修改了can

app/code_page/bsp_interface.py

@@ -433,6 +433,27 @@ class bsp_can(BspPeripheralBase):
         
         # 生成CAN初始化代码
         init_lines = []
+        # 初始化发送信号量
+        init_lines.append("    // 创建发送信号量，每个CAN通道有3个发送邮箱")
+        init_lines.append("    for (int i = 0; i < BSP_CAN_NUM; i++) {")
+        init_lines.append("        tx_semaphore[i] = osSemaphoreNew(CAN_TX_MAILBOX_NUM, CAN_TX_MAILBOX_NUM, NULL);")
+        init_lines.append("        if (tx_semaphore[i] == NULL) {")
+        init_lines.append("            // 清理已创建的信号量")
+        init_lines.append("            for (int j = 0; j < i; j++) {")
+        init_lines.append("                if (tx_semaphore[j] != NULL) {")
+        init_lines.append("                    osSemaphoreDelete(tx_semaphore[j]);")
+        init_lines.append("                    tx_semaphore[j] = NULL;")
+        init_lines.append("                }")
+        init_lines.append("            }")
+        init_lines.append("            if (queue_mutex != NULL) {")
+        init_lines.append("                osMutexDelete(queue_mutex);")
+        init_lines.append("                queue_mutex = NULL;")
+        init_lines.append("            }")
+        init_lines.append("            return BSP_ERR;")
+        init_lines.append("        }")
+        init_lines.append("    }")
+        init_lines.append("")
+        
         # 先设置初始化标志
         init_lines.append("    // 先设置初始化标志，以便后续回调注册能通过检查")
         init_lines.append("    inited = true;")
@@ -482,10 +503,19 @@ class bsp_can(BspPeripheralBase):
             f"    HAL_CAN_ConfigFilter(&hcan{can_num}, &can{can_num}_filter);",
             f"    HAL_CAN_Start(&hcan{can_num});",
             "",
-            f"    // 注册{instance}回调函数",
+            f"    // 注册{instance}发送完成回调（用于释放信号量）",
+            f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX0_CPLT_CB, BSP_CAN_TxCompleteCallback);",
+            f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX1_CPLT_CB, BSP_CAN_TxCompleteCallback);",
+            f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX2_CPLT_CB, BSP_CAN_TxCompleteCallback);",
+            f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX0_ABORT_CB, BSP_CAN_TxAbortCallback);",
+            f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX1_ABORT_CB, BSP_CAN_TxAbortCallback);",
+            f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX2_ABORT_CB, BSP_CAN_TxAbortCallback);",
+            "",
+            f"    // 注册{instance}接收回调函数",
             f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_RX_FIFO0_MSG_PENDING_CB, BSP_CAN_RxFifo0Callback);",
             "",
-            f"    HAL_CAN_ActivateNotification(&hcan{can_num}, CAN_IT_RX_FIFO0_MSG_PENDING);",
+            f"    HAL_CAN_ActivateNotification(&hcan{can_num}, CAN_IT_RX_FIFO0_MSG_PENDING | ",
+            f"                                        CAN_IT_TX_MAILBOX_EMPTY);  // 激活发送邮箱空中断",
             ""
         ])
 
@@ -513,10 +543,19 @@ class bsp_can(BspPeripheralBase):
                 f"    HAL_CAN_ConfigFilter(&hcan1, &can1_filter);",
                 f"    HAL_CAN_Start(&hcan1);",
                 "",
-                f"    // 注册CAN1回调函数",
+                f"    // 注册CAN1发送完成回调（用于释放信号量）",
+                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX0_CPLT_CB, BSP_CAN_TxCompleteCallback);",
+                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX1_CPLT_CB, BSP_CAN_TxCompleteCallback);",
+                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX2_CPLT_CB, BSP_CAN_TxCompleteCallback);",
+                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX0_ABORT_CB, BSP_CAN_TxAbortCallback);",
+                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX1_ABORT_CB, BSP_CAN_TxAbortCallback);",
+                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX2_ABORT_CB, BSP_CAN_TxAbortCallback);",
+                "",
+                f"    // 注册CAN1接收回调函数",
                 f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_RX_FIFO0_MSG_PENDING_CB, BSP_CAN_RxFifo0Callback);",
                 "",
-                f"    HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING);",
+                f"    HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING | ",
+                f"                                        CAN_IT_TX_MAILBOX_EMPTY);  // 激活发送邮箱空中断",
                 ""
             ])
         
