Добавлен интерфейс CAN
This commit is contained in:
cfif
commit
5bd8ffd494
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//
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// Created by cfif on 16.03.2024.
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//
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#ifndef FLAGCHIP_CAN_MODULE_CAN_FRAME_H
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#define FLAGCHIP_CAN_MODULE_CAN_FRAME_H
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#include "SerialPortFrameIO.h"
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#include "cmsis_os2.h"
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#include "stdbool.h"
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#include "device_header.h"
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#include "interrupt_manager.h"
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#include "fc7xxx_driver_flexcan.h"
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#include "fc7xxx_driver_pcc.h"
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typedef enum {
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CAN_BAUD_RATE_1000K,
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CAN_BAUD_RATE_500K,
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CAN_BAUD_RATE_250K,
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CAN_BAUD_RATE_125K
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} eCanBaudRate;
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typedef enum {
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CAN_STD_ID,
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CAN_EXT_ID
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} eCanTypeFrame;
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#define COUNT_QUEUE 2
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typedef struct
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{
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uint16_t u16CanId; /**< FLEXCAN id */
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uint8_t u8DataLen; /**< data length */
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uint8_t aData[8]; /**< data buffer */
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} can_rx_message_type;
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typedef struct {
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FLEXCAN_Type *can;
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uint8_t CAN_INDEX;
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uint32_t id;
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uint32_t id1;
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eCanTypeFrame canTypeFrame;
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bool canFilterEnable;
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bool reInit;
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eCanBaudRate canBaudRate;
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FLEXCAN_RxMbFilterType aRxFiltList[COUNT_QUEUE];
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FLEXCAN_RxMbFilterType pRxFilterFifoList[COUNT_QUEUE];
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osMessageQueueId_t rxDataQueue[COUNT_QUEUE];
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osMessageQueueId_t rxDataSnifferQueue[COUNT_QUEUE];
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osMessageQueueId_t txAccessQueue;
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} tCanSerialPortFrameFlagchip;
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void vCanSerialPortFrameInit(
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tCanSerialPortFrameFlagchip *env,
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FLEXCAN_Type *CANx, // FLEXCAN0
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PCC_ClkSrcType canClock, // PCC_CLK_FLEXCAN0
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uint8 CAN_INDEX, // CAN0 = 0 ... CAN3 = 3
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eCanBaudRate canBaudRate,
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uint8_t irqSubPriority,
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eCanTypeFrame canTypeFrame,
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uint32_t canId,
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FLEXCAN_ErrorInterruptCallBackType CAN_ErrorInterrupt_CallBack,
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FLEXCAN_RxInterruptCallBackType CAN_RxInterrupt_CallBack,
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FLEXCAN_RxInterruptCallBackType CAN_RxFifoInterrupt_CallBack,
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FLEXCAN_TxInterruptCallBackType CAN_TxInterrupt_CallBack
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);
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void CAN_RxInterrupt_CallBack_Handler(tCanSerialPortFrameFlagchip *env, uint8_t u8CanIndex, FLEXCAN_RxMsgType *pRxCfg);
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void CanSerialPortFrameSetId(tCanSerialPortFrameFlagchip *env, uint32_t id);
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void CanSerialPortFrameSetId1(tCanSerialPortFrameFlagchip *env, uint32_t id);
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void CanSerialPortFrameSetType(tCanSerialPortFrameFlagchip *env, eCanTypeFrame canTypeFrame);
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tSerialPortFrameIO CanPortFrame_GetIo(tCanSerialPortFrameFlagchip *env);
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tSerialPortFrameIO CanPortFrame_GetSnifferIo(tCanSerialPortFrameFlagchip *env);
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#endif //FLAGCHIP_CAN_MODULE_CAN_FRAME_H
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@ -0,0 +1,423 @@
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//
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// Created by cfif on 16.03.2024.
