75 lines
1.5 KiB
C++
75 lines
1.5 KiB
C++
#ifndef _CAN_H
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#define _CAN_H
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#include <stdint.h>
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#ifdef __cplusplus
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extern "C" {
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#endif
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#include "adc.h"
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#include "gd32c10x_can.h"
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#include "stdint.h"
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#include <stdio.h>
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u8 can_gpio_init(void);
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void can_config(void);
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void canfd_config(void);
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void can_loopback_init(void);
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void can_loopback_test(void);
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// 定义一个联合体类型用于float和byte数组之间的转换
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typedef union {
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float f;
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u8 b[4];
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} float_union_t;
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/*!
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\brief CAN通信类
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\note 封装CAN发送和接收功能
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*/
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class CAN_transmiter {
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private:
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u8 controller_Mode;
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float_union_t limit_velocity_union;
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u16 limit_voltage;
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short mcu_temp;
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short motor_temp;
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u16 Power_Voltage;
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float_union_t rt_angle_union;
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float_union_t rt_velocity_union;
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u8 Status_code;
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float_union_t target_angle_union;
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u8 Target_Control_Mode;
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float_union_t target_velocity_union;
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float_union_t u_current_union;
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float_union_t w_current_union;
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float_union_t v_current_union;
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u8 transmit_mailbox; // 初始化为无mailbox状态
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u32 timeout; // 默认超时为0xFFFF
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u8 transmit_data[64]; // CANFD最大64字节
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can_trasnmit_message_struct transmit_message;
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can_receive_message_struct receive_message;
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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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public:
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// 添加构造函数声明
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CAN_transmiter();
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u8 CAN_Send(u32 ID, u8 length, u8 *data);
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u8 CANFD_Send(u32 ID, u8 length, u8 *data);
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void update();
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u8 CAN_all_Send();
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u8 CANFD_all_Send();
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u8 CAN_Receive();
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u8 CANFD_Receive();
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};
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#ifdef __cplusplus
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}
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#endif
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#endif
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