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898 @@ -3605,229 +3605,4 @@ - - 1 - 0 - - 100 - 16 - - ../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_fdcan.c - 0 - 5861 - 5865 - 1 - - 0 - - - ../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_fdcan.h - 32 - 1609 - 1626 - 1 - - 0 - - - ../Drivers/CMSIS/Device/ST/STM32H7xx/Include/stm32h723xx.h - 16 - 380 - 396 - 1 - - 0 - - - ../Core/Src/main.c - 0 - 63 - 70 - 1 - - 0 - - - ../Core/Src/fdcan.c - 0 - 29 - 30 - 1 - - 0 - - - ../Core/Inc/stm32h7xx_hal_conf.h - 41 - 184 - 185 - 1 - - 0 - - - ../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_mdma.h - 9 - 635 - 644 - 1 - - 0 - - - ../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_def.h - 31 - 27 - 30 - 1 - - 0 - - - ..\User\bsp\bsp.h - 0 - 1 - 9 - 1 - - 0 - - - ..\User\task\init.c - 0 - 1 - 27 - 1 - - 0 - - - ..\User\task\user_task.c - 0 - 1 - 1 - 1 - - 0 - - - ..\User\task\user_task.h - 0 - 1 - 1 - 1 - - 0 - - - ..\User\bsp\fdcan.h - 18 - 1 - 15 - 1 - - 0 - - - ..\User\bsp\fdcan.c - 0 - 210 - 217 - 1 - - 0 - - - startup_stm32h723xx.s - 0 - 248 - 255 - 1 - - 0 - - - ../Middlewares/Third_Party/FreeRTOS/Source/tasks.c - 0 - 3425 - 3432 - 1 - - 0 - - - ..\User\task\blink.c - 17 - 58 - 43 - 1 - - 0 - - - ../Core/Src/freertos.c - 0 - 87 - 95 - 1 - - 0 - - - ../Core/Src/stm32h7xx_it.c - 0 - 1 - 1 - 1 - - 0 - - - ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c - 0 - 1377 - 1384 - 1 - - 0 - - - ../Drivers/CMSIS/Include/cmsis_armcc.h - 0 - 179 - 186 - 1 - - 0 - - - ..\User\bsp\bsp_can.c - 0 - 34 - 35 - 1 - - 0 - - - D:\STM32Projects_HAL\board-H7\FDCAN\User\bsp\bap_can.h - 0 - 1 - 1 - 1 - - 0 - - - ..\User\bsp\bsp_can.h - 8 - 13 - 47 - 1 - - 0 - - - - diff --git a/MDK-ARM/FDCAN.uvoptx b/MDK-ARM/FDCAN.uvoptx index 5653e27..91c551f 100644 --- a/MDK-ARM/FDCAN.uvoptx +++ b/MDK-ARM/FDCAN.uvoptx @@ -153,40 +153,7 @@ -UE1007200D0D2139393740544 -O2254 -SF5000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP (ARM Core") -D00(6BA02477) -L00(0) -TO131090 -TC10000000 -TT10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32H72x-73x_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32H723VGTx$CMSIS\Flash\STM32H72x-73x_1024.FLM) - - - 0 - 0 - 249 - 1 -
134224724
- 0 - 0 - 0 - 0 - 0 - 1 - ..\User\bsp\fdcan.c - - \\FDCAN\../User/bsp/fdcan.c\249 - - - 1 - 0 - 217 - 1 -
134224896