@@ -529,9 +568,18 @@ class bsp_can(BspPeripheralBase):
                 f"    HAL_CAN_ConfigFilter(&hcan2, &can1_filter);  // 通过 CAN1 配置",
                 f"    HAL_CAN_Start(&hcan2);",
                 "",
-                f"    // 注册CAN2回调函数",
+                f"    // 注册CAN2发送完成回调（用于释放信号量）",
+                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX0_CPLT_CB, BSP_CAN_TxCompleteCallback);",
+                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX1_CPLT_CB, BSP_CAN_TxCompleteCallback);",
+                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX2_CPLT_CB, BSP_CAN_TxCompleteCallback);",
+                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX0_ABORT_CB, BSP_CAN_TxAbortCallback);",
+                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX1_ABORT_CB, BSP_CAN_TxAbortCallback);",
+                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX2_ABORT_CB, BSP_CAN_TxAbortCallback);",
+                "",
+                f"    // 注册CAN2接收回调函数",
                 f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_RX_FIFO1_MSG_PENDING_CB, BSP_CAN_RxFifo1Callback);",
-                f"    HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO1_MSG_PENDING);",
+                f"    HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO1_MSG_PENDING | ",
+                f"                                        CAN_IT_TX_MAILBOX_EMPTY);  // 激活发送邮箱空中断",
                 ""
             ])
 
@@ -560,10 +608,19 @@ class bsp_can(BspPeripheralBase):
                 f"    HAL_CAN_ConfigFilter(&hcan1, &can1_filter);",
                 f"    HAL_CAN_Start(&hcan1);",
                 "",
-                f"    // 注册CAN1回调函数",
+                f"    // 注册CAN1发送完成回调（用于释放信号量）",
+                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX0_CPLT_CB, BSP_CAN_TxCompleteCallback);",
+                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX1_CPLT_CB, BSP_CAN_TxCompleteCallback);",
+                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX2_CPLT_CB, BSP_CAN_TxCompleteCallback);",
+                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX0_ABORT_CB, BSP_CAN_TxAbortCallback);",
+                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX1_ABORT_CB, BSP_CAN_TxAbortCallback);",
+                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX2_ABORT_CB, BSP_CAN_TxAbortCallback);",
+                "",
+                f"    // 注册CAN1接收回调函数",
                 f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_RX_FIFO0_MSG_PENDING_CB, BSP_CAN_RxFifo0Callback);",
                 "",
-                f"    HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING);",
+                f"    HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING | ",
+                f"                                        CAN_IT_TX_MAILBOX_EMPTY);  // 激活发送邮箱空中断",
                 ""
             ])
         
@@ -577,9 +634,18 @@ class bsp_can(BspPeripheralBase):
                 f"    HAL_CAN_ConfigFilter(&hcan2, &can1_filter);  // 通过 CAN1 配置",
                 f"    HAL_CAN_Start(&hcan2);",
                 "",
-                f"    // 注册CAN2回调函数",
+                f"    // 注册CAN2发送完成回调（用于释放信号量）",
+                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX0_CPLT_CB, BSP_CAN_TxCompleteCallback);",
+                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX1_CPLT_CB, BSP_CAN_TxCompleteCallback);",
+                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX2_CPLT_CB, BSP_CAN_TxCompleteCallback);",
+                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX0_ABORT_CB, BSP_CAN_TxAbortCallback);",
+                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX1_ABORT_CB, BSP_CAN_TxAbortCallback);",
+                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX2_ABORT_CB, BSP_CAN_TxAbortCallback);",
+                "",
+                f"    // 注册CAN2接收回调函数",
                 f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_RX_FIFO0_MSG_PENDING_CB, BSP_CAN_RxFifo0Callback);",
-                f"    HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO0_MSG_PENDING);",
+                f"    HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO0_MSG_PENDING | ",
+                f"                                        CAN_IT_TX_MAILBOX_EMPTY);  // 激活发送邮箱空中断",
                 ""
             ])
         
