修复了吗？没有，很难的啦111

Core/Src/fdcan.c

@@ -42,9 +42,9 @@ void MX_FDCAN1_Init(void)
   hfdcan1.Instance = FDCAN1;
   hfdcan1.Init.FrameFormat = FDCAN_FRAME_CLASSIC;
   hfdcan1.Init.Mode = FDCAN_MODE_NORMAL;
-  hfdcan1.Init.AutoRetransmission = ENABLE;
+  hfdcan1.Init.AutoRetransmission = DISABLE;
   hfdcan1.Init.TransmitPause = DISABLE;
-  hfdcan1.Init.ProtocolException = ENABLE;
+  hfdcan1.Init.ProtocolException = DISABLE;
   hfdcan1.Init.NominalPrescaler = 3;
   hfdcan1.Init.NominalSyncJumpWidth = 10;
   hfdcan1.Init.NominalTimeSeg1 = 29;
@@ -54,11 +54,11 @@ void MX_FDCAN1_Init(void)
   hfdcan1.Init.DataTimeSeg1 = 29;
   hfdcan1.Init.DataTimeSeg2 = 10;
   hfdcan1.Init.MessageRAMOffset = 0;
-  hfdcan1.Init.StdFiltersNbr = 1;
+  hfdcan1.Init.StdFiltersNbr = 14;
   hfdcan1.Init.ExtFiltersNbr = 0;
-  hfdcan1.Init.RxFifo0ElmtsNbr = 32;
+  hfdcan1.Init.RxFifo0ElmtsNbr = 4;
   hfdcan1.Init.RxFifo0ElmtSize = FDCAN_DATA_BYTES_8;
-  hfdcan1.Init.RxFifo1ElmtsNbr = 0;
+  hfdcan1.Init.RxFifo1ElmtsNbr = 4;
   hfdcan1.Init.RxFifo1ElmtSize = FDCAN_DATA_BYTES_8;
   hfdcan1.Init.RxBuffersNbr = 0;
   hfdcan1.Init.RxBufferSize = FDCAN_DATA_BYTES_8;
@@ -90,9 +90,9 @@ void MX_FDCAN2_Init(void)
   hfdcan2.Instance = FDCAN2;
   hfdcan2.Init.FrameFormat = FDCAN_FRAME_CLASSIC;
   hfdcan2.Init.Mode = FDCAN_MODE_NORMAL;
-  hfdcan2.Init.AutoRetransmission = ENABLE;
+  hfdcan2.Init.AutoRetransmission = DISABLE;
   hfdcan2.Init.TransmitPause = DISABLE;
-  hfdcan2.Init.ProtocolException = ENABLE;
+  hfdcan2.Init.ProtocolException = DISABLE;
   hfdcan2.Init.NominalPrescaler = 3;
   hfdcan2.Init.NominalSyncJumpWidth = 10;
   hfdcan2.Init.NominalTimeSeg1 = 29;
@@ -102,11 +102,11 @@ void MX_FDCAN2_Init(void)
   hfdcan2.Init.DataTimeSeg1 = 29;
   hfdcan2.Init.DataTimeSeg2 = 10;
   hfdcan2.Init.MessageRAMOffset = 853;
-  hfdcan2.Init.StdFiltersNbr = 1;
+  hfdcan2.Init.StdFiltersNbr = 14;
   hfdcan2.Init.ExtFiltersNbr = 0;
-  hfdcan2.Init.RxFifo0ElmtsNbr = 0;
+  hfdcan2.Init.RxFifo0ElmtsNbr = 4;
   hfdcan2.Init.RxFifo0ElmtSize = FDCAN_DATA_BYTES_8;
-  hfdcan2.Init.RxFifo1ElmtsNbr = 32;
+  hfdcan2.Init.RxFifo1ElmtsNbr = 4;
   hfdcan2.Init.RxFifo1ElmtSize = FDCAN_DATA_BYTES_8;
   hfdcan2.Init.RxBuffersNbr = 0;
   hfdcan2.Init.RxBufferSize = FDCAN_DATA_BYTES_8;
@@ -138,9 +138,9 @@ void MX_FDCAN3_Init(void)
   hfdcan3.Instance = FDCAN3;
   hfdcan3.Init.FrameFormat = FDCAN_FRAME_CLASSIC;
   hfdcan3.Init.Mode = FDCAN_MODE_NORMAL;
-  hfdcan3.Init.AutoRetransmission = ENABLE;
+  hfdcan3.Init.AutoRetransmission = DISABLE;
   hfdcan3.Init.TransmitPause = DISABLE;
-  hfdcan3.Init.ProtocolException = ENABLE;
+  hfdcan3.Init.ProtocolException = DISABLE;
   hfdcan3.Init.NominalPrescaler = 3;
   hfdcan3.Init.NominalSyncJumpWidth = 10;
   hfdcan3.Init.NominalTimeSeg1 = 29;
@@ -150,11 +150,11 @@ void MX_FDCAN3_Init(void)
   hfdcan3.Init.DataTimeSeg1 = 29;
   hfdcan3.Init.DataTimeSeg2 = 10;
   hfdcan3.Init.MessageRAMOffset = 1706;
-  hfdcan3.Init.StdFiltersNbr = 1;
+  hfdcan3.Init.StdFiltersNbr = 14;
   hfdcan3.Init.ExtFiltersNbr = 0;
-  hfdcan3.Init.RxFifo0ElmtsNbr = 0;
+  hfdcan3.Init.RxFifo0ElmtsNbr = 4;
   hfdcan3.Init.RxFifo0ElmtSize = FDCAN_DATA_BYTES_8;
-  hfdcan3.Init.RxFifo1ElmtsNbr = 32;
+  hfdcan3.Init.RxFifo1ElmtsNbr = 4;
   hfdcan3.Init.RxFifo1ElmtSize = FDCAN_DATA_BYTES_8;
   hfdcan3.Init.RxBuffersNbr = 0;
   hfdcan3.Init.RxBufferSize = FDCAN_DATA_BYTES_8;

