84 lines
2.8 KiB
C
84 lines
2.8 KiB
C
#include "set_devboard_v1_stm32f407.h"
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static bool transmit(set_devboard_v1_stm32f407_t *port,
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const pcan_frame_t *frame)
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{
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CAN_TxHeaderTypeDef header = {0};
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uint32_t mailbox = 0U;
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uint8_t data[8] = {0U};
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header.ExtId = frame->id & 0x1FFFFFFFUL;
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header.IDE = CAN_ID_EXT;
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header.RTR = ((frame->flags & PCAN_FLAG_RTR) != 0U) ?
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CAN_RTR_REMOTE : CAN_RTR_DATA;
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header.DLC = frame->dlc;
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header.TransmitGlobalTime = DISABLE;
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for (uint8_t index = 0U; index < frame->dlc; ++index) {
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data[index] = frame->data[index];
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}
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if (HAL_CAN_AddTxMessage(port->can, &header, data, &mailbox) != HAL_OK) {
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port->tx_errors++;
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return false;
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}
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port->tx_frames++;
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return true;
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}
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bool set_devboard_v1_stm32f407_init(
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set_devboard_v1_stm32f407_t *port, CAN_HandleTypeDef *can,
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uint8_t device_type, uint8_t device_id,
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pcan_modbus_read_fn read, pcan_modbus_write_fn write, void *register_user,
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set_devboard_v1_unhandled_fn unhandled, void *unhandled_user)
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{
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if ((port == NULL) || (can == NULL)) {
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return false;
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}
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port->can = can;
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port->unhandled = unhandled;
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port->unhandled_user = unhandled_user;
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port->rx_frames = 0U;
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port->tx_frames = 0U;
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port->tx_errors = 0U;
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return pcan_modbus_server_init(&port->server, device_type, device_id,
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read, write, register_user);
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}
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size_t set_devboard_v1_stm32f407_poll(set_devboard_v1_stm32f407_t *port)
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{
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size_t handled = 0U;
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if ((port == NULL) || (port->can == NULL)) {
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return 0U;
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}
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while (HAL_CAN_GetRxFifoFillLevel(port->can, CAN_RX_FIFO0) != 0U) {
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CAN_RxHeaderTypeDef header;
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uint8_t data[8] = {0U};
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pcan_frame_t request = {0};
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pcan_frame_t response;
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pcan_modbus_result_t result;
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if (HAL_CAN_GetRxMessage(port->can, CAN_RX_FIFO0, &header, data) != HAL_OK) {
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break;
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}
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port->rx_frames++;
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request.id = (header.IDE == CAN_ID_EXT) ? header.ExtId : header.StdId;
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request.flags = (header.IDE == CAN_ID_EXT) ? PCAN_FLAG_IDE : 0U;
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if (header.RTR == CAN_RTR_REMOTE) {
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request.flags |= PCAN_FLAG_RTR;
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}
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request.dlc = (header.DLC > 8U) ? 8U : (uint8_t)header.DLC;
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for (uint8_t index = 0U; index < request.dlc; ++index) {
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request.data[index] = data[index];
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}
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result = pcan_modbus_server_handle(&port->server, &request, &response);
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if (result == PCAN_MODBUS_RESPONSE) {
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(void)transmit(port, &response);
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handled++;
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} else if ((result == PCAN_MODBUS_NOT_FOR_US) &&
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(port->unhandled != NULL)) {
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port->unhandled(port->unhandled_user, &header, data);
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}
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}
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return handled;
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}
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