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fix-中断

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This commit is contained in:
yxming66 2025-12-27 03:30:58 +08:00
parent 9acb2d39d4
commit ef1f6d6642
73 changed files with 20132 additions and 4605 deletions
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10
Core/Src/fdcan.c
View File

@ -41,7 +41,7 @@ void MX_FDCAN1_Init(void)
/* USER CODE END FDCAN1_Init 1 */
hfdcan1.Instance = FDCAN1;
hfdcan1.Init.FrameFormat = FDCAN_FRAME_CLASSIC;
hfdcan1.Init.Mode = FDCAN_MODE_NORMAL;
hfdcan1.Init.Mode = FDCAN_MODE_INTERNAL_LOOPBACK;
hfdcan1.Init.AutoRetransmission = ENABLE;
hfdcan1.Init.TransmitPause = DISABLE;
hfdcan1.Init.ProtocolException = ENABLE;
@ -89,7 +89,7 @@ void MX_FDCAN2_Init(void)
/* USER CODE END FDCAN2_Init 1 */
hfdcan2.Instance = FDCAN2;
hfdcan2.Init.FrameFormat = FDCAN_FRAME_FD_BRS;
hfdcan2.Init.Mode = FDCAN_MODE_NORMAL;
hfdcan2.Init.Mode = FDCAN_MODE_INTERNAL_LOOPBACK;
hfdcan2.Init.AutoRetransmission = ENABLE;
hfdcan2.Init.TransmitPause = DISABLE;
hfdcan2.Init.ProtocolException = ENABLE;
@ -114,7 +114,7 @@ void MX_FDCAN2_Init(void)
hfdcan2.Init.TxBuffersNbr = 0;
hfdcan2.Init.TxFifoQueueElmtsNbr = 8;
hfdcan2.Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION;
hfdcan2.Init.TxElmtSize = FDCAN_DATA_BYTES_8;
hfdcan2.Init.TxElmtSize = FDCAN_DATA_BYTES_64;
if (HAL_FDCAN_Init(&hfdcan2) != HAL_OK)
{
Error_Handler();
@ -137,7 +137,7 @@ void MX_FDCAN3_Init(void)
/* USER CODE END FDCAN3_Init 1 */
hfdcan3.Instance = FDCAN3;
hfdcan3.Init.FrameFormat = FDCAN_FRAME_FD_NO_BRS;
hfdcan3.Init.Mode = FDCAN_MODE_NORMAL;
hfdcan3.Init.Mode = FDCAN_MODE_INTERNAL_LOOPBACK;
hfdcan3.Init.AutoRetransmission = ENABLE;
hfdcan3.Init.TransmitPause = DISABLE;
hfdcan3.Init.ProtocolException = ENABLE;
@ -162,7 +162,7 @@ void MX_FDCAN3_Init(void)
hfdcan3.Init.TxBuffersNbr = 0;
hfdcan3.Init.TxFifoQueueElmtsNbr = 8;
hfdcan3.Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION;
hfdcan3.Init.TxElmtSize = FDCAN_DATA_BYTES_8;
hfdcan3.Init.TxElmtSize = FDCAN_DATA_BYTES_64;
if (HAL_FDCAN_Init(&hfdcan3) != HAL_OK)
{
Error_Handler();

12
FDCAN.ioc
View File

@ -13,7 +13,8 @@ FDCAN1.DataSyncJumpWidth=5
FDCAN1.DataTimeSeg1=14
FDCAN1.DataTimeSeg2=5
FDCAN1.ExtFiltersNbr=1
FDCAN1.IPParameters=CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal,ProtocolException,NominalSyncJumpWidth,DataPrescaler,DataSyncJumpWidth,DataTimeSeg1,DataTimeSeg2,NominalPrescaler,NominalTimeSeg1,NominalTimeSeg2,RxFifo0ElmtsNbr,TxFifoQueueElmtsNbr,StdFiltersNbr,RxFifo0ElmtSize,TxElmtSize,AutoRetransmission,ExtFiltersNbr,TxEventsNbr
FDCAN1.IPParameters=CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal,ProtocolException,NominalSyncJumpWidth,DataPrescaler,DataSyncJumpWidth,DataTimeSeg1,DataTimeSeg2,NominalPrescaler,NominalTimeSeg1,NominalTimeSeg2,RxFifo0ElmtsNbr,TxFifoQueueElmtsNbr,StdFiltersNbr,RxFifo0ElmtSize,TxElmtSize,AutoRetransmission,ExtFiltersNbr,TxEventsNbr,TxFifoQueueMode,Mode
FDCAN1.Mode=FDCAN_MODE_INTERNAL_LOOPBACK
FDCAN1.NominalPrescaler=5
FDCAN1.NominalSyncJumpWidth=5
FDCAN1.NominalTimeSeg1=14
@ -25,6 +26,7 @@ FDCAN1.StdFiltersNbr=1
FDCAN1.TxElmtSize=FDCAN_DATA_BYTES_64
FDCAN1.TxEventsNbr=8
FDCAN1.TxFifoQueueElmtsNbr=8
FDCAN1.TxFifoQueueMode=FDCAN_TX_FIFO_OPERATION
FDCAN2.AutoRetransmission=ENABLE
FDCAN2.CalculateBaudRateNominal=1000000
FDCAN2.CalculateTimeBitNominal=1000
@ -35,8 +37,9 @@ FDCAN2.DataTimeSeg1=14
FDCAN2.DataTimeSeg2=5
FDCAN2.ExtFiltersNbr=1
FDCAN2.FrameFormat=FDCAN_FRAME_FD_BRS
FDCAN2.IPParameters=CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal,FrameFormat,AutoRetransmission,StdFiltersNbr,ExtFiltersNbr,RxFifo0ElmtsNbr,NominalSyncJumpWidth,DataPrescaler,DataSyncJumpWidth,DataTimeSeg1,DataTimeSeg2,MessageRAMOffset,RxFifo1ElmtsNbr,RxFifo1ElmtSize,TxFifoQueueElmtsNbr,NominalPrescaler,NominalTimeSeg1,NominalTimeSeg2,ProtocolException,TxEventsNbr
FDCAN2.IPParameters=CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal,FrameFormat,AutoRetransmission,StdFiltersNbr,ExtFiltersNbr,RxFifo0ElmtsNbr,NominalSyncJumpWidth,DataPrescaler,DataSyncJumpWidth,DataTimeSeg1,DataTimeSeg2,MessageRAMOffset,RxFifo1ElmtsNbr,RxFifo1ElmtSize,TxFifoQueueElmtsNbr,NominalPrescaler,NominalTimeSeg1,NominalTimeSeg2,ProtocolException,TxEventsNbr,TxElmtSize,Mode
FDCAN2.MessageRAMOffset=831
FDCAN2.Mode=FDCAN_MODE_INTERNAL_LOOPBACK
FDCAN2.NominalPrescaler=5
FDCAN2.NominalSyncJumpWidth=5
FDCAN2.NominalTimeSeg1=14
@ -46,6 +49,7 @@ FDCAN2.RxFifo0ElmtsNbr=0
FDCAN2.RxFifo1ElmtSize=FDCAN_DATA_BYTES_64
FDCAN2.RxFifo1ElmtsNbr=8
FDCAN2.StdFiltersNbr=1
FDCAN2.TxElmtSize=FDCAN_DATA_BYTES_64
FDCAN2.TxEventsNbr=8
FDCAN2.TxFifoQueueElmtsNbr=8
FDCAN3.AutoRetransmission=ENABLE
@ -57,8 +61,9 @@ FDCAN3.DataSyncJumpWidth=5
FDCAN3.DataTimeSeg1=14
FDCAN3.DataTimeSeg2=5
FDCAN3.FrameFormat=FDCAN_FRAME_FD_NO_BRS
FDCAN3.IPParameters=CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal,MessageRAMOffset,FrameFormat,AutoRetransmission,ProtocolException,NominalSyncJumpWidth,DataPrescaler,DataSyncJumpWidth,DataTimeSeg1,DataTimeSeg2,StdFiltersNbr,RxFifo1ElmtsNbr,RxFifo1ElmtSize,TxFifoQueueElmtsNbr,NominalPrescaler,NominalTimeSeg1,NominalTimeSeg2,TxEventsNbr
FDCAN3.IPParameters=CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal,MessageRAMOffset,FrameFormat,AutoRetransmission,ProtocolException,NominalSyncJumpWidth,DataPrescaler,DataSyncJumpWidth,DataTimeSeg1,DataTimeSeg2,StdFiltersNbr,RxFifo1ElmtsNbr,RxFifo1ElmtSize,TxFifoQueueElmtsNbr,NominalPrescaler,NominalTimeSeg1,NominalTimeSeg2,TxEventsNbr,TxElmtSize,Mode
FDCAN3.MessageRAMOffset=1662
FDCAN3.Mode=FDCAN_MODE_INTERNAL_LOOPBACK
FDCAN3.NominalPrescaler=5
FDCAN3.NominalSyncJumpWidth=5
FDCAN3.NominalTimeSeg1=14
@ -67,6 +72,7 @@ FDCAN3.ProtocolException=ENABLE
FDCAN3.RxFifo1ElmtSize=FDCAN_DATA_BYTES_64
FDCAN3.RxFifo1ElmtsNbr=8
FDCAN3.StdFiltersNbr=1
FDCAN3.TxElmtSize=FDCAN_DATA_BYTES_64
FDCAN3.TxEventsNbr=8
FDCAN3.TxFifoQueueElmtsNbr=8
FREERTOS.IPParameters=Tasks01

