95 lines
3.7 KiB
C
95 lines
3.7 KiB
C
#include "stm32f4xx_hal.h"
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#include "string.h"
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#include "stdio.h"
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#include "CToC.h"
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#include "can.h"
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#include "usart.h"
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/*
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*函数简介:板间通讯主机发送遥控器摇杆数据
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*参数说明:无
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*返回类型:1-发送成功,0-发送失败
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*备注:默认标准格式数据帧,8字节数据段
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*备注:使用从机ID1
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*/
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uint8_t CToC_MasterSendData(uint16_t Remote_R_RL, uint16_t Remote_R_UD, uint16_t Remote_L_RL, uint16_t Remote_L_UD)
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{
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CAN_TxHeaderTypeDef txHeader;
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uint8_t txData[8] = {0};
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uint32_t txMailbox;
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txHeader.StdId = CToC_SlaveID1;
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txHeader.ExtId = 0;
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txHeader.IDE = CAN_ID_STD;
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txHeader.RTR = CAN_RTR_DATA;
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txHeader.DLC = 8;
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txHeader.TransmitGlobalTime = DISABLE;
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txData[0] = (uint8_t)((uint16_t)Remote_R_RL >> 8);
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txData[1] = (uint8_t)((uint16_t)Remote_R_RL & 0x00FF);
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txData[2] = (uint8_t)((uint16_t)Remote_R_UD >> 8);
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txData[3] = (uint8_t)((uint16_t)Remote_R_UD & 0x00FF);
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txData[4] = (uint8_t)(Remote_L_RL >> 8);
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txData[5] = (uint8_t)(Remote_L_RL & 0x00FF);
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txData[6] = (uint8_t)(Remote_L_UD >> 8);
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txData[7] = (uint8_t)(Remote_L_UD & 0x00FF);
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// 打印要发送的数据
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printf("Sending CAN Data: ");
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for(uint8_t i = 0; i < 8; i++) {
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printf("%02X ", txData[i]);
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}
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printf("\r\n");
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if (HAL_CAN_AddTxMessage(&hcan2, &txHeader, txData, &txMailbox) != HAL_OK) {
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printf("CAN send failed\r\n");
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return 0;
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}
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// 等待发送完成（可选）：简单轮询超时
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uint32_t timeout = 0;
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while (HAL_CAN_IsTxMessagePending(&hcan2, txMailbox) && timeout++ < 0xFFFF) {}
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if (timeout >= 0xFFFF) return 0;
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return 1;
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}
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/*
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*函数简介:板间通讯数据处理
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*参数说明:CAN数据帧ID号,详情见CToC.h的宏定义
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*参数说明:反馈数据(8字节)
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*返回类型:无
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*接收数据:
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* Data[0]-发射机构状态
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*/
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// void CToC_CANDataProcess(uint32_t ID, uint8_t *Data)
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// {
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// // 保留原逻辑，但注释掉对未定义符号的影响部分
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// static uint8_t Last_ShooterStatus = 0;
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// if (ID == CToC_MasterID1) {
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// // 如果 RefereeSystem_ShooterStatus 在工程中存在，可恢复下面三行
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// // Last_ShooterStatus = RefereeSystem_ShooterStatus;
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// // RefereeSystem_ShooterStatus = Data[0];
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// // if (Last_ShooterStatus == 0 && RefereeSystem_ShooterStatus == 1) RefereeSystem_ShooterOpenFlag = 1;
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// // 当前仅保存/使用 Data[0] 的值到本地静态变量（示例）
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// Last_ShooterStatus = Data[0];
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// (void)Last_ShooterStatus; // 若需要后续使用请替换为实际逻辑
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// }
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// }
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void CToC_CANDataProcess(uint32_t ID, uint8_t *Data)
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{
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if (ID == CToC_MasterID1) {
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// 简单打印接收到的数据，用于测试通信
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printf("Received CAN Data: ");
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for(uint8_t i = 0; i < 8; i++) {
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printf("%02X ", Data[i]);
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}
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printf("\r\n");
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}
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}
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