tronone-h7-scaffold/User_Code/bsp/fdcan/bsp_fdcan.c

#include "bsp_fdcan.h"
#include "main.h"
#include "memory.h"
#include "stdlib.h"
#include "bsp_dwt.h"
#include "bsp_log.h"
//说是fdcan实际上就是配置成了经典的CAN

/* 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
// @todo: 后续为每个CAN总线单独添加一个can_instance指针数组,提高回调查找的性能
static FDCANInstance *fdcan_instance[CAN_MX_REGISTER_CNT] = {NULL};
static uint8_t idx; // 全局CAN实例索引,每次有新的模块注册会自增

/* ----------------two static function called by CANRegister()-------------------- */

/**
 * @brief 添加过滤器以实现对特定id的报文的接收,会被CANRegister()调用
 *        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
 *        对于FDCAN，设置使用特定ID模式过滤。
 *
 * @note f407的bxCAN有28个过滤器,这里将其配置为前14个过滤器给CAN1使用,后14个被CAN2使用
 *       初始化时,奇数id的模块会被分配到FIFO0,偶数id的模块会被分配到FIFO1
 *       注册到CAN1的模块使用过滤器0-13,CAN2使用过滤器14-27
 *       FDCAN的消息RAM是所有FDCAN外设共用的。
 *       H723系列FDCAN过滤器数量完全在CubeMX中自定义，因此先做一次检查，再添加即可。
 *
 * @attention 你不需要完全理解这个函数的作用,因为它主要是用于初始化,在开发过程中不需要关心底层的实现
 *            享受开发的乐趣吧!如果你真的想知道这个函数在干什么,请联系作者或自己查阅资料(请直接查阅官方的reference manual)
 *            FDCAN的教程较少，但是添加FDCAN的人已经发了一篇CSDN讲解了，可以参考一下
 *
 * @param _instance can instance owned by specific module
 */
static void CANAddFilter(FDCANInstance *_instance)
{
#ifdef FDCAN
	static uint8_t can1_filter_idx = 0, can2_filter_idx = 0, can3_filter_idx = 0;
	//检查是否超出过滤器设定数量上限
	if (can1_filter_idx > hfdcan1.Init.StdFiltersNbr || can2_filter_idx > hfdcan2.Init.StdFiltersNbr || can3_filter_idx
	    > hfdcan3.Init.StdFiltersNbr)
	{
		while (1)
		{
			//报错
		}
	}
	uint8_t *filter_idx_p;

	if (_instance->can_handle == &hfdcan1)
	{
		filter_idx_p = &can1_filter_idx;
	}
	else if (_instance->can_handle == &hfdcan2)
	{
		filter_idx_p = &can2_filter_idx;
	}
	else if (_instance->can_handle == &hfdcan3)
	{
		filter_idx_p = &can3_filter_idx;
	}
	else
	{
		while (1)
		{
			//报错
		}
	}

	FDCAN_FilterTypeDef fdcan_filter_conf;
	fdcan_filter_conf.FilterIndex = (*filter_idx_p)++;
	//使用单个ID模式
	fdcan_filter_conf.FilterType = FDCAN_FILTER_DUAL;
	fdcan_filter_conf.FilterConfig = (_instance->tx_id & 1) ? FDCAN_FILTER_TO_RXFIFO0 : FDCAN_FILTER_TO_RXFIFO1;
	//奇数id的模块会被分配到FIFO0,偶数id的模块会被分配到FIFO1
	fdcan_filter_conf.FilterID1 = _instance->rx_id;
	fdcan_filter_conf.FilterID2 = _instance->rx_id;
	fdcan_filter_conf.IdType = FDCAN_STANDARD_ID;
	fdcan_filter_conf.IsCalibrationMsg = 0;
	//fdcan_filter_conf.RxBufferIndex=0;

