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84 lines
3.0 KiB
84 lines
3.0 KiB
//
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// Created by zwsd
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//
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#pragma once
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#include "a8000_protocol\protocol.hpp"
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#include "basic.hpp"
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#include "sdk/os/zos.hpp"
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#ifdef HAL_CAN_MODULE_ENABLED
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namespace iflytop {
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using namespace zcr;
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typedef function<void(CanPacketRxBuffer *rxcmd)> zcanreceiver_listener_t;
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class ZCanReceiver : public ZCanIRQListener, public IZCanReceiver {
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public:
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class CFG {
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public:
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uint8_t deviceId; //
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/*******************************************************************************
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* CANConfig *
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*******************************************************************************/
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CAN_HandleTypeDef *canHandle; // 默认使用CAN1
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int canFilterIndex0; // 过滤器0 接收，发给自身的消息
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int maxFilterNum; // 使用的过滤器数量，最大值14，默认为7
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int rxfifoNum; // 使用的FIFO,默认使用FIFO0
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int packetRxOvertime_ms; //
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};
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uint8_t txbuff[128];
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public:
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class LoopJobContext {
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public:
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bool hasDoneSomething;
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};
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private:
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CFG *m_config = NULL; // 配置
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bool m_canOnRxDataFlag = false; // 是否有数据接收，用于从中断上下文转移到MainLoop上下文
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uint32_t m_lastPacketTicket = 0; // 上一次接收到消息的时间，用于判断与主机是否断开连接
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HAL_StatusTypeDef m_lastTransmitStatus; // 上次调用can发送方法的返回值
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list<IZCanReceiverListener *> m_listenerList;
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CanPacketRxBuffer m_canPacketRxBuffer[1];
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int txPacketInterval_ms = 0;
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zmutex m_lock;
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int8_t m_reportIndex = 0;
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public:
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ZCanReceiver() {}
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CFG *createCFG(uint8_t deviceId);
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void initialize(CFG *cfg);
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uint8_t getDeviceId() { return m_config->deviceId; }
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void setTxPacketInterval(int interval_ms) { txPacketInterval_ms = interval_ms; }
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virtual void registerListener(IZCanReceiverListener *listener) override;
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virtual int32_t sendBufAck(zcr_cmd_header_t *rx_cmd_header, uint8_t *data, int32_t len) override;
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virtual int32_t sendAck(zcr_cmd_header_t *rx_cmd_header, int32_t *ackvar, int32_t nack) override;
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virtual int32_t sendErrorAck(zcr_cmd_header_t *rx_cmd_header, int32_t errorcode) override;
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virtual int32_t triggerEvent(zcr_cmd_header_t *cmd_header, uint8_t *data, int32_t len) override;
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void loop();
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public:
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virtual void STM32_HAL_onCAN_RxFifo0MsgPending(CAN_HandleTypeDef *can);
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virtual void STM32_HAL_onCAN_Error(CAN_HandleTypeDef *can);
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private:
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void sendPacket(uint8_t *packet, size_t len);
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bool sendPacketSub(int npacket, int packetIndex, uint8_t *packet, size_t len, int overtimems);
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HAL_StatusTypeDef initializeFilter();
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HAL_StatusTypeDef activateRxIT();
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HAL_StatusTypeDef deactivateRxIT();
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bool getRxMessage(CAN_RxHeaderTypeDef *pHeader, uint8_t aData[] /*8byte table*/);
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};
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} // namespace iflytop
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#endif
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