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更新fdcan

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Robofish
2025-12-28 18:58:37 +08:00
parent b2c24ef6bd
commit ba291f2c28
5 changed files with 864 additions and 2 deletions
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186
app/code_page/bsp_interface.py
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@@ -318,6 +318,14 @@ def get_available_can(project_path):
return analyzing_ioc.get_enabled_can_from_ioc(ioc_path)
return []
def get_available_fdcan(project_path):
"""获取可用的FDCAN列表"""
ioc_files = [f for f in os.listdir(project_path) if f.endswith('.ioc')]
if ioc_files:
ioc_path = os.path.join(project_path, ioc_files[0])
return analyzing_ioc.get_enabled_fdcan_from_ioc(ioc_path)
return []
def get_available_spi(project_path):
ioc_files = [f for f in os.listdir(project_path) if f.endswith('.ioc')]
if ioc_files:
@@ -605,6 +613,183 @@ class bsp_can(BspPeripheralBase):
])
filter_bank += 1 # 为下一个CAN分配不同的过滤器组
class bsp_fdcan(BspPeripheralBase):
def __init__(self, project_path):
super().__init__(
project_path,
"FDCAN",
{'header': 'fdcan.h', 'source': 'fdcan.c'},
"BSP_FDCAN",
"hfdcan",
"fdcan",
get_available_fdcan
)
def _generate_header_file(self, configs, template_dir):
"""重写头文件生成，添加 FDCAN 使能和 FIFO 分配定义"""
template_path = os.path.join(template_dir, self.template_names['header'])
template_content = CodeGenerator.load_template(template_path)
if not template_content:
return False
# 生成枚举
enum_lines = [f" {self.enum_prefix}_{name}," for name, _ in configs]
content = CodeGenerator.replace_auto_generated(
template_content, f"AUTO GENERATED {self.enum_prefix}_NAME", "\n".join(enum_lines)
)
# 生成 FDCAN 使能宏和 FIFO 分配
enable_lines = []
fdcan_count = len(configs)
# 根据 FDCAN 数量分配 FIFO（与 _generate_source_file 中的逻辑一致）
if fdcan_count == 1:
fifo_map = {0: 0}
elif fdcan_count == 2:
fifo_map = {0: 0, 1: 1}
else: # >= 3
fifo_map = {0: 0, 1: 0, 2: 1}
for idx, (name, instance) in enumerate(configs):
num = ''.join(filter(str.isdigit, instance))
fifo_idx = fifo_map.get(idx, 1)
enable_lines.append(f"#define FDCAN{num}_EN")
enable_lines.append(f"#define FDCAN{num}_RX_FIFO {fifo_idx}")
content = CodeGenerator.replace_auto_generated(
content, "AUTO GENERATED FDCAN_ENABLE", "\n".join(enable_lines)
)
output_path = os.path.join(self.project_path, f"User/bsp/{self.template_names['header']}")
CodeGenerator.save_with_preserve(output_path, content)
return True
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)
if not template_content:
return False
# FDCAN_Get函数
get_lines = []
for idx, (name, instance) in enumerate(configs):
if idx == 0:
get_lines.append(f" if (hfdcan->Instance == {instance})")
else:
get_lines.append(f" else if (hfdcan->Instance == {instance})")
get_lines.append(f" return {self.enum_prefix}_{name};")
