285 lines
6.8 KiB
C
285 lines
6.8 KiB
C
#ifndef _CANFRAME_H_
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#define _CANFRAME_H_
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#include "stdBool.h"
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/*
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*/
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/*******************宏*********************/
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/*设置支持最大的标识符*/
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#define CAN_MAXSTD 0x20
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/*设置支持最大的地址*/
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#define CAN_MAXADDR 0x30
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/*设置互斥锁 操作系统上多任务使用*/
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#define CAN_LOCK 0
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#define CAN_DATA_SIZE 4
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/**********普通类型***********/
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typedef unsigned char CFUint8;
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typedef unsigned short CFUint16;
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typedef unsigned int CFUint32;
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typedef signed char CFInt8;
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typedef signed short CFInt16;
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typedef signed int CFInt32;
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/*CAN数据帧中的上下行方式*/
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/*属于写数据，对接受方有写含义*/
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#define CAN_WRITE 1
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/*属于读数据，对接受方没有写含义*/
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#define CAN_READ 0
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/*CAN通信上的协议命令定义*/
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/*
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* 8BIT数据命令
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* 0BIT:判断该数据是写的还是被读的
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* 1-3BIT:长度
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* 4-7BIT:命令类型
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*/
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#pragma pack(1)
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typedef struct
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{
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CFUint8 WR:1;
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CFUint8 len:3;
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CFUint8 type:4;
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}CFCmd;
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/*can通信上的格式*/
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typedef struct
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{
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CFCmd cmd; /*该协议帧的命令*/
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CFUint8 addr; /*该协议帧的地址*/
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CFUint8 data[CAN_DATA_SIZE]; /*协议帧的数据*/
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CFUint8 sn; /*发送序号,每次发送成功加1*/
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}CanFormat;
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#pragma pack()
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/*定义函数指针*/
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typedef void(*TFunc)(void* parameter);
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/*记录当前状态*/
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typedef enum
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{
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CanTalk_Normal,
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CanTalk_SendFailed, /*发送失败*/
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CanTalk_RecTimeOut, /*接受超时*/
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}CanTalkStu;
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/*模式 用于监听，或者写数据*/
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/*普通监听数据*/
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#define CANTalk_Listen 0x00
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/*监听数据，回复读数据*/
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#define CANTalk_Listen_Read 0x01
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/*总线写绑定*/
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#define CANTalk_Write 0x02
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/*总线写绑定，回复读数据*/
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#define CANTalk_Write_needRead 0x03
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/*用于周期触发，还是改写触发*/
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#define CANTalk_Period 0x00
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#define CANTalk_Trigger 0x01
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#if CAN_LOCK == 1
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typedef void* CANMutex;
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#endif
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/*记录当前的方式*/
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typedef struct
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{
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CFUint8 mode:3;
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CFUint8 trigger:2;
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CFUint8 other:3;
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}CanTalkWay;
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/*CAN通信架构的信息记录*/
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typedef struct
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{
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/*用于记录时间周期*/
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CFInt16 sendLastTime; /*记录发送的上一次时间*/
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CFInt16 sendPeriodTimeout; /*记录发送周期超时时间*/
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CFInt16 sendTimeout; /*记录超时发送时间*/
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CFInt16 recLastTime; /*记录上一次接受时间*/
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CFInt16 recTimeOut; /*记录接受超时*/
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bool isSend; /*是否需要发送数据*/
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bool isRUpdate; /*是否读更新*/
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bool isWUpdate; /*是否写更新*/
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bool isSendSucess; /*是否发送成功,用于需要回复的模式*/
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CanTalkStu stu; /*用于记录通信状态*/
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CanTalkWay way; /*记录该通信因子的方式*/
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TFunc rfunc; /*用于接受到数据后的回调函数*/
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TFunc sfunc; /*用于发送成功后进入的回调函数*/
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TFunc efunc; /*用于出现错误后进入的回调函数*/
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/*CAN通信上的数据位*/
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CFUint8 wdata[CAN_DATA_SIZE];
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CFUint8 rdata[CAN_DATA_SIZE];
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/*绑定的数据长度*/
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CFUint8 bindlen;
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/*发送序号*/
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CFUint8 sn;
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/*接受到发送序号*/
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CFUint8 rn;
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#if CAN_LOCK == 1
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/*用于多线程的锁*/
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CANMutex mutex;
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#endif
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}CanTalkInfo;
