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准备测试

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Robofish
2025-08-28 21:38:12 +08:00
parent 006ee185e9
commit d61dfa3634
5 changed files with 55 additions and 44 deletions
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assets/User_code/.DS_Store vendored
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32
assets/User_code/bsp/can.c
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@@ -176,6 +176,38 @@ static void BSP_CAN_RxFifo0Callback(void) {
}
}
/**
* @brief FIFO1接收处理函数
*/
static void BSP_CAN_RxFifo1Callback(void) {
CAN_RxHeaderTypeDef rx_header;
uint8_t rx_data[BSP_CAN_MAX_DLC];
for (int can_idx = 0; can_idx < BSP_CAN_NUM; can_idx++) {
CAN_HandleTypeDef *hcan = BSP_CAN_GetHandle((BSP_CAN_t)can_idx);
if (hcan == NULL) continue;
while (HAL_CAN_GetRxFifoFillLevel(hcan, CAN_RX_FIFO1) > 0) {
if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO1, &rx_header, rx_data) == HAL_OK) {
uint32_t original_id = (rx_header.IDE == CAN_ID_STD) ? rx_header.StdId : rx_header.ExtId;
BSP_CAN_FrameType_t frame_type = BSP_CAN_GetFrameType(&rx_header);
uint32_t parsed_id = BSP_CAN_ParseId(original_id, frame_type);
osMessageQueueId_t queue = BSP_CAN_FindQueue((BSP_CAN_t)can_idx, parsed_id);
if (queue != NULL) {
BSP_CAN_Message_t msg = {0};
msg.frame_type = frame_type;
msg.original_id = original_id;
msg.parsed_id = parsed_id;
msg.dlc = rx_header.DLC;
if (rx_header.RTR == CAN_RTR_DATA) {
memcpy(msg.data, rx_data, rx_header.DLC);
}
msg.timestamp = HAL_GetTick();
osMessageQueuePut(queue, &msg, 0, BSP_CAN_TIMEOUT_IMMEDIATE);
}
}
}
}
}
/* HAL Callback Functions --------------------------------------------------- */
void HAL_CAN_TxMailbox0CompleteCallback(CAN_HandleTypeDef *hcan) {
BSP_CAN_t bsp_can = CAN_Get(hcan);