进一步迭代优化统一管理

HAL/Inc/hal_can.h

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+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file           : hal_can.h
+  * @brief          : CAN hardware abstraction layer header file
+  ******************************************************************************
+  */
+/* USER CODE END Header */
+
+#ifndef HAL_CAN_H
+#define HAL_CAN_H
+
+#include <stdint.h>
+#include <stddef.h>
+#include "hal.h"
+
+/**
+ * @brief CAN instance identifier definitions
+ */
+typedef enum {
+    HAL_CAN_INSTANCE_1 = 0,
+    HAL_CAN_INSTANCE_2,
+    HAL_CAN_INSTANCE_MAX
+} hal_can_instance_t;
+
+/**
+ * @brief CAN mode definitions
+ */
+typedef enum {
+    HAL_CAN_MODE_NORMAL = 0,
+    HAL_CAN_MODE_LOOPBACK,
+    HAL_CAN_MODE_SILENT,
+    HAL_CAN_MODE_SILENT_LOOPBACK
+} hal_can_mode_t;
+
+/**
+ * @brief CAN filter mode definitions
+ */
+typedef enum {
+    HAL_CAN_FILTER_MODE_IDMASK = 0,
+    HAL_CAN_FILTER_MODE_IDLIST
+} hal_can_filter_mode_t;
+
+/**
+ * @brief CAN filter scale definitions
+ */
+typedef enum {
+    HAL_CAN_FILTER_SCALE_16BIT = 0,
+    HAL_CAN_FILTER_SCALE_32BIT
+} hal_can_filter_scale_t;
+
+/**
+ * @brief CAN filter fifo assignment definitions
+ */
+typedef enum {
+    HAL_CAN_FILTER_FIFO0 = 0,
+    HAL_CAN_FILTER_FIFO1
+} hal_can_filter_fifo_t;
+
+/**
+ * @brief CAN frame format definitions
+ */
+typedef enum {
+    HAL_CAN_FRAME_STANDARD = 0,
+    HAL_CAN_FRAME_EXTENDED
+} hal_can_frame_format_t;
+
+/**
+ * @brief CAN frame type definitions
+ */
+typedef enum {
+    HAL_CAN_FRAME_DATA = 0,
+    HAL_CAN_FRAME_REMOTE
+} hal_can_frame_type_t;
+
+/**
+ * @brief CAN filter configuration structure
+ */
+typedef struct {
+    uint8_t filter_id;
+    hal_can_filter_mode_t mode;
+    hal_can_filter_scale_t scale;
+    hal_can_filter_fifo_t fifo_assignment;
+    uint32_t filter_mask_id_high;
+    uint32_t filter_mask_id_low;
+    uint32_t filter_id_high;
+    uint32_t filter_id_low;
+    uint8_t filter_enable;
+} hal_can_filter_config_t;
+
+/**
+ * @brief CAN configuration structure
+ */
+typedef struct {
+    hal_can_instance_t instance;
+    hal_can_mode_t mode;
+    uint32_t prescaler;
+    uint8_t sync_jump_width;
+    uint8_t time_segment1;
+    uint8_t time_segment2;
+    uint8_t filter_count;
+    const hal_can_filter_config_t* filters;
+} hal_can_config_t;
+
+/**
+ * @brief CAN message structure
+ */
+typedef struct {
+    hal_can_frame_format_t format;
+    hal_can_frame_type_t type;
+    uint32_t id;
+    uint8_t dlc;
+    uint8_t data[8];
+} hal_can_message_t;
+
+/**
+ * @brief Initialize CAN hardware
+ * @param config: CAN configuration structure
+ * @retval HAL status code
+ */
+hal_ret_t hal_can_init(const hal_can_config_t *config);
+
+/**
+ * @brief Deinitialize CAN hardware
+ * @param instance: CAN instance identifier
+ * @retval HAL status code
+ */
+hal_ret_t hal_can_deinit(hal_can_instance_t instance);
+
+/**
+ * @brief Start CAN peripheral
+ * @param instance: CAN instance identifier
+ * @retval HAL status code
+ */
+hal_ret_t hal_can_start(hal_can_instance_t instance);
+
+/**
+ * @brief Stop CAN peripheral
+ * @param instance: CAN instance identifier
+ * @retval HAL status code
+ */
+hal_ret_t hal_can_stop(hal_can_instance_t instance);
+
+/**
+ * @brief Send CAN message
+ * @param instance: CAN instance identifier
+ * @param message: Pointer to CAN message structure
+ * @param timeout: Timeout in milliseconds
+ * @retval HAL status code
+ */
+hal_ret_t hal_can_send(hal_can_instance_t instance, const hal_can_message_t *message, uint32_t timeout);
+
+/**
+ * @brief Receive CAN message
+ * @param instance: CAN instance identifier
+ * @param fifo: FIFO number (0 or 1)
+ * @param message: Pointer to CAN message structure
+ * @param timeout: Timeout in milliseconds
+ * @retval HAL status code
+ */
+hal_ret_t hal_can_receive(hal_can_instance_t instance, uint8_t fifo, hal_can_message_t *message, uint32_t timeout);
+
+/**
+ * @brief Get CAN receive FIFO message pending count
+ * @param instance: CAN instance identifier
+ * @param fifo: FIFO number (0 or 1)
+ * @param count: Pointer to store pending message count
+ * @retval HAL status code
+ */
+hal_ret_t hal_can_get_pending_count(hal_can_instance_t instance, uint8_t fifo, uint8_t *count);
+
+/**
+ * @brief Configure CAN filter
+ * @param instance: CAN instance identifier
+ * @param filter_config: Pointer to CAN filter configuration structure
+ * @retval HAL status code
+ */
+hal_ret_t hal_can_configure_filter(hal_can_instance_t instance, const hal_can_filter_config_t *filter_config);
+
+#endif /* HAL_CAN_H */