Написан драйвер CAN фреймовых сообщений
This commit is contained in:
cfif
commit
88ae345a27
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//
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// Created by cfif on 16.03.2024.
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//
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#ifndef ARTERY_CAN_MODULE_CAN_FRAME_H
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#define ARTERY_CAN_MODULE_CAN_FRAME_H
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#include "SerialPortFrameIO.h"
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#include "SerialPortIO.h"
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#include "cmsis_os2.h"
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#include "n32g45x.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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typedef enum
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{
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CAN_TX_MAILBOX0 = 0x00,
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CAN_TX_MAILBOX1 = 0x01,
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CAN_TX_MAILBOX2 = 0x02
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} can_tx_mailbox_num_type;
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typedef struct {
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CAN_Module *can;
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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 reInit;
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eCanBaudRate canBaudRate;
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osMessageQueueId_t rxDataQueue0;
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osMessageQueueId_t rxDataQueue1;
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osMessageQueueId_t rxDataSnifferQueue0;
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osMessageQueueId_t rxDataSnifferQueue1;
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osMessageQueueId_t txAccessQueue1;
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osMessageQueueId_t txAccessQueue2;
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} tCanSerialPortFrameNation;
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void CanSerialPortFrameIrqRxProcessing0(tCanSerialPortFrameNation *env);
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void CanSerialPortFrameIrqRxProcessing1(tCanSerialPortFrameNation *env);
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void vCanSerialPortFrameInit(
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tCanSerialPortFrameNation *env,
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CAN_Module *CANx,
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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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uint32_t rxBufferLength0,
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uint32_t rxSnifferLength0,
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uint32_t rxBufferLength1,
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uint32_t rxSnifferLength1
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);
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void CanSerialPortFrameSetId(tCanSerialPortFrameNation *env, uint32_t id);
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void CanSerialPortFrameSetId1(tCanSerialPortFrameNation *env, uint32_t id);
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void CanSerialPortFrameSetType(tCanSerialPortFrameNation *env, eCanTypeFrame canTypeFrame);
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tSerialPortFrameIO CanPortFrame_GetIo(tCanSerialPortFrameNation *env);
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tSerialPortFrameIO CanPortFrame_GetSnifferIo(tCanSerialPortFrameNation *env);
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void CanSerialPortFrameSetFilter(tCanSerialPortFrameNation *env,
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bool canFilterEnable,
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uint32_t canFilter0Id,
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uint32_t canFilter0Mask,
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uint32_t canFilter1Id,
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uint32_t canFilter1Mask);
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#endif //ARTERY_CAN_MODULE_CAN_FRAME_H
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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_FRAME_FILTER_STDID(STDID) ((STDID & 0x7FF) << 5)
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#define CAN_FRAME_FILTER_EXTID_H(EXTID) ((uint16_t)(((EXTID << 3) | CAN_ID_EXT) >> 16))
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#define CAN_FRAME_FILTER_EXTID_L(EXTID) ((uint16_t)(( EXTID << 3) | CAN_ID_EXT))
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#define CAN_FRAME_FILTER_STDMASK(STDMASK) ((STDMASK & 0x7FF) << 5)
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#define CAN_FRAME_FILTER_EXTMASK_H(EXTMASK) ((uint16_t)(((EXTMASK << 3) >> 16)))
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#define CAN_FRAME_FILTER_EXTMASK_L(EXTMASK) ((uint16_t)(EXTMASK << 3))
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static void vCanSerialPortFrameInitNVICEnable(CAN_Module *CANx, uint8_t irqSubPriority) {
