198 lines
5.8 KiB
C
198 lines
5.8 KiB
C
#include "app_main.h"
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#include <stdio.h>
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#include <string.h>
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// 地址 ID高3位 0x0-0x7
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#define CAN_ADDRESS_HOST 0x7
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#define CAN_ADDRESS_DEVICE 0x1
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#define CAN_ADDRESS_MASK 0x7
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// 指令 ID低8位 0x00-0xFF
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#define CAN_COMMAND_LED_CONTROL 0x01
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#define CAN_COMMAND_LED_STATUS 0x02
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#define CAN_COMMAND_MASK 0xFF
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static volatile uint8_t led_status[2] = { 0 };
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static volatile uint8_t led_status_changed = 0;
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void can_configure(void)
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{
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/**
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* BYTE3 | BYTE2 | BYTE1 | BYTE0
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* STID[10:3] | STID[2:0] EXID[17:13] | EXID[12:5] | EXID[4:0] IDE RTR 0
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*
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* STID[10:4] 标准ID，此处用作地址，Id置CAN_ADDRESS_HOST的值，MaskId置0x7F
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* EXID[17:15] 扩展ID，未使用，Id置全0，Mask置全0
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* RTR 1为遥控帧，0为数据帧，此处均接收，不需要过滤，Id任意，MaskId置0
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* IDE 1为扩展ID格式，0为标准ID格式，此处只接收标准格式，需要过滤，Id置0，MaskId置1
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*/
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uint32_t filter_id = ((uint32_t)CAN_ADDRESS_DEVICE << 8) << 21;
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uint32_t filter_id_mask = (((uint32_t)CAN_ADDRESS_MASK << 8) << 21) | ((uint32_t)0x01 << 3);
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CAN_FilterTypeDef filter;
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filter.FilterBank = 0;
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filter.FilterMode = CAN_FILTERMODE_IDMASK; //过滤除主机发送的所有帧
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filter.FilterScale = CAN_FILTERSCALE_32BIT; //标准ID格式，Id与Mask的High与Low分别代表两个过滤器
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filter.FilterIdHigh = filter_id >> 16;
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filter.FilterIdLow = (uint16_t)filter_id;
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filter.FilterMaskIdHigh = filter_id_mask >> 16;
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filter.FilterMaskIdLow = (uint16_t)filter_id_mask;
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filter.FilterFIFOAssignment = CAN_RX_FIFO0;
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filter.FilterActivation = ENABLE;
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HAL_CAN_ConfigFilter(&hcan, &filter); //配置接收过滤器
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HAL_CAN_ActivateNotification(&hcan, CAN_IT_RX_FIFO0_MSG_PENDING | CAN_IT_TX_MAILBOX_EMPTY | CAN_IT_ERROR); //使能接收与发送中断
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HAL_CAN_ActivateNotification(&hcan, CAN_IT_ERROR | CAN_IT_RX_FIFO0_OVERRUN | CAN_IT_RX_FIFO0_FULL | CAN_IT_LAST_ERROR_CODE); //使能错误中断
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HAL_CAN_Start(&hcan); //使能CAN外设
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}
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HAL_StatusTypeDef can_transmit(uint16_t id, const uint8_t *data, uint8_t length)
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{
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CAN_TxHeaderTypeDef header = {
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.IDE = CAN_ID_STD, //标准ID格式
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.RTR = CAN_RTR_DATA, //数据帧
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.StdId = id,
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.DLC = length
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};
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uint32_t mailbox;
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return HAL_CAN_AddTxMessage(&hcan, &header, data, &mailbox);
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}
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void app_led_update(void)
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{
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if (led_status[0]) {
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LED1_ON();
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} else {
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LED1_OFF();
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}
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if (led_status[1]) {
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LED2_ON();
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} else {
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LED2_OFF();
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}
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}
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void app_key_process(void)
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{
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if (KEY1_PRESSED()) {
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led_status[0] = !led_status[0];
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led_status_changed = 1;
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HAL_Delay(100);
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while (KEY1_PRESSED());
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HAL_Delay(100);
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}
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if (KEY2_PRESSED()) {
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led_status[1] = !led_status[1];
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led_status_changed = 1;
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HAL_Delay(100);
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while (KEY2_PRESSED());
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HAL_Delay(100);
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}
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}
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void app_can_update(void)
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{
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if (led_status_changed) {
