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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@ -65,25 +65,21 @@ typedef struct BSP_FDCAN_QueueNode {
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} BSP_FDCAN_QueueNode_t;
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/* Private variables -------------------------------------------------------- */
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//static BSP_FDCAN_QueueNode_t *queue_list = NULL;
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//static osMutexId_t queue_mutex = NULL;
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//static void (*FDCAN_Callback[BSP_FDCAN_NUM][HAL_FDCAN_CB_NUM])(void);
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//static bool inited = false;
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//static BSP_FDCAN_IdParser_t id_parser = NULL;
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//static BSP_FDCAN_TxQueue_t tx_queues[BSP_FDCAN_NUM];
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BSP_FDCAN_QueueNode_t *queue_list = NULL;
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osMutexId_t queue_mutex = NULL;
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void (*FDCAN_Callback[BSP_FDCAN_NUM][HAL_FDCAN_CB_NUM])(void);
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bool inited = false;
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BSP_FDCAN_IdParser_t id_parser = NULL;
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BSP_FDCAN_TxQueue_t tx_queues[BSP_FDCAN_NUM];
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static BSP_FDCAN_QueueNode_t *queue_list = NULL;
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static osMutexId_t queue_mutex = NULL;
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static void (*FDCAN_Callback[BSP_FDCAN_NUM][HAL_FDCAN_CB_NUM])(void);
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static bool inited = false;
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static BSP_FDCAN_IdParser_t id_parser = NULL;
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static BSP_FDCAN_TxQueue_t tx_queues[BSP_FDCAN_NUM];
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static const uint8_t fdcan_dlc2len[16] = {0,1,2,3,4,5,6,7,8,12,16,20,24,32,48,64};
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/* Private function prototypes ---------------------------------------------- */
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static BSP_FDCAN_t FDCAN_Get(FDCAN_HandleTypeDef *hfdcan);
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static osMessageQueueId_t BSP_FDCAN_FindQueue(BSP_FDCAN_t fdcan, uint32_t can_id);
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static int8_t BSP_FDCAN_CreateIdQueue(BSP_FDCAN_t fdcan, uint32_t can_id, uint8_t queue_size);
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static void BSP_FDCAN_RxFifo0Callback(void);
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static void BSP_FDCAN_RxFifo1Callback(void);
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// static void BSP_FDCAN_TxCompleteCallback(void);
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static void BSP_FDCAN_TxCompleteCallback(void);
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static BSP_FDCAN_FrameType_t BSP_FDCAN_GetFrameType(FDCAN_RxHeaderTypeDef *header);
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static uint32_t BSP_FDCAN_DefaultIdParser(uint32_t original_id, BSP_FDCAN_FrameType_t frame_type);
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static void BSP_FDCAN_TxQueueInit(BSP_FDCAN_t fdcan);
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@ -210,7 +206,6 @@ static void BSP_FDCAN_TxCompleteCallback(void) {
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}
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}
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}
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static const uint8_t fdcan_dlc2len[16] = {0,1,2,3,4,5,6,7,8,12,16,20,24,32,48,64};
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static void BSP_FDCAN_RxFifo0Callback(void) {
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FDCAN_RxHeaderTypeDef rx_header;
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@ -246,7 +241,6 @@ static void BSP_FDCAN_RxFifo0Callback(void) {
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static void BSP_FDCAN_RxFifo1Callback(void) {
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FDCAN_RxHeaderTypeDef rx_header;
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uint8_t rx_data[BSP_FDCAN_MAX_DLC];
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static const uint8_t fdcan_dlc2len[16] = {0,1,2,3,4,5,6,7,8,12,16,20,24,32,48,64};
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for (int fdcan_idx = 0; fdcan_idx < BSP_FDCAN_NUM; fdcan_idx++) {
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FDCAN_HandleTypeDef *hfdcan = BSP_FDCAN_GetHandle((BSP_FDCAN_t)fdcan_idx);
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if (hfdcan == NULL) continue;
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@ -329,19 +323,16 @@ int8_t BSP_FDCAN_Init(void) {
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if (inited) return BSP_ERR_INITED;
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memset(FDCAN_Callback, 0, sizeof(FDCAN_Callback));
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for (int i = 0; i < BSP_FDCAN_NUM; i++) BSP_FDCAN_TxQueueInit((BSP_FDCAN_t)i);
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id_parser = BSP_FDCAN_DefaultIdParser;
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queue_mutex = osMutexNew(NULL);
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if (queue_mutex == NULL) return BSP_ERR;
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inited = true;
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/* 配置并启动 FDCAN 实例，绑定中断/回调 */
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//========== 过滤器配置说明：==========================
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// 过滤器编号：相对于每个（相当于经典can过滤器的bank）
