hpm6750/controller_yy_app/software/soft_can.c

#include "board.h"
#include "soft_can.h"
#include "hard_can.h"
#include "params.h"
#include "rkfifo.h"
#include "soft_gs.h"
#include "soft_time.h"
#include "ver_config.h"
#include "soft_can_yy.h"
// 宏定义与hard can同步修改
#define CAN2         HPM_CAN2
#define CAN2_IRQ     IRQn_CAN2
#define CAN2_CLK_NAME clock_can2
#define BAUD_1000k   (1000000)
#define BAUD_500k    (500000)

#define CAN_RX_FIFO_SIZE 16
#define CAN_TX_FIFO_SIZE 16

/* can 接收结构体 fifo */
static can_receive_buf_t canRxMsgBuffer[CAN_RX_FIFO_SIZE] = {0};
static rkfifo_t canRxFifo = {0};

/* can 发送结构体 FIFO */
static can_transmit_buf_t canTxMsgBuffer[CAN_TX_FIFO_SIZE] = {0};
static rkfifo_t canTxFifo = {0};

static void CAN_FilterConfig(void);

/**
 * @brief can tx rx fifo 初始化
 *
 */
static void canTxRxFifoInit(void)
{
    rkfifo_init(&canRxFifo, &canRxMsgBuffer, sizeof(canRxMsgBuffer),
                sizeof(can_receive_buf_t));

    rkfifo_init(&canTxFifo, &canTxMsgBuffer, sizeof(canTxMsgBuffer),
                sizeof(can_transmit_buf_t));
}

/**
 * @brief CAN bus 总线初始化
 *
 */
void CAN_BusInit(void)
{
    canTxRxFifoInit();

    uint32_t baudrate = 1000 * 1000;

    CAN1_Mode_Init(baudrate);
    CAN_FilterConfig();
}

/**
 * @brief CAN 过滤器初始化
 *
 */
void CAN_FilterConfig(void)
{
  // 放在硬件CAN里去处理了
}


int canSendMsg(can_transmit_buf_t *pTxMsg)
{
    int ret = 0;
    if (can_send_message_nonblocking(CAN2, pTxMsg) != status_success ) // 发送失败
    {
        if (rkfifo_in(&canTxFifo, pTxMsg, 1) != 1)
        {
            ret = -1;
        }
    }
    return ret;
}

int canSendVkMsg(unsigned char *data, unsigned char length, unsigned int extid,
                 uint16_t time_out_ms)
{
    // 计算总帧数
    unsigned char frame_num = (length - 1) / 8 + 1;
    uint32_t start_time = micros();
    uint8_t sequence = 0;
    int ret_val = 0;
    can_transmit_buf_t TxMessage;
    
    // 设置固定属性
    TxMessage.extend_id = 1;       // 扩展帧
    TxMessage.remote_frame = 0;    // 数据帧
    TxMessage.canfd_frame = 0;     // 标准CAN，不是CANFD
    
    while (sequence < frame_num)
    {
        // 基于原始extid计算当前帧的ID
        uint32_t current_id = extid;
        
        // 添加帧标志
        if (sequence == 0)
            current_id |= CAN_MSG_STA;      // 起始帧标志
        if (sequence == frame_num - 1)
            current_id |= CAN_MSG_END;      // 结束帧标志
            
        // 添加序列号 (左移3位，保留3位空间给标志位)
        current_id = current_id | (sequence << 3);
        
        // 右移3位，去除标志位占用的低位
        current_id = current_id >> 3;
        
        // 确保是29位扩展ID (0x1FFFFFFF = 29位全1)
        TxMessage.id = current_id & 0x1FFFFFFF;

        // 扩展ID帧未使用标准ID
        // TxMessage.StdId = TxMessage.ExtId & 0x07FF0000;

        // 设置数据长度
        if (length - (sequence + 1) * 8 >= 0)
            TxMessage.dlc = 8;
        else
            TxMessage.dlc = length - sequence * 8;
            
        // 复制数据
        for (int i = 0; i < TxMessage.dlc; i++)
        {
            TxMessage.data[i] = *(data + sequence * 8 + i);
        }
        
        // 发送消息
        if (canSendMsg(&TxMessage) == 0)
        {
            sequence++;
        }
        
        // 超时检查
        if (micros() - start_time > time_out_ms * 1000)
        {
            ret_val = -1;
            break;
        }
        
        // 等待发送完成（如果需要）
        // while (!has_sent_out && (micros() - start_time <= time_out_ms * 1000));
        // has_sent_out = false;
    }
    
    return ret_val;
}

void CanTxRxServicePoll(void)
{
    can_receive_buf_t msg;

    while (rkfifo_out(&canRxFifo, &msg, 1) == 1)
    {
        // YY_can_rx_decode(&msg);
    }

    YY_tx_loop();
}
static volatile bool has_sent_out;

SDK_DECLARE_EXT_ISR_M(CAN2_IRQ, can2_isr)
void can2_isr(void)
{
    can_transmit_buf_t can_TxMessage;
    can_receive_buf_t can_RxMessage;
    uint8_t flags = can_get_tx_rx_flags(CAN2);
    
    /* 处理接收中断 */
    if ((flags & CAN_EVENT_RECEIVE) != 0) {
        /* 直接读取到应用层消息结构（现在就是HPM格式） */
        can_read_received_message(CAN2, &can_RxMessage);
        
        /* 存入FIFO */
        rkfifo_in(&canRxFifo, &can_RxMessage, 1);
    }
    
    /* 处理发送完成中断 */
    if ((flags & (CAN_EVENT_TX_PRIMARY_BUF | CAN_EVENT_TX_SECONDARY_BUF)) != 0) {
        /* 设置发送完成标志 */
        has_sent_out = true;
        
        /* 检查发送FIFO中是否有待发送消息 */
        if (rkfifo_out(&canTxFifo, &can_TxMessage, 1) == 1) {
            /* 直接发送（已经是HPM格式） */
            can_send_message_nonblocking(CAN2, &can_TxMessage);
        }
    }
    
    /* 清除发送接收标志 */
    can_clear_tx_rx_flags(CAN2, flags);
    
    /* 处理错误中断 */
    uint8_t error_flags = can_get_error_interrupt_flags(CAN2);
    if (error_flags != 0) {
        // 可以在这里处理错误
        can_clear_error_interrupt_flags(CAN2, error_flags);
    }
}