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改can

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Robofish
2025-10-03 16:15:11 +08:00
parent 7275e5e6e1
commit 3fb6348116
3 changed files with 207 additions and 165 deletions
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283
assets/User_code/bsp/can.c
View File

@@ -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 */
@@ -118,29 +123,7 @@ 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
*/
@@ -160,6 +143,106 @@ 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
*/
@@ -344,7 +427,12 @@ 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;
@@ -360,39 +448,6 @@ int8_t BSP_CAN_Init(void) {
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) {
@@ -445,44 +500,58 @@ 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) {
@@ -514,12 +583,6 @@ 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) {
@@ -586,15 +649,6 @@ 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);
@@ -602,43 +656,4 @@ 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;
}
}
// 短暂延时，避免占用过多CPU
osDelay(1);
}
}

49
assets/User_code/bsp/can.h
View File

@@ -21,6 +21,7 @@ extern "C" {
#define BSP_CAN_DEFAULT_QUEUE_SIZE 10
#define BSP_CAN_TIMEOUT_IMMEDIATE 0
#define BSP_CAN_TIMEOUT_FOREVER osWaitForever
#define BSP_CAN_TX_QUEUE_SIZE 32 /* 发送队列大小 */
/* USER DEFINE BEGIN */
@@ -29,7 +30,8 @@ extern "C" {
/* Exported macro ----------------------------------------------------------- */
/* Exported types ----------------------------------------------------------- */
typedef enum {
/* AUTO GENERATED BSP_CAN_NAME */
BSP_CAN_1,
BSP_CAN_2,
BSP_CAN_NUM,
BSP_CAN_ERR,
} BSP_CAN_t;
@@ -101,6 +103,19 @@ typedef struct {
/* ID解析回调函数类型 */
typedef uint32_t (*BSP_CAN_IdParser_t)(uint32_t original_id, BSP_CAN_FrameType_t frame_type);
/* CAN发送消息结构体 */
typedef struct {
CAN_TxHeaderTypeDef header; /* 发送头 */
uint8_t data[BSP_CAN_MAX_DLC]; /* 数据 */
} BSP_CAN_TxMessage_t;
/* 无锁环形队列结构体 */
typedef struct {
BSP_CAN_TxMessage_t buffer[BSP_CAN_TX_QUEUE_SIZE]; /* 缓冲区 */
volatile uint32_t head; /* 队列头 */
volatile uint32_t tail; /* 队列尾 */
} BSP_CAN_TxQueue_t;
/* USER STRUCT BEGIN */
/* USER STRUCT END */
@@ -113,12 +128,6 @@ typedef uint32_t (*BSP_CAN_IdParser_t)(uint32_t original_id, BSP_CAN_FrameType_t
*/
int8_t BSP_CAN_Init(void);
/**
* @brief 反初始化 CAN 模块
* @return BSP_OK 成功，其他值失败
*/
int8_t BSP_CAN_DeInit(void);
/**
* @brief 获取 CAN 句柄
* @param can CAN 枚举
@@ -172,13 +181,20 @@ int8_t BSP_CAN_TransmitExtDataFrame(BSP_CAN_t can, BSP_CAN_ExtDataFrame_t *frame
*/
int8_t BSP_CAN_TransmitRemoteFrame(BSP_CAN_t can, BSP_CAN_RemoteFrame_t *frame);
/**
* @brief 等待CAN发送邮箱空闲
* @brief 获取发送队列中待发送消息数量
* @param can CAN 枚举
* @return 队列中消息数量，-1表示错误
*/
int32_t BSP_CAN_GetTxQueueCount(BSP_CAN_t can);
/**
* @brief 清空发送队列
* @param can CAN 枚举
* @param timeout 超时时间（毫秒），0为立即返回，osWaitForever为永久等待
* @return BSP_OK 成功，其他值失败
*/
int8_t BSP_CAN_WaitTxMailboxEmpty(BSP_CAN_t can, uint32_t timeout);
int8_t BSP_CAN_FlushTxQueue(BSP_CAN_t can);
/**
* @brief 注册 CAN ID 接收队列
@@ -189,13 +205,7 @@ int8_t BSP_CAN_WaitTxMailboxEmpty(BSP_CAN_t can, uint32_t timeout);
*/
int8_t BSP_CAN_RegisterId(BSP_CAN_t can, uint32_t can_id, uint8_t queue_size);
/**
* @brief 注销 CAN ID 接收队列
* @param can CAN 枚举
* @param can_id 解析后的CAN ID
* @return BSP_OK 成功，其他值失败
*/
int8_t BSP_CAN_UnregisterIdQueue(BSP_CAN_t can, uint32_t can_id);
/**
* @brief 获取 CAN 消息
@@ -230,11 +240,6 @@ int8_t BSP_CAN_FlushQueue(BSP_CAN_t can, uint32_t can_id);
*/
int8_t BSP_CAN_RegisterIdParser(BSP_CAN_IdParser_t parser);
/**
* @brief 注销ID解析器
* @return BSP_OK 成功，其他值失败
*/
int8_t BSP_CAN_UnregisterIdParser(void);
/**
* @brief 解析CAN ID