Обновление

Inc/CanSerialPortFrame.h

@@ -68,7 +68,7 @@ typedef struct {
     uint32_t g_u32RxDataIndex;
 
     FLEXCAN_RxMbFilterType pRxMbFilterList[32];
-//    FLEXCAN_RxMbFilterType pRxFilterFifoList[32];
+    FLEXCAN_RxMbFilterType pRxFilterFifoList[32];
 
     osMessageQueueId_t rxDataQueue[COUNT_QUEUE];
     osMessageQueueId_t rxDataSnifferQueue[COUNT_QUEUE];
@@ -116,8 +116,8 @@ bool vCanSerialPortFrameDMAInit(
         const FilterTo_FLEXCAN_RxMbFilterType *IdHardSoftFilter_RX,
         uint8_t CountHardSoftFilter_RX,
 
-//        const FLEXCAN_RxMbFilterType *IdFilterFifo_RX,
+        const FLEXCAN_RxMbFilterType *IdFilterFifo_RX,
-//        uint8_t CountFilterFifo_RX,
+        uint8_t CountFilterFifo_RX,
 
         IRQn_Type IRQ_DMA_RX,
         uint8_t IRQ_DMA_PRIORITY_RX,
@@ -135,6 +135,26 @@ bool vCanSerialPortFrameDMAInit(
         DMA_TransferErrorCallbackType DMA_ErrorCallback
 );
 
+bool vCanSerialPortFrameMbInit(
+        tCanSerialPortFrameFlagchip *env,
+        FLEXCAN_Type *CANx, // FLEXCAN0
+        uint8 CAN_INDEX, // CAN0 = 0 ... CAN3 = 3
+        IRQn_Type IRQ_CAN, // FlexCAN0_IRQn ... FlexCAN3_IRQn
+        uint8 CAN_PRIORITY,
+
+        const FilterTo_FLEXCAN_RxMbFilterType *IdHardSoftFilter_RX,
+        uint8_t CountHardSoftFilter_RX,
+
+        FLEXCAN_BaudType canBaudRate,
+        FLEXCAN_IdType canTypeFrame,
+        uint32_t canId,
+        FLEXCAN_ErrorInterruptCallBackType CAN_ErrorInterrupt_CallBack,
+        FLEXCAN_RxInterruptCallBackType CAN_RxInterrupt_CallBack,
+        FLEXCAN_RxInterruptCallBackType CAN_RxFifoInterrupt_CallBack,
+        FLEXCAN_TxInterruptCallBackType CAN_TxInterrupt_CallBack
+
+);
+
         void CAN_RxInterrupt_CallBack_Handler(tCanSerialPortFrameFlagchip *env, uint8_t u8CanIndex, FLEXCAN_RxMsgType *pRxCfg);
 
 void CanSerialPortFrameIrqRxProcessing(tCanSerialPortFrameFlagchip *env, uint32_t *pBuf);

Src/CanSerialPortFrame.c

@@ -83,8 +83,8 @@ bool vCanSerialPortFrameDMAInit(
         const FilterTo_FLEXCAN_RxMbFilterType *IdHardSoftFilter_RX,
         uint8_t CountHardSoftFilter_RX,
 
-//        const FLEXCAN_RxMbFilterType *IdFilterFifo_RX,
+        const FLEXCAN_RxMbFilterType *IdFilterFifo_RX,
-//        uint8_t CountFilterFifo_RX,
+        uint8_t CountFilterFifo_RX,
 
         IRQn_Type IRQ_DMA_RX,
         uint8_t IRQ_DMA_PRIORITY_RX,
@@ -124,7 +124,7 @@ bool vCanSerialPortFrameDMAInit(
     //начало-----------------------------------DMA-RX-------------------------------------------------------------------
     //начало-----------------------------------DMA-RX-------------------------------------------------------------------
     //начало-----------------------------------DMA-RX-------------------------------------------------------------------
-/*
+
     uint32_t u32TargetAddr = (uint32_t) (DMA_BUF_RX);
 
     env->chnCfg_RX.pSrcBuffer = &(CANx->RAM[0]);
@@ -160,7 +160,7 @@ bool vCanSerialPortFrameDMAInit(
     NVIC_EnableIRQ(IRQ_DMA_RX);
 