177
MDK-ARM/FDCAN.uvguix.yxm23
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File diff suppressed because one or more lines are too long

117
MDK-ARM/FDCAN.uvoptx
View File

@ -103,7 +103,7 @@
<bEvRecOn>1</bEvRecOn>
<bSchkAxf>0</bSchkAxf>
<bTchkAxf>0</bTchkAxf>
<nTsel>4</nTsel>
<nTsel>6</nTsel>
<sDll></sDll>
<sDllPa></sDllPa>
<sDlgDll></sDlgDll>
@ -114,9 +114,14 @@
<tDlgDll></tDlgDll>
<tDlgPa></tDlgPa>
<tIfile></tIfile>
<pMon>Segger\JL2CM3.dll</pMon>
<pMon>STLink\ST-LINKIII-KEIL_SWO.dll</pMon>
</DebugOpt>
<TargetDriverDllRegistry>
<SetRegEntry>
<Number>0</Number>
<Key>DLGUARM</Key>
<Name>(105=-1,-1,-1,-1,0)</Name>
</SetRegEntry>
<SetRegEntry>
<Number>0</Number>
<Key>ARMRTXEVENTFLAGS</Key>
@ -145,16 +150,16 @@
<SetRegEntry>
<Number>0</Number>
<Key>ST-LINKIII-KEIL_SWO</Key>
<Name>-U-O142 -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 -FO7 -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>
</TargetDriverDllRegistry>
<Breakpoint>
<Bp>
<Number>0</Number>
<Type>0</Type>
<LineNumber>214</LineNumber>
<LineNumber>217</LineNumber>
<EnabledFlag>1</EnabledFlag>
<Address>134224464</Address>
<Address>134224716</Address>
<ByteObject>0</ByteObject>
<HtxType>0</HtxType>
<ManyObjects>0</ManyObjects>
@ -163,55 +168,7 @@
<BreakIfRCount>1</BreakIfRCount>
<Filename>..\User\bsp\fdcan.c</Filename>
<ExecCommand></ExecCommand>
<Expression>\\FDCAN\../User/bsp/fdcan.c\214</Expression>
</Bp>
<Bp>
<Number>1</Number>
<Type>0</Type>
<LineNumber>134</LineNumber>
<EnabledFlag>1</EnabledFlag>
<Address>0</Address>
<ByteObject>0</ByteObject>
<HtxType>0</HtxType>
<ManyObjects>0</ManyObjects>
<SizeOfObject>0</SizeOfObject>
<BreakByAccess>0</BreakByAccess>
<BreakIfRCount>0</BreakIfRCount>
<Filename>..\User\bsp\fdcan.c</Filename>
<ExecCommand></ExecCommand>
<Expression></Expression>
</Bp>
<Bp>
<Number>2</Number>
<Type>0</Type>
<LineNumber>155</LineNumber>
<EnabledFlag>1</EnabledFlag>
<Address>0</Address>
<ByteObject>0</ByteObject>
<HtxType>0</HtxType>
<ManyObjects>0</ManyObjects>
<SizeOfObject>0</SizeOfObject>
<BreakByAccess>0</BreakByAccess>
<BreakIfRCount>0</BreakIfRCount>
<Filename>..\User\bsp\fdcan.c</Filename>
<ExecCommand></ExecCommand>
<Expression></Expression>
</Bp>
<Bp>
<Number>3</Number>
<Type>0</Type>
<LineNumber>184</LineNumber>
<EnabledFlag>1</EnabledFlag>
<Address>0</Address>
<ByteObject>0</ByteObject>
<HtxType>0</HtxType>
<ManyObjects>0</ManyObjects>
<SizeOfObject>0</SizeOfObject>
<BreakByAccess>0</BreakByAccess>
<BreakIfRCount>0</BreakIfRCount>
<Filename>..\User\bsp\fdcan.c</Filename>
<ExecCommand></ExecCommand>
<Expression></Expression>
<Expression>\\FDCAN\../User/bsp/fdcan.c\217</Expression>
</Bp>
</Breakpoint>
<WatchWindow1>
@ -233,7 +190,7 @@
<Ww>
<count>3</count>
<WinNumber>1</WinNumber>
<ItemText>fifolevel</ItemText>
<ItemText>fifolevel,0x0A</ItemText>
</Ww>
</WatchWindow1>
<Tracepoint>
@ -880,6 +837,30 @@
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>6</GroupNumber>
<FileNumber>46</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\User\bsp\bsp_can.c</PathWithFileName>
<FilenameWithoutPath>bsp_can.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>6</GroupNumber>
<FileNumber>47</FileNumber>
<FileType>5</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\User\bsp\bsp_can.h</PathWithFileName>
<FilenameWithoutPath>bsp_can.h</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
</Group>
<Group>
@ -890,7 +871,7 @@
<RteFlg>0</RteFlg>
<File>
<GroupNumber>7</GroupNumber>
<FileNumber>46</FileNumber>
<FileNumber>48</FileNumber>
<FileType>5</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -918,7 +899,7 @@
<RteFlg>0</RteFlg>
<File>
<GroupNumber>9</GroupNumber>
<FileNumber>47</FileNumber>
<FileNumber>49</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -930,7 +911,7 @@
</File>
<File>
<GroupNumber>9</GroupNumber>
<FileNumber>48</FileNumber>
<FileNumber>50</FileNumber>
<FileType>5</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -942,7 +923,7 @@
</File>
<File>
<GroupNumber>9</GroupNumber>
<FileNumber>49</FileNumber>
<FileNumber>51</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -954,7 +935,7 @@
</File>
<File>
<GroupNumber>9</GroupNumber>
<FileNumber>50</FileNumber>
<FileNumber>52</FileNumber>
<FileType>5</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -966,7 +947,7 @@
</File>
<File>
<GroupNumber>9</GroupNumber>
<FileNumber>51</FileNumber>
<FileNumber>53</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -978,7 +959,7 @@
</File>
<File>
<GroupNumber>9</GroupNumber>
<FileNumber>52</FileNumber>
<FileNumber>54</FileNumber>
<FileType>5</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -990,7 +971,7 @@
</File>
<File>
<GroupNumber>9</GroupNumber>
<FileNumber>53</FileNumber>
<FileNumber>55</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -1002,7 +983,7 @@
</File>
<File>
<GroupNumber>9</GroupNumber>
<FileNumber>54</FileNumber>
<FileNumber>56</FileNumber>
<FileType>5</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -1022,7 +1003,7 @@
<RteFlg>0</RteFlg>
<File>
<GroupNumber>10</GroupNumber>
<FileNumber>55</FileNumber>
<FileNumber>57</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -1034,7 +1015,7 @@
</File>
<File>
<GroupNumber>10</GroupNumber>
<FileNumber>56</FileNumber>
<FileNumber>58</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -1046,7 +1027,7 @@
</File>
<File>
<GroupNumber>10</GroupNumber>
<FileNumber>57</FileNumber>
<FileNumber>59</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -1058,7 +1039,7 @@
</File>
<File>
<GroupNumber>10</GroupNumber>
<FileNumber>58</FileNumber>
<FileNumber>60</FileNumber>
<FileType>5</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>