@@ -595,9 +661,18 @@ class bsp_can(BspPeripheralBase):
                 f"    HAL_CAN_ConfigFilter(&hcan1, &can1_filter);  // 通过 CAN1 配置",
                 f"    HAL_CAN_Start(&hcan{can_num});",
                 "",
-                f"    // 注册{instance}回调函数",
+                f"    // 注册{instance}发送完成回调（用于释放信号量）",
+                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX0_CPLT_CB, BSP_CAN_TxCompleteCallback);",
+                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX1_CPLT_CB, BSP_CAN_TxCompleteCallback);",
+                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX2_CPLT_CB, BSP_CAN_TxCompleteCallback);",
+                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX0_ABORT_CB, BSP_CAN_TxAbortCallback);",
+                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX1_ABORT_CB, BSP_CAN_TxAbortCallback);",
+                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX2_ABORT_CB, BSP_CAN_TxAbortCallback);",
+                "",
+                f"    // 注册{instance}接收回调函数",
                 f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_RX_FIFO1_MSG_PENDING_CB, BSP_CAN_RxFifo1Callback);",
-                f"    HAL_CAN_ActivateNotification(&hcan{can_num}, CAN_IT_RX_FIFO1_MSG_PENDING);",
+                f"    HAL_CAN_ActivateNotification(&hcan{can_num}, CAN_IT_RX_FIFO1_MSG_PENDING | ",
+                f"                                            CAN_IT_TX_MAILBOX_EMPTY);  // 激活发送邮箱空中断",
                 ""
             ])
             filter_bank += 1  # 为下一个CAN分配不同的过滤器组

assets/User_code/bsp/can.c

@@ -7,6 +7,8 @@
 
 /* Private define ----------------------------------------------------------- */
 #define CAN_QUEUE_MUTEX_TIMEOUT         100   /* 队列互斥锁超时时间(ms) */
+#define CAN_TX_SEMAPHORE_TIMEOUT        1000  /* 发送信号量超时时间(ms) */
+#define CAN_TX_MAILBOX_NUM              3     /* CAN发送邮箱数量 */
 
 /* Private macro ------------------------------------------------------------ */
 /* Private typedef ---------------------------------------------------------- */
@@ -21,6 +23,7 @@ typedef struct BSP_CAN_QueueNode {
 /* Private variables -------------------------------------------------------- */
 static BSP_CAN_QueueNode_t *queue_list = NULL;
 static osMutexId_t queue_mutex = NULL;
+static osSemaphoreId_t tx_semaphore[BSP_CAN_NUM] = {NULL}; /* 发送信号量，用于控制发送邮箱访问 */
 static void (*CAN_Callback[BSP_CAN_NUM][BSP_CAN_CB_NUM])(void);
 static bool inited = false;
 static BSP_CAN_IdParser_t id_parser = NULL; /* ID解析器 */
@@ -32,6 +35,8 @@ static int8_t BSP_CAN_CreateIdQueue(BSP_CAN_t can, uint32_t can_id, uint8_t queu
 static int8_t BSP_CAN_DeleteIdQueue(BSP_CAN_t can, uint32_t can_id);
 static void BSP_CAN_RxFifo0Callback(void);
 static void BSP_CAN_RxFifo1Callback(void);
+static void BSP_CAN_TxCompleteCallback(CAN_HandleTypeDef *hcan);
+static void BSP_CAN_TxAbortCallback(CAN_HandleTypeDef *hcan);
 static BSP_CAN_FrameType_t BSP_CAN_GetFrameType(CAN_RxHeaderTypeDef *header);
 static uint32_t BSP_CAN_DefaultIdParser(uint32_t original_id, BSP_CAN_FrameType_t frame_type);
 
