Merge fdcan-feature into main

.vscode/settings.json

@@ -1,22 +0,0 @@
-{
-    "files.associations": {
-        "user_math.h": "c",
-        "bsp.h": "c",
-        "stdint.h": "c",
-        "array": "c",
-        "string": "c",
-        "string_view": "c",
-        "vector": "c",
-        "can.h": "c",
-        "device.h": "c",
-        "gpio.h": "c",
-        "uart.h": "c",
-        "motor_rm.h": "c",
-        "mm.h": "c",
-        "capacity.h": "c",
-        "error_detect.h": "c",
-        "bmi088.h": "c",
-        "time.h": "c",
-        "motor.h": "c"
-    }
-}

MRobot.iss

@@ -11,8 +11,6 @@ OutputBaseFilename=MRobotInstaller
 Source: "dist\MRobot\*"; DestDir: "{app}"; Flags: ignoreversion recursesubdirs
 ; 复制 assets 资源文件到安装目录（支持后续更新）
 Source: "assets\logo\*"; DestDir: "{app}\assets\logo"; Flags: ignoreversion recursesubdirs
-Source: "assets\User_code\*"; DestDir: "{app}\assets\User_code"; Flags: ignoreversion recursesubdirs
-Source: "assets\mech_lib\*"; DestDir: "{app}\assets\mech_lib"; Flags: ignoreversion recursesubdirs
 
 [Icons]
 Name: "{group}\MRobot"; Filename: "{app}\MRobot.exe"; IconFilename: "{app}\assets\logo\M.ico"

README.md

@@ -86,5 +86,5 @@
 使用以下命令构建可执行文件：
 
 ```bash
-pyinstaller MRobot.py --onefile --windowed --add-data "assets;assets" --add-data "app;app" --add-data "app/tools;app/tools"
+pyinstaller MRobot.py --onefile --windowed --add-data "assets/logo;assets/logo" --add-data "app;app" --add-data "app/tools;app/tools"
 ```

app/code_page/bsp_interface.py

@@ -803,6 +803,92 @@ class bsp_spi(BspPeripheralBase):
         )
 
 
+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):
+        """生成FDCAN头文件，包含动态宏定义"""
+        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实例使能宏定义
+        macro_lines = []
+        for name, instance in configs:
+            fdcan_num = ''.join(filter(str.isdigit, instance))  # 提取数字，如FDCAN1 -> 1
+            macro_lines.append(f"#define {instance}_EN")
+        
+        # 替换宏定义区域
+        content = CodeGenerator.replace_auto_generated(
+            content, "AUTO GENERATED FDCAN_EN", "\n".join(macro_lines)
+        )
+        
+        # 生成FIFO配置宏定义
+        fifo_lines = []
+        fdcan_count = len(configs)
+        for idx, (name, instance) in enumerate(configs):
+            fdcan_num = ''.join(filter(str.isdigit, instance))
+            # FDCAN1使用FIFO0，其他使用FIFO1
+            if instance == 'FDCAN1':
+                fifo_lines.append(f"#define {instance}_RX_FIFO  0")
+            else:
+                fifo_lines.append(f"#define {instance}_RX_FIFO  1")
+        
+        content = CodeGenerator.replace_auto_generated(
+            content, "AUTO GENERATED FDCAN_RX_FIFO", "\n".join(fifo_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):
+        """生成FDCAN源文件"""
+        template_path = os.path.join(template_dir, self.template_names['source'])
+        template_content = CodeGenerator.load_template(template_path)
+        if not template_content:
+            return False
+            
+        # Get函数
+        get_lines = []
+        for idx, (name, instance) in enumerate(configs):
+            get_lines.append(f"      case {idx}: 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:
+            fdcan_num = ''.join(filter(str.isdigit, instance))
+            handle_lines.append(f"#ifdef {instance}_EN")
+            handle_lines.append(f"        case {self.enum_prefix}_{name}: return &{self.handle_prefix}{fdcan_num};")
+            handle_lines.append(f"#endif")
+        content = CodeGenerator.replace_auto_generated(
+            content, f"AUTO GENERATED {self.enum_prefix}_GET_HANDLE", "\n".join(handle_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 patch_uart_interrupts(project_path, uart_instances):
     """自动修改 stm32f4xx_it.c，插入 UART BSP 相关代码"""
     it_path = os.path.join(project_path, "Core/Src/stm32f4xx_it.c")

