497 lines
16 KiB
C++
497 lines
16 KiB
C++
#include "Can.h"
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#include "gd32c10x_can.h"
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#include "gd32c10x_eval.h"
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#include <cstdio>
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#include <inttypes.h>
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#include <stdint.h>
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#include <stdio.h>
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#define DEV_CAN_LOOPBACK_ID 0x0000
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#define DEV_CAN0_ID 0xaabb
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#define DEV_CAN0_MASK 0x0000
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u8 can_gpio_init() {
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/* enable CAN clock */
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rcu_periph_clock_enable(RCU_CAN0);
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rcu_periph_clock_enable(RCU_GPIOA);
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rcu_periph_clock_enable(RCU_AF);
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/* configure CAN0 GPIO */
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gpio_init(GPIOA, GPIO_MODE_IPU, GPIO_OSPEED_MAX, GPIO_PIN_11);
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gpio_init(GPIOA, GPIO_MODE_AF_PP, GPIO_OSPEED_MAX, GPIO_PIN_12);
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/* enable the EN GPIO clock */
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rcu_periph_clock_enable(RCU_GPIOB);
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gpio_init(GPIOB, GPIO_MODE_OUT_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_13);
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gpio_bit_reset(GPIOB, GPIO_PIN_13);
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return 0;
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}
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/*!
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\brief 初始化CAN0 2.0B 模式
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\param[in] none
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\param[out] none
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\retval none
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*/
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void can_config(void) {
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can_parameter_struct can_parameter;
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can_filter_parameter_struct can_filter;
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can_struct_para_init(CAN_INIT_STRUCT, &can_parameter);
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/* initialize CAN register */
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can_deinit(CAN0);
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/* initialize CAN parameters */
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can_parameter.time_triggered = DISABLE;
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can_parameter.auto_bus_off_recovery = DISABLE;
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can_parameter.auto_wake_up = DISABLE;
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can_parameter.auto_retrans = DISABLE;
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can_parameter.rec_fifo_overwrite = DISABLE;
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can_parameter.trans_fifo_order = DISABLE;
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can_parameter.working_mode = CAN_NORMAL_MODE;
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/* configure CAN0 baud rate 1MBps, sample point at 80% */
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can_parameter.resync_jump_width = CAN_BT_SJW_1TQ;
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can_parameter.time_segment_1 = CAN_BT_BS1_7TQ;
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can_parameter.time_segment_2 = CAN_BT_BS2_2TQ;
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can_parameter.prescaler = 12;
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/* initialize CAN */
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can_init(CAN0, &can_parameter);
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/* initialize filter */
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/* configure filter mode */
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can_filter.filter_mode = CAN_FILTERMODE_MASK;
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can_filter.filter_bits = CAN_FILTERBITS_32BIT;
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/* configure filter ID */
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can_filter.filter_list_high = (uint16_t)(DEV_CAN_LOOPBACK_ID >> 13U);
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can_filter.filter_list_low = ((uint16_t)(DEV_CAN_LOOPBACK_ID)) << 3U | (1U << 2);
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/* configure filter mask */
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can_filter.filter_mask_high = 0x0000;
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can_filter.filter_mask_low = 0x0000;
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/* select receiver fifo */
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can_filter.filter_fifo_number = CAN_FIFO0;
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can_filter.filter_enable = ENABLE;
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can_filter_init(&can_filter);
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/* configure CAN0 NVIC */
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nvic_irq_enable(CAN0_RX0_IRQn, 0, 0);
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/* enable can receive FIFO0 not empty interrupt */
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can_interrupt_enable(CAN0, CAN_INTEN_RFNEIE0);
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}
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/*!
