mirror of
https://github.com/goldenfishs/MRobot.git
synced 2026-02-04 18:00:19 +08:00
Robofish
eeb02a2de3
主要更改： - 将所有BSP外设文件移动到独立子文件夹（can/, fdcan/, uart/等） - 将所有Component文件移动到独立子文件夹（pid/, filter/, cmd/等） - 将所有Device文件移动到独立子文件夹（dr16/, bmi088/等） - 更新代码生成器以支持新的文件夹结构 - 保持向后兼容性，支持从子文件夹或根目录加载模板 - 添加STRUCTURE.md文档说明新的目录结构 优势： ✅ 更好的代码组织和管理 ✅ 便于添加、删除、修改模板 ✅ 清晰的模块划分 ✅ 向后兼容现有结构
577 lines
25 KiB
C
577 lines
25 KiB
C
/* Includes ----------------------------------------------------------------- */
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#include "fdcan.h"
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#include "bsp/fdcan.h"
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#include "bsp/bsp.h"
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#include <fdcan.h>
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#include <cmsis_os2.h>
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#include <string.h>
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/* Private define ----------------------------------------------------------- */
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#define FDCAN_QUEUE_MUTEX_TIMEOUT 100
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/* Private macro ------------------------------------------------------------ */
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/* ===== FDCAN_FilterTypeDef 配置表 =====
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* 定义每个FDCAN实例的过滤器参数表。
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* 过滤器表参数说明：
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* idx idtype ftype id1 id2 rxidx
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* 过滤器编号 标识符类型 过滤器类型 过滤器ID1 过滤器ID2 接收缓冲区索引
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*/
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#ifdef FDCAN1_EN
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#define FDCAN1_FILTER_CONFIG_TABLE(X) \
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X(0, FDCAN_STANDARD_ID, FDCAN_FILTER_MASK, 0x000 , 0x000 , 0) \
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X(1, FDCAN_EXTENDED_ID, FDCAN_FILTER_MASK, 0x00000000, 0x00000000, 0)
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#define FDCAN1_GLOBAL_FILTER FDCAN_REJECT, FDCAN_REJECT, FDCAN_FILTER_REMOTE, FDCAN_FILTER_REMOTE/* 全局过滤器参数（用于 HAL_FDCAN_ConfigGlobalFilter） */
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#endif
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#ifdef FDCAN2_EN
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#define FDCAN2_FILTER_CONFIG_TABLE(X) \
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X(0, FDCAN_STANDARD_ID, FDCAN_FILTER_MASK, 0x000 , 0x000 , 0) \
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X(1, FDCAN_EXTENDED_ID, FDCAN_FILTER_MASK, 0x00000000, 0x00000000, 0)
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#define FDCAN2_GLOBAL_FILTER FDCAN_REJECT, FDCAN_REJECT, FDCAN_FILTER_REMOTE, FDCAN_FILTER_REMOTE/* 全局过滤器参数（用于 HAL_FDCAN_ConfigGlobalFilter） */
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#endif
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#ifdef FDCAN3_EN
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#define FDCAN3_FILTER_CONFIG_TABLE(X) \
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X(0, FDCAN_STANDARD_ID, FDCAN_FILTER_MASK, 0x000 , 0x000 , 0) \
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X(1, FDCAN_EXTENDED_ID, FDCAN_FILTER_MASK, 0x00000000, 0x00000000, 0)
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#define FDCAN3_GLOBAL_FILTER FDCAN_REJECT, FDCAN_REJECT, FDCAN_FILTER_REMOTE, FDCAN_FILTER_REMOTE/* 全局过滤器参数（用于 HAL_FDCAN_ConfigGlobalFilter） */
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#endif
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/* ====宏展开实现==== */
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#define FDCAN_FILTER_TO_RXFIFO_ENUM_INNER(FIFOIndex) FDCAN_FILTER_TO_RXFIFO##FIFOIndex
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#define FDCAN_FILTER_TO_RXFIFO_ENUM(FIFOIndex) FDCAN_FILTER_TO_RXFIFO_ENUM_INNER(FIFOIndex)
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#define FDCAN_CONFIG_FILTER(idx, idtype, ftype, id1, id2, rxidx) \
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sFilterConfig.FilterIndex = (idx); \
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sFilterConfig.IdType = (idtype); \
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sFilterConfig.FilterType = (ftype); \
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sFilterConfig.FilterConfig = (FDCAN_FILTER_TO_RXFIFO_ENUM(FDCANX_RX_FIFO)); \