content = CodeGenerator.replace_auto_generated(
template_content, "AUTO GENERATED FDCAN_GET", "\n".join(get_lines)
)
# Handle函数
handle_lines = []
for name, instance in configs:
num = ''.join(filter(str.isdigit, instance)) # 提取数字
handle_lines.append(f" case {self.enum_prefix}_{name}:")
handle_lines.append(f" return &hfdcan{num};")
content = CodeGenerator.replace_auto_generated(
content, f"AUTO GENERATED {self.enum_prefix}_GET_HANDLE", "\n".join(handle_lines)
)
# 生成FDCAN初始化代码（类似CAN的策略）
init_lines = []
fdcan_instances = [instance for _, instance in configs]
fdcan_count = len(fdcan_instances)
# 根据FDCAN数量分配FIFO
if fdcan_count == 1:
self._generate_single_fdcan_init(init_lines, configs, 0)
elif fdcan_count == 2:
self._generate_dual_fdcan_init(init_lines, configs)
elif fdcan_count >= 3:
self._generate_multi_fdcan_init(init_lines, configs)
content = CodeGenerator.replace_auto_generated(
content, "AUTO GENERATED FDCAN_INIT", "\n".join(init_lines)
)
output_path = os.path.join(self.project_path, f"User/bsp/{self.template_names['source']}")
CodeGenerator.save_with_preserve(output_path, content)
return True
def _generate_single_fdcan_init(self, init_lines, configs, fifo_idx):
"""单个FDCAN：使用指定的FIFO"""
for name, instance in configs:
num = ''.join(filter(str.isdigit, instance))
init_lines.append(f"#ifdef FDCAN{num}_EN")
init_lines.append(f" {{")
init_lines.append(f" FDCAN_HandleTypeDef hfdcan = hfdcan{num};")
init_lines.append(f" FDCAN_FilterTypeDef sFilterConfig = {{0}};")
init_lines.append(f" #define FDCANX_RX_FIFO {fifo_idx}")
init_lines.append(f" #ifdef FDCAN{num}_FILTER_CONFIG_TABLE")
init_lines.append(f" FDCAN{num}_FILTER_CONFIG_TABLE(FDCAN_CONFIG_FILTER)")
init_lines.append(f" #endif")
init_lines.append(f" #ifdef FDCAN{num}_GLOBAL_FILTER")
init_lines.append(f" HAL_FDCAN_ConfigGlobalFilter(&hfdcan{num}, FDCAN{num}_GLOBAL_FILTER);")
init_lines.append(f" #endif")
init_lines.append(f" HAL_FDCAN_ActivateNotification(&hfdcan{num}, FDCANx_NOTIFY_FLAGS(FDCANX_RX_FIFO), 0);")
init_lines.append(f" BSP_FDCAN_RegisterCallback({self.enum_prefix}_{name}, FDCANX_MSG_PENDING_CB(FDCANX_RX_FIFO), BSP_FDCAN_RxFifo{fifo_idx}Callback);")
init_lines.append(f" BSP_FDCAN_RegisterCallback({self.enum_prefix}_{name}, HAL_FDCAN_TX_BUFFER_COMPLETE_CB, BSP_FDCAN_TxCompleteCallback);")
init_lines.append(f" #undef FDCANX_RX_FIFO")
init_lines.append(f" HAL_FDCAN_Start(&hfdcan{num});")
init_lines.append(f" }}")
init_lines.append(f"#endif")
init_lines.append("")
def _generate_dual_fdcan_init(self, init_lines, configs):
"""双FDCAN：FDCAN1用FIFO0，FDCAN2用FIFO1"""
fifo_map = {0: 0, 1: 1}
for idx, (name, instance) in enumerate(configs):
num = ''.join(filter(str.isdigit, instance))
fifo_idx = fifo_map[idx]
init_lines.append(f"#ifdef FDCAN{num}_EN")
init_lines.append(f" {{")
init_lines.append(f" FDCAN_HandleTypeDef hfdcan = hfdcan{num};")
