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想不到有啥好写法了，先全用BSP_FDCAN_MAX_DLC，BSP_FDCAN_MAX_DLC可以通过mr读ioc调整

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yxming66 2025-12-28 15:32:37 +08:00
parent 55153c98a0
commit 9f884a4f7e
2 changed files with 180 additions and 183 deletions
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341
User/bsp/fdcan.c
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@ -65,25 +65,21 @@ typedef struct BSP_FDCAN_QueueNode {
} BSP_FDCAN_QueueNode_t; } BSP_FDCAN_QueueNode_t;
/* Private variables -------------------------------------------------------- */ /* Private variables -------------------------------------------------------- */
//static BSP_FDCAN_QueueNode_t *queue_list = NULL; static BSP_FDCAN_QueueNode_t *queue_list = NULL;
//static osMutexId_t queue_mutex = NULL; static osMutexId_t queue_mutex = NULL;
//static void (*FDCAN_Callback[BSP_FDCAN_NUM][HAL_FDCAN_CB_NUM])(void); static void (*FDCAN_Callback[BSP_FDCAN_NUM][HAL_FDCAN_CB_NUM])(void);
//static bool inited = false; static bool inited = false;
//static BSP_FDCAN_IdParser_t id_parser = NULL; static BSP_FDCAN_IdParser_t id_parser = NULL;
//static BSP_FDCAN_TxQueue_t tx_queues[BSP_FDCAN_NUM]; static BSP_FDCAN_TxQueue_t tx_queues[BSP_FDCAN_NUM];
BSP_FDCAN_QueueNode_t *queue_list = NULL; static const uint8_t fdcan_dlc2len[16] = {0,1,2,3,4,5,6,7,8,12,16,20,24,32,48,64};
osMutexId_t queue_mutex = NULL;
void (*FDCAN_Callback[BSP_FDCAN_NUM][HAL_FDCAN_CB_NUM])(void);
bool inited = false;
BSP_FDCAN_IdParser_t id_parser = NULL;
BSP_FDCAN_TxQueue_t tx_queues[BSP_FDCAN_NUM];
/* Private function prototypes ---------------------------------------------- */ /* Private function prototypes ---------------------------------------------- */
static BSP_FDCAN_t FDCAN_Get(FDCAN_HandleTypeDef *hfdcan); static BSP_FDCAN_t FDCAN_Get(FDCAN_HandleTypeDef *hfdcan);
static osMessageQueueId_t BSP_FDCAN_FindQueue(BSP_FDCAN_t fdcan, uint32_t can_id); static osMessageQueueId_t BSP_FDCAN_FindQueue(BSP_FDCAN_t fdcan, uint32_t can_id);
static int8_t BSP_FDCAN_CreateIdQueue(BSP_FDCAN_t fdcan, uint32_t can_id, uint8_t queue_size); static int8_t BSP_FDCAN_CreateIdQueue(BSP_FDCAN_t fdcan, uint32_t can_id, uint8_t queue_size);
static void BSP_FDCAN_RxFifo0Callback(void); static void BSP_FDCAN_RxFifo0Callback(void);
static void BSP_FDCAN_RxFifo1Callback(void); static void BSP_FDCAN_RxFifo1Callback(void);
// static void BSP_FDCAN_TxCompleteCallback(void); static void BSP_FDCAN_TxCompleteCallback(void);
static BSP_FDCAN_FrameType_t BSP_FDCAN_GetFrameType(FDCAN_RxHeaderTypeDef *header); static BSP_FDCAN_FrameType_t BSP_FDCAN_GetFrameType(FDCAN_RxHeaderTypeDef *header);
static uint32_t BSP_FDCAN_DefaultIdParser(uint32_t original_id, BSP_FDCAN_FrameType_t frame_type); static uint32_t BSP_FDCAN_DefaultIdParser(uint32_t original_id, BSP_FDCAN_FrameType_t frame_type);