10
MDK-ARM/FDCAN.uvprojx
View File

@ -1263,6 +1263,16 @@
<FileType>5</FileType>
<FilePath>..\User\bsp\time.h</FilePath>
</File>
<File>
<FileName>bsp_can.c</FileName>
<FileType>1</FileType>
<FilePath>..\User\bsp\bsp_can.c</FilePath>
</File>
<File>
<FileName>bsp_can.h</FileName>
<FileType>5</FileType>
<FilePath>..\User\bsp\bsp_can.h</FilePath>
</File>
</Files>
</Group>
<Group>

BIN
MDK-ARM/FDCAN/FDCAN.axf
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Binary file not shown.

12
MDK-ARM/FDCAN/FDCAN.build_log.htm
View File

@ -17,23 +17,17 @@ Library Manager: ArmAr.exe V5.06 update 7 (build 960)
Hex Converter: FromElf.exe V5.06 update 7 (build 960)
CPU DLL: SARMCM3.DLL V5.34.0.0
Dialog DLL: DCM.DLL V1.17.3.0
Target DLL: Segger\JL2CM3.dll V2.99.38.0
Target DLL: STLink\ST-LINKIII-KEIL_SWO.dll V3.0.8.0
Dialog DLL: TCM.DLL V1.48.0.0
<h2>Project:</h2>
D:\STM32Projects_HAL\board-H7\FDCAN\MDK-ARM\FDCAN.uvprojx
Project File Date: 12/26/2025
Project File Date: 12/27/2025
<h2>Output:</h2>
*** Using Compiler 'V5.06 update 7 (build 960)', folder: 'D:\cangming\ARM\ARMCC\Bin'
Build target 'FDCAN'
Note: source file '..\User\bsp\fdcan.c' - object file renamed from 'FDCAN\fdcan.o' to 'FDCAN\fdcan_1.o'.
assembling startup_stm32h723xx.s...
compiling fdcan.c...
compiling stm32h7xx_it.c...
linking...
Program Size: Code=23600 RO-data=996 RW-data=176 ZI-data=36776
FromELF: creating hex file...
"FDCAN\FDCAN.axf" - 0 Error(s), 0 Warning(s).
<h2>Software Packages used:</h2>
@ -57,7 +51,7 @@ Package Vendor: Keil
* Component: ARM::CMSIS:CORE:5.4.0
Include file: CMSIS\Core\Include\tz_context.h
Build Time Elapsed: 00:00:05
Build Time Elapsed: 00:00:01
</pre>
</body>
</html>

2916
MDK-ARM/FDCAN/FDCAN.hex
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1641
MDK-ARM/FDCAN/FDCAN.htm
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1
MDK-ARM/FDCAN/FDCAN.lnp
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@ -40,6 +40,7 @@
"fdcan\fdcan_1.o"
"fdcan\mm.o"
"fdcan\time.o"
"fdcan\bsp_can.o"
"fdcan\crc16.o"
"fdcan\filter.o"
"fdcan\pid.o"

1586
MDK-ARM/FDCAN/FDCAN.map
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File diff suppressed because it is too large Load Diff

