
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#define CAN_COMM_HEADER 's'
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#define CAN_COMM_TAIL 'e'
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#define CAN_COMM_OFFSET_BYTES 4 // 's'+datalen+'e'+crc8
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typedef struct
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{
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can_instance can_ins;
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/* 发送部分 */
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uint8_t send_data_len;
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uint8_t send_buf_len;
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uint8_t raw_sendbuf[CAN_COMM_MAX_BUFFSIZE+CAN_COMM_OFFSET_BYTES]; //额外4个bytes保存帧头帧尾和校验和
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/* 接收部分 */
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uint8_t recv_data_len;
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uint8_t recv_buf_len;
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uint8_t raw_recvbuf[CAN_COMM_MAX_BUFFSIZE+CAN_COMM_OFFSET_BYTES]; //额外4个bytes保存帧头帧尾和校验和
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uint8_t unpacked_recv_data[CAN_COMM_MAX_BUFFSIZE];
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/* 接收和更新标志位*/
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uint8_t recv_state;
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uint8_t cur_recv_len;
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uint8_t update_flag;
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} CANCommInstance;
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typedef struct
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{
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uint8_t send_data_len;
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uint8_t recv_data_len;
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can_instance_config_s can_config;
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}CANComm_Init_Config_s;
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/**
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* @brief
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*
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* @param config
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* @return CANCommInstance*
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*/
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CANCommInstance* CANCommInit(CANComm_Init_Config_s config);
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/**
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* @brief 发送数据
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*
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* @param instance can comm实例
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* @param data 注意此地址的有效数据长度需要和初始化时传入的datalen相同
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*/
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void CANCommSend(CANCommInstance* instance,uint8_t* data);
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/**
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* @brief 获取CAN COMM接收的数据,需要自己使用强制类型转换将返回的void指针转换成指定类型
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*
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* @return void* 返回的数据指针
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* @attention 注意如果希望直接通过转换指针访问数据,如果数据是union或struct,要检查是否使用了pack(n)
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* CAN COMM接收到的数据可以看作是pack(1)之后的,是连续存放的
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*/
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void* CANCommGet(CANCommInstance* instance);
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#endif // !CAN_COMM_H
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