@@ -208,53 +213,79 @@ static void BSP_CAN_RxFifo1Callback(void) {
     }
 }
 
+/**
+ * @brief 发送完成回调统一处理函数
+ */
+static void BSP_CAN_TxCompleteCallback(CAN_HandleTypeDef *hcan) {
+    BSP_CAN_t bsp_can = CAN_Get(hcan);
+    if (bsp_can != BSP_CAN_ERR) {
+        // 释放发送信号量
+        if (tx_semaphore[bsp_can] != NULL) {
+            osSemaphoreRelease(tx_semaphore[bsp_can]);
+        }
+    }
+}
+
+/**
+ * @brief 发送中止回调统一处理函数
+ */
+static void BSP_CAN_TxAbortCallback(CAN_HandleTypeDef *hcan) {
+    BSP_CAN_t bsp_can = CAN_Get(hcan);
+    if (bsp_can != BSP_CAN_ERR) {
+        // 释放发送信号量（发送中止也要释放）
+        if (tx_semaphore[bsp_can] != NULL) {
+            osSemaphoreRelease(tx_semaphore[bsp_can]);
+        }
+    }
+}
+
 /* HAL Callback Functions --------------------------------------------------- */
 void HAL_CAN_TxMailbox0CompleteCallback(CAN_HandleTypeDef *hcan) {
-  BSP_CAN_t bsp_can = CAN_Get(hcan);
+    BSP_CAN_t bsp_can = CAN_Get(hcan);
-  if (bsp_can != BSP_CAN_ERR) {
+    if (bsp_can != BSP_CAN_ERR) {
-    if (CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX0_CPLT_CB])
+        if (CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX0_CPLT_CB])
-      CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX0_CPLT_CB]();
+            CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX0_CPLT_CB]();
-  }
+    }
 }
 
 void HAL_CAN_TxMailbox1CompleteCallback(CAN_HandleTypeDef *hcan) {
-  BSP_CAN_t bsp_can = CAN_Get(hcan);
+    BSP_CAN_t bsp_can = CAN_Get(hcan);
-  if (bsp_can != BSP_CAN_ERR) {
+    if (bsp_can != BSP_CAN_ERR) {
-    if (CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX1_CPLT_CB])
+        if (CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX1_CPLT_CB])
-      CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX1_CPLT_CB]();
+            CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX1_CPLT_CB]();
-  }
+    }
 }
 
 void HAL_CAN_TxMailbox2CompleteCallback(CAN_HandleTypeDef *hcan) {
-  BSP_CAN_t bsp_can = CAN_Get(hcan);
+    BSP_CAN_t bsp_can = CAN_Get(hcan);
-  if (bsp_can != BSP_CAN_ERR) {
+    if (bsp_can != BSP_CAN_ERR) {
-    if (CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX2_CPLT_CB])
+        if (CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX2_CPLT_CB])
-      CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX2_CPLT_CB]();
+            CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX2_CPLT_CB]();
-  }
+    }
 }
 
 void HAL_CAN_TxMailbox0AbortCallback(CAN_HandleTypeDef *hcan) {
-  BSP_CAN_t bsp_can = CAN_Get(hcan);
+    BSP_CAN_t bsp_can = CAN_Get(hcan);
-  if (bsp_can != BSP_CAN_ERR) {
+    if (bsp_can != BSP_CAN_ERR) {
-    if (CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX0_ABORT_CB])
+        if (CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX0_ABORT_CB])
-      CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX0_ABORT_CB]();
+            CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX0_ABORT_CB]();
-  }
+    }
 }
 
 void HAL_CAN_TxMailbox1AbortCallback(CAN_HandleTypeDef *hcan) {
-  BSP_CAN_t bsp_can = CAN_Get(hcan);
+    BSP_CAN_t bsp_can = CAN_Get(hcan);
-  if (bsp_can != BSP_CAN_ERR) {
+    if (bsp_can != BSP_CAN_ERR) {
-    if (CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX1_ABORT_CB])
+        if (CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX1_ABORT_CB])
-      CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX1_ABORT_CB]();
+            CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX1_ABORT_CB]();
-  }
+    }
 }
 
