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CAN Protocol

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This commit is contained in:
Вячеслав Штейбезандт
2026-03-03 18:30:20 +03:00
parent 34f14b6b25
commit 5d08a6e026
276 changed files with 15838 additions and 226576 deletions
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52
Core/Inc/can.h Normal file
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@@ -0,0 +1,52 @@
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file can.h
* @brief This file contains all the function prototypes for
* the can.c file
******************************************************************************
* @attention
*
* Copyright (c) 2026 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __CAN_H__
#define __CAN_H__
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "main.h"
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
extern CAN_HandleTypeDef hcan;
/* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */
void MX_CAN_Init(void);
/* USER CODE BEGIN Prototypes */
/* USER CODE END Prototypes */
#ifdef __cplusplus
}
#endif
#endif /* __CAN_H__ */

49
Core/Inc/gpio.h Normal file
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@@ -0,0 +1,49 @@
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file gpio.h
* @brief This file contains all the function prototypes for
* the gpio.c file
******************************************************************************
* @attention
*
* Copyright (c) 2026 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __GPIO_H__
#define __GPIO_H__
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "main.h"
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
/* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */
void MX_GPIO_Init(void);
/* USER CODE BEGIN Prototypes */
/* USER CODE END Prototypes */
#ifdef __cplusplus
}
#endif
#endif /*__ GPIO_H__ */

2
Core/Inc/main.h
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@@ -31,7 +31,7 @@ extern "C" {
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "requester.h"
/* USER CODE END Includes */
/* Exported types ------------------------------------------------------------*/

