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cfif 2025-06-02 13:26:39 +03:00
commit d71fd5dedd
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//
// Created by cfif on 16.03.2024.
//
#ifndef ARTERY_CAN_MODULE_CAN_FRAME_H
#define ARTERY_CAN_MODULE_CAN_FRAME_H
#include "SerialPortFrameIO.h"
#include "cmsis_os2.h"
#include "stdbool.h"
#include "at32f435_437_can.h"
typedef enum {
CAN_BAUD_RATE_1000K,
CAN_BAUD_RATE_500K,
CAN_BAUD_RATE_250K,
CAN_BAUD_RATE_125K
} eCanBaudRate;
typedef enum {
CAN_STD_ID,
CAN_EXT_ID
} eCanTypeFrame;
typedef struct {
can_type *can;
uint32_t id;
uint32_t id1;
eCanTypeFrame canTypeFrame;
bool canFilterEnable;
bool reInit;
can_filter_init_type can_filter0_init_struct;
can_filter_init_type can_filter1_init_struct;
eCanBaudRate canBaudRate;
osMessageQueueId_t rxDataQueue0;
osMessageQueueId_t rxDataQueue1;
osMessageQueueId_t rxDataSnifferQueue0;
osMessageQueueId_t rxDataSnifferQueue1;
osMessageQueueId_t txAccessQueue;
} tCanSerialPortFrameArtery;
void CanSerialPortFrameIrqRxProcessing0(tCanSerialPortFrameArtery *env);
void CanSerialPortFrameIrqRxProcessing1(tCanSerialPortFrameArtery *env);
void vCanSerialPortFrameInit(
tCanSerialPortFrameArtery *env,
can_type *CANx,
eCanBaudRate canBaudRate,
uint8_t irqSubPriority,
eCanTypeFrame canTypeFrame,
uint32_t canId,
uint32_t rxBufferLength0,
uint32_t rxSnifferLength0,
uint32_t rxBufferLength1,
uint32_t rxSnifferLength1
);
void CanSerialPortFrameSetId(tCanSerialPortFrameArtery *env, uint32_t id);
void CanSerialPortFrameSetId1(tCanSerialPortFrameArtery *env, uint32_t id);
void CanSerialPortFrameSetType(tCanSerialPortFrameArtery *env, eCanTypeFrame canTypeFrame);
tSerialPortFrameIO CanPortFrame_GetIo(tCanSerialPortFrameArtery *env);
tSerialPortFrameIO CanPortFrame_GetSnifferIo(tCanSerialPortFrameArtery *env);
#endif //ARTERY_CAN_MODULE_CAN_FRAME_H

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//
// Created by cfif on 16.03.2024.
//
#include <SystemDelayInterface.h>
#include "CanSerialPortFrame.h"
#include "memory.h"
#include "at32f435_437_misc.h"
static void vCanSerialPortFrameInitNVICEnable(can_type *CANx, uint8_t irqSubPriority) {
nvic_priority_group_config(NVIC_PRIORITY_GROUP_4);
if (CANx == CAN1) {
NVIC_EnableIRQ(CAN1_SE_IRQn);
NVIC_EnableIRQ(CAN1_RX0_IRQn);
NVIC_EnableIRQ(CAN1_RX1_IRQn);
NVIC_SetPriority(CAN1_SE_IRQn, irqSubPriority);
NVIC_SetPriority(CAN1_RX0_IRQn, irqSubPriority);
NVIC_SetPriority(CAN1_RX1_IRQn, irqSubPriority);
can_interrupt_enable(CAN1, CAN_RF0MIEN_INT, TRUE);
// can_interrupt_enable(CAN1, CAN_RF0FIEN_INT, TRUE);
// can_interrupt_enable(CAN1, CAN_RF0OIEN_INT, TRUE);
can_interrupt_enable(CAN1, CAN_RF1MIEN_INT, TRUE);
// can_interrupt_enable(CAN1, CAN_RF1FIEN_INT, TRUE);
// can_interrupt_enable(CAN1, CAN_RF1OIEN_INT, TRUE);
can_interrupt_enable(CAN1, CAN_ETRIEN_INT, TRUE);
can_interrupt_enable(CAN1, CAN_EOIEN_INT, TRUE);
}
if (CANx == CAN2) {
NVIC_EnableIRQ(CAN2_SE_IRQn);
NVIC_EnableIRQ(CAN2_RX0_IRQn);
NVIC_EnableIRQ(CAN2_RX1_IRQn);
NVIC_SetPriority(CAN2_SE_IRQn, irqSubPriority);
NVIC_SetPriority(CAN2_RX0_IRQn, irqSubPriority);
NVIC_SetPriority(CAN2_RX1_IRQn, irqSubPriority);
can_interrupt_enable(CAN2, CAN_RF0MIEN_INT, TRUE);