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\brief 初始化CAN0 CANFD模式
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\param[in] none
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\param[out] none
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\retval none
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*/
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void canfd_config(void) {
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can_parameter_struct can_parameter;
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can_fdframe_struct can_fd_parameter;
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can_fd_tdc_struct can_fd_tdc_parameter;
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can_filter_parameter_struct can_filter;
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/* enable CAN clock */
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rcu_periph_clock_enable(RCU_CAN0);
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/* initialize CAN register */
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can_deinit(CAN0);
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/* initialize CAN parameters */
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can_parameter.time_triggered = DISABLE;
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can_parameter.auto_bus_off_recovery = DISABLE;
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can_parameter.auto_wake_up = DISABLE;
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can_parameter.auto_retrans = ENABLE;
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can_parameter.rec_fifo_overwrite = ENABLE;
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can_parameter.trans_fifo_order = ENABLE;
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can_parameter.working_mode = CAN_NORMAL_MODE;
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/* baudrate 1Mbps, sample piont at 80% */
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can_parameter.resync_jump_width = CAN_BT_SJW_1TQ;
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can_parameter.time_segment_1 = CAN_BT_BS1_7TQ;
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can_parameter.time_segment_2 = CAN_BT_BS2_2TQ;
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can_parameter.prescaler = 12;
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/* initialize CAN */
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can_init(CAN0, &can_parameter);
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can_struct_para_init(CAN_FD_FRAME_STRUCT, &can_fd_parameter);
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can_fd_parameter.fd_frame = ENABLE;
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can_fd_parameter.excp_event_detect = ENABLE;
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can_fd_parameter.delay_compensation = ENABLE;
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can_fd_tdc_parameter.tdc_filter = 0x04;
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can_fd_tdc_parameter.tdc_mode = CAN_TDCMOD_CALC_AND_OFFSET;
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can_fd_tdc_parameter.tdc_offset = 0x04;
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can_fd_parameter.p_delay_compensation = &can_fd_tdc_parameter;
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can_fd_parameter.iso_bosch = CAN_FDMOD_ISO;
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can_fd_parameter.esi_mode = CAN_ESIMOD_HARDWARE;
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/* FD mode data baudrate 2Mbps, sample piont at 80% */
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can_fd_parameter.data_resync_jump_width = CAN_BT_SJW_1TQ;
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can_fd_parameter.data_time_segment_1 = CAN_BT_BS1_3TQ;
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can_fd_parameter.data_time_segment_2 = CAN_BT_BS2_1TQ;
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/* CAN-FD data segement prescaler should be the same as non-data segement
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* prescaler */
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can_fd_parameter.data_prescaler = 12;
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can_fd_init(CAN0, &can_fd_parameter);
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/* initialize filter */
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can1_filter_start_bank(14);
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can_filter_mask_mode_init(DEV_CAN0_ID, DEV_CAN0_MASK, CAN_EXTENDED_FIFO0, 0);
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/* configure CAN0 NVIC */
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nvic_irq_enable(CAN0_RX0_IRQn, 0, 0);
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/* enable can receive FIFO0 not empty interrupt */
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can_interrupt_enable(CAN0, CAN_INTEN_RFNEIE0);
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}
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/*!
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\brief 初始化CAN0回环测试
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\param[in] none
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\param[out] none
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\retval none
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*/
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void can_loopback_init(void) {
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can_parameter_struct can_parameter;
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can_fdframe_struct can_fd_parameter;
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can_fd_tdc_struct can_fd_tdc_parameter;
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can_filter_parameter_struct can_filter;
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/* enable CAN clock */
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rcu_periph_clock_enable(RCU_CAN0);
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/* initialize CAN register */
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can_deinit(CAN0);
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/* initialize CAN parameters */
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can_parameter.time_triggered = DISABLE;
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can_parameter.auto_bus_off_recovery = DISABLE;
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can_parameter.auto_wake_up = DISABLE;
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can_parameter.auto_retrans = ENABLE;
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can_parameter.rec_fifo_overwrite = ENABLE;
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can_parameter.trans_fifo_order = ENABLE;
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can_parameter.working_mode = CAN_LOOPBACK_MODE;
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/* baudrate 1Mbps, sample piont at 80% */
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can_parameter.resync_jump_width = CAN_BT_SJW_1TQ;
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can_parameter.time_segment_1 = CAN_BT_BS1_7TQ;
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can_parameter.time_segment_2 = CAN_BT_BS2_2TQ;
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can_parameter.prescaler = 12;
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/* initialize CAN */
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can_init(CAN0, &can_parameter);
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can_struct_para_init(CAN_FD_FRAME_STRUCT, &can_fd_parameter);
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can_fd_parameter.fd_frame = ENABLE;
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can_fd_parameter.excp_event_detect = ENABLE;
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can_fd_parameter.delay_compensation = ENABLE;
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can_fd_tdc_parameter.tdc_filter = 0x04;
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can_fd_tdc_parameter.tdc_mode = CAN_TDCMOD_CALC_AND_OFFSET;
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can_fd_tdc_parameter.tdc_offset = 0x04;
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can_fd_parameter.p_delay_compensation = &can_fd_tdc_parameter;
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can_fd_parameter.iso_bosch = CAN_FDMOD_ISO;
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can_fd_parameter.esi_mode = CAN_ESIMOD_HARDWARE;
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/* FD mode data baudrate 2Mbps, sample piont at 80% */
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can_fd_parameter.data_resync_jump_width = CAN_BT_SJW_1TQ;
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can_fd_parameter.data_time_segment_1 = CAN_BT_BS1_3TQ;
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can_fd_parameter.data_time_segment_2 = CAN_BT_BS2_1TQ;
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/* CAN-FD data segement prescaler should be the same as non-data segement
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* prescaler */
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can_fd_parameter.data_prescaler = 12;
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can_fd_init(CAN0, &can_fd_parameter);
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/* initialize filter */
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can1_filter_start_bank(14);
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can_filter_mask_mode_init(DEV_CAN_LOOPBACK_ID, DEV_CAN0_MASK, CAN_EXTENDED_FIFO0, 0);
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}
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/*!