     DMA_StartChannel(DMA_INSTANCE_0, (DMA_ChannelType) DMA_CHANNEL_RX);
-*/
+
 
     //конец-----------------------------------DMA-RX--------------------------------------------------------------------
     //конец-----------------------------------DMA-RX--------------------------------------------------------------------
@@ -181,11 +181,11 @@ bool vCanSerialPortFrameDMAInit(
 
     env->tInitCfg.eBaudrate = canBaudRate;
     env->tInitCfg.eDataBaud = canBaudRate;
-//    env->tInitCfg.bEnRxFifo = TRUE;
+    env->tInitCfg.bEnRxFifo = TRUE;
-    env->tInitCfg.bEnRxFifo = FALSE;
+//    env->tInitCfg.bEnRxFifo = FALSE;
 
-//    env->tInitCfg.bEnDma = TRUE;
+    env->tInitCfg.bEnDma = TRUE;
-    env->tInitCfg.bEnDma = FALSE;
+//    env->tInitCfg.bEnDma = FALSE;
 
     env->tInitCfg.bEnFd = FALSE;
     env->tInitCfg.bEnBrs = FALSE;
@@ -196,26 +196,16 @@ bool vCanSerialPortFrameDMAInit(
     env->tInitCfg.eClkSrcSel = FLEXCAN_CLOCK_FUNCTION; // functional clock
     env->tInitCfg.eClkSrcHz = (FLEXCAN_BaudClkType) u32FuncClk; // function clock frequency
 
-//    env->tInitCfg.eDirect = FLEXCAN_DIR_ENABLE_WITHOUT_TRIG;
+    env->tInitCfg.eDirect = FLEXCAN_DIR_ENABLE_WITHOUT_TRIG;
 
     tRetVal = FLEXCAN_Init(CAN_INDEX, &env->tInitCfg);
 
     if (tRetVal == FLEXCAN_ERROR_OK) {
 
-        for (uint8_t i = 0; i < CountHardSoftFilter_RX; ++i) {
-            env->pRxMbFilterList[i].eRxFrameType = IdHardSoftFilter_RX[i].eRxFrameType;
-            env->pRxMbFilterList[i].u32RxCanId = IdHardSoftFilter_RX[i].u32RxCanId;
-            env->pRxMbFilterList[i].u32RxCanIdMask = IdHardSoftFilter_RX[i].u32RxCanIdMask;
-        }
 
-        env->tMbCfg.pRxFilterMBList = env->pRxMbFilterList;
+        env->tMbCfg.pRxFilterMBList = NULL;
-        env->tMbCfg.u8RxFilterMBCnt = CountHardSoftFilter_RX;
+        env->tMbCfg.u8RxFilterMBCnt = 0;
 
-//        env->tMbCfg.pRxFilterMBList = NULL;
-//        env->tMbCfg.u8RxFilterMBCnt = 0;
-
-
-/*
         for (uint8_t i = 0; i < CountFilterFifo_RX; ++i) {
             env->pRxFilterFifoList[i].eRxFrameType = IdFilterFifo_RX[i].eRxFrameType;
             env->pRxFilterFifoList[i].u32RxCanId = IdFilterFifo_RX[i].u32RxCanId;
@@ -224,7 +214,7 @@ bool vCanSerialPortFrameDMAInit(
 
         env->tMbCfg.pRxFilterFifoList = env->pRxFilterFifoList;
         env->tMbCfg.u8RxFilterFifoCnt = CountFilterFifo_RX;
-*/
+
         env->tMbCfg.pRxFilterFifoList = NULL;
         env->tMbCfg.u8RxFilterFifoCnt = 0;
 
