feat(set-protocol): добавь порт F407 для DevBoard_V1

2026-09-07 08:32:02 +03:00
parent c9cf797132
commit daa3466a41
12 changed files with 516 additions and 1 deletions
--- a/c/set-protocol/ports/stm32f407-devboard-v1/set_devboard_v1_stm32f407.c
+++ b/c/set-protocol/ports/stm32f407-devboard-v1/set_devboard_v1_stm32f407.c
@@ -0,0 +1,80 @@
+#include "set_devboard_v1_stm32f407.h"
+
+#include <string.h>
+
+static bool transmit(set_devboard_v1_stm32f407_t *port,
+                     const pcan_frame_t *frame)
+{
+    CAN_TxHeaderTypeDef header;
+    uint32_t mailbox = 0U;
+    uint8_t data[8] = {0U};
+
+    memset(&header, 0, sizeof(header));
+    header.ExtId = frame->id & 0x1FFFFFFFUL;
+    header.IDE = CAN_ID_EXT;
+    header.RTR = ((frame->flags & PCAN_FLAG_RTR) != 0U) ?
+                 CAN_RTR_REMOTE : CAN_RTR_DATA;
+    header.DLC = frame->dlc;
+    header.TransmitGlobalTime = DISABLE;
+    memcpy(data, frame->data, frame->dlc);
+    if (HAL_CAN_AddTxMessage(port->can, &header, data, &mailbox) != HAL_OK) {
+        port->tx_errors++;
+        return false;
+    }
+    port->tx_frames++;
+    return true;
+}
+
+bool set_devboard_v1_stm32f407_init(
+    set_devboard_v1_stm32f407_t *port, CAN_HandleTypeDef *can,
+    uint8_t device_type, uint8_t device_id,
+    pcan_modbus_read_fn read, pcan_modbus_write_fn write, void *register_user,
+    set_devboard_v1_unhandled_fn unhandled, void *unhandled_user)
+{
+    if ((port == NULL) || (can == NULL)) {
+        return false;
+    }
+    memset(port, 0, sizeof(*port));
+    port->can = can;
+    port->unhandled = unhandled;
+    port->unhandled_user = unhandled_user;
+    return pcan_modbus_server_init(&port->server, device_type, device_id,
+                                   read, write, register_user);
+}
+
+size_t set_devboard_v1_stm32f407_poll(set_devboard_v1_stm32f407_t *port)
+{
+    size_t handled = 0U;
+    if ((port == NULL) || (port->can == NULL)) {
+        return 0U;
+    }
+    while (HAL_CAN_GetRxFifoFillLevel(port->can, CAN_RX_FIFO0) != 0U) {
+        CAN_RxHeaderTypeDef header;
+        uint8_t data[8] = {0U};
+        pcan_frame_t request = {0};
+        pcan_frame_t response;
+        pcan_modbus_result_t result;
+
+        if (HAL_CAN_GetRxMessage(port->can, CAN_RX_FIFO0, &header, data) != HAL_OK) {
+            break;
+        }
+        port->rx_frames++;
+        request.id = (header.IDE == CAN_ID_EXT) ? header.ExtId : header.StdId;
+        request.flags = (header.IDE == CAN_ID_EXT) ? PCAN_FLAG_IDE : 0U;
+        if (header.RTR == CAN_RTR_REMOTE) {
+            request.flags |= PCAN_FLAG_RTR;
+        }
+        request.dlc = (header.DLC > 8U) ? 8U : (uint8_t)header.DLC;
+        memcpy(request.data, data, request.dlc);
+
+        result = pcan_modbus_server_handle(&port->server, &request, &response);
+        if (result == PCAN_MODBUS_RESPONSE) {
+            (void)transmit(port, &response);
+            handled++;
+        } else if ((result == PCAN_MODBUS_NOT_FOR_US) &&
+                   (port->unhandled != NULL)) {
+            port->unhandled(port->unhandled_user, &header, data);
+        }
+    }
+    return handled;
+}