关节电机measure

bsp/can/bsp_can.c

@@ -105,6 +105,7 @@ CANInstance *CANRegister(CAN_Init_Config_s *config)
     instance->can_handle = config->can_handle;
     instance->tx_id = config->tx_id; // 好像没用,可以删掉
     instance->rx_id = config->rx_id;
+    instance->rx_id_match_any = config->rx_id_match_any;
     instance->can_module_callback = config->can_module_callback;
     instance->id = config->id;
 
@@ -141,6 +142,17 @@ uint8_t CANTransmit(CANInstance *_instance, float timeout)
     return 1; // 发送成功
 }
 
+uint8_t CANTryTransmit(CANInstance *_instance)
+{
+    if (HAL_CAN_GetTxMailboxesFreeLevel(_instance->can_handle) == 0u)
+        return 0u;
+
+    return HAL_CAN_AddTxMessage(_instance->can_handle,
+                                &_instance->txconf,
+                                _instance->tx_buff,
+                                &_instance->tx_mailbox) == HAL_OK;
+}
+
 void CANSetDLC(CANInstance *_instance, uint8_t length)
 {
     // 发送长度错误!检查调用参数是否出错,或出现野指针/越界访问
@@ -168,15 +180,16 @@ static void CANFIFOxCallback(CAN_HandleTypeDef *_hcan, uint32_t fifox)
         HAL_CAN_GetRxMessage(_hcan, fifox, &rxconf, can_rx_buff); // 从FIFO中获取数据
         for (size_t i = 0; i < idx; ++i)
         { // 两者相等说明这是要找的实例
-            if (_hcan == can_instance[i]->can_handle && rxconf.StdId == can_instance[i]->rx_id)
+            if (_hcan == can_instance[i]->can_handle &&
+                (can_instance[i]->rx_id_match_any || rxconf.StdId == can_instance[i]->rx_id))
             {
                 if (can_instance[i]->can_module_callback != NULL) // 回调函数不为空就调用
                 {
+                    can_instance[i]->rx_std_id = rxconf.StdId;
                     can_instance[i]->rx_len = rxconf.DLC;                      // 保存接收到的数据长度
                     memcpy(can_instance[i]->rx_buff, can_rx_buff, rxconf.DLC); // 消息拷贝到对应实例
                     can_instance[i]->can_module_callback(can_instance[i]);     // 触发回调进行数据解析和处理
                 }
-                break;
             }
         }
     }

bsp/can/bsp_can.h

@@ -21,7 +21,9 @@ typedef struct _
     uint8_t tx_buff[8];            // 发送缓存,发送消息长度可以通过CANSetDLC()设定,最大为8
     uint8_t rx_buff[8];            // 接收缓存,最大消息长度为8
     uint32_t rx_id;                // 接收id
+    uint32_t rx_std_id;            // 实际收到的标准帧id
     uint8_t rx_len;                // 接收长度,可能为0-8
+    uint8_t rx_id_match_any;       // 软件层接收该CAN总线上的任意标准帧
     // 接收的回调函数,用于解析接收到的数据
     void (*can_module_callback)(struct _ *); // callback needs an instance to tell among registered ones
     void *id;                                // 使用can外设的模块指针(即id指向的模块拥有此can实例,是父子关系)
@@ -34,6 +36,7 @@ typedef struct
     CAN_HandleTypeDef *can_handle;              // can句柄
     uint32_t tx_id;                             // 发送id
     uint32_t rx_id;                             // 接收id
+    uint8_t rx_id_match_any;                    // 忽略rx_id,由模块自行解析报文id
     void (*can_module_callback)(CANInstance *); // 处理接收数据的回调函数
     void *id;                                   // 拥有can实例的模块地址,用于区分不同的模块(如果有需要的话),如果不需要可以不传入
 } CAN_Init_Config_s;
@@ -65,4 +68,6 @@ void CANSetDLC(CANInstance *_instance, uint8_t length);
  */
 uint8_t CANTransmit(CANInstance *_instance,float timeout);
 
+uint8_t CANTryTransmit(CANInstance *_instance);
+
 #endif