V9_PMU302/uav_can/user_inc/dronecan.h

#pragma once

#include "dronecan_id_alloc.h"
#include "canard.h"
#include <stdint.h>
#include "soft_can.h"

#ifdef __cplusplus
extern "C" {
#endif

#define LOCK 1
#define UNLOCK 0
/* The default local node id. */
#define DRONECAN_CANARD_DEFAULT_LOCAL_NODE_ID DRONECAN_FMU_NODE_ID

/* The size of the memory pool for the Canard library. */
#define DRONECAN_CANARD_MEMORY_POOL_SIZE 2048

#define DRONECAN_CANARD_IFACE1_MASK (1 << 0)
#define DRONECAN_CANARD_IFACE2_MASK (1 << 1)
#define DRONECAN_CANARD_IFACE_MAX_NUM 2

#define REMOTEID_NODEID 100

/** The dronecan instance. */
struct dronecan {
  /* canard 对象 */
  CanardInstance *_canard_ins;

  /* canard 库内存池 */
  uint8_t *_canard_memory_pool;

  /* can 接口 */
  //rt_device_t _can_iface[DRONECAN_CANARD_IFACE_MAX_NUM];

  //rt_mutex_t _lock;

  /* 定时器, 用于定时广播 node status */
  //rt_timer_t _timer;

  /* 时间戳, 调用 canardCleanupStaleTransfers */
  uint32_t _cleanup_timestamp;

  /* 发送消息更新回调钩子函数 */
  void (*_tx_update_hook)(struct dronecan *dcan);

  uint32_t _re_tx_cnt;   /**< redo tx count */
  uint32_t _tx_succ_cnt; /**< tx success count */
  uint32_t _tx_fail_cnt; /**< tx fail count */
};

/**
 * @brief init dronecan instance
 *
 * @param can_dev can device
 * @return int 0 success, else failed
 */
void dronecan_init(void);

/**
 * @brief dronecan 接收回调, 当 can 接口收到 can 消息后调用此函数
 *
 * @param msg can message
 * @param iface_id  interface id, if can1 then 0, if can2 then 1, etc
 * @return int 0-not handled, 1-handled
 */
int dronecan_rx_callback(CAN_RxHeaderTypeDef Rxhead,uint8_t data[]);

void dronecan_tx_processing(void);

/**
 * @brief dronecan 发送广播消息
 *
 * @param dcan
 * @param tx_transfer
 * @return int
 */
int dronecan_broadcast(CanardTxTransfer *tx_transfer);

/**
 * @brief dronecan 发送请求或应答消息
 *
 * @param dcan
 * @param dest_id 目标节点 id
 * @param tx_transfer
 * @return int
 */
int dronecan_request_or_respond(uint8_t dest_id,
                                CanardTxTransfer *tx_transfer);

/**
 * @brief dronecan 注册 tx_hook 回调函数
 *   当有数据需要通过dronecan 发送时, tx_hook 回调函数会被调用
 *
 * @param fun 回调函数
 * @return int RT_EOK 为成功, 其它为失败
 */
int dronecan_tx_hook_register(void (*fun)(struct dronecan *dcan));

void dronecan_lock();
void dronecan_unlock();

#ifdef __cplusplus
}
#endif