#include "bsp_can.h" #include #include "systick.h" can_rx_message_type can1_receive_message_fifo0; can_tx_message_type can1_transmit_message; volatile Enum_can_mode can1_receive_fifo0_flag; uint8_t bit12[8]; uint8_t bit13[8]; uint8_t bit14[8]; uint8_t bit15[8]; uint8_t bit16[8]; uint8_t bit17[8]; uint8_t bit18[8]; uint8_t bit19[8]; uint8_t bit20[8]; void TJA1042_STB_Config(void) { gpio_init_type gpio_init_struct; /* 启用 GPIOA 时钟 */ crm_periph_clock_enable(CRM_GPIOB_PERIPH_CLOCK, TRUE); gpio_default_para_init(&gpio_init_struct); gpio_init_struct.gpio_pins = GPIO_PINS_12; // 选择 PA0 gpio_init_struct.gpio_mode = GPIO_MODE_OUTPUT; // 输出模式 gpio_init_struct.gpio_out_type = GPIO_OUTPUT_PUSH_PULL; // 推挽输出 gpio_init_struct.gpio_pull = GPIO_PULL_NONE; // 无上下拉 gpio_init_struct.gpio_drive_strength = GPIO_DRIVE_STRENGTH_MODERATE; // 驱动能力 gpio_init(GPIOB, &gpio_init_struct); gpio_bits_reset(GPIOB, GPIO_PINS_12); } static void can1_gpio_config(void) { gpio_init_type gpio_init_struct; /* enable the gpio clock */ crm_periph_clock_enable(CRM_GPIOA_PERIPH_CLOCK, TRUE); gpio_default_para_init(&gpio_init_struct); /* configure the can tx, rx pin */ gpio_init_struct.gpio_drive_strength = GPIO_DRIVE_STRENGTH_STRONGER; gpio_init_struct.gpio_out_type = GPIO_OUTPUT_PUSH_PULL; gpio_init_struct.gpio_mode = GPIO_MODE_MUX; gpio_init_struct.gpio_pins = GPIO_PINS_11 | GPIO_PINS_12; gpio_init_struct.gpio_pull = GPIO_PULL_NONE; gpio_init(GPIOA, &gpio_init_struct); gpio_pin_mux_config(GPIOA, GPIO_PINS_SOURCE12, GPIO_MUX_9); gpio_pin_mux_config(GPIOA, GPIO_PINS_SOURCE11, GPIO_MUX_9); TJA1042_STB_Config(); delay_ms(100); } /** * @brief can configiguration. * @param none * @retval none */ static void can1_configuration(void) { can_base_type can_base_struct; can_baudrate_type can_baudrate_struct; can_filter_init_type can_filter_init_struct; /* enable the can clock */ crm_periph_clock_enable(CRM_CAN1_PERIPH_CLOCK, TRUE); /* can base init */ can_default_para_init(&can_base_struct); can_base_struct.mode_selection = CAN_MODE_COMMUNICATE; can_base_struct.ttc_enable = FALSE; can_base_struct.aebo_enable = FALSE; can_base_struct.aed_enable = FALSE; can_base_struct.prsf_enable = FALSE; can_base_struct.mdrsel_selection = CAN_DISCARDING_FIRST_RECEIVED; can_base_struct.mmssr_selection = CAN_SENDING_BY_REQUEST; can_base_init(CAN1, &can_base_struct); /* can baudrate, set boudrate = pclk/(baudrate_div *(1 + bts1_size + bts2_size)) */ can_baudrate_struct.baudrate_div = 30; can_baudrate_struct.rsaw_size = CAN_RSAW_1TQ; can_baudrate_struct.bts1_size = CAN_BTS1_6TQ; can_baudrate_struct.bts2_size = CAN_BTS2_1TQ; can_baudrate_set(CAN1, &can_baudrate_struct); /*can_filter_0_config--------------------------------------------------------------*/ can_filter_init_struct.filter_activate_enable = TRUE; can_filter_init_struct.filter_number = 0; can_filter_init_struct.filter_fifo = CAN_FILTER_FIFO0; can_filter_init_struct.filter_bit = CAN_FILTER_16BIT; can_filter_init_struct.filter_mode = CAN_FILTER_MODE_ID_MASK; /*Standard identifier + Mask Mode + Data/Remote frame: id/mask 11bit --------------*/ can_filter_init_struct.filter_id_high = 0x0000; can_filter_init_struct.filter_id_low = 0x0000; can_filter_init_struct.filter_mask_high = 0x0000; can_filter_init_struct.filter_mask_low = 0x0000; can_filter_init(CAN1, &can_filter_init_struct); /* can interrupt config */ //nvic_irq_enable(CAN1_SE_IRQn, 0x00, 0x00); nvic_irq_enable(CAN1_RX0_IRQn, 2, 0); can_interrupt_enable(CAN1, CAN_RF0MIEN_INT, TRUE); // /* error interrupt enable */ // can_interrupt_enable(CAN1, CAN_ETRIEN_INT, TRUE); // can_interrupt_enable(CAN1, CAN_EOIEN_INT, TRUE); } void can1_init(void) { can1_gpio_config(); can1_configuration(); delay_ms(200); } void send_can1_data(uint32_t id, uint8_t *msg, uint8_t msg_len) { // over_time = 600; uint16_t over_time = 600; if(msg_len > 8) { msg_len = 8; } can1_transmit_message.standard_id = id; can1_transmit_message.extended_id = 0; can1_transmit_message.id_type = CAN_ID_STANDARD; can1_transmit_message.frame_type = CAN_TFT_DATA; can1_transmit_message.dlc = msg_len; for(uint8_t i = 0; i < msg_len; i++) can1_transmit_message.data[i] = msg[i]; /* transmit message */ while((can_message_transmit(CAN1, &can1_transmit_message) == CAN_TX_STATUS_NO_EMPTY) && (over_time)) { over_time--; } } void send_can1_buffer(uint32_t id, uint8_t *buffer, uint16_t buffer_len) { uint8_t temp1 = buffer_len/8; uint8_t temp2 = buffer_len%8; if(temp1 == 0) { send_can1_data(id, buffer, buffer_len); } else { for(uint8_t i = 0; i < temp1; i++) { send_can1_data(id, buffer + 8*i, 8); } if(temp2 != 0) { send_can1_data(id, buffer+(buffer_len - temp2), temp2); } } } void CAN1_RX0_IRQHandler(void) { if (can_flag_get(CAN1, CAN_RF0MN_FLAG) == SET) { can_flag_clear(CAN1, CAN_RF0MN_FLAG); can_message_receive(CAN1, CAN_RX_FIFO0, &can1_receive_message_fifo0); // 直接使用 can1_receive_message_fifo0 // switch(can1_receive_message_fifo0.standard_id) // { // case 0x014: // // 处理ID 0x020 // can1_transmit_data_pressure(can1_receive_message_fifo0.standard_id,bit20); // break; // case 0x013: // // 处理ID 0x002 // can1_transmit_data_pressure(can1_receive_message_fifo0.standard_id,bit19); // break; // case 0x012: // // 处理ID 0x003 // can1_transmit_data_pressure(can1_receive_message_fifo0.standard_id,bit18); // break; // case 0x11: // can1_transmit_data_pressure(can1_receive_message_fifo0.standard_id,bit17); // break; // case 0x10: // can1_transmit_data_pressure(can1_receive_message_fifo0.standard_id,bit16); // break; // case 0x00F: // can1_transmit_data_pressure(can1_receive_message_fifo0.standard_id,bit15); // break; // case 0x00E: // can1_transmit_data_pressure(can1_receive_message_fifo0.standard_id,bit14); // break; // case 0x00D: // can1_transmit_data_pressure(can1_receive_message_fifo0.standard_id,bit13); // break; // case 0x00C: // can1_transmit_data_pressure(can1_receive_message_fifo0.standard_id,bit12); // break; // } } } void can_transmit_all_id(){ can1_transmit_data_pressure(0x014,bit20); can1_transmit_data_pressure(0x013,bit19); can1_transmit_data_pressure(0x012,bit18); can1_transmit_data_pressure(0x011,bit17); can1_transmit_data_pressure(0x010,bit16); can1_transmit_data_pressure(0x00F,bit15); can1_transmit_data_pressure(0x00E,bit14); can1_transmit_data_pressure(0x00D,bit13); can1_transmit_data_pressure(0x00C,bit12); } /* can transmit data */ void can1_transmit_data_pressure(uint32_t id,uint8_t pressure[8]) { uint16_t over_time = 600; uint8_t transmit_status; can_tx_message_type tx_message_struct; tx_message_struct.standard_id = id; tx_message_struct.extended_id = 0; tx_message_struct.id_type = CAN_ID_STANDARD; tx_message_struct.frame_type = CAN_TFT_DATA; tx_message_struct.dlc = 8; // 复制数据 for(int i = 0; i < 8; i++) { tx_message_struct.data[i] = pressure[i]; } // 尝试发送消息 transmit_status = can_message_transmit(CAN1, &tx_message_struct); // 等待发送完成或超时 while((transmit_status == CAN_TX_STATUS_NO_EMPTY) && (over_time > 0)) { // 可能需要添加小延迟，避免过于频繁的检查 delay_us(10); // 根据你的系统调整 // 重新检查发送状态 transmit_status = can_message_transmit(CAN1, &tx_message_struct); over_time--; } } void copyToBytes(uint8_t externalArray[12][12]) { for(int i=0;i<8;i++){ bit20[i]=externalArray[7][i]; } for(int i=0;i<7;i++){ bit12[i]=externalArray[6-i][0]; } for(int i=0;i<7;i++){ bit13[i]=externalArray[6-i][7]; } for(int i=0;i<4;i++){ bit14[i]=externalArray[6][2+i]; bit14[4 + i]=externalArray[5][2+i]; } for(int i=0;i<2;i++){ bit15[i] = externalArray[6-i][1]; bit15[2+i] = externalArray[6-i][6]; } for(int i=0;i<4;i++){ bit15[4+i] = externalArray[4][2+i]; } bit16[0] = externalArray[4][1]; bit16[1] = externalArray[4][6]; for(int i=0;i<6;i++){ bit16[2+i] = externalArray[3][i+1]; } for(int i =0;i<6;i++){ bit17[i] = externalArray[2][i+1]; bit18[i] = externalArray[1][i+1]; bit19[i] = externalArray[0][i+1]; } }