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sFilterConfig.FilterID1 = (id1); \
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sFilterConfig.FilterID2 = (id2); \
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sFilterConfig.RxBufferIndex = (rxidx); \
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HAL_FDCAN_ConfigFilter(&hfdcan, &sFilterConfig);
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#define FDCAN_NOTIFY_FLAG_RXFIFO_INNER(FIFO_IDX) FDCAN_IT_RX_FIFO##FIFO_IDX##_NEW_MESSAGE
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#define FDCAN_NOTIFY_FLAG_RXFIFO(FIFO_IDX) FDCAN_NOTIFY_FLAG_RXFIFO_INNER(FIFO_IDX)
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#define FDCANx_NOTIFY_FLAGS(FIFO_MACRO) (FDCAN_NOTIFY_FLAG_RXFIFO(FIFO_MACRO) | FDCAN_IT_TX_EVT_FIFO_NEW_DATA | FDCAN_IT_RAM_ACCESS_FAILURE)
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#define FDCANX_MSG_PENDING_CB_INNER(FIFO_IDX) HAL_FDCAN_RX_FIFO##FIFO_IDX##_MSG_PENDING_CB
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#define FDCANX_MSG_PENDING_CB(FIFO_IDX) FDCANX_MSG_PENDING_CB_INNER(FIFO_IDX)
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/* Private typedef ---------------------------------------------------------- */
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typedef struct BSP_FDCAN_QueueNode {
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BSP_FDCAN_t fdcan;
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uint32_t can_id;
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osMessageQueueId_t queue;
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uint8_t queue_size;
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struct BSP_FDCAN_QueueNode *next;
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} BSP_FDCAN_QueueNode_t;
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/* Private variables -------------------------------------------------------- */
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static BSP_FDCAN_QueueNode_t *queue_list = NULL;
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static osMutexId_t queue_mutex = NULL;
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static void (*FDCAN_Callback[BSP_FDCAN_NUM][HAL_FDCAN_CB_NUM])(void);
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static bool inited = false;
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static BSP_FDCAN_IdParser_t id_parser = NULL;
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static BSP_FDCAN_TxQueue_t tx_queues[BSP_FDCAN_NUM];
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static const uint8_t fdcan_dlc2len[16] = {0,1,2,3,4,5,6,7,8,12,16,20,24,32,48,64};
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/* Private function prototypes ---------------------------------------------- */
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static BSP_FDCAN_t FDCAN_Get(FDCAN_HandleTypeDef *hfdcan);
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static osMessageQueueId_t BSP_FDCAN_FindQueue(BSP_FDCAN_t fdcan, uint32_t can_id);
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static int8_t BSP_FDCAN_CreateIdQueue(BSP_FDCAN_t fdcan, uint32_t can_id, uint8_t queue_size);
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static void BSP_FDCAN_RxFifo0Callback(void);
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static void BSP_FDCAN_RxFifo1Callback(void);
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static void BSP_FDCAN_TxCompleteCallback(void);
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static BSP_FDCAN_FrameType_t BSP_FDCAN_GetFrameType(FDCAN_RxHeaderTypeDef *header);
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static uint32_t BSP_FDCAN_DefaultIdParser(uint32_t original_id, BSP_FDCAN_FrameType_t frame_type);
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static void BSP_FDCAN_TxQueueInit(BSP_FDCAN_t fdcan);
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static bool BSP_FDCAN_TxQueuePush(BSP_FDCAN_t fdcan, BSP_FDCAN_TxMessage_t *msg);
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static bool BSP_FDCAN_TxQueuePop(BSP_FDCAN_t fdcan, BSP_FDCAN_TxMessage_t *msg);
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static bool BSP_FDCAN_TxQueueIsEmpty(BSP_FDCAN_t fdcan);
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/* Private functions -------------------------------------------------------- */
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static BSP_FDCAN_t FDCAN_Get(FDCAN_HandleTypeDef *hfdcan) {
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if (hfdcan == NULL) return BSP_FDCAN_ERR;