static void BSP_FDCAN_TxQueueInit(BSP_FDCAN_t fdcan); static void BSP_FDCAN_TxQueueInit(BSP_FDCAN_t fdcan);
@ -93,20 +89,20 @@ static bool BSP_FDCAN_TxQueueIsEmpty(BSP_FDCAN_t fdcan);
/* Private functions -------------------------------------------------------- */ /* Private functions -------------------------------------------------------- */
static BSP_FDCAN_t FDCAN_Get(FDCAN_HandleTypeDef *hfdcan) { static BSP_FDCAN_t FDCAN_Get(FDCAN_HandleTypeDef *hfdcan) {
if (hfdcan == NULL) return BSP_FDCAN_ERR; if (hfdcan == NULL) return BSP_FDCAN_ERR;
if (hfdcan->Instance == FDCAN1) return BSP_FDCAN_1; if (hfdcan->Instance == FDCAN1) return BSP_FDCAN_1;
else if (hfdcan->Instance == FDCAN2) return BSP_FDCAN_2; else if (hfdcan->Instance == FDCAN2) return BSP_FDCAN_2;
else if (hfdcan->Instance == FDCAN3) return BSP_FDCAN_3; else if (hfdcan->Instance == FDCAN3) return BSP_FDCAN_3;
else return BSP_FDCAN_ERR; else return BSP_FDCAN_ERR;
} }
static osMessageQueueId_t BSP_FDCAN_FindQueue(BSP_FDCAN_t fdcan, uint32_t can_id) { static osMessageQueueId_t BSP_FDCAN_FindQueue(BSP_FDCAN_t fdcan, uint32_t can_id) {
BSP_FDCAN_QueueNode_t *node = queue_list; BSP_FDCAN_QueueNode_t *node = queue_list;
while (node != NULL) { while (node != NULL) {
if (node->fdcan == fdcan && node->can_id == can_id) return node->queue; if (node->fdcan == fdcan && node->can_id == can_id) return node->queue;
node = node->next; node = node->next;
} }
return NULL; return NULL;
} }
static int8_t BSP_FDCAN_CreateIdQueue(BSP_FDCAN_t fdcan, uint32_t can_id, uint8_t queue_size) { static int8_t BSP_FDCAN_CreateIdQueue(BSP_FDCAN_t fdcan, uint32_t can_id, uint8_t queue_size) {
@ -135,213 +131,208 @@ static int8_t BSP_FDCAN_CreateIdQueue(BSP_FDCAN_t fdcan, uint32_t can_id, uint8_
} }
static BSP_FDCAN_FrameType_t BSP_FDCAN_GetFrameType(FDCAN_RxHeaderTypeDef *header) { static BSP_FDCAN_FrameType_t BSP_FDCAN_GetFrameType(FDCAN_RxHeaderTypeDef *header) {
if (header->RxFrameType == FDCAN_REMOTE_FRAME) { if (header->RxFrameType == FDCAN_REMOTE_FRAME) {
return (header->IdType == FDCAN_EXTENDED_ID) ? BSP_FDCAN_FRAME_EXT_REMOTE : BSP_FDCAN_FRAME_STD_REMOTE; return (header->IdType == FDCAN_EXTENDED_ID) ? BSP_FDCAN_FRAME_EXT_REMOTE : BSP_FDCAN_FRAME_STD_REMOTE;
} else { } else {
return (header->IdType == FDCAN_EXTENDED_ID) ? BSP_FDCAN_FRAME_EXT_DATA : BSP_FDCAN_FRAME_STD_DATA; return (header->IdType == FDCAN_EXTENDED_ID) ? BSP_FDCAN_FRAME_EXT_DATA : BSP_FDCAN_FRAME_STD_DATA;
} }
} }
static uint32_t BSP_FDCAN_DefaultIdParser(uint32_t original_id, BSP_FDCAN_FrameType_t frame_type) { static uint32_t BSP_FDCAN_DefaultIdParser(uint32_t original_id, BSP_FDCAN_FrameType_t frame_type) {
(void)frame_type; (void)frame_type;
return original_id; return original_id;
} }