343
Core/Inc/requester.h Normal file
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@@ -0,0 +1,343 @@
#ifndef _requester
#define _requester
#include "main.h"
#include "can.h"
#include "rtc.h"
#include "tim.h"
#define _DEMO
#define ONLINE 1;
#define OFFLINE 0;
// TIM defines
#define TIM_REQUESTER_Prescaler 64000
//CAN Settings
#define _HCAN hcan
//CAN Speed
#define CAN_SPEED_PRSC_1000KB 2
#define CAN_SPEED_PRSC_500KB 4
#define CAN_SPEED_PRSC_250KB 8
#define CAN_SPEED_PRSC_125KB 16
#define CAN_SPEED_PRSC_50KB 40
#define CAN_CURRENT_SPEED CAN_SPEED_PRSC_250KB
//CAN Filter
#define ID_MAIN_DEVICE 0x000
#define CURRENT_TYPE_DEVICE 0b001
#define CURRENT_ID_DEVICE 0b0010
#define CAN_IDE_32 0b00000100 // Для 32-х битного масштаба
#define CAN_DATA_TYPE_FILTER 0x1F000000
#define CAN_DEVICE_ID_FILTER 0x000000FF
#define CAN_SENSOR_TYPE_FILTER 0x00F80000
#define CAN_SENSOR_ID_FILTER 0x0007FF00
typedef union{
struct bitfield{
unsigned bit0:1;
unsigned bit1:1;
unsigned bit2:1;
unsigned bit3:1;
unsigned bit4:1;
unsigned bit5:1;
unsigned bit6:1;
unsigned bit7:1;
}Bitfield;
char AllBit;
}Byte;
/**
* @brief HAL Status structures definition
*/
typedef enum
{
CRR_OK = 0x00U,
CRR_ERROR = 0x01U,
CRR_BUSY = 0x02U,
CRR_TIMEOUT = 0x03U
} CRR_Status;
_Bool IsLeapYear(uint8_t year);
#define COUNT_OF_MODBUS_SECTIONS 1
#define MODBUS_SECTION_MASK 0
#define MODBUS_SECTION_FILTER 1
#define SensorToModbusRegister(SensorType, SensorID) SensorType << 11 | SensorID
#define HighByteOfWord(WORD) (WORD>>8)&0xFF
#define LowByteOfWord(WORD) WORD&0xFF
//Priority level
#define PRIORITY_CRITICAL 0
#define PRIORITY_STANDARD 1
//Route mode
#define ROUTE_MASTER 1
#define ROUTE_SLAVE 0
//Data Types
#define DATA_TYPE_BROADCAST 0b0000
#define DATA_TYPE_DISCRETE 0b0001
#define DATA_TYPE_ANALOG 0b0010
#define DATA_TYPE_MODBUS_COIL 0b0011
#define DATA_TYPE_GENERAL_ADDRESS_SPACE 0b0100
#define DATA_TYPE_MODBUS_DISCRETE 0b0101
#define DATA_TYPE_MODBUS_HOLDING 0b0110
#define DATA_TYPE_MODBUS_INPUT 0b0111
#define DATA_TYPE_ERROR 0b1000
#define DATA_TYPE_PULSE 0b1111
//Sensor Types for DATA_TYPE_BROADCAST
#define SENSOR_TYPE_BROADCAST_STATUS 0b000000000000
#define SENSOR_TYPE_BROADCAST_ONOFF 0b000000000001
#define SENSOR_TYPE_BROADCAST_RESTARTDEVICE 0b000000000010
#define SENSOR_TYPE_BROADCAST_RTCSETUP 0b000000000011
//Sensor Types for DATA_TYPE_DISCRETE
#define SENSOR_TYPE_DISCRETE_ACCIDENT 0b0000
#define SENSOR_TYPE_DISCRETE_WARNING 0b0001
#define SENSOR_TYPE_DISCRETE_CONTROL_SIGNALS 0b0010
#define SENSOR_TYPE_DISCRETE_FLAGS 0b0011
#define SENSOR_TYPE_DISCRETE_RESET 0b0100
#define SENSOR_TYPE_DISCRETE_CHANGE_MODE 0b0101
#define SENSOR_TYPE_DISCRETE_REQUEST_LIST_OF_PARAMETERS 0b0110
//Sensor Types for DATA_TYPE_ANALOG
#define SENSOR_TYPE_ANALOG_UNIVERSAL 0b0000
#define SENSOR_TYPE_ANALOG_USTAVKI 0b0001
#define SENSOR_TYPE_ANALOG_U 0b0010
#define SENSOR_TYPE_ANALOG_I 0b0011
#define SENSOR_TYPE_ANALOG_T 0b0100
//Error Code
#define NONEXISTENT_ELEMENT 0x01
#define HighIdFilter(x) x<<24
struct controlflags{
unsigned IsPulse:1;
unsigned IsRtrMode:1;
};
//Device settings
typedef union{
struct msgBody_Broadcast{
unsigned Page:4;
unsigned BroadcastType:12;
}Fields;
unsigned Body:16;
}msgBroadcastType;
typedef union{
struct msgBody_Discrete{
unsigned Body:12;
unsigned Type:4;
}Fields;
unsigned Body:16;
}msgDiscreteType;
typedef union{
struct msgBody_Analog{
unsigned SensorID:12;
unsigned SensorType:4;
}Fields;
unsigned Body:16;
}msgAnalogType;
typedef union{
struct msgBody_Modbus{
unsigned RegCount:4;
unsigned StrAdr:12;
}Fields;
unsigned Body:16;
}msgModbusType;
typedef union{
struct msgBody_Error{
unsigned ErrorCode:8;
unsigned Info:8;
}Fields;
unsigned Body:16;
}msgErrorType;
typedef union{
struct extID_Fields{
unsigned MsgBody:16;
unsigned MsgType:4;
unsigned DeviceID:4;
unsigned DeviceType:3;
unsigned Route:1;
unsigned Priority:1;
}Fields;
unsigned int BitAll:29;
}extID;
// typedef union{
// struct extID_Fields{
// union{
