268 lines
6.2 KiB
C
268 lines
6.2 KiB
C
/***********************************************************************
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* @file name: canbusdrv.h
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* @create date: 2022-11-12
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* @author
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* @version: V 1.0.0
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* @remark:
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定义了与MCU can接口之间的接口
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************************************************************************/
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#ifndef __CANBUSDRV_H__
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#define __CANBUSDRV_H__
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/***************************************************************************
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* Can 驱动的配置信息
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**************************************************************************/
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/* 支持的最多can MCU */
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#define BSP_CAN_CHANNEL_NUM (2)
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/* 数据报文的最大长度 */
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#define BSP_CAN_DATA_LENGTH_MAX (8)
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/***************************************************************************
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* 所有使用的类型定义
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**************************************************************************/
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/* 与MCU相关的类型定义 */
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#include "porting.h"
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#include "string.h"
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/* 定义类型，并且定义从一般信息转换为此结构的函数 */
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typedef CanTxMsg can_frame_t;
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static __inline void CAN_FRAME_INIT(can_frame_t * pt_frame, unsigned int canid,const unsigned char *data, unsigned char len)
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{
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if (pt_frame != NULL)
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{
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pt_frame->IDE = 0;
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pt_frame->StdId = 0;
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pt_frame->ExtId = 0;
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if (canid >= 0x800)
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{
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pt_frame->IDE = CAN_ID_EXT;
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pt_frame->ExtId = canid;
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}
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else
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{
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pt_frame->IDE = CAN_ID_STD;
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pt_frame->StdId = canid;
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}
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if (len == 0 || data == NULL)
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{
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pt_frame->DLC = 0;
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pt_frame->RTR = CAN_RTR_REMOTE;
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}
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else
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{
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pt_frame->RTR = CAN_RTR_DATA;
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pt_frame->DLC = len;
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memcpy(pt_frame->Data, data, len);
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}
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}
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}
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#if 0
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/* 定义can报文类型 */
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typedef enum {
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E_CAN_FRAME_STD_MASK = 0x01,
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E_CAN_FRAME_EXT_MASK = 0x02,
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E_CAN_FRAME_RTR_MASK = 0x04,
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} can_frame_mask_e;
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/* 定义统一的can消息报文 */
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typedef struct {
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unsigned int id;
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can_frame_mask_e frame_type;
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#if BSP_CAN_DATA_LENGTH_MAX > 255
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unsigned short data_len;
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#else
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unsigned char data_len;
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#endif
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unsigned char data[BSP_CAN_DATA_LENGTH_MAX];
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} can_frame_t;
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static __inline void CAN_FRAME_INIT(can_frame_t * pt_frame, unsigned int canid,const unsigned char *data, unsigned char len)
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{
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if (pt_frame != NULL)
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{
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pt_frame->id = canid;
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pt_frame->frame_type = 0;
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pt_frame->frame_type |= (canid >= 0x800)?E_CAN_FRAME_EXT_MASK:E_CAN_FRAME_STD_MASK;
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if (len ==0 || data == NULL)
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{
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pt_frame->frame_type |= E_CAN_FRAME_RTR_MASK;
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pt_frame->data_len = 0;
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}
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else
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{
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pt_frame->data_len = (len>BSP_CAN_DATA_LENGTH_MAX)?BSP_CAN_DATA_LENGTH_MAX:len;
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memcpy(pt_frame->data, data, pt_frame->data_len);
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}
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}
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}
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#endif
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/***************************************************************************
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* 与具体MCU CAN 硬件相关的接口
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**************************************************************************/
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/**
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* 底层MCU 必须实现的接口
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*/
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typedef struct {
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unsigned short krate; /* can的速率 */
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bool listen; /* 是否监听模式打开, true 监听， false 非监听 */
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bool domain_h; /* 显性为高，还是低, true 为高， false 为低 */
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bool sleep; /* 睡眠模式， true 为休眠， false 为非休眠 */
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bool abom; /* 总线是否恢复， true 为自动恢复 false 为非自动恢复 */
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}bsp_can_cfg_t;
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/**
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* @brief: 接口的配置信息
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*
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* @param channel: can 通道号， 不大于MCU_CAN_CHANNEL_NUM
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* @param pt_bsp_cfg[IN]: 总线自动配置
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*
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* @return:
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* 返回结果: true - open 成功 false - open 失败
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*/
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bool bsp_can_open(unsigned char channel, const bsp_can_cfg_t * pt_bsp_cfg);
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/**
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* @brief: 关闭接口
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*
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* @return:
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* 返回结果: true - open 成功 false - open 失败
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*/
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bool bsp_can_close(unsigned char channel);
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#define BSP_CAN_SEND_FAIL (0xFF)
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/**
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* @brief: 发送接口
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*
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* @param channel: 通道号
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* @param pt_fram[IN]: 发送的消息内容
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*
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* @return:
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* 返回结果: 发送成功(填充到寄存器)的FIFO id
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* 失败返回0xFF
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*/
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unsigned char bsp_can_msg_send(unsigned char channel, const can_frame_t * pt_fram);
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/**
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* @brief: 接收到消息的HOOK
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*
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* @param channel: 通道号
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* @param pt_fram[IN]: 接收到的消息内容
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*
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* @return:
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*/
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void bsp_can_msg_receive_hook(unsigned char channel, const can_frame_t * pt_fram);
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/**
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* @brief: 发送消息完成的hook
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*
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* @param channel: 通道号
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* @param fifo_id: 消息空的ID
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* @param success: true 发送成功， false 发送失败
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*
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* @return: void
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*
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* @remark: 发送FIFO空的hook
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*/
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void bsp_can_msg_sent_hook(unsigned char channel, unsigned char fifo_id, bool success);
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/**
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* @brief: 总线PASSIVE hook
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*
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* @param channel: 通道号
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*
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* @return: void
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*/
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void bsp_can_passive_err_hook(unsigned char channel);
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/**
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* @brief: 总线切换错误消极回应状态hook函数
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*
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* @param channel: can 通道,
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*
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* @return: void
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*
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* @remark: 当总线应答切换未消极应答时触发，一般是
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*/
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void can_bus_err_passive_hook(unsigned char channel);
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/***************************************************************************
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* 对外接口
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**************************************************************************/
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/**
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* @brief: 异步发送数据报文
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*
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* @param chan: can 通道号
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* @param canid: 报文ID
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* @param data[IN]: 数据内容
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* @param len: 数据长度
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*
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* @return 返回是否成功。
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* true: 成功 false: 失败
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*/
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bool can_bus_send(unsigned char chan,unsigned int canid,const unsigned char *data, unsigned char len);
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/**
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* @brief: 立即发送数据报文
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*
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* @param chan: can 通道号
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* @param canid: 报文ID
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* @param data[IN]: 数据内容
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* @param len: 数据长度
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*
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* @return 返回标识号，0xFF 标识失败
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*/
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unsigned char can_bus_send_rt(unsigned char chan,unsigned int canid,const unsigned char *data, unsigned char len);
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/**
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* @brief: 打开总线
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*
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* @param chan: can通道
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* @param krate: 速率
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* @param highdomain: 高电平信号
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* @param listen: 是否为监听模式
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*
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* @return:
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* true: 成功 false 失败
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*/
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bool can_bus_open(unsigned char chan,unsigned short krate, bool highdomain, bool listen);
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/**
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* @brief: 跟can总线有关的所有处理入口
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*/
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void can_bus_handle(void);
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#endif
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