TuxMonkey/bf_original_balance_chassis
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增加了额外的注释

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NeoZng
2023-01-02 23:50:04 +08:00
parent bfaae13b59
commit f37d813bcd
11 changed files with 37 additions and 17 deletions
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18
bsp/can/bsp_can.c
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@@ -26,16 +26,16 @@ static uint8_t idx; // 全局CAN实例索引,每次有新的模块注册会自
static void CANAddFilter(CANInstance *_instance)
{
CAN_FilterTypeDef can_filter_conf;
static uint8_t can1_filter_idx = 0, can2_filter_idx = 14;
can_filter_conf.FilterMode = CAN_FILTERMODE_IDLIST;
can_filter_conf.FilterScale = CAN_FILTERSCALE_16BIT;
can_filter_conf.FilterFIFOAssignment = (_instance->tx_id & 1) ? CAN_RX_FIFO0 : CAN_RX_FIFO1;
can_filter_conf.SlaveStartFilterBank = 14;
can_filter_conf.FilterIdLow = _instance->rx_id << 5;
can_filter_conf.FilterBank = _instance->can_handle == &hcan1 ? (can1_filter_idx++) : (can2_filter_idx++);
can_filter_conf.FilterActivation = CAN_FILTER_ENABLE;
static uint8_t can1_filter_idx = 0, can2_filter_idx = 14; // 0-13给can1用,14-27给can2用
can_filter_conf.FilterMode = CAN_FILTERMODE_IDLIST; //使用id list模式,即只有将rxid添加到过滤器中才会接收到,其他报文会被过滤
can_filter_conf.FilterScale = CAN_FILTERSCALE_16BIT; //使用16位id模式,即只有低16位有效
can_filter_conf.FilterFIFOAssignment = (_instance->tx_id & 1) ? CAN_RX_FIFO0 : CAN_RX_FIFO1; //奇数id的模块会被分配到FIFO0,偶数id的模块会被分配到FIFO1
can_filter_conf.SlaveStartFilterBank = 14; // 从第14个过滤器开始配置从机过滤器(在STM32的BxCAN控制器中CAN2是CAN1的从机)
can_filter_conf.FilterIdLow = _instance->rx_id << 5; // 过滤器寄存器的低16位,因为使用STDID,所以只有低11位有效,高5位要填0
can_filter_conf.FilterBank = _instance->can_handle == &hcan1 ? (can1_filter_idx++) : (can2_filter_idx++); // 根据can_handle判断是CAN1还是CAN2,然后自增
can_filter_conf.FilterActivation = CAN_FILTER_ENABLE; // 启用过滤器
HAL_CAN_ConfigFilter(_instance->can_handle, &can_filter_conf);
}