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\brief CAN0 loopback test
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\param[in] none
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\param[out] none
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\retval ErrStatus
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*/
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void can_loopback_test(void) {
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can_trasnmit_message_struct transmit_message;
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can_receive_message_struct receive_message;
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uint32_t timeout = 0xFFFF;
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uint8_t transmit_mailbox = 0;
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can_struct_para_init(CAN_FD_FRAME_STRUCT, &transmit_message);
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transmit_message.tx_sfid = DEV_CAN_LOOPBACK_ID;
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transmit_message.tx_efid = 0x00;
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transmit_message.tx_ft = CAN_FT_DATA;
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transmit_message.tx_ff = CAN_FF_EXTENDED;
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transmit_message.tx_dlen = 12;
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transmit_message.fd_flag = 1;
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transmit_message.fd_brs = 1;
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transmit_message.fd_esi = 0;
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int i = 0;
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while (i++<transmit_message.tx_dlen) {
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transmit_message.tx_data[i] = i;
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}
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/* transmit message */
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transmit_mailbox = can_message_transmit(CAN0, &transmit_message);
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/* waiting for transmit completed */
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while((CAN_TRANSMIT_OK != can_transmit_states(CAN0, transmit_mailbox)) && (0 != timeout)) {
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timeout--;
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}
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timeout = 0xFFFF;
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/* waiting for receive completed */
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while((can_receive_message_length_get(CAN0, CAN_FIFO0) < 1) && (0 != timeout)) {
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timeout--;
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}
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can_struct_para_init(CAN_RX_MESSAGE_STRUCT, &receive_message);
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can_message_receive(CAN0, CAN_FIFO0, &receive_message);
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/* check the receive message */
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if((transmit_message.tx_sfid == receive_message.rx_sfid) && (transmit_message.tx_ff == receive_message.rx_ff)
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&& (transmit_message.tx_dlen == receive_message.rx_dlen) ) {
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/* loopback test is success */
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std::printf("CAN LO0PBACK SUCCESS");
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} else {
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/* loopback test is failed */
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std::printf("CAN LO0PBACK FAIL");
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}
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}
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/*!
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\brief CAN_transmiter构造函数
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\note 初始化CAN通信相关参数和硬件配置
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*/
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CAN_transmiter::CAN_transmiter() {
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// 初始化成员变量
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controller_Mode = 0;
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limit_velocity_union.f = 0;
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limit_voltage = 0;
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mcu_temp = 0;
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motor_temp = 0;
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Power_Voltage = 0;
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rt_angle_union.f = 0;
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Status_code = 0;
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target_angle_union.f = 0;
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Target_Control_Mode = 0;
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target_velocity_union.f = 0;
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u_current_union.f = 0;
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w_current_union.f = 0;
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v_current_union.f = 0;
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// 初始化CAN硬件
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can_gpio_init();
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can_config();
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printf("CAN_transmiter initialized successfully\r\n");
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transmit_mailbox = CAN_NOMAILBOX; // 初始化为无mailbox状态
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timeout = 0xFFFF; // 默认超时时间 0xFFFF
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// 初始化发送消息结构体
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can_struct_para_init(CAN_TX_MESSAGE_STRUCT, &transmit_message);
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}
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/*!