static uint32_t BSP_FDCAN_EncodeDLC(uint8_t dlc) { static uint32_t BSP_FDCAN_EncodeDLC(uint8_t dlc) {
if (dlc <= 8) return dlc; if (dlc <= 8) return dlc;
if (dlc <= 12) return FDCAN_DLC_BYTES_12; if (dlc <= 12) return FDCAN_DLC_BYTES_12;
if (dlc <= 16) return FDCAN_DLC_BYTES_16; if (dlc <= 16) return FDCAN_DLC_BYTES_16;
if (dlc <= 20) return FDCAN_DLC_BYTES_20; if (dlc <= 20) return FDCAN_DLC_BYTES_20;
if (dlc <= 24) return FDCAN_DLC_BYTES_24; if (dlc <= 24) return FDCAN_DLC_BYTES_24;
if (dlc <= 32) return FDCAN_DLC_BYTES_32; if (dlc <= 32) return FDCAN_DLC_BYTES_32;
if (dlc <= 48) return FDCAN_DLC_BYTES_48; if (dlc <= 48) return FDCAN_DLC_BYTES_48;
return FDCAN_DLC_BYTES_64; return FDCAN_DLC_BYTES_64;
} }
static void BSP_FDCAN_TxQueueInit(BSP_FDCAN_t fdcan) { static void BSP_FDCAN_TxQueueInit(BSP_FDCAN_t fdcan) {
if (fdcan >= BSP_FDCAN_NUM) return; if (fdcan >= BSP_FDCAN_NUM) return;
tx_queues[fdcan].head = 0; tx_queues[fdcan].head = 0;
tx_queues[fdcan].tail = 0; tx_queues[fdcan].tail = 0;
} }
static bool BSP_FDCAN_TxQueuePush(BSP_FDCAN_t fdcan, BSP_FDCAN_TxMessage_t *msg) { static bool BSP_FDCAN_TxQueuePush(BSP_FDCAN_t fdcan, BSP_FDCAN_TxMessage_t *msg) {
if (fdcan >= BSP_FDCAN_NUM || msg == NULL) return false; if (fdcan >= BSP_FDCAN_NUM || msg == NULL) return false;
BSP_FDCAN_TxQueue_t *queue = &tx_queues[fdcan]; BSP_FDCAN_TxQueue_t *queue = &tx_queues[fdcan];
uint32_t next_head = (queue->head + 1) % BSP_FDCAN_TX_QUEUE_SIZE; uint32_t next_head = (queue->head + 1) % BSP_FDCAN_TX_QUEUE_SIZE;
if (next_head == queue->tail) return false; if (next_head == queue->tail) return false;
queue->buffer[queue->head] = *msg; queue->buffer[queue->head] = *msg;
queue->head = next_head; queue->head = next_head;
return true; return true;
} }
static bool BSP_FDCAN_TxQueuePop(BSP_FDCAN_t fdcan, BSP_FDCAN_TxMessage_t *msg) { static bool BSP_FDCAN_TxQueuePop(BSP_FDCAN_t fdcan, BSP_FDCAN_TxMessage_t *msg) {
if (fdcan >= BSP_FDCAN_NUM || msg == NULL) return false; if (fdcan >= BSP_FDCAN_NUM || msg == NULL) return false;
BSP_FDCAN_TxQueue_t *queue = &tx_queues[fdcan]; BSP_FDCAN_TxQueue_t *queue = &tx_queues[fdcan];
if (queue->head == queue->tail) return false; if (queue->head == queue->tail) return false;
*msg = queue->buffer[queue->tail]; *msg = queue->buffer[queue->tail];
queue->tail = (queue->tail + 1) % BSP_FDCAN_TX_QUEUE_SIZE; queue->tail = (queue->tail + 1) % BSP_FDCAN_TX_QUEUE_SIZE;
return true; return true;
} }
static bool BSP_FDCAN_TxQueueIsEmpty(BSP_FDCAN_t fdcan) { static bool BSP_FDCAN_TxQueueIsEmpty(BSP_FDCAN_t fdcan) {
if (fdcan >= BSP_FDCAN_NUM) return true; if (fdcan >= BSP_FDCAN_NUM) return true;
return tx_queues[fdcan].head == tx_queues[fdcan].tail; return tx_queues[fdcan].head == tx_queues[fdcan].tail;
} }
static void BSP_FDCAN_TxCompleteCallback(void) { static void BSP_FDCAN_TxCompleteCallback(void) {