app/home_interface.py

@@ -5,10 +5,20 @@ import sys
 import os
 
 def resource_path(relative_path):
-    """获取资源文件的绝对路径，兼容打包和开发环境"""
+    """获取资源文件的绝对路径，兼容打包和开发环境
+    对于 logo 文件，使用打包的临时目录（只有 logo 被打包）
+    对于其他资源，使用可执行文件所在目录
+    """
+    if getattr(sys, 'frozen', False):
+        # 打包环境
+        if 'logo' in relative_path:
+            # logo 文件使用打包的临时目录
             if hasattr(sys, '_MEIPASS'):
-        # PyInstaller 打包后的临时目录
                 return os.path.join(sys._MEIPASS, relative_path)
+        # 其他资源使用可执行文件所在目录
+        exe_dir = os.path.dirname(sys.executable)
+        return os.path.join(exe_dir, relative_path)
+    # 开发环境
     return os.path.join(os.path.abspath("."), relative_path)
 
 class HomeInterface(QWidget):

app/tools/analyzing_ioc.py

@@ -71,7 +71,7 @@ class analyzing_ioc:
     @staticmethod
     def get_enabled_can_from_ioc(ioc_path):
         """
-        获取已启用的CAN列表
+        获取已启用的CAN列表（不包括FDCAN）
         返回格式: ['CAN1', 'CAN2'] 等
         """
         enabled_can = []
@@ -84,6 +84,7 @@ class analyzing_ioc:
                     key, value = line.split('=', 1)
                     key = key.strip()
                     value = value.strip()
+                    # 只匹配CAN，不包括FDCAN
                     if key.startswith('Mcu.IP') and value.startswith('CAN') and not value.startswith('FDCAN'):
                         can_name = value.split('.')[0] if '.' in value else value
                         if can_name not in enabled_can:

app/tools/code_generator.py

@@ -97,44 +97,19 @@ class CodeGenerator:
             assets_dir = ""
             
             if getattr(sys, 'frozen', False):
-                # 打包后的环境
+                # 打包后的环境 - 始终使用可执行文件所在目录
-                print("检测到打包环境")
+                # 这样可以使用安装目录下的文件，而不是打包进去的文件
-                
-                # 优先使用可执行文件所在目录（支持更新后的文件）
                 exe_dir = os.path.dirname(sys.executable)
-                exe_assets = os.path.join(exe_dir, "assets")
+                assets_dir = os.path.join(exe_dir, "assets")
+                print(f"打包环境：使用可执行文件目录: {assets_dir}")
                 
-                # 如果exe目录下不存在assets，但_MEIPASS中有，则首次复制过去
+                # 如果assets目录不存在，创建它
-                if not os.path.exists(exe_assets) and hasattr(sys, '_MEIPASS'):
+                if not os.path.exists(assets_dir):
-                    base_path = getattr(sys, '_MEIPASS')
-                    meipass_assets = os.path.join(base_path, "assets")
-                    if os.path.exists(meipass_assets):
                     try:
-                            import shutil
+                        os.makedirs(assets_dir, exist_ok=True)
-                            print(f"首次运行：从 {meipass_assets} 复制到 {exe_assets}")
+                        print(f"创建assets目录: {assets_dir}")
-                            shutil.copytree(meipass_assets, exe_assets)
-                            print("初始资源复制成功")
                     except Exception as e:
-                            print(f"复制初始资源失败: {e}")
+                        print(f"创建assets目录失败: {e}")
-                
-                # 优先使用exe目录下的assets（这样可以读取更新后的文件）
-                if os.path.exists(exe_assets):
-                    assets_dir = exe_assets
-                    print(f"使用可执行文件目录: {assets_dir}")
-                # 后备方案：使用PyInstaller的临时解包目录
-                elif hasattr(sys, '_MEIPASS'):
-                    base_path = getattr(sys, '_MEIPASS')
-                    assets_dir = os.path.join(base_path, "assets")
-                    print(f"后备：使用PyInstaller临时目录: {assets_dir}")
-                # 最后尝试工作目录
-                else:
-                    cwd_assets = os.path.join(os.getcwd(), "assets")
-                    if os.path.exists(cwd_assets):
-                        assets_dir = cwd_assets
-                        print(f"从工作目录找到assets: {assets_dir}")
-                    else:
-                        assets_dir = exe_assets  # 即使不存在也使用exe目录，后续会创建
-                        print(f"使用默认路径（将创建）: {assets_dir}")
             else:
                 # 开发环境
                 current_dir = os.path.dirname(os.path.abspath(__file__))