TronOneH7_Scaffold.ioc

@@ -330,7 +330,7 @@ Dma.USART3_TX.10.SyncEnable=DISABLE
 Dma.USART3_TX.10.SyncPolarity=HAL_DMAMUX_SYNC_NO_EVENT
 Dma.USART3_TX.10.SyncRequestNumber=1
 Dma.USART3_TX.10.SyncSignalID=NONE
-FDCAN1.AutoRetransmission=ENABLE
+FDCAN1.AutoRetransmission=DISABLE
 FDCAN1.CalculateBaudRateNominal=1000000
 FDCAN1.CalculateTimeBitNominal=1000
 FDCAN1.CalculateTimeQuantumNominal=25.0
@@ -338,17 +338,18 @@ FDCAN1.DataPrescaler=3
 FDCAN1.DataSyncJumpWidth=10
 FDCAN1.DataTimeSeg1=29
 FDCAN1.DataTimeSeg2=10
-FDCAN1.IPParameters=CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal,NominalPrescaler,NominalTimeSeg1,NominalTimeSeg2,DataPrescaler,DataTimeSeg1,DataTimeSeg2,TxFifoQueueMode,RxFifo0ElmtsNbr,TxFifoQueueElmtsNbr,StdFiltersNbr,AutoRetransmission,ProtocolException,NominalSyncJumpWidth,DataSyncJumpWidth
+FDCAN1.IPParameters=CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal,NominalPrescaler,NominalTimeSeg1,NominalTimeSeg2,DataPrescaler,DataTimeSeg1,DataTimeSeg2,TxFifoQueueMode,RxFifo0ElmtsNbr,TxFifoQueueElmtsNbr,StdFiltersNbr,AutoRetransmission,ProtocolException,NominalSyncJumpWidth,DataSyncJumpWidth,RxFifo1ElmtsNbr
 FDCAN1.NominalPrescaler=3
 FDCAN1.NominalSyncJumpWidth=10
 FDCAN1.NominalTimeSeg1=29
 FDCAN1.NominalTimeSeg2=10
-FDCAN1.ProtocolException=ENABLE
+FDCAN1.ProtocolException=DISABLE
-FDCAN1.RxFifo0ElmtsNbr=32
+FDCAN1.RxFifo0ElmtsNbr=4
-FDCAN1.StdFiltersNbr=1
+FDCAN1.RxFifo1ElmtsNbr=4
+FDCAN1.StdFiltersNbr=14
 FDCAN1.TxFifoQueueElmtsNbr=32
 FDCAN1.TxFifoQueueMode=FDCAN_TX_FIFO_OPERATION
-FDCAN2.AutoRetransmission=ENABLE
+FDCAN2.AutoRetransmission=DISABLE
 FDCAN2.CalculateBaudRateNominal=1000000
 FDCAN2.CalculateTimeBitNominal=1000
 FDCAN2.CalculateTimeQuantumNominal=25.0
@@ -356,17 +357,18 @@ FDCAN2.DataPrescaler=3
 FDCAN2.DataSyncJumpWidth=10
 FDCAN2.DataTimeSeg1=29
 FDCAN2.DataTimeSeg2=10
-FDCAN2.IPParameters=CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal,DataPrescaler,DataTimeSeg1,DataTimeSeg2,NominalPrescaler,NominalTimeSeg1,NominalTimeSeg2,RxFifo1ElmtsNbr,TxFifoQueueElmtsNbr,MessageRAMOffset,StdFiltersNbr,AutoRetransmission,ProtocolException,NominalSyncJumpWidth,DataSyncJumpWidth
+FDCAN2.IPParameters=CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal,DataPrescaler,DataTimeSeg1,DataTimeSeg2,NominalPrescaler,NominalTimeSeg1,NominalTimeSeg2,RxFifo1ElmtsNbr,TxFifoQueueElmtsNbr,MessageRAMOffset,StdFiltersNbr,AutoRetransmission,ProtocolException,NominalSyncJumpWidth,DataSyncJumpWidth,RxFifo0ElmtsNbr
 FDCAN2.MessageRAMOffset=853
 FDCAN2.NominalPrescaler=3
 FDCAN2.NominalSyncJumpWidth=10