for (int i = 0; i < BSP_FDCAN_NUM; i++) { for (int i = 0; i < BSP_FDCAN_NUM; i++) {
BSP_FDCAN_t fdcan = (BSP_FDCAN_t)i; BSP_FDCAN_t fdcan = (BSP_FDCAN_t)i;
FDCAN_HandleTypeDef *hfdcan = BSP_FDCAN_GetHandle(fdcan); FDCAN_HandleTypeDef *hfdcan = BSP_FDCAN_GetHandle(fdcan);
if (hfdcan == NULL) continue; if (hfdcan == NULL) continue;
// 消费所有 TX EVENT FIFO 事件，防止堵塞 // 消费所有 TX EVENT FIFO 事件，防止堵塞
FDCAN_TxEventFifoTypeDef tx_event; FDCAN_TxEventFifoTypeDef tx_event;
while (HAL_FDCAN_GetTxEvent(hfdcan, &tx_event) == HAL_OK) { while (HAL_FDCAN_GetTxEvent(hfdcan, &tx_event) == HAL_OK) {
// 可在此统计 MessageMarker、ID、时间戳等 // 可在此统计 MessageMarker、ID、时间戳等
}
// 续写软件队列到硬件 FIFO
BSP_FDCAN_TxMessage_t msg;
while (!BSP_FDCAN_TxQueueIsEmpty(fdcan)) {
if (HAL_FDCAN_GetTxFifoFreeLevel(hfdcan) == 0) break;
if (!BSP_FDCAN_TxQueuePop(fdcan, &msg)) break;
HAL_StatusTypeDef res = HAL_FDCAN_AddMessageToTxFifoQ(hfdcan, &msg.header, msg.data);
if (res != HAL_OK) {
break;
}
}
} }
// 续写软件队列到硬件 FIFO
BSP_FDCAN_TxMessage_t msg;
while (!BSP_FDCAN_TxQueueIsEmpty(fdcan)) {
if (HAL_FDCAN_GetTxFifoFreeLevel(hfdcan) == 0) break;
if (!BSP_FDCAN_TxQueuePop(fdcan, &msg)) break;
HAL_StatusTypeDef res = HAL_FDCAN_AddMessageToTxFifoQ(hfdcan, &msg.header, msg.data);
if (res != HAL_OK) {
break;
}
}
}
} }
static const uint8_t fdcan_dlc2len[16] = {0,1,2,3,4,5,6,7,8,12,16,20,24,32,48,64};
static void BSP_FDCAN_RxFifo0Callback(void) { static void BSP_FDCAN_RxFifo0Callback(void) {
FDCAN_RxHeaderTypeDef rx_header; FDCAN_RxHeaderTypeDef rx_header;
uint8_t rx_data[BSP_FDCAN_MAX_DLC]; uint8_t rx_data[BSP_FDCAN_MAX_DLC];
for (int fdcan_idx = 0; fdcan_idx < BSP_FDCAN_NUM; fdcan_idx++) { for (int fdcan_idx = 0; fdcan_idx < BSP_FDCAN_NUM; fdcan_idx++) {
FDCAN_HandleTypeDef *hfdcan = BSP_FDCAN_GetHandle((BSP_FDCAN_t)fdcan_idx); FDCAN_HandleTypeDef *hfdcan = BSP_FDCAN_GetHandle((BSP_FDCAN_t)fdcan_idx);
if (hfdcan == NULL) continue; if (hfdcan == NULL) continue;
while (HAL_FDCAN_GetRxFifoFillLevel(hfdcan, FDCAN_RX_FIFO0) > 0) { while (HAL_FDCAN_GetRxFifoFillLevel(hfdcan, FDCAN_RX_FIFO0) > 0) {
if (HAL_FDCAN_GetRxMessage(hfdcan, FDCAN_RX_FIFO0, &rx_header, rx_data) == HAL_OK) { if (HAL_FDCAN_GetRxMessage(hfdcan, FDCAN_RX_FIFO0, &rx_header, rx_data) == HAL_OK) {
uint32_t original_id = (rx_header.IdType == FDCAN_STANDARD_ID) ? rx_header.Identifier&0x7ff : rx_header.Identifier&0x1fffffff; uint32_t original_id = (rx_header.IdType == FDCAN_STANDARD_ID) ? rx_header.Identifier&0x7ff : rx_header.Identifier&0x1fffffff;
BSP_FDCAN_FrameType_t frame_type = BSP_FDCAN_GetFrameType(&rx_header); BSP_FDCAN_FrameType_t frame_type = BSP_FDCAN_GetFrameType(&rx_header);
uint32_t parsed_id = BSP_FDCAN_ParseId(original_id, frame_type); uint32_t parsed_id = BSP_FDCAN_ParseId(original_id, frame_type);