56
MDK-ARM/FDCAN/FDCAN_FDCAN.dep
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@ -1,6 +1,6 @@
Dependencies for Project 'FDCAN', Target 'FDCAN': (DO NOT MODIFY !)
CompilerVersion: 5060960::V5.06 update 7 (build 960)::.\ARMCC
F (startup_stm32h723xx.s)(0x694EA5AF)(--cpu Cortex-M7.fp.dp -g --apcs=interwork -I ../Drivers/CMSIS/Include -I.\RTE\_FDCAN -ID:\cangming\ARM\CMSIS\5.7.0\CMSIS\Core\Include --pd "__UVISION_VERSION SETA 534" --pd "_RTE_ SETA 1" --pd "STM32H723xx SETA 1" --pd "_RTE_ SETA 1" --list startup_stm32h723xx.lst --xref -o fdcan\startup_stm32h723xx.o --depend fdcan\startup_stm32h723xx.d)
F (startup_stm32h723xx.s)(0x694ED3B7)(--cpu Cortex-M7.fp.dp -g --apcs=interwork -I ../Drivers/CMSIS/Include -I.\RTE\_FDCAN -ID:\cangming\ARM\CMSIS\5.7.0\CMSIS\Core\Include --pd "__UVISION_VERSION SETA 534" --pd "_RTE_ SETA 1" --pd "STM32H723xx SETA 1" --pd "_RTE_ SETA 1" --list startup_stm32h723xx.lst --xref -o fdcan\startup_stm32h723xx.o --depend fdcan\startup_stm32h723xx.d)
F (../Core/Src/main.c)(0x694E2F79)(--c99 --gnu -c --cpu Cortex-M7.fp.dp -g -O3 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32H7xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I.\RTE\_FDCAN -ID:\cangming\ARM\CMSIS\5.7.0\CMSIS\Core\Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32H723xx -D_RTE_ -DUSE_PWR_LDO_SUPPLY -DUSE_HAL_DRIVER -DSTM32H723xx -o fdcan\main.o --omf_browse fdcan\main.crf --depend fdcan\main.d)
I (../Core/Inc/main.h)(0x694E28D6)
I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal.h)(0x6944350B)
@ -135,7 +135,7 @@ I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_tim_ex.h)(0x6944350B)
I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os.h)(0x694434DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x694434DA)
I (../User/task/user_task.h)(0x693967A8)
F (../Core/Src/fdcan.c)(0x694EA5AE)(--c99 --gnu -c --cpu Cortex-M7.fp.dp -g -O3 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32H7xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I.\RTE\_FDCAN -ID:\cangming\ARM\CMSIS\5.7.0\CMSIS\Core\Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32H723xx -D_RTE_ -DUSE_PWR_LDO_SUPPLY -DUSE_HAL_DRIVER -DSTM32H723xx -o fdcan\fdcan.o --omf_browse fdcan\fdcan.crf --depend fdcan\fdcan.d)
F (../Core/Src/fdcan.c)(0x694ED3B6)(--c99 --gnu -c --cpu Cortex-M7.fp.dp -g -O3 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32H7xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I.\RTE\_FDCAN -ID:\cangming\ARM\CMSIS\5.7.0\CMSIS\Core\Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32H723xx -D_RTE_ -DUSE_PWR_LDO_SUPPLY -DUSE_HAL_DRIVER -DSTM32H723xx -o fdcan\fdcan.o --omf_browse fdcan\fdcan.crf --depend fdcan\fdcan.d)
I (../Core/Inc/fdcan.h)(0x69469E17)
I (../Core/Inc/main.h)(0x694E28D6)
I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal.h)(0x6944350B)
@ -1158,8 +1158,8 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/mpu_wrappers.h)(0x694434DA
I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x694434DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x694434DA)
F (..\User\bsp\bsp.h)(0x694E34A2)()
F (..\User\bsp\fdcan.c)(0x694EA3AF)(--c99 --gnu -c --cpu Cortex-M7.fp.dp -g -O3 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32H7xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I.\RTE\_FDCAN -ID:\cangming\ARM\CMSIS\5.7.0\CMSIS\Core\Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32H723xx -D_RTE_ -DUSE_PWR_LDO_SUPPLY -DUSE_HAL_DRIVER -DSTM32H723xx -o fdcan\fdcan_1.o --omf_browse fdcan\fdcan_1.crf --depend fdcan\fdcan_1.d)
I (..\User\bsp\fdcan.h)(0x694EA3E9)
F (..\User\bsp\fdcan.c)(0x694EDF57)(--c99 --gnu -c --cpu Cortex-M7.fp.dp -g -O3 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32H7xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I.\RTE\_FDCAN -ID:\cangming\ARM\CMSIS\5.7.0\CMSIS\Core\Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32H723xx -D_RTE_ -DUSE_PWR_LDO_SUPPLY -DUSE_HAL_DRIVER -DSTM32H723xx -o fdcan\fdcan_1.o --omf_browse fdcan\fdcan_1.crf --depend fdcan\fdcan_1.d)
I (..\User\bsp\fdcan.h)(0x694ED994)
I (D:\cangming\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
I (D:\cangming\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
I (../User/bsp/bsp.h)(0x694E34A2)
@ -1211,7 +1211,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x69443
I (../Core/Inc/fdcan.h)(0x69469E17)
I (../Core/Inc/main.h)(0x694E28D6)
I (D:\cangming\ARM\ARMCC\include\string.h)(0x5E8E3CC2)
F (..\User\bsp\fdcan.h)(0x694EA3E9)()
F (..\User\bsp\fdcan.h)(0x694ED994)()
F (..\User\bsp\mm.c)(0x690DC361)(--c99 --gnu -c --cpu Cortex-M7.fp.dp -g -O3 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32H7xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I.\RTE\_FDCAN -ID:\cangming\ARM\CMSIS\5.7.0\CMSIS\Core\Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32H723xx -D_RTE_ -DUSE_PWR_LDO_SUPPLY -DUSE_HAL_DRIVER -DSTM32H723xx -o fdcan\mm.o --omf_browse fdcan\mm.crf --depend fdcan\mm.d)
I (..\User\bsp/mm.h)(0x690DC361)
I (D:\cangming\ARM\ARMCC\include\stddef.h)(0x5E8E3CC2)
@ -1273,6 +1273,47 @@ I (../Core/Inc/main.h)(0x694E28D6)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x694434DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x694434DA)
F (..\User\bsp\time.h)(0x690DC361)()
F (..\User\bsp\bsp_can.c)(0x694ECC80)(--c99 --gnu -c --cpu Cortex-M7.fp.dp -g -O3 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32H7xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I.\RTE\_FDCAN -ID:\cangming\ARM\CMSIS\5.7.0\CMSIS\Core\Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32H723xx -D_RTE_ -DUSE_PWR_LDO_SUPPLY -DUSE_HAL_DRIVER -DSTM32H723xx -o fdcan\bsp_can.o --omf_browse fdcan\bsp_can.crf --depend fdcan\bsp_can.d)
I (..\User\bsp\bsp_can.h)(0x694EC4AC)
I (..\User\bsp\bsp.h)(0x694E34A2)
I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal.h)(0x6944350B)
I (../Core/Inc/stm32h7xx_hal_conf.h)(0x6946871A)
I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_rcc.h)(0x6944350B)
I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_def.h)(0x6944350B)
I (../Drivers/CMSIS/Device/ST/STM32H7xx/Include/stm32h7xx.h)(0x6944350B)
I (../Drivers/CMSIS/Device/ST/STM32H7xx/Include/stm32h723xx.h)(0x6944350B)
I (../Drivers/CMSIS/Include/core_cm7.h)(0x694434DE)
I (D:\cangming\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
I (../Drivers/CMSIS/Include/cmsis_version.h)(0x694434DE)
I (../Drivers/CMSIS/Include/cmsis_compiler.h)(0x694434DE)
I (../Drivers/CMSIS/Include/cmsis_armcc.h)(0x694434DE)
I (../Drivers/CMSIS/Include/mpu_armv7.h)(0x694434DE)
I (../Drivers/CMSIS/Device/ST/STM32H7xx/Include/system_stm32h7xx.h)(0x6944350B)
I (../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h)(0x6944350B)
I (D:\cangming\ARM\ARMCC\include\stddef.h)(0x5E8E3CC2)
I (D:\cangming\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_rcc_ex.h)(0x6944350B)
I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_gpio.h)(0x6944350B)
I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_gpio_ex.h)(0x6944350B)
I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_dma.h)(0x6944350B)
I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_dma_ex.h)(0x6944350B)
I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_mdma.h)(0x6944350B)
I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_exti.h)(0x6944350B)
I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_cortex.h)(0x6944350B)
I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_fdcan.h)(0x6944350B)
I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_flash.h)(0x6944350B)
I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_flash_ex.h)(0x6944350B)
I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_hsem.h)(0x6944350B)
I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_i2c.h)(0x6944350B)
I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_i2c_ex.h)(0x6944350B)
I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_pwr.h)(0x6944350B)
I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_pwr_ex.h)(0x6944350B)
I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_tim.h)(0x6944350B)
I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_tim_ex.h)(0x6944350B)
I (../Core/Inc/main.h)(0x694E28D6)
I (D:\cangming\ARM\ARMCC\include\string.h)(0x5E8E3CC2)
I (D:\cangming\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
F (..\User\bsp\bsp_can.h)(0x694EC4AC)()
F (..\User\device\device.h)(0x6932C3FE)()
F (..\User\component\crc16.c)(0x6932C3FE)(--c99 --gnu -c --cpu Cortex-M7.fp.dp -g -O3 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32H7xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I.\RTE\_FDCAN -ID:\cangming\ARM\CMSIS\5.7.0\CMSIS\Core\Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32H723xx -D_RTE_ -DUSE_PWR_LDO_SUPPLY -DUSE_HAL_DRIVER -DSTM32H723xx -o fdcan\crc16.o --omf_browse fdcan\crc16.crf --depend fdcan\crc16.d)
I (..\User\component\crc16.h)(0x6932C3FE)
@ -1311,7 +1352,7 @@ I (D:\cangming\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
I (D:\cangming\ARM\ARMCC\include\stddef.h)(0x5E8E3CC2)
I (D:\cangming\ARM\ARMCC\include\string.h)(0x5E8E3CC2)
F (..\User\component\user_math.h)(0x690DD4C7)()
F (..\User\task\blink.c)(0x694EA4C4)(--c99 --gnu -c --cpu Cortex-M7.fp.dp -g -O3 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32H7xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I.\RTE\_FDCAN -ID:\cangming\ARM\CMSIS\5.7.0\CMSIS\Core\Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32H723xx -D_RTE_ -DUSE_PWR_LDO_SUPPLY -DUSE_HAL_DRIVER -DSTM32H723xx -o fdcan\blink.o --omf_browse fdcan\blink.crf --depend fdcan\blink.d)
F (..\User\task\blink.c)(0x694ED995)(--c99 --gnu -c --cpu Cortex-M7.fp.dp -g -O3 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32H7xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I.\RTE\_FDCAN -ID:\cangming\ARM\CMSIS\5.7.0\CMSIS\Core\Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32H723xx -D_RTE_ -DUSE_PWR_LDO_SUPPLY -DUSE_HAL_DRIVER -DSTM32H723xx -o fdcan\blink.o --omf_browse fdcan\blink.crf --depend fdcan\blink.d)
I (../User/task/user_task.h)(0x693967A8)
I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x694434DA)
I (D:\cangming\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
@ -1358,12 +1399,13 @@ I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_pwr.h)(0x6944350B)
I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_pwr_ex.h)(0x6944350B)
I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_tim.h)(0x6944350B)
I (../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_tim_ex.h)(0x6944350B)
I (../User/bsp/fdcan.h)(0x694EA3E9)
I (../User/bsp/fdcan.h)(0x694ED994)
I (D:\cangming\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
I (../User/bsp/mm.h)(0x690DC361)
I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os.h)(0x694434DA)
I (../Core/Inc/fdcan.h)(0x69469E17)
I (../Core/Inc/main.h)(0x694E28D6)
I (../User/bsp/bsp_can.h)(0x694EC4AC)
F (..\User\task\init.c)(0x694E4396)(--c99 --gnu -c --cpu Cortex-M7.fp.dp -g -O3 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc -I ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32H7xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I.\RTE\_FDCAN -ID:\cangming\ARM\CMSIS\5.7.0\CMSIS\Core\Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32H723xx -D_RTE_ -DUSE_PWR_LDO_SUPPLY -DUSE_HAL_DRIVER -DSTM32H723xx -o fdcan\init.o --omf_browse fdcan\init.crf --depend fdcan\init.d)
I (..\User\task/user_task.h)(0x693967A8)
I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x694434DA)