	// // ================== 【核心修复区】 ==================@todo：有问题 我要验牌
	// // 1. 强制让 FDCAN 进入 INIT 模式，否则无法写入 Message RAM
	// HAL_FDCAN_Stop(_instance->can_handle);
	//
	// // 2. 写入过滤器配置
	// HAL_FDCAN_ConfigFilter(_instance->can_handle, &fdcan_filter_conf);
	//
	// // 3. 重新启动 FDCAN
	// HAL_FDCAN_Start(_instance->can_handle);
	//
	// // 4. 【救命稻草】HAL_FDCAN_Stop 关闭了所有中断，必须在这里重新激活！
	// uint32_t FDCAN_RXActiveITs = FDCAN_IT_RX_FIFO0_NEW_MESSAGE | FDCAN_IT_RX_FIFO0_FULL |
	//                              FDCAN_IT_RX_FIFO0_WATERMARK | FDCAN_IT_RX_FIFO0_MESSAGE_LOST |
	//                              FDCAN_IT_RX_FIFO1_NEW_MESSAGE | FDCAN_IT_RX_FIFO1_FULL |
	//                              FDCAN_IT_RX_FIFO1_WATERMARK | FDCAN_IT_RX_FIFO1_MESSAGE_LOST;
	// HAL_FDCAN_ActivateNotification(_instance->can_handle, FDCAN_RXActiveITs, 0);
	// // ====================================================

	HAL_FDCAN_ConfigFilter(_instance->can_handle, &fdcan_filter_conf);

#else
	CAN_FilterTypeDef can_filter_conf;
	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);
#endif
}

/**
 * @brief 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 此函数会启动CAN1并开启中断
 *       FDCAN的情况下，我们采用FIFO接收方式（而不是buffer），FIFO和buffer还有queue接收方式请自行查阅H723手册
 *       FDCAN比bxCAN多了一个全局过滤器，这里配置为全部拒绝，只接受指定ID。
 *
 */
void CANServiceInit()
{
#ifdef FDCAN
	//可能不需要这么多中断
	uint32_t FDCAN_RXActiveITs = FDCAN_IT_RX_FIFO0_NEW_MESSAGE | FDCAN_IT_RX_FIFO0_FULL\
	                             | FDCAN_IT_RX_FIFO0_WATERMARK | FDCAN_IT_RX_FIFO0_MESSAGE_LOST
	                             | FDCAN_IT_RX_FIFO1_NEW_MESSAGE | FDCAN_IT_RX_FIFO1_FULL\
	                             | FDCAN_IT_RX_FIFO1_WATERMARK | FDCAN_IT_RX_FIFO1_MESSAGE_LOST;


	//HAL_FDCAN_ConfigClockCalibration()
	HAL_FDCAN_ConfigRxFifoOverwrite(&hfdcan1,FDCAN_RX_FIFO0,FDCAN_RX_FIFO_OVERWRITE);
	HAL_FDCAN_ConfigRxFifoOverwrite(&hfdcan1,FDCAN_RX_FIFO1,FDCAN_RX_FIFO_OVERWRITE);
	HAL_FDCAN_ConfigGlobalFilter(&hfdcan1, FDCAN_REJECT, FDCAN_REJECT, FDCAN_REJECT_REMOTE, FDCAN_REJECT_REMOTE);
	//全局过滤器设置
	HAL_FDCAN_Start(&hfdcan1);
	HAL_FDCAN_ActivateNotification(&hfdcan1, FDCAN_RXActiveITs, 0);

	HAL_FDCAN_ConfigRxFifoOverwrite(&hfdcan2,FDCAN_RX_FIFO0,FDCAN_RX_FIFO_OVERWRITE);
	HAL_FDCAN_ConfigRxFifoOverwrite(&hfdcan2,FDCAN_RX_FIFO1,FDCAN_RX_FIFO_OVERWRITE);
	HAL_FDCAN_ConfigGlobalFilter(&hfdcan2, FDCAN_REJECT, FDCAN_REJECT, FDCAN_REJECT_REMOTE, FDCAN_REJECT_REMOTE);
	HAL_FDCAN_Start(&hfdcan2);
	HAL_FDCAN_ActivateNotification(&hfdcan2, FDCAN_RXActiveITs, 0);