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NVIC_PriorityGroupConfig(NVIC_PriorityGroup_4);
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if (CANx == CAN1) {
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NVIC_EnableIRQ(CAN1_SCE_IRQn);
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NVIC_EnableIRQ(USB_LP_CAN1_RX0_IRQn);
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NVIC_EnableIRQ(CAN1_RX1_IRQn);
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NVIC_SetPriority(CAN1_SCE_IRQn, irqSubPriority);
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NVIC_SetPriority(USB_LP_CAN1_RX0_IRQn, irqSubPriority);
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NVIC_SetPriority(CAN1_RX1_IRQn, irqSubPriority);
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CAN_INTConfig(CAN1, CAN_INT_FMP0, ENABLE);
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CAN_INTConfig(CAN1, CAN_INT_FMP1, ENABLE);
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CAN_INTConfig(CAN1, CAN_INT_LEC, ENABLE);
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// CAN_INTConfig(CAN1, CAN_INT_ERR, ENABLE);
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}
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if (CANx == CAN2) {
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NVIC_EnableIRQ(CAN2_SCE_IRQn);
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NVIC_EnableIRQ(CAN2_RX0_IRQn);
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NVIC_EnableIRQ(CAN2_RX1_IRQn);
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NVIC_SetPriority(CAN2_SCE_IRQn, irqSubPriority);
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NVIC_SetPriority(CAN2_RX0_IRQn, irqSubPriority);
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NVIC_SetPriority(CAN2_RX1_IRQn, irqSubPriority);
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CAN_INTConfig(CAN2, CAN_INT_FMP0, ENABLE);
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CAN_INTConfig(CAN2, CAN_INT_FMP1, ENABLE);
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CAN_INTConfig(CAN2, CAN_INT_LEC, ENABLE);
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// CAN_INTConfig(CAN2, CAN_INT_ERR, ENABLE);
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}
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}
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void CanSerialPortFrameSetFilter(tCanSerialPortFrameNation *env,
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bool canFilterEnable,
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uint32_t canFilter0Id,
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uint32_t canFilter0Mask,
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uint32_t canFilter1Id,
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uint32_t canFilter1Mask) {
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CAN_FilterInitType CAN_FilterInitStructure0;
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CAN_FilterInitStructure0.Filter_Num = 0;
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CAN_FilterInitStructure0.Filter_Mode = CAN_Filter_IdMaskMode;
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CAN_FilterInitStructure0.Filter_Scale = CAN_Filter_32bitScale;
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if (env->canTypeFrame == CAN_STD_ID) {
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CAN_FilterInitStructure0.Filter_HighId = CAN_FRAME_FILTER_STDID(canFilter0Id);
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CAN_FilterInitStructure0.Filter_LowId = CAN_FRAME_FILTER_STDID(canFilter0Id);
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CAN_FilterInitStructure0.FilterMask_HighId = CAN_FRAME_FILTER_STDMASK(canFilter0Mask);
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CAN_FilterInitStructure0.FilterMask_LowId = CAN_FRAME_FILTER_STDMASK(canFilter0Mask);
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}
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if (env->canTypeFrame == CAN_EXT_ID) {
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CAN_FilterInitStructure0.Filter_HighId = CAN_FRAME_FILTER_EXTID_H(canFilter0Id);
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CAN_FilterInitStructure0.Filter_LowId = CAN_FRAME_FILTER_EXTID_L(canFilter0Id);
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CAN_FilterInitStructure0.FilterMask_HighId = CAN_FRAME_FILTER_EXTMASK_H(canFilter0Mask);
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CAN_FilterInitStructure0.FilterMask_LowId = CAN_FRAME_FILTER_EXTMASK_L(canFilter0Mask);
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}
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CAN_FilterInitStructure0.Filter_FIFOAssignment = CAN_FIFO0;
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if (canFilterEnable) {
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CAN_FilterInitStructure0.Filter_Act = ENABLE;
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} else {
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CAN_FilterInitStructure0.Filter_Act = DISABLE;
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}
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CAN_FilterInitType CAN_FilterInitStructure1;
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CAN_FilterInitStructure1.Filter_Num = 1;