- 0 - 0 - 0 - 0 - 0 - 1 - ..\User\bsp\fdcan.c - - \\FDCAN\../User/bsp/fdcan.c\217 - - + 0 diff --git a/User/bsp/fdcan.c b/User/bsp/fdcan.c index 9ff500a..b2782c6 100644 --- a/User/bsp/fdcan.c +++ b/User/bsp/fdcan.c @@ -9,6 +9,52 @@ /* Private define ----------------------------------------------------------- */ #define FDCAN_QUEUE_MUTEX_TIMEOUT 100 +/* Private macro ------------------------------------------------------------ */ + +/* ===== FDCAN_FilterTypeDef 配置表 ===== + * 定义每个FDCAN实例的过滤器参数表。 + * 过滤器表参数说明： + * idx idtype ftype id1 id2 rxidx + * 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 + */ +#ifdef FDCAN1_EN + #define FDCAN1_FILTER_CONFIG_TABLE(X) \ + X(0, FDCAN_STANDARD_ID, FDCAN_FILTER_MASK, 0x000 , 0x000 , 0) \ + X(1, FDCAN_EXTENDED_ID, FDCAN_FILTER_MASK, 0x00000000, 0x00000000, 0) + #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） */ +#endif +#ifdef FDCAN2_EN + #define FDCAN2_FILTER_CONFIG_TABLE(X) \ + X(0, FDCAN_STANDARD_ID, FDCAN_FILTER_MASK, 0x000 , 0x000 , 0) \ + X(1, FDCAN_EXTENDED_ID, FDCAN_FILTER_MASK, 0x00000000, 0x00000000, 0) + #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） */ +#endif +#ifdef FDCAN3_EN + #define FDCAN3_FILTER_CONFIG_TABLE(X) \ + X(0, FDCAN_STANDARD_ID, FDCAN_FILTER_MASK, 0x000 , 0x000 , 0) \ + X(1, FDCAN_EXTENDED_ID, FDCAN_FILTER_MASK, 0x00000000, 0x00000000, 0) + #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） */ +#endif + +/* ====宏展开实现==== */ +#define FDCAN_FILTER_TO_RXFIFO_ENUM_INNER(FIFOIndex) FDCAN_FILTER_TO_RXFIFO##FIFOIndex +#define FDCAN_FILTER_TO_RXFIFO_ENUM(FIFOIndex) FDCAN_FILTER_TO_RXFIFO_ENUM_INNER(FIFOIndex) +#define FDCAN_CONFIG_FILTER(idx, idtype, ftype, id1, id2, rxidx) \ + sFilterConfig.FilterIndex = (idx); \ + sFilterConfig.IdType = (idtype); \ + sFilterConfig.FilterType = (ftype); \ + sFilterConfig.FilterConfig = (FDCAN_FILTER_TO_RXFIFO_ENUM(FDCANX_RX_FIFO)); \ + sFilterConfig.FilterID1 = (id1); \ + sFilterConfig.FilterID2 = (id2); \ + sFilterConfig.RxBufferIndex = (rxidx); \ + HAL_FDCAN_ConfigFilter(&hfdcan, &sFilterConfig); + +#define FDCAN_NOTIFY_FLAG_RXFIFO_INNER(FIFO_IDX) FDCAN_IT_RX_FIFO##FIFO_IDX##_NEW_MESSAGE +#define FDCAN_NOTIFY_FLAG_RXFIFO(FIFO_IDX) FDCAN_NOTIFY_FLAG_RXFIFO_INNER(FIFO_IDX) +#define FDCANx_NOTIFY_FLAGS(FIFO_MACRO) (FDCAN_NOTIFY_FLAG_RXFIFO(FIFO_MACRO) | FDCAN_IT_TX_EVT_FIFO_NEW_DATA | FDCAN_IT_RAM_ACCESS_FAILURE) + +#define FDCANX_MSG_PENDING_CB_INNER(FIFO_IDX) HAL_FDCAN_RX_FIFO##FIFO_IDX##_MSG_PENDING_CB +#define FDCANX_MSG_PENDING_CB(FIFO_IDX) FDCANX_MSG_PENDING_CB_INNER(FIFO_IDX) /* Private typedef ---------------------------------------------------------- */ typedef struct BSP_FDCAN_QueueNode { BSP_FDCAN_t fdcan; @@ -309,7 +355,7 @@ int8_t BSP_FDCAN_Init(void) { // 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; (禁用该滤波器条目) + // 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) @@ -332,67 +378,59 @@ int8_t BSP_FDCAN_Init(void) { // 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 */ + /* 依据上述说明，配置过滤器并启动FDCAN */ FDCAN_FilterTypeDef sFilterConfig; - /* 配置 FDCAN1 过滤器 */ - /* 索引0;标准ID;掩码模式;存入 FIFO 0（普通优先级）;不过滤; */ - sFilterConfig.FilterIndex = 0; - sFilterConfig.IdType = FDCAN_STANDARD_ID; - sFilterConfig.FilterType = FDCAN_FILTER_MASK; - sFilterConfig.FilterConfig = FDCAN_FILTER_TO_RXFIFO0; - sFilterConfig.FilterID1 = 0x000; - sFilterConfig.FilterID2 = 0x000; - sFilterConfig.RxBufferIndex = 0; - HAL_FDCAN_ConfigFilter(&hfdcan1, &sFilterConfig); - HAL_FDCAN_ConfigGlobalFilter(&hfdcan1,FDCAN_REJECT, FDCAN_REJECT, FDCAN_FILTER_REMOTE, FDCAN_FILTER_REMOTE); - /* 配置 FDCAN2 过滤器 */ - /* 索引0;标准ID;掩码模式;存入 FIFO 1（普通优先级）;不过滤; */ - sFilterConfig.FilterIndex = 0; - sFilterConfig.IdType = FDCAN_STANDARD_ID; - sFilterConfig.FilterType = FDCAN_FILTER_MASK; - sFilterConfig.FilterConfig = FDCAN_FILTER_TO_RXFIFO1; - sFilterConfig.FilterID1 = 0x000; - sFilterConfig.FilterID2 = 0x000; - sFilterConfig.RxBufferIndex = 0; - HAL_FDCAN_ConfigFilter(&hfdcan2, &sFilterConfig); - HAL_FDCAN_ConfigGlobalFilter(&hfdcan2,FDCAN_REJECT, FDCAN_REJECT, FDCAN_FILTER_REMOTE, FDCAN_FILTER_REMOTE); - /* 配置 FDCAN3 过滤器 */ - /* 索引0;标准ID;掩码模式;存入 FIFO 1（普通优先级）;不过滤; */ - sFilterConfig.FilterIndex = 0; - sFilterConfig.IdType = FDCAN_STANDARD_ID; - sFilterConfig.FilterType = FDCAN_FILTER_MASK; - sFilterConfig.FilterConfig = FDCAN_FILTER_TO_RXFIFO1; - sFilterConfig.FilterID1 = 0x000; - sFilterConfig.FilterID2 = 0x000; - sFilterConfig.RxBufferIndex = 0; - HAL_FDCAN_ConfigFilter(&hfdcan3, &sFilterConfig); - HAL_FDCAN_ConfigGlobalFilter(&hfdcan3,FDCAN_REJECT, FDCAN_REJECT, FDCAN_FILTER_REMOTE, FDCAN_FILTER_REMOTE); - HAL_FDCAN_ActivateNotification(&hfdcan1, FDCAN_IT_RX_FIFO0_NEW_MESSAGE - | FDCAN_IT_TX_EVT_FIFO_NEW_DATA - | FDCAN_IT_RAM_ACCESS_FAILURE, 0);//加一个RAM访问失败中断 - HAL_FDCAN_ActivateNotification(&hfdcan2, FDCAN_IT_RX_FIFO1_NEW_MESSAGE - | FDCAN_IT_TX_EVT_FIFO_NEW_DATA - | FDCAN_IT_RAM_ACCESS_FAILURE, 0); - HAL_FDCAN_ActivateNotification(&hfdcan3, FDCAN_IT_RX_FIFO1_NEW_MESSAGE - | FDCAN_IT_TX_EVT_FIFO_NEW_DATA - | FDCAN_IT_RAM_ACCESS_FAILURE, 0); - - BSP_FDCAN_RegisterCallback(BSP_FDCAN_1, HAL_FDCAN_RX_FIFO0_MSG_PENDING_CB, BSP_FDCAN_RxFifo0Callback); +#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); - - BSP_FDCAN_RegisterCallback(BSP_FDCAN_2, HAL_FDCAN_RX_FIFO1_MSG_PENDING_CB, BSP_FDCAN_RxFifo1Callback); - BSP_FDCAN_RegisterCallback(BSP_FDCAN_2, HAL_FDCAN_TX_EVENT_FIFO_CB, BSP_FDCAN_TxCompleteCallback); - - BSP_FDCAN_RegisterCallback(BSP_FDCAN_3, HAL_FDCAN_RX_FIFO1_MSG_PENDING_CB, BSP_FDCAN_RxFifo1Callback); - BSP_FDCAN_RegisterCallback(BSP_FDCAN_3, HAL_FDCAN_TX_EVENT_FIFO_CB, BSP_FDCAN_TxCompleteCallback); - - /* __ ,启动！ */ 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; } @@ -423,54 +461,61 @@ int8_t BSP_FDCAN_Transmit(BSP_FDCAN_t fdcan, BSP_FDCAN_Format_t format, uint32_t 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; - } + 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.BitRateSwitch = FDCAN_BRS_OFF; - // tx_msg.header.FDFormat = FDCAN_CLASSIC_CAN; - // tx_msg.header.BitRateSwitch = FDCAN_BRS_ON; - // tx_msg.header.FDFormat = FDCAN_FD_CAN; - tx_msg.header.BitRateSwitch = FDCAN_BRS_OFF; - tx_msg.header.FDFormat = FDCAN_FD_CAN; - - tx_msg.header.TxEventFifoControl = FDCAN_STORE_TX_EVENTS; + tx_msg.header.TxEventFifoControl = FDCAN_STORE_TX_EVENTS; tx_msg.header.MessageMarker = 0x01; - tx_msg.header.DataLength = BSP_FDCAN_EncodeDLC(dlc); + 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);} + memset(tx_msg.data, 0, dlc); + if (data != NULL && dlc > 0) { + memcpy(tx_msg.data, data, dlc);} fifolevel=HAL_FDCAN_GetTxFifoFreeLevel(hfdcan); - 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; + 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) { diff --git a/User/bsp/fdcan.h b/User/bsp/fdcan.h index b936530..0531bdf 100644 --- a/User/bsp/fdcan.h +++ b/User/bsp/fdcan.h @@ -21,7 +21,22 @@ extern "C" { #define BSP_FDCAN_TIMEOUT_IMMEDIATE 0 #define BSP_FDCAN_TIMEOUT_FOREVER osWaitForever #define BSP_FDCAN_TX_QUEUE_SIZE 32 +/* Exported macro ----------------------------------------------------------- */ +//FDCANX实例使能 +#define FDCAN1_EN +#define FDCAN2_EN +#define FDCAN3_EN +// FDCANX接收FIFO选择（0=FIFO0, 1=FIFO1） +#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 /* Exported types ----------------------------------------------------------- */ typedef enum { BSP_FDCAN_1, diff --git a/User/task/blink.c b/User/task/blink.c index 879959c..fd32705 100644 --- a/User/task/blink.c +++ b/User/task/blink.c @@ -71,13 +71,13 @@ void Task_blink(void *argument) { 0x19, 0x1A, 0x1B, 0x1C, 0x1D, 0x1E, 0x1F, 0x20}; // 简单 CRC/校验（可选） - data1[7] = data1[0] ^ data1[1] ^ data1[2]; - data2[7] = data2[0] ^ data2[1] ^ data2[2]; + // data1[7] = data1[0] ^ data1[1] ^ data1[2]; + // data2[7] = data2[0] ^ data2[1] ^ data2[2]; // data3[7] = data3[0] ^ data3[1] ^ data3[2]; // 使用 BSP 封装的发送接口（非阻塞，若硬件 FIFO 满则内部入队） - // BSP_FDCAN_Transmit(BSP_FDCAN_1, BSP_FDCAN_FORMAT_STD_DATA, 0x101, data1, 8); - // BSP_FDCAN_Transmit(BSP_FDCAN_2, BSP_FDCAN_FORMAT_STD_DATA, 0x102, data2, 8); + BSP_FDCAN_Transmit(BSP_FDCAN_1, BSP_FDCAN_FORMAT_STD_DATA, 0x101, data1, 8); + BSP_FDCAN_Transmit(BSP_FDCAN_2, BSP_FDCAN_FORMAT_STD_DATA, 0x102, data2, 8); BSP_FDCAN_Transmit(BSP_FDCAN_3, BSP_FDCAN_FORMAT_STD_DATA, 0x103, data3, 13); if (BSP_FDCAN_GetMessage(BSP_FDCAN_1, 0x101, &msg1, BSP_FDCAN_TIMEOUT_IMMEDIATE) == BSP_OK) {