// can_interrupt_enable(CAN2, CAN_RF0FIEN_INT, TRUE);
// can_interrupt_enable(CAN2, CAN_RF0OIEN_INT, TRUE);
can_interrupt_enable(CAN2, CAN_RF1MIEN_INT, TRUE);
// can_interrupt_enable(CAN2, CAN_RF1FIEN_INT, TRUE);
// can_interrupt_enable(CAN2, CAN_RF1OIEN_INT, TRUE);
can_interrupt_enable(CAN2, CAN_ETRIEN_INT, TRUE);
can_interrupt_enable(CAN2, CAN_EOIEN_INT, TRUE);
}
}
void CanSerialPortFrameSetId(tCanSerialPortFrameArtery *env, uint32_t id) {
env->id = id;
}
void CanSerialPortFrameSetId1(tCanSerialPortFrameArtery *env, uint32_t id) {
env->id1 = id;
}
void CanSerialPortFrameSetType(tCanSerialPortFrameArtery *env, eCanTypeFrame canTypeFrame) {
env->canTypeFrame = canTypeFrame;
}
static void vCanSerialPortFrameInitStructure(
tCanSerialPortFrameArtery *env,
can_type *CANx,
uint32_t rxBufferLength0,
uint32_t rxSnifferLength0,
uint32_t rxBufferLength1,
uint32_t rxSnifferLength1
) {
env->rxDataQueue0 = osMessageQueueNew(rxBufferLength0, sizeof(can_rx_message_type), NULL);
if (rxSnifferLength0) {
env->rxDataSnifferQueue0 = osMessageQueueNew(rxSnifferLength0, sizeof(can_rx_message_type), NULL);
} else {
env->rxDataSnifferQueue0 = 0;
}
env->rxDataQueue1 = osMessageQueueNew(rxBufferLength1, sizeof(can_rx_message_type), NULL);
if (rxSnifferLength1) {
env->rxDataSnifferQueue1 = osMessageQueueNew(rxSnifferLength1, sizeof(can_rx_message_type), NULL);
} else {
env->rxDataSnifferQueue1 = 0;
}
}
void vCanSerialPortFrameInit(
tCanSerialPortFrameArtery *env,
can_type *CANx,
eCanBaudRate canBaudRate,
uint8_t irqSubPriority,
eCanTypeFrame canTypeFrame,
uint32_t canId,
uint32_t rxBufferLength0,
uint32_t rxSnifferLength0,
uint32_t rxBufferLength1,
uint32_t rxSnifferLength1
) {
env->can = CANx;
if (!env->reInit) {
env->reInit = true;
vCanSerialPortFrameInitStructure(env, CANx, rxBufferLength0, rxSnifferLength0, rxBufferLength1,
rxSnifferLength1);
CanSerialPortFrameSetType(env, canTypeFrame);
CanSerialPortFrameSetId(env, canId);
env->canBaudRate = canBaudRate;
}
can_base_type can_base_struct;
can_baudrate_type can_baudrate_struct;
// can_filter_init_type can_filter_init_struct;
// enable the can clock
if (CANx == CAN1)
crm_periph_clock_enable(CRM_CAN1_PERIPH_CLOCK, TRUE);
if (CANx == CAN2)
crm_periph_clock_enable(CRM_CAN2_PERIPH_CLOCK, TRUE);
// can base init
can_default_para_init(&can_base_struct);
can_base_struct.mode_selection = CAN_MODE_COMMUNICATE;
// can_base_struct.mode_selection = CAN_MODE_LOOPBACK;
can_base_struct.ttc_enable = FALSE;
can_base_struct.aebo_enable = TRUE;
can_base_struct.aed_enable = TRUE;
can_base_struct.prsf_enable = FALSE;
can_base_struct.mdrsel_selection = CAN_DISCARDING_FIRST_RECEIVED;
can_base_struct.mmssr_selection = CAN_SENDING_BY_ID;
can_base_init(CANx, &can_base_struct);
can_baudrate_struct.baudrate_div = 125;
can_baudrate_struct.rsaw_size = CAN_RSAW_1TQ;
can_baudrate_struct.bts1_size = CAN_BTS1_6TQ;
can_baudrate_struct.bts2_size = CAN_BTS2_1TQ;
if (canBaudRate == CAN_BAUD_RATE_1000K) {
can_baudrate_struct.baudrate_div = 4;
can_baudrate_struct.rsaw_size = CAN_RSAW_1TQ;
can_baudrate_struct.bts1_size = CAN_BTS1_5TQ;
can_baudrate_struct.bts2_size = CAN_BTS2_3TQ;
}
if (canBaudRate == CAN_BAUD_RATE_500K) {
can_baudrate_struct.baudrate_div = 25;
