Init
This commit is contained in:
cfif
commit
d71fd5dedd
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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 "cmsis_os2.h"
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#include "stdbool.h"
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#include "at32f435_437_can.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 struct {
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can_type *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 canFilterEnable;
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bool reInit;
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can_filter_init_type can_filter0_init_struct;
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can_filter_init_type can_filter1_init_struct;
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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 txAccessQueue;
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} tCanSerialPortFrameArtery;
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void CanSerialPortFrameIrqRxProcessing0(tCanSerialPortFrameArtery *env);
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void CanSerialPortFrameIrqRxProcessing1(tCanSerialPortFrameArtery *env);
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void vCanSerialPortFrameInit(
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tCanSerialPortFrameArtery *env,
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can_type *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(tCanSerialPortFrameArtery *env, uint32_t id);
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void CanSerialPortFrameSetId1(tCanSerialPortFrameArtery *env, uint32_t id);
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void CanSerialPortFrameSetType(tCanSerialPortFrameArtery *env, eCanTypeFrame canTypeFrame);
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tSerialPortFrameIO CanPortFrame_GetIo(tCanSerialPortFrameArtery *env);
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tSerialPortFrameIO CanPortFrame_GetSnifferIo(tCanSerialPortFrameArtery *env);
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#endif //ARTERY_CAN_MODULE_CAN_FRAME_H
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@ -0,0 +1,656 @@
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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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#include "at32f435_437_misc.h"
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static void vCanSerialPortFrameInitNVICEnable(can_type *CANx, uint8_t irqSubPriority) {
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nvic_priority_group_config(NVIC_PRIORITY_GROUP_4);
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if (CANx == CAN1) {
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NVIC_EnableIRQ(CAN1_SE_IRQn);
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NVIC_EnableIRQ(CAN1_RX0_IRQn);
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NVIC_EnableIRQ(CAN1_RX1_IRQn);
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NVIC_SetPriority(CAN1_SE_IRQn, irqSubPriority);
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NVIC_SetPriority(CAN1_RX0_IRQn, irqSubPriority);
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NVIC_SetPriority(CAN1_RX1_IRQn, irqSubPriority);
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can_interrupt_enable(CAN1, CAN_RF0MIEN_INT, TRUE);
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// can_interrupt_enable(CAN1, CAN_RF0FIEN_INT, TRUE);
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// can_interrupt_enable(CAN1, CAN_RF0OIEN_INT, TRUE);
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can_interrupt_enable(CAN1, CAN_RF1MIEN_INT, TRUE);
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// can_interrupt_enable(CAN1, CAN_RF1FIEN_INT, TRUE);
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// can_interrupt_enable(CAN1, CAN_RF1OIEN_INT, TRUE);
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can_interrupt_enable(CAN1, CAN_ETRIEN_INT, TRUE);
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can_interrupt_enable(CAN1, CAN_EOIEN_INT, TRUE);
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}
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if (CANx == CAN2) {
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NVIC_EnableIRQ(CAN2_SE_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_SE_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_interrupt_enable(CAN2, CAN_RF0MIEN_INT, TRUE);
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// can_interrupt_enable(CAN2, CAN_RF0FIEN_INT, TRUE);
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// can_interrupt_enable(CAN2, CAN_RF0OIEN_INT, TRUE);
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can_interrupt_enable(CAN2, CAN_RF1MIEN_INT, TRUE);
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// can_interrupt_enable(CAN2, CAN_RF1FIEN_INT, TRUE);
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// can_interrupt_enable(CAN2, CAN_RF1OIEN_INT, TRUE);
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can_interrupt_enable(CAN2, CAN_ETRIEN_INT, TRUE);
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can_interrupt_enable(CAN2, CAN_EOIEN_INT, TRUE);
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}
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}
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void CanSerialPortFrameSetId(tCanSerialPortFrameArtery *env, uint32_t id) {
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env->id = id;
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}
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void CanSerialPortFrameSetId1(tCanSerialPortFrameArtery *env, uint32_t id) {
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env->id1 = id;
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}
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void CanSerialPortFrameSetType(tCanSerialPortFrameArtery *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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tCanSerialPortFrameArtery *env,
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can_type *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(can_rx_message_type), NULL);
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if (rxSnifferLength0) {
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env->rxDataSnifferQueue0 = osMessageQueueNew(rxSnifferLength0, sizeof(can_rx_message_type), 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(can_rx_message_type), NULL);
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if (rxSnifferLength1) {
