宏编译成功，还差缓冲区动态分配
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@ -153,40 +153,7 @@
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<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>
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</SetRegEntry>
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</TargetDriverDllRegistry>
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<BreakIfRCount>1</BreakIfRCount>
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<Filename>..\User\bsp\fdcan.c</Filename>
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<ExecCommand></ExecCommand>
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<Expression>\\FDCAN\../User/bsp/fdcan.c\249</Expression>
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<BreakIfRCount>1</BreakIfRCount>
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<Filename>..\User\bsp\fdcan.c</Filename>
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<ExecCommand></ExecCommand>
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<Expression>\\FDCAN\../User/bsp/fdcan.c\217</Expression>
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</Bp>
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</Breakpoint>
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<Breakpoint/>
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<WatchWindow1>
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<Ww>
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<count>0</count>
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239
User/bsp/fdcan.c
239
User/bsp/fdcan.c
@ -9,6 +9,52 @@
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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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@ -309,7 +355,7 @@ int8_t BSP_FDCAN_Init(void) {
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// 过滤器类型: （仅介绍掩码模式）
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// sFilterConfig.FilterType = FDCAN_FILTER_MASK;(掩码模式）
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// 过滤器配置:
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// sFilterConfig.FilterConfig = FDCAN_FILTER_DISABLE; (禁用该滤波器条目)
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// sFilterConfig.FilterConfig = FDCAN_FILTER_DISABLE; (禁用该过滤器条目)
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// FDCAN_FILTER_TO_RXFIFO0; (将匹配的消息放入 FIFO 0（普通优先级）)
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// FDCAN_FILTER_TO_RXFIFO1; (将匹配的消息放入 FIFO 1（高优先级）)
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// FDCAN_FILTER_TO_RXBUFFER; (将匹配的消息放入 指定的接收缓冲区)
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@ -332,66 +378,58 @@ int8_t BSP_FDCAN_Init(void) {
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// 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）
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// 仅在FilterConfig 设为 FDCAN_FILTER_TO_RXBUFFER 时才有意义，通常设置为0
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// IsCalibrationMsg = 0 or 1;
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// fdcan_filter_table.h
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/* 依据上述说明，配置过滤器 */
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/* 依据上述说明，配置过滤器并启动FDCAN */
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FDCAN_FilterTypeDef sFilterConfig;
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/* 配置 FDCAN1 过滤器 */
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/* 索引0;标准ID;掩码模式;存入 FIFO 0（普通优先级）;不过滤; */
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sFilterConfig.FilterIndex = 0;
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sFilterConfig.IdType = FDCAN_STANDARD_ID;
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sFilterConfig.FilterType = FDCAN_FILTER_MASK;
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sFilterConfig.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;
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sFilterConfig.FilterID1 = 0x000;
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sFilterConfig.FilterID2 = 0x000;
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sFilterConfig.RxBufferIndex = 0;
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HAL_FDCAN_ConfigFilter(&hfdcan1, &sFilterConfig);
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HAL_FDCAN_ConfigGlobalFilter(&hfdcan1,FDCAN_REJECT, FDCAN_REJECT, FDCAN_FILTER_REMOTE, FDCAN_FILTER_REMOTE);
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/* 配置 FDCAN2 过滤器 */
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/* 索引0;标准ID;掩码模式;存入 FIFO 1（普通优先级）;不过滤; */
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sFilterConfig.FilterIndex = 0;
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sFilterConfig.IdType = FDCAN_STANDARD_ID;
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sFilterConfig.FilterType = FDCAN_FILTER_MASK;
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sFilterConfig.FilterConfig = FDCAN_FILTER_TO_RXFIFO1;
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sFilterConfig.FilterID1 = 0x000;
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sFilterConfig.FilterID2 = 0x000;