	HAL_FDCAN_ConfigRxFifoOverwrite(&hfdcan3,FDCAN_RX_FIFO0,FDCAN_RX_FIFO_OVERWRITE);
	HAL_FDCAN_ConfigRxFifoOverwrite(&hfdcan3,FDCAN_RX_FIFO1,FDCAN_RX_FIFO_OVERWRITE);
	HAL_FDCAN_ConfigGlobalFilter(&hfdcan3, FDCAN_REJECT, FDCAN_REJECT, FDCAN_REJECT_REMOTE, FDCAN_REJECT_REMOTE);
	HAL_FDCAN_Start(&hfdcan3);
	HAL_FDCAN_ActivateNotification(&hfdcan3, FDCAN_RXActiveITs, 0);


#else
	HAL_CAN_Start(&hcan1);
	HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING);
	HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO1_MSG_PENDING);
	HAL_CAN_Start(&hcan2);
	HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO0_MSG_PENDING);
	HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO1_MSG_PENDING);
#endif
}

/* ----------------------- two extern callable function -----------------------*/

FDCANInstance *CANRegister(FDCAN_Init_Config_s *config)
{
	if (!idx)
	{
		CANServiceInit(); // 第一次注册,先进行硬件初始化
		LOGINFO("[bsp_can] CAN Service Init");
	}
	if (idx >= CAN_MX_REGISTER_CNT) // 超过最大实例数
	{
		while (1)
		{
			LOGERROR("[bsp_can] CAN instance exceeded MAX num, consider balance the load of CAN bus");
		}
	}
	for (size_t i = 0; i < idx; i++)
	{
		// 重复注册 | id重复
		if (fdcan_instance[i]->rx_id == config->rx_id && fdcan_instance[i]->can_handle == config->can_handle)
		{
			while (1)
			{
				LOGERROR("[}bsp_can] CAN id crash ,tx [%d] or rx [%d] already registered", &config->tx_id,
				         &config->rx_id);
			}
		}
	}

	FDCANInstance *instance = (FDCANInstance *) malloc(sizeof(FDCANInstance)); // 分配空间
	memset(instance, 0, sizeof(FDCANInstance)); // 分配的空间未必是0,所以要先清空
	// 进行发送报文的配置
#ifdef FDCAN
	instance->txconf.Identifier = config->tx_id; // 发送id
	instance->txconf.IdType = FDCAN_STANDARD_ID; // 使用标准id,扩展id则使用CAN_ID_EXT(目前没有需求)
	instance->txconf.TxFrameType = FDCAN_DATA_FRAME, // 发送数据帧
			instance->txconf.DataLength = FDCAN_DLC_BYTES_8, // 数据长度为8字节
			instance->txconf.ErrorStateIndicator = FDCAN_ESI_ACTIVE, // 兼容CAN2.0,错误状态指示器设为主动
			instance->txconf.BitRateSwitch = FDCAN_BRS_OFF, // 兼容CAN2.0禁用位速率切换
			instance->txconf.FDFormat = FDCAN_CLASSIC_CAN, // 使用经典CAN格式
			instance->txconf.TxEventFifoControl = FDCAN_NO_TX_EVENTS, // 不需要，禁用事件FIFO
			instance->txconf.MessageMarker = 0; // 不使用消息标记
#else
	instance->txconf.StdId = config->tx_id; // 发送id
	instance->txconf.IDE = CAN_ID_STD; // 使用标准id,扩展id则使用CAN_ID_EXT(目前没有需求)
	instance->txconf.RTR = CAN_RTR_DATA; // 发送数据帧
	instance->txconf.DLC = 0x08; // 默认发送长度为8
#endif
	// 设置回调函数和接收发送id
	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->can_module_callback = config->can_module_callback;
	instance->id = config->id;

