Отправка сообщений в CAN шину через очередь сообщений.

src/can.c

@@ -7,7 +7,8 @@
 
 static uint32_t HAL_RCC_CAN1_CLK_ENABLED = 0;
 
-static struct can_packet_t messages[MAX_MESSAGES];
+static struct can_packet_t rx_messages[MAX_MESSAGES];
+static struct can_packet_t tx_messages[MAX_MESSAGES];
 
 static CAN_TxHeaderTypeDef TxHeader[2];
 static uint32_t TxMailbox;
@@ -15,6 +16,9 @@ static uint32_t TxMailbox;
 static uint32_t rx_head = 0u;
 static uint32_t rx_tail = 0u;
 
+static uint32_t tx_head = 0u;
+static uint32_t tx_tail = 0u;
+
 static inline uint32_t
 next_idx(uint32_t idx)
 {
@@ -27,7 +31,7 @@ can_read_msg(struct can_packet_t **msg)
 	bool result = false;
 
 	if (rx_head != rx_tail) {
-		*msg = &messages[rx_head];
+		*msg = &rx_messages[rx_head];
 		rx_head = next_idx(rx_head);
 
 		result = true;
@@ -36,32 +40,64 @@ can_read_msg(struct can_packet_t **msg)
 	return result;
 }
 
-void
-can_send(struct can_packet_t *msg)
+static bool
+can_ready_tx(CAN_HandleTypeDef *hcan)
 {
-	CAN_HandleTypeDef *can = &hcan1;
+	uint32_t tsr = READ_REG(hcan->Instance->TSR);
+	bool result = false;
 
-	if (msg->bus == 1) {
-		can = &hcan2;
+	if (((tsr & CAN_TSR_TME0) != 0U) || ((tsr & CAN_TSR_TME1) != 0U) ||
+	    ((tsr & CAN_TSR_TME2) != 0U)) {
+		result = true;
 	}
 
-	union {
-		can_msg_t *msg;
-		uint32_t *u32;
-	} id;
-	id.msg = &msg->msg_id;
+	return result;
+}
+
+void
+can_work(void)
+{
+	if (tx_head != tx_tail) {
+		CAN_HandleTypeDef *can = &hcan1;
+		struct can_packet_t *msg = &tx_messages[tx_tail % MAX_MESSAGES];
 
-	// TxHeader[msg->bus].StdId = msg->msg_id.dest_id;
-	TxHeader[msg->bus].ExtId = *id.u32;
-	TxHeader[msg->bus].DLC = msg->len;
+		if (msg->bus == 1) {
+			can = &hcan2;
+		}
 
-	if (HAL_CAN_AddTxMessage(can, &TxHeader[msg->bus], msg->data,
-				 &TxMailbox) != HAL_OK) {
-		/* Transmission request Error */
-		Error_Handler();
+		if (can_ready_tx(can)) {
+			union {
+				can_msg_t *msg;
+				uint32_t *u32;
+			} id;
+			id.msg = &msg->msg_id;
+
+			// TxHeader[msg->bus].StdId = msg->msg_id.dest_id;
+			TxHeader[msg->bus].ExtId = *id.u32;
+			TxHeader[msg->bus].DLC = msg->len;
+
+			if (HAL_CAN_AddTxMessage(can, &TxHeader[msg->bus],
+						 msg->data,
+						 &TxMailbox) != HAL_OK) {
+				/* Transmission request Error */
+				Error_Handler();
+			}
+
+			tx_tail++;
+		}
 	}
 }
 
+void
+can_send(struct can_packet_t *msg)
+{
+	struct can_packet_t *add_msg = &tx_messages[tx_head % MAX_MESSAGES];
+
+	memcpy(add_msg, msg, sizeof(struct can_packet_t));
+
+	tx_head++;
+}
+
 /* CAN1 init function */
 static void
 MX_CAN1_Init(void)
@@ -285,8 +321,8 @@ HAL_CAN_MspDeInit(CAN_HandleTypeDef *hcan)
 }
 
 /**
-  * @brief This function handles CAN1 TX interrupt.
-  */
+ * @brief This function handles CAN1 TX interrupt.
+ */
 void
 CAN1_TX_IRQHandler(void)
 {
@@ -294,8 +330,8 @@ CAN1_TX_IRQHandler(void)
 }
 
 /**
-  * @brief This function handles CAN1 RX0 interrupt.
-  */
+ * @brief This function handles CAN1 RX0 interrupt.
+ */
 void
 CAN1_RX0_IRQHandler(void)
 {
@@ -303,8 +339,8 @@ CAN1_RX0_IRQHandler(void)
 }
 
 /**
-  * @brief This function handles CAN1 RX1 interrupt.
-  */
+ * @brief This function handles CAN1 RX1 interrupt.
+ */
 void
 CAN1_RX1_IRQHandler(void)
 {
@@ -312,8 +348,8 @@ CAN1_RX1_IRQHandler(void)
 }
 
 /**
-  * @brief This function handles CAN1 SCE interrupt.
-  */
+ * @brief This function handles CAN1 SCE interrupt.
+ */
 void
 CAN1_SCE_IRQHandler(void)
 {
@@ -321,8 +357,8 @@ CAN1_SCE_IRQHandler(void)
 }
 
 /**
-  * @brief This function handles CAN2 TX interrupt.
-  */
+ * @brief This function handles CAN2 TX interrupt.
+ */
 void
 CAN2_TX_IRQHandler(void)
 {
@@ -330,8 +366,8 @@ CAN2_TX_IRQHandler(void)
 }
 