osMessageQueueId_t queue = BSP_FDCAN_FindQueue((BSP_FDCAN_t)fdcan_idx, parsed_id); osMessageQueueId_t queue = BSP_FDCAN_FindQueue((BSP_FDCAN_t)fdcan_idx, parsed_id);
if (queue != NULL) { if (queue != NULL) {
BSP_FDCAN_Message_t msg; BSP_FDCAN_Message_t msg;
msg.frame_type = frame_type; msg.frame_type = frame_type;
msg.original_id = original_id; msg.original_id = original_id;
msg.parsed_id = parsed_id; msg.parsed_id = parsed_id;
uint8_t real_len = fdcan_dlc2len[rx_header.DataLength & 0xF]; uint8_t real_len = fdcan_dlc2len[rx_header.DataLength & 0xF];
msg.dlc = real_len; msg.dlc = real_len;
if (msg.dlc > BSP_FDCAN_MAX_DLC) msg.dlc = BSP_FDCAN_MAX_DLC; if (msg.dlc > BSP_FDCAN_MAX_DLC) msg.dlc = BSP_FDCAN_MAX_DLC;
memset(msg.data, 0, BSP_FDCAN_MAX_DLC);//现在是最大缓冲区写法所以全清零 memset(msg.data, 0, BSP_FDCAN_MAX_DLC);//现在是最大缓冲区写法所以全清零
memcpy(msg.data, rx_data, msg.dlc); memcpy(msg.data, rx_data, msg.dlc);
osMessageQueuePut(queue, &msg, 0, 0); osMessageQueuePut(queue, &msg, 0, 0);
}
} else {
break;
}
} }
} else {
break;
}
} }
}
} }
static void BSP_FDCAN_RxFifo1Callback(void) { static void BSP_FDCAN_RxFifo1Callback(void) {
FDCAN_RxHeaderTypeDef rx_header; FDCAN_RxHeaderTypeDef rx_header;
uint8_t rx_data[BSP_FDCAN_MAX_DLC]; uint8_t rx_data[BSP_FDCAN_MAX_DLC];
static const uint8_t fdcan_dlc2len[16] = {0,1,2,3,4,5,6,7,8,12,16,20,24,32,48,64}; for (int fdcan_idx = 0; fdcan_idx < BSP_FDCAN_NUM; fdcan_idx++) {
for (int fdcan_idx = 0; fdcan_idx < BSP_FDCAN_NUM; fdcan_idx++) { FDCAN_HandleTypeDef *hfdcan = BSP_FDCAN_GetHandle((BSP_FDCAN_t)fdcan_idx);
FDCAN_HandleTypeDef *hfdcan = BSP_FDCAN_GetHandle((BSP_FDCAN_t)fdcan_idx); if (hfdcan == NULL) continue;
if (hfdcan == NULL) continue; while (HAL_FDCAN_GetRxFifoFillLevel(hfdcan, FDCAN_RX_FIFO1) > 0) {
while (HAL_FDCAN_GetRxFifoFillLevel(hfdcan, FDCAN_RX_FIFO1) > 0) { if (HAL_FDCAN_GetRxMessage(hfdcan, FDCAN_RX_FIFO1, &rx_header, rx_data) == HAL_OK) {
if (HAL_FDCAN_GetRxMessage(hfdcan, FDCAN_RX_FIFO1, &rx_header, rx_data) == HAL_OK) { uint32_t original_id = (rx_header.IdType == FDCAN_STANDARD_ID) ? rx_header.Identifier&0x7ff : rx_header.Identifier&0x1fffffff;
uint32_t original_id = (rx_header.IdType == FDCAN_STANDARD_ID) ? rx_header.Identifier&0x7ff : rx_header.Identifier&0x1fffffff; BSP_FDCAN_FrameType_t frame_type = BSP_FDCAN_GetFrameType(&rx_header);
BSP_FDCAN_FrameType_t frame_type = BSP_FDCAN_GetFrameType(&rx_header); uint32_t parsed_id = BSP_FDCAN_ParseId(original_id, frame_type);
uint32_t parsed_id = BSP_FDCAN_ParseId(original_id, frame_type); osMessageQueueId_t queue = BSP_FDCAN_FindQueue((BSP_FDCAN_t)fdcan_idx, parsed_id);
osMessageQueueId_t queue = BSP_FDCAN_FindQueue((BSP_FDCAN_t)fdcan_idx, parsed_id); if (queue != NULL) {
if (queue != NULL) { BSP_FDCAN_Message_t msg;
BSP_FDCAN_Message_t msg; msg.frame_type = frame_type;
msg.frame_type = frame_type; msg.original_id = original_id;