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\brief CAN 数据更新
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*/
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void CAN_transmiter::update(void) {
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limit_velocity_union.f = 0;
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limit_voltage = 0;
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mcu_temp = get_mcu_temp();
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motor_temp = get_drv_temp();
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Power_Voltage = get_vbus_voltage();
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rt_angle_union.f = 0;
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rt_velocity_union.f = 0;
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Status_code = (gpio_input_bit_get(GPIOB, GPIO_PIN_2) == SET) ? 1 : 0;
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target_angle_union.f = 0;
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Target_Control_Mode = 0;
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target_velocity_union.f = 0;
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u_current_union.f = get_current('U');
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w_current_union.f = get_current('W');
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v_current_union.f = get_current('V');
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}
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/*!
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\brief CAN 数据发送
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*/
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u8 CAN_transmiter::CAN_Send(u32 id, u8 length, u8 *data) {
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// 检查数据长度是否符合CAN规范
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if (length > 8) {
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printf("CAN data length exceeds maximum of 8 bytes\r\n");
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return 0;
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}
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// 检查数据指针是否有效
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if (data == nullptr) {
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printf("Invalid data pointer\r\n");
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return 0;
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}
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/* 配置发送消息参数 */
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transmit_message.tx_ft = CAN_FT_DATA; // 数据帧
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transmit_message.tx_ff = CAN_FF_EXTENDED; // 扩展帧格式
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transmit_message.tx_sfid = id; // 设置帧ID
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transmit_message.tx_dlen = length; // 设置数据长度
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// 复制数据到发送缓冲区
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for (int i = 0; i < length && i < 8; i++) {
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transmit_message.tx_data[i] = *(data + i);
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}
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// 自动选择空闲mailbox发送消息，不需要人为指定
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transmit_mailbox = can_message_transmit(CAN0, &transmit_message);
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// 检查是否成功获取mailbox
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if (CAN_NOMAILBOX == transmit_mailbox) {
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// 没有可用的mailbox，可能所有mailbox都在使用中
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printf("No available mailbox for CAN transmission\r\n");
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return 0;
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}
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// 等待发送完成，使用自动选择的mailbox进行状态检查
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while ((CAN_TRANSMIT_OK != can_transmit_states(CAN0, transmit_mailbox)) &&
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(0 != timeout)) {
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timeout--;
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}
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// 超时检查
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if (0 == timeout) {
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printf("CAN transmission timeout for mailbox %d\r\n", transmit_mailbox);
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return 0;
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}
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return 1;
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}
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/*!
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\brief CANFD 数据发送
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*/
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u8 CAN_transmiter::CANFD_Send(u32 id, u8 length, u8 *data) {
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// 检查CANFD模式是否启用
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if (!(CAN_CTL(CAN0) & CAN_CTL_DFZ)) {
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printf("CANFD mode not enabled\r\n");
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return 0;
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}
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// 检查数据指针是否有效
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if (data == nullptr) {
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printf("Invalid data pointer\r\n");
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return 0;
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}
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// 检查数据长度是否符合CANFD规范
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if (length > 64) {
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printf("CANFD data length exceeds maximum of 64 bytes\r\n");
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return 0;
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}
