1.5wuling_zhuanjietou/HARDWARE/CAN/CanBusDrv.h

/***********************************************************************
* @file name:     canbusdrv.h                               
* @create date:   2022-11-12                              
* @author
* @version:        V 1.0.0
* @remark:
    <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>MCU can<EFBFBD>ӿ<EFBFBD>֮<EFBFBD><EFBFBD><EFBFBD>Ľӿ<EFBFBD>
************************************************************************/
#ifndef __CANBUSDRV_H__
#define __CANBUSDRV_H__ 


/***************************************************************************
 *    Can <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϣ
 **************************************************************************/

/* ֧<>ֵ<EFBFBD><D6B5><EFBFBD><EFBFBD><EFBFBD>can MCU */
#define BSP_CAN_CHANNEL_NUM (2)

/* <20><><EFBFBD>ݱ<EFBFBD><DDB1>ĵ<EFBFBD><C4B5><EFBFBD><EFBFBD>󳤶<EFBFBD> */
#define BSP_CAN_DATA_LENGTH_MAX (8)



/***************************************************************************
 *    <EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʹ<EFBFBD>õ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ͷ<EFBFBD><EFBFBD><EFBFBD>
 **************************************************************************/
 
/* <20><>MCU<43><55><EFBFBD>ص<EFBFBD><D8B5><EFBFBD><EFBFBD>Ͷ<EFBFBD><CDB6><EFBFBD> */
#include "porting.h"
#include "string.h"
/* <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͣ<EFBFBD><CDA3><EFBFBD><EFBFBD>Ҷ<EFBFBD><D2B6><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><D2BB><EFBFBD><EFBFBD>Ϣת<CFA2><D7AA>Ϊ<EFBFBD>˽ṹ<CBBD>ĺ<EFBFBD><C4BA><EFBFBD> */
typedef CanTxMsg can_frame_t;

static __inline void CAN_FRAME_INIT(can_frame_t * pt_frame, unsigned int canid,const unsigned char *data, unsigned char len)
{
    if (pt_frame != NULL)
    {
        pt_frame->IDE = 0;
        pt_frame->StdId = 0;
        pt_frame->ExtId = 0;
        if (canid >= 0x800)
        {
            pt_frame->IDE = CAN_ID_EXT;
            pt_frame->ExtId = canid;
        }
        else
        {
            pt_frame->IDE = CAN_ID_STD;
            pt_frame->StdId = canid;
        }
        
        if (len == 0 || data == NULL)
        {
            pt_frame->DLC = 0;
            pt_frame->RTR = CAN_RTR_REMOTE;
        }
        else
        {
            pt_frame->RTR = CAN_RTR_DATA;
            pt_frame->DLC = len;
            memcpy(pt_frame->Data, data, len);
        }
    }
}


#if 0

/* <20><><EFBFBD><EFBFBD>can<61><6E><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */
typedef enum {
    E_CAN_FRAME_STD_MASK = 0x01,
    E_CAN_FRAME_EXT_MASK = 0x02,
    E_CAN_FRAME_RTR_MASK = 0x04,
} can_frame_mask_e;

/* <20><><EFBFBD><EFBFBD>ͳһ<CDB3><D2BB>can<61><6E>Ϣ<EFBFBD><CFA2><EFBFBD><EFBFBD> */
typedef struct {
    unsigned int id;
    can_frame_mask_e frame_type;
    #if BSP_CAN_DATA_LENGTH_MAX > 255
    unsigned short data_len;
    #else
    unsigned char data_len;
    #endif

    unsigned char data[BSP_CAN_DATA_LENGTH_MAX];
} can_frame_t;

static __inline void CAN_FRAME_INIT(can_frame_t * pt_frame, unsigned int canid,const unsigned char *data, unsigned char len)
{
    if (pt_frame != NULL)
    {
        pt_frame->id = canid;
        pt_frame->frame_type = 0;

        pt_frame->frame_type |= (canid >= 0x800)?E_CAN_FRAME_EXT_MASK:E_CAN_FRAME_STD_MASK;
        if (len ==0 || data == NULL)
        {
            pt_frame->frame_type |= E_CAN_FRAME_RTR_MASK;
            pt_frame->data_len = 0;
        }
        else
        {
            pt_frame->data_len = (len>BSP_CAN_DATA_LENGTH_MAX)?BSP_CAN_DATA_LENGTH_MAX:len;
            memcpy(pt_frame->data, data, pt_frame->data_len);
        }        
    }
}
#endif





