326 lines
10 KiB
Plaintext
326 lines
10 KiB
Plaintext
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/**
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* @file CANFD.cpp
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* @brief CANFD 通信外设初始化、收发与诊断实现。
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*/
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#include "main.h"
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#include "device/canfd.h"
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#include "sys/config.h"
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namespace {
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constexpr uint32_t kCanSlpGpio = GPIOA;
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constexpr uint32_t kCanSlpPin = GPIO_PIN_8;
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/** @brief 内部接收帧缓存结构。 */
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struct CanfdRxFrame {
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uint32_t id = 0U;
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uint8_t data[64] = {0};
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uint8_t length = 0U;
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uint8_t valid = 0U;
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};
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/** @brief 内部发送帧缓存结构。 */
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struct CanfdTxBuffer {
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can_trasnmit_message_struct tx_message{};
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uint8_t payload[64] = {0};
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uint8_t valid = 0U;
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};
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canfd_diag_t g_can_diag{};
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CanfdRxFrame g_rx_frame{};
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CanfdTxBuffer g_tx_buffer{};
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/**
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* @brief 初始化 CAN0 外设所需 GPIO 引脚。
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* @note 按原理图连接关系配置：
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* - PA12 -> CAN0_TX
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* - PA11 -> CAN0_RX
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* - PA8 -> CAN0_SLP（连接 TCAN1057A #0 模式控制脚）
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*/
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inline void can_gpio_init()
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{
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rcu_periph_clock_enable(CONFIG_CAN_RCU);
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rcu_periph_clock_enable(RCU_GPIOA);
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rcu_periph_clock_enable(RCU_AF);
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gpio_init(GPIOA, GPIO_MODE_IPU, GPIO_OSPEED_50MHZ, GPIO_PIN_11);
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gpio_init(GPIOA, GPIO_MODE_AF_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_12);
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gpio_init(kCanSlpGpio, GPIO_MODE_OUT_PP, GPIO_OSPEED_50MHZ, kCanSlpPin);
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}
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/**
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* @brief 将 TCAN1057A #0 置为正常工作模式。
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* @note 模式控制脚按 STB 语义处理：低电平为 Normal，高电平为 Silent。
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*/
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inline void can_transceiver_normal_mode()
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{
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gpio_bit_reset(kCanSlpGpio, kCanSlpPin);
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}
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/**
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* @brief 将 TCAN1057A #0 置为静默模式。
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* @note 静默模式下收发器不驱动总线显性位，可用于总线监听或受控隔离场景。
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*/
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inline void can_transceiver_silent_mode()
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{
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gpio_bit_set(kCanSlpGpio, kCanSlpPin);
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}
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/**
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* @brief 配置 CAN 接收过滤器为接受所有报文。
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*/
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inline void can_filter_accept_all()
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{
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can_filter_parameter_struct can_filter{};
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can_filter.filter_number = 0U;
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can_filter.filter_mode = CAN_FILTERMODE_MASK;
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can_filter.filter_bits = CAN_FILTERBITS_32BIT;
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can_filter.filter_list_high = 0x0000U;
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can_filter.filter_list_low = 0x0000U;
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can_filter.filter_mask_high = 0x0000U;
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can_filter.filter_mask_low = 0x0000U;
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can_filter.filter_fifo_number = CAN_FIFO0;
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can_filter.filter_enable = ENABLE;
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can_filter_init(CONFIG_CAN_INSTANCE, &can_filter);
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}
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/**
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* @brief 配置 CAN 标称位定时参数。
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* @note 参考 APP 项目配置：仲裁段波特率为 1 Mbps，采样点约 80%。
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*/
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inline void can_nominal_init()
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{
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can_parameter_struct can_parameter{};
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can_struct_para_init(CAN_INIT_STRUCT, &can_parameter);
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can_parameter.time_triggered = DISABLE;
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can_parameter.auto_bus_off_recovery = ENABLE;
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can_parameter.auto_wake_up = DISABLE;
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can_parameter.auto_retrans = ENABLE;
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can_parameter.rec_fifo_overwrite = ENABLE;
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can_parameter.trans_fifo_order = ENABLE;
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can_parameter.working_mode = CAN_NORMAL_MODE;
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can_parameter.resync_jump_width = CAN_BT_SJW_1TQ;
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can_parameter.time_segment_1 = CAN_BT_BS1_7TQ;
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can_parameter.time_segment_2 = CAN_BT_BS2_2TQ;