// msgBodyBroadcast Broadcast;
// msgBodyDiscrete Discrete;
// msgBodyAnalog Analog;
// msgBodyModbus Modbus;
// msgBodyError Error;
// unsigned Body:16;
// }Msg;
// unsigned MsgType:4;
// unsigned DeviceID:4;
// unsigned DeviceType:3;
// unsigned Route:1;
// unsigned Priority:1;
// }Fields;
// unsigned int BitAll:29;
//}extID;
struct device{
unsigned Status:1;
extID ExtID;
unsigned TimeFromLastPulse;
unsigned LastPulseStep;
};
struct data{
struct T_sens{
char info[256];
unsigned SensID;
unsigned AvrgValue;
unsigned LastTenValues[10];
}TS;
struct U_sens{
char info[256];
unsigned SensID;
unsigned AvrgValue;
unsigned LastTenValues[10];
}Uu, Uv, Uw;
struct I_sens{
char info[256];
unsigned SensID;
unsigned AvrgValue;
unsigned LastTenValues[10];
}Iu, Iv, Iw;
};
struct received_request{
extID RequestedExtID;
unsigned RequestedDLC;
uint8_t RxData[8];
//DATA_TYPE_DISCRETIC
union discreticflags{
struct discretictype{
unsigned Request_Accident:1;
unsigned Request_Warning:1;
unsigned Request_Control_Signals:1;
unsigned Request_Flags:1;
unsigned Request_Reset:1;
unsigned Request_List_of_Parameters:1;
}DiscreticType;
unsigned AllFlags:5;
}DiscreticFlags;
//DATA_TYPE_BROADCAST
union broadcastflags{
struct broadcasttype{
unsigned Request_Status:1;
unsigned Request_OnOff:1;
unsigned Request_RTC_Setup:1;
}BroadcastType;
unsigned AllFlags:3;
}BroadcastFlags;
//DATA_TYPE_ANALOG
union analogflags{
struct analogtype{
unsigned Request_Universal_Sens:1;
unsigned Request_U_Sens:1;
unsigned Request_I_Sens:1;
unsigned Request_T_Sens:1;
}AnalogType;
unsigned AllFlags:4;
}AnalogFlags;
//DATA_TYPE_MODBUS
union modbusflags{
struct modbustype{
unsigned Coil:1;
unsigned Discrete:1;
unsigned Holding:1;
unsigned Input:1;
}ModbusType;
unsigned AllFlags:4;
}ModbusFlags;
union sensor_To_Modbus{
struct modbus{
unsigned Count:8;
unsigned StrAdr:8;
}Modbus;
unsigned Sensor:16;
}SensorToModbus;
unsigned ModbusFlag:1;
};
#define CAN_RX_BUFFER_SIZE 128
struct RXMsg{
struct INFO{
unsigned EXT:1;
unsigned RTR:1;
}info;
extID eID;
uint16_t DLC;
uint8_t Data[8];
};
uint16_t AvailableCanRxMsg(void);
void REQUESTER_Init(void);
void REQUESTER_MainWhile(void);
void Boot_SystemClock_Config(void);
CRR_Status REQUESTER_AnalogProcessing(struct RXMsg _rxMsg);
HAL_StatusTypeDef CanRequestToAnalogUniversal(struct RXMsg _rxMsg);
HAL_StatusTypeDef CanRequestToAnalogUSTAVKI(struct RXMsg _rxMsg);
HAL_StatusTypeDef CanRequestToAnalogUSens(struct RXMsg _rxMsg);
HAL_StatusTypeDef CanRequestToAnalogISens(struct RXMsg _rxMsg);
HAL_StatusTypeDef CanRequestToAnalogTSens(struct RXMsg _rxMsg);
CRR_Status REQUESTER_BroadcastProcessing(struct RXMsg _rxMsg);
HAL_StatusTypeDef CanRequestToBroadcastStatus(struct RXMsg _rxMsg);
void CanRequestToBroadcastOnOff(struct RXMsg _rxMsg);
void CanRequestToBroadcastRestart(struct RXMsg _rxMsg);
void CanRequestToBroadcastRtcSetup(struct RXMsg _rxMsg);
CRR_Status REQUESTER_DiscreticProcessing(struct RXMsg _rxMsg);
void CanRequestToDiscreteAccident(struct RXMsg _rxMsg);
void CanRequestToDiscreteWarning(struct RXMsg _rxMsg);
void CanRequestToDiscreteControlSignals(struct RXMsg _rxMsg);
void CanRequestToDiscreteFlags(struct RXMsg _rxMsg);
void CanRequestToDiscreteReset(struct RXMsg _rxMsg);
void CanRequestToDiscreteChangeMode(struct RXMsg _rxMsg);
void CanRequestToDiscreteRequestListOfParameters(struct RXMsg _rxMsg);
void REQUESTER_GeneralAddressSpace_Answer(struct RXMsg _rxMsg);
HAL_StatusTypeDef CanRequestError(struct RXMsg _rxMsg);
CRR_Status REQUESTER_ModbusProcessing(struct RXMsg _rxMsg);
HAL_StatusTypeDef CanRequestToModbusCoil(struct RXMsg _rxMsg);
HAL_StatusTypeDef CanRequestToModbusDiscrete(struct RXMsg _rxMsg);
HAL_StatusTypeDef CanRequestToModbusHolding(struct RXMsg _rxMsg);
HAL_StatusTypeDef CanRequestToModbusInput(struct RXMsg _rxMsg);
void REQUESTER_RTC_SYNC(uint8_t *data);
void REQUESTER_Pulse_TIM_Handler(void);
void Boot_SystemClock_Config(void);
void REQUESTER_CAN_FILTERS(void);
#endif