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if (hfdcan->Instance == FDCAN1) return BSP_FDCAN_1;
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else if (hfdcan->Instance == FDCAN2) return BSP_FDCAN_2;
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else if (hfdcan->Instance == FDCAN3) return BSP_FDCAN_3;
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else return BSP_FDCAN_ERR;
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}
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static osMessageQueueId_t BSP_FDCAN_FindQueue(BSP_FDCAN_t fdcan, uint32_t can_id) {
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BSP_FDCAN_QueueNode_t *node = queue_list;
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while (node != NULL) {
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if (node->fdcan == fdcan && node->can_id == can_id) return node->queue;
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node = node->next;
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}
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return NULL;
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}
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static int8_t BSP_FDCAN_CreateIdQueue(BSP_FDCAN_t fdcan, uint32_t can_id, uint8_t queue_size) {
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if (queue_size == 0) queue_size = BSP_FDCAN_DEFAULT_QUEUE_SIZE;
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if (osMutexAcquire(queue_mutex, FDCAN_QUEUE_MUTEX_TIMEOUT) != osOK) return BSP_ERR_TIMEOUT;
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BSP_FDCAN_QueueNode_t *node = queue_list;
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while (node != NULL) {
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if (node->fdcan == fdcan && node->can_id == can_id) {
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osMutexRelease(queue_mutex);
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return BSP_ERR;
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}
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node = node->next;
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}
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BSP_FDCAN_QueueNode_t *new_node = (BSP_FDCAN_QueueNode_t *)BSP_Malloc(sizeof(BSP_FDCAN_QueueNode_t));
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if (new_node == NULL) { osMutexRelease(queue_mutex); return BSP_ERR_NULL; }
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new_node->queue = osMessageQueueNew(queue_size, sizeof(BSP_FDCAN_Message_t), NULL);
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if (new_node->queue == NULL) { BSP_Free(new_node); osMutexRelease(queue_mutex); return BSP_ERR; }
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new_node->fdcan = fdcan;
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new_node->can_id = can_id;
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new_node->queue_size = queue_size;
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new_node->next = queue_list;
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queue_list = new_node;
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osMutexRelease(queue_mutex);
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return BSP_OK;
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}
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static BSP_FDCAN_FrameType_t BSP_FDCAN_GetFrameType(FDCAN_RxHeaderTypeDef *header) {
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if (header->RxFrameType == FDCAN_REMOTE_FRAME) {
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return (header->IdType == FDCAN_EXTENDED_ID) ? BSP_FDCAN_FRAME_EXT_REMOTE : BSP_FDCAN_FRAME_STD_REMOTE;
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} else {
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return (header->IdType == FDCAN_EXTENDED_ID) ? BSP_FDCAN_FRAME_EXT_DATA : BSP_FDCAN_FRAME_STD_DATA;
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}
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}
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static uint32_t BSP_FDCAN_DefaultIdParser(uint32_t original_id, BSP_FDCAN_FrameType_t frame_type) {
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(void)frame_type;
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return original_id;
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}
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static uint32_t BSP_FDCAN_EncodeDLC(uint8_t dlc) {
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if (dlc <= 8) return dlc;
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if (dlc <= 12) return FDCAN_DLC_BYTES_12;