assets/Finance_Data/accounts/7751771f-1363-4606-b292-2db511004bae/metadata.json

@@ -0,0 +1,8 @@
+{
+  "id": "7751771f-1363-4606-b292-2db511004bae",
+  "name": "admin",
+  "description": "默认管理账户",
+  "categories": [],
+  "created_at": "2025-12-29T20:48:32.536465",
+  "updated_at": "2025-12-29T20:48:32.536472"
+}

assets/User_code/bsp/describe.csv

@@ -1,5 +1,6 @@
 uart,请开启uart的dma和中断
 can,请开启can中断，使用函数前请确保can已经初始化。一定要开启can发送中断！！！
+fdcan,请开启fdcan中断，支持经典CAN和FDCAN模式。会自动根据IOC配置生成对应的宏定义。
 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,请开启spi的dma和中断
 i2c,要求开始spi中断

assets/User_code/bsp/fdcan.c

@@ -90,7 +90,9 @@ static bool BSP_FDCAN_TxQueueIsEmpty(BSP_FDCAN_t fdcan);
 /* Private functions -------------------------------------------------------- */
 static BSP_FDCAN_t FDCAN_Get(FDCAN_HandleTypeDef *hfdcan) {
   if (hfdcan == NULL) return BSP_FDCAN_ERR;
-/* AUTO GENERATED FDCAN_GET */
+  if (hfdcan->Instance == FDCAN1) return BSP_FDCAN_1;
+  else if (hfdcan->Instance == FDCAN2) return BSP_FDCAN_2;
+  else if (hfdcan->Instance == FDCAN3) return BSP_FDCAN_3;
   else return BSP_FDCAN_ERR;
 }
 
@@ -326,11 +328,10 @@ int8_t BSP_FDCAN_Init(void) {
   queue_mutex = osMutexNew(NULL);
   if (queue_mutex == NULL) return BSP_ERR;
 
-  /* 配置并启动 FDCAN 实例，绑定中断/回调 */
-/* AUTO GENERATED FDCAN_INIT */
-  
   inited = true;
 
+  /* 配置并启动 FDCAN 实例，绑定中断/回调 */
+
   //========== 过滤器配置说明：==========================
   //  过滤器编号：相对于每个（相当于经典can过滤器的bank）
   //  sFilterConfig.FilterIndex = 0 to 127(标准ID) or 0 to 63(扩展ID);  
@@ -370,10 +371,47 @@ int8_t BSP_FDCAN_Init(void) {
   //  IsCalibrationMsg = 0 or 1; 
   // fdcan_filter_table.h
   //=================================================================================
-  /* 配置并启动 FDCAN 实例，绑定中断/回调 */
+  /* 依据上述说明，配置过滤器并启动FDCAN */
-/* AUTO GENERATED FDCAN_INIT */
+  FDCAN_FilterTypeDef sFilterConfig;
 