init_lines.append(f" FDCAN_FilterTypeDef sFilterConfig = {{0}};")
init_lines.append(f" #define FDCANX_RX_FIFO {fifo_idx}")
init_lines.append(f" #ifdef FDCAN{num}_FILTER_CONFIG_TABLE")
init_lines.append(f" FDCAN{num}_FILTER_CONFIG_TABLE(FDCAN_CONFIG_FILTER)")
init_lines.append(f" #endif")
init_lines.append(f" #ifdef FDCAN{num}_GLOBAL_FILTER")
init_lines.append(f" HAL_FDCAN_ConfigGlobalFilter(&hfdcan{num}, FDCAN{num}_GLOBAL_FILTER);")
init_lines.append(f" #endif")
init_lines.append(f" HAL_FDCAN_ActivateNotification(&hfdcan{num}, FDCANx_NOTIFY_FLAGS(FDCANX_RX_FIFO), 0);")
init_lines.append(f" BSP_FDCAN_RegisterCallback({self.enum_prefix}_{name}, FDCANX_MSG_PENDING_CB(FDCANX_RX_FIFO), BSP_FDCAN_RxFifo{fifo_idx}Callback);")
init_lines.append(f" BSP_FDCAN_RegisterCallback({self.enum_prefix}_{name}, HAL_FDCAN_TX_BUFFER_COMPLETE_CB, BSP_FDCAN_TxCompleteCallback);")
init_lines.append(f" #undef FDCANX_RX_FIFO")
init_lines.append(f" HAL_FDCAN_Start(&hfdcan{num});")
init_lines.append(f" }}")
init_lines.append(f"#endif")
init_lines.append("")
def _generate_multi_fdcan_init(self, init_lines, configs):
"""多FDCAN：FDCAN1和FDCAN2用FIFO0，FDCAN3用FIFO1"""
fifo_map = {0: 0, 1: 0, 2: 1}
for idx, (name, instance) in enumerate(configs):
num = ''.join(filter(str.isdigit, instance))
fifo_idx = fifo_map.get(idx, 1)
init_lines.append(f"#ifdef FDCAN{num}_EN")
init_lines.append(f" {{")
init_lines.append(f" FDCAN_HandleTypeDef hfdcan = hfdcan{num};")
init_lines.append(f" FDCAN_FilterTypeDef sFilterConfig = {{0}};")
init_lines.append(f" #define FDCANX_RX_FIFO {fifo_idx}")
init_lines.append(f" #ifdef FDCAN{num}_FILTER_CONFIG_TABLE")
init_lines.append(f" FDCAN{num}_FILTER_CONFIG_TABLE(FDCAN_CONFIG_FILTER)")
init_lines.append(f" #endif")
init_lines.append(f" #ifdef FDCAN{num}_GLOBAL_FILTER")
init_lines.append(f" HAL_FDCAN_ConfigGlobalFilter(&hfdcan{num}, FDCAN{num}_GLOBAL_FILTER);")
init_lines.append(f" #endif")
init_lines.append(f" HAL_FDCAN_ActivateNotification(&hfdcan{num}, FDCANx_NOTIFY_FLAGS(FDCANX_RX_FIFO), 0);")
init_lines.append(f" BSP_FDCAN_RegisterCallback({self.enum_prefix}_{name}, FDCANX_MSG_PENDING_CB(FDCANX_RX_FIFO), BSP_FDCAN_RxFifo{fifo_idx}Callback);")
init_lines.append(f" BSP_FDCAN_RegisterCallback({self.enum_prefix}_{name}, HAL_FDCAN_TX_BUFFER_COMPLETE_CB, BSP_FDCAN_TxCompleteCallback);")
init_lines.append(f" #undef FDCANX_RX_FIFO")
init_lines.append(f" HAL_FDCAN_Start(&hfdcan{num});")
init_lines.append(f" }}")
init_lines.append(f"#endif")
init_lines.append("")
class bsp_spi(BspPeripheralBase):
def __init__(self, project_path):
super().__init__(
@@ -1166,6 +1351,7 @@ def get_bsp_page(peripheral_name, project_path):
special_classes = {
"i2c": bsp_i2c,
"can": bsp_can,
"fdcan": bsp_fdcan,
"spi": bsp_spi,
"uart": bsp_uart,
"gpio": bsp_gpio,