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// sFilterConfig.FilterIndex = 0 to 127(标准ID) or 0 to 63(扩展ID);
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// 关于过滤器索引的说明：
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@ -379,7 +370,7 @@ int8_t BSP_FDCAN_Init(void) {
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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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//=================================================================================
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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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@ -452,7 +443,7 @@ int8_t BSP_FDCAN_RegisterCallback(BSP_FDCAN_t fdcan, BSP_FDCAN_Callback_t type,
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FDCAN_Callback[fdcan][type] = callback;
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return BSP_OK;
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}
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uint32_t fifolevel=0;
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int8_t BSP_FDCAN_Transmit(BSP_FDCAN_t fdcan, BSP_FDCAN_Format_t format, uint32_t id, uint8_t *data, uint8_t dlc) {
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if (!inited) return BSP_ERR_INITED;
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if (fdcan >= BSP_FDCAN_NUM) return BSP_ERR;
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@ -507,10 +498,8 @@ int8_t BSP_FDCAN_Transmit(BSP_FDCAN_t fdcan, BSP_FDCAN_Format_t format, uint32_t
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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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if (data != NULL && dlc > 0) {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;
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}
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@ -20,9 +20,11 @@
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/* USER STRUCT BEGIN */
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BSP_FDCAN_Message_t msg1={0};
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BSP_FDCAN_Message_t msg2={0};
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BSP_FDCAN_Message_t msg3={0};
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BSP_FDCAN_Message_t msg3A={0};
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BSP_FDCAN_Message_t msg3B={0};
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BSP_FDCAN_Message_t msg3C={0};
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/* USER STRUCT END */
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float rxlevel=0;
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/* Private function --------------------------------------------------------- */
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/* Exported functions ------------------------------------------------------- */
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@ -51,7 +53,8 @@ void Task_blink(void *argument) {
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BSP_FDCAN_RegisterId(BSP_FDCAN_1, 0x101, 8);
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BSP_FDCAN_RegisterId(BSP_FDCAN_2, 0x102, 8);
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BSP_FDCAN_RegisterId(BSP_FDCAN_3, 0x103, 8);
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BSP_FDCAN_RegisterId(BSP_FDCAN_3, 0x104, 8);
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BSP_FDCAN_RegisterId(BSP_FDCAN_3, 0x105, 8);
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/* USER CODE INIT END */
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while (1) {
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@ -78,15 +81,20 @@ void Task_blink(void *argument) {
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// 使用 BSP 封装的发送接口（非阻塞，若硬件 FIFO 满则内部入队）
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BSP_FDCAN_Transmit(BSP_FDCAN_1, BSP_FDCAN_FORMAT_STD_DATA, 0x101, data1, 8);
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BSP_FDCAN_Transmit(BSP_FDCAN_2, BSP_FDCAN_FORMAT_STD_DATA, 0x102, data2, 8);
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BSP_FDCAN_Transmit(BSP_FDCAN_3, BSP_FDCAN_FORMAT_STD_DATA, 0x103, data3, 13);
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BSP_FDCAN_Transmit(BSP_FDCAN_3, BSP_FDCAN_FORMAT_STD_DATA, 0x103, data3, 30);
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BSP_FDCAN_Transmit(BSP_FDCAN_3, BSP_FDCAN_FORMAT_STD_DATA, 0x104, data2, 5);
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BSP_FDCAN_Transmit(BSP_FDCAN_3, BSP_FDCAN_FORMAT_STD_DATA, 0x105, data1, 8);
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if (BSP_FDCAN_GetMessage(BSP_FDCAN_1, 0x101, &msg1, BSP_FDCAN_TIMEOUT_IMMEDIATE) == BSP_OK) {
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}
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if (BSP_FDCAN_GetMessage(BSP_FDCAN_2, 0x102, &msg2, BSP_FDCAN_TIMEOUT_IMMEDIATE) == BSP_OK) {
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}
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if (BSP_FDCAN_GetMessage(BSP_FDCAN_3, 0x103, &msg3, BSP_FDCAN_TIMEOUT_IMMEDIATE) == BSP_OK) {
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if (BSP_FDCAN_GetMessage(BSP_FDCAN_3, 0x103, &msg3A, BSP_FDCAN_TIMEOUT_IMMEDIATE) == BSP_OK) {
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}
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if (BSP_FDCAN_GetMessage(BSP_FDCAN_3, 0x104, &msg3B, BSP_FDCAN_TIMEOUT_IMMEDIATE) == BSP_OK) {
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}
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if (BSP_FDCAN_GetMessage(BSP_FDCAN_3, 0x105, &msg3C, BSP_FDCAN_TIMEOUT_IMMEDIATE) == BSP_OK) {
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}
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rxlevel=HAL_FDCAN_GetRxFifoFillLevel(BSP_FDCAN_GetHandle(BSP_FDCAN_2), FDCAN_RX_FIFO1);
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}
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// osDelay(10);
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/* USER CODE END */
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