-  inited = true;
+#ifdef FDCAN1_EN
+  #define hfdcan hfdcan1
+  #define FDCANX_RX_FIFO FDCAN1_RX_FIFO
+  FDCAN1_FILTER_CONFIG_TABLE(FDCAN_CONFIG_FILTER)
+  #undef hfdcan
+  #undef FDCANX_RX_FIFO
+  HAL_FDCAN_ConfigGlobalFilter(&hfdcan1, FDCAN1_GLOBAL_FILTER);
+  HAL_FDCAN_ActivateNotification(&hfdcan1, FDCANx_NOTIFY_FLAGS(FDCAN1_RX_FIFO), 0);
+  BSP_FDCAN_RegisterCallback(BSP_FDCAN_1, FDCANX_MSG_PENDING_CB(FDCAN1_RX_FIFO), BSP_FDCAN_RxFifo0Callback);
+  BSP_FDCAN_RegisterCallback(BSP_FDCAN_1, HAL_FDCAN_TX_EVENT_FIFO_CB, BSP_FDCAN_TxCompleteCallback);
+  HAL_FDCAN_Start(&hfdcan1);
+#endif
+
+#ifdef FDCAN2_EN
+  #define hfdcan hfdcan2
+  #define FDCANX_RX_FIFO FDCAN2_RX_FIFO
+  FDCAN2_FILTER_CONFIG_TABLE(FDCAN_CONFIG_FILTER)
+  #undef hfdcan
+  #undef FDCANX_RX_FIFO
+  HAL_FDCAN_ConfigGlobalFilter(&hfdcan2, FDCAN2_GLOBAL_FILTER);
+  HAL_FDCAN_ActivateNotification(&hfdcan2, FDCANx_NOTIFY_FLAGS(FDCAN2_RX_FIFO), 0);
+  BSP_FDCAN_RegisterCallback(BSP_FDCAN_2, FDCANX_MSG_PENDING_CB(FDCAN2_RX_FIFO), BSP_FDCAN_RxFifo1Callback);
+  BSP_FDCAN_RegisterCallback(BSP_FDCAN_2, HAL_FDCAN_TX_EVENT_FIFO_CB, BSP_FDCAN_TxCompleteCallback);
+  HAL_FDCAN_Start(&hfdcan2);
+#endif
+
+#ifdef FDCAN3_EN
+  #define hfdcan hfdcan3
+  #define FDCANX_RX_FIFO FDCAN3_RX_FIFO
+  FDCAN3_FILTER_CONFIG_TABLE(FDCAN_CONFIG_FILTER)
+  #undef hfdcan
+  #undef FDCANX_RX_FIFO
+  HAL_FDCAN_ConfigGlobalFilter(&hfdcan3, FDCAN3_GLOBAL_FILTER);
+  HAL_FDCAN_ActivateNotification(&hfdcan3, FDCANx_NOTIFY_FLAGS(FDCAN3_RX_FIFO), 0);
+  BSP_FDCAN_RegisterCallback(BSP_FDCAN_3, FDCANX_MSG_PENDING_CB(FDCAN3_RX_FIFO), BSP_FDCAN_RxFifo1Callback);
+  BSP_FDCAN_RegisterCallback(BSP_FDCAN_3, HAL_FDCAN_TX_EVENT_FIFO_CB, BSP_FDCAN_TxCompleteCallback);
+  HAL_FDCAN_Start(&hfdcan3);
+#endif
 
 #undef FDCAN_FILTER_TO_RXFIFO_ENUM_INNER
 #undef FDCAN_FILTER_TO_RXFIFO_ENUM
@@ -389,11 +427,13 @@ int8_t BSP_FDCAN_Init(void) {
 
 FDCAN_HandleTypeDef *BSP_FDCAN_GetHandle(BSP_FDCAN_t fdcan) {
     if (fdcan >= BSP_FDCAN_NUM) return NULL;
-  
     switch (fdcan) {
-/* AUTO GENERATED BSP_FDCAN_GET_HANDLE */
+        /* AUTO GENERATED BSP_FDCAN_GET_HANDLE BEGIN */
-    default:
+        case BSP_FDCAN_1: return &hfdcan1;
-      return NULL;
+        case BSP_FDCAN_2: return &hfdcan2;
+        case BSP_FDCAN_3: return &hfdcan3;
+        /* AUTO GENERATED BSP_FDCAN_GET_HANDLE END */
+        default: return NULL;
     }
 }
 

assets/User_code/bsp/fdcan.h

@@ -22,13 +22,32 @@ extern "C" {
 #define BSP_FDCAN_TIMEOUT_FOREVER         osWaitForever
 #define BSP_FDCAN_TX_QUEUE_SIZE           32
 /* Exported macro ----------------------------------------------------------- */
-/* AUTO GENERATED FDCAN_ENABLE */
+//FDCANX实例使能
+/* AUTO GENERATED FDCAN_EN BEGIN */
+#define FDCAN1_EN 
+#define FDCAN2_EN  
+#define FDCAN3_EN 
+/* AUTO GENERATED FDCAN_EN END */
 
+// FDCANX接收FIFO选择（0=FIFO0, 1=FIFO1）
+/* AUTO GENERATED FDCAN_RX_FIFO BEGIN */
+#ifdef FDCAN1_EN
+  #define FDCAN1_RX_FIFO  0
+#endif
+#ifdef FDCAN2_EN
+  #define FDCAN2_RX_FIFO  1
+#endif
+#ifdef FDCAN3_EN
+  #define FDCAN3_RX_FIFO  1 
+#endif
+/* AUTO GENERATED FDCAN_RX_FIFO END */
 /* Exported types ----------------------------------------------------------- */
 typedef enum {
+  /* AUTO GENERATED BSP_FDCAN_NAME BEGIN */
   BSP_FDCAN_1,
   BSP_FDCAN_2,
   BSP_FDCAN_3,
+  /* AUTO GENERATED BSP_FDCAN_NAME END */
   BSP_FDCAN_NUM,
   BSP_FDCAN_ERR,
 } BSP_FDCAN_t;