TuxMonkey/half-steering-basic-framework
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guoxy06
2026-08-29 19:55:45 +08:00
parent 2b18d60476
commit c40525234f
5 changed files with 72 additions and 22 deletions
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23
bsp/can/bsp_can.c
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@@ -29,6 +29,7 @@ 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;
memset(&can_filter_conf, 0, sizeof(can_filter_conf)); // 防止未初始化字段(如FilterIdHigh等)成为垃圾匹配ID
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
@@ -105,24 +106,18 @@ CANInstance *CANRegister(CAN_Init_Config_s *config)
/* 如果让CANinstance保存txbuff,会增加一次复制的开销 */
uint8_t CANTransmit(CANInstance *_instance, float timeout)
{
static uint32_t busy_count;
static volatile float wait_time __attribute__((unused)); // for cancel warning
float dwt_start = DWT_GetTimeline_ms();
while (HAL_CAN_GetTxMailboxesFreeLevel(_instance->can_handle) == 0) // 等待邮箱空闲
(void)timeout; // 保留接口兼容性；改为非阻塞发送,避免阻塞调用它的任务
// 邮箱全满说明上一帧还没发出去,或总线上没有节点回应ACK(例如断开某一路CAN)。
// 此时直接放弃本帧,保证电机控制等任务的周期稳定,不因一路CAN离线而拖慢另一路CAN。
if (HAL_CAN_GetTxMailboxesFreeLevel(_instance->can_handle) == 0)
{
if (DWT_GetTimeline_ms() - dwt_start > timeout) // 超时
{
LOGWARNING("[bsp_can] CAN MAILbox full! failed to add msg to mailbox. Cnt [%d]", busy_count);
busy_count++;
return 0;
}
return 0;
}
wait_time = DWT_GetTimeline_ms() - dwt_start;
// 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
if (HAL_CAN_AddTxMessage(_instance->can_handle, &_instance->txconf, _instance->tx_buff, &_instance->tx_mailbox))
if (HAL_CAN_AddTxMessage(_instance->can_handle, &_instance->txconf, _instance->tx_buff, &_instance->tx_mailbox) != HAL_OK)
{
LOGWARNING("[bsp_can] CAN bus BUS! cnt:%d", busy_count);
busy_count++;
return 0;
}
return 1; // 发送成功