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#include "zcanreceiver.hpp"
#ifdef HAL_CAN_MODULE_ENABLED
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
using namespace iflytop;
#define TAG "ZCanReceiver"
#define OVER_TIME_MS 5
ZCanReceiver::CFG *ZCanReceiver::createCFG(uint8_t deviceId) { CFG *cfg = new CFG(); ZASSERT(cfg != NULL); cfg->deviceId = deviceId;#ifdef STM32F103xB
cfg->canHandle = &hcan;#else
cfg->canHandle = &hcan1;#endif
cfg->canFilterIndex0 = 0; cfg->maxFilterNum = 7; cfg->rxfifoNum = CAN_RX_FIFO0; return cfg;}void ZCanReceiver::init(CFG *cfg) { HAL_StatusTypeDef hal_status; m_config = cfg;
/**
* @brief 初始化CAN */
/**
* @brief 初始化消息接收buf */ m_canPacketRxBuffer[0].dataIsReady = false; m_canPacketRxBuffer[0].id = 1; // 只接收来自主机的消息
m_canPacketRxBuffer[0].m_canPacketNum = 0;
/**
* @brief 初始化过滤器 */ hal_status = initializeFilter(); if (hal_status != HAL_OK) { ZLOGE(TAG, "start can initializeFilter fail\r\n"); return; } /**
* @brief 启动CAN */ hal_status = HAL_CAN_Start(m_config->canHandle); // 开启CAN
if (hal_status != HAL_OK) { ZLOGE(TAG, "start can fail\r\n"); return; } /**
* @brief 监听回调 */ ZCanIRQDispatcher::instance().regListener(this); HAL_StatusTypeDef status = activateRxIT(); if (status != HAL_OK) { ZLOGE(TAG, "activateRxIT fail\r\n"); return; } ZHALCORE::getInstance()->regPeriodJob([this](ZHALCORE::Context &context) { loop(); }, 0);}HAL_StatusTypeDef ZCanReceiver::initializeFilter() { /**
* @brief ID区帧格式 * [ 27:0 ] * [ STDID ] [ EXTID ] * [11 :9] [8:6] [5:0] [17:16] [15:8] [7:0] * 优先级 属性 帧类型 目标ID 源ID */ HAL_StatusTypeDef HAL_Status; CAN_FilterTypeDef sFilterConfig;
uint32_t filterId; uint32_t mask;
memset(&sFilterConfig, 0, sizeof(sFilterConfig)); sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK; // 设为MASK模式
sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT; // CAN_FILTERSCALE_16BIT
sFilterConfig.FilterFIFOAssignment = m_config->rxfifoNum; // 关联过滤器到rxfifoNum
sFilterConfig.FilterActivation = ENABLE; // 激活过滤器
sFilterConfig.SlaveStartFilterBank = m_config->maxFilterNum; // slave filter start index
/*******************************************************************************
* 接收所有消息 * *******************************************************************************/ filterId = (0); //
mask = (0); //
sFilterConfig.FilterBank = m_config->canFilterIndex0; //
sFilterConfig.FilterMaskIdLow = mask & 0xffff; //
sFilterConfig.FilterMaskIdHigh = (mask & 0xffff0000) >> 16; //
sFilterConfig.FilterIdLow = filterId & 0xffff; //
sFilterConfig.FilterIdHigh = (filterId & 0xffff0000) >> 16; //
HAL_Status = HAL_CAN_ConfigFilter(m_config->canHandle, &sFilterConfig); if (HAL_Status != HAL_OK) { ZLOGE(TAG, "HAL_CAN_ConfigFilter filter0 fail"); return HAL_Status; } ZLOGI(TAG, "HAL_CAN_ConfigFilter filterID1 %08x", filterId >> 3); return HAL_Status;}
void ZCanReceiver::registerListener(ZCanRceiverListener *listener) { m_listenerList.push_back(listener); }void ZCanReceiver::sendPacket(uint8_t *packet, size_t len) {}bool ZCanReceiver::getRxMessage(CAN_RxHeaderTypeDef *pHeader, uint8_t aData[] /*8byte table*/) { /**