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/* 配置发送消息参数 */
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transmit_message.tx_ft = CAN_FT_DATA; // 数据帧
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transmit_message.tx_ff = CAN_FF_EXTENDED; // 扩展帧格式
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transmit_message.tx_sfid = id; // 设置帧ID
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transmit_message.tx_dlen = length; // 设置数据长度
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// 设置CANFD特定参数
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transmit_message.fd_flag = CAN_FDF_FDFRAME; // CANFD帧格式
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transmit_message.fd_brs = ENABLE; // 使能比特率切换
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transmit_message.fd_esi = DISABLE; // 错误状态指示
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// 复制数据到发送缓冲区
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for (int i = 0; i < length && i < 64; i++) {
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transmit_message.tx_data[i] = *(data + i);
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}
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// 自动选择空闲mailbox发送消息，不需要人为指定
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transmit_mailbox = can_message_transmit(CAN0, &transmit_message);
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// 检查是否成功获取mailbox
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if (CAN_NOMAILBOX == transmit_mailbox) {
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// 没有可用的mailbox，可能所有mailbox都在使用中
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printf("No available mailbox for CANFD transmission\r\n");
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return 0;
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}
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// 等待发送完成，使用自动选择的mailbox进行状态检查
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while ((CAN_TRANSMIT_OK != can_transmit_states(CAN0, transmit_mailbox)) &&
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(0 != timeout)) {
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timeout--;
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}
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// 超时检查
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if (0 == timeout) {
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printf("CANFD transmission timeout for mailbox %d\r\n", transmit_mailbox);
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return 0;
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}
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return 1;
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}
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/**
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* @brief CAN发送函数
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* @retval 0: 发送失败
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* 1: 发送成功
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*/
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u8 CAN_transmiter::CAN_all_Send(){
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u32 success_flag = 0;
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constexpr u32 RT_Vel_Ang_FEED = 0x101;
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constexpr u32 SET_Vel_Ang_FEED = 0x110;
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constexpr u32 Current_FEED = 0x117;
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constexpr u32 Status_FEED = 0x118;
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constexpr u32 Limit_Vel_Vol_FEED = 0x119;
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//打包RT_Vel_Ang_FEED
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pack_float_to_bytes(transmit_data, 0, rt_angle_union);
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pack_float_to_bytes(transmit_data, 4, rt_velocity_union);
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//打包SET_Vel_Ang_FEED
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pack_float_to_bytes(transmit_data, 0, target_angle_union);
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pack_float_to_bytes(transmit_data, 4, target_velocity_union);
|
|
//打包Current_FEED
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|
pack_float_to_bytes(transmit_data, 0, u_current_union);
|
|
pack_float_to_bytes(transmit_data, 4, w_current_union);
|
|
pack_float_to_bytes(transmit_data, 8, v_current_union);
|
|
//打包Status_FEED
|
|
transmit_data[0] = Status_code;
|
|
transmit_data[1] = controller_Mode;
|
|
pack_short_to_bytes(transmit_data, 2, motor_temp);
|
|
pack_short_to_bytes(transmit_data, 4, mcu_temp);
|
|
pack_short_to_bytes(transmit_data, 6, Power_Voltage);
|
|
//打包Limit_Vel_Vol_FEED
|
|
pack_float_to_bytes(transmit_data, 0, limit_velocity_union);
|
|
pack_short_to_bytes(transmit_data, 4, limit_voltage);
|
|
return success_flag;
|
|
}
|
|
|
|
/**
|
|
* @brief CANFD发送函数
|
|
* @retval 0: 发送失败
|
|
* 1: 发送成功
|
|
*/
|
|
u8 CAN_transmiter::CANFD_all_Send(){
|
|
u32 success_flag = 0;
|
|
|
|
constexpr u32 STATUS_ID = 0x18FF100;
|
|
constexpr u32 CONFIG_ID = 0x18FF101;
|
|
|
|
// 打包status数据
|
|
pack_short_to_bytes(transmit_data, 0, mcu_temp);
|
|
pack_short_to_bytes(transmit_data, 2, motor_temp);
|
|
pack_float_to_bytes(transmit_data, 4, u_current_union);
|
|
pack_float_to_bytes(transmit_data, 8, w_current_union);
|
|
pack_float_to_bytes(transmit_data, 12, v_current_union);
|
|
transmit_data[16] = Status_code;
|
|
pack_u16_to_bytes(transmit_data, 17, Power_Voltage);
|
|
pack_float_to_bytes(transmit_data, 19, rt_angle_union);
|
|
pack_float_to_bytes(transmit_data, 23, rt_velocity_union);
|
|
|
|
success_flag += CANFD_Send(STATUS_ID, 27, transmit_data);
|
|
|
|
// 打包config数据
|
|
transmit_data[0] = controller_Mode;
|
|
pack_u16_to_bytes(transmit_data, 1, limit_voltage);
|
|
pack_float_to_bytes(transmit_data, 3, limit_velocity_union);
|
|
pack_float_to_bytes(transmit_data, 7, target_angle_union);
|
|
pack_float_to_bytes(transmit_data, 11, target_velocity_union);
|
|
|
|
success_flag += CANFD_Send(CONFIG_ID, 15, transmit_data);
|
|
|
|
return success_flag;
|
|
}
|