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can_parameter.prescaler = 6U;
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can_init(CONFIG_CAN_INSTANCE, &can_parameter);
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}
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/**
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* @brief 配置 CANFD 可变速率模式参数。
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* @note 参考 APP 项目配置：
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* - 仲裁段保持 1 Mbps；
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* - 数据段配置为 2 Mbps，采样点约 80%；
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* - 发送时启用 BRS 后才会切到数据段速率。
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*/
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inline void can_fd_mode_init()
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{
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#ifdef GD32E508
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can_fdframe_struct can_fd_parameter{};
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can_fd_tdc_struct can_fd_tdc_parameter{};
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can_struct_para_init(CAN_FD_FRAME_STRUCT, &can_fd_parameter);
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can_fd_parameter.fd_frame = ENABLE;
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can_fd_parameter.excp_event_detect = ENABLE;
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can_fd_parameter.delay_compensation = ENABLE;
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can_fd_tdc_parameter.tdc_filter = 0x04U;
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can_fd_tdc_parameter.tdc_mode = CAN_TDCMOD_CALC_AND_OFFSET;
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can_fd_tdc_parameter.tdc_offset = 0x04U;
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can_fd_parameter.p_delay_compensation = &can_fd_tdc_parameter;
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can_fd_parameter.iso_bosch = CAN_FDMOD_ISO;
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can_fd_parameter.esi_mode = CAN_ESIMOD_HARDWARE;
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can_fd_parameter.data_prescaler = 6U;
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can_fd_parameter.data_resync_jump_width = CAN_BT_SJW_1TQ;
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can_fd_parameter.data_time_segment_1 = CAN_BT_BS1_3TQ;
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can_fd_parameter.data_time_segment_2 = CAN_BT_BS2_1TQ;
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can_fd_init(CONFIG_CAN_INSTANCE, &can_fd_parameter);
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#else
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can_fd_function_enable(CONFIG_CAN_INSTANCE);
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#endif
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}
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/**
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* @brief 根据状态载荷构造 CANFD 状态发送帧并置有效标志。
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* @param[in] status 指向状态载荷的指针；不为空时执行构造和置位。
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*/
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inline void canfd_build_status_frame(const canfd_status_payload_t *status)
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{
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const int16_t temp_x100 = static_cast<int16_t>(status->temperature * 100.0f);
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const uint16_t vdda_x1000 = static_cast<uint16_t>(status->vdda * 1000.0f);
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can_struct_para_init(CAN_TX_MESSAGE_STRUCT, &g_tx_buffer.tx_message);
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g_tx_buffer.tx_message.tx_sfid = CONFIG_CAN_STATUS_ID;
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g_tx_buffer.tx_message.tx_efid = 0U;
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g_tx_buffer.tx_message.tx_ff = CAN_FF_STANDARD;
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g_tx_buffer.tx_message.tx_ft = CAN_FT_DATA;
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g_tx_buffer.tx_message.tx_dlen = CANFD_STATUS_DLEN;
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#ifdef GD32E508
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g_tx_buffer.tx_message.fd_flag = ENABLE;
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g_tx_buffer.tx_message.fd_brs = ENABLE;
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g_tx_buffer.tx_message.fd_esi = CAN_ESI_DOMINANT;
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#endif
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auto &p = g_tx_buffer.payload;
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p[0] = static_cast<uint8_t>(status->temp_raw & 0xFFU);
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p[1] = static_cast<uint8_t>((status->temp_raw >> 8) & 0xFFU);
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p[2] = static_cast<uint8_t>(status->vref_raw & 0xFFU);
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p[3] = static_cast<uint8_t>((status->vref_raw >> 8) & 0xFFU);
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p[4] = static_cast<uint8_t>(temp_x100 & 0xFF);
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p[5] = static_cast<uint8_t>((temp_x100 >> 8) & 0xFF);
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p[6] = static_cast<uint8_t>(vdda_x1000 & 0xFFU);
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p[7] = static_cast<uint8_t>((vdda_x1000 >> 8) & 0xFFU);
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p[8] = CONFIG_CAN_STATUS_TAG0;
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p[9] = CONFIG_CAN_STATUS_TAG1;
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p[10] = CONFIG_CAN_STATUS_TAG2;
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p[11] = CONFIG_CAN_STATUS_TAG3;
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for(uint8_t i = 0; i < CANFD_STATUS_DLEN; ++i) {
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g_tx_buffer.tx_message.tx_data[i] = p[i];
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}
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g_tx_buffer.valid = 1U;
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}
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} // namespace
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/**
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* @brief CAN0 RX0 中断服务例程。
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* @note 在 CANFD 帧到达 FIFO0 时自动执行，将报文缓存到内部接收帧。
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*/
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extern "C" void CAN0_RX0_IRQHandler(void)
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{
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if(can_interrupt_flag_get(CONFIG_CAN_INSTANCE, CAN_INT_FLAG_RFL0) == RESET) {
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return;
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}
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can_receive_message_struct rx_message{};
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can_struct_para_init(CAN_RX_MESSAGE_STRUCT, &rx_message);
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can_message_receive(CONFIG_CAN_INSTANCE, CAN_FIFO0, &rx_message);
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g_can_diag.rx_count++;
