From 76c916ebff793dd2d799089de12b15badac0a55b Mon Sep 17 00:00:00 2001 From: Feelyx Date: Thu, 22 Jan 2026 16:48:02 +0800 Subject: [PATCH] =?UTF-8?q?=E6=8D=A2=E4=BA=86can?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- User/bsp/can.c | 291 ++++++++++++++++++++++++++----------------------- 1 file changed, 157 insertions(+), 134 deletions(-) diff --git a/User/bsp/can.c b/User/bsp/can.c index 193dd2d..e401cdd 100644 --- a/User/bsp/can.c +++ b/User/bsp/can.c @@ -37,16 +37,21 @@ static osMutexId_t queue_mutex = NULL; static void (*CAN_Callback[BSP_CAN_NUM][BSP_CAN_CB_NUM])(void); static bool inited = false; static BSP_CAN_IdParser_t id_parser = NULL; /* ID解析器 */ +static BSP_CAN_TxQueue_t tx_queues[BSP_CAN_NUM]; /* 每个CAN的发送队列 */ /* Private function prototypes ---------------------------------------------- */ static BSP_CAN_t CAN_Get(CAN_HandleTypeDef *hcan); static osMessageQueueId_t BSP_CAN_FindQueue(BSP_CAN_t can, uint32_t can_id); static int8_t BSP_CAN_CreateIdQueue(BSP_CAN_t can, uint32_t can_id, uint8_t queue_size); -static int8_t BSP_CAN_DeleteIdQueue(BSP_CAN_t can, uint32_t can_id); static void BSP_CAN_RxFifo0Callback(void); static void BSP_CAN_RxFifo1Callback(void); +static void BSP_CAN_TxCompleteCallback(void); static BSP_CAN_FrameType_t BSP_CAN_GetFrameType(CAN_RxHeaderTypeDef *header); static uint32_t BSP_CAN_DefaultIdParser(uint32_t original_id, BSP_CAN_FrameType_t frame_type); +static void BSP_CAN_TxQueueInit(BSP_CAN_t can); +static bool BSP_CAN_TxQueuePush(BSP_CAN_t can, BSP_CAN_TxMessage_t *msg); +static bool BSP_CAN_TxQueuePop(BSP_CAN_t can, BSP_CAN_TxMessage_t *msg); +static bool BSP_CAN_TxQueueIsEmpty(BSP_CAN_t can); /* Private functions -------------------------------------------------------- */ /* USER FUNCTION BEGIN */ @@ -121,29 +126,7 @@ static int8_t BSP_CAN_CreateIdQueue(BSP_CAN_t can, uint32_t can_id, uint8_t queu return BSP_OK; } -/** - * @brief 删除指定CAN ID的消息队列 - * @note 内部函数，已包含互斥锁保护 - */ -static int8_t BSP_CAN_DeleteIdQueue(BSP_CAN_t can, uint32_t can_id) { - if (osMutexAcquire(queue_mutex, CAN_QUEUE_MUTEX_TIMEOUT) != osOK) { - return BSP_ERR_TIMEOUT; - } - BSP_CAN_QueueNode_t **current = &queue_list; - while (*current != NULL) { - if ((*current)->can == can && (*current)->can_id == can_id) { - BSP_CAN_QueueNode_t *to_delete = *current; - *current = (*current)->next; - osMessageQueueDelete(to_delete->queue); - BSP_Free(to_delete); - osMutexRelease(queue_mutex); - return BSP_OK; - } - current = &(*current)->next; - } - osMutexRelease(queue_mutex); - return BSP_ERR; // 未找到 -} + /** * @brief 获取帧类型 */ @@ -163,6 +146,106 @@ static uint32_t BSP_CAN_DefaultIdParser(uint32_t