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@ -52,3 +52,4 @@ fdcan\blink.o: ../User/bsp/mm.h
fdcan\blink.o: ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os.h
fdcan\blink.o: ../Core/Inc/fdcan.h
fdcan\blink.o: ../Core/Inc/main.h
fdcan\blink.o: ../User/bsp/bsp_can.h

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@ -0,0 +1,41 @@
fdcan\bsp_can.o: ..\User\bsp\bsp_can.c
fdcan\bsp_can.o: ..\User\bsp\bsp_can.h
fdcan\bsp_can.o: ..\User\bsp\bsp.h
fdcan\bsp_can.o: ../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal.h
fdcan\bsp_can.o: ../Core/Inc/stm32h7xx_hal_conf.h
fdcan\bsp_can.o: ../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_rcc.h
fdcan\bsp_can.o: ../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_def.h
fdcan\bsp_can.o: ../Drivers/CMSIS/Device/ST/STM32H7xx/Include/stm32h7xx.h
fdcan\bsp_can.o: ../Drivers/CMSIS/Device/ST/STM32H7xx/Include/stm32h723xx.h
fdcan\bsp_can.o: ../Drivers/CMSIS/Include/core_cm7.h
fdcan\bsp_can.o: D:\cangming\ARM\ARMCC\Bin\..\include\stdint.h
fdcan\bsp_can.o: ../Drivers/CMSIS/Include/cmsis_version.h
fdcan\bsp_can.o: ../Drivers/CMSIS/Include/cmsis_compiler.h
fdcan\bsp_can.o: ../Drivers/CMSIS/Include/cmsis_armcc.h
fdcan\bsp_can.o: ../Drivers/CMSIS/Include/mpu_armv7.h
fdcan\bsp_can.o: ../Drivers/CMSIS/Device/ST/STM32H7xx/Include/system_stm32h7xx.h
fdcan\bsp_can.o: ../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal.h
fdcan\bsp_can.o: ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h
fdcan\bsp_can.o: D:\cangming\ARM\ARMCC\Bin\..\include\stddef.h
fdcan\bsp_can.o: D:\cangming\ARM\ARMCC\Bin\..\include\math.h
fdcan\bsp_can.o: ../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_rcc_ex.h
fdcan\bsp_can.o: ../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_gpio.h
fdcan\bsp_can.o: ../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_gpio_ex.h
fdcan\bsp_can.o: ../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_dma.h
fdcan\bsp_can.o: ../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_dma_ex.h
fdcan\bsp_can.o: ../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_mdma.h
fdcan\bsp_can.o: ../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_exti.h
fdcan\bsp_can.o: ../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_cortex.h
fdcan\bsp_can.o: ../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_fdcan.h
fdcan\bsp_can.o: ../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_flash.h
fdcan\bsp_can.o: ../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_flash_ex.h
fdcan\bsp_can.o: ../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_hsem.h
fdcan\bsp_can.o: ../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_i2c.h
fdcan\bsp_can.o: ../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_i2c_ex.h
fdcan\bsp_can.o: ../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_pwr.h
fdcan\bsp_can.o: ../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_pwr_ex.h
fdcan\bsp_can.o: ../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_tim.h
fdcan\bsp_can.o: ../Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_tim_ex.h
fdcan\bsp_can.o: ../Core/Inc/main.h
fdcan\bsp_can.o: D:\cangming\ARM\ARMCC\Bin\..\include\string.h
fdcan\bsp_can.o: D:\cangming\ARM\ARMCC\Bin\..\include\stdbool.h

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53
User/bsp/bap_can.h Normal file
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@ -0,0 +1,53 @@
#pragma once
#ifdef __cplusplus
extern "C" {
#endif
#include "bsp.h"
typedef enum {
BSP_CAN_1,
BSP_CAN_2,
BSP_CAN_NUM,
BSP_CAN_ERR,
} bsp_can_t;
typedef enum {
CAN_RX_MSG_CALLBACK,
CAN_TX_CPLT_CALLBACK,
CANFD_RX_MSG_CALLBACK,
CANFD_TX_CPLT_CALLBACK,
BSP_CAN_CB_NUM
} bsp_can_callback_t;
typedef enum {
CAN_FORMAT_STD,
CAN_FORMAT_EXT,
} bsp_can_format_t;
typedef struct {
uint8_t data[8];
} bsp_can_data_t;
typedef struct {
size_t size;
uint8_t *data;
} bsp_canfd_data_t;
void bsp_can_init(void);
int8_t bsp_can_register_callback(
bsp_can_t can, bsp_can_callback_t type,
void (*callback)(bsp_can_t can, uint32_t id, uint8_t *data, void *arg),
void *callback_arg);
int8_t bsp_can_trans_packet(bsp_can_t can, bsp_can_format_t format,
uint32_t id, uint8_t *data);
int8_t bsp_canfd_trans_packet(bsp_can_t can, bsp_can_format_t format,
uint32_t id, uint8_t *data, size_t size);
int8_t bsp_can_get_msg(bsp_can_t can, uint8_t *data, uint32_t *index);
#ifdef __cplusplus
}
#endif