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CAN_FilterInitStructure1.Filter_Mode = CAN_Filter_IdMaskMode;
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CAN_FilterInitStructure1.Filter_Scale = CAN_Filter_32bitScale;
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if (env->canTypeFrame == CAN_STD_ID) {
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CAN_FilterInitStructure1.Filter_HighId = CAN_FRAME_FILTER_STDID(canFilter1Id);
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CAN_FilterInitStructure1.Filter_LowId = CAN_FRAME_FILTER_STDID(canFilter1Id);
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CAN_FilterInitStructure1.FilterMask_HighId = CAN_FRAME_FILTER_STDMASK(canFilter1Mask);
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CAN_FilterInitStructure1.FilterMask_LowId = CAN_FRAME_FILTER_STDMASK(canFilter1Mask);
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}
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if (env->canTypeFrame == CAN_EXT_ID) {
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CAN_FilterInitStructure1.Filter_HighId = CAN_FRAME_FILTER_EXTID_H(canFilter1Id);
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CAN_FilterInitStructure1.Filter_LowId = CAN_FRAME_FILTER_EXTID_L(canFilter1Id);
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CAN_FilterInitStructure1.FilterMask_HighId = CAN_FRAME_FILTER_EXTMASK_H(canFilter1Mask);
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CAN_FilterInitStructure1.FilterMask_LowId = CAN_FRAME_FILTER_EXTMASK_L(canFilter1Mask);
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}
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CAN_FilterInitStructure1.Filter_FIFOAssignment = CAN_FIFO1;
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if (canFilterEnable) {
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CAN_FilterInitStructure1.Filter_Act = ENABLE;
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} else {
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CAN_FilterInitStructure1.Filter_Act = DISABLE;
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}
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if (env->can == CAN1) {
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CAN1_InitFilter(&CAN_FilterInitStructure0);
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CAN1_InitFilter(&CAN_FilterInitStructure1);
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}
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if (env->can == CAN2) {
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CAN2_InitFilter(&CAN_FilterInitStructure0);
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CAN2_InitFilter(&CAN_FilterInitStructure1);
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}
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}
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void CanSerialPortFrameSetId(tCanSerialPortFrameNation *env, uint32_t id) {
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env->id = id;
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}
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void CanSerialPortFrameSetId1(tCanSerialPortFrameNation *env, uint32_t id) {
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env->id1 = id;
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}
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void CanSerialPortFrameSetType(tCanSerialPortFrameNation *env, eCanTypeFrame canTypeFrame) {
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env->canTypeFrame = canTypeFrame;
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}
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static void vCanSerialPortFrameInitStructure(
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tCanSerialPortFrameNation *env,
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CAN_Module *CANx,
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uint32_t rxBufferLength0,
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uint32_t rxSnifferLength0,
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uint32_t rxBufferLength1,
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uint32_t rxSnifferLength1
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) {
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env->rxDataQueue0 = osMessageQueueNew(rxBufferLength0, sizeof(CanRxMessage), NULL);
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if (rxSnifferLength0) {
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env->rxDataSnifferQueue0 = osMessageQueueNew(rxSnifferLength0, sizeof(CanRxMessage), NULL);
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} else {
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env->rxDataSnifferQueue0 = 0;
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}
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env->rxDataQueue1 = osMessageQueueNew(rxBufferLength1, sizeof(CanRxMessage), NULL);
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if (rxSnifferLength1) {
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env->rxDataSnifferQueue1 = osMessageQueueNew(rxSnifferLength1, sizeof(CanRxMessage), NULL);
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} else {
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env->rxDataSnifferQueue1 = 0;
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}