original_id, BSP_CAN_FrameType_ return original_id; } +/** + * @brief 初始化发送队列 + */ +static void BSP_CAN_TxQueueInit(BSP_CAN_t can) { + if (can >= BSP_CAN_NUM) return; + + tx_queues[can].head = 0; + tx_queues[can].tail = 0; +} + +/** + * @brief 向发送队列添加消息（无锁） + */ +static bool BSP_CAN_TxQueuePush(BSP_CAN_t can, BSP_CAN_TxMessage_t *msg) { + if (can >= BSP_CAN_NUM || msg == NULL) return false; + + BSP_CAN_TxQueue_t *queue = &tx_queues[can]; + uint32_t next_head = (queue->head + 1) % BSP_CAN_TX_QUEUE_SIZE; + + // 队列满 + if (next_head == queue->tail) { + return false; + } + + // 复制消息 + queue->buffer[queue->head] = *msg; + + // 更新头指针（原子操作） + queue->head = next_head; + + return true; +} + + +/** + * @brief 从发送队列取出消息（无锁） + */ +static bool BSP_CAN_TxQueuePop(BSP_CAN_t can, BSP_CAN_TxMessage_t *msg) { + if (can >= BSP_CAN_NUM || msg == NULL) return false; + + BSP_CAN_TxQueue_t *queue = &tx_queues[can]; + + // 队列空 + if (queue->head == queue->tail) { + return false; + } + + // 复制消息 + *msg = queue->buffer[queue->tail]; + + // 更新尾指针（原子操作） + queue->tail = (queue->tail + 1) % BSP_CAN_TX_QUEUE_SIZE; + + return true; +} + +/** + * @brief 检查发送队列是否为空 + */ +static bool BSP_CAN_TxQueueIsEmpty(BSP_CAN_t can) { + if (can >= BSP_CAN_NUM) return true; + + return tx_queues[can].head == tx_queues[can].tail; +} + +/** + * @brief 处理所有CAN实例的发送队列 + */ +static void BSP_CAN_TxCompleteCallback(void) { + // 处理所有CAN实例的发送队列 + for (int i = 0; i < BSP_CAN_NUM; i++) { + BSP_CAN_t can = (BSP_CAN_t)i; + CAN_HandleTypeDef *hcan = BSP_CAN_GetHandle(can); + if (hcan == NULL) continue; + + BSP_CAN_TxMessage_t msg; + uint32_t mailbox; + + // 尝试发送队列中的消息 + while (!BSP_CAN_TxQueueIsEmpty(can)) { + // 检查是否有空闲邮箱 + if (HAL_CAN_GetTxMailboxesFreeLevel(hcan) == 0) { + break; // 没有空闲邮箱，等待下次中断 + } + + // 从队列中取出消息 + if (!BSP_CAN_TxQueuePop(can, &msg)) { + break; + } + + // 发送消息 + if (HAL_CAN_AddTxMessage(hcan, &msg.header, msg.data, &mailbox) != HAL_OK) { + // 发送失败，消息已经从队列中移除，直接丢弃 + break; + } + } + } +} + + /** * @brief FIFO0接收处理函数 */ @@ -347,7 +430,12 @@ int8_t BSP_CAN_Init(void) { // 清零回调函数数组 memset(CAN_Callback, 0, sizeof(CAN_Callback)); - + + // 初始化发送队列 + for (int i = 0; i < BSP_CAN_NUM; i++) { + BSP_CAN_TxQueueInit((BSP_CAN_t)i); + } + // 初始化ID解析器为默认解析器 id_parser = BSP_CAN_DefaultIdParser; @@ -377,6 +465,9 @@ int8_t BSP_CAN_Init(void) { // 自动注册CAN1接收回调函数 BSP_CAN_RegisterCallback(BSP_CAN_1, HAL_CAN_RX_FIFO0_MSG_PENDING_CB, BSP_CAN_RxFifo0Callback); + BSP_CAN_RegisterCallback(BSP_CAN_1, HAL_CAN_TX_MAILBOX0_CPLT_CB, BSP_CAN_TxCompleteCallback); + BSP_CAN_RegisterCallback(BSP_CAN_1, HAL_CAN_TX_MAILBOX1_CPLT_CB, BSP_CAN_TxCompleteCallback); + BSP_CAN_RegisterCallback(BSP_CAN_1, HAL_CAN_TX_MAILBOX2_CPLT_CB, BSP_CAN_TxCompleteCallback); // 