#ifndef _SOFT_CAN_H_ #define _SOFT_CAN_H_ #include "stm32f1xx_hal.h" #include "stdbool.h" extern CAN_RxHeaderTypeDef RxHeader; extern CAN_TxHeaderTypeDef TxHeader; extern uint32_t update_count; #pragma pack(1) typedef struct { bool U7E1; bool U7E3; bool U7E6; bool buf_flag; bool update_flag; //与AG不兼容 一个判断标志 uint8_t update_buf[8]; }Radar; #pragma pack() extern Radar Rupdate; //正方 #define CAN_ZHENGFANG (0x15359826) #define CAN_ZHENGFANG_MASk (0x1FFF0000) //木牛 #define CAN_MUNIU (0x00090002) //莫之比避障前后 #define CAN_OBSTACLE_1 (0x000EFF11) #define CAN_OBSTACLE_2 (0x000EFF12) //莫之比仿地 #define CAN_UAVH30_MSG (0x000EFF0B) //莫之比雷达SN号ID #define CAN_OBSTARCLE11_SN 0x410 #define CAN_OBSTARCLE12_SN 0x420 #define CAN_OBSTARCLE56_SN 0x430 //好盈电调 #define CAN_HOBBYWING_MSG_ESC_START 0x1F4E2000 #define CAN_HOBBYWING_MSG_ESC_END 0x1F4F1A00 #define CAN_HOBBYWING_SET_ESC_START 0x1FC800 #define CAN_HOBBYWING_SET_ESC_END 0x1FF200 //莫之比MASK #define CAN_MICOB_FILTER_ID (0x000EFF01) #define CAN_MICOB_MASK_ID ((uint32_t)0x1F0FFFE0) //莫之比升级系列扩展ID #define CAN_UAVRH_FILTER_ID (0x000007E0) #define CAN_UAVRH_MASK_ID ((uint32_t)0x1FFFFFE0) //最后5位加版本位不过滤 //恩曌仿地 #define CAN_MIMO_T_ID (0x300) //恩曌分区仿地 #define CAN_MIMO_T_ID1 (0x311) #define CAN_MIMO_T_ID2 (0x312) #define CAN_MIMO_T_ID3 (0x313) //恩曌前避障(多点) #define CAN_MIMO_FOBS_ID1 (0x401) #define CAN_MIMO_FOBS_ID2 (0x402) #define CAN_MIMO_FOBS_ID3 (0x403) //恩曌后避障(多点) #define CAN_MIMO_BOBS_ID1 (0x411) #define CAN_MIMO_BOBS_ID2 (0x412) #define CAN_MIMO_BOBS_ID3 (0x413) //恩曌前避障(单点) #define CAN_MIMO_FOBS_SIG (0x301) //恩曌后避障（单点） #define CAN_MIMO_BOBS_SIG (0x302) //恩曌前后避障掩码 #define CAN_MIMO_OBS_MASK (0X5E2) //恩曌雷达版本信息应答 #define CAN_MIMO_VERSION (0XFB) //恩曌360雷达新协议 #define CAN_360MIMO_1ID (0x501) #define CAN_360MIMO_2ID (0x502) //恩曌360雷达 #define CAN_HEAD_MIMO360_ID (0x301) #define CAN_INFO_MIMO360_ID (0x302) #define CAN_MIMO_FLOW (0x210) #define CAN_MIMO_FLOW_K (0xFB) #define CAN_BX_RADAR (0X003) //格式 #define CAN_TATTU_MSG (0x01109216) #define CAN_NEWTATTU_MSG (0x01109200) #define CAN_NEWTATTU_MSG2 (0x011092FF) //EFT流量计 恩曌 #define CAN_EFT_MIMO_FLOW (0x262202) #define EFT_FILTER_ID 0x00008851U #define EFT_MASK_ID 0xFFFFFF00U // 第2~0位，发送端ID，默认3 #define CAN_FULLY_SENDNODE_ID_MASK 0x00000007 // 0 0000 0000 0000 0000 0000 0000 0111(29位扩展ID) // 第3位，最后一包标志，最后一包设置为1，其他设置为0 #define FULLY_ENDPACK_FLAG_MASK 0x00000008 // 0 0000 0000 0000 0000 0000 0000 1000(29位扩展ID) // 第9~4位，包计数:从0开始递增，第一包是0 #define FULLY_PACK_NUM_MASK 0x000003F0 // 0 0000 0000 0000 0000 0011 1111 0000(29位扩展ID) // 第16~10位，包ID:默认值 1 #define FULLY_PACK_ID_MASK 0x0001FC00 // 0 0000 0000 0001 1111 1100 0000 0000(29位扩展ID) // 第18~17位，发送形式： 默认值 2 #define CAN_FULLY_SEND_TYPE 0x00060000 // 0 0000 0000 0110 0000 0000 