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env->rxDataSnifferQueue1 = osMessageQueueNew(rxSnifferLength1, sizeof(can_rx_message_type), 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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tCanSerialPortFrameArtery *env,
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can_type *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_base_type can_base_struct;
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can_baudrate_type can_baudrate_struct;
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// can_filter_init_type can_filter_init_struct;
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// enable the can clock
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if (CANx == CAN1)
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crm_periph_clock_enable(CRM_CAN1_PERIPH_CLOCK, TRUE);
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if (CANx == CAN2)
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crm_periph_clock_enable(CRM_CAN2_PERIPH_CLOCK, TRUE);
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// can base init
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can_default_para_init(&can_base_struct);
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can_base_struct.mode_selection = CAN_MODE_COMMUNICATE;
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// can_base_struct.mode_selection = CAN_MODE_LOOPBACK;
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can_base_struct.ttc_enable = FALSE;
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can_base_struct.aebo_enable = TRUE;
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can_base_struct.aed_enable = TRUE;
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can_base_struct.prsf_enable = FALSE;
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can_base_struct.mdrsel_selection = CAN_DISCARDING_FIRST_RECEIVED;
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can_base_struct.mmssr_selection = CAN_SENDING_BY_ID;
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can_base_init(CANx, &can_base_struct);
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can_baudrate_struct.baudrate_div = 125;
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can_baudrate_struct.rsaw_size = CAN_RSAW_1TQ;
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can_baudrate_struct.bts1_size = CAN_BTS1_6TQ;
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can_baudrate_struct.bts2_size = CAN_BTS2_1TQ;
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if (canBaudRate == CAN_BAUD_RATE_1000K) {
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can_baudrate_struct.baudrate_div = 4;
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can_baudrate_struct.rsaw_size = CAN_RSAW_1TQ;
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can_baudrate_struct.bts1_size = CAN_BTS1_5TQ;
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can_baudrate_struct.bts2_size = CAN_BTS2_3TQ;
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}
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if (canBaudRate == CAN_BAUD_RATE_500K) {
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can_baudrate_struct.baudrate_div = 25;
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can_baudrate_struct.rsaw_size = CAN_RSAW_1TQ;
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can_baudrate_struct.bts1_size = CAN_BTS1_8TQ;
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can_baudrate_struct.bts2_size = CAN_BTS2_1TQ;
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}
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if (canBaudRate == CAN_BAUD_RATE_250K) {
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can_baudrate_struct.baudrate_div = 50;
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can_baudrate_struct.rsaw_size = CAN_RSAW_1TQ;
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can_baudrate_struct.bts1_size = CAN_BTS1_8TQ;
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can_baudrate_struct.bts2_size = CAN_BTS2_1TQ;
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}
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if (canBaudRate == CAN_BAUD_RATE_125K) {
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can_baudrate_struct.baudrate_div = 125;
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can_baudrate_struct.rsaw_size = CAN_RSAW_1TQ;
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can_baudrate_struct.bts1_size = CAN_BTS1_6TQ;
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can_baudrate_struct.bts2_size = CAN_BTS2_1TQ;
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}
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can_baudrate_set(CANx, &can_baudrate_struct);
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/*
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// can filter init
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can_filter_init_struct.filter_activate_enable = TRUE;
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can_filter_init_struct.filter_mode = CAN_FILTER_MODE_ID_MASK;
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can_filter_init_struct.filter_fifo = CAN_FILTER_FIFO0;
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can_filter_init_struct.filter_number = 0;
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can_filter_init_struct.filter_bit = CAN_FILTER_32BIT;
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can_filter_init_struct.filter_id_high = 0;
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can_filter_init_struct.filter_id_low = 0;
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can_filter_init_struct.filter_mask_high = 0;
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can_filter_init_struct.filter_mask_low = 0;
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can_filter_init(CANx, &can_filter_init_struct);
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*/
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can_filter_init(CANx, &env->can_filter0_init_struct);
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/*
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// can filter init
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can_filter_init_struct.filter_activate_enable = TRUE;
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can_filter_init_struct.filter_mode = CAN_FILTER_MODE_ID_MASK;
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can_filter_init_struct.filter_fifo = CAN_FILTER_FIFO1;
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can_filter_init_struct.filter_number = 1;
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can_filter_init_struct.filter_bit = CAN_FILTER_32BIT;
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can_filter_init_struct.filter_id_high = 0;
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can_filter_init_struct.filter_id_low = 0;
