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