0000 0000(29位扩展ID) // 第28~19位，消息ID： #define CAN_FULLY_MSG_ID 0x1FF80000 // 1 1111 1111 1000 0000 0000 0000 0000(29位扩展ID) //富力电池ID及MASK #define FULLY_CELL_FILTER_ID 0x16040403 // 1 0110 0000 0100 0000 0100 0000 0011(29位扩展ID) #define FULLY_CELL_MASK_ID 0x1e07fc07 // 1 1110 0000 0111 1111 1100 0000 0111(29位扩展ID) //富力握手ID(740) #define FULLY_CELL_HANDSHAKE 0x1724040b // 1 0111 0010 0100 0000 0100 0000 1011(29位扩展ID) //富力SHA1写入(741) #define FULLY_CELL_SHA1W 0x172c040b‬ // 1 0111 0010 1100 0000 0100 0000 1011(29位扩展ID) //富力SHA1查询(742) #define FULLY_CELL_SHA1R 0x1734040b // 1 0111 0011 0100 0000 0100 0000 1011(29位扩展ID) //极目电池 #define CAN_POWERAMP (0x188) //EZ雷达协议升级 #define CAN_EZ_R_UPDATE (0x3D) //羽人电池 #define CAN_YRPOWER (0x7D0) //吉利发动机 #define GEELY_ENGINE_START_ID 0x1C0 #define GEELY_ENGINE_END_ID 0X1C4 #define GEELY_ENGINE_ID_MASK 0x7F8 //吉利发动机2版协议 #define GEELY_ENGINE_START_ID2 0x1E0 #define GEELY_ENGINE_END_ID2 0X1EF //海盈智能电池 #define HEREWIN_FILTER_ID 0x0000FE00 // 1111 1110 0000 0000 #define HEREWIN_MASK_ID 0x0300F0FF //0011 0000 0000 1111 0000 1111 1111 // 1111 0000 0000 0000 //极目播撒本撒设备 #define POWERAMP_START_ID 0x52 #define POWERAMP_END_ID 0x67 //VK协议 #define FRAME_TYPE_MASK 0x1C000000 // 1 1100 0000 0000 0000 0000 0000 0000(29位扩展ID) #define CAN_FMTYPE_DATA 0x00 // 数据帧 #define CAN_FMTYPE_REQ 0x01 // 请求帧 // 第18~12位，目标nodeID，, ID最大0x7F // 第11~5位， 源nodeID, ID最大0x7F #define DES_ID_MASK 0x0007F000 // 0 0000 0000 0111 1111 0000 0000 0000(29位扩展ID) #define SRC_ID_MASK 0x00000FE0 // 0 0000 0000 0000 0000 1111 1110 0000(29位扩展ID) #define CAN_NODEID_MC 0x01 // 主控nodeid #define CAN_NODEID_LED 0x02 // led灯板nodeid #define CAN_NODEID_4G 0x03 // 4G模块nodeid #define CAN_NODEID_LIQUED 0x15 //液位计nodeid #define CAN_NODEID_FLOW 0x16 //流量计nodeid #define CAN_NODEID_ENGINE 0x17 //发动机nodeid #define CAN_NODEID_LASER 0x18 //雷达nodeid #define CAN_NODEID_WEIGHT 0x19 //称重传感器、播撒器 nodeid #define CAN_NODEID_RADAR_UPDATE 0x20 //设备升级 #define CAN_NODEID_DISTRIBUTOR 0x21 //分电板 #define CAN_NODEID_PUMP_NOZZLE 0x22 //水泵离心喷头 // 第25~19位，消息ID #define MSG_ID_MASK 0x03F80000 // 0 0011 1111 1000 0000 0000 0000 0000(29位扩展ID) // 飞控发出给LED的消息序号 #define CAN_MSGID_MCTOLED_BLINK 0x01 // 灯闪烁 // 飞控发出给LED的配置消息序号 #define CAN_MSGID_MCTOLED_CONF 0x02 // 底板配置 // 飞控发出给LED的AD状态消息序号 #define CAN_MSGID_MCTOLED_ADOC 0x03 // AD开关 // LED发出给飞控的消息序号 #define CAN_MSGID_LEDTOMC_VOLT 0x01 // 电压监测 // LED发出给飞控的版本序号 #define CAN_MSGID_LEDTOMC_VER 0x02 // 版本信息 // 液位计发出给飞控的消息 #define CAN_MSGID_LEDTOMC_LIQUID 0x03 // 液位计信息(目前没有到) //流量计发出给飞控的信息 #define CAN_MSGID_FLOWTOMC_INFO 0x04 //流量计信息 0x2012c0 #define CAN_MSGID_FLOWTOMC_ACK 0x05 //流量计ACK //发动机发出给飞控的信息 #define CAN_MSGID_ENGINE_INFO 0x06 //CAN发动机信息(目前没有到) #define CAN_MSGID_RADAR_START 0X07 //雷达升级开始 #define CAN_MSGID_RADAR_ING 0X08 //雷达升级中 #define CAN_MSGID_RADAR_END 0X09 //雷达升级结束 1000 0001 0100 0010 0000 //水泵信息 #define CAN_MSGID_PUMP 0x10 //离心喷头信息 #define CAN_MSGID_NOZZLE 0x11 //防地雷达发出给飞控的信息0x901300 #define CAN_MSGID_RADAR_INFO 0x12 //飞控发出给防地雷达的信息0x981300 #define CAN_MSGID_RADAR_VERSION_INFO 0x13 //前避障雷达发出给飞控的信息 #define CAN_MSGID_FRADAR_INFO 0x14 //飞控发出给前避障雷达的信息 #define CAN_MSGID_FRADAR_VERSION_INFO 0x15 //后避障雷达发出给飞控的信息 #define CAN_MSGID_BRADAR_INFO 0x16 //飞控发出给后避障雷达的信息 #define CAN_MSGID_BRADAR_VERSION_INFO 0x17 // CANfilterID,（扩展帧 29位） // filterID中，按照目标和源ID进行过滤，目标ID为自己的固定不变，源ID需要把所有的需要接收的node合并一起组成 #define CAN_MC_FILTER_ID ((unsigned int)(CAN_FMTYPE_DATA<<26 | CAN_MSGID_LEDTOMC_VOLT<<19 | \ CAN_NODEID_MC<<12 | CAN_NODEID_LED<<5)) // CANmaskID, (扩展帧 29位) 0 0x12 0x18 // maskID中为1的位，需要filterID和消息帧中对应位的值完全一样，才能通过过滤 // 消息类型位全置1，目标nodeID的位全置1, 消息ID以及源节点ID处寻找相同位的做过滤 #define CAN_MC_MASK_ID ((unsigned int)(FRAME_TYPE_MASK | \ (MSG_ID_MASK & (((0x7f & (~(0x00 | CAN_MSGID_LEDTOMC_VOLT | CAN_MSGID_LEDTOMC_VER | CAN_MSGID_ENGINE_INFO \ | CAN_MSGID_FLOWTOMC_INFO | CAN_MSGID_FLOWTOMC_ACK | CAN_MSGID_RADAR_INFO | CAN_MSGID_BRADAR_INFO |CAN_MSGID_FRADAR_INFO |CAN_MSGID_RADAR_START| CAN_MSGID_RADAR_ING | CAN_MSGID_RADAR_END)))|\ (0x7f & CAN_MSGID_LEDTOMC_VOLT & CAN_MSGID_LEDTOMC_VER & CAN_MSGID_FLOWTOMC_INFO & CAN_MSGID_FLOWTOMC_ACK & CAN_MSGID_ENGINE_INFO \ & CAN_MSGID_RADAR_START& CAN_MSGID_RADAR_INFO & CAN_MSGID_BRADAR_INFO & CAN_MSGID_FRADAR_INFO & CAN_MSGID_RADAR_ING & CAN_MSGID_RADAR_END))<<19)) | \ DES_ID_MASK | \ (SRC_ID_MASK & (((0x7f & (~(0x00 | CAN_NODEID_LED | CAN_NODEID_4G | CAN_NODEID_LIQUED | CAN_NODEID_FLOW | \ CAN_NODEID_ENGINE | CAN_NODEID_LASER |CAN_NODEID_WEIGHT | CAN_NODEID_RADAR_UPDATE | CAN_NODEID_DISTRIBUTOR | CAN_NODEID_PUMP_NOZZLE))) |\ (0x7f & CAN_NODEID_LED & CAN_NODEID_4G & CAN_NODEID_LIQUED & CAN_NODEID_FLOW & \ CAN_NODEID_ENGINE & CAN_NODEID_LASER & CAN_NODEID_WEIGHT & CAN_NODEID_RADAR_UPDATE & CAN_NODEID_DISTRIBUTOR & CAN_NODEID_PUMP_NOZZLE))<<5)))) //VK电池协议 0x1E0958 #define VK_BMS_FILTER_ID 0xE0800 //0 0000 0000 1110 0000 1000 0000 0000 flag 111 目标节点0x1 #define VK_BMS_MASK_ID 0x1C0FF800 //1 1100 0000 1111 1111 1000 0000 0000 //0x1C0E0800 #define VK_MSG_MASK_ID 0X3F00000 #define VK_SRC_MASK_ID 0X7E0 void can_start_init(void); void Can_filter_init(void); void Can_obstacle_update(void); void check_radar_link_status(void); void can_send_msg_normal(unsigned char *data, unsigned char length, unsigned int extid); void can_send_msg_normalstd(unsigned char *data, unsigned char length, unsigned int stdid); void put_date_to_can(uint8_t *buf,uint8_t par1,uint8_t par2,uint8_t par3,uint8_t par4,uint8_t par5, uint8_t par6,uint8_t par7,uint8_t par8); #endif