/***************************************************************************
 *    <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>MCU CAN Ӳ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>صĽӿ<EFBFBD>
 **************************************************************************/
/**
 * <EFBFBD>ײ<EFBFBD>MCU <EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʵ<EFBFBD>ֵĽӿ<EFBFBD>
 */

typedef struct {
    unsigned short krate;       /* can<61><6E><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */
    bool listen;                /* <20>Ƿ<EFBFBD><C7B7><EFBFBD><EFBFBD><EFBFBD>ģʽ<C4A3><CABD><EFBFBD><EFBFBD>,  true <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>  false <20>Ǽ<EFBFBD><C7BC><EFBFBD> */
    bool domain_h;              /* <20><><EFBFBD><EFBFBD>Ϊ<EFBFBD>ߣ<EFBFBD><DFA3><EFBFBD><EFBFBD>ǵ<EFBFBD>,  true Ϊ<>ߣ<EFBFBD>  false Ϊ<><CEAA> */
    bool sleep;                 /* ˯<><CBAF>ģʽ<C4A3><CABD> true Ϊ<><CEAA><EFBFBD>ߣ<EFBFBD>  false Ϊ<><CEAA><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */
    bool abom;                  /* <20><><EFBFBD><EFBFBD><EFBFBD>Ƿ<EFBFBD><C7B7>ָ<EFBFBD><D6B8><EFBFBD> true Ϊ<>Զ<EFBFBD><D4B6>ָ<EFBFBD>  false Ϊ<><CEAA><EFBFBD>Զ<EFBFBD><D4B6>ָ<EFBFBD> */
}bsp_can_cfg_t;

/**
 * @brief: <EFBFBD>ӿڵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϣ
 *
 * @param channel:  can ͨ<EFBFBD><EFBFBD><EFBFBD>ţ<EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>MCU_CAN_CHANNEL_NUM
 * @param pt_bsp_cfg[IN]:    <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Զ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 *   
 * @return:
 *      <EFBFBD><EFBFBD><EFBFBD>ؽ<EFBFBD><EFBFBD><EFBFBD>:  true - open <EFBFBD>ɹ<EFBFBD>   false - open ʧ<EFBFBD><EFBFBD>
 */
bool bsp_can_open(unsigned char channel, const bsp_can_cfg_t * pt_bsp_cfg);


/**
 * @brief: <EFBFBD>رսӿ<EFBFBD>
 *
 * @return:
 *      <EFBFBD><EFBFBD><EFBFBD>ؽ<EFBFBD><EFBFBD><EFBFBD>:  true - open <EFBFBD>ɹ<EFBFBD>   false - open ʧ<EFBFBD><EFBFBD>
 */
bool bsp_can_close(unsigned char channel);



#define BSP_CAN_SEND_FAIL (0xFF)
/**
 * @brief: <EFBFBD><EFBFBD><EFBFBD>ͽӿ<EFBFBD>
 *
 * @param channel: ͨ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 * @param pt_fram[IN]: <EFBFBD><EFBFBD><EFBFBD>͵<EFBFBD><EFBFBD><EFBFBD>Ϣ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 *
 * @return:
 *      <EFBFBD><EFBFBD><EFBFBD>ؽ<EFBFBD><EFBFBD><EFBFBD>:  <EFBFBD><EFBFBD><EFBFBD>ͳɹ<EFBFBD>(<EFBFBD><EFBFBD><EFBFBD>䵽<EFBFBD>Ĵ<EFBFBD><EFBFBD><EFBFBD>)<EFBFBD><EFBFBD>FIFO id
 *                 ʧ<EFBFBD>ܷ<EFBFBD><EFBFBD><EFBFBD>0xFF
 */
unsigned char bsp_can_msg_send(unsigned char channel, const can_frame_t * pt_fram);


