mirror of
https://github.com/goldenfishs/MRobot.git
synced 2025-09-14 12:54:33 +08:00
修改can生成逻辑
This commit is contained in:
parent
68394c616e
commit
7e92f32642
@ -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):
|
||||
|
||||
Loading…
Reference in New Issue
Block a user