* @brief 读取当前FIFO中缓存了多少帧的数据 */ uint32_t level = HAL_CAN_GetRxFifoFillLevel(m_config->canHandle, m_config->rxfifoNum); if (level == 0) { return false; } HAL_StatusTypeDef HAL_RetVal; HAL_RetVal = HAL_CAN_GetRxMessage(m_config->canHandle, m_config->rxfifoNum, pHeader, aData); if (HAL_OK == HAL_RetVal) { // 处理接收到的can总线数据
return true; } return false;}void ZCanReceiver::STM32_HAL_onCAN_RxFifo0MsgPending(CAN_HandleTypeDef *canHandle) { /**
* @brief 中断上下文 */ // ZLOG_INFO("%s\n", __FUNCTION__);
// printf("------------------%s\n", __FUNCTION__);
if (canHandle != m_config->canHandle) { return; } /**
* @brief 处理can接收到消息 */ CAN_RxHeaderTypeDef pHeader; uint8_t aData[8] /*8byte table*/; while (getRxMessage(&pHeader, aData)) { /**
* @brief 消息格式 * * [2] [3bit] [8bit] [8bit] [8bit] * , from frameNum frameId */ uint8_t from = (pHeader.ExtId >> 16 & 0xFF); uint8_t nframe = (pHeader.ExtId & 0xFF00) >> 8; uint8_t frameId = (pHeader.ExtId & 0x00FF); CanPacketRxBuffer *rxbuf = &m_canPacketRxBuffer[0]; if (from != rxbuf->id) { // 目前只接收来自主机的消息
continue; }
if (rxbuf->dataIsReady) { // 上次接收到的消息还没有来的急处理
continue; } /**
* @TODO:判断是否丢包 */ if (frameId == 0) { rxbuf->m_canPacketNum = 0; }
if (rxbuf->m_canPacketNum < 255) { rxbuf->m_canPacket[rxbuf->m_canPacketNum].pHeader = pHeader; memcpy(rxbuf->m_canPacket[rxbuf->m_canPacketNum].aData, aData, 8); rxbuf->m_canPacketNum++; } if (nframe == frameId) { rxbuf->dataIsReady = true; } }
// deactivateRxIT();
}void ZCanReceiver::STM32_HAL_onCAN_Error(CAN_HandleTypeDef *canHandle) { if (canHandle != m_config->canHandle) { return; } ZLOGE(TAG, "onCAN_Error\r\n");}void ZCanReceiver::loop() { CanPacketRxBuffer *rxbuf = &m_canPacketRxBuffer[0]; if (rxbuf->dataIsReady) { int dataoff = 0; for (size_t i = 0; i < rxbuf->m_canPacketNum; i++) { memcpy(rxdata + dataoff, rxbuf->m_canPacket[i].aData, rxbuf->m_canPacket[i].pHeader.DLC); dataoff += rxbuf->m_canPacket[i].pHeader.DLC; } for (auto &var : m_listenerList) { var->onRceivePacket(rxbuf, rxdata, dataoff); } rxbuf->dataIsReady = false; }}HAL_StatusTypeDef ZCanReceiver::activateRxIT() { HAL_StatusTypeDef hal_status = HAL_ERROR; if (m_config->rxfifoNum == CAN_RX_FIFO0) { hal_status = HAL_CAN_ActivateNotification(m_config->canHandle, CAN_IT_RX_FIFO0_MSG_PENDING); } else if (m_config->rxfifoNum == CAN_RX_FIFO1) { hal_status = HAL_CAN_ActivateNotification(m_config->canHandle, CAN_IT_RX_FIFO1_MSG_PENDING); } else { ZLOGE(TAG, "start can HAL_CAN_ActivateNotification CAN_IT_RX_FIFO0_MSG_PENDING fail\r\n"); return hal_status; } return hal_status;}HAL_StatusTypeDef ZCanReceiver::deactivateRxIT() { HAL_StatusTypeDef hal_status = HAL_ERROR; if (m_config->rxfifoNum == CAN_RX_FIFO0) { hal_status = HAL_CAN_DeactivateNotification(m_config->canHandle, CAN_IT_RX_FIFO0_MSG_PENDING); } else if (m_config->rxfifoNum == CAN_RX_FIFO1) { hal_status = HAL_CAN_DeactivateNotification(m_config->canHandle, CAN_IT_RX_FIFO1_MSG_PENDING); } else { ZLOGE(TAG, "start can HAL_CAN_ActivateNotification CAN_IT_RX_FIFO0_MSG_PENDING fail\r\n"); return hal_status; } return hal_status;}
#endif
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