	CANAddFilter(instance); // 添加CAN过滤器规则
	fdcan_instance[idx++] = instance; // 将实例保存到can_instance中

	return instance; // 返回can实例指针
}

/* @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 */
/* 如果让CANinstance保存txbuff,会增加一次复制的开销 */
uint8_t CANTransmit(FDCANInstance *_instance, float timeout)
{
	static uint32_t busy_count;
	static volatile float wait_time __attribute__((unused)); // for cancel warning
	float dwt_start = DWT_GetTimeline_ms();
#ifdef FDCAN
	while (HAL_FDCAN_GetTxFifoFreeLevel(_instance->can_handle) == 0)
#else
	while (HAL_CAN_GetTxMailboxesFreeLevel(_instance->can_handle) == 0) // 等待邮箱空闲
#endif
	{
		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;
		}
	}
	wait_time = DWT_GetTimeline_ms() - dwt_start;

#ifdef FDCAN
	if (HAL_FDCAN_AddMessageToTxFifoQ(_instance->can_handle, &_instance->txconf, _instance->tx_buff))
#else
	// 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))
#endif
	{
		LOGWARNING("[bsp_can] CAN bus BUSY! cnt:%d", busy_count);
		busy_count++;
		return 0;
	}
	return 1; // 发送成功
}

void CANSetDLC(FDCANInstance *_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
	if (length > 8 || length == 0) // 安全检查
		while (1)
		{
			LOGERROR("[bsp_can] CAN DLC error! check your code or wild pointer");
		}

	_instance->txconf.DataLength = DLC_LookUp_Table[length];
}

/* -----------------------belows are callback definitions--------------------------*/

//对于FDCAN，回调函数和处理方式完全不同，因此直接用两套逻辑处理
#ifdef FDCAN
/**
 * @brief 此函数会被下面两个函数调用,用于处理FIFO0和FIFO1溢出中断(说明收到了新的数据)
 *        所有的实例都会被遍历,找到can_handle和rx_id相等的实例时,调用该实例的回调函数
 *
 * @param _hfdcan
 * @param fifox passed to HAL_CAN_GetRxMessage() to get mesg from a specific fifo
 */
static void FDCANFIFOxCallback(FDCAN_HandleTypeDef *_hfdcan, uint32_t fifox)
{
	static FDCAN_RxHeaderTypeDef rxconf;
	static uint16_t DataLength = 0;
	static uint8_t fdcan_rx_buff[8];

	while (HAL_FDCAN_GetRxFifoFillLevel(_hfdcan, fifox))
	{
		HAL_FDCAN_GetRxMessage(_hfdcan, fifox, &rxconf, fdcan_rx_buff);

		//@todo:DataLength解析
		switch (rxconf.DataLength)
		{
			case FDCAN_DLC_BYTES_0: DataLength = 0;
				break;
			case FDCAN_DLC_BYTES_1: DataLength = 1;
				break;
			case FDCAN_DLC_BYTES_2: DataLength = 2;
				break;
			case FDCAN_DLC_BYTES_3: DataLength = 3;
				break;
			case FDCAN_DLC_BYTES_4: DataLength = 4;
				break;
			case FDCAN_DLC_BYTES_5: DataLength = 5;
				break;
			case FDCAN_DLC_BYTES_6: DataLength = 6;
				break;
			case FDCAN_DLC_BYTES_7: DataLength = 7;
				break;
			case FDCAN_DLC_BYTES_8: DataLength = 8;
				break;
			// 如果后续用到了 FDCAN 真正的长帧(12~64字节)，可以在这里继续加 case
			default: DataLength = 8;
				break; // 兜底保护
		}

		if (rxconf.RxFrameType == FDCAN_DATA_FRAME && rxconf.IdType == FDCAN_STANDARD_ID)
		{
			for (size_t i = 0; i < idx; ++i)
			{
				if (_hfdcan == fdcan_instance[i]->can_handle && rxconf.Identifier == fdcan_instance[i]->rx_id)
				{
					if (fdcan_instance[i]->can_module_callback != NULL)
					{
						fdcan_instance[i]->rx_len = DataLength;
						memcpy(fdcan_instance[i]->rx_buff, fdcan_rx_buff, fdcan_instance[i]->rx_len);
						fdcan_instance[i]->can_module_callback(fdcan_instance[i]);
					}
					break;
				}
			}
		}
	}
}

