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46 lines
1.7 KiB
46 lines
1.7 KiB
//
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// Created by zwsd
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//
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#pragma once
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#include "project_configs.h"
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#include "stm32basic/stm32basic.hpp"
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#include "zscanprotocol/zscanprotocol.h"
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typedef void (*zcanbus_on_rx_t)(uint8_t from, uint8_t to, uint8_t *packet, size_t len);
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typedef void (*zcanbus_on_connected_t)(bool connected);
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typedef struct {
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public:
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uint8_t aData[8]; /*8byte table*/
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uint8_t datalen;
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} stm32_can_packet_t;
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typedef struct {
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public:
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uint16_t id;
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CAN_RxHeaderTypeDef header;
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uint8_t from;
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uint8_t to;
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stm32_can_packet_t canPacket[20]; // 用于接收can消息
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uint8_t canPacketNum = 0;
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bool dataIsReady;
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} canrxbuffer_t;
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void zcanbus_init(uint8_t deviceId);
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void zcanbus_reglistener(zcanbus_on_rx_t rxlistener);
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void zcanbus_reg_on_connected_listener(zcanbus_on_connected_t connectedlistener);
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void zcanbus_schedule();
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bool zcanbus_is_connected();
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bool zcanbus_send_packet(uint8_t to, uint8_t *packet, size_t len);
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bool zcanbus_send_packet(uint8_t to, uint8_t *packet, size_t len, int overtimems);
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bool zcanbus_send_sub_packet(uint8_t to, int npacket, int packetIndex, uint8_t *packet, size_t len, int overtimems);
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bool zcanbus_send_ack(zcanbus_packet_t *rxpacket, uint8_t *param, size_t len);
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bool zcanbus_send_ack(zcanbus_packet_t *rxpacket, int32_t val);
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bool zcanbus_send_ack(zcanbus_packet_t *rxpacket, bool _val);
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bool zcanbus_send_errorack(zcanbus_packet_t *rxpacket, int32_t errcode);
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bool zcanbus_send_report(uint16_t function_id, uint8_t *param, size_t len, int32_t overtime);
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bool zcanbus_send_event(uint16_t function_id, uint8_t *param, size_t len, int32_t overtime);
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bool zcanbus_send_emergency_report(uint16_t function_id, uint8_t *param, size_t len, int32_t overtime);
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