Motor_v2/Robot_V2/device/Can.h

#ifndef _CAN_H
#define _CAN_H

#include <stdint.h>
#ifdef __cplusplus
extern "C" {
#endif

#include "adc.h"
#include "gd32c10x_can.h"
#include "stdint.h"
#include <stdio.h>

// 定义一个联合体类型用于float和byte数组之间的转换
typedef union {
	float f;
	u8 b[4];
} float_union_t;

// 添加辅助函数用于将short类型数据打包到u8数组中
static inline void pack_short_to_bytes(u8* buffer, u16 offset, short value) {
    buffer[offset] = (u8)(value & 0xFF);
    buffer[offset + 1] = (u8)((value >> 8) & 0xFF);
}

// 添加辅助函数用于将u16类型数据打包到u8数组中
static inline void pack_u16_to_bytes(u8* buffer, u16 offset, u16 value) {
    buffer[offset] = (u8)(value & 0xFF);
    buffer[offset + 1] = (u8)((value >> 8) & 0xFF);
}

// 添加辅助函数用于将float类型数据打包到u8数组中
static inline void pack_float_to_bytes(u8* buffer, u16 offset, float_union_t& float_union) {
    buffer[offset] = float_union.b[0];
    buffer[offset + 1] = float_union.b[1];
    buffer[offset + 2] = float_union.b[2];
    buffer[offset + 3] = float_union.b[3];
}

u8 can_gpio_init(void);
void can_config(void);
void canfd_config(void);
void can_loopback_init(void);
void can_loopback_test(void);

/*!
	\brief CAN通信类
	\note  封装CAN发送和接收功能
*/
class CAN_transmiter {

  private:
	u8 controller_Mode;
	float_union_t limit_velocity_union;
	u16 limit_voltage;
	short mcu_temp;
	short motor_temp;
	u16 Power_Voltage;
	float_union_t rt_angle_union;
	float_union_t rt_velocity_union;
	u8 Status_code;
	float_union_t target_angle_union;
	u8 Target_Control_Mode;
	float_union_t target_velocity_union;
	float_union_t u_current_union;
	float_union_t w_current_union;
	float_union_t v_current_union;

	u8 transmit_mailbox;  // 初始化为无mailbox状态
	u32 timeout;		  // 默认超时为0xFFFF
	u8 transmit_data[64]; // CANFD最大64字节

	can_trasnmit_message_struct transmit_message;
	can_receive_message_struct receive_message;

	can_fdframe_struct can_fd_parameter;
	can_fd_tdc_struct can_fd_tdc_parameter;

  public:
	// 添加构造函数声明
	CAN_transmiter();
	u8 CAN_Send(u32 ID, u8 length, u8 *data);
	u8 CANFD_Send(u32 ID, u8 length, u8 *data);
	void update();
	u8 CAN_all_Send();
	u8 CANFD_all_Send();
	u8 CAN_Receive();
	u8 CANFD_Receive();
};

#ifdef __cplusplus
}
#endif

#endif