 void HAL_CAN_TxMailbox2AbortCallback(CAN_HandleTypeDef *hcan) {
-  BSP_CAN_t bsp_can = CAN_Get(hcan);
+    BSP_CAN_t bsp_can = CAN_Get(hcan);
-  if (bsp_can != BSP_CAN_ERR) {
+    if (bsp_can != BSP_CAN_ERR) {
-    if (CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX2_ABORT_CB])
+        if (CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX2_ABORT_CB])
-      CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX2_ABORT_CB]();
+            CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX2_ABORT_CB]();
-  }
+    }
 }
 
 void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan) {
@@ -332,6 +363,25 @@ int8_t BSP_CAN_Init(void) {
         return BSP_ERR;
     }
     
+    // 创建发送信号量，每个CAN通道有3个发送邮箱
+    for (int i = 0; i < BSP_CAN_NUM; i++) {
+        tx_semaphore[i] = osSemaphoreNew(CAN_TX_MAILBOX_NUM, CAN_TX_MAILBOX_NUM, NULL);
+        if (tx_semaphore[i] == NULL) {
+            // 清理已创建的信号量
+            for (int j = 0; j < i; j++) {
+                if (tx_semaphore[j] != NULL) {
+                    osSemaphoreDelete(tx_semaphore[j]);
+                    tx_semaphore[j] = NULL;
+                }
+            }
+            if (queue_mutex != NULL) {
+                osMutexDelete(queue_mutex);
+                queue_mutex = NULL;
+            }
+            return BSP_ERR;
+        }
+    }
+    
 /* AUTO GENERATED CAN_INIT */
     
     inited = true;
@@ -356,6 +406,14 @@ int8_t BSP_CAN_DeInit(void) {
         osMutexRelease(queue_mutex);
     }
     
+    // 删除发送信号量
+    for (int i = 0; i < BSP_CAN_NUM; i++) {
+        if (tx_semaphore[i] != NULL) {
+            osSemaphoreDelete(tx_semaphore[i]);
+            tx_semaphore[i] = NULL;
+        }
+    }
+    
     // 删除互斥锁
     if (queue_mutex != NULL) {
         osMutexDelete(queue_mutex);
@@ -418,8 +476,20 @@ int8_t BSP_CAN_Transmit(BSP_CAN_t can, BSP_CAN_Format_t format,
         return BSP_ERR;
     }
     
+    // 获取发送信号量，确保有可用的发送邮箱
+    if (tx_semaphore[can] == NULL) {
+        return BSP_ERR;
+    }
+    
+    osStatus_t sem_status = osSemaphoreAcquire(tx_semaphore[can], CAN_TX_SEMAPHORE_TIMEOUT);
+    if (sem_status != osOK) {
+        return BSP_ERR_TIMEOUT;  // 获取信号量超时，表示发送邮箱已满
+    }
+    
     CAN_HandleTypeDef *hcan = BSP_CAN_GetHandle(can);
     if (hcan == NULL) {
+        // 如果获取句柄失败，需要释放信号量
+        osSemaphoreRelease(tx_semaphore[can]);
         return BSP_ERR_NULL;
     }
     
@@ -448,6 +518,8 @@ int8_t BSP_CAN_Transmit(BSP_CAN_t can, BSP_CAN_Format_t format,
             header.RTR = CAN_RTR_REMOTE;
             break;
         default:
+            // 如果格式错误，需要释放信号量
+            osSemaphoreRelease(tx_semaphore[can]);
             return BSP_ERR;
     }
     
@@ -455,7 +527,15 @@ int8_t BSP_CAN_Transmit(BSP_CAN_t can, BSP_CAN_Format_t format,
     header.TransmitGlobalTime = DISABLE;
     