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if (dlc <= 16) return FDCAN_DLC_BYTES_16;
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if (dlc <= 20) return FDCAN_DLC_BYTES_20;
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if (dlc <= 24) return FDCAN_DLC_BYTES_24;
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if (dlc <= 32) return FDCAN_DLC_BYTES_32;
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if (dlc <= 48) return FDCAN_DLC_BYTES_48;
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return FDCAN_DLC_BYTES_64;
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}
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static void BSP_FDCAN_TxQueueInit(BSP_FDCAN_t fdcan) {
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if (fdcan >= BSP_FDCAN_NUM) return;
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tx_queues[fdcan].head = 0;
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tx_queues[fdcan].tail = 0;
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}
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static bool BSP_FDCAN_TxQueuePush(BSP_FDCAN_t fdcan, BSP_FDCAN_TxMessage_t *msg) {
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if (fdcan >= BSP_FDCAN_NUM || msg == NULL) return false;
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BSP_FDCAN_TxQueue_t *queue = &tx_queues[fdcan];
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uint32_t next_head = (queue->head + 1) % BSP_FDCAN_TX_QUEUE_SIZE;
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if (next_head == queue->tail) return false;
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queue->buffer[queue->head] = *msg;
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queue->head = next_head;
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return true;
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}
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static bool BSP_FDCAN_TxQueuePop(BSP_FDCAN_t fdcan, BSP_FDCAN_TxMessage_t *msg) {
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if (fdcan >= BSP_FDCAN_NUM || msg == NULL) return false;
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BSP_FDCAN_TxQueue_t *queue = &tx_queues[fdcan];
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if (queue->head == queue->tail) return false;
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*msg = queue->buffer[queue->tail];
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queue->tail = (queue->tail + 1) % BSP_FDCAN_TX_QUEUE_SIZE;
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return true;
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}
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static bool BSP_FDCAN_TxQueueIsEmpty(BSP_FDCAN_t fdcan) {
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if (fdcan >= BSP_FDCAN_NUM) return true;
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return tx_queues[fdcan].head == tx_queues[fdcan].tail;
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}
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static void BSP_FDCAN_TxCompleteCallback(void) {
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for (int i = 0; i < BSP_FDCAN_NUM; i++) {
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BSP_FDCAN_t fdcan = (BSP_FDCAN_t)i;
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FDCAN_HandleTypeDef *hfdcan = BSP_FDCAN_GetHandle(fdcan);
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if (hfdcan == NULL) continue;
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// 消费所有 TX EVENT FIFO 事件，防止堵塞
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FDCAN_TxEventFifoTypeDef tx_event;
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while (HAL_FDCAN_GetTxEvent(hfdcan, &tx_event) == HAL_OK) {
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// 可在此统计 MessageMarker、ID、时间戳等
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}
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// 续写软件队列到硬件 FIFO
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BSP_FDCAN_TxMessage_t msg;
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while (!BSP_FDCAN_TxQueueIsEmpty(fdcan)) {
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if (HAL_FDCAN_GetTxFifoFreeLevel(hfdcan) == 0) break;
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if (!BSP_FDCAN_TxQueuePop(fdcan, &msg)) break;
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HAL_StatusTypeDef res = HAL_FDCAN_AddMessageToTxFifoQ(hfdcan, &msg.header, msg.data);
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if (res != HAL_OK) {