msg.original_id = original_id; msg.parsed_id = parsed_id;
msg.parsed_id = parsed_id; uint8_t real_len = fdcan_dlc2len[rx_header.DataLength & 0xF];
uint8_t real_len = fdcan_dlc2len[rx_header.DataLength & 0xF]; msg.dlc = real_len;
msg.dlc = real_len; if (msg.dlc > BSP_FDCAN_MAX_DLC) msg.dlc = BSP_FDCAN_MAX_DLC;
if (msg.dlc > BSP_FDCAN_MAX_DLC) msg.dlc = BSP_FDCAN_MAX_DLC; memset(msg.data, 0, BSP_FDCAN_MAX_DLC);//现在是最大缓冲区写法所以全清零
memset(msg.data, 0, BSP_FDCAN_MAX_DLC);//现在是最大缓冲区写法所以全清零 memcpy(msg.data, rx_data, msg.dlc);
memcpy(msg.data, rx_data, msg.dlc); osMessageQueuePut(queue, &msg, 0, 0);
osMessageQueuePut(queue, &msg, 0, 0);
}
} else {
break;
}
} }
} else {
break;
}
} }
}
} }
/* HAL Callback Stubs (map HAL FDCAN callbacks to user callbacks) */ /* HAL Callback Stubs (map HAL FDCAN callbacks to user callbacks) */
void HAL_FDCAN_TxEventFifoCallback(FDCAN_HandleTypeDef *hfdcan, uint32_t TxEventFifoITs) { void HAL_FDCAN_TxEventFifoCallback(FDCAN_HandleTypeDef *hfdcan, uint32_t TxEventFifoITs) {
BSP_FDCAN_t bsp_fdcan = FDCAN_Get(hfdcan); BSP_FDCAN_t bsp_fdcan = FDCAN_Get(hfdcan);
if (bsp_fdcan != BSP_FDCAN_ERR) { if (bsp_fdcan != BSP_FDCAN_ERR) {
if (FDCAN_Callback[bsp_fdcan][HAL_FDCAN_TX_EVENT_FIFO_CB]) if (FDCAN_Callback[bsp_fdcan][HAL_FDCAN_TX_EVENT_FIFO_CB])
FDCAN_Callback[bsp_fdcan][HAL_FDCAN_TX_EVENT_FIFO_CB](); FDCAN_Callback[bsp_fdcan][HAL_FDCAN_TX_EVENT_FIFO_CB]();
} }
} }
void HAL_FDCAN_TxBufferCompleteCallback(FDCAN_HandleTypeDef *hfdcan, uint32_t BufferIndex) { void HAL_FDCAN_TxBufferCompleteCallback(FDCAN_HandleTypeDef *hfdcan, uint32_t BufferIndex) {
BSP_FDCAN_t bsp_fdcan = FDCAN_Get(hfdcan); BSP_FDCAN_t bsp_fdcan = FDCAN_Get(hfdcan);
if (bsp_fdcan != BSP_FDCAN_ERR) { if (bsp_fdcan != BSP_FDCAN_ERR) {
if (FDCAN_Callback[bsp_fdcan][HAL_FDCAN_TX_BUFFER_COMPLETE_CB]) if (FDCAN_Callback[bsp_fdcan][HAL_FDCAN_TX_BUFFER_COMPLETE_CB])
FDCAN_Callback[bsp_fdcan][HAL_FDCAN_TX_BUFFER_COMPLETE_CB](); FDCAN_Callback[bsp_fdcan][HAL_FDCAN_TX_BUFFER_COMPLETE_CB]();
} }
} }
void HAL_FDCAN_TxBufferAbortCallback(FDCAN_HandleTypeDef *hfdcan, uint32_t BufferIndex) { void HAL_FDCAN_TxBufferAbortCallback(FDCAN_HandleTypeDef *hfdcan, uint32_t BufferIndex) {
BSP_FDCAN_t bsp_fdcan = FDCAN_Get(hfdcan); BSP_FDCAN_t bsp_fdcan = FDCAN_Get(hfdcan);
if (bsp_fdcan != BSP_FDCAN_ERR) { if (bsp_fdcan != BSP_FDCAN_ERR) {
if (FDCAN_Callback[bsp_fdcan][HAL_FDCAN_TX_BUFFER_ABORT_CB]) if (FDCAN_Callback[bsp_fdcan][HAL_FDCAN_TX_BUFFER_ABORT_CB])
FDCAN_Callback[bsp_fdcan][HAL_FDCAN_TX_BUFFER_ABORT_CB](); FDCAN_Callback[bsp_fdcan][HAL_FDCAN_TX_BUFFER_ABORT_CB]();
} }
} }
void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs) { void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs) {
BSP_FDCAN_t bsp_fdcan = FDCAN_Get(hfdcan); BSP_FDCAN_t bsp_fdcan = FDCAN_Get(hfdcan);
if (bsp_fdcan != BSP_FDCAN_ERR) { if (bsp_fdcan != BSP_FDCAN_ERR) {
