40 lines
1.5 KiB
C
40 lines
1.5 KiB
C
#include "by_can.h"
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#include <string.h>
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#include <assert.h>
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#include "by_utils.h"
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#include "by_debug.h"
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by_error_status by_can_send_stdd(uint32_t id, const uint8_t *data, uint8_t len, uint16_t timeout)
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{
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assert(id < 0x7FF);
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if (len > 8) {
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len = 8;
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}
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uint8_t transmit_mailbox;
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can_tx_message_type tx_message_struct;
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tx_message_struct.standard_id = id; /* 设置发送数据帧的 ID=0x400 */
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tx_message_struct.extended_id = 0; /* 不设置 */
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tx_message_struct.id_type = CAN_ID_STANDARD; /* 发送数据帧类型（标准/扩展）：标准数据帧 */
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tx_message_struct.frame_type = CAN_TFT_DATA; /* 发送帧类型（远程/数据）：数据帧 */
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tx_message_struct.dlc = len; /* 发送数据长度（0~8）：8 */
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memcpy(tx_message_struct.data, data, len); /* 复制发送数据 */
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transmit_mailbox = can_message_transmit(CAN1, &tx_message_struct); /* 将以上待发送报文写入发送邮箱并请求发送 */
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/* 等待该邮箱发送成功—对应邮箱发送成功标志置起 */
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while (can_transmit_status_get(CAN1, (can_tx_mailbox_num_type)transmit_mailbox) != CAN_TX_STATUS_SUCCESSFUL) {
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// LOGD("CAN#SEND: timeout=%d", timeout);
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if (0 == timeout--) {
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LOGW("CAN#TIMEOUT: ID=0x%x", id);
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return BY_ERROR;
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}
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delay_us(10);
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}
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return BY_SUCCESS;
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}
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