初始提交

Core/Src/can2.c

@@ -0,0 +1,77 @@
+#include "main.h"
+#include "can.h"
+#include "gpio.h"
+#include "can2.h"
+// 打包函数
+void pack_rc_to_can(const rc_info_t *rc, can_packet_t *packet1, can_packet_t *packet2)
+{
+    // 第一个包：ch0-ch3 (共8字节)
+    packet1->data[0] = (uint8_t)(rc->ch0 & 0xFF);
+    packet1->data[1] = (uint8_t)((rc->ch0 >> 8) & 0xFF);
+    packet1->data[2] = (uint8_t)(rc->ch1 & 0xFF);
+    packet1->data[3] = (uint8_t)((rc->ch1 >> 8) & 0xFF);
+    packet1->data[4] = (uint8_t)(rc->ch2 & 0xFF);
+    packet1->data[5] = (uint8_t)((rc->ch2 >> 8) & 0xFF);
+    packet1->data[6] = (uint8_t)(rc->ch3 & 0xFF);
+    packet1->data[7] = (uint8_t)((rc->ch3 >> 8) & 0xFF);
+    
+    // 第二个包：roll + sw1 + sw2 (共4字节)
+    packet2->data[0] = (uint8_t)(rc->roll & 0xFF);
+    packet2->data[1] = (uint8_t)((rc->roll >> 8) & 0xFF);
+    packet2->data[2] = rc->sw1;
+    packet2->data[3] = rc->sw2;
+    
+    // 填充剩余字节（可以添加校验、计数器等）
+    static uint8_t counter = 0;
+    packet2->data[4] = counter++;  // 帧计数器
+    packet2->data[5] = 0xAA;       // 校验标记
+    packet2->data[6] = 0x55;
+    packet2->data[7] = 0x00;
+}
+
+// CAN发送函数
+static uint8_t send_can_frame(uint32_t id, uint8_t *data, uint8_t len)
+{
+    CAN_TxHeaderTypeDef tx_header;
+    uint32_t tx_mailbox;
+    
+    // 配置CAN帧头
+    tx_header.StdId = id;
+    tx_header.ExtId = 0x00;
+    tx_header.IDE = CAN_ID_STD;
+    tx_header.RTR = CAN_RTR_DATA;
+    tx_header.DLC = len;
+    tx_header.TransmitGlobalTime = DISABLE;
+    
+    // 发送CAN帧
+    if (HAL_CAN_AddTxMessage(&hcan2, &tx_header, data, &tx_mailbox) == HAL_OK)
+    {
+        return 1;  // 发送成功
+    }
+    
+    return 0;  // 发送失败
+}
+
+// 发送遥控器数据
+void send_rc_data(const rc_info_t *rc)
+{
+    can_packet_t packet1, packet2;
+    
+    // 打包数据
+    pack_rc_to_can(rc, &packet1, &packet2);
+    
+    // 发送两个CAN帧
+    if (!send_can_frame(0x100, packet1.data, 8))
+    {
+        // 发送失败处理
+        // 可以重试或记录错误
+    }
+    
+    // 延时一下，避免总线拥堵
+    HAL_Delay(1);
+    
+    if (!send_can_frame(0x101, packet2.data, 8))
+    {
+        // 发送失败处理
+    }
+}