if (FDCAN_Callback[bsp_fdcan][HAL_FDCAN_RX_FIFO0_MSG_PENDING_CB]) if (FDCAN_Callback[bsp_fdcan][HAL_FDCAN_RX_FIFO0_MSG_PENDING_CB])
FDCAN_Callback[bsp_fdcan][HAL_FDCAN_RX_FIFO0_MSG_PENDING_CB](); FDCAN_Callback[bsp_fdcan][HAL_FDCAN_RX_FIFO0_MSG_PENDING_CB]();
} }
} }
void HAL_FDCAN_RxFifo1Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo1ITs) { void HAL_FDCAN_RxFifo1Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo1ITs) {
BSP_FDCAN_t bsp_fdcan = FDCAN_Get(hfdcan); BSP_FDCAN_t bsp_fdcan = FDCAN_Get(hfdcan);
if (bsp_fdcan != BSP_FDCAN_ERR) { if (bsp_fdcan != BSP_FDCAN_ERR) {
if (FDCAN_Callback[bsp_fdcan][HAL_FDCAN_RX_FIFO1_MSG_PENDING_CB]) if (FDCAN_Callback[bsp_fdcan][HAL_FDCAN_RX_FIFO1_MSG_PENDING_CB])
FDCAN_Callback[bsp_fdcan][HAL_FDCAN_RX_FIFO1_MSG_PENDING_CB](); FDCAN_Callback[bsp_fdcan][HAL_FDCAN_RX_FIFO1_MSG_PENDING_CB]();
} }
} }
void HAL_FDCAN_ErrorCallback(FDCAN_HandleTypeDef *hfdcan) { void HAL_FDCAN_ErrorCallback(FDCAN_HandleTypeDef *hfdcan) {
BSP_FDCAN_t bsp_fdcan = FDCAN_Get(hfdcan); BSP_FDCAN_t bsp_fdcan = FDCAN_Get(hfdcan);
if (bsp_fdcan != BSP_FDCAN_ERR) { if (bsp_fdcan != BSP_FDCAN_ERR) {
if (FDCAN_Callback[bsp_fdcan][HAL_FDCAN_ERROR_CB]) if (FDCAN_Callback[bsp_fdcan][HAL_FDCAN_ERROR_CB])
FDCAN_Callback[bsp_fdcan][HAL_FDCAN_ERROR_CB](); FDCAN_Callback[bsp_fdcan][HAL_FDCAN_ERROR_CB]();
} }
} }
/* Exported functions ------------------------------------------------------- */ /* Exported functions ------------------------------------------------------- */
int8_t BSP_FDCAN_Init(void) { int8_t BSP_FDCAN_Init(void) {
if (inited) return BSP_ERR_INITED; if (inited) return BSP_ERR_INITED;
memset(FDCAN_Callback, 0, sizeof(FDCAN_Callback)); 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;
for (int i = 0; i < BSP_FDCAN_NUM; i++) BSP_FDCAN_TxQueueInit((BSP_FDCAN_t)i); inited = true;
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 */ /* 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） // 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); // 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： // 关于过滤器索引的说明：
@ -379,7 +370,7 @@ int8_t BSP_FDCAN_Init(void) {
// 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 // fdcan_filter_table.h
//=================================================================================
/* 依据上述说明，配置过滤器并启动FDCAN */ /* 依据上述说明，配置过滤器并启动FDCAN */
FDCAN_FilterTypeDef sFilterConfig; FDCAN_FilterTypeDef sFilterConfig;
@ -452,7 +443,7 @@ int8_t BSP_FDCAN_RegisterCallback(BSP_FDCAN_t fdcan, BSP_FDCAN_Callback_t type,
FDCAN_Callback[fdcan][type] = callback; FDCAN_Callback[fdcan][type] = callback;
return BSP_OK; return BSP_OK;
} }
uint32_t fifolevel=0;
int8_t BSP_FDCAN_Transmit(BSP_FDCAN_t fdcan, BSP_FDCAN_Format_t format, uint32_t id, uint8_t *data, uint8_t dlc) { 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 (!inited) return BSP_ERR_INITED;