234
User/bsp/bsp_can.c Normal file
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@ -0,0 +1,234 @@
#include "bsp_can.h"
#include "main.h"
#include <string.h>
#include "bsp/bsp.h"
#include <stdint.h>
#include <stdbool.h>
typedef struct {
FDCAN_RxHeaderTypeDef header;
uint8_t data[64];
} can_raw_rx_t;
typedef struct {
FDCAN_HandleTypeDef header;
uint8_t data[8];
} can_raw_tx_t;
typedef struct {
void (*fn)(bsp_can_t can, uint32_t id, uint8_t *data, void *arg);
void *arg;
} can_callback_t;
extern FDCAN_HandleTypeDef hfdcan1;
extern FDCAN_HandleTypeDef hfdcan2;
static can_callback_t callback_list[BSP_CAN_NUM][BSP_CAN_CB_NUM];
static bool bsp_can_initd = false;
static can_raw_rx_t rx_buff[BSP_CAN_NUM];
FDCAN_HandleTypeDef *bsp_can_get_handle(bsp_can_t can) {
switch (can) {
case BSP_CAN_1:
return &hfdcan1;
case BSP_CAN_2:
return &hfdcan2;
default:
return NULL;
}
}
static bsp_can_t can_get(FDCAN_HandleTypeDef *hcan) {
if (hcan->Instance == FDCAN1) {
return BSP_CAN_1;
} else if (hcan->Instance == FDCAN2) {
return BSP_CAN_2;
} else {
return BSP_CAN_ERR;
}
}
void bsp_can_init(void) {
FDCAN_FilterTypeDef can_filter = {0};
can_filter.IdType = FDCAN_STANDARD_ID;
can_filter.FilterIndex = 0;
can_filter.FilterType = FDCAN_FILTER_MASK;
can_filter.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;
can_filter.FilterID1 = 0x0000;
can_filter.FilterID2 = 0x0000;
if (HAL_FDCAN_ConfigFilter(&hfdcan1, &can_filter) != HAL_OK) {
// XB_ASSERT(false);
}
can_filter.IdType = FDCAN_EXTENDED_ID;
can_filter.FilterIndex = 1;
can_filter.FilterType = FDCAN_FILTER_MASK;
can_filter.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;
can_filter.FilterID1 = 0x0000;
can_filter.FilterID2 = 0x0000;
if (HAL_FDCAN_ConfigFilter(&hfdcan1, &can_filter) != HAL_OK) {
// XB_ASSERT(false);
}
can_filter.IdType = FDCAN_STANDARD_ID;
can_filter.FilterIndex = 2;
can_filter.FilterType = FDCAN_FILTER_MASK;
can_filter.FilterConfig = FDCAN_FILTER_TO_RXFIFO1;
can_filter.FilterID1 = 0x0000;
can_filter.FilterID2 = 0x0000;
if (HAL_FDCAN_ConfigFilter(&hfdcan2, &can_filter) != HAL_OK) {
// XB_ASSERT(false);
}
can_filter.IdType = FDCAN_EXTENDED_ID;
can_filter.FilterIndex = 3;
can_filter.FilterType = FDCAN_FILTER_MASK;
can_filter.FilterConfig = FDCAN_FILTER_TO_RXFIFO1;
can_filter.FilterID1 = 0x0000;
can_filter.FilterID2 = 0x0000;
if (HAL_FDCAN_ConfigFilter(&hfdcan2, &can_filter) != HAL_OK) {
// XB_ASSERT(false);
}
HAL_FDCAN_Start(&hfdcan1); //开启FDCAN
HAL_FDCAN_Start(&hfdcan2); //开启FDCAN
HAL_FDCAN_ActivateNotification(&hfdcan1, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0);
HAL_FDCAN_ActivateNotification(&hfdcan1, FDCAN_IT_TX_FIFO_EMPTY, 0);
HAL_FDCAN_ActivateNotification(&hfdcan2, FDCAN_IT_RX_FIFO1_NEW_MESSAGE, 0);
HAL_FDCAN_ActivateNotification(&hfdcan2, FDCAN_IT_TX_FIFO_EMPTY, 0);
bsp_can_initd = true;
}
static const uint8_t DLCtoBytes[] = {0, 1, 2, 3, 4, 5, 6, 7,
8, 12, 16, 20, 24, 32, 48, 64};
static void can_rx_cb_fn(bsp_can_t can, uint32_t fifo) {
while (HAL_FDCAN_GetRxMessage(bsp_can_get_handle(can), fifo,
&rx_buff[can].header,
rx_buff[can].data) == HAL_OK) {
if (rx_buff[can].header.FDFormat == FDCAN_CLASSIC_CAN) {
if (callback_list[can][CAN_RX_MSG_CALLBACK].fn) {
callback_list[can][CAN_RX_MSG_CALLBACK].fn(
can, rx_buff[can].header.Identifier, rx_buff[can].data,
callback_list[can][CAN_RX_MSG_CALLBACK].arg);
}
} else {
if (callback_list[can][CANFD_RX_MSG_CALLBACK].fn) {
bsp_canfd_data_t data = {
.data = rx_buff[can].data,
.size = DLCtoBytes[rx_buff[can].header.DataLength >> 16U]};
callback_list[can][CANFD_RX_MSG_CALLBACK].fn(
can, rx_buff[can].header.Identifier, (uint8_t *)&data,
callback_list[can][CANFD_RX_MSG_CALLBACK].arg);
}
}
}
}
// void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hcan, uint32_t RxFifo0ITs) {
// (void)RxFifo0ITs;
// can_rx_cb_fn(can_get(hcan), FDCAN_RX_FIFO0);
// }
// void HAL_FDCAN_RxFifo1Callback(FDCAN_HandleTypeDef *hcan, uint32_t RxFifo1ITs) {
// (void)RxFifo1ITs;
// can_rx_cb_fn(can_get(hcan), FDCAN_RX_FIFO1);
// }
int8_t bsp_can_register_callback(
bsp_can_t can, bsp_can_callback_t type,
void (*callback)(bsp_can_t can, uint32_t id, uint8_t *data, void *arg),
void *callback_arg) {
assert_param(callback);
assert_param(type != BSP_CAN_CB_NUM);
callback_list[can][type].fn = callback;
callback_list[can][type].arg = callback_arg;
return BSP_OK;
}
int8_t bsp_can_trans_packet(bsp_can_t can, bsp_can_format_t format,
uint32_t id, uint8_t *data) {
FDCAN_TxHeaderTypeDef header;
header.Identifier = id;
if (format == CAN_FORMAT_STD) {
header.IdType = FDCAN_STANDARD_ID;
} else {
header.IdType = FDCAN_EXTENDED_ID;
}
header.TxFrameType = FDCAN_DATA_FRAME;
header.DataLength = FDCAN_DLC_BYTES_8;
header.ErrorStateIndicator = FDCAN_ESI_ACTIVE;
header.BitRateSwitch = FDCAN_BRS_OFF;
header.FDFormat = FDCAN_CLASSIC_CAN;
header.TxEventFifoControl = FDCAN_STORE_TX_EVENTS;
header.MessageMarker = 0x01;
while ((bsp_can_get_handle(can)->Instance->TXFQS & FDCAN_TXFQS_TFQF) != 0U) {
__NOP();
}
return HAL_FDCAN_AddMessageToTxFifoQ(bsp_can_get_handle(can), &header,
data) == HAL_OK
? BSP_OK
: BSP_ERR;
}
static const uint32_t FDCAN_PACK_LEN_MAP[16] = {
FDCAN_DLC_BYTES_0, FDCAN_DLC_BYTES_1, FDCAN_DLC_BYTES_2,
FDCAN_DLC_BYTES_3, FDCAN_DLC_BYTES_4, FDCAN_DLC_BYTES_5,
FDCAN_DLC_BYTES_6, FDCAN_DLC_BYTES_7, FDCAN_DLC_BYTES_8,
FDCAN_DLC_BYTES_12, FDCAN_DLC_BYTES_16, FDCAN_DLC_BYTES_20,
FDCAN_DLC_BYTES_24, FDCAN_DLC_BYTES_32, FDCAN_DLC_BYTES_48,
FDCAN_DLC_BYTES_64,
};
int8_t bsp_canfd_trans_packet(bsp_can_t can, bsp_can_format_t format,
uint32_t id, uint8_t *data, size_t size) {
FDCAN_TxHeaderTypeDef header;
// XB_ASSERT(size <= 64);
header.Identifier = id;
if (format == CAN_FORMAT_STD) {
header.IdType = FDCAN_STANDARD_ID;
} else {
header.IdType = FDCAN_EXTENDED_ID;
}
header.TxFrameType = FDCAN_DATA_FRAME;
if (size <= 8) {
header.DataLength = FDCAN_PACK_LEN_MAP[size];
} else if (size <= 24) {
header.DataLength = FDCAN_PACK_LEN_MAP[(size - 9) / 4 + 1 + 8];
} else if (size < 32) {
header.DataLength = FDCAN_DLC_BYTES_32;
} else if (size < 48) {
header.DataLength = FDCAN_DLC_BYTES_48;
} else {
header.DataLength = FDCAN_DLC_BYTES_64;
}
header.ErrorStateIndicator = FDCAN_ESI_ACTIVE;
header.BitRateSwitch = FDCAN_BRS_OFF;
header.FDFormat = FDCAN_FD_CAN;
header.TxEventFifoControl = FDCAN_STORE_TX_EVENTS;
header.MessageMarker = 0x01;
while ((bsp_can_get_handle(can)->Instance->TXFQS & FDCAN_TXFQS_TFQF) != 0U) {
__NOP();
}
return HAL_FDCAN_AddMessageToTxFifoQ(bsp_can_get_handle(can), &header,
data) == HAL_OK
? BSP_OK
: BSP_ERR;
}