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break;
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}
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}
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}
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}
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static void BSP_FDCAN_RxFifo0Callback(void) {
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FDCAN_RxHeaderTypeDef rx_header;
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uint8_t rx_data[BSP_FDCAN_MAX_DLC];
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for (int fdcan_idx = 0; fdcan_idx < BSP_FDCAN_NUM; fdcan_idx++) {
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FDCAN_HandleTypeDef *hfdcan = BSP_FDCAN_GetHandle((BSP_FDCAN_t)fdcan_idx);
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if (hfdcan == NULL) continue;
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while (HAL_FDCAN_GetRxFifoFillLevel(hfdcan, FDCAN_RX_FIFO0) > 0) {
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if (HAL_FDCAN_GetRxMessage(hfdcan, FDCAN_RX_FIFO0, &rx_header, rx_data) == HAL_OK) {
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uint32_t original_id = (rx_header.IdType == FDCAN_STANDARD_ID) ? rx_header.Identifier&0x7ff : rx_header.Identifier&0x1fffffff;
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BSP_FDCAN_FrameType_t frame_type = BSP_FDCAN_GetFrameType(&rx_header);
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uint32_t parsed_id = BSP_FDCAN_ParseId(original_id, frame_type);
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osMessageQueueId_t queue = BSP_FDCAN_FindQueue((BSP_FDCAN_t)fdcan_idx, parsed_id);
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if (queue != NULL) {
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BSP_FDCAN_Message_t msg;
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msg.frame_type = frame_type;
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msg.original_id = original_id;
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msg.parsed_id = parsed_id;
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uint8_t real_len = fdcan_dlc2len[rx_header.DataLength & 0xF];
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msg.dlc = real_len;
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if (msg.dlc > BSP_FDCAN_MAX_DLC) msg.dlc = BSP_FDCAN_MAX_DLC;
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memset(msg.data, 0, BSP_FDCAN_MAX_DLC);//现在是最大缓冲区写法所以全清零
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memcpy(msg.data, rx_data, msg.dlc);
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osMessageQueuePut(queue, &msg, 0, 0);
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}
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} else {
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break;
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}
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}
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}
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}
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static void BSP_FDCAN_RxFifo1Callback(void) {
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FDCAN_RxHeaderTypeDef rx_header;
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uint8_t rx_data[BSP_FDCAN_MAX_DLC];
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for (int fdcan_idx = 0; fdcan_idx < BSP_FDCAN_NUM; fdcan_idx++) {
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FDCAN_HandleTypeDef *hfdcan = BSP_FDCAN_GetHandle((BSP_FDCAN_t)fdcan_idx);
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if (hfdcan == NULL) continue;
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while (HAL_FDCAN_GetRxFifoFillLevel(hfdcan, FDCAN_RX_FIFO1) > 0) {
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if (HAL_FDCAN_GetRxMessage(hfdcan, FDCAN_RX_FIFO1, &rx_header, rx_data) == HAL_OK) {
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uint32_t original_id = (rx_header.IdType == FDCAN_STANDARD_ID) ? rx_header.Identifier&0x7ff : rx_header.Identifier&0x1fffffff;
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BSP_FDCAN_FrameType_t frame_type = BSP_FDCAN_GetFrameType(&rx_header);
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uint32_t parsed_id = BSP_FDCAN_ParseId(original_id, frame_type);
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osMessageQueueId_t queue = BSP_FDCAN_FindQueue((BSP_FDCAN_t)fdcan_idx, parsed_id);
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if (queue != NULL) {
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BSP_FDCAN_Message_t msg;