52
Core/Inc/rtc.h Normal file
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@@ -0,0 +1,52 @@
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file rtc.h
* @brief This file contains all the function prototypes for
* the rtc.c file
******************************************************************************
* @attention
*
* Copyright (c) 2026 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __RTC_H__
#define __RTC_H__
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "main.h"
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
extern RTC_HandleTypeDef hrtc;
/* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */
void MX_RTC_Init(void);
/* USER CODE BEGIN Prototypes */
/* USER CODE END Prototypes */
#ifdef __cplusplus
}
#endif
#endif /* __RTC_H__ */

8
Core/Inc/stm32f1xx_hal_conf.h
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@@ -36,7 +36,7 @@
#define HAL_MODULE_ENABLED
/*#define HAL_ADC_MODULE_ENABLED */
/*#define HAL_CRYP_MODULE_ENABLED */
/*#define HAL_CAN_MODULE_ENABLED */
#define HAL_CAN_MODULE_ENABLED
/*#define HAL_CAN_LEGACY_MODULE_ENABLED */
/*#define HAL_CEC_MODULE_ENABLED */
/*#define HAL_CORTEX_MODULE_ENABLED */
@@ -45,7 +45,7 @@
/*#define HAL_DMA_MODULE_ENABLED */
/*#define HAL_ETH_MODULE_ENABLED */
/*#define HAL_FLASH_MODULE_ENABLED */
/*#define HAL_GPIO_MODULE_ENABLED */
#define HAL_GPIO_MODULE_ENABLED
/*#define HAL_I2C_MODULE_ENABLED */
/*#define HAL_I2S_MODULE_ENABLED */
/*#define HAL_IRDA_MODULE_ENABLED */
@@ -57,14 +57,14 @@
/*#define HAL_HCD_MODULE_ENABLED */
/*#define HAL_PWR_MODULE_ENABLED */
/*#define HAL_RCC_MODULE_ENABLED */
/*#define HAL_RTC_MODULE_ENABLED */
#define HAL_RTC_MODULE_ENABLED
/*#define HAL_SD_MODULE_ENABLED */
/*#define HAL_MMC_MODULE_ENABLED */
/*#define HAL_SDRAM_MODULE_ENABLED */
/*#define HAL_SMARTCARD_MODULE_ENABLED */
/*#define HAL_SPI_MODULE_ENABLED */
/*#define HAL_SRAM_MODULE_ENABLED */
/*#define HAL_TIM_MODULE_ENABLED */
#define HAL_TIM_MODULE_ENABLED
/*#define HAL_UART_MODULE_ENABLED */
/*#define HAL_USART_MODULE_ENABLED */
/*#define HAL_WWDG_MODULE_ENABLED */

5
Core/Inc/stm32f1xx_it.h
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@@ -55,6 +55,11 @@ void SVC_Handler(void);
void DebugMon_Handler(void);
void PendSV_Handler(void);
void SysTick_Handler(void);
void USB_HP_CAN1_TX_IRQHandler(void);
void USB_LP_CAN1_RX0_IRQHandler(void);
void CAN1_RX1_IRQHandler(void);
void CAN1_SCE_IRQHandler(void);
void TIM4_IRQHandler(void);
/* USER CODE BEGIN EFP */
/* USER CODE END EFP */

52
Core/Inc/tim.h Normal file
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@@ -0,0 +1,52 @@
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file tim.h
* @brief This file contains all the function prototypes for
* the tim.c file
******************************************************************************
* @attention
*
* Copyright (c) 2026 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __TIM_H__
#define __TIM_H__
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "main.h"
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
extern TIM_HandleTypeDef htim4;
/* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */
void MX_TIM4_Init(void);
/* USER CODE BEGIN Prototypes */
/* USER CODE END Prototypes */
#ifdef __cplusplus
}
#endif
#endif /* __TIM_H__ */