初始化

2025-09-23 00:27:51 +08:00
commit f2ae2669fa
75 changed files with 32841 additions and 0 deletions
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+#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>
+
+u8 can_gpio_init(void);
+void can_config(void);
+void canfd_config(void);
+void can_loopback_init(void);
+void can_loopback_test(void);
+// 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;
+
+/*!
+	\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