/**
 * @brief: <EFBFBD><EFBFBD><EFBFBD>յ<EFBFBD><EFBFBD><EFBFBD>Ϣ<EFBFBD><EFBFBD>HOOK
 *
 * @param channel: ͨ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 * @param pt_fram[IN]: <EFBFBD><EFBFBD><EFBFBD>յ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϣ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 *
 * @return:
 */
void bsp_can_msg_receive_hook(unsigned char channel, const can_frame_t * pt_fram);


/**
 * @brief: <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϣ<EFBFBD><EFBFBD><EFBFBD>ɵ<EFBFBD>hook
 *
 * @param channel: ͨ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 * @param fifo_id: <EFBFBD><EFBFBD>Ϣ<EFBFBD>յ<EFBFBD>ID
 * @param success: true <EFBFBD><EFBFBD><EFBFBD>ͳɹ<EFBFBD><EFBFBD><EFBFBD>  false  <EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʧ<EFBFBD><EFBFBD>
 *
 * @return:   void
 *
 * @remark: <EFBFBD><EFBFBD><EFBFBD><EFBFBD>FIFO<EFBFBD>յ<EFBFBD>hook
 */
void bsp_can_msg_sent_hook(unsigned char channel, unsigned char fifo_id, bool success);



/**
 * @brief: <EFBFBD><EFBFBD><EFBFBD><EFBFBD>PASSIVE hook
 *
 * @param channel: ͨ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 *
  * @return:   void
 */
void bsp_can_passive_err_hook(unsigned char channel);


/**
 * @brief: <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>л<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ӧ״̬hook<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 *
 * @param channel:  can ͨ<EFBFBD><EFBFBD>,  
 *
 * @return:  void
 *
 * @remark:   <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ӧ<EFBFBD><EFBFBD><EFBFBD>л<EFBFBD>δ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ӧ<EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 */
void can_bus_err_passive_hook(unsigned char channel);





/***************************************************************************
 *    <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӿ<EFBFBD>
 **************************************************************************/
/**
 * @brief: <EFBFBD>첽<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݱ<EFBFBD><EFBFBD><EFBFBD>
 *
 * @param chan:  can ͨ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 * @param canid: <EFBFBD><EFBFBD><EFBFBD><EFBFBD>ID
 * @param data[IN]:  <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 * @param len:   <EFBFBD><EFBFBD><EFBFBD>ݳ<EFBFBD><EFBFBD><EFBFBD>
 *
 * @return <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƿ<EFBFBD><EFBFBD>ɹ<EFBFBD><EFBFBD><EFBFBD>
 *          true: <EFBFBD>ɹ<EFBFBD>           false: ʧ<EFBFBD><EFBFBD>
 */
bool can_bus_send(unsigned char chan,unsigned int canid,const unsigned char *data, unsigned char len);

/**
 * @brief: <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݱ<EFBFBD><EFBFBD><EFBFBD>
 *
 * @param chan:  can ͨ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 * @param canid: <EFBFBD><EFBFBD><EFBFBD><EFBFBD>ID
 * @param data[IN]:  <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 * @param len:   <EFBFBD><EFBFBD><EFBFBD>ݳ<EFBFBD><EFBFBD><EFBFBD>
 *
 * @return <EFBFBD><EFBFBD><EFBFBD>ر<EFBFBD>ʶ<EFBFBD>ţ<EFBFBD>0xFF <EFBFBD><EFBFBD>ʶʧ<EFBFBD><EFBFBD>
 */
unsigned char can_bus_send_rt(unsigned char chan,unsigned int canid,const unsigned char *data, unsigned char len);



/**
 * @brief:  <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 * 
 * @param chan:   canͨ<EFBFBD><EFBFBD>
 * @param krate:  <EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 * @param highdomain:   <EFBFBD>ߵ<EFBFBD>ƽ<EFBFBD>ź<EFBFBD>
 * @param listen:       <EFBFBD>Ƿ<EFBFBD>Ϊ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģʽ
 * 
 * @return: 
 *      true:  <EFBFBD>ɹ<EFBFBD>             false  ʧ<EFBFBD><EFBFBD>
 */
bool can_bus_open(unsigned char  chan,unsigned short krate, bool highdomain, bool listen);


/**
 * @brief: <EFBFBD><EFBFBD>can<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>йص<EFBFBD><EFBFBD><EFBFBD><EFBFBD>д<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 */
void can_bus_handle(void);
#endif