void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs)
{
	/* 检查Rx FIFO 0中是否有消息丢失 */
	if ((RxFifo0ITs & FDCAN_IT_RX_FIFO0_MESSAGE_LOST) != 0)
	{
		//报错
	}
	/* 检查是否有新消息写入Rx FIFO 0或到达一定阈值 */
	if ((RxFifo0ITs & FDCAN_IT_RX_FIFO0_NEW_MESSAGE) || (RxFifo0ITs & FDCAN_IT_RX_FIFO0_FULL) || (
		    RxFifo0ITs & FDCAN_IT_RX_FIFO0_WATERMARK))
	{
		FDCANFIFOxCallback(hfdcan, FDCAN_RX_FIFO0); // 调用我们自己写的函数来处理消息
	}
}

void HAL_FDCAN_RxFifo1Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo1ITs)
{
	/* 检查Rx FIFO 1中是否有消息丢失 */
	if ((RxFifo1ITs & FDCAN_IT_RX_FIFO1_MESSAGE_LOST) != 0)
	{
		//报错
	}
	/* 检查是否有新消息写入Rx FIFO 1或到达一定阈值 */
	if ((RxFifo1ITs & FDCAN_IT_RX_FIFO1_NEW_MESSAGE) || (RxFifo1ITs & FDCAN_IT_RX_FIFO1_FULL) || (
		    RxFifo1ITs & FDCAN_IT_RX_FIFO1_WATERMARK))
	{
		FDCANFIFOxCallback(hfdcan, FDCAN_RX_FIFO1); // 调用我们自己写的函数来处理消息
	}
}


#else


/**
* @brief 此函数会被下面两个函数调用,用于处理FIFO0和FIFO1溢出中断(说明收到了新的数据)
*        所有的实例都会被遍历,找到can_handle和rx_id相等的实例时,调用该实例的回调函数
*
* @param _hcan
* @param fifox passed to HAL_CAN_GetRxMessage() to get mesg from a specific fifo
*/
static void CANFIFOxCallback(CAN_HandleTypeDef *_hcan, uint32_t fifox)
{
	static CAN_RxHeaderTypeDef rxconf; // 同上
	uint8_t can_rx_buff[8];
	while (HAL_CAN_GetRxFifoFillLevel(_hcan, fifox)) // FIFO不为空,有可能在其他中断时有多帧数据进入
	{
		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 == fdcan_instance[i]->can_handle && rxconf.StdId == fdcan_instance[i]->rx_id)
			{
				if (fdcan_instance[i]->can_module_callback != NULL) // 回调函数不为空就调用
				{
					fdcan_instance[i]->rx_len = rxconf.DLC; // 保存接收到的数据长度
					memcpy(fdcan_instance[i]->rx_buff, can_rx_buff, rxconf.DLC); // 消息拷贝到对应实例
					fdcan_instance[i]->can_module_callback(fdcan_instance[i]); // 触发回调进行数据解析和处理
				}
				return;
			}
		}
	}
}

/**
* @brief 注意,STM32的两个CAN设备共享两个FIFO
* 下面两个函数是HAL库中的回调函数,他们被HAL声明为__weak,这里对他们进行重载(重写)
* 当FIFO0或FIFO1溢出时会调用这两个函数
*/
// 下面的函数会调用CANFIFOxCallback()来进一步处理来自特定CAN设备的消息

/**
* @brief rx fifo callback. Once FIFO_0 is full,this func would be called
*
* @param hcan CAN handle indicate which device the oddest mesg in FIFO_0 comes from
*/
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
{
	CANFIFOxCallback(hcan, CAN_RX_FIFO0); // 调用我们自己写的函数来处理消息
}

/**
* @brief rx fifo callback. Once FIFO_1 is full,this func would be called
*
* @param hcan CAN handle indicate which device the oddest mesg in FIFO_1 comes from
*/
void HAL_CAN_RxFifo1MsgPendingCallback(CAN_HandleTypeDef *hcan)
{
	CANFIFOxCallback(hcan, CAN_RX_FIFO1); // 调用我们自己写的函数来处理消息
}


#endif