90 lines
2.2 KiB
C
90 lines
2.2 KiB
C
#include "main.h"
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include "can.h"
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#include "log.h"
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#include "can_node.h"
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CAN_RxHeaderTypeDef can1RxHeader; // FDCAN1 接收头
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uint8_t can1RxData[8]; // FDCAN1 接收数据
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int canTransmitErrorCount = 0;
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void can_node_init(void)
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{
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CAN_FilterTypeDef filter;
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// 设置接收过滤器
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filter.FilterBank = 0;
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filter.FilterMode = CAN_FILTERMODE_IDMASK;
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filter.FilterScale = CAN_FILTERSCALE_32BIT;
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// 全部接收
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filter.FilterIdHigh = 0x0000;
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filter.FilterIdLow = 0x0000;
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filter.FilterMaskIdHigh = 0x0000;
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filter.FilterMaskIdLow = 0x0000;
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filter.FilterFIFOAssignment = CAN_FILTER_FIFO0;
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filter.FilterActivation = ENABLE;
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if (HAL_CAN_ConfigFilter(&hcan1, &filter) != HAL_OK)
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{
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Error_Handler();
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}
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// 启动 CAN1
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if (HAL_CAN_Start(&hcan1) != HAL_OK)
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{
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Error_Handler();
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}
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// 启动接收
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if (HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING) != HAL_OK)
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{
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Error_Handler();
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}
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HAL_Delay(5);
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_dbg_printf("CAN1 initialized successfully\r\n");
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}
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int can_node_transmit(uint32_t canID, uint8_t *TxData)
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{
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CAN_TxHeaderTypeDef txHeader;
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uint32_t txMailbox;
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txHeader.StdId = canID;
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txHeader.ExtId = 0;
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txHeader.IDE = CAN_ID_STD;
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txHeader.RTR = CAN_RTR_DATA;
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txHeader.DLC = 8;
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txHeader.TransmitGlobalTime = DISABLE;
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// 等待邮箱空闲
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while (HAL_CAN_GetTxMailboxesFreeLevel(&hcan1) == 0)
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{
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canTransmitErrorCount ++;
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if(canTransmitErrorCount > 1000)
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{
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_dbg_printf("CAN transmit timeout\r\n");
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canTransmitErrorCount = 0;
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return -1;
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}
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};
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HAL_CAN_AddTxMessage(&hcan1, &txHeader, TxData, &txMailbox);
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return 0;
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}
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void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
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{
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HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &can1RxHeader, can1RxData);
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if (can1RxHeader.IDE == CAN_ID_STD)
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{
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// 示例：收到 ID = 0x123
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if (can1RxHeader.StdId == 0x123)
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{
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// 处理数据
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// can1RxData[0..can1RxHeader.DLC-1]
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}
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}
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}
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