TuxMonkey/bf_original_balance_chassis
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更新了一些文档

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NeoZng
2022-12-02 23:10:36 +08:00
parent 648de9f370
commit b024d56bca
7 changed files with 124 additions and 53 deletions
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37
bsp/bsp_can.c
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@@ -4,12 +4,14 @@
#include "memory.h"
/* can instance ptrs storage, used for recv callback */
// 在CAN产生接收中断会遍历数组,选出hcan和rxid与发生中断的实例相同的那个,调用其回调函数
static can_instance *instance[MX_REGISTER_DEVICE_CNT] = {NULL};
/* ----------------two static function called by CANRegister()-------------------- */
/**
* @brief add filter to receive mesg with specific ID,called by CANRegister()
* 给CAN添加过滤器后,BxCAN会根据接收到的报文的id进行消息过滤,符合规则的id会被填入FIFO触发中断
*
* @note there are total 28 filter and 2 FIFO in bxCAN of STM32F4 series product.
* here, we assign the former 14 to CAN1 and the rest for CAN2
@@ -40,6 +42,7 @@ static void CANAddFilter(can_instance *_instance)
/**
* @brief called by CANRegister before the first module being registered
* 在第一个CAN实例初始化的时候会自动调用此函数,启动CAN服务
*
* @note this func will handle all these thing automatically
* there is no need to worry about hardware initialization, we do these for you!
@@ -57,40 +60,42 @@ static void CANServiceInit()
/* ----------------------- two extern callable function -----------------------*/
can_instance* CANRegister(can_instance_config_s* config)
can_instance *CANRegister(can_instance_config_s *config)
{
static uint8_t idx;
static uint8_t idx; // 全局CAN实例索引,每次有新的模块注册会自增
if (!idx)
{
CANServiceInit();
CANServiceInit(); // 第一次注册,先进行硬件初始化
}
instance[idx] = (can_instance*)malloc(sizeof(can_instance));
memset(instance[idx],0,sizeof(can_instance));
instance[idx] = (can_instance *)malloc(sizeof(can_instance)); // 分配空间
memset(instance[idx], 0, sizeof(can_instance));
// 进行发送报文的配置
instance[idx]->txconf.StdId = config->tx_id;
instance[idx]->txconf.IDE = CAN_ID_STD;
instance[idx]->txconf.RTR = CAN_RTR_DATA;
instance[idx]->txconf.DLC = 0x08; // 默认发送长度为8
// 设置回调函数和接收发送id
instance[idx]->can_handle = config->can_handle;
instance[idx]->tx_id = config->tx_id;
instance[idx]->tx_id = config->tx_id; // 好像没用,可以删掉
instance[idx]->rx_id = config->rx_id;
instance[idx]->can_module_callback = config->can_module_callback;
CANAddFilter(instance[idx]);
return instance[idx++];
CANAddFilter(instance[idx]); // 添加CAN过滤器规则
return instance[idx++]; // 返回指针
}
/* TODO:目前似乎封装过度,应该添加一个指向tx_buff的指针,tx_buff不应该由CAN instance保存 */
void CANTransmit(can_instance *_instance)
{
while (HAL_CAN_GetTxMailboxesFreeLevel(_instance->can_handle) == 0)
;
// tx_mailbox会保存实际填入了这一帧消息的邮箱,但是知道是哪个邮箱发的似乎也没啥用
HAL_CAN_AddTxMessage(_instance->can_handle, &_instance->txconf, _instance->tx_buff, &_instance->tx_mailbox);
}
void CANSetDLC(can_instance *_instance, uint8_t length)
{
if (length > 8)
if (length > 8) // 安全检查
while (1)
;
_instance->txconf.DLC = length;
@@ -112,13 +117,13 @@ static void CANFIFOxCallback(CAN_HandleTypeDef *_hcan, uint32_t fifox)
HAL_CAN_GetRxMessage(_hcan, fifox, &rxconf, can_rx_buff);
for (size_t i = 0; i < DEVICE_CAN_CNT; i++)
{
if (instance[i] != NULL)
{
if (instance[i] != NULL) // 碰到NULL说明已经遍历完所有实例
{ // 两者相等说明这是要找的实例
if (_hcan == instance[i]->can_handle && rxconf.StdId == instance[i]->rx_id)
{
instance[i]->rx_len=rxconf.DLC;
memcpy(instance[i]->rx_buff, can_rx_buff, rxconf.DLC);
instance[i]->can_module_callback(instance[i]);
instance[i]->rx_len = rxconf.DLC;
memcpy(instance[i]->rx_buff, can_rx_buff, rxconf.DLC); // 消息拷贝到对应实例
instance[i]->can_module_callback(instance[i]); // 触发回调进行数据解析和处理
break;
}
}