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sFilterConfig.RxBufferIndex = 0;
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HAL_FDCAN_ConfigFilter(&hfdcan2, &sFilterConfig);
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HAL_FDCAN_ConfigGlobalFilter(&hfdcan2,FDCAN_REJECT, FDCAN_REJECT, FDCAN_FILTER_REMOTE, FDCAN_FILTER_REMOTE);
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/* 配置 FDCAN3 过滤器 */
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/* 索引0;标准ID;掩码模式;存入 FIFO 1（普通优先级）;不过滤; */
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sFilterConfig.FilterIndex = 0;
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sFilterConfig.IdType = FDCAN_STANDARD_ID;
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sFilterConfig.FilterType = FDCAN_FILTER_MASK;
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sFilterConfig.FilterConfig = FDCAN_FILTER_TO_RXFIFO1;
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sFilterConfig.FilterID1 = 0x000;
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sFilterConfig.FilterID2 = 0x000;
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sFilterConfig.RxBufferIndex = 0;
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HAL_FDCAN_ConfigFilter(&hfdcan3, &sFilterConfig);
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HAL_FDCAN_ConfigGlobalFilter(&hfdcan3,FDCAN_REJECT, FDCAN_REJECT, FDCAN_FILTER_REMOTE, FDCAN_FILTER_REMOTE);
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HAL_FDCAN_ActivateNotification(&hfdcan1, FDCAN_IT_RX_FIFO0_NEW_MESSAGE
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| FDCAN_IT_TX_EVT_FIFO_NEW_DATA
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| FDCAN_IT_RAM_ACCESS_FAILURE, 0);//加一个RAM访问失败中断
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HAL_FDCAN_ActivateNotification(&hfdcan2, FDCAN_IT_RX_FIFO1_NEW_MESSAGE
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| FDCAN_IT_TX_EVT_FIFO_NEW_DATA
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| FDCAN_IT_RAM_ACCESS_FAILURE, 0);
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HAL_FDCAN_ActivateNotification(&hfdcan3, FDCAN_IT_RX_FIFO1_NEW_MESSAGE
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| FDCAN_IT_TX_EVT_FIFO_NEW_DATA
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| FDCAN_IT_RAM_ACCESS_FAILURE, 0);
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BSP_FDCAN_RegisterCallback(BSP_FDCAN_1, HAL_FDCAN_RX_FIFO0_MSG_PENDING_CB, BSP_FDCAN_RxFifo0Callback);
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#ifdef FDCAN1_EN
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#define hfdcan hfdcan1
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#define FDCANX_RX_FIFO FDCAN1_RX_FIFO
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FDCAN1_FILTER_CONFIG_TABLE(FDCAN_CONFIG_FILTER)
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#undef hfdcan
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#undef FDCANX_RX_FIFO
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HAL_FDCAN_ConfigGlobalFilter(&hfdcan1, FDCAN1_GLOBAL_FILTER);
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HAL_FDCAN_ActivateNotification(&hfdcan1, FDCANx_NOTIFY_FLAGS(FDCAN1_RX_FIFO), 0);
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BSP_FDCAN_RegisterCallback(BSP_FDCAN_1, FDCANX_MSG_PENDING_CB(FDCAN1_RX_FIFO), BSP_FDCAN_RxFifo0Callback);
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BSP_FDCAN_RegisterCallback(BSP_FDCAN_1, HAL_FDCAN_TX_EVENT_FIFO_CB, BSP_FDCAN_TxCompleteCallback);
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BSP_FDCAN_RegisterCallback(BSP_FDCAN_2, HAL_FDCAN_RX_FIFO1_MSG_PENDING_CB, BSP_FDCAN_RxFifo1Callback);
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BSP_FDCAN_RegisterCallback(BSP_FDCAN_2, HAL_FDCAN_TX_EVENT_FIFO_CB, BSP_FDCAN_TxCompleteCallback);
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BSP_FDCAN_RegisterCallback(BSP_FDCAN_3, HAL_FDCAN_RX_FIFO1_MSG_PENDING_CB, BSP_FDCAN_RxFifo1Callback);
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BSP_FDCAN_RegisterCallback(BSP_FDCAN_3, HAL_FDCAN_TX_EVENT_FIFO_CB, BSP_FDCAN_TxCompleteCallback);
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/* __ ,启动！ */
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HAL_FDCAN_Start(&hfdcan1);
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#endif
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#ifdef FDCAN2_EN
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#define hfdcan hfdcan2
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#define FDCANX_RX_FIFO FDCAN2_RX_FIFO
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FDCAN2_FILTER_CONFIG_TABLE(FDCAN_CONFIG_FILTER)
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#undef hfdcan
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#undef FDCANX_RX_FIFO
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HAL_FDCAN_ConfigGlobalFilter(&hfdcan2, FDCAN2_GLOBAL_FILTER);
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HAL_FDCAN_ActivateNotification(&hfdcan2, FDCANx_NOTIFY_FLAGS(FDCAN2_RX_FIFO), 0);