53
User/bsp/bsp_can.h Normal file
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@ -0,0 +1,53 @@
#pragma once
#ifdef __cplusplus
extern "C" {
#endif
#include "bsp.h"
typedef enum {
BSP_CAN_1,
BSP_CAN_2,
BSP_CAN_NUM,
BSP_CAN_ERR,
} bsp_can_t;
typedef enum {
CAN_RX_MSG_CALLBACK,
CAN_TX_CPLT_CALLBACK,
CANFD_RX_MSG_CALLBACK,
CANFD_TX_CPLT_CALLBACK,
BSP_CAN_CB_NUM
} bsp_can_callback_t;
typedef enum {
CAN_FORMAT_STD,
CAN_FORMAT_EXT,
} bsp_can_format_t;
typedef struct {
uint8_t data[8];
} bsp_can_data_t;
typedef struct {
size_t size;
uint8_t *data;
} bsp_canfd_data_t;
void bsp_can_init(void);
int8_t bsp_can_register_callback(
bsp_can_t can, bsp_can_callback_t type,
void (*callback)(bsp_can_t can, uint32_t id, uint8_t *data, void *arg),
void *callback_arg);
int8_t bsp_can_trans_packet(bsp_can_t can, bsp_can_format_t format,
uint32_t id, uint8_t *data);
int8_t bsp_canfd_trans_packet(bsp_can_t can, bsp_can_format_t format,
uint32_t id, uint8_t *data, size_t size);
int8_t bsp_can_get_msg(bsp_can_t can, uint8_t *data, uint32_t *index);
#ifdef __cplusplus
}
#endif

