From 7300d03812a567d18354ac1009865e225af4eba4 Mon Sep 17 00:00:00 2001
From: Robofish <1683502971@qq.com>
Date: Sat, 3 Jan 2026 00:25:28 +0800
Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E5=A4=8Dcan?=
MIME-Version: 1.0
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---
 assets/User_code/bsp/fdcan/can.h | 79 ++++++++++++++++++++++++++++++++
 1 file changed, 79 insertions(+)
 create mode 100644 assets/User_code/bsp/fdcan/can.h

diff --git a/assets/User_code/bsp/fdcan/can.h b/assets/User_code/bsp/fdcan/can.h
new file mode 100644
index 0000000..531f824
--- /dev/null
+++ b/assets/User_code/bsp/fdcan/can.h
@@ -0,0 +1,79 @@
+/**
+ * @file can.h
+ * @brief CAN兼容层 - 将CAN接口映射到FDCAN
+ * @note 本文件用于FDCAN兼容CAN接口，设备层代码可以继续使用BSP_CAN_xxx接口
+ */
+
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ----------------------------------------------------------------- */
+#include "bsp/fdcan.h"
+
+/* 类型映射 */
+typedef BSP_FDCAN_t BSP_CAN_t;
+typedef BSP_FDCAN_Callback_t BSP_CAN_Callback_t;
+typedef BSP_FDCAN_Format_t BSP_CAN_Format_t;
+typedef BSP_FDCAN_FrameType_t BSP_CAN_FrameType_t;
+typedef BSP_FDCAN_Message_t BSP_CAN_Message_t;
+typedef BSP_FDCAN_StdDataFrame_t BSP_CAN_StdDataFrame_t;
+typedef BSP_FDCAN_ExtDataFrame_t BSP_CAN_ExtDataFrame_t;
+typedef BSP_FDCAN_RemoteFrame_t BSP_CAN_RemoteFrame_t;
+typedef BSP_FDCAN_IdParser_t BSP_CAN_IdParser_t;
+
+/* 常量映射 */
+#define BSP_CAN_MAX_DLC                 BSP_FDCAN_MAX_DLC
+#define BSP_CAN_DEFAULT_QUEUE_SIZE      BSP_FDCAN_DEFAULT_QUEUE_SIZE
+#define BSP_CAN_TIMEOUT_IMMEDIATE       BSP_FDCAN_TIMEOUT_IMMEDIATE
+#define BSP_CAN_TIMEOUT_FOREVER         BSP_FDCAN_TIMEOUT_FOREVER
+#define BSP_CAN_TX_QUEUE_SIZE           BSP_FDCAN_TX_QUEUE_SIZE
+
+/* 枚举值映射 */
+#define BSP_CAN_1                       BSP_FDCAN_1
+#define BSP_CAN_2                       BSP_FDCAN_2
+#define BSP_CAN_3                       BSP_FDCAN_3
+#define BSP_CAN_NUM                     BSP_FDCAN_NUM
+#define BSP_CAN_ERR                     BSP_FDCAN_ERR
+
+#define BSP_CAN_FORMAT_STD_DATA         BSP_FDCAN_FORMAT_STD_DATA
+#define BSP_CAN_FORMAT_EXT_DATA         BSP_FDCAN_FORMAT_EXT_DATA
+#define BSP_CAN_FORMAT_STD_REMOTE       BSP_FDCAN_FORMAT_STD_REMOTE
+#define BSP_CAN_FORMAT_EXT_REMOTE       BSP_FDCAN_FORMAT_EXT_REMOTE
+
+#define BSP_CAN_FRAME_STD_DATA          BSP_FDCAN_FRAME_STD_DATA
+#define BSP_CAN_FRAME_EXT_DATA          BSP_FDCAN_FRAME_EXT_DATA
+#define BSP_CAN_FRAME_STD_REMOTE        BSP_FDCAN_FRAME_STD_REMOTE
+#define BSP_CAN_FRAME_EXT_REMOTE        BSP_FDCAN_FRAME_EXT_REMOTE
+
+/* 函数映射 */
+#define BSP_CAN_Init()                  BSP_FDCAN_Init()
+#define BSP_CAN_GetHandle(can)          BSP_FDCAN_GetHandle(can)
+#define BSP_CAN_RegisterCallback(can, type, callback) \
+                                        BSP_FDCAN_RegisterCallback(can, type, callback)
+#define BSP_CAN_Transmit(can, format, id, data, dlc) \
+                                        BSP_FDCAN_Transmit(can, format, id, data, dlc)
+#define BSP_CAN_TransmitStdDataFrame(can, frame) \
+                                        BSP_FDCAN_TransmitStdDataFrame(can, frame)
+#define BSP_CAN_TransmitExtDataFrame(can, frame) \
+                                        BSP_FDCAN_TransmitExtDataFrame(can, frame)
+#define BSP_CAN_TransmitRemoteFrame(can, frame) \
+                                        BSP_FDCAN_TransmitRemoteFrame(can, frame)
+#define BSP_CAN_RegisterId(can, can_id, queue_size) \
+                                        BSP_FDCAN_RegisterId(can, can_id, queue_size)
+#define BSP_CAN_GetMessage(can, can_id, msg, timeout) \
+                                        BSP_FDCAN_GetMessage(can, can_id, msg, timeout)
+#define BSP_CAN_GetQueueCount(can, can_id) \
+                                        BSP_FDCAN_GetQueueCount(can, can_id)
+#define BSP_CAN_FlushQueue(can, can_id) \
+                                        BSP_FDCAN_FlushQueue(can, can_id)
+#define BSP_CAN_RegisterIdParser(parser) \
+                                        BSP_FDCAN_RegisterIdParser(parser)
+#define BSP_CAN_ParseId(original_id, frame_type) \
+                                        BSP_FDCAN_ParseId(original_id, frame_type)
+
+#ifdef __cplusplus
+}
+#endif