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typedef CanTalkInfo* CanTalkHandle;
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typedef struct
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{
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CanTalkHandle* fifo;
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unsigned int std;
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unsigned int addr;
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}CanHandle;
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extern CanHandle allCanHandle;
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//extern CanTalkHandle allCanHandle[CAN_MAXSTD][CAN_MAXADDR];
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/******************************************************函数**************************************************************/
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extern void FCanFrameInit(void);
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/*创建一个CAN通信因子*/
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extern CanTalkHandle createCanHandle(CanHandle* handle,unsigned int std,unsigned int addr,unsigned int bindlen,unsigned char mode,unsigned char trigger);
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#define FCreateCanHandle(a,b,c,d,e) createCanHandle(&allCanHandle,a,b,c,d,e)
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/************************回调函数***************************/
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/*绑定CAN上的发送成功函数*/
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extern void FBindCanWriteSucessFuc(CanTalkHandle handle,TFunc func);
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/*绑定CAN上的读取到新数据的回调函数*/
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extern void FBindCanReadyreadFuc(CanTalkHandle handle,TFunc func);
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/*绑定CAN数据产生错误的回调函数*/
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extern void FBindCanErrorFuc(CanTalkHandle handle,TFunc func);
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/************************************************超时设置********************************************************/
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/*设置CAN通信因子上的发送超时时间*/
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extern void FSetCanSendTimeout(CanTalkHandle handle,int timeOut);
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/*设置CAN通信因子上的周期发送超时时间*/
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extern void FSetCanSendPeriodTimeout(CanTalkHandle handle,int timeOut);
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/*设置CAN通信上的接受超时时间*/
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extern void FSetCanRecTimeout(CanTalkHandle handle,int timeOut);
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/**********************************************获取数据**********************************************************/
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/*获取CAN得到的写数据*/
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extern void FGetCanWData(CanTalkHandle handle,void* rData,const int len);
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extern int getCanWDataS(CanHandle* handle,unsigned int std,unsigned int addr,void* rData,const int len);
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#define FGetCanWDataS(a,b,c,d) getCanWDataS(&allCanHandle,a,b,c,d)
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/*获取CAN得到的读数据*/
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extern void FGetCanRData(CanTalkHandle handle,void* rData,const int len);
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extern int getCanRDataS(CanHandle* handle,unsigned int std,unsigned int addr,void* rData,const int len);
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#define FGetCanRDataS(a,b,c,d) getCanRDataS(&allCanHandle,a,b,c,d)
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/****************************************************设置数据*********************************************************/
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/*设置CAN的发送数据*/
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extern int FSetCanData(CanTalkHandle handle,void* data,const int len);
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extern int setCanDataS(CanHandle* handle,unsigned int std,unsigned int addr,void* data,const int len);
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#define FSetCanDataS(a,b,c,d) setCanDataS(&allCanHandle,a,b,c,d)
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/*CAN定时运行的任务*/
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extern void canTask(CanHandle* handle);
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#define FCanTask() canTask(&allCanHandle)
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/*从硬件中得到数据源*/
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extern int pushCanFrame(CanHandle* handle,const int stdvalue, CanFormat rdata);
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#define FPushCanFrame(a,b) pushCanFrame(&allCanHandle,a,b)
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/*设置can的发送序号*/
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extern int setCansn(CanHandle* handle,unsigned int std,unsigned int addr,unsigned char sn);
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#define FSetCansn(a,b,c) setCansn(&allCanHandle,a,b,c)
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/*获取can的发送序号*/
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extern int getCansn(CanHandle* handle,unsigned int std,unsigned int addr);
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#define FGetCansn(a,b) getCansn(&allCanHandle,a,b)
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/*获取can的接受发送序号*/
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extern int getCanrn(CanHandle* handle,unsigned int std,unsigned int addr);
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#define FGetCanrn(a,b) getCanrn(&allCanHandle,a,b)
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/*
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*设置集群号，表示在一个集群号内不允许有相同的仲裁段出现
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*那么不同集群号，则可以有相同的仲裁出现
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*仲裁段8位，剩余的4位留来作为集群号
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*can的标志帧的仲裁段是12位
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*/
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extern void setClusterNumber(unsigned char number);
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/************************************************对外的宏接口*******************************************/
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/********************************************需要移植****************************************************/
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/***********需要根据不同平台调整的函数*************/
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/*写CAN数据*/
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extern int FWriteCan(unsigned int std,void* wdata,const unsigned int len);
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#if CAN_LOCK == 1
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extern CANMutex cancreateMutex(void);
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extern void canLock(CANMutex mutex);
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extern void canUnlock(CANMutex mutex);
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#else
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#define cancreateMutex()
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#define canLock(x)
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#define canUnlock(x)
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#endif
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#define can_malloc malloc
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#define can_free free
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#endif
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