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宏编译成功，还差缓冲区动态分配

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This commit is contained in:
yxming66 2025-12-28 04:54:17 +08:00
parent 9db1394184
commit 55153c98a0
5 changed files with 171 additions and 369 deletions
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241
MDK-ARM/FDCAN.uvguix.yxm23
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File diff suppressed because one or more lines are too long

35
MDK-ARM/FDCAN.uvoptx
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@ -153,40 +153,7 @@
<Name>-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($$Device:STM32H723VGTx$CMSIS\Flash\STM32H72x-73x_1024.FLM)</Name> <Name>-UE1007200D0D2139393740544 -O2254 -SF5000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP (ARM Core") -D00(6BA02477) -L00(0) -TO131090 -TC10000000 -TT10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32H72x-73x_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32H723VGTx$CMSIS\Flash\STM32H72x-73x_1024.FLM)</Name>
</SetRegEntry> </SetRegEntry>
</TargetDriverDllRegistry> </TargetDriverDllRegistry>
<Breakpoint> <Breakpoint/>
<Bp>
<Number>0</Number>
<Type>0</Type>
<LineNumber>249</LineNumber>
<EnabledFlag>1</EnabledFlag>
<Address>134224724</Address>
<ByteObject>0</ByteObject>
<HtxType>0</HtxType>
<ManyObjects>0</ManyObjects>
<SizeOfObject>0</SizeOfObject>
<BreakByAccess>0</BreakByAccess>
<BreakIfRCount>1</BreakIfRCount>
<Filename>..\User\bsp\fdcan.c</Filename>
<ExecCommand></ExecCommand>
<Expression>\\FDCAN\../User/bsp/fdcan.c\249</Expression>
</Bp>
<Bp>
<Number>1</Number>
<Type>0</Type>
<LineNumber>217</LineNumber>
<EnabledFlag>1</EnabledFlag>
<Address>134224896</Address>
<ByteObject>0</ByteObject>
<HtxType>0</HtxType>
<ManyObjects>0</ManyObjects>
<SizeOfObject>0</SizeOfObject>
<BreakByAccess>0</BreakByAccess>
<BreakIfRCount>1</BreakIfRCount>
<Filename>..\User\bsp\fdcan.c</Filename>
<ExecCommand></ExecCommand>
<Expression>\\FDCAN\../User/bsp/fdcan.c\217</Expression>
</Bp>
</Breakpoint>
<WatchWindow1> <WatchWindow1>
<Ww> <Ww>
<count>0</count> <count>0</count>