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}
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void vCanSerialPortFrameInit(
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tCanSerialPortFrameNation *env,
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CAN_Module *CANx,
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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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uint32_t rxBufferLength0,
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uint32_t rxSnifferLength0,
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uint32_t rxBufferLength1,
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uint32_t rxSnifferLength1
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) {
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env->can = CANx;
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if (!env->reInit) {
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env->reInit = true;
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vCanSerialPortFrameInitStructure(env, CANx, rxBufferLength0, rxSnifferLength0, rxBufferLength1,
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rxSnifferLength1);
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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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CAN_InitType CAN_InitStructure;
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CAN_DeInit(CANx);
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CAN_InitStruct(&CAN_InitStructure);
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CAN_InitStructure.TTCM = DISABLE;
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CAN_InitStructure.ABOM = DISABLE;
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CAN_InitStructure.AWKUM = DISABLE;
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CAN_InitStructure.NART = DISABLE;
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CAN_InitStructure.RFLM = DISABLE;
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CAN_InitStructure.TXFP = ENABLE;
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CAN_InitStructure.OperatingMode = CAN_Normal_Mode;
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if (canBaudRate == CAN_BAUD_RATE_1000K) {
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CAN_InitStructure.RSJW = CAN_RSJW_1tq;
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CAN_InitStructure.TBS1 = CAN_TBS1_5tq;
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CAN_InitStructure.TBS2 = CAN_TBS2_3tq;
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CAN_InitStructure.BaudRatePrescaler = 4;
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}
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if (canBaudRate == CAN_BAUD_RATE_500K) {
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CAN_InitStructure.RSJW = CAN_RSJW_1tq;
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CAN_InitStructure.TBS1 = CAN_TBS1_5tq;
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CAN_InitStructure.TBS2 = CAN_TBS2_2tq;
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CAN_InitStructure.BaudRatePrescaler = 9;
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}
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if (canBaudRate == CAN_BAUD_RATE_250K) {
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CAN_InitStructure.RSJW = CAN_RSJW_1tq;
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CAN_InitStructure.TBS1 = CAN_TBS1_4tq;
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CAN_InitStructure.TBS2 = CAN_TBS2_3tq;
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CAN_InitStructure.BaudRatePrescaler = 18;
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}
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if (canBaudRate == CAN_BAUD_RATE_125K) {
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CAN_InitStructure.RSJW = CAN_RSJW_1tq;
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CAN_InitStructure.TBS1 = CAN_TBS1_13tq;
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CAN_InitStructure.TBS2 = CAN_TBS2_4tq;
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CAN_InitStructure.BaudRatePrescaler = 16;
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}
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CAN_Init(CANx, &CAN_InitStructure);
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CanSerialPortFrameSetFilter(env, true, 0, 0, 0, 0);
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vCanSerialPortFrameInitNVICEnable(CANx, irqSubPriority);
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}
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void CanSerialPortFrameIrqRxProcessing0(tCanSerialPortFrameNation *env) {
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CanRxMessage rx_message_struct;
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CAN_ReceiveMessage(env->can, CAN_FIFO0, &rx_message_struct);
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osMessageQueuePut(env->rxDataQueue0, &rx_message_struct, 0x0, 0U);
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if (env->rxDataSnifferQueue0) {
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osMessageQueuePut(env->rxDataSnifferQueue0, &rx_message_struct, 0x0, 0U);
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}
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}