 /**
-  * @brief This function handles CAN2 RX0 interrupt.
-  */
+ * @brief This function handles CAN2 RX0 interrupt.
+ */
 void
 CAN2_RX0_IRQHandler(void)
 {
@@ -339,8 +375,8 @@ CAN2_RX0_IRQHandler(void)
 }
 
 /**
-  * @brief This function handles CAN2 RX1 interrupt.
-  */
+ * @brief This function handles CAN2 RX1 interrupt.
+ */
 void
 CAN2_RX1_IRQHandler(void)
 {
@@ -348,8 +384,8 @@ CAN2_RX1_IRQHandler(void)
 }
 
 /**
-  * @brief This function handles CAN2 SCE interrupt.
-  */
+ * @brief This function handles CAN2 SCE interrupt.
+ */
 void
 CAN2_SCE_IRQHandler(void)
 {
@@ -378,17 +414,17 @@ HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
 
 	/* Get RX message */
 	res = HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &RxHeader,
-				   messages[rx_tail].data);
+				   rx_messages[rx_tail].data);
 	if (res != HAL_OK) {
 		/* Reception Error */
 		Error_Handler();
 	}
 
-	messages[rx_tail].magic = CAN_MSG_MAGIC;
+	rx_messages[rx_tail].magic = CAN_MSG_MAGIC;
 	if (hcan == &hcan1) {
-		messages[rx_tail].bus = 0u;
+		rx_messages[rx_tail].bus = 0u;
 	} else {
-		messages[rx_tail].bus = 1u;
+		rx_messages[rx_tail].bus = 1u;
 	}
 
 	union {
@@ -398,9 +434,9 @@ HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
 
 	id.u32 = RxHeader.ExtId;
 
-	messages[rx_tail].msg_id = id.msg;
-	messages[rx_tail].len = (uint8_t)RxHeader.DLC;
-	make_crc(&messages[rx_tail]);
+	rx_messages[rx_tail].msg_id = id.msg;
+	rx_messages[rx_tail].len = (uint8_t)RxHeader.DLC;
+	make_crc(&rx_messages[rx_tail]);
 
 	rx_tail = next_idx(rx_tail);
 }

src/include/can.h

@@ -15,13 +15,16 @@
 
 #define CAN_MSG_MAGIC (0xAAu)
 
+/**
+ * @brief Структура пакета с сообщением
+ */
 struct can_packet_t {
-	uint8_t magic;
-	uint8_t bus;
-	can_msg_t msg_id;
-	uint8_t data[8];
-	uint8_t len;
-	uint8_t crc;
+	uint8_t magic; /**< @brief Начало пакета */
+	uint8_t bus; /**< @brief Номер шины, куда отправлять сообщение */
+	can_msg_t msg_id; /**< @brief Дескриптор команды */
+	uint8_t data[8];  /**< @brief Данные команды */
+	uint8_t len;	  /**< @brief Длина данных команды */
+	uint8_t crc; /**< @brief Контрольная сумма пакета */
 };
 
 /**
@@ -30,11 +33,20 @@ struct can_packet_t {
 void can_init(void);
 
 /**
- * @brief Отослать сообщение CAN
+ * @brief Добавить CAN сообщение в очередь отправки
+ * @param msg [in] - сообщение
  */
 void can_send(struct can_packet_t *msg);
 
 /**
  * @brief Получить сообщение CAN из очереди
+ * @param msg [out] - указатель на полученное сообщение
+ * @retval true если прочитано сообщение
+ * @retval false если очередь входящих сообщений пуста
  */
 bool can_read_msg(struct can_packet_t **msg);
+
+/**
+ * @brief Функция работы CAN
+ */
+void can_work(void);

src/main.c

@@ -16,6 +16,8 @@ extern PCD_HandleTypeDef hpcd_USB_OTG_FS;
 static uint8_t g_status = 0;
 static uint8_t r_status = 0;
 
+static uint32_t do_led = 0;
+
 static void
 loop(void)
 {
@@ -54,6 +56,34 @@ loop(void)
 
 		can_send(&msg2);
 	}
+
+	if (do_led) {
+		static uint32_t counter = 0u;
+
+		counter++;
+
+		if (counter >= 200u) {
+			if (g_status) {
+				HAL_GPIO_WritePin(GPIOB, GPIO_PIN_1,
+						  GPIO_PIN_SET);
+				g_status = 0;
+			} else {
+				HAL_GPIO_WritePin(GPIOB, GPIO_PIN_1,
+						  GPIO_PIN_RESET);
+				g_status = 1;
+			}
+			counter = 0u;
+		}
+		if (r_status > 0) {
+			r_status--;
+		} else {
+			HAL_GPIO_WritePin(GPIOB, GPIO_PIN_0, GPIO_PIN_RESET);
+		}
+
+		do_led = 0U;
+	}
+
+	can_work();
 }
 
 int
@@ -98,25 +128,7 @@ SysTick_Handler(void)
 	HAL_IncTick();
 	HAL_SYSTICK_IRQHandler();
 
-	static uint32_t counter = 0u;
-
-	counter++;
-
-	if (counter >= 200u) {
-		if (g_status) {
-			HAL_GPIO_WritePin(GPIOB, GPIO_PIN_1, GPIO_PIN_SET);
-			g_status = 0;
-		} else {
-			HAL_GPIO_WritePin(GPIOB, GPIO_PIN_1, GPIO_PIN_RESET);
-			g_status = 1;
-		}
-		counter = 0u;
-	}
-	if (r_status > 0) {
-		r_status--;
-	} else {
-		HAL_GPIO_WritePin(GPIOB, GPIO_PIN_0, GPIO_PIN_RESET);
-	}
+	do_led = 1;
 }
 
 /**