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g_can_diag.last_payload_length = rx_message.rx_dlen;
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g_can_diag.last_rx_fd_flag = rx_message.fd_flag;
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g_can_diag.last_rx_brs = rx_message.fd_brs;
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g_can_diag.last_rx_esi = rx_message.fd_esi;
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g_can_diag.last_rx_id = (rx_message.rx_ff == CAN_FF_STANDARD) ? rx_message.rx_sfid : rx_message.rx_efid;
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g_rx_frame.id = g_can_diag.last_rx_id;
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g_rx_frame.length = rx_message.rx_dlen;
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for(uint8_t i = 0; i < rx_message.rx_dlen; ++i) {
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g_rx_frame.data[i] = rx_message.rx_data[i];
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}
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g_rx_frame.valid = 1U;
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can_interrupt_flag_clear(CONFIG_CAN_INSTANCE, CAN_INT_FLAG_RFL0);
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}
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/**
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* @brief 初始化 CANFD 外设、GPIO、波特率参数、接收过滤器与中断。
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* @note 启用 FIFO0 RX 中断替代轮询，TX 保持 mailbox 异步发送；GPIO 与原理图一致使用 PA11/PA12/PA8。
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* 其中 PA8 已封装为正常/静默两个模式控制函数，初始化时默认进入 Normal 模式。
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*/
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void canfd_init(void)
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{
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can_gpio_init();
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can_transceiver_normal_mode();
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can_deinit(CONFIG_CAN_INSTANCE);
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can_nominal_init();
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can_fd_mode_init();
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can_filter_accept_all();
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/* 使能 FIFO0 接收中断，替代轮询 */
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can_interrupt_enable(CONFIG_CAN_INSTANCE, CAN_INT_RFNE0);
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nvic_irq_enable(CAN0_RX0_IRQn, 1U, 1U);
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g_rx_frame.valid = 0U;
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g_tx_buffer.valid = 0U;
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}
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/**
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* @brief 轮询 CANFD 接收 FIFO（中断模式下退化为兼容空壳）。
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* @note 实际接收已由 CAN0_RX0_IRQHandler 以中断方式完成，此函数保留接口不破坏现有调用链。
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*/
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void canfd_poll(void)
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{
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/* 接收已由 CAN0_RX0_IRQHandler 中断驱动 */
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}
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/**
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* @brief 根据状态载荷准备一帧待发送的 CANFD 状态报文。
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* @param[in] status 指向状态载荷的指针；为空时将清除待发送标志。
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*/
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void canfd_prepare_status(const canfd_status_payload_t *status)
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{
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if(status == nullptr) {
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g_tx_buffer.valid = 0U;
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return;
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}
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canfd_build_status_frame(status);
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}
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/**
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* @brief 发送已准备好的 CANFD 状态报文。
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* @note 若当前没有有效待发送报文，直接返回。
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*/
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void canfd_send_prepared(void)
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{
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if(g_tx_buffer.valid == 0U) {
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return;
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}
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const uint8_t mailbox = can_message_transmit(CONFIG_CAN_INSTANCE, &g_tx_buffer.tx_message);
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if(mailbox != CAN_NOMAILBOX) {
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g_can_diag.tx_count++;
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g_can_diag.last_payload_length = g_tx_buffer.tx_message.tx_dlen;
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g_can_diag.last_tx_id = g_tx_buffer.tx_message.tx_sfid;
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} else {
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g_can_diag.error_count++;
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}
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}
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/**
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* @brief 查询是否存在尚未消费的接收报文。
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* @retval 非 0 存在待消费报文，0 无报文。
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*/
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uint8_t canfd_has_rx_frame(void)
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{
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return g_rx_frame.valid;
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}
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/**
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* @brief 读取并消费最近一次缓存的接收报文。
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* @param[out] id 输出报文标识符的指针；允许为空。
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* @param[out] data 输出报文数据缓存区指针；允许为空。
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* @param[out] length 输出报文数据长度的指针；允许为空。
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* @retval 1 成功消费一帧报文，0 当前无有效缓存报文。
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*/
|
|||
|
|
uint8_t canfd_consume_rx_frame(uint32_t *id, uint8_t *data, uint8_t *length)
|
|||
|
|
{
|
|||
|
|
if(g_rx_frame.valid == 0U) {
|
|||
|
|
return 0U;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
if(id != nullptr) {
|
|||
|
|
*id = g_rx_frame.id;
|
|||
|
|
}
|
|||
|
|
if(length != nullptr) {
|
|||
|
|
*length = g_rx_frame.length;
|
|||
|
|
}
|
|||
|
|
if(data != nullptr) {
|
|||
|
|
for(uint8_t i = 0; i < g_rx_frame.length; ++i) {
|
|||
|
|
data[i] = g_rx_frame.data[i];
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
g_rx_frame.valid = 0U;
|
|||
|
|
return 1U;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* @brief 获取 CANFD 诊断统计信息只读指针。
|
|||
|
|
* @retval 指向内部诊断统计结构体的只读指针。
|
|||
|
|
*/
|
|||
|
|
const canfd_diag_t *canfd_get_diag(void)
|
|||
|
|
{
|
|||
|
|
return &g_can_diag;
|
|||
|
|
}
|