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//
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#include <SystemDelayInterface.h>
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#include "CanSerialPortFrame.h"
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#include "memory.h"
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#define CAN_USED_NUM 6U
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#define CAN_RECEIVE_MB_NUM 2
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static FLEXCAN_RxMsgType s_aaRxDataBuf[CAN_USED_NUM][CAN_RECEIVE_MB_NUM];
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#define CAN_GET_BUFFER(index) s_aaRxDataBuf[index/2]
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static const PCC_ClkSrcType s_ePccCanTable[] =
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{
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PCC_CLK_FLEXCAN0,
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PCC_CLK_FLEXCAN1,
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PCC_CLK_FLEXCAN2,
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PCC_CLK_FLEXCAN3
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};
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static void BSP_CAN_INIT_CFG(FLEXCAN_InitType *pCfg) {
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pCfg->bListenOnly = 0U;
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pCfg->bEnBrs = 0;
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pCfg->bEnDma = 0;
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pCfg->bEnFd = 0;
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pCfg->bEnRxFifo = 0;
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pCfg->eBaudrate = FLEXCAN_BAUD_100K;
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pCfg->eClkSrcHz = FLEXCAN_BAUDCLK_HZ_8M;
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pCfg->eClkSrcSel = FLEXCAN_CLOCK_FUNCTION;
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pCfg->eDataBaud = FLEXCAN_BAUD_100K;
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pCfg->eMbDataWidth = FLEXCAN_DATAWIDTH_8;
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pCfg->u8EnhancedFifoDmaWM = 0;
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pCfg->eDirect = FLEXCAN_DIR_DISABLE;
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}
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void CanSerialPortFrameSetId(tCanSerialPortFrameFlagchip *env, uint32_t id) {
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env->id = id;
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}
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void CanSerialPortFrameSetId1(tCanSerialPortFrameFlagchip *env, uint32_t id) {
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env->id1 = id;
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}
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void CanSerialPortFrameSetType(tCanSerialPortFrameFlagchip *env, eCanTypeFrame canTypeFrame) {
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env->canTypeFrame = canTypeFrame;
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}
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static void
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vCanSerialPortFrameInitStructure(tCanSerialPortFrameFlagchip *env, uint16_t rxDataLength, uint16_t rxSnifferLength) {
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for (uint8_t i = 0; i < COUNT_QUEUE; ++i) {
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env->rxDataQueue[i] = osMessageQueueNew(rxDataLength, sizeof(can_rx_message_type), NULL);
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if (rxSnifferLength) {
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env->rxDataSnifferQueue[i] = osMessageQueueNew(rxSnifferLength, sizeof(can_rx_message_type), NULL);
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} else {
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env->rxDataSnifferQueue[i] = NULL;
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}
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}
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}
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void vCanSerialPortFrameInit(
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tCanSerialPortFrameFlagchip *env,
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FLEXCAN_Type *CANx, // FLEXCAN0
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PCC_ClkSrcType canClock, // PCC_CLK_FLEXCAN0
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uint8 CAN_INDEX, // CAN0 = 0 ... CAN3 = 3
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eCanBaudRate canBaudRate,
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uint8_t irqSubPriority,
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eCanTypeFrame canTypeFrame,
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uint32_t canId,
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FLEXCAN_ErrorInterruptCallBackType CAN_ErrorInterrupt_CallBack,
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FLEXCAN_RxInterruptCallBackType CAN_RxInterrupt_CallBack,
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FLEXCAN_RxInterruptCallBackType CAN_RxFifoInterrupt_CallBack,
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FLEXCAN_TxInterruptCallBackType CAN_TxInterrupt_CallBack
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) {
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FLEXCAN_ErrorType tRetVal;
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FLEXCAN_InitType tInitCfg;
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FLEXCAN_MBConfigType tMbCfg = {0};
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uint32_t u32FuncClk;
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PCC_CtrlType bSP_PCC_Config;
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FLEXCAN_InterruptType tIntCfg = {0};
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env->can = CANx;
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env->CAN_INDEX = CAN_INDEX;
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bSP_PCC_Config.eClockName = canClock;
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bSP_PCC_Config.bEn = TRUE;
