diff --git a/app/code_page/bsp_interface.py b/app/code_page/bsp_interface.py index 8826768..ce39c7a 100644 --- a/app/code_page/bsp_interface.py +++ b/app/code_page/bsp_interface.py @@ -390,6 +390,7 @@ class bsp_i2c(BspPeripheralBase): get_available_i2c ) + class bsp_can(BspPeripheralBase): def __init__(self, project_path): super().__init__( @@ -402,7 +403,6 @@ class bsp_can(BspPeripheralBase): get_available_can ) - def _generate_source_file(self, configs, template_dir): template_path = os.path.join(template_dir, self.template_names['source']) template_content = CodeGenerator.load_template(template_path) @@ -438,90 +438,20 @@ class bsp_can(BspPeripheralBase): init_lines.append(" inited = true;") init_lines.append("") - # 检查是否同时有CAN1和CAN2 - has_can1 = any(instance == 'CAN1' for _, instance in configs) - has_can2 = any(instance == 'CAN2' for _, instance in configs) + # 按照新的FIFO分配策略 + can_instances = [instance for _, instance in configs] + can_count = len(can_instances) - if has_can1 and has_can2: - # 同时配置CAN1和CAN2的情况 - 统一使用FIFO0 - init_lines.extend([ - " // 初始化 CAN1 - 使用 FIFO0", - " CAN_FilterTypeDef can1_filter = {0};", - " can1_filter.FilterBank = 0;", - " can1_filter.FilterIdHigh = 0;", - " can1_filter.FilterIdLow = 0;", - " can1_filter.FilterMode = CAN_FILTERMODE_IDMASK;", - " can1_filter.FilterScale = CAN_FILTERSCALE_32BIT;", - " can1_filter.FilterMaskIdHigh = 0;", - " can1_filter.FilterMaskIdLow = 0;", - " can1_filter.FilterActivation = ENABLE;", - " can1_filter.SlaveStartFilterBank = 14; // 重要：设置从过滤器起始组", - " can1_filter.FilterFIFOAssignment = CAN_RX_FIFO0;", - " HAL_CAN_ConfigFilter(&hcan1, &can1_filter);", - " HAL_CAN_Start(&hcan1);", - " HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING);", - "", - " // 初始化 CAN2 - 使用 FIFO0（注意：通过 CAN1 配置 CAN2 的过滤器）", - " CAN_FilterTypeDef can2_filter = {0};", - " can2_filter.FilterBank = 14; // CAN2 使用过滤器组 14", - " can2_filter.FilterIdHigh = 0;", - " can2_filter.FilterIdLow = 0;", - " can2_filter.FilterMode = CAN_FILTERMODE_IDMASK;", - " can2_filter.FilterScale = CAN_FILTERSCALE_32BIT;", - " can2_filter.FilterMaskIdHigh = 0;", - " can2_filter.FilterMaskIdLow = 0;", - " can2_filter.FilterActivation = ENABLE;", - " can2_filter.FilterFIFOAssignment = CAN_RX_FIFO0; // 改为 FIFO0", - " HAL_CAN_ConfigFilter(&hcan1, &can2_filter); // 通过 CAN1 配置", - " HAL_CAN_Start(&hcan2);", - " HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO0_MSG_PENDING); // 激活 FIFO0 中断", - "", - " // 注册回调函数", - f" BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_RX_FIFO0_MSG_PENDING_CB, BSP_CAN_RxFifoCallback);", - ]) - else: - # 只有单个CAN的情况 - for idx, (name, instance) in enumerate(configs): - can_num = instance[-1] # CAN1 -> 1, CAN2 -> 2 - - init_lines.append(f" // 初始化 {instance}") - init_lines.append(f" CAN_FilterTypeDef can{can_num}_filter = {{0}};") - - if instance == 'CAN1': - init_lines.extend([ - f" can{can_num}_filter.FilterBank = 0;", - f" can{can_num}_filter.SlaveStartFilterBank = 14;", - f" can{can_num}_filter.FilterFIFOAssignment = CAN_RX_FIFO0;", - ]) - else: # CAN2 - init_lines.extend([ - f" can{can_num}_filter.FilterBank = 14;", - f" can{can_num}_filter.FilterFIFOAssignment = CAN_RX_FIFO0;", - ]) - - init_lines.extend([ - f" can{can_num}_filter.FilterIdHigh = 0;", - f" can{can_num}_filter.FilterIdLow = 0;", - f" can{can_num}_filter.FilterMode = CAN_FILTERMODE_IDMASK;", - f" can{can_num}_filter.FilterScale = CAN_FILTERSCALE_32BIT;", - f" can{can_num}_filter.FilterMaskIdHigh = 0;", - f" can{can_num}_filter.FilterMaskIdLow = 0;", - f" can{can_num}_filter.FilterActivation = ENABLE;", - ]) - - if instance == 'CAN2': - init_lines.append(f" HAL_CAN_ConfigFilter(&hcan1, &can{can_num}_filter); // 通过 CAN1 配置") - else: - init_lines.append(f" HAL_CAN_ConfigFilter(&hcan{can_num}, &can{can_num}_filter);") - - init_lines.extend([ - f" HAL_CAN_Start(&hcan{can_num});", - f" HAL_CAN_ActivateNotification(&hcan{can_num}, CAN_IT_RX_FIFO0_MSG_PENDING);", - "", - f" // 注册回调函数", - f" BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_RX_FIFO0_MSG_PENDING_CB, BSP_CAN_RxFifoCallback);", - "" - ]) + # 根据CAN数量分配FIFO + if can_count == 1: + # 只有CAN1 -> 用FIFO0 + self._generate_single_can_init(init_lines, configs, "CAN_RX_FIFO0") + elif can_count == 2: + # CAN1和CAN2 -> CAN1用FIFO0，CAN2用FIFO1 + self._generate_dual_can_init(init_lines, configs) + elif can_count >= 3: + # CAN1,2,3+ -> CAN1和CAN2用FIFO0，CAN3用FIFO1 + self._generate_multi_can_init(init_lines, configs) content = CodeGenerator.replace_auto_generated( content, "AUTO GENERATED CAN_INIT", "\n".join(init_lines) @@ -531,7 +461,167 @@ class bsp_can(BspPeripheralBase): save_with_preserve(output_path, content) return True + def _generate_single_can_init(self, init_lines, configs, fifo_assignment): + """单个CAN的初始化（使用FIFO0）""" + name, instance = configs[0] + can_num = instance[-1] # CAN1 -> 1 + + init_lines.extend([ + f" // 初始化 {instance} - 使用 FIFO0", + f" CAN_FilterTypeDef can{can_num}_filter = {{0}};", + f" can{can_num}_filter.FilterBank = 0;", + f" can{can_num}_filter.FilterIdHigh = 0;", + f" can{can_num}_filter.FilterIdLow = 0;", + f" can{can_num}_filter.FilterMode = CAN_FILTERMODE_IDMASK;", + f" can{can_num}_filter.FilterScale = CAN_FILTERSCALE_32BIT;", + f" can{can_num}_filter.FilterMaskIdHigh = 0;", + f" can{can_num}_filter.FilterMaskIdLow = 0;", + f" can{can_num}_filter.FilterActivation = ENABLE;", + f" can{can_num}_filter.SlaveStartFilterBank = 14;", + f" can{can_num}_filter.FilterFIFOAssignment = {fifo_assignment};", + f" HAL_CAN_ConfigFilter(&hcan{can_num}, &can{can_num}_filter);", + f" HAL_CAN_Start(&hcan{can_num});", + f" HAL_CAN_ActivateNotification(&hcan{can_num}, CAN_IT_RX_FIFO0_MSG_PENDING);", + "", + f" // 注册回调函数", + f" BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_RX_FIFO0_MSG_PENDING_CB, BSP_CAN_RxFifoCallback);", + "" + ]) + def _generate_dual_can_init(self, init_lines, configs): + """双CAN初始化（CAN1用FIFO0，CAN2用FIFO1）""" + # 找到CAN1和CAN2 + can1_config = next((cfg for cfg in configs if cfg[1] == 'CAN1'), None) + can2_config = next((cfg for cfg in configs if cfg[1] == 'CAN2'), None) + + if can1_config: + name, instance = can1_config + init_lines.extend([ + f" // 初始化 CAN1 - 使用 FIFO0", + f" CAN_FilterTypeDef can1_filter = {{0}};", + f" can1_filter.FilterBank = 0;", + f" can1_filter.FilterIdHigh = 0;", + f" can1_filter.FilterIdLow = 0;", + f" can1_filter.FilterMode = CAN_FILTERMODE_IDMASK;", + f" can1_filter.FilterScale = CAN_FILTERSCALE_32BIT;", + f" can1_filter.FilterMaskIdHigh = 0;", + f" can1_filter.FilterMaskIdLow = 0;", + f" can1_filter.FilterActivation = ENABLE;", + f" can1_filter.SlaveStartFilterBank = 14;", + f" can1_filter.FilterFIFOAssignment = CAN_RX_FIFO0;", + f" HAL_CAN_ConfigFilter(&hcan1, &can1_filter);", + f" HAL_CAN_Start(&hcan1);", + f" HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING);", + "", + f" // 注册CAN1回调函数", + f" BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_RX_FIFO0_MSG_PENDING_CB, BSP_CAN_RxFifoCallback);", + "" + ]) + + if can2_config: + name, instance = can2_config + init_lines.extend([ + f" // 初始化 CAN2 - 使用 FIFO1", + f" CAN_FilterTypeDef can2_filter = {{0}};", + f" can2_filter.FilterBank = 14;", + f" can2_filter.FilterIdHigh = 0;", + f" can2_filter.FilterIdLow = 0;", + f" can2_filter.FilterMode = CAN_FILTERMODE_IDMASK;", + f" can2_filter.FilterScale = CAN_FILTERSCALE_32BIT;", + f" can2_filter.FilterMaskIdHigh = 0;", + f" can2_filter.FilterMaskIdLow = 0;", + f" can2_filter.FilterActivation = ENABLE;", + f" can2_filter.FilterFIFOAssignment = CAN_RX_FIFO1;", + f" HAL_CAN_ConfigFilter(&hcan1, &can2_filter); // 通过 CAN1 配置", + f" HAL_CAN_Start(&hcan2);", + f" HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO1_MSG_PENDING);", + "", + f" // 注册CAN2回调函数", + f" BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_RX_FIFO1_MSG_PENDING_CB, BSP_CAN_RxFifoCallback);", + "" + ]) + + def _generate_multi_can_init(self, init_lines, configs): + """多CAN初始化（CAN1和CAN2用FIFO0，CAN3+用FIFO1）""" + can1_config = next((cfg for cfg in configs if cfg[1] == 'CAN1'), None) + can2_config = next((cfg for cfg in configs if cfg[1] == 'CAN2'), None) + other_configs = [cfg for cfg in configs if cfg[1] not in ['CAN1', 'CAN2']] + + # CAN1 - FIFO0 + if can1_config: + name, instance = can1_config + init_lines.extend([ + f" // 初始化 CAN1 - 使用 FIFO0", + f" CAN_FilterTypeDef can1_filter = {{0}};", + f" can1_filter.FilterBank = 0;", + f" can1_filter.FilterIdHigh = 0;", + f" can1_filter.FilterIdLow = 0;", + f" can1_filter.FilterMode = CAN_FILTERMODE_IDMASK;", + f" can1_filter.FilterScale = CAN_FILTERSCALE_32BIT;", + f" can1_filter.FilterMaskIdHigh = 0;", + f" can1_filter.FilterMaskIdLow = 0;", + f" can1_filter.FilterActivation = ENABLE;", + f" can1_filter.SlaveStartFilterBank = 14;", + f" can1_filter.FilterFIFOAssignment = CAN_RX_FIFO0;", + f" HAL_CAN_ConfigFilter(&hcan1, &can1_filter);", + f" HAL_CAN_Start(&hcan1);", + f" HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING);", + "", + f" // 注册CAN1回调函数", + f" BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_RX_FIFO0_MSG_PENDING_CB, BSP_CAN_RxFifoCallback);", + "" + ]) + + # CAN2 - FIFO0 + if can2_config: + name, instance = can2_config + init_lines.extend([ + f" // 初始化 CAN2 - 使用 FIFO0", + f" CAN_FilterTypeDef can2_filter = {{0}};", + f" can2_filter.FilterBank = 14;", + f" can2_filter.FilterIdHigh = 0;", + f" can2_filter.FilterIdLow = 0;", + f" can2_filter.FilterMode = CAN_FILTERMODE_IDMASK;", + f" can2_filter.FilterScale = CAN_FILTERSCALE_32BIT;", + f" can2_filter.FilterMaskIdHigh = 0;", + f" can2_filter.FilterMaskIdLow = 0;", + f" can2_filter.FilterActivation = ENABLE;", + f" can2_filter.FilterFIFOAssignment = CAN_RX_FIFO0;", + f" HAL_CAN_ConfigFilter(&hcan1, &can2_filter); // 通过 CAN1 配置", + f" HAL_CAN_Start(&hcan2);", + f" HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO0_MSG_PENDING);", + "", + f" // 注册CAN2回调函数", + f" BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_RX_FIFO0_MSG_PENDING_CB, BSP_CAN_RxFifoCallback);", + "" + ]) + + # CAN3+ - FIFO1 + filter_bank = 20 # 从过滤器组20开始分配给CAN3+ + for config in other_configs: + name, instance = config + can_num = ''.join(filter(str.isdigit, instance)) + init_lines.extend([ + f" // 初始化 {instance} - 使用 FIFO1", + f" CAN_FilterTypeDef can{can_num}_filter = {{0}};", + f" can{can_num}_filter.FilterBank = {filter_bank};", + f" can{can_num}_filter.FilterIdHigh = 0;", + f" can{can_num}_filter.FilterIdLow = 0;", + f" can{can_num}_filter.FilterMode = CAN_FILTERMODE_IDMASK;", + f" can{can_num}_filter.FilterScale = CAN_FILTERSCALE_32BIT;", + f" can{can_num}_filter.FilterMaskIdHigh = 0;", + f" can{can_num}_filter.FilterMaskIdLow = 0;", + f" can{can_num}_filter.FilterActivation = ENABLE;", + f" can{can_num}_filter.FilterFIFOAssignment = CAN_RX_FIFO1;", + f" HAL_CAN_ConfigFilter(&hcan1, &can{can_num}_filter); // 通过 CAN1 配置", + f" HAL_CAN_Start(&hcan{can_num});", + f" HAL_CAN_ActivateNotification(&hcan{can_num}, CAN_IT_RX_FIFO1_MSG_PENDING);", + "", + f" // 注册{instance}回调函数", + f" BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_RX_FIFO1_MSG_PENDING_CB, BSP_CAN_RxFifoCallback);", + "" + ]) + filter_bank += 1 # 为下一个CAN分配不同的过滤器组 class bsp_spi(BspPeripheralBase): def __init__(self, project_path):