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can_transmit((CAN_ADDRESS_HOST << 8) | CAN_COMMAND_LED_STATUS, (uint8_t*)led_status, sizeof(led_status));
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led_status_changed = 0;
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}
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}
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void app_main(void)
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{
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can_configure();
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while (1) {
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app_key_process();
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app_led_update();
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app_can_update();
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}
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}
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void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
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{
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CAN_RxHeaderTypeDef header;
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uint8_t data[8];
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if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &header, data) != HAL_OK || header.DLC < 2) {
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printf("wrong can message\r\n");
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return;
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}
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if ((header.StdId & 0xFF) == CAN_COMMAND_LED_CONTROL) {
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if (data[0] == 1) { //点亮
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led_status[0] = 1;
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} else if (data[0] == 2) { //熄灭
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led_status[0] = 0;
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} else if (data[0] == 3) { //切换
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led_status[0] = !led_status[0];
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}
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if (data[1] == 1) { //点亮
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led_status[1] = 1;
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} else if (data[1] == 2) { //熄灭
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led_status[1] = 0;
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} else if (data[1] == 3) { //切换
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led_status[1] = !led_status[1];
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}
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led_status_changed = 1;
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} else {
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printf("unhandled command: 0x%02X\r\n", (int)header.StdId & 0xFF);
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}
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}
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void HAL_CAN_RxFifo0FullCallback(CAN_HandleTypeDef *hcan)
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{
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printf("rx fifo full!\r\n");
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}
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void HAL_CAN_TxMailbox0CompleteCallback(CAN_HandleTypeDef *hcan)
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{
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printf("tx mailbox0 send ok\r\n");
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}
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void HAL_CAN_TxMailbox1CompleteCallback(CAN_HandleTypeDef *hcan)
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{
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printf("tx mailbox1 send ok\r\n");
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}
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void HAL_CAN_TxMailbox2CompleteCallback(CAN_HandleTypeDef *hcan)
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{
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printf("tx mailbox2 send ok\r\n");
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}
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void HAL_CAN_ErrorCallback(CAN_HandleTypeDef *hcan)
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{
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uint32_t error_code = HAL_CAN_GetError(hcan);
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if (error_code & (HAL_CAN_ERROR_RX_FOV0 | HAL_CAN_ERROR_RX_FOV1)) {
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printf("rx fifo overrun error");
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}
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if (error_code & (HAL_CAN_ERROR_TX_ALST0 | HAL_CAN_ERROR_TX_ALST1 | HAL_CAN_ERROR_TX_ALST2)) {
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printf("tx mailbox arbitration failure"); //仲裁失败导致的发送错误
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} else if (error_code & (HAL_CAN_ERROR_TX_TERR0 | HAL_CAN_ERROR_TX_TERR1 | HAL_CAN_ERROR_TX_TERR2)) {
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printf("tx mailbox transmit error"); //发送失败导致的发送错误
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}
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if (error_code & HAL_CAN_ERROR_STF) {
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printf(", reason: stuff error"); //位填充错误
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} else if (error_code & HAL_CAN_ERROR_FOR) {
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printf(", reason: form error"); //格式错误
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} else if (error_code & HAL_CAN_ERROR_ACK) {
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printf(", reason: acknowledgment error"); //ACK错误
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} else if (error_code & HAL_CAN_ERROR_BR) {
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printf(", reason: bit recessive error"); //显性位错误
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} else if (error_code & HAL_CAN_ERROR_BD) {
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printf(", reason: bit dominant error"); //隐性位错误
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} else if (error_code & HAL_CAN_ERROR_CRC) {
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printf(", reason: crc error"); //CRC校验错误
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}
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printf("\r\n");
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}
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