@@ -300,6 +290,160 @@ bool vCanSerialPortFrameDMAInit(
 }
 
 
+bool vCanSerialPortFrameMbInit(
+        tCanSerialPortFrameFlagchip *env,
+        FLEXCAN_Type *CANx, // FLEXCAN0
+        uint8 CAN_INDEX, // CAN0 = 0 ... CAN3 = 3
+        IRQn_Type IRQ_CAN, // FlexCAN0_IRQn ... FlexCAN3_IRQn
+        uint8 CAN_PRIORITY,
+
+        const FilterTo_FLEXCAN_RxMbFilterType *IdHardSoftFilter_RX,
+        uint8_t CountHardSoftFilter_RX,
+
+        FLEXCAN_BaudType canBaudRate,
+        FLEXCAN_IdType canTypeFrame,
+        uint32_t canId,
+        FLEXCAN_ErrorInterruptCallBackType CAN_ErrorInterrupt_CallBack,
+        FLEXCAN_RxInterruptCallBackType CAN_RxInterrupt_CallBack,
+        FLEXCAN_RxInterruptCallBackType CAN_RxFifoInterrupt_CallBack,
+        FLEXCAN_TxInterruptCallBackType CAN_TxInterrupt_CallBack
+
+) {
+    env->g_u32RxDataIndex = 0;
+    env->can = CANx;
+    env->CAN_INDEX = CAN_INDEX;
+//    env->DMA_BUF_LEN_RX = DMA_BUF_LEN_RX;
+    env->IdHardSoftFilter_RX = (FilterTo_FLEXCAN_RxMbFilterType *) IdHardSoftFilter_RX;
+    env->CountHardSoftFilter_RX = CountHardSoftFilter_RX;
+    env->canBaudRate = canBaudRate;
+    env->IRQ_CAN = IRQ_CAN;
+
+    env->CAN_ErrorInterrupt_CallBack = CAN_ErrorInterrupt_CallBack;
+    env->CAN_RxInterrupt_CallBack = CAN_RxInterrupt_CallBack;
+    env->CAN_RxFifoInterrupt_CallBack = CAN_RxFifoInterrupt_CallBack;
+    env->CAN_TxInterrupt_CallBack = CAN_TxInterrupt_CallBack;
+//    env->DMA_TransferCompleteCallback = DMA_TransferCompleteCallback;
+//    env->DMA_ErrorCallback = DMA_ErrorCallback;
+
+    env->access = osMutexNew(NULL);
+
+
+    //начало------------------------------------CAN---------------------------------------------------------------------
+    //начало------------------------------------CAN---------------------------------------------------------------------
+    //начало------------------------------------CAN---------------------------------------------------------------------
+
+    FLEXCAN_ErrorType tRetVal;
+    uint32_t u32FuncClk;
+
+    tRetVal = FLEXCAN_DeInit(CAN_INDEX);
+
+    BSP_CAN_INIT_CFG(&env->tInitCfg);
+    BSP_CAN_INIT_MBConfig(&env->tMbCfg);
+
+    env->tInitCfg.eBaudrate = canBaudRate;
+    env->tInitCfg.eDataBaud = canBaudRate;
+//    env->tInitCfg.bEnRxFifo = TRUE;
+    env->tInitCfg.bEnRxFifo = FALSE;
+
+//    env->tInitCfg.bEnDma = TRUE;
+    env->tInitCfg.bEnDma = FALSE;
+
+    env->tInitCfg.bEnFd = FALSE;
+    env->tInitCfg.bEnBrs = FALSE;
+    env->tInitCfg.eMbDataWidth = FLEXCAN_DATAWIDTH_8;
+
+    u32FuncClk = PCC_GetPccFunctionClock(s_ePccCanTable[CAN_INDEX]);
+
+    env->tInitCfg.eClkSrcSel = FLEXCAN_CLOCK_FUNCTION; // functional clock
+    env->tInitCfg.eClkSrcHz = (FLEXCAN_BaudClkType) u32FuncClk; // function clock frequency
+
+    tRetVal = FLEXCAN_Init(CAN_INDEX, &env->tInitCfg);
+
+    if (tRetVal == FLEXCAN_ERROR_OK) {
+
+        for (uint8_t i = 0; i < CountHardSoftFilter_RX; ++i) {
