104 lines
3.3 KiB
C
104 lines
3.3 KiB
C
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/*!
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Copyright 2017 <EFBFBD><EFBFBD> "<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>" <EFBFBD> <EFBFBD><EFBFBD><EFBFBD> "<EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>"
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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\file v_CANtoRS.h
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\brief <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> CAN <EFBFBD> RS/USB <EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>. <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> CANOpen
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\author <EFBFBD><EFBFBD><EFBFBD> "<EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>". http://motorcontrol.ru
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\version v 3.0 08/08/2017
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*/
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#ifndef V_CAN_TO_RS_H
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#define V_CAN_TO_RS_H
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#ifdef __cplusplus
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extern "C" {
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#endif
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#define CANTORS_BUFSIZE 20
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#define CANTORS_TRANSM_TIME_OUT 10
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#define CANTORS_READ_DATA_MAX_LEN 10
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#define CANTORS_HEART_COUNTER_MAX 1000
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#define CANTORS_ACTIVE 0x1
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#define CANTOUSB_ACTIVE 0x2
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#include "DSP.h"
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#include "CANOpen_drv.h"
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struct SCANtoRS {
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Uint16 APIpacketMode;
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int16 HeartBeatGo;//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>!
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Uint16 callback_go; //<2F><><EFBFBD><EFBFBD> <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> callback
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Uint16 PacketInWait; //<2F><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD>-<2D><> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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Uint16 HeartCounter; //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> HeartBeat
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Uint16 ReadPackDataCounter; //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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Uint16 ReadCRCCounter; //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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Uint16 all_len; //transmit buf len
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Uint16 tr_counter; //transmit counter
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Uint16 MessDrop1;
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Uint16 MessDrop2;
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Uint16 MessDrop3;
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Uint16 CounterWrongCRC;
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Uint16 CounterRes;
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Uint16 CounterSended;
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void (*init)(volatile struct SCANtoRS *); /* Pointer to the init function */
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void (*calc)(volatile struct SCANtoRS *); /* Pointer to the calc function */
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void (*receive)(volatile struct SCANtoRS *);
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Uint16 (*write)(TZCanMsg* MSG,volatile struct SCANtoRS *);
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void (*callback)(TCo_OdVars* ppc, TZCanMsg* p);
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unsigned char buf_out[CANTORS_BUFSIZE];
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TZCanMsg MSG;
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TZCanMsg bufMSG;
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Uint16 ReadPackData[CANTORS_BUFSIZE]; //<2F><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> API <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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Uint16 ReadCRC[2]; //<2F><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> <20>RC
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Uint16 TempData[10];
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Uint16* nodeID;
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UART_TypeDef *UART;//!<21><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> UART
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};
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typedef volatile struct SCANtoRS TCANtoRS;
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void CANtoRS_init(TCANtoRS*);
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void CANtoRS_calc(TCANtoRS*);
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void CANtoRS_Receive(TCANtoRS*);
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Uint16 CANtoRS_SendP(Uint16* Data, int16 len,TCANtoRS *p);
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Uint16 CANtoRS_Write(TZCanMsg* MSG,TCANtoRS *p);
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Uint16 CANtoRS_WriteHelper(TZCanMsg* MSG,TCANtoRS *p);
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void CANtoRS_HeartBeat(TCANtoRS *p);
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Uint16 CANtoRS_C_CRC(TCANtoRS *p,Uint16 *Data,Uint16 len);
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void CANtoRS_Analysis(TCANtoRS*);
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//<2F><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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#define CAN_TO_RS_DEFAULTS { .init = CANtoRS_init,\
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.calc = CANtoRS_calc,\
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.receive = CANtoRS_Receive,\
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.write = CANtoRS_WriteHelper}
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#ifdef __cplusplus
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}
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#endif
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#endif
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