if (fdcan >= BSP_FDCAN_NUM) return BSP_ERR; if (fdcan >= BSP_FDCAN_NUM) return BSP_ERR;
@ -507,10 +498,8 @@ int8_t BSP_FDCAN_Transmit(BSP_FDCAN_t fdcan, BSP_FDCAN_Format_t format, uint32_t
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);
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;
} }

22
User/task/blink.c
View File

@ -19,10 +19,12 @@
/* Private variables -------------------------------------------------------- */ /* Private variables -------------------------------------------------------- */
/* USER STRUCT BEGIN */ /* USER STRUCT BEGIN */
BSP_FDCAN_Message_t msg1={0}; BSP_FDCAN_Message_t msg1={0};
BSP_FDCAN_Message_t msg2={0}; BSP_FDCAN_Message_t msg2={0};
BSP_FDCAN_Message_t msg3={0}; BSP_FDCAN_Message_t msg3A={0};
BSP_FDCAN_Message_t msg3B={0};
BSP_FDCAN_Message_t msg3C={0};
/* USER STRUCT END */ /* USER STRUCT END */
float rxlevel=0;
/* Private function --------------------------------------------------------- */ /* Private function --------------------------------------------------------- */
/* Exported functions ------------------------------------------------------- */ /* Exported functions ------------------------------------------------------- */
@ -51,7 +53,8 @@ void Task_blink(void *argument) {
BSP_FDCAN_RegisterId(BSP_FDCAN_1, 0x101, 8); BSP_FDCAN_RegisterId(BSP_FDCAN_1, 0x101, 8);
BSP_FDCAN_RegisterId(BSP_FDCAN_2, 0x102, 8); BSP_FDCAN_RegisterId(BSP_FDCAN_2, 0x102, 8);
BSP_FDCAN_RegisterId(BSP_FDCAN_3, 0x103, 8); BSP_FDCAN_RegisterId(BSP_FDCAN_3, 0x103, 8);
BSP_FDCAN_RegisterId(BSP_FDCAN_3, 0x104, 8);
BSP_FDCAN_RegisterId(BSP_FDCAN_3, 0x105, 8);
/* USER CODE INIT END */ /* USER CODE INIT END */
while (1) { while (1) {
@ -78,15 +81,20 @@ void Task_blink(void *argument) {
// 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, 30);
BSP_FDCAN_Transmit(BSP_FDCAN_3, BSP_FDCAN_FORMAT_STD_DATA, 0x104, data2, 5);
BSP_FDCAN_Transmit(BSP_FDCAN_3, BSP_FDCAN_FORMAT_STD_DATA, 0x105, data1, 8);
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) {
} }
if (BSP_FDCAN_GetMessage(BSP_FDCAN_2, 0x102, &msg2, BSP_FDCAN_TIMEOUT_IMMEDIATE) == BSP_OK) { if (BSP_FDCAN_GetMessage(BSP_FDCAN_2, 0x102, &msg2, BSP_FDCAN_TIMEOUT_IMMEDIATE) == BSP_OK) {
} }
if (BSP_FDCAN_GetMessage(BSP_FDCAN_3, 0x103, &msg3, BSP_FDCAN_TIMEOUT_IMMEDIATE) == BSP_OK) { if (BSP_FDCAN_GetMessage(BSP_FDCAN_3, 0x103, &msg3A, BSP_FDCAN_TIMEOUT_IMMEDIATE) == BSP_OK) {
}
if (BSP_FDCAN_GetMessage(BSP_FDCAN_3, 0x104, &msg3B, BSP_FDCAN_TIMEOUT_IMMEDIATE) == BSP_OK) {
}
if (BSP_FDCAN_GetMessage(BSP_FDCAN_3, 0x105, &msg3C, BSP_FDCAN_TIMEOUT_IMMEDIATE) == BSP_OK) {
} }
rxlevel=HAL_FDCAN_GetRxFifoFillLevel(BSP_FDCAN_GetHandle(BSP_FDCAN_2), FDCAN_RX_FIFO1);
} }
// osDelay(10); // osDelay(10);
/* USER CODE END */ /* USER CODE END */