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bSP_PCC_Config.eClkSrc = PCC_CLKGATE_SRC_FOSCDIV;
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bSP_PCC_Config.eDivider = PCC_CLK_DIV_BY1;
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PCC_SetPcc(&bSP_PCC_Config);
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BSP_CAN_INIT_CFG(&tInitCfg);
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tInitCfg.eBaudrate = FLEXCAN_BAUD_500K;
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tInitCfg.bEnRxFifo = TRUE;
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tInitCfg.bEnDma = FALSE;
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tInitCfg.bEnFd = FALSE;
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tInitCfg.bEnBrs = FALSE;
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tInitCfg.eMbDataWidth = FLEXCAN_DATAWIDTH_8;
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u32FuncClk = PCC_GetPccFunctionClock(s_ePccCanTable[CAN_INDEX]);
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tInitCfg.eClkSrcSel = FLEXCAN_CLOCK_FUNCTION; /* functional clock */
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tInitCfg.eClkSrcHz = (FLEXCAN_BaudClkType) u32FuncClk; /* function clock frequency */
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tInitCfg.eDirect = FLEXCAN_DIR_ENABLE_WITHOUT_TRIG;
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tRetVal = FLEXCAN_Init(CAN_INDEX, &tInitCfg);
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if (tRetVal == FLEXCAN_ERROR_OK) {
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/* +++++++++++ can mb initial ++++++++++++ */
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/* rx config */
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/*
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env->aRxFiltList[0].eRxFrameType = FLEXCAN_ID_STD;
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env->aRxFiltList[0].u32RxCanId = 0U;
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env->aRxFiltList[0].u32RxCanIdMask = 0U;
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env->aRxFiltList[1].eRxFrameType = FLEXCAN_ID_STD;
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env->aRxFiltList[1].u32RxCanId = 0U;
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env->aRxFiltList[1].u32RxCanIdMask = 0U;
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tMbCfg.pRxFilterMBList = env->aRxFiltList;
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tMbCfg.u8RxFilterMBCnt = sizeof(env->aRxFiltList) / sizeof(env->aRxFiltList[0]);
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*/
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env->pRxFilterFifoList[0].eRxFrameType = FLEXCAN_ID_STD;
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env->pRxFilterFifoList[0].u32RxCanId = 0U;
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env->pRxFilterFifoList[0].u32RxCanIdMask = 0U;
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env->pRxFilterFifoList[1].eRxFrameType = FLEXCAN_ID_STD;
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env->pRxFilterFifoList[1].u32RxCanId = 0U;
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env->pRxFilterFifoList[1].u32RxCanIdMask = 0U;
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tMbCfg.pRxFilterMBList = env->pRxFilterFifoList;
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tMbCfg.u8RxFilterMBCnt = sizeof(env->pRxFilterFifoList) / sizeof(env->pRxFilterFifoList[0]);
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tMbCfg.pRxBuf = CAN_GET_BUFFER(CAN_INDEX);
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/* tx config */
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tMbCfg.u8TxMsgCnt = 3U; /* tx occupy 3 mb */
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tRetVal = FLEXCAN_RxFilterConfig(CAN_INDEX, &tMbCfg);
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if (CAN_ErrorInterrupt_CallBack == NULL) {
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tIntCfg.bEnErrorInterrupt = 0U;
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tIntCfg.pErrorNotify = NULL;
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tIntCfg.bEnTxMBInterrupt = 0U;
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tIntCfg.pRxMBNotify = NULL;
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tIntCfg.bEnRxMBInterrupt = 0U;
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tIntCfg.pRxFifoNotify = NULL;
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tIntCfg.bEnRxFifoInterrupt = 0U;
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tIntCfg.pTxMBNotify = NULL;
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} else {
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tIntCfg.bEnErrorInterrupt = 1U;
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tIntCfg.pErrorNotify = CAN_ErrorInterrupt_CallBack;
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tIntCfg.bEnTxMBInterrupt = 1U;
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tIntCfg.pRxMBNotify = CAN_RxInterrupt_CallBack;
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tIntCfg.bEnRxMBInterrupt = 1U;
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tIntCfg.pRxFifoNotify = CAN_RxFifoInterrupt_CallBack;
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tIntCfg.bEnRxFifoInterrupt = 1U;
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tIntCfg.pTxMBNotify = CAN_TxInterrupt_CallBack;
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}
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FLEXCAN_SetInterrupt(CAN_INDEX, &tIntCfg);
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FLEXCAN_Start(CAN_INDEX); /* Start CAN */
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}
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if (!env->reInit) {
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env->reInit = true;
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vCanSerialPortFrameInitStructure(env, 10, 0);
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CanSerialPortFrameSetType(env, canTypeFrame);
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CanSerialPortFrameSetId(env, canId);
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env->canBaudRate = canBaudRate;