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void CanSerialPortFrameIrqRxProcessing1(tCanSerialPortFrameNation *env) {
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CanRxMessage rx_message_struct;
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CAN_ReceiveMessage(env->can, CAN_FIFO1, &rx_message_struct);
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osMessageQueuePut(env->rxDataQueue1, &rx_message_struct, 0x0, 0U);
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if (env->rxDataSnifferQueue1) {
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osMessageQueuePut(env->rxDataSnifferQueue1, &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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tCanSerialPortFrameNation *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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vCanSerialPortFrameReceive0(tCanSerialPortFrameNation *env, uint8_t *data, uint16_t size, uint32_t timeout) {
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return vSerialPortFrameReceiveQueue(env, data, size, timeout, env->rxDataQueue0);
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}
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static uint16_t
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vCanSerialPortFrameReceive1(tCanSerialPortFrameNation *env, uint8_t *data, uint16_t size, uint32_t timeout) {
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return vSerialPortFrameReceiveQueue(env, data, size, timeout, env->rxDataQueue1);
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}
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static uint16_t
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vCanSerialPortFrameReceiveSniffer0(tCanSerialPortFrameNation *env, uint8_t *data, uint16_t size, uint32_t timeout) {
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return env->rxDataSnifferQueue0
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? vSerialPortFrameReceiveQueue(env, data, size, timeout, env->rxDataSnifferQueue0)
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: 0;
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}
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static uint16_t
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vCanSerialPortFrameReceiveSniffer1(tCanSerialPortFrameNation *env, uint8_t *data, uint16_t size, uint32_t timeout) {
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return env->rxDataSnifferQueue1
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? vSerialPortFrameReceiveQueue(env, data, size, timeout, env->rxDataSnifferQueue1)
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: 0;
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}
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uint8_t can_message_transmitExt(CAN_Module* CANx, CanTxMessage* TxMessage, can_tx_mailbox_num_type mailbox)
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{
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uint8_t transmit_mailbox = CAN_TxSTS_NoMailBox;
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if (mailbox == CAN_TX_MAILBOX0) {
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if (CANx->TSTS & CAN_TSTS_TMEM0) {
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transmit_mailbox = CAN_TX_MAILBOX0;
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} else {
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transmit_mailbox = CAN_TxSTS_NoMailBox;
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}
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}
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if (mailbox == CAN_TX_MAILBOX1) {
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if (CANx->TSTS & CAN_TSTS_TMEM1) {
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transmit_mailbox = CAN_TX_MAILBOX1;
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} else {
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transmit_mailbox = CAN_TxSTS_NoMailBox;
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}
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}
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if (mailbox == CAN_TX_MAILBOX2) {
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if (CANx->TSTS & CAN_TSTS_TMEM2) {
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transmit_mailbox = CAN_TX_MAILBOX2;
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} else {
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transmit_mailbox = CAN_TxSTS_NoMailBox;
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}
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}
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if (transmit_mailbox != CAN_TxSTS_NoMailBox)
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{
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CANx->sTxMailBox[transmit_mailbox].TMI &= 1;
|
||||
if (TxMessage->IDE == CAN_Standard_Id)
|
||||
{
|
||||
assert_param(IS_CAN_STDID(TxMessage->StdId));
|
||||
CANx->sTxMailBox[transmit_mailbox].TMI |= ((TxMessage->StdId << 21) | TxMessage->RTR);
|
||||
}
|
||||
else
|
||||
{
|
||||
assert_param(IS_CAN_EXTID(TxMessage->ExtId));
|
||||
CANx->sTxMailBox[transmit_mailbox].TMI |= ((TxMessage->ExtId << 3) | TxMessage->IDE | TxMessage->RTR);
|
||||
}
|
||||
|
||||
TxMessage->DLC &= (uint8_t)0x0000000F;
