70 lines
2.0 KiB
C++
70 lines
2.0 KiB
C++
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/*
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* canfd_bridge.cpp - CANFD 3通道通信桥接实现（M4: 从 SpiMaster 提取）
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*/
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#include <string.h>
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#include "canfd_bridge.h"
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#include "spi_master.h"
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/**
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* @brief 发送一帧 CANFD 数据，可选等待并读取响应。
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* 通过 SpiMaster 的公共 syncTransfer() 完成 SPI 传输。
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* 注意: syncTransfer 内部会加 SPI 互斥锁，FreeRTOS mutex 为递归锁故安全。
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*/
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int canFdSend(can_channel_t channel, uint32_t ext_id,
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const uint8_t *data, uint8_t dlc,
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uint8_t *recv_buf, uint8_t recv_max,
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uint32_t timeout_ms)
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{
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if (channel >= CAN_CHANNEL_MAX || dlc > CAN_MAX_DLC || !data) {
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return -1;
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}
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uint8_t tx_buf[72];
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size_t tx_len = 0;
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tx_buf[tx_len++] = (uint8_t)(channel & CAN_CHANNEL_MASK);
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tx_buf[tx_len++] = (uint8_t)((ext_id >> 24) & 0xFF);
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tx_buf[tx_len++] = (uint8_t)((ext_id >> 16) & 0xFF);
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tx_buf[tx_len++] = (uint8_t)((ext_id >> 8) & 0xFF);
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tx_buf[tx_len++] = (uint8_t)(ext_id & 0xFF);
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memcpy(&tx_buf[tx_len], data, dlc);
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tx_len += dlc;
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esp_err_t ret = SpiMaster::instance().syncTransfer(
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0, tx_buf, tx_len, recv_buf, recv_max, timeout_ms);
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if (ret != ESP_OK) {
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return -1;
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}
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return (int)recv_max;
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}
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/**
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* @brief 发送一帧无需响应的 CANFD 数据。
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*/
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int canFdSendNoReply(can_channel_t channel, uint32_t ext_id,
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const uint8_t *data, uint8_t dlc)
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{
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if (channel >= CAN_CHANNEL_MAX || dlc > CAN_MAX_DLC || !data) {
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return -1;
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}
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uint8_t tx_buf[72];
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size_t tx_len = 0;
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tx_buf[tx_len++] = (uint8_t)(channel & CAN_CHANNEL_MASK);
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tx_buf[tx_len++] = (uint8_t)((ext_id >> 24) & 0xFF);
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tx_buf[tx_len++] = (uint8_t)((ext_id >> 16) & 0xFF);
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tx_buf[tx_len++] = (uint8_t)((ext_id >> 8) & 0xFF);
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tx_buf[tx_len++] = (uint8_t)(ext_id & 0xFF);
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memcpy(&tx_buf[tx_len], data, dlc);
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tx_len += dlc;
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esp_err_t ret = SpiMaster::instance().send(0, tx_buf, tx_len);
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if (ret != ESP_OK) {
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return -1;
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}
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return 0;
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}
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