rm_balance/User/bsp/can_debug.c

/**
 * @brief CAN调试工具 - 用于诊断CAN发送问题
 * 使用示例：
 * 
 * BSP_CAN_StateInfo_t state;
 * if (BSP_CAN_GetStateInfo(BSP_CAN_1, &state) == BSP_OK) {
 *     // 打印状态信息
 *     printf("CAN State: %d\n", state.can_state);
 *     printf("Error Code: 0x%08X\n", state.error_code);
 *     printf("Free Mailboxes: %d\n", state.free_mailboxes);
 *     printf("MSR: 0x%08X\n", state.can_msr);
 *     printf("ESR: 0x%08X\n", state.can_esr);
 * }
 */

#include "bsp/can.h"
#include <stdio.h>

void BSP_CAN_Debug_PrintState(BSP_CAN_t can) {
    BSP_CAN_StateInfo_t state;
    if (BSP_CAN_GetStateInfo(can, &state) != BSP_OK) {
        printf("Failed to get CAN%d state\n", can + 1);
        return;
    }
    
    printf("=== CAN%d State Info ===\n", can + 1);
    
    // CAN状态
    switch (state.can_state) {
        case HAL_CAN_STATE_RESET:
            printf("State: RESET\n");
            break;
        case HAL_CAN_STATE_READY:
            printf("State: READY\n");
            break;
        case HAL_CAN_STATE_LISTENING:
            printf("State: LISTENING\n");
            break;
        case HAL_CAN_STATE_SLEEP_PENDING:
            printf("State: SLEEP_PENDING\n");
            break;
        case HAL_CAN_STATE_SLEEP_ACTIVE:
            printf("State: SLEEP_ACTIVE\n");
            break;
        case HAL_CAN_STATE_ERROR:
            printf("State: ERROR\n");
            break;
        default:
            printf("State: UNKNOWN(%d)\n", state.can_state);
            break;
    }
    
    // 错误状态
    printf("Error Code: 0x%08X", state.error_code);
    if (state.error_code != HAL_CAN_ERROR_NONE) {
        printf(" (");
        if (state.error_code & HAL_CAN_ERROR_EWG) printf("EWG ");
        if (state.error_code & HAL_CAN_ERROR_EPV) printf("EPV ");
        if (state.error_code & HAL_CAN_ERROR_BOF) printf("BOF ");
        if (state.error_code & HAL_CAN_ERROR_STF) printf("STF ");
        if (state.error_code & HAL_CAN_ERROR_FOR) printf("FOR ");
        if (state.error_code & HAL_CAN_ERROR_ACK) printf("ACK ");
        if (state.error_code & HAL_CAN_ERROR_BR) printf("BR ");
        if (state.error_code & HAL_CAN_ERROR_BD) printf("BD ");
        if (state.error_code & HAL_CAN_ERROR_CRC) printf("CRC ");
        printf(")");
    }
    printf("\n");
    
    // 邮箱和FIFO状态
    printf("Free Mailboxes: %d/3\n", state.free_mailboxes);
    printf("RX FIFO0 Level: %d\n", state.rx_fifo0_level);
    printf("RX FIFO1 Level: %d\n", state.rx_fifo1_level);
    
    // 寄存器状态
    printf("MSR: 0x%08X\n", state.can_msr);
    printf("ESR: 0x%08X", state.can_esr);
    
    // 解析ESR寄存器
    uint8_t lec = (state.can_esr >> 4) & 0x07;
    uint8_t tec = (state.can_esr >> 16) & 0xFF;
    uint8_t rec = (state.can_esr >> 24) & 0xFF;
    
    printf(" (LEC:%d TEC:%d REC:%d)\n", lec, tec, rec);
    
    // 错误计数器分析
    if (tec > 96 || rec > 96) {
        printf("WARNING: High error count detected!\n");
    }
    if (state.can_esr & (1 << 2)) {  // BOFF bit
        printf("WARNING: CAN is in Bus-Off state!\n");
    }
    if (state.can_esr & (1 << 1)) {  // EPVF bit
        printf("WARNING: Error Passive Flag set!\n");
    }
    if (state.can_esr & (1 << 0)) {  // EWGF bit
        printf("WARNING: Error Warning Flag set!\n");
    }
    
    printf("========================\n");
}

// 诊断发送失败的可能原因
void BSP_CAN_Debug_DiagnoseTxFailure(BSP_CAN_t can) {
    BSP_CAN_StateInfo_t state;
    if (BSP_CAN_GetStateInfo(can, &state) != BSP_OK) {
        printf("Failed to get CAN%d state for diagnosis\n", can + 1);
        return;
    }
    
    printf("=== CAN%d TX Failure Diagnosis ===\n", can + 1);
    
    // 检查各种可能的问题
    bool found_issue = false;
    
    if (state.can_state != HAL_CAN_STATE_LISTENING && state.can_state != HAL_CAN_STATE_READY) {
        printf("ISSUE: CAN not in operational state (current: %d)\n", state.can_state);
        found_issue = true;
    }
    
    if (state.free_mailboxes == 0) {
        printf("ISSUE: No free TX mailboxes available\n");
        found_issue = true;
    }
    
    if (state.error_code != HAL_CAN_ERROR_NONE) {
        printf("ISSUE: CAN has error flags (0x%08X)\n", state.error_code);
        found_issue = true;
    }
    
    if (state.can_esr & (1 << 2)) {  // BOFF bit
        printf("ISSUE: CAN is in Bus-Off state - need restart\n");
        found_issue = true;
    }
    
    uint8_t tec = (state.can_esr >> 16) & 0xFF;
    uint8_t rec = (state.can_esr >> 24) & 0xFF;
    
    if (tec > 127) {
        printf("ISSUE: TX Error Counter too high (%d) - bus issues?\n", tec);
        found_issue = true;
    }
    
    if (rec > 127) {
        printf("ISSUE: RX Error Counter too high (%d) - bus issues?\n", rec);
        found_issue = true;
    }
    
    // 检查MSR寄存器
    if (!(state.can_msr & (1 << 1))) {  // INAK bit - should be 0 in normal mode
        printf("ISSUE: CAN may not be properly initialized\n");
        found_issue = true;
    }
    
    if (!found_issue) {
        printf("No obvious hardware issues found.\n");
        printf("Possible causes:\n");
        printf("- CAN bus not connected or terminated properly\n");
        printf("- Wrong bit rate configuration\n");
        printf("- Other node not acknowledging\n");
        printf("- Message ID conflicts or filtering issues\n");
    }
    
    printf("===================================\n");
}