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msg.frame_type = frame_type;
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msg.original_id = original_id;
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msg.parsed_id = parsed_id;
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uint8_t real_len = fdcan_dlc2len[rx_header.DataLength & 0xF];
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msg.dlc = real_len;
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if (msg.dlc > BSP_FDCAN_MAX_DLC) msg.dlc = BSP_FDCAN_MAX_DLC;
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memset(msg.data, 0, BSP_FDCAN_MAX_DLC);//现在是最大缓冲区写法所以全清零
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memcpy(msg.data, rx_data, msg.dlc);
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osMessageQueuePut(queue, &msg, 0, 0);
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}
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} else {
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break;
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}
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}
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}
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}
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/* HAL Callback Stubs (map HAL FDCAN callbacks to user callbacks) */
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void HAL_FDCAN_TxEventFifoCallback(FDCAN_HandleTypeDef *hfdcan, uint32_t TxEventFifoITs) {
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BSP_FDCAN_t bsp_fdcan = FDCAN_Get(hfdcan);
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if (bsp_fdcan != BSP_FDCAN_ERR) {
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if (FDCAN_Callback[bsp_fdcan][HAL_FDCAN_TX_EVENT_FIFO_CB])
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FDCAN_Callback[bsp_fdcan][HAL_FDCAN_TX_EVENT_FIFO_CB]();
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}
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}
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void HAL_FDCAN_TxBufferCompleteCallback(FDCAN_HandleTypeDef *hfdcan, uint32_t BufferIndex) {
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BSP_FDCAN_t bsp_fdcan = FDCAN_Get(hfdcan);
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if (bsp_fdcan != BSP_FDCAN_ERR) {
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if (FDCAN_Callback[bsp_fdcan][HAL_FDCAN_TX_BUFFER_COMPLETE_CB])
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FDCAN_Callback[bsp_fdcan][HAL_FDCAN_TX_BUFFER_COMPLETE_CB]();
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}
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}
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void HAL_FDCAN_TxBufferAbortCallback(FDCAN_HandleTypeDef *hfdcan, uint32_t BufferIndex) {
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BSP_FDCAN_t bsp_fdcan = FDCAN_Get(hfdcan);
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if (bsp_fdcan != BSP_FDCAN_ERR) {
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if (FDCAN_Callback[bsp_fdcan][HAL_FDCAN_TX_BUFFER_ABORT_CB])
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FDCAN_Callback[bsp_fdcan][HAL_FDCAN_TX_BUFFER_ABORT_CB]();
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}
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}
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void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs) {
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BSP_FDCAN_t bsp_fdcan = FDCAN_Get(hfdcan);
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if (bsp_fdcan != BSP_FDCAN_ERR) {
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if (FDCAN_Callback[bsp_fdcan][HAL_FDCAN_RX_FIFO0_MSG_PENDING_CB])
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FDCAN_Callback[bsp_fdcan][HAL_FDCAN_RX_FIFO0_MSG_PENDING_CB]();
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}
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}
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void HAL_FDCAN_RxFifo1Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo1ITs) {
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BSP_FDCAN_t bsp_fdcan = FDCAN_Get(hfdcan);
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if (bsp_fdcan != BSP_FDCAN_ERR) {
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if (FDCAN_Callback[bsp_fdcan][HAL_FDCAN_RX_FIFO1_MSG_PENDING_CB])
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FDCAN_Callback[bsp_fdcan][HAL_FDCAN_RX_FIFO1_MSG_PENDING_CB]();
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}