 FDCAN2.NominalTimeSeg1=29
 FDCAN2.NominalTimeSeg2=10
-FDCAN2.ProtocolException=ENABLE
+FDCAN2.ProtocolException=DISABLE
-FDCAN2.RxFifo1ElmtsNbr=32
+FDCAN2.RxFifo0ElmtsNbr=4
-FDCAN2.StdFiltersNbr=1
+FDCAN2.RxFifo1ElmtsNbr=4
+FDCAN2.StdFiltersNbr=14
 FDCAN2.TxFifoQueueElmtsNbr=32
-FDCAN3.AutoRetransmission=ENABLE
+FDCAN3.AutoRetransmission=DISABLE
 FDCAN3.CalculateBaudRateNominal=1000000
 FDCAN3.CalculateTimeBitNominal=1000
 FDCAN3.CalculateTimeQuantumNominal=25.0
@@ -375,15 +377,16 @@ FDCAN3.DataPrescaler=3
 FDCAN3.DataSyncJumpWidth=10
 FDCAN3.DataTimeSeg1=29
 FDCAN3.DataTimeSeg2=10
-FDCAN3.IPParameters=CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal,DataPrescaler,DataTimeSeg1,DataTimeSeg2,NominalPrescaler,NominalTimeSeg1,NominalTimeSeg2,RxFifo1ElmtsNbr,TxFifoQueueElmtsNbr,MessageRAMOffset,StdFiltersNbr,AutoRetransmission,ProtocolException,NominalSyncJumpWidth,DataSyncJumpWidth,ClockCalibrationCCU
+FDCAN3.IPParameters=CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal,DataPrescaler,DataTimeSeg1,DataTimeSeg2,NominalPrescaler,NominalTimeSeg1,NominalTimeSeg2,RxFifo1ElmtsNbr,TxFifoQueueElmtsNbr,MessageRAMOffset,StdFiltersNbr,AutoRetransmission,ProtocolException,NominalSyncJumpWidth,DataSyncJumpWidth,ClockCalibrationCCU,RxFifo0ElmtsNbr
 FDCAN3.MessageRAMOffset=1706
 FDCAN3.NominalPrescaler=3
 FDCAN3.NominalSyncJumpWidth=10
 FDCAN3.NominalTimeSeg1=29
 FDCAN3.NominalTimeSeg2=10
-FDCAN3.ProtocolException=ENABLE
+FDCAN3.ProtocolException=DISABLE
-FDCAN3.RxFifo1ElmtsNbr=32
+FDCAN3.RxFifo0ElmtsNbr=4
-FDCAN3.StdFiltersNbr=1
+FDCAN3.RxFifo1ElmtsNbr=4
+FDCAN3.StdFiltersNbr=14
 FDCAN3.TxFifoQueueElmtsNbr=32
 FREERTOS.FootprintOK=true
 FREERTOS.IPParameters=Tasks01,configENABLE_FPU,FootprintOK,configUSE_NEWLIB_REENTRANT,configCHECK_FOR_STACK_OVERFLOW,configUSE_MALLOC_FAILED_HOOK,configTOTAL_HEAP_SIZE,configMINIMAL_STACK_SIZE

User_Code/bsp/fdcan/bsp_fdcan.c

@@ -78,24 +78,26 @@ static void CANAddFilter(FDCANInstance *_instance)
 	fdcan_filter_conf.IsCalibrationMsg = 0;
 	//fdcan_filter_conf.RxBufferIndex=0;
 
-	// ================== 【核心修复区】 ==================@todo：有问题 我要验牌
+	// // ================== 【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
+	// // 1. 强制让 FDCAN 进入 INIT 模式，否则无法写入 Message RAM
-	HAL_FDCAN_Stop(_instance->can_handle);
+	// 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);
+	// // ====================================================
 
-	// 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);
-	// ====================================================
-
 #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

