Изменена инициализация CAN в соответствии с интерфейсом нового драйвера

CanSerialPorts.c

@@ -31,11 +31,64 @@ void vCanSerialPorts_InitRCC() {
     RCC_EnableAPB1PeriphClk(RCC_APB1_PERIPH_CAN1 | RCC_APB1_PERIPH_CAN2, ENABLE);
 }
 
-void USB_LP_CAN1_RX0_IRQHandler(void) {
+void CanPort_SetSpeed(CAN_Module *CANx, eCanBaudRate canBaudRate) {
-    CanSerialPortIrqRxProcessing(&SERIAL_PORTS.SerialPortCan1);
+
+    if (CANx == CAN1) {
+        vCanSerialPortFrameInit(
+                &SERIAL_PORTS.SerialPortFrameCan1,
+                CAN1,
+                canBaudRate,
+                0x57,
+                CAN_STD_ID,
+                0,
+                20,
+                0,
+                20,
+                0
+        );
+    }
+
+    if (CANx == CAN2) {
+        vCanSerialPortFrameInit(
+                &SERIAL_PORTS.SerialPortFrameCan2,
+                CAN2,
+                canBaudRate,
+                0x57,
+                CAN_STD_ID,
+                0,
+                20,
+                0,
+                20,
+                0
+        );
+    }
+
 }
 
-void vCanSerialPort_InitCAN1(tCanSerialPortNation *env) {
+
+void USB_LP_CAN1_RX0_IRQHandler(void) {
+    CanSerialPortFrameIrqRxProcessing0(&SERIAL_PORTS.SerialPortFrameCan1);
+}
+
+void CAN1_RX1_IRQHandler(void) {
+    CanSerialPortFrameIrqRxProcessing1(&SERIAL_PORTS.SerialPortFrameCan1);
+}
+
+void CAN1_SCE_IRQHandler(void) {
+
+    __IO uint32_t err_index = 0;
+    if (CAN_GetFlagSTS(CAN1, CAN_FLAG_LEC) != RESET) {
+        err_index = CAN1->ESTS & 0x70;
+        CAN_ClearFlag(CAN1, CAN_FLAG_LEC);
+        if (err_index == 0x00000010) {
+            CAN_DeInit(CAN1);
+            CanPort_SetSpeed(CAN1, CAN_SERIAL_PORTS.canFrame1.canBaudRate);
+        }
+    }
+}
+
+
+void vCanSerialPort_InitCAN1(tCanSerialPortFrameNation *env) {
     GPIO_InitType GPIO_InitStructure;
     GPIO_InitStruct(&GPIO_InitStructure);
     RCC_EnableAPB2PeriphClk(RCC_APB2_PERIPH_AFIO | RCC_APB2_PERIPH_GPIOB, ENABLE);
@@ -52,27 +105,33 @@ void vCanSerialPort_InitCAN1(tCanSerialPortNation *env) {
 
     GPIO_ConfigPinRemap(GPIO_RMP2_CAN1, ENABLE);
 
-    vCanSerialPortInit(
+
-            env,
-            CAN1,
-            CAN_BAUD_RATE_250K,
-            0xFF,
-            CAN_STD_ID,
-            0x400,
-            true,
-            0x400,
-            0x00,
-            512,
-            0
-    );
 
 }
 
 void CAN2_RX0_IRQHandler(void) {
-    CanSerialPortIrqRxProcessing(&SERIAL_PORTS.SerialPortCan2);
+    CanSerialPortFrameIrqRxProcessing0(&SERIAL_PORTS.SerialPortFrameCan2);
 }
 
-void vCanSerialPort_InitCAN2(tCanSerialPortNation *env) {
+void CAN2_RX1_IRQHandler(void) {
+    CanSerialPortFrameIrqRxProcessing1(&SERIAL_PORTS.SerialPortFrameCan2);
+}
+
+void CAN2_SCE_IRQHandler(void) {
+
+    __IO uint32_t err_index = CAN_GetFlagSTS(CAN2, CAN_FLAG_LEC);
+    if (err_index != RESET) {
+        err_index = CAN2->ESTS & 0x70;
+        CAN_ClearFlag(CAN2, CAN_FLAG_LEC);
+        if (err_index == 0x00000010) {
+            CAN_DeInit(CAN2);
+            CanPort_SetSpeed(CAN2, CAN_SERIAL_PORTS.canFrame2.canBaudRate);
+        }
+    }
+
+}
+
+void vCanSerialPort_InitCAN2(tCanSerialPortFrameNation *env) {
     GPIO_InitType GPIO_InitStructure;
     GPIO_InitStruct(&GPIO_InitStructure);
     RCC_EnableAPB2PeriphClk(RCC_APB2_PERIPH_AFIO | RCC_APB2_PERIPH_GPIOD, ENABLE);
@@ -88,19 +147,20 @@ void vCanSerialPort_InitCAN2(tCanSerialPortNation *env) {
 
     GPIO_ConfigPinRemap(GPIO_RMP3_CAN2, ENABLE);
 
-    vCanSerialPortInit(
+    vCanSerialPortFrameInit(
             env,
             CAN2,
-            CAN_BAUD_RATE_250K,
+            CAN_BAUD_RATE_500K,
-            0xFF,
+            0x57,
             CAN_STD_ID,
-            0x400,
+            0,
-            true,
+            20,
-            0x400,
+            0,
-            0x00,
+            20,
-            512,
             0
     );
+
+
 }
 
 void CanSerialPorts_Init() {
@@ -109,10 +169,10 @@ void CanSerialPorts_Init() {
     vCanSerialPorts_InitRCC();
     CanHWControlSet();
 
-    vCanSerialPort_InitCAN1(&env->can1);
+    vCanSerialPort_InitCAN1(&env->canFrame1);
-    env->can1IO = CanPort_GetIo(&env->can1);
+    env->canFrame1IO = CanPortFrame_GetIo(&env->canFrame1);
 
-    vCanSerialPort_InitCAN2(&env->can2);
+    vCanSerialPort_InitCAN2(&env->canFrame2);
-    env->can2IO = CanPort_GetIo(&env->can2);
+    env->canFrame2IO = CanPortFrame_GetIo(&env->canFrame2);
 
 }

CanSerialPorts.h

@@ -2,22 +2,22 @@
 // Created by cfif on 17.03.2024.
 //
 #include "n32g45x.h"
-#include "CanSerialPort.h"
+#include "CanSerialPortFrame.h"
 
 #ifndef NATION_CAN_TEST_CANSERIALPORTS_H
 #define NATION_CAN_TEST_CANSERIALPORTS_H
 
 typedef struct {
-    tCanSerialPortNation can1;
+    tCanSerialPortFrameNation canFrame1;
-    tSerialPortIO can1IO;
+    tSerialPortFrameIO canFrame1IO;
 
-    tCanSerialPortNation can2;
+    tCanSerialPortFrameNation canFrame2;
-    tSerialPortIO can2IO;
+    tSerialPortFrameIO canFrame2IO;
 } tCanSerialPorts;
 
 void CanSerialPorts_Init();
-void vCanSerialPort_InitCAN1(tCanSerialPortNation *env);
+void vCanSerialPort_InitCAN1(tCanSerialPortFrameNation *env);
-void vCanSerialPort_InitCAN2(tCanSerialPortNation *env);
+void vCanSerialPort_InitCAN2(tCanSerialPortFrameNation *env);
 extern tCanSerialPorts CAN_SERIAL_PORTS;
 void vCanSerialPorts_InitRCC();
 void CanHWControlSet();