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can_filter_init_struct.filter_mask_high = 0;
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can_filter_init_struct.filter_mask_low = 0;
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can_filter_init(CANx, &can_filter_init_struct);
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*/
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can_filter_init(CANx, &env->can_filter1_init_struct);
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vCanSerialPortFrameInitNVICEnable(CANx, irqSubPriority);
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}
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void CanSerialPortFrameIrqRxProcessing0(tCanSerialPortFrameArtery *env) {
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can_rx_message_type rx_message_struct;
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// if (can_flag_get(env->can, CAN_RF0MN_FLAG) != RESET) {
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can_message_receive(env->can, CAN_RX_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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}
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void CanSerialPortFrameIrqRxProcessing1(tCanSerialPortFrameArtery *env) {
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can_rx_message_type rx_message_struct;
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// if (can_flag_get(env->can, CAN_RF1MN_FLAG) != RESET) {
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can_message_receive(env->can, CAN_RX_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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}
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static uint16_t vSerialPortFrameReceiveQueue(
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tCanSerialPortFrameArtery *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(tCanSerialPortFrameArtery *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(tCanSerialPortFrameArtery *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(tCanSerialPortFrameArtery *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(tCanSerialPortFrameArtery *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
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can_message_transmitExt(can_type *can_x, can_tx_message_type *tx_message_struct, can_tx_mailbox_num_type mailbox) {
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uint8_t transmit_mailbox = CAN_TX_STATUS_NO_EMPTY;
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if (mailbox == CAN_TX_MAILBOX0) {
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if (can_x->tsts_bit.tm0ef) {
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transmit_mailbox = CAN_TX_MAILBOX0;
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} else {
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transmit_mailbox = CAN_TX_STATUS_NO_EMPTY;
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}
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}
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if (mailbox == CAN_TX_MAILBOX1) {
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if (can_x->tsts_bit.tm1ef) {
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transmit_mailbox = CAN_TX_MAILBOX1;
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} else {
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transmit_mailbox = CAN_TX_STATUS_NO_EMPTY;
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}
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}
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if (mailbox == CAN_TX_MAILBOX2) {
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if (can_x->tsts_bit.tm2ef) {
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transmit_mailbox = CAN_TX_MAILBOX2;
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} else {
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transmit_mailbox = CAN_TX_STATUS_NO_EMPTY;
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}
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}
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/*
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if(can_x->tsts_bit.tm0ef)
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{
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transmit_mailbox = CAN_TX_MAILBOX0;
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}
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else if(can_x->tsts_bit.tm1ef)
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{
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transmit_mailbox = CAN_TX_MAILBOX1;
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}
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else if(can_x->tsts_bit.tm2ef)
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{
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transmit_mailbox = CAN_TX_MAILBOX2;
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}
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else
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{
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transmit_mailbox = CAN_TX_STATUS_NO_EMPTY;
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}
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*/
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if (transmit_mailbox != CAN_TX_STATUS_NO_EMPTY) {
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/* set up the id */
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can_x->tx_mailbox[transmit_mailbox].tmi &= 0x00000001;
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can_x->tx_mailbox[transmit_mailbox].tmi_bit.tmidsel = tx_message_struct->id_type;
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switch (tx_message_struct->id_type) {
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case CAN_ID_STANDARD:
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can_x->tx_mailbox[transmit_mailbox].tmi_bit.tmsid = tx_message_struct->standard_id;
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break;
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case CAN_ID_EXTENDED:
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can_x->tx_mailbox[transmit_mailbox].tmi |= (tx_message_struct->extended_id << 3);
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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;
|
||||
}
|
||||
|
|
@ -0,0 +1,17 @@
|
|||
{
|
||||
"dep": [
|
||||
{
|
||||
"type": "git",
|
||||
"provider": "Smart_Components_Aurus",
|
||||
"repo": "SerialPort"
|
||||
}
|
||||
],
|
||||
"cmake": {
|
||||
"inc_dirs": [
|
||||
"Inc"
|
||||
],
|
||||
"srcs": [
|
||||
"Src/**.c"
|
||||
]
|
||||
}
|
||||
}
|
||||
Loading…
Reference in New Issue