User_Code/module/periph/power_meters/xiditech/xidipwmeter.c

@@ -13,14 +13,15 @@ static XidiPowerMeterInstance *power_meter_instance = NULL;
  * @brief 功率计数据解码函数
  * @param _instance FDCAN实例指针
  *
- * @note 数据格式:
+ * @note 新版数据格式 (大端模式):
- *        DATA[0]: 电流数值低8位
+ * DATA[0]: 电压高8位
- *        DATA[1]: 电流数值高8位
+ * DATA[1]: 电压低8位
- *        DATA[2]: 电压数值低8位
+ * DATA[2]: 电流高8位
- *        DATA[3]: 电压数值高8位
+ * DATA[3]: 电流低8位
- *        DATA[4]-DATA[7]: 保留
+ * DATA[4]: 功率高8位
- *
+ * DATA[5]: 功率低8位
- *        电压电流数值均为放大100倍后的整数，需要除以100.0得到实际值
+ * DATA[6]: 标识符
+ * DATA[7]: 校验和
  */
 void XidiPowerMeterDecode(FDCANInstance *_instance)
 {
@@ -39,18 +40,20 @@ void XidiPowerMeterDecode(FDCANInstance *_instance)
     // 计算时间间隔
     measure->dt = DWT_GetDeltaT(&power_meter_instance->feed_cnt);
 
-    // 解析电流数据 (放大100倍，需要除以100)
+    // 1. 解析电压 (高8位在前，低8位在后)
-    auto current_raw = (int16_t) ((rxbuff[1] << 8) | rxbuff[0]);
+    uint16_t voltage_raw = (rxbuff[0] << 8) | rxbuff[1];
-    measure->current = (float) current_raw / 100.0f;
-
-    // 解析电压数据 (放大100倍，需要除以100)
-    auto voltage_raw = (int16_t) ((rxbuff[3] << 8) | rxbuff[2]);
     measure->voltage = (float) voltage_raw / 100.0f;
 
-    // 计算功率
+    // 2. 解析电流 (高8位在前，低8位在后)
-    measure->power = measure->voltage * measure->current;
+    uint16_t current_raw = (rxbuff[2] << 8) | rxbuff[3];
+    measure->current = (float) current_raw / 100.0f;
 
-    // 计算累计能量 (功率 × 时间)
+    // 3. 解析功率 (高8位在前，低8位在后)
+    // 既然协议里直接发了功率，我们就直接读硬件算好的，比自己用 U*I 算更准
+    uint16_t power_raw = (rxbuff[4] << 8) | rxbuff[5];
+    measure->power = (float) power_raw / 100.0f;
+
+    // 4. 计算累计能量 (功率 × 时间)
     measure->energy += measure->power * measure->dt * 0.001f; // dt单位是ms，转换为秒
 
     measure->update_cnt++;
@@ -79,7 +82,7 @@ XidiPowerMeterInstance *XidiPowerMeterInit(XidiPowerMeter_Init_Config_s *XidiPow
     }
 
     // 2. 分配内存并清零
-    power_meter_instance = (XidiPowerMeterInstance *)malloc(sizeof(XidiPowerMeterInstance));
+    power_meter_instance = (XidiPowerMeterInstance *) malloc(sizeof(XidiPowerMeterInstance));
     if (power_meter_instance == NULL)
     {
         return NULL;

User_Code/user_task/dev_tasks/dev_cmd.c

@@ -19,7 +19,7 @@ static float current_energy_j = 0.0f;
 // 1. 定义为静态变量（static），确保它的内存空间常驻，防止底层指针悬垂！
 static XidiPowerMeter_Init_Config_s xidi_pm_config = {
     .can_config = {
-        .can_handle = &hfdcan1, // 原来直接传的句柄，现在放进结构体里
+        .can_handle = &hfdcan2, // 原来直接传的句柄，现在放进结构体里
         .rx_id = 0x213, // 接收 ID
         .tx_id = 0x000, // 发送 ID (不发送填0)
     },
@@ -52,16 +52,7 @@ void CmdTask(void *argument)
     DaemonReload(chassis_power_meter->daemon);
     while (1)
     {
-        if (chassis_power_meter != NULL)
+        DaemonReload(chassis_power_meter->daemon);
-        {
-            current_power_w = XidiPowerMeterGetPower(chassis_power_meter);
-            current_voltage_v = XidiPowerMeterGetVoltage(chassis_power_meter);
-            current_energy_j = XidiPowerMeterGetEnergy(chassis_power_meter);
-
-            // 你可以将获取到的功率写入要发送给底盘的 cmd 中，例如限制最大速度
-            // chassis_cmd_send.real_power = current_power_w;
-        }
-
         osDelay(10); // 根据实际需要调整读取频率
     }
 }