241
User/bsp/fdcan.c
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@ -9,6 +9,52 @@
/* Private define ----------------------------------------------------------- */ /* Private define ----------------------------------------------------------- */
#define FDCAN_QUEUE_MUTEX_TIMEOUT 100 #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 ---------------------------------------------------------- */ /* Private typedef ---------------------------------------------------------- */
typedef struct BSP_FDCAN_QueueNode { typedef struct BSP_FDCAN_QueueNode {
BSP_FDCAN_t fdcan; 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） // 过滤器类型: （仅介绍掩码模式）
// sFilterConfig.FilterType = FDCAN_FILTER_MASK;(掩码模式） // sFilterConfig.FilterType = FDCAN_FILTER_MASK;(掩码模式）
// 过滤器配置: // 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_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_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_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） // 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 // 仅在FilterConfig 设为 FDCAN_FILTER_TO_RXBUFFER 时才有意义，通常设置为0
// IsCalibrationMsg = 0 or 1; // 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; 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 #ifdef FDCAN1_EN
| FDCAN_IT_TX_EVT_FIFO_NEW_DATA #define hfdcan hfdcan1
| FDCAN_IT_RAM_ACCESS_FAILURE, 0);//加一个RAM访问失败中断 #define FDCANX_RX_FIFO FDCAN1_RX_FIFO
HAL_FDCAN_ActivateNotification(&hfdcan2, FDCAN_IT_RX_FIFO1_NEW_MESSAGE FDCAN1_FILTER_CONFIG_TABLE(FDCAN_CONFIG_FILTER)
| FDCAN_IT_TX_EVT_FIFO_NEW_DATA #undef hfdcan
| FDCAN_IT_RAM_ACCESS_FAILURE, 0); #undef FDCANX_RX_FIFO
HAL_FDCAN_ActivateNotification(&hfdcan3, FDCAN_IT_RX_FIFO1_NEW_MESSAGE HAL_FDCAN_ConfigGlobalFilter(&hfdcan1, FDCAN1_GLOBAL_FILTER);
| FDCAN_IT_TX_EVT_FIFO_NEW_DATA HAL_FDCAN_ActivateNotification(&hfdcan1, FDCANx_NOTIFY_FLAGS(FDCAN1_RX_FIFO), 0);
| FDCAN_IT_RAM_ACCESS_FAILURE, 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_RX_FIFO0_MSG_PENDING_CB, BSP_FDCAN_RxFifo0Callback);
BSP_FDCAN_RegisterCallback(BSP_FDCAN_1, HAL_FDCAN_TX_EVENT_FIFO_CB, BSP_FDCAN_TxCompleteCallback); 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); 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); 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); 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; 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); FDCAN_HandleTypeDef *hfdcan = BSP_FDCAN_GetHandle(fdcan);
if (hfdcan == NULL) return BSP_ERR_NULL; if (hfdcan == NULL) return BSP_ERR_NULL;
BSP_FDCAN_TxMessage_t tx_msg = {0}; BSP_FDCAN_TxMessage_t tx_msg = {0};
switch (format) { switch (format) {
case BSP_FDCAN_FORMAT_STD_DATA: case BSP_FDCAN_FORMAT_STD_DATA:
tx_msg.header.Identifier = id; tx_msg.header.Identifier = id;
tx_msg.header.IdType = FDCAN_STANDARD_ID; tx_msg.header.IdType = FDCAN_STANDARD_ID;
tx_msg.header.TxFrameType = FDCAN_DATA_FRAME; tx_msg.header.TxFrameType = FDCAN_DATA_FRAME;
break; break;
case BSP_FDCAN_FORMAT_EXT_DATA: case BSP_FDCAN_FORMAT_EXT_DATA:
tx_msg.header.Identifier = id; tx_msg.header.Identifier = id;
tx_msg.header.IdType = FDCAN_EXTENDED_ID; tx_msg.header.IdType = FDCAN_EXTENDED_ID;
tx_msg.header.TxFrameType = FDCAN_DATA_FRAME; tx_msg.header.TxFrameType = FDCAN_DATA_FRAME;
break; break;
case BSP_FDCAN_FORMAT_STD_REMOTE: case BSP_FDCAN_FORMAT_STD_REMOTE:
tx_msg.header.Identifier = id; tx_msg.header.Identifier = id;
tx_msg.header.IdType = FDCAN_STANDARD_ID; tx_msg.header.IdType = FDCAN_STANDARD_ID;
tx_msg.header.TxFrameType = FDCAN_REMOTE_FRAME; tx_msg.header.TxFrameType = FDCAN_REMOTE_FRAME;
break; break;
case BSP_FDCAN_FORMAT_EXT_REMOTE: case BSP_FDCAN_FORMAT_EXT_REMOTE:
tx_msg.header.Identifier = id; tx_msg.header.Identifier = id;
tx_msg.header.IdType = FDCAN_EXTENDED_ID; tx_msg.header.IdType = FDCAN_EXTENDED_ID;
tx_msg.header.TxFrameType = FDCAN_REMOTE_FRAME; tx_msg.header.TxFrameType = FDCAN_REMOTE_FRAME;
break; break;
default: default:
return BSP_ERR; 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.ErrorStateIndicator = FDCAN_ESI_ACTIVE;
tx_msg.header.TxEventFifoControl = FDCAN_STORE_TX_EVENTS;
// 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.MessageMarker = 0x01; 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); memset(tx_msg.data, 0, dlc);
if (data != NULL && dlc > 0) { if (data != NULL && dlc > 0) {
memcpy(tx_msg.data, data, dlc);} memcpy(tx_msg.data, data, dlc);}
fifolevel=HAL_FDCAN_GetTxFifoFreeLevel(hfdcan); fifolevel=HAL_FDCAN_GetTxFifoFreeLevel(hfdcan);
if (HAL_FDCAN_GetTxFifoFreeLevel(hfdcan) > 0) { if (HAL_FDCAN_GetTxFifoFreeLevel(hfdcan) > 0) {
if (HAL_FDCAN_AddMessageToTxFifoQ(hfdcan, &tx_msg.header, tx_msg.data) == HAL_OK) return BSP_OK; 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; if (BSP_FDCAN_TxQueuePush(fdcan, &tx_msg)) return BSP_OK;
return BSP_ERR; return BSP_ERR;
} }
int8_t BSP_FDCAN_TransmitStdDataFrame(BSP_FDCAN_t fdcan, BSP_FDCAN_StdDataFrame_t *frame) { int8_t BSP_FDCAN_TransmitStdDataFrame(BSP_FDCAN_t fdcan, BSP_FDCAN_StdDataFrame_t *frame) {

15
User/bsp/fdcan.h
View File

@ -21,7 +21,22 @@ extern "C" {
#define BSP_FDCAN_TIMEOUT_IMMEDIATE 0 #define BSP_FDCAN_TIMEOUT_IMMEDIATE 0
#define BSP_FDCAN_TIMEOUT_FOREVER osWaitForever #define BSP_FDCAN_TIMEOUT_FOREVER osWaitForever
#define BSP_FDCAN_TX_QUEUE_SIZE 32 #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 ----------------------------------------------------------- */ /* Exported types ----------------------------------------------------------- */
typedef enum { typedef enum {
BSP_FDCAN_1, BSP_FDCAN_1,

8
User/task/blink.c
View File

@ -71,13 +71,13 @@ void Task_blink(void *argument) {
0x19, 0x1A, 0x1B, 0x1C, 0x1D, 0x1E, 0x1F, 0x20}; 0x19, 0x1A, 0x1B, 0x1C, 0x1D, 0x1E, 0x1F, 0x20};
// 简单 CRC/校验（可选） // 简单 CRC/校验（可选）
data1[7] = data1[0] ^ data1[1] ^ data1[2]; // data1[7] = data1[0] ^ data1[1] ^ data1[2];
data2[7] = data2[0] ^ data2[1] ^ data2[2]; // data2[7] = data2[0] ^ data2[1] ^ data2[2];
// data3[7] = data3[0] ^ data3[1] ^ data3[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） // 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_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_2, BSP_FDCAN_FORMAT_STD_DATA, 0x102, data2, 8);
BSP_FDCAN_Transmit(BSP_FDCAN_3, BSP_FDCAN_FORMAT_STD_DATA, 0x103, data3, 13); 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) { if (BSP_FDCAN_GetMessage(BSP_FDCAN_1, 0x101, &msg1, BSP_FDCAN_TIMEOUT_IMMEDIATE) == BSP_OK) {