84
User/bsp/fdcan.c
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@ -137,13 +137,16 @@ static bool BSP_FDCAN_TxQueueIsEmpty(BSP_FDCAN_t fdcan) {
BSP_FDCAN_t fdcan = (BSP_FDCAN_t)i;
FDCAN_HandleTypeDef *hfdcan = BSP_FDCAN_GetHandle(fdcan);
if (hfdcan == NULL) continue;
// 消费所有 TX EVENT FIFO 事件，防止堵塞
FDCAN_TxEventFifoTypeDef tx_event;
while (HAL_FDCAN_GetTxEvent(hfdcan, &tx_event) == HAL_OK) {
// 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;
/* 尝试从队列发送直到邮箱/ FIFO 满 */
while (!BSP_FDCAN_TxQueueIsEmpty(fdcan)) {
/* 此处使用 HAL 接口判断是否可发送 — 不同 MCU HAL 名称可能不同 */
if (HAL_FDCAN_GetTxFifoFreeLevel(hfdcan) == 0) break;
if (!BSP_FDCAN_TxQueuePop(fdcan, &msg)) break;
/* 发送消息 - 使用 HAL_FDCAN_AddMessageToTxFifoQ 或相应 API */
HAL_StatusTypeDef res = HAL_FDCAN_AddMessageToTxFifoQ(hfdcan, &msg.header, msg.data);
if (res != HAL_OK) {
break;
@ -169,7 +172,7 @@ static void BSP_FDCAN_RxFifo0Callback(void) {
msg.frame_type = frame_type;
msg.original_id = original_id;
msg.parsed_id = parsed_id;
msg.dlc = rx_header.DataLength / 8;
msg.dlc = rx_header.DataLength;
if (msg.dlc > BSP_FDCAN_MAX_DLC) msg.dlc = BSP_FDCAN_MAX_DLC;
memcpy(msg.data, rx_data, msg.dlc);
osMessageQueuePut(queue, &msg, 0, 0);
@ -198,7 +201,7 @@ static void BSP_FDCAN_RxFifo1Callback(void) {
msg.frame_type = frame_type;
msg.original_id = original_id;
msg.parsed_id = parsed_id;
msg.dlc = rx_header.DataLength / 8;
msg.dlc = rx_header.DataLength;
if (msg.dlc > BSP_FDCAN_MAX_DLC) msg.dlc = BSP_FDCAN_MAX_DLC;
memcpy(msg.data, rx_data, msg.dlc);
osMessageQueuePut(queue, &msg, 0, 0);
@ -326,10 +329,30 @@ int8_t BSP_FDCAN_Init(void) {
sFilterConfig.FilterID2 = 0x000;
sFilterConfig.RxBufferIndex = 0;
HAL_FDCAN_ConfigFilter(&hfdcan1, &sFilterConfig);
HAL_FDCAN_ConfigGlobalFilter(&hfdcan1,FDCAN_REJECT, FDCAN_REJECT, DISABLE, DISABLE);
HAL_FDCAN_ConfigGlobalFilter(&hfdcan1,FDCAN_REJECT, FDCAN_REJECT, FDCAN_FILTER_REMOTE, FDCAN_FILTER_REMOTE);
sFilterConfig.FilterIndex = 1;
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.FilterIndex = 2;
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, DISABLE, DISABLE);
sFilterConfig.FilterIndex = 3;
sFilterConfig.IdType = FDCAN_STANDARD_ID;
sFilterConfig.FilterType = FDCAN_FILTER_MASK;
sFilterConfig.FilterConfig = FDCAN_FILTER_TO_RXFIFO1;
@ -340,7 +363,7 @@ int8_t BSP_FDCAN_Init(void) {
HAL_FDCAN_ConfigGlobalFilter(&hfdcan2,FDCAN_REJECT, FDCAN_REJECT, DISABLE, DISABLE);
/* 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.FilterIndex = 4;
sFilterConfig.IdType = FDCAN_STANDARD_ID;
sFilterConfig.FilterType = FDCAN_FILTER_MASK;
sFilterConfig.FilterConfig = FDCAN_FILTER_TO_RXFIFO1;
@ -350,6 +373,23 @@ int8_t BSP_FDCAN_Init(void) {
HAL_FDCAN_ConfigFilter(&hfdcan3, &sFilterConfig);
HAL_FDCAN_ConfigGlobalFilter(&hfdcan3,FDCAN_REJECT, FDCAN_REJECT, DISABLE, DISABLE);
sFilterConfig.FilterIndex = 5;
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, DISABLE, DISABLE);
// HAL_FDCAN_ActivateNotification(&hfdcan1, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0);
// HAL_FDCAN_ActivateNotification(&hfdcan1, FDCAN_IT_TX_FIFO_EMPTY, 0);
// HAL_FDCAN_ActivateNotification(&hfdcan2, FDCAN_IT_RX_FIFO1_NEW_MESSAGE, 0);
// HAL_FDCAN_ActivateNotification(&hfdcan2, FDCAN_IT_TX_FIFO_EMPTY, 0);
// HAL_FDCAN_ActivateNotification(&hfdcan3, FDCAN_IT_RX_FIFO1_NEW_MESSAGE, 0);
// HAL_FDCAN_ActivateNotification(&hfdcan3, FDCAN_IT_TX_FIFO_EMPTY, 0);
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
@ -360,6 +400,11 @@ int8_t BSP_FDCAN_Init(void) {
| FDCAN_IT_TX_EVT_FIFO_NEW_DATA
| FDCAN_IT_RAM_ACCESS_FAILURE, 0);
/* __ ,启动！ */
HAL_FDCAN_Start(&hfdcan1);
HAL_FDCAN_Start(&hfdcan2);
HAL_FDCAN_Start(&hfdcan3);
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);
@ -369,10 +414,7 @@ int8_t BSP_FDCAN_Init(void) {
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(&hfdcan2);
HAL_FDCAN_Start(&hfdcan3);
//POWER ENABLE
// HAL_GPIO_WritePin(GPIO_TypeDef *GPIOx, uint16_t GPIO_Pin, GPIO_PinState PinState);
@ -432,7 +474,23 @@ int8_t BSP_FDCAN_Transmit(BSP_FDCAN_t fdcan, BSP_FDCAN_Format_t format, uint32_t
default:
return BSP_ERR;
}
tx_msg.header.DataLength = dlc * 8;
tx_msg.header.ErrorStateIndicator = FDCAN_ESI_ACTIVE;
tx_msg.header.BitRateSwitch = FDCAN_BRS_OFF;
tx_msg.header.FDFormat = FDCAN_CLASSIC_CAN;
tx_msg.header.TxEventFifoControl = FDCAN_STORE_TX_EVENTS;
tx_msg.header.MessageMarker = 0x01;
// tx_msg.header.DataLength = FDCAN_DLC_BYTES_64;
if (dlc <= 8) {
tx_msg.header.DataLength = FDCAN_DLC_BYTES_8;
} else if (dlc <= 24) {
tx_msg.header.DataLength = FDCAN_DLC_BYTES_24;
} else if (dlc < 32) {
tx_msg.header.DataLength = FDCAN_DLC_BYTES_32;
} else if (dlc < 48) {
tx_msg.header.DataLength = FDCAN_DLC_BYTES_48;
} else {
tx_msg.header.DataLength = FDCAN_DLC_BYTES_64;
}
if (data != NULL && dlc > 0)
memcpy(tx_msg.data, data, dlc);
fifolevel=HAL_FDCAN_GetTxFifoFreeLevel(hfdcan);

2
User/bsp/fdcan.h
View File

@ -20,7 +20,7 @@ extern "C" {
#define BSP_FDCAN_DEFAULT_QUEUE_SIZE 10
#define BSP_FDCAN_TIMEOUT_IMMEDIATE 0
#define BSP_FDCAN_TIMEOUT_FOREVER osWaitForever
#define BSP_FDCAN_TX_QUEUE_SIZE 16
#define BSP_FDCAN_TX_QUEUE_SIZE 32
/* Exported types ----------------------------------------------------------- */
typedef enum {

19
User/task/blink.c
View File

@ -10,6 +10,7 @@
#include "bsp/bsp.h"
#include "bsp/fdcan.h"
// #include "bsp/pwm.h"
#include "bsp/bsp_can.h"
#include <math.h>
/* USER INCLUDE END */
@ -22,6 +23,9 @@
/* USER STRUCT END */
/* Private function --------------------------------------------------------- */
void can_rx_callback(bsp_can_t can, uint32_t id, uint8_t *data, void *arg) {
// 这里可以打印、断点或设置标志位
}
/* Exported functions ------------------------------------------------------- */
void Task_blink(void *argument) {
(void)argument; /* 未使用argument，消除警告 */
@ -48,6 +52,11 @@ void Task_blink(void *argument) {
BSP_FDCAN_RegisterId(BSP_FDCAN_1, 0x101, 8);
BSP_FDCAN_RegisterId(BSP_FDCAN_2, 0x102, 8);
BSP_FDCAN_RegisterId(BSP_FDCAN_3, 0x103, 8);
// bsp_can_init();
// bsp_can_register_callback(BSP_CAN_1, CAN_RX_MSG_CALLBACK, can_rx_callback, NULL);
/* USER CODE INIT END */
while (1) {
@ -56,7 +65,8 @@ void Task_blink(void *argument) {
// 呼吸灯 - 基于tick的正弦波
// float duty = (sinf(tick * 0.003f) + 1.0f) * 0.5f; // 0到1之间的正弦波，加快频率
// BSP_PWM_SetComp(BSP_PWM_LED_G, duty);
// uint8_t tx_data[8] = {1,2,3,4,5,6,7,8};
// bsp_can_trans_packet(BSP_CAN_1, CAN_FORMAT_STD, 0x123, tx_data);
// 测试：向三路 CAN 周期性发送电机控制帧（示例数据），并轮询接收
{
uint8_t data1[8] = {0xA1, 0x01, 0x34, 0x12, 0x10, 0x00, 0x00, 0x00};
@ -73,11 +83,6 @@ void Task_blink(void *argument) {
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, 8);
/* 尝试驱动软件 TX 队列续写（当硬件 FIFO 满且未启用 Tx Event 回调时使用轮询/主动驱动） */
// BSP_FDCAN_TxCompleteCallback();
// 立即轮询接收（非阻塞），收到消息则通过 LED 指示
if (BSP_FDCAN_GetMessage(BSP_FDCAN_1, 0x101, &msg, BSP_FDCAN_TIMEOUT_IMMEDIATE) == BSP_OK) {
}
if (BSP_FDCAN_GetMessage(BSP_FDCAN_2, 0x102, &msg, BSP_FDCAN_TIMEOUT_IMMEDIATE) == BSP_OK) {
@ -85,7 +90,7 @@ void Task_blink(void *argument) {
if (BSP_FDCAN_GetMessage(BSP_FDCAN_3, 0x103, &msg, BSP_FDCAN_TIMEOUT_IMMEDIATE) == BSP_OK) {
}
}
osDelay(10);
// osDelay(10);
/* USER CODE END */
osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
}