     HAL_StatusTypeDef result = HAL_CAN_AddTxMessage(hcan, &header, data, &mailbox);
-    return (result == HAL_OK) ? BSP_OK : BSP_ERR;
+    
+    if (result != HAL_OK) {
+        // 如果发送失败，需要释放信号量
+        osSemaphoreRelease(tx_semaphore[can]);
+        return BSP_ERR;
+    }
+    
+    // 发送成功，信号量将在发送完成回调中释放
+    return BSP_OK;
 }
 
 int8_t BSP_CAN_TransmitStdDataFrame(BSP_CAN_t can, BSP_CAN_StdDataFrame_t *frame) {
@@ -574,6 +654,3 @@ uint32_t BSP_CAN_ParseId(uint32_t original_id, BSP_CAN_FrameType_t frame_type) {
     }
     return BSP_CAN_DefaultIdParser(original_id, frame_type);
 }
-
-/* USER CAN FUNCTIONS BEGIN */
-/* USER CAN FUNCTIONS END */

assets/User_code/bsp/can.h

@@ -17,6 +17,7 @@ extern "C" {
 #define BSP_CAN_DEFAULT_QUEUE_SIZE      10
 #define BSP_CAN_TIMEOUT_IMMEDIATE       0
 #define BSP_CAN_TIMEOUT_FOREVER         osWaitForever
+#define CAN_TX_SEMAPHORE_TIMEOUT        1000  /* 发送信号量超时时间(ms) */
 
 /* Exported macro ----------------------------------------------------------- */
 /* Exported types ----------------------------------------------------------- */
@@ -224,9 +225,6 @@ int8_t BSP_CAN_UnregisterIdParser(void);
  */
 uint32_t BSP_CAN_ParseId(uint32_t original_id, BSP_CAN_FrameType_t frame_type);
 
-/* USER CAN FUNCTIONS BEGIN */
-/* USER CAN FUNCTIONS END */
-
 #ifdef __cplusplus
 }
 #endif

assets/User_code/bsp/describe.csv

@@ -1,7 +1,11 @@
-uart,要求开启dma和中断
+uart,请开启uart的dma和中断
-can,2222
+can,请开启can中断，使用函数前请确保can已经初始化。
-gpio,要求设置label开启中断
+gpio,会自动读取cubemx中配置为gpio的引脚，并自动区分输入输出和中断。
-spi,要求开启spi中断
+spi,请开启spi的dma和中断
 i2c,要求开始spi中断
-mm,这是套了一层的内存
+mm,这是套了一层的动态内存分配
-time,需要使用开启freerots
+time,获取时间戳函数，需要开启freerots
+dwt,需要开启dwt，获取时间
+i2c,请开启i2c的dma和中断
+pwm,用于选择那些勇于输出pwm
+

assets/User_code/bsp/pwm.c

@@ -35,7 +35,6 @@ int8_t BSP_PWM_SetComp(BSP_PWM_Channel_t ch, float duty_cycle) {
   if (duty_cycle < 0.0f) {
     duty_cycle = 0.0f;
   }
-  
   // 获取ARR值（周期值）
   uint32_t arr = __HAL_TIM_GET_AUTORELOAD(PWM_Map[ch].tim);
   
@@ -43,6 +42,7 @@ int8_t BSP_PWM_SetComp(BSP_PWM_Channel_t ch, float duty_cycle) {
   uint32_t ccr = (uint32_t)(duty_cycle * (arr + 1));
   