激活CAN1中断 HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING | @@ -390,48 +481,19 @@ int8_t BSP_CAN_Init(void) { // 自动注册CAN2接收回调函数 BSP_CAN_RegisterCallback(BSP_CAN_2, HAL_CAN_RX_FIFO1_MSG_PENDING_CB, BSP_CAN_RxFifo1Callback); + BSP_CAN_RegisterCallback(BSP_CAN_2, HAL_CAN_TX_MAILBOX0_CPLT_CB, BSP_CAN_TxCompleteCallback); + BSP_CAN_RegisterCallback(BSP_CAN_2, HAL_CAN_TX_MAILBOX1_CPLT_CB, BSP_CAN_TxCompleteCallback); + BSP_CAN_RegisterCallback(BSP_CAN_2, HAL_CAN_TX_MAILBOX2_CPLT_CB, BSP_CAN_TxCompleteCallback); // 激活CAN2中断 - HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO1_MSG_PENDING); + HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO1_MSG_PENDING | + CAN_IT_TX_MAILBOX_EMPTY); // 激活发送邮箱空中断 inited = true; return BSP_OK; } -int8_t BSP_CAN_DeInit(void) { - if (!inited) { - return BSP_ERR; - } - - // 删除所有队列 - if (osMutexAcquire(queue_mutex, CAN_QUEUE_MUTEX_TIMEOUT) == osOK) { - BSP_CAN_QueueNode_t *current = queue_list; - while (current != NULL) { - BSP_CAN_QueueNode_t *next = current->next; - osMessageQueueDelete(current->queue); - BSP_Free(current); - current = next; - } - queue_list = NULL; - osMutexRelease(queue_mutex); - } - - // 删除互斥锁 - if (queue_mutex != NULL) { - osMutexDelete(queue_mutex); - queue_mutex = NULL; - } - - // 清零回调函数数组 - memset(CAN_Callback, 0, sizeof(CAN_Callback)); - - // 重置ID解析器 - id_parser = NULL; - - inited = false; - return BSP_OK; -} CAN_HandleTypeDef *BSP_CAN_GetHandle(BSP_CAN_t can) { if (can >= BSP_CAN_NUM) { @@ -487,44 +549,58 @@ int8_t BSP_CAN_Transmit(BSP_CAN_t can, BSP_CAN_Format_t format, return BSP_ERR_NULL; } - CAN_TxHeaderTypeDef header = {0}; - uint32_t mailbox; + // 准备发送消息 + BSP_CAN_TxMessage_t tx_msg = {0}; switch (format) { case BSP_CAN_FORMAT_STD_DATA: - header.StdId = id; - header.IDE = CAN_ID_STD; - header.RTR = CAN_RTR_DATA; + tx_msg.header.StdId = id; + tx_msg.header.IDE = CAN_ID_STD; + tx_msg.header.RTR = CAN_RTR_DATA; break; case BSP_CAN_FORMAT_EXT_DATA: - header.ExtId = id; - header.IDE = CAN_ID_EXT; - header.RTR = CAN_RTR_DATA; + tx_msg.header.ExtId = id; + tx_msg.header.IDE = CAN_ID_EXT; + tx_msg.header.RTR = CAN_RTR_DATA; break; case BSP_CAN_FORMAT_STD_REMOTE: - header.StdId = id; - header.IDE = CAN_ID_STD; - header.RTR = CAN_RTR_REMOTE; + tx_msg.header.StdId = id; + tx_msg.header.IDE = CAN_ID_STD; + tx_msg.header.RTR = CAN_RTR_REMOTE; break; case BSP_CAN_FORMAT_EXT_REMOTE: - header.ExtId = id; - header.IDE = CAN_ID_EXT; - header.RTR = CAN_RTR_REMOTE; + tx_msg.header.ExtId = id; + tx_msg.header.IDE = CAN_ID_EXT; + tx_msg.header.RTR = CAN_RTR_REMOTE; break; default: return BSP_ERR; } - header.DLC = dlc; - header.TransmitGlobalTime = DISABLE; + tx_msg.header.DLC = dlc; + tx_msg.header.TransmitGlobalTime = DISABLE; - HAL_StatusTypeDef result = HAL_CAN_AddTxMessage(hcan, &header, data, &mailbox); - - if (result != HAL_OK) { - return BSP_ERR; + // 复制数据 + if (data != NULL && dlc > 0) { + memcpy(tx_msg.data, data, dlc); } - return BSP_OK; + // 尝试直接发送到邮箱 + uint32_t mailbox; + if (HAL_CAN_GetTxMailboxesFreeLevel(hcan) > 0) { + HAL_StatusTypeDef result = HAL_CAN_AddTxMessage(hcan, &tx_msg.header, tx_msg.data, &mailbox); + if (result == HAL_OK) { + return BSP_OK; // 发送成功 + } + } + + // 邮箱满，尝试放入队列 + if (BSP_CAN_TxQueuePush(can, &tx_msg)) { + return BSP_OK; // 成功放入队列 + } + + // 队列也满，丢弃数据 + return BSP_ERR; // 数据丢弃 } int8_t BSP_CAN_TransmitStdDataFrame(BSP_CAN_t can, BSP_CAN_StdDataFrame_t *frame) { @@ -556,12 +632,6 @@ int8_t BSP_CAN_RegisterId(BSP_CAN_t can, uint32_t can_id, uint8_t queue_size) { return BSP_CAN_CreateIdQueue(can, can_id, queue_size); } -int8_t BSP_CAN_UnregisterIdQueue(BSP_CAN_t can, uint32_t can_id) { - if (!inited) { - return BSP_ERR_INITED; - } - return BSP_CAN_DeleteIdQueue(can, can_id); -} int8_t BSP_CAN_GetMessage(BSP_CAN_t can, uint32_t can_id, BSP_CAN_Message_t *msg, uint32_t timeout) { if (!inited) { @@ -628,15 +698,6 @@ int8_t BSP_CAN_RegisterIdParser(BSP_CAN_IdParser_t parser) { return BSP_OK; } -int8_t BSP_CAN_UnregisterIdParser(void) { - if (!inited) { - return BSP_ERR_INITED; - } - - id_parser = BSP_CAN_DefaultIdParser; - return BSP_OK; -} - uint32_t BSP_CAN_ParseId(uint32_t original_id, BSP_CAN_FrameType_t frame_type) { if (id_parser != NULL) { return id_parser(original_id, frame_type); @@ -644,42 +705,4 @@ uint32_t BSP_CAN_ParseId(uint32_t original_id, BSP_CAN_FrameType_t frame_type) { return BSP_CAN_DefaultIdParser(original_id, frame_type); } -int8_t BSP_CAN_WaitTxMailboxEmpty(BSP_CAN_t can, uint32_t timeout) { - if (!inited) { - return BSP_ERR_INITED; - } - if (can >= BSP_CAN_NUM) { - return BSP_ERR; - } - - CAN_HandleTypeDef *hcan = BSP_CAN_GetHandle(can); - if (hcan == NULL) { - return BSP_ERR_NULL; - } - - uint32_t start_time = HAL_GetTick(); - - // 如果超时时间为0，立即检查并返回 - if (timeout == 0) { - uint32_t free_level = HAL_CAN_GetTxMailboxesFreeLevel(hcan); - return (free_level > 0) ? BSP_OK : BSP_ERR_TIMEOUT; - } - - // 等待至少有一个邮箱空闲 - while (true) { - uint32_t free_level = HAL_CAN_GetTxMailboxesFreeLevel(hcan); - if (free_level > 0) { - return BSP_OK; - } - - // 检查超时 - if (timeout != BSP_CAN_TIMEOUT_FOREVER) { - uint32_t elapsed = HAL_GetTick() - start_time; - if (elapsed >= timeout) { - return BSP_ERR_TIMEOUT; - } - } - - osDelay(1); - } -} +