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50 lines
1.2 KiB
50 lines
1.2 KiB
#pragma once
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#include "cmsis_os.h"
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#include "stm32basic/stm32basic.hpp"
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#include "stm32basic/zqueue.hpp"
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namespace iflytop {
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using namespace std;
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typedef struct {
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uint32_t extid;
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uint8_t rxpacket[8];
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int32_t rkpacketlen;
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} zcanrx_t;
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class ZCAN1 {
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zmutex m_lock = {"ZCAN1"};
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ZThread canListener;
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ZQueue<zcanrx_t> rxQueue;
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function<void(zcanrx_t *rx)> onZcanRx;
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bool inited = false;
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bool txNoError = false;
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public:
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ZCAN1() {}
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static ZCAN1 *ins() {
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static ZCAN1 instance;
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return &instance;
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}
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void zcaninit();
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bool txMsg(const uint32_t extid, const uint8_t txdata[], uint32_t txdatalen, int32_t overtime);
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bool txMsgNoError(const uint32_t extid, const uint8_t txdata[], uint32_t txdatalen, int32_t overtime);
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bool getRxMsg(zcanrx_t *rx);
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void regOnCanMessage(function<void(zcanrx_t *rx)> onmessage);
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public:
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void STM32_HAL_onCAN_RxFifo0MsgPending(CAN_HandleTypeDef *can);
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void STM32_HAL_onCAN_Error(CAN_HandleTypeDef *can);
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private:
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HAL_StatusTypeDef initializeFilter();
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HAL_StatusTypeDef activateRxIT();
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bool _txMsg(const uint32_t extid, const uint8_t txdata[], uint32_t txdatalen, int32_t overtime);
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};
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} // namespace iflytop
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