   __HAL_TIM_SET_COMPARE(PWM_Map[ch].tim, PWM_Map[ch].channel, ccr);
+
   return BSP_OK;
 }
 

assets/User_code/device/vofa.c

@@ -0,0 +1,77 @@
+/* Includes ----------------------------------------------------------------- */
+#include <stdio.h>
+#include <string.h>
+#include "vofa.h"
+#include "bsp/uart.h"
+/* Private define ----------------------------------------------------------- */
+
+//#define PROTOCOL_RAWDATA
+#define PROTOCOL_FIREWATER
+//#define PROTOCOL_JUSTFLOAT
+
+#define MAX_CHANNEL  64u   		// 根据实际最大通道数调整
+
+#define JUSTFLOAT_TAIL 0x7F800000
+/* Private macro ------------------------------------------------------------ */
+/* Private typedef ---------------------------------------------------------- */
+/* Private variables -------------------------------------------------------- */
+static uint8_t vofa_tx_buf[sizeof(float) * MAX_CHANNEL + sizeof(uint32_t)];
+
+/* Private function  -------------------------------------------------------- */
+
+/************************  RawData  *************************/
+void VOFA_RawData_Send(const char* data, bool dma) {
+    BSP_UART_Transmit(BSP_UART_VOFA, (uint8_t*)data, strlen(data), dma);
+}
+
+/************************ FireWater *************************/
+void VOFA_FireWater_Send(float *channels, uint8_t channel_count, bool dma)
+{
+    if (channel_count == 0 || channel_count > MAX_CHANNEL)
+        return;
+
+    char *buf = (char *)vofa_tx_buf;
+    size_t len = 0;
+
+    for (uint8_t i = 0; i < channel_count; ++i) {
+        len += snprintf(buf + len,
+                        sizeof(vofa_tx_buf) - len,
+                        "%s%.2f",
+                        (i ? "," : ""),
+                        channels[i]);
+    }
+    snprintf(buf + len, sizeof(vofa_tx_buf) - len, "\n");
+
+    BSP_UART_Transmit(BSP_UART_VOFA, vofa_tx_buf, strlen(buf), dma);
+}
+
+/************************ JustFloat *************************/
+void VOFA_JustFloat_Send(float *channels, uint8_t channel_count, bool dma)
+{
+    if (channel_count == 0 || channel_count > MAX_CHANNEL)
+        return;
+    memcpy(vofa_tx_buf, channels, channel_count * sizeof(float));
+
+    uint32_t tail = JUSTFLOAT_TAIL;                     // 0x7F800000
+    memcpy(vofa_tx_buf + channel_count * sizeof(float), &tail, sizeof(tail));
+
+    BSP_UART_Transmit(BSP_UART_VOFA, vofa_tx_buf, channel_count * sizeof(float) + sizeof(tail), dma);
+}
+
+/* Exported functions ------------------------------------------------------- */
+init8_t VOFA_Send(float* channels, uint8_t channel_count, bool dma) {
+#ifdef PROTOCOL_RAWDATA
+    sprintf(vofa_tx_buf, "Channel1:%.2f,Channel2:%.2f\n", channels[0],channels[1]);
+    VOFA_RawData_Send(vofa_tx_buf, dma);
+#elif defined(PROTOCOL_FIREWATER)
+    VOFA_FireWater_Send(channels, channel_count, dma);
+#elif defined(PROTOCOL_JUSTFLOAT)
+    VOFA_JustFloat_Send(channels, channel_count, dma);
+#else
+    // 默认使用RawData协议
+    char data[256];
+    sprintf(data, "Channel1: %.2f, Channel2: %.2f\n", channels[0], channels[1]);
+    VOFA_RawData_Send(data, dma);
+#endif
+    return DEVICE_OK;
+}

assets/User_code/device/vofa.h

@@ -0,0 +1,39 @@
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ----------------------------------------------------------------- */
+#include "bsp/uart.h"
+#include ”device/device.h“
+/* Exported constants ------------------------------------------------------- */
+/* Exported macro ----------------------------------------------------------- */
+/* Exported types ----------------------------------------------------------- */
+/* Exported functions prototypes -------------------------------------------- */
+
+typedef enum {
+    VOFA_PROTOCOL_RAWDATA,
+    VOFA_PROTOCOL_FIREWATER,
+    VOFA_PROTOCOL_JUSTFLOAT,
+} VOFA_Protocol_t;
+
+/**
+ * @brief 初始化VOFA设备
+ * @param protocol 设置通信协议
+ * @return 
+ */
+int8_t VOFA_init(VOFA_Protocol_t protocol);
+
+/**
+ * @brief 发送数据到VOFA
+ * @param channels 要发送的通道数据
+ * @param channel_count 通道数量
+ * @param dma 是否使用DMA发送
+ * @return 
+ */
+int8_t VOFA_Send(float* channels, uint8_t channel_count, bool dma);
+
+#ifdef __cplusplus
+}
+#endif