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BSP_FDCAN_RegisterCallback(BSP_FDCAN_2, FDCANX_MSG_PENDING_CB(FDCAN2_RX_FIFO), BSP_FDCAN_RxFifo1Callback);
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BSP_FDCAN_RegisterCallback(BSP_FDCAN_2, HAL_FDCAN_TX_EVENT_FIFO_CB, BSP_FDCAN_TxCompleteCallback);
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HAL_FDCAN_Start(&hfdcan2);
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#endif
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#ifdef FDCAN3_EN
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#define hfdcan hfdcan3
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#define FDCANX_RX_FIFO FDCAN3_RX_FIFO
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FDCAN3_FILTER_CONFIG_TABLE(FDCAN_CONFIG_FILTER)
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#undef hfdcan
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#undef FDCANX_RX_FIFO
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HAL_FDCAN_ConfigGlobalFilter(&hfdcan3, FDCAN3_GLOBAL_FILTER);
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HAL_FDCAN_ActivateNotification(&hfdcan3, FDCANx_NOTIFY_FLAGS(FDCAN3_RX_FIFO), 0);
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BSP_FDCAN_RegisterCallback(BSP_FDCAN_3, FDCANX_MSG_PENDING_CB(FDCAN3_RX_FIFO), BSP_FDCAN_RxFifo1Callback);
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BSP_FDCAN_RegisterCallback(BSP_FDCAN_3, HAL_FDCAN_TX_EVENT_FIFO_CB, BSP_FDCAN_TxCompleteCallback);
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HAL_FDCAN_Start(&hfdcan3);
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#endif
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#undef FDCAN_FILTER_TO_RXFIFO_ENUM_INNER
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#undef FDCAN_FILTER_TO_RXFIFO_ENUM
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#undef FDCAN_CONFIG_FILTER
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#undef FDCAN_NOTIFY_FLAG_RXFIFO_INNER
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#undef FDCAN_NOTIFY_FLAG_RXFIFO
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#undef FDCANx_NOTIFY_FLAGS
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#undef FDCANX_MSG_PENDING_CB_INNER
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#undef FDCANX_MSG_PENDING_CB
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return BSP_OK;
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}
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@ -423,54 +461,61 @@ int8_t BSP_FDCAN_Transmit(BSP_FDCAN_t fdcan, BSP_FDCAN_Format_t format, uint32_t
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FDCAN_HandleTypeDef *hfdcan = BSP_FDCAN_GetHandle(fdcan);
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if (hfdcan == NULL) return BSP_ERR_NULL;
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BSP_FDCAN_TxMessage_t tx_msg = {0};
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switch (format) {
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case BSP_FDCAN_FORMAT_STD_DATA:
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tx_msg.header.Identifier = id;
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tx_msg.header.IdType = FDCAN_STANDARD_ID;
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tx_msg.header.TxFrameType = FDCAN_DATA_FRAME;
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break;
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case BSP_FDCAN_FORMAT_EXT_DATA:
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tx_msg.header.Identifier = id;
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tx_msg.header.IdType = FDCAN_EXTENDED_ID;
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tx_msg.header.TxFrameType = FDCAN_DATA_FRAME;
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break;
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case BSP_FDCAN_FORMAT_STD_REMOTE:
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tx_msg.header.Identifier = id;
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tx_msg.header.IdType = FDCAN_STANDARD_ID;
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tx_msg.header.TxFrameType = FDCAN_REMOTE_FRAME;
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break;
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case BSP_FDCAN_FORMAT_EXT_REMOTE:
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tx_msg.header.Identifier = id;
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tx_msg.header.IdType = FDCAN_EXTENDED_ID;
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tx_msg.header.TxFrameType = FDCAN_REMOTE_FRAME;
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break;
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default:
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return BSP_ERR;
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}
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BSP_FDCAN_TxMessage_t tx_msg = {0};
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switch (format) {
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case BSP_FDCAN_FORMAT_STD_DATA:
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tx_msg.header.Identifier = id;
