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