|
||||
CANx->sTxMailBox[transmit_mailbox].TMDT &= (uint32_t)0xFFFFFFF0;
|
||||
CANx->sTxMailBox[transmit_mailbox].TMDT |= TxMessage->DLC;
|
||||
|
||||
CANx->sTxMailBox[transmit_mailbox].TMDL =
|
||||
(((uint32_t)TxMessage->Data[3] << 24) | ((uint32_t)TxMessage->Data[2] << 16)
|
||||
| ((uint32_t)TxMessage->Data[1] << 8) | ((uint32_t)TxMessage->Data[0]));
|
||||
|
||||
CANx->sTxMailBox[transmit_mailbox].TMDH =
|
||||
(((uint32_t)TxMessage->Data[7] << 24) | ((uint32_t)TxMessage->Data[6] << 16)
|
||||
| ((uint32_t)TxMessage->Data[5] << 8) | ((uint32_t)TxMessage->Data[4]));
|
||||
|
||||
CANx->sTxMailBox[transmit_mailbox].TMI |= 1;
|
||||
}
|
||||
|
||||
return transmit_mailbox;
|
||||
}
|
||||
|
||||
|
||||
uint16_t vCanSerialPortFrameTransmit(tCanSerialPortFrameNation *env, uint8_t *data, uint16_t size, uint32_t timeout) {
|
||||
uint16_t sent = 0;
|
||||
uint32_t endMs = SystemGetMs() + timeout;
|
||||
|
||||
uint16_t fullSize = size / 8;
|
||||
uint8_t tailSize = size % 8;
|
||||
|
||||
uint8_t transmit_mailbox;
|
||||
CanTxMessage TxMessage;
|
||||
|
||||
|
||||
if (env->canTypeFrame == CAN_STD_ID) {
|
||||
TxMessage.StdId = env->id;
|
||||
TxMessage.ExtId = 0;
|
||||
TxMessage.IDE = CAN_ID_STD;
|
||||
}
|
||||
|
||||
if (env->canTypeFrame == CAN_EXT_ID) {
|
||||
TxMessage.StdId = 0;
|
||||
TxMessage.ExtId = env->id;
|
||||
TxMessage.IDE = CAN_ID_EXT;
|
||||
}
|
||||
|
||||
TxMessage.RTR = CAN_RTRQ_DATA;
|
||||
TxMessage.DLC = 8;
|
||||
|
||||
while (size && ((timeout == SystemWaitForever) || (endMs > SystemGetMs()))) {
|
||||
|
||||
uint16_t len = 0;
|
||||
for (uint16_t i = 0; i < fullSize; ++i) {
|
||||
|
||||
memcpy(TxMessage.Data, &data[len], 8);
|
||||
len += 8;
|
||||
|
||||
transmit_mailbox = can_message_transmitExt(env->can, &TxMessage, CAN_TX_MAILBOX0);
|
||||
|
||||
while (CAN_TransmitSTS(env->can, 0) != CANTXSTSOK) {
|
||||
if (!((timeout == SystemWaitForever) || (endMs > SystemGetMs()))) {
|
||||
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);
|
||||
|
||||
uint8_t status = CAN_TransmitSTS(env->can, (can_tx_mailbox_num_type) transmit_mailbox);
|
||||
|
||||
while (status != CANTXSTSOK) {
|
||||
|
||||
status = CAN_TransmitSTS(env->can, (can_tx_mailbox_num_type) transmit_mailbox);
|
||||
|
||||
if (!((timeout == SystemWaitForever) || (endMs > SystemGetMs()))) {
|
||||
return sent;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
sent += tailSize;
|
||||
size -= tailSize;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
return sent;
|
||||
}
|
||||
|
||||
uint16_t vCanSerialPortFrameTransmit1(tCanSerialPortFrameNation *env, uint8_t *data, uint16_t size, uint32_t timeout) {
|
||||
uint16_t sent = 0;
|
||||
uint32_t endMs = SystemGetMs() + timeout;
|
||||
|
||||
uint16_t fullSize = size / 8;
|
||||
uint8_t tailSize = size % 8;
|
||||
|
||||
uint8_t transmit_mailbox;
|
||||
CanTxMessage TxMessage;
|
||||
|
||||
|
||||
if (env->canTypeFrame == CAN_STD_ID) {
|
||||
TxMessage.StdId = env->id;
|
||||
TxMessage.ExtId = 0;
|
||||
TxMessage.IDE = CAN_ID_STD;
|
||||
}
|
||||
|
||||
if (env->canTypeFrame == CAN_EXT_ID) {
|
||||
TxMessage.StdId = 0;
|
||||
TxMessage.ExtId = env->id;
|
||||
TxMessage.IDE = CAN_ID_EXT;
|
||||
}
|
||||
|
||||
TxMessage.RTR = CAN_RTRQ_DATA;
|
||||
TxMessage.DLC = 8;
|
||||
|
||||
while (size && ((timeout == SystemWaitForever) || (endMs > SystemGetMs()))) {
|
||||
|
||||
uint16_t len = 0;
|
||||
for (uint16_t i = 0; i < fullSize; ++i) {
|
||||
|
||||
memcpy(TxMessage.Data, &data[len], 8);
|
||||
len += 8;
|
||||
|
||||
transmit_mailbox = can_message_transmitExt(env->can, &TxMessage, CAN_TX_MAILBOX1);
|
||||
|
||||
while (CAN_TransmitSTS(env->can, 0) != CANTXSTSOK) {
|
||||
if (!((timeout == SystemWaitForever) || (endMs > SystemGetMs()))) {
|
||||
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_MAILBOX1);
|
||||
|
||||
uint8_t status = CAN_TransmitSTS(env->can, (can_tx_mailbox_num_type) transmit_mailbox);
|
||||
|
||||
while (status != CANTXSTSOK) {
|
||||
|
||||
status = CAN_TransmitSTS(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(tCanSerialPortFrameNation *env) {
|
||||
tSerialPortFrameIO io = {
|
||||
.env = env,
|
||||
.receive0 = (SerialPortFrameIOTransaction) vCanSerialPortFrameReceive0,
|
||||
.receive1 = (SerialPortFrameIOTransaction) vCanSerialPortFrameReceive1,
|
||||
.transmit = (SerialPortFrameIOTransaction) vCanSerialPortFrameTransmit,
|
||||
.transmit1 = (SerialPortFrameIOTransaction) vCanSerialPortFrameTransmit1
|
||||
};
|
||||
return io;
|
||||
}
|
||||
|
||||
tSerialPortFrameIO CanPortFrame_GetSnifferIo(tCanSerialPortFrameNation *env) {
|
||||
tSerialPortFrameIO io = {
|
||||
.env = env,
|
||||
.receive0 = (SerialPortFrameIOTransaction) vCanSerialPortFrameReceiveSniffer0,
|
||||
.receive1 = (SerialPortFrameIOTransaction) vCanSerialPortFrameReceiveSniffer1,
|
||||
.transmit = (SerialPortFrameIOTransaction) vCanSerialPortFrameTransmit,
|
||||
.transmit1 = (SerialPortFrameIOTransaction) vCanSerialPortFrameTransmit1
|
||||
};
|
||||
return io;
|
||||
}
|
||||
|
|
@ -0,0 +1,17 @@
|
|||
{
|
||||
"dep": [
|
||||
{
|
||||
"type": "git",
|
||||
"provider": "NAVIGATOR_UVEOS_NATION_TELIT",
|
||||
"repo": "SerialPort"
|
||||
}
|
||||
],
|
||||
"cmake": {
|
||||
"inc_dirs": [
|
||||
"Inc"
|
||||
],
|
||||
"srcs": [
|
||||
"Src/**.c"
|
||||
]
|
||||
}
|
||||
}
|
||||
Loading…
Reference in New Issue