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tx_msg.header.IdType = FDCAN_STANDARD_ID;
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tx_msg.header.TxFrameType = FDCAN_DATA_FRAME;
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break;
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case BSP_FDCAN_FORMAT_EXT_DATA:
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tx_msg.header.Identifier = id;
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tx_msg.header.IdType = FDCAN_EXTENDED_ID;
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tx_msg.header.TxFrameType = FDCAN_DATA_FRAME;
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break;
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case BSP_FDCAN_FORMAT_STD_REMOTE:
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tx_msg.header.Identifier = id;
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tx_msg.header.IdType = FDCAN_STANDARD_ID;
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tx_msg.header.TxFrameType = FDCAN_REMOTE_FRAME;
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break;
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case BSP_FDCAN_FORMAT_EXT_REMOTE:
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tx_msg.header.Identifier = id;
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tx_msg.header.IdType = FDCAN_EXTENDED_ID;
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tx_msg.header.TxFrameType = FDCAN_REMOTE_FRAME;
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break;
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default:
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return BSP_ERR;
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}
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switch (hfdcan->Init.FrameFormat) {
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case FDCAN_FRAME_FD_BRS:
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tx_msg.header.BitRateSwitch = FDCAN_BRS_ON;
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tx_msg.header.FDFormat = FDCAN_FD_CAN;
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break;
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case FDCAN_FRAME_FD_NO_BRS:
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tx_msg.header.BitRateSwitch = FDCAN_BRS_OFF;
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tx_msg.header.FDFormat = FDCAN_FD_CAN;
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break;
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case FDCAN_FRAME_CLASSIC:
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default:
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tx_msg.header.BitRateSwitch = FDCAN_BRS_OFF;
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tx_msg.header.FDFormat = FDCAN_CLASSIC_CAN;
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break;
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}
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tx_msg.header.ErrorStateIndicator = FDCAN_ESI_ACTIVE;
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// tx_msg.header.BitRateSwitch = FDCAN_BRS_OFF;
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// tx_msg.header.FDFormat = FDCAN_CLASSIC_CAN;
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// tx_msg.header.BitRateSwitch = FDCAN_BRS_ON;
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// tx_msg.header.FDFormat = FDCAN_FD_CAN;
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tx_msg.header.BitRateSwitch = FDCAN_BRS_OFF;
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tx_msg.header.FDFormat = FDCAN_FD_CAN;
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tx_msg.header.TxEventFifoControl = FDCAN_STORE_TX_EVENTS;
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tx_msg.header.TxEventFifoControl = FDCAN_STORE_TX_EVENTS;
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tx_msg.header.MessageMarker = 0x01;
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tx_msg.header.DataLength = BSP_FDCAN_EncodeDLC(dlc);
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tx_msg.header.DataLength = BSP_FDCAN_EncodeDLC(dlc);
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memset(tx_msg.data, 0, dlc);
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if (data != NULL && dlc > 0) {
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memcpy(tx_msg.data, data, dlc);}
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memset(tx_msg.data, 0, dlc);
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if (data != NULL && dlc > 0) {
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memcpy(tx_msg.data, data, dlc);}
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fifolevel=HAL_FDCAN_GetTxFifoFreeLevel(hfdcan);
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if (HAL_FDCAN_GetTxFifoFreeLevel(hfdcan) > 0) {
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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) {
|
||||
|
||||
@ -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,
|
||||
|
||||
@ -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) {
|
||||
|
||||
Loading…
Reference in New Issue
Block a user