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}
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}
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void CAN_RxInterrupt_CallBack_Handler(tCanSerialPortFrameFlagchip *env, uint8_t u8CanIndex, FLEXCAN_RxMsgType *pRxCfg) {
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can_rx_message_type rx_message_struct;
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rx_message_struct.u16CanId = pRxCfg->u32CanId;
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rx_message_struct.u8DataLen = pRxCfg->u32DataLen;
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memcpy(rx_message_struct.aData, pRxCfg->aData, rx_message_struct.u8DataLen);
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osMessageQueuePut(env->rxDataQueue[pRxCfg->u8MbIndex], &rx_message_struct, 0x0, 0U);
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if (env->rxDataSnifferQueue[pRxCfg->u8MbIndex]) {
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osMessageQueuePut(env->rxDataSnifferQueue[pRxCfg->u8MbIndex], &rx_message_struct, 0x0, 0U);
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}
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}
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static uint16_t vSerialPortFrameReceiveQueue(
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tCanSerialPortFrameFlagchip *env, uint8_t *data, uint16_t size, uint32_t timeout, osMessageQueueId_t queueId
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) {
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uint16_t received = 0;
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if (timeout) {
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uint32_t endMs = SystemGetMs() + timeout;
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uint32_t leftMs;
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while (size && ((timeout == SystemWaitForever) || (endMs > SystemGetMs()))) {
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leftMs = endMs - SystemGetMs();
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if (osMessageQueueGet(queueId, data, NULL, leftMs) == osOK) {
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--size;
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++received;
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++data;
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}
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}
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} else {
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while (size) {
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if (osMessageQueueGet(queueId, data, NULL, 0) == osOK) {
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--size;
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++received;
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++data;
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} else {
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return received;
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}
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}
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}
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return received;
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}
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static uint16_t
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vCanSerialPortFrameReceive(tCanSerialPortFrameFlagchip *env, uint8_t u8MbIndex, uint8_t *data, uint16_t size,
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uint32_t timeout) {
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return vSerialPortFrameReceiveQueue(env, data, size, timeout, env->rxDataQueue[u8MbIndex]);
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}
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static uint16_t
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vCanSerialPortFrameReceiveSniffer(tCanSerialPortFrameFlagchip *env, uint8_t u8MbIndex, uint8_t *data, uint16_t size,
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uint32_t timeout) {
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return env->rxDataSnifferQueue[u8MbIndex]
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? vSerialPortFrameReceiveQueue(env, data, size, timeout, env->rxDataSnifferQueue[u8MbIndex])
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: 0;
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}
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uint16_t vCanSerialPortFrameTransmit(tCanSerialPortFrameFlagchip *env, uint8_t *data, uint16_t size, uint32_t timeout) {
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uint16_t fullSize = size / 8;
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uint8_t tailSize = size % 8;
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uint16_t sent = 0;
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FLEXCAN_TxMsgType tTxMsg = {0};
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FLEXCAN_ErrorType tRetval;
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tTxMsg.u32CanId = env->id;
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tTxMsg.u8TxHandler = 0U;
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tTxMsg.bEnFd = FALSE;
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tTxMsg.bEnBrs = FALSE;
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tTxMsg.u32DataLen = 8;
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tTxMsg.eDataType = FLEXCAN_FRAME_DATA;
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tTxMsg.eFrameType = FLEXCAN_ID_STD;
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tTxMsg.bWaitTxCompleted = 1U;
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tTxMsg.u16WaitTxTimeout = 1000U;
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uint16_t len = 0;
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for (uint16_t i = 0; i < fullSize; ++i) {
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FCFUNC_FcOwnMemcpy(tTxMsg.aData, &data[len], fullSize, NULL);
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len += 8;
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tRetval = FLEXCAN_TransmitData(env->CAN_INDEX, &tTxMsg);
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if (tRetval != FLEXCAN_ERROR_OK) {
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FLEXCAN_TransmitAbort(env->CAN_INDEX, tTxMsg.u8TxHandler);
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} else {
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FLEXCAN_TransmitProcess(env->CAN_INDEX, tTxMsg.u8TxHandler);
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}
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sent += 8;
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size -= 8;
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}
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if (tailSize) {
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tTxMsg.u32DataLen = tailSize;
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FCFUNC_FcOwnMemcpy(tTxMsg.aData, &data[len], tailSize, NULL);
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tRetval = FLEXCAN_TransmitData(env->CAN_INDEX, &tTxMsg);
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if (tRetval != FLEXCAN_ERROR_OK) {
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FLEXCAN_TransmitAbort(env->CAN_INDEX, tTxMsg.u8TxHandler);
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} else {
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FLEXCAN_TransmitProcess(env->CAN_INDEX, tTxMsg.u8TxHandler);
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}
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sent += tailSize;
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size -= tailSize;
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}
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/*
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uint16_t sent = 0;
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uint32_t endMs = SystemGetMs() + timeout;
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uint16_t fullSize = size / 8;
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uint8_t tailSize = size % 8;
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uint8_t transmit_mailbox;
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can_tx_message_type TxMessage;
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if (env->canTypeFrame == CAN_STD_ID) {
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TxMessage.standard_id = env->id;
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TxMessage.extended_id = 0;
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TxMessage.id_type = CAN_ID_STANDARD;
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}
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if (env->canTypeFrame == CAN_EXT_ID) {
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TxMessage.standard_id = 0;
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TxMessage.extended_id = env->id;
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TxMessage.id_type = CAN_ID_EXTENDED;
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}
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TxMessage.frame_type = CAN_TFT_DATA;
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TxMessage.dlc = 8;
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while (size && ((timeout == SystemWaitForever) || (endMs > SystemGetMs()))) {
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uint16_t len = 0;
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for (uint16_t i = 0; i < fullSize; ++i) {
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memcpy(TxMessage.data, &data[len], 8);
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len += 8;
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transmit_mailbox = can_message_transmitExt(env->can, &TxMessage, CAN_TX_MAILBOX0);
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while (can_transmit_status_get(env->can, (can_tx_mailbox_num_type) transmit_mailbox) !=
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CAN_TX_STATUS_SUCCESSFUL) {
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|
||||
if (!((timeout == SystemWaitForever) || (endMs > SystemGetMs()))) {
|
||||
return sent;
|
||||
}
|
||||
|
||||
// if ((can_flag_get(env->can, CAN_BOF_FLAG) != RESET) ||
|
||||
// (can_flag_get(env->can, CAN_EPF_FLAG) != RESET) ||
|
||||
// (can_flag_get(env->can, CAN_EAF_FLAG) != RESET)) {
|
||||
// return sent;
|
||||
// }
|
||||
|
||||
}
|
||||
|
||||
sent += 8;
|
||||
size -= 8;
|
||||
}
|
||||
|
||||
if (tailSize) {
|
||||
TxMessage.dlc = tailSize;
|
||||
memcpy(TxMessage.data, &data[len], tailSize);
|
||||
|
||||
transmit_mailbox = can_message_transmitExt(env->can, &TxMessage, CAN_TX_MAILBOX0);
|
||||
|
||||
can_transmit_status_type status = can_transmit_status_get(env->can,
|
||||
(can_tx_mailbox_num_type) transmit_mailbox);
|
||||
|
||||
while (status != CAN_TX_STATUS_SUCCESSFUL) {
|
||||
|
||||
status = can_transmit_status_get(env->can, (can_tx_mailbox_num_type) transmit_mailbox);
|
||||
|
||||
if (!((timeout == SystemWaitForever) || (endMs > SystemGetMs()))) {
|
||||
return sent;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
sent += tailSize;
|
||||
size -= tailSize;
|
||||
}
|
||||
|
||||
}
|
||||
*/
|
||||
return sent;
|
||||
}
|
||||
|
||||
tSerialPortFrameIO CanPortFrame_GetIo(tCanSerialPortFrameFlagchip *env) {
|
||||
tSerialPortFrameIO io = {
|
||||
.env = env,
|
||||
.receive = (SerialPortFrameIOTransaction) vCanSerialPortFrameReceive,
|
||||
.transmit = (SerialPortFrameIOTransaction) vCanSerialPortFrameTransmit,
|
||||
};
|
||||
return io;
|
||||
}
|
||||
|
||||
tSerialPortFrameIO CanPort_GetSnifferIo(tCanSerialPortFrameFlagchip *env) {
|
||||
tSerialPortFrameIO io = {
|
||||
.env = env,
|
||||
.receive = (SerialPortFrameIOTransaction) vCanSerialPortFrameReceiveSniffer,
|
||||
.transmit = (SerialPortFrameIOTransaction) vCanSerialPortFrameTransmit,
|
||||
};
|
||||
return io;
|
||||
}
|
||||
|
|
@ -0,0 +1,24 @@
|
|||
{
|
||||
"dep": [
|
||||
{
|
||||
"type": "git",
|
||||
"provider": "HVAC_M7",
|
||||
"repo": "SerialPort"
|
||||
},
|
||||
{
|
||||
"type": "git",
|
||||
"provider": "HVAC_M7",
|
||||
"repo": "SerialPortFrameInterface"
|
||||
}
|
||||
],
|
||||
"cmake": {
|
||||
"inc_dirs": [
|
||||
"Inc"
|
||||
],
|
||||
"srcs": [
|
||||
"Src/**.c"
|
||||
]
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
Loading…
Reference in New Issue