+            env->pRxMbFilterList[i].eRxFrameType = IdHardSoftFilter_RX[i].eRxFrameType;
+            env->pRxMbFilterList[i].u32RxCanId = IdHardSoftFilter_RX[i].u32RxCanId;
+            env->pRxMbFilterList[i].u32RxCanIdMask = IdHardSoftFilter_RX[i].u32RxCanIdMask;
+        }
+
+        env->tMbCfg.pRxFilterMBList = env->pRxMbFilterList;
+        env->tMbCfg.u8RxFilterMBCnt = CountHardSoftFilter_RX;
+
+        env->tMbCfg.pRxFilterFifoList = NULL;
+        env->tMbCfg.u8RxFilterFifoCnt = 0;
+
+        env->tMbCfg.pRxBuf = CAN_GET_BUFFER(CAN_INDEX);
+
+        // tx config
+        env->tMbCfg.u8TxMsgCnt = 3U; // tx occupy 3 mb
+
+        tRetVal = FLEXCAN_RxFilterConfig(CAN_INDEX, &env->tMbCfg);
+
+        if (CAN_ErrorInterrupt_CallBack == NULL) {
+            env->tIntCfg.bEnErrorInterrupt = 0U;
+            env->tIntCfg.pErrorNotify = NULL;
+
+            env->tIntCfg.bEnTxMBInterrupt = 0U;
+            env->tIntCfg.pTxMBNotify = NULL;
+
+            env->tIntCfg.bEnRxMBInterrupt = 0U;
+            env->tIntCfg.pRxMBNotify = NULL;
+
+            env->tIntCfg.bEnRxFifoInterrupt = 0U;
+            env->tIntCfg.pRxFifoNotify = NULL;
+
+        } else {
+            env->tIntCfg.bEnErrorInterrupt = 1U;
+            env->tIntCfg.pErrorNotify = CAN_ErrorInterrupt_CallBack;
+
+            env->tIntCfg.bEnTxMBInterrupt = 0U;
+            env->tIntCfg.pTxMBNotify = NULL;
+
+            env->tIntCfg.bEnRxMBInterrupt = 1U;
+            env->tIntCfg.pRxMBNotify = CAN_RxInterrupt_CallBack;
+
+            env->tIntCfg.bEnRxFifoInterrupt = 0U;
+            env->tIntCfg.pRxFifoNotify = CAN_RxFifoInterrupt_CallBack;
+
+        }
+
+
+        if ((env->tIntCfg.bEnErrorInterrupt) ||
+            (env->tIntCfg.bEnTxMBInterrupt) ||
+            (env->tIntCfg.bEnRxMBInterrupt) ||
+            (env->tIntCfg.bEnRxFifoInterrupt)) {
+
+            NVIC_SetPriority(IRQ_CAN, CAN_PRIORITY);
+            NVIC_EnableIRQ(IRQ_CAN);
+
+            FLEXCAN_SetInterrupt(CAN_INDEX, &env->tIntCfg);
+
+        }
+
+        if (!env->reInit) {
+            env->reInit = true;
+            vCanSerialPortFrameInitStructure(env, 10, 0);
+
+            CanSerialPortFrameSetType(env, canTypeFrame);
+            CanSerialPortFrameSetId(env, canId);
+
+            env->canBaudRate = canBaudRate;
+        }
+
+        FLEXCAN_Start(CAN_INDEX); // Start CAN
+
+    } else {
+        return false;
+    }
+
+
+    return true;
+    //конец------------------------------------CAN----------------------------------------------------------------------
+    //конец------------------------------------CAN----------------------------------------------------------------------
+    //конец------------------------------------CAN----------------------------------------------------------------------
+}
+
 
 bool vCanSerialPortSetMaskCount(tCanSerialPortFrameFlagchip *env, uint8_t maskCount)
 {