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}
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void HAL_FDCAN_ErrorCallback(FDCAN_HandleTypeDef *hfdcan) {
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BSP_FDCAN_t bsp_fdcan = FDCAN_Get(hfdcan);
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if (bsp_fdcan != BSP_FDCAN_ERR) {
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if (FDCAN_Callback[bsp_fdcan][HAL_FDCAN_ERROR_CB])
|
||
FDCAN_Callback[bsp_fdcan][HAL_FDCAN_ERROR_CB]();
|
||
}
|
||
}
|
||
|
||
/* Exported functions ------------------------------------------------------- */
|
||
int8_t BSP_FDCAN_Init(void) {
|
||
if (inited) return BSP_ERR_INITED;
|
||
|
||
memset(FDCAN_Callback, 0, sizeof(FDCAN_Callback));
|
||
for (int i = 0; i < BSP_FDCAN_NUM; i++) BSP_FDCAN_TxQueueInit((BSP_FDCAN_t)i);
|
||
id_parser = BSP_FDCAN_DefaultIdParser;
|
||
queue_mutex = osMutexNew(NULL);
|
||
if (queue_mutex == NULL) return BSP_ERR;
|
||
|
||
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);
|
||
// 关于过滤器索引的说明：
|
||
// 由stm32h7xx_hal_fdcan.c的第1874行代码可知滤波器地址计算方式如下：
|
||
// StandardFilterSA（字节） = SRAMCAN_BASE + (MessageRAMOffset * 4U)
|
||
// 标准滤波器物理地址（字节） = StandardFilterSA + (FilterIndex * 4U)（每个标准滤波器占 4 字节 = 1 word,扩展的则是8个字节）
|
||
//
|
||
//
|
||
// 标识符类型:
|
||
// sFilterConfig.IdType = FDCAN_STANDARD_ID or FDCAN_EXTENDED_ID;
|
||
// 过滤器类型: （仅介绍掩码模式）
|
||
// sFilterConfig.FilterType = FDCAN_FILTER_MASK;(掩码模式）
|
||
// 过滤器配置:
|
||
// sFilterConfig.FilterConfig = FDCAN_FILTER_DISABLE; (禁用该过滤器条目)
|
||
// FDCAN_FILTER_TO_RXFIFO0; (将匹配的消息放入 FIFO 0（普通优先级）)
|
||
// FDCAN_FILTER_TO_RXFIFO1; (将匹配的消息放入 FIFO 1（高优先级）)
|
||
// FDCAN_FILTER_TO_RXBUFFER; (将匹配的消息放入 指定的接收缓冲区)
|
||
// FDCAN_FILTER_REJECT; (拒绝接收该标识符对应的报文)
|
||
// FDCAN_FILTER_ACCEPT; (接受所有消息)
|
||
// FDCAN_FILTER_HP (过滤器匹配时，将报文标记为高优先级)
|
||
// FDCAN_FILTER_TO_RXFIFO0_HP (过滤器匹配时，将报文标记为高优先级并存储至接收FIFO 0)
|
||
// FDCAN_FILTER_TO_RXFIFO1_HP (过滤器匹配时，将报文标记为高优先级并存储至接收FIFO 1)
|
||
// FDCAN_FILTER_TO_RXBUFFER (将报文存储至接收缓冲区，过滤器类型（FilterType）配置项失效 )
|
||
// 过滤器ID与掩码(FilterType掩码模式下)
|
||
// 比较值（要匹配的 ID 的参考位）
|
||
// sFilterConfig.FilterID1 = 0 to 0x7FF; 标准ID
|
||
// 0 to 0x1FFFFFFF 扩展ID
|
||
// 掩码（1=比较该位，0=忽略该位）
|
||
// sFilterConfig.FilterID2 = 0 to 0x7FF; 标准ID
|
||
// 0 to 0x1FFFFFFF 扩展ID
|
||
// 接收缓冲区索引
|
||
// FilterConfig == FDCAN_FILTER_TO_RXBUFFER 时有效;必须小于RxBuffersNbr配置的实际Rx buffer数量
|
||
// sFilterConfig.RxBufferIndex = 0 to (RxBuffersNbr - 1);
|
||
// 标记校准信息（用于 FDCAN 校准/时钟相关单元作特殊处理或统计）
|
||
// 仅在FilterConfig 设为 FDCAN_FILTER_TO_RXBUFFER 时才有意义，通常设置为0
|
||
// IsCalibrationMsg = 0 or 1;
|
||
// fdcan_filter_table.h
|
||
//=================================================================================
|
||
/* 依据上述说明，配置过滤器并启动FDCAN */
|
||
FDCAN_FilterTypeDef sFilterConfig;
|
||
|
||
#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
|
||
#undef FDCAN_CONFIG_FILTER
|
||
#undef FDCAN_NOTIFY_FLAG_RXFIFO_INNER
|
||
#undef FDCAN_NOTIFY_FLAG_RXFIFO
|
||
#undef FDCANx_NOTIFY_FLAGS
|
||
#undef FDCANX_MSG_PENDING_CB_INNER
|
||
#undef FDCANX_MSG_PENDING_CB
|
||
|
||
return BSP_OK;
|
||
}
|
||
|
||
FDCAN_HandleTypeDef *BSP_FDCAN_GetHandle(BSP_FDCAN_t fdcan) {
|
||
if (fdcan >= BSP_FDCAN_NUM) return NULL;
|
||
switch (fdcan) {
|
||
/* AUTO GENERATED BSP_FDCAN_GET_HANDLE BEGIN */
|
||
case BSP_FDCAN_1: return &hfdcan1;
|
||
case BSP_FDCAN_2: return &hfdcan2;
|
||
case BSP_FDCAN_3: return &hfdcan3;
|
||
/* AUTO GENERATED BSP_FDCAN_GET_HANDLE END */
|
||
default: return NULL;
|
||
}
|
||
}
|
||
|
||
int8_t BSP_FDCAN_RegisterCallback(BSP_FDCAN_t fdcan, BSP_FDCAN_Callback_t type, void (*callback)(void)) {
|
||
if (!inited) return BSP_ERR_INITED;
|
||
if (callback == NULL) return BSP_ERR_NULL;
|
||
if (fdcan >= BSP_FDCAN_NUM) return BSP_ERR;
|
||
if (type >= HAL_FDCAN_CB_NUM) return BSP_ERR;
|
||
FDCAN_Callback[fdcan][type] = callback;
|
||
return BSP_OK;
|
||
}
|
||
|
||
int8_t BSP_FDCAN_Transmit(BSP_FDCAN_t fdcan, BSP_FDCAN_Format_t format, uint32_t id, uint8_t *data, uint8_t dlc) {
|
||
if (!inited) return BSP_ERR_INITED;
|
||
if (fdcan >= BSP_FDCAN_NUM) return BSP_ERR;
|
||
if (data == NULL && format != BSP_FDCAN_FORMAT_STD_REMOTE && format != BSP_FDCAN_FORMAT_EXT_REMOTE) return BSP_ERR_NULL;
|
||
if (dlc > BSP_FDCAN_MAX_DLC) return BSP_ERR;
|
||
FDCAN_HandleTypeDef *hfdcan = BSP_FDCAN_GetHandle(fdcan);
|
||
if (hfdcan == NULL) return BSP_ERR_NULL;
|
||
|
||
BSP_FDCAN_TxMessage_t tx_msg = {0};
|
||
switch (format) {
|
||
case BSP_FDCAN_FORMAT_STD_DATA:
|
||
tx_msg.header.Identifier = id;
|
||
tx_msg.header.IdType = FDCAN_STANDARD_ID;
|
||
tx_msg.header.TxFrameType = FDCAN_DATA_FRAME;
|
||
break;
|
||
case BSP_FDCAN_FORMAT_EXT_DATA:
|
||
tx_msg.header.Identifier = id;
|
||
tx_msg.header.IdType = FDCAN_EXTENDED_ID;
|
||
tx_msg.header.TxFrameType = FDCAN_DATA_FRAME;
|
||
break;
|
||
case BSP_FDCAN_FORMAT_STD_REMOTE:
|
||
tx_msg.header.Identifier = id;
|
||
tx_msg.header.IdType = FDCAN_STANDARD_ID;
|
||
tx_msg.header.TxFrameType = FDCAN_REMOTE_FRAME;
|
||
break;
|
||
case BSP_FDCAN_FORMAT_EXT_REMOTE:
|
||
tx_msg.header.Identifier = id;
|
||
tx_msg.header.IdType = FDCAN_EXTENDED_ID;
|
||
tx_msg.header.TxFrameType = FDCAN_REMOTE_FRAME;
|
||
break;
|
||
default:
|
||
return BSP_ERR;
|
||
}
|
||
switch (hfdcan->Init.FrameFormat) {
|
||
case FDCAN_FRAME_FD_BRS:
|
||
tx_msg.header.BitRateSwitch = FDCAN_BRS_ON;
|
||
tx_msg.header.FDFormat = FDCAN_FD_CAN;
|
||
break;
|
||
case FDCAN_FRAME_FD_NO_BRS:
|
||
tx_msg.header.BitRateSwitch = FDCAN_BRS_OFF;
|
||
tx_msg.header.FDFormat = FDCAN_FD_CAN;
|
||
break;
|
||
case FDCAN_FRAME_CLASSIC:
|
||
default:
|
||
tx_msg.header.BitRateSwitch = FDCAN_BRS_OFF;
|
||
tx_msg.header.FDFormat = FDCAN_CLASSIC_CAN;
|
||
break;
|
||
}
|
||
tx_msg.header.ErrorStateIndicator = FDCAN_ESI_ACTIVE;
|
||
tx_msg.header.TxEventFifoControl = FDCAN_STORE_TX_EVENTS;
|
||
tx_msg.header.MessageMarker = 0x01;
|
||
tx_msg.header.DataLength = BSP_FDCAN_EncodeDLC(dlc);
|
||
|
||
memset(tx_msg.data, 0, dlc);
|
||
if (data != NULL && dlc > 0) {memcpy(tx_msg.data, data, dlc);}
|
||
|
||
if (HAL_FDCAN_GetTxFifoFreeLevel(hfdcan) > 0) {
|
||
if (HAL_FDCAN_AddMessageToTxFifoQ(hfdcan, &tx_msg.header, tx_msg.data) == HAL_OK) return BSP_OK;
|
||
}
|
||
if (BSP_FDCAN_TxQueuePush(fdcan, &tx_msg)) return BSP_OK;
|
||
return BSP_ERR;
|
||
}
|
||
|
||
int8_t BSP_FDCAN_TransmitStdDataFrame(BSP_FDCAN_t fdcan, BSP_FDCAN_StdDataFrame_t *frame) {
|
||
if (frame == NULL) return BSP_ERR_NULL;
|
||
return BSP_FDCAN_Transmit(fdcan, BSP_FDCAN_FORMAT_STD_DATA, frame->id, frame->data, frame->dlc);
|
||
}
|
||
|
||
int8_t BSP_FDCAN_TransmitExtDataFrame(BSP_FDCAN_t fdcan, BSP_FDCAN_ExtDataFrame_t *frame) {
|
||
if (frame == NULL) return BSP_ERR_NULL;
|
||
return BSP_FDCAN_Transmit(fdcan, BSP_FDCAN_FORMAT_EXT_DATA, frame->id, frame->data, frame->dlc);
|
||
}
|
||
|
||
int8_t BSP_FDCAN_TransmitRemoteFrame(BSP_FDCAN_t fdcan, BSP_FDCAN_RemoteFrame_t *frame) {
|
||
if (frame == NULL) return BSP_ERR_NULL;
|
||
BSP_FDCAN_Format_t format = frame->is_extended ? BSP_FDCAN_FORMAT_EXT_REMOTE : BSP_FDCAN_FORMAT_STD_REMOTE;
|
||
return BSP_FDCAN_Transmit(fdcan, format, frame->id, NULL, frame->dlc);
|
||
}
|
||
|
||
int8_t BSP_FDCAN_RegisterId(BSP_FDCAN_t fdcan, uint32_t can_id, uint8_t queue_size) {
|
||
if (!inited) return BSP_ERR_INITED;
|
||
return BSP_FDCAN_CreateIdQueue(fdcan, can_id, queue_size);
|
||
}
|
||
|
||
int8_t BSP_FDCAN_GetMessage(BSP_FDCAN_t fdcan, uint32_t can_id, BSP_FDCAN_Message_t *msg, uint32_t timeout) {
|
||
if (!inited) return BSP_ERR_INITED;
|
||
if (msg == NULL) return BSP_ERR_NULL;
|
||
if (osMutexAcquire(queue_mutex, FDCAN_QUEUE_MUTEX_TIMEOUT) != osOK) return BSP_ERR_TIMEOUT;
|
||
osMessageQueueId_t queue = BSP_FDCAN_FindQueue(fdcan, can_id);
|
||
osMutexRelease(queue_mutex);
|
||
if (queue == NULL) return BSP_ERR_NO_DEV;
|
||
osStatus_t res = osMessageQueueGet(queue, msg, NULL, timeout);
|
||
return (res == osOK) ? BSP_OK : BSP_ERR;
|
||
}
|
||
|
||
int32_t BSP_FDCAN_GetQueueCount(BSP_FDCAN_t fdcan, uint32_t can_id) {
|
||
if (!inited) return -1;
|
||
if (osMutexAcquire(queue_mutex, FDCAN_QUEUE_MUTEX_TIMEOUT) != osOK) return -1;
|
||
osMessageQueueId_t queue = BSP_FDCAN_FindQueue(fdcan, can_id);
|
||
osMutexRelease(queue_mutex);
|
||
if (queue == NULL) return -1;
|
||
return (int32_t)osMessageQueueGetCount(queue);
|
||
}
|
||
|
||
int8_t BSP_FDCAN_FlushQueue(BSP_FDCAN_t fdcan, uint32_t can_id) {
|
||
if (!inited) return BSP_ERR_INITED;
|
||
if (osMutexAcquire(queue_mutex, FDCAN_QUEUE_MUTEX_TIMEOUT) != osOK) return BSP_ERR_TIMEOUT;
|
||
osMessageQueueId_t queue = BSP_FDCAN_FindQueue(fdcan, can_id);
|
||
osMutexRelease(queue_mutex);
|
||
if (queue == NULL) return BSP_ERR_NO_DEV;
|
||
BSP_FDCAN_Message_t tmp;
|
||
while (osMessageQueueGet(queue, &tmp, NULL, BSP_FDCAN_TIMEOUT_IMMEDIATE) == osOK) { }
|
||
return BSP_OK;
|
||
}
|
||
|
||
int8_t BSP_FDCAN_RegisterIdParser(BSP_FDCAN_IdParser_t parser) {
|
||
if (!inited) return BSP_ERR_INITED;
|
||
if (parser == NULL) return BSP_ERR_NULL;
|
||
id_parser = parser;
|
||
return BSP_OK;
|
||
}
|
||
|
||
uint32_t BSP_FDCAN_ParseId(uint32_t original_id, BSP_FDCAN_FrameType_t frame_type) {
|
||
if (id_parser != NULL) return id_parser(original_id, frame_type);
|
||
return BSP_FDCAN_DefaultIdParser(original_id, frame_type);
|
||
}
|
||
/* */
|
||
|