can_baudrate_struct.rsaw_size = CAN_RSAW_1TQ;
can_baudrate_struct.bts1_size = CAN_BTS1_8TQ;
can_baudrate_struct.bts2_size = CAN_BTS2_1TQ;
}
if (canBaudRate == CAN_BAUD_RATE_250K) {
can_baudrate_struct.baudrate_div = 50;
can_baudrate_struct.rsaw_size = CAN_RSAW_1TQ;
can_baudrate_struct.bts1_size = CAN_BTS1_8TQ;
can_baudrate_struct.bts2_size = CAN_BTS2_1TQ;
}
if (canBaudRate == CAN_BAUD_RATE_125K) {
can_baudrate_struct.baudrate_div = 125;
can_baudrate_struct.rsaw_size = CAN_RSAW_1TQ;
can_baudrate_struct.bts1_size = CAN_BTS1_6TQ;
can_baudrate_struct.bts2_size = CAN_BTS2_1TQ;
}
can_baudrate_set(CANx, &can_baudrate_struct);
/*
// can filter init
can_filter_init_struct.filter_activate_enable = TRUE;
can_filter_init_struct.filter_mode = CAN_FILTER_MODE_ID_MASK;
can_filter_init_struct.filter_fifo = CAN_FILTER_FIFO0;
can_filter_init_struct.filter_number = 0;
can_filter_init_struct.filter_bit = CAN_FILTER_32BIT;
can_filter_init_struct.filter_id_high = 0;
can_filter_init_struct.filter_id_low = 0;
can_filter_init_struct.filter_mask_high = 0;
can_filter_init_struct.filter_mask_low = 0;
can_filter_init(CANx, &can_filter_init_struct);
*/
can_filter_init(CANx, &env->can_filter0_init_struct);
/*
// can filter init
can_filter_init_struct.filter_activate_enable = TRUE;
can_filter_init_struct.filter_mode = CAN_FILTER_MODE_ID_MASK;
can_filter_init_struct.filter_fifo = CAN_FILTER_FIFO1;
can_filter_init_struct.filter_number = 1;
can_filter_init_struct.filter_bit = CAN_FILTER_32BIT;
can_filter_init_struct.filter_id_high = 0;
can_filter_init_struct.filter_id_low = 0;
can_filter_init_struct.filter_mask_high = 0;
can_filter_init_struct.filter_mask_low = 0;
can_filter_init(CANx, &can_filter_init_struct);
*/
can_filter_init(CANx, &env->can_filter1_init_struct);
vCanSerialPortFrameInitNVICEnable(CANx, irqSubPriority);
}
void CanSerialPortFrameIrqRxProcessing0(tCanSerialPortFrameArtery *env) {
can_rx_message_type rx_message_struct;
// if (can_flag_get(env->can, CAN_RF0MN_FLAG) != RESET) {
can_message_receive(env->can, CAN_RX_FIFO0, &rx_message_struct);
osMessageQueuePut(env->rxDataQueue0, &rx_message_struct, 0x0, 0U);
if (env->rxDataSnifferQueue0) {
osMessageQueuePut(env->rxDataSnifferQueue0, &rx_message_struct, 0x0, 0U);
}
// }
}
void CanSerialPortFrameIrqRxProcessing1(tCanSerialPortFrameArtery *env) {
can_rx_message_type rx_message_struct;
// if (can_flag_get(env->can, CAN_RF1MN_FLAG) != RESET) {
can_message_receive(env->can, CAN_RX_FIFO1, &rx_message_struct);
osMessageQueuePut(env->rxDataQueue1, &rx_message_struct, 0x0, 0U);
if (env->rxDataSnifferQueue1) {
osMessageQueuePut(env->rxDataSnifferQueue1, &rx_message_struct, 0x0, 0U);
}
// }
}
static uint16_t vSerialPortFrameReceiveQueue(
tCanSerialPortFrameArtery *env, uint8_t *data, uint16_t size, uint32_t timeout, osMessageQueueId_t queueId
) {
uint16_t received = 0;
if (timeout) {
uint32_t endMs = SystemGetMs() + timeout;
uint32_t leftMs;
while (size && ((timeout == SystemWaitForever) || (endMs > SystemGetMs()))) {
leftMs = endMs - SystemGetMs();
if (osMessageQueueGet(queueId, data, NULL, leftMs) == osOK) {
--size;
++received;
++data;
}
}
} else {
while (size) {
if (osMessageQueueGet(queueId, data, NULL, 0) == osOK) {
--size;
++received;
++data;
} else {
return received;
}
}
}
return received;
}
static uint16_t
vCanSerialPortFrameReceive0(tCanSerialPortFrameArtery *env, uint8_t *data, uint16_t size, uint32_t timeout) {
return vSerialPortFrameReceiveQueue(env, data, size, timeout, env->rxDataQueue0);
}
static uint16_t
vCanSerialPortFrameReceive1(tCanSerialPortFrameArtery *env, uint8_t *data, uint16_t size, uint32_t timeout) {
return vSerialPortFrameReceiveQueue(env, data, size, timeout, env->rxDataQueue1);
}
static uint16_t
vCanSerialPortFrameReceiveSniffer0(tCanSerialPortFrameArtery *env, uint8_t *data, uint16_t size, uint32_t timeout) {
return env->rxDataSnifferQueue0
? vSerialPortFrameReceiveQueue(env, data, size, timeout, env->rxDataSnifferQueue0)
: 0;
}
static uint16_t
vCanSerialPortFrameReceiveSniffer1(tCanSerialPortFrameArtery *env, uint8_t *data, uint16_t size, uint32_t timeout) {
return env->rxDataSnifferQueue1
? vSerialPortFrameReceiveQueue(env, data, size, timeout, env->rxDataSnifferQueue1)
: 0;
}
uint8_t
can_message_transmitExt(can_type *can_x, can_tx_message_type *tx_message_struct, can_tx_mailbox_num_type mailbox) {
uint8_t transmit_mailbox = CAN_TX_STATUS_NO_EMPTY;
if (mailbox == CAN_TX_MAILBOX0) {
if (can_x->tsts_bit.tm0ef) {
transmit_mailbox = CAN_TX_MAILBOX0;
} else {
transmit_mailbox = CAN_TX_STATUS_NO_EMPTY;
}
}
if (mailbox == CAN_TX_MAILBOX1) {
if (can_x->tsts_bit.tm1ef) {
transmit_mailbox = CAN_TX_MAILBOX1;
} else {
transmit_mailbox = CAN_TX_STATUS_NO_EMPTY;
}
}
if (mailbox == CAN_TX_MAILBOX2) {
if (can_x->tsts_bit.tm2ef) {
transmit_mailbox = CAN_TX_MAILBOX2;
} else {
transmit_mailbox = CAN_TX_STATUS_NO_EMPTY;
}
}
/*
if(can_x->tsts_bit.tm0ef)
{
transmit_mailbox = CAN_TX_MAILBOX0;
}
else if(can_x->tsts_bit.tm1ef)
{
transmit_mailbox = CAN_TX_MAILBOX1;
}
else if(can_x->tsts_bit.tm2ef)
{
transmit_mailbox = CAN_TX_MAILBOX2;
}
else
{
transmit_mailbox = CAN_TX_STATUS_NO_EMPTY;
}
*/
if (transmit_mailbox != CAN_TX_STATUS_NO_EMPTY) {
/* set up the id */
can_x->tx_mailbox[transmit_mailbox].tmi &= 0x00000001;
can_x->tx_mailbox[transmit_mailbox].tmi_bit.tmidsel = tx_message_struct->id_type;
switch (tx_message_struct->id_type) {
case CAN_ID_STANDARD:
can_x->tx_mailbox[transmit_mailbox].tmi_bit.tmsid = tx_message_struct->standard_id;
break;
case CAN_ID_EXTENDED:
can_x->tx_mailbox[transmit_mailbox].tmi |= (tx_message_struct->extended_id << 3);
break;
default:
break;
}
can_x->tx_mailbox[transmit_mailbox].tmi_bit.tmfrsel = tx_message_struct->frame_type;
/* set up the dlc */
can_x->tx_mailbox[transmit_mailbox].tmc_bit.tmdtbl = (tx_message_struct->dlc & ((uint8_t) 0x0F));
/* set up the data field */
can_x->tx_mailbox[transmit_mailbox].tmdtl = (((uint32_t) tx_message_struct->data[3] << 24) |
((uint32_t) tx_message_struct->data[2] << 16) |
((uint32_t) tx_message_struct->data[1] << 8) |
((uint32_t) tx_message_struct->data[0]));
can_x->tx_mailbox[transmit_mailbox].tmdth = (((uint32_t) tx_message_struct->data[7] << 24) |
((uint32_t) tx_message_struct->data[6] << 16) |
((uint32_t) tx_message_struct->data[5] << 8) |
((uint32_t) tx_message_struct->data[4]));
/* request transmission */
can_x->tx_mailbox[transmit_mailbox].tmi_bit.tmsr = TRUE;
}
return transmit_mailbox;
}
/*
uint16_t vCanSerialPortFrameTransmit(tCanSerialPortFrameArtery *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;
can_tx_message_type TxMessage;
if (env->canTypeFrame == CAN_STD_ID) {
TxMessage.standard_id = env->id;
TxMessage.extended_id = 0;
TxMessage.id_type = CAN_ID_STANDARD;
}
if (env->canTypeFrame == CAN_EXT_ID) {
TxMessage.standard_id = 0;
TxMessage.extended_id = env->id;
TxMessage.id_type = CAN_ID_EXTENDED;
}
TxMessage.frame_type = CAN_TFT_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_transmit_status_get(env->can, (can_tx_mailbox_num_type) transmit_mailbox) !=
CAN_TX_STATUS_SUCCESSFUL) {
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_transmit(env->can, &TxMessage);
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;
}
*/
uint16_t vCanSerialPortFrameTransmit(tCanSerialPortFrameArtery *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;
can_tx_message_type TxMessage;
if (env->canTypeFrame == CAN_STD_ID) {
TxMessage.standard_id = env->id;
TxMessage.extended_id = 0;
TxMessage.id_type = CAN_ID_STANDARD;
}
if (env->canTypeFrame == CAN_EXT_ID) {
TxMessage.standard_id = 0;
TxMessage.extended_id = env->id;
TxMessage.id_type = CAN_ID_EXTENDED;
}
TxMessage.frame_type = CAN_TFT_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_transmit_status_get(env->can, (can_tx_mailbox_num_type) transmit_mailbox) !=
CAN_TX_STATUS_SUCCESSFUL) {
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;
}
uint16_t vCanSerialPortFrameTransmit1(tCanSerialPortFrameArtery *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;
can_tx_message_type TxMessage;
if (env->canTypeFrame == CAN_STD_ID) {
TxMessage.standard_id = env->id1;
TxMessage.extended_id = 0;
TxMessage.id_type = CAN_ID_STANDARD;
}
if (env->canTypeFrame == CAN_EXT_ID) {
TxMessage.standard_id = 0;
TxMessage.extended_id = env->id1;
TxMessage.id_type = CAN_ID_EXTENDED;
}
TxMessage.frame_type = CAN_TFT_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_transmit_status_get(env->can, (can_tx_mailbox_num_type) transmit_mailbox) !=
CAN_TX_STATUS_SUCCESSFUL) {
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_MAILBOX1);
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(tCanSerialPortFrameArtery *env) {
tSerialPortFrameIO io = {
.env = env,
.receive0 = (SerialPortFrameIOTransaction) vCanSerialPortFrameReceive0,
.receive1 = (SerialPortFrameIOTransaction) vCanSerialPortFrameReceive1,
.transmit = (SerialPortFrameIOTransaction) vCanSerialPortFrameTransmit,
.transmit1 = (SerialPortFrameIOTransaction) vCanSerialPortFrameTransmit1
};
return io;
}
tSerialPortFrameIO CanPort_GetSnifferIo(tCanSerialPortFrameArtery *env) {
tSerialPortFrameIO io = {
.env = env,
.receive0 = (SerialPortFrameIOTransaction) vCanSerialPortFrameReceiveSniffer0,
.receive1 = (SerialPortFrameIOTransaction) vCanSerialPortFrameReceiveSniffer1,
.transmit = (SerialPortFrameIOTransaction) vCanSerialPortFrameTransmit,
.transmit1 = (SerialPortFrameIOTransaction) vCanSerialPortFrameTransmit1
};
return io;
}

17
modular.json Normal file
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@ -0,0 +1,17 @@
{
"dep": [
{
"type": "git",
"provider": "Smart_Components_Aurus",
"repo": "SerialPort"
}
],
"cmake": {
